+ python -m lidar_slam --no-model /working/035f4c62-adef-46b1-830d-305987fb65a8 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/035f4c62-adef-46b1-830d-305987fb65a8 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 0.016875 Adjusted end_distance from 9.223372036854776e+18 to 565.876875 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.016875 meters Centerline goodness : 0.254987 Centerline is valid? [0, False] SLAMing on 0.046875 meters Centerline goodness : 0.254987 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 1.00000000e+00 -2.40581212e-17 8.95444708e-17 -1.49158463e-13] [-1.20789195e-16 1.00000000e+00 -1.84952184e-16 -4.37080927e-14] [ 1.96456057e-16 -5.90825487e-17 1.00000000e+00 8.48208510e-14] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.076875 meters Centerline goodness : 0.243210 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99963132e-01 -7.67026598e-03 3.86032379e-03 7.42276445e-03] [ 7.66288690e-03 9.99968791e-01 1.92269319e-03 -7.89154975e-03] [-3.87495089e-03 -1.89304108e-03 9.99990701e-01 -6.93035990e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.106875 meters Centerline goodness : 0.251468 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.00 [[ 9.99948937e-01 -9.08115754e-03 4.43360824e-03 5.89166767e-03] [ 9.07693546e-03 9.99958332e-01 9.71484168e-04 -9.49431246e-03] [-4.44224570e-03 -9.31190985e-04 9.99989700e-01 7.80905179e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.136875 meters Centerline goodness : 0.303956 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.00 [[ 0.99998679 -0.00269165 0.00437984 0.00267001] [ 0.00265916 0.99996903 0.00740749 -0.00740207] [-0.00439964 -0.00739574 0.99996297 0.00421864] [ 0. 0. 0. 1. ]] SLAMing on 0.166875 meters Centerline goodness : 0.233196 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.00 [[ 0.99999446 -0.00102062 0.00316873 -0.00500302] [ 0.00102682 0.99999756 -0.00195529 -0.00690445] [-0.00316672 0.00195853 0.99999307 0.00199226] [ 0. 0. 0. 1. ]] SLAMing on 0.196875 meters Centerline goodness : 0.274724 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.02 [[ 0.99952401 -0.0188254 0.02444085 0.0216727 ] [ 0.01972251 0.99912069 -0.03699835 0.02281385] [-0.02372285 0.03746277 0.9990164 -0.02484245] [ 0. 0. 0. 1. ]] SLAMing on 0.226875 meters Centerline goodness : 0.179559 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.02 [[ 0.99943037 -0.02337711 -0.02434027 0.08179229] [ 0.02153678 0.99707699 -0.07330514 0.04550406] [ 0.02598278 0.07273918 0.99701249 -0.02490343] [ 0. 0. 0. 1. ]] SLAMing on 0.25687499999999996 meters Centerline goodness : 0.198872 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:-0.03 [[ 0.99880006 -0.03589008 -0.03332193 0.13413618] [ 0.03339357 0.99679663 -0.07267295 0.06263137] [ 0.03582343 0.07147301 0.99679902 -0.02969338] [ 0. 0. 0. 1. ]] SLAMing on 0.286875 meters Centerline goodness : 0.183108 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.03 [[ 0.99820278 -0.05804829 -0.01488652 0.14006639] [ 0.05670338 0.99527825 -0.07877774 0.07452836] [ 0.01938914 0.07779205 0.99678105 -0.02980038] [ 0. 0. 0. 1. ]] SLAMing on 0.316875 meters Centerline goodness : 0.196973 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.03 [[ 0.99768566 -0.06703933 -0.01135967 0.1660311 ] [ 0.06601119 0.99502606 -0.07460331 0.08071994] [ 0.01630453 0.07368079 0.99714859 -0.03352481] [ 0. 0. 0. 1. ]] SLAMing on 0.34687499999999993 meters Centerline goodness : 0.174952 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 0.99736929 -0.07175221 -0.01030097 0.18838734] [ 0.07069473 0.99423813 -0.08057789 0.08538026] [ 0.01602326 0.07963769 0.99669509 -0.03669806] [ 0. 0. 0. 1. ]] SLAMing on 0.37687499999999996 meters Centerline goodness : 0.247853 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.04 [[ 0.99679166 -0.07976427 -0.00663711 0.23796636] [ 0.07904956 0.99407165 -0.07465067 0.08604251] [ 0.01255222 0.07388651 0.99718766 -0.0358968 ] [ 0. 0. 0. 1. ]] SLAMing on 0.406875 meters Centerline goodness : 0.179365 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.03 [[ 0.99594066 -0.08964621 -0.00810927 0.28219278] [ 0.08903106 0.99434434 -0.05790336 0.08527643] [ 0.01325423 0.05694633 0.99828926 -0.03083191] [ 0. 0. 0. 1. ]] SLAMing on 0.436875 meters Centerline goodness : 0.324279 Centerline is valid? [False, False] Translation: X:0.32, Y:0.08, Z:-0.03 [[ 0.994871 -0.10071231 -0.00941886 0.32243873] [ 0.1000675 0.99352793 -0.05374699 0.08227752] [ 0.01477089 0.0525288 0.99851016 -0.03160538] [ 0. 0. 0. 1. ]] SLAMing on 0.46687499999999993 meters Centerline goodness : 0.218897 Centerline is valid? [False, False] Translation: X:0.41, Y:0.09, Z:-0.03 [[ 0.99457412 -0.1036118 -0.00932288 0.40632203] [ 0.10303222 0.99345235 -0.04936382 0.08506502] [ 0.01437651 0.04813542 0.99873735 -0.02836686] [ 0. 0. 0. 1. ]] SLAMing on 0.49687499999999996 meters Centerline goodness : 0.223225 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:-0.03 [[ 0.99513801 -0.0983235 -0.00572987 0.43443905] [ 0.09801033 0.99434758 -0.04082729 0.09155587] [ 0.00971176 0.0400672 0.99914979 -0.02862304] [ 0. 0. 0. 1. ]] SLAMing on 0.526875 meters Centerline goodness : 0.236390 Centerline is valid? [False, False] Translation: X:0.50, Y:0.11, Z:-0.03 [[ 9.97021509e-01 -7.71239862e-02 -3.34990723e-05 4.97379010e-01] [ 7.70689054e-02 9.96325678e-01 -3.73567523e-02 1.14358479e-01] [ 2.91447763e-03 3.72429038e-02 9.99301992e-01 -2.65474348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.556875 meters Centerline goodness : 0.229345 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.02 [[ 0.99950135 -0.03139626 -0.00336685 0.59845958] [ 0.03127094 0.99898578 -0.03239673 0.16951685] [ 0.00438057 0.03227529 0.99946942 -0.02006712] [ 0. 0. 0. 1. ]] SLAMing on 0.5868749999999999 meters Centerline goodness : 0.118973 Centerline is valid? [False, False] Translation: X:0.69, Y:0.21, Z:-0.02 [[ 0.99998321 0.00329247 -0.00476902 0.68507247] [-0.00338606 0.99979919 -0.01975141 0.21462887] [ 0.00470303 0.01976723 0.99979355 -0.02052805] [ 0. 0. 0. 1. ]] SLAMing on 0.616875 meters Centerline goodness : 0.240170 Centerline is valid? [False, False] Translation: X:0.77, Y:0.26, Z:-0.02 [[ 0.99963619 0.02599089 -0.00720851 0.77472368] [-0.02606955 0.99959915 -0.01104204 0.25768721] [ 0.00691863 0.01122595 0.99991305 -0.02037927] [ 0. 0. 0. 1. ]] SLAMing on 0.646875 meters Centerline goodness : 0.218844 Centerline is valid? [False, False] Translation: X:0.89, Y:0.30, Z:-0.01 [[ 0.9996901 0.02303276 -0.00944482 0.89279456] [-0.02310981 0.99969986 -0.00813166 0.30377725] [ 0.00925469 0.00834741 0.99992233 -0.01343008] [ 0. 0. 0. 1. ]] SLAMing on 0.6768749999999999 meters Centerline goodness : 0.190171 Centerline is valid? [False, False] Translation: X:0.93, Y:0.31, Z:-0.01 [[ 9.99973954e-01 3.87660703e-04 -7.20699529e-03 9.30314956e-01] [-4.42077366e-04 9.99971397e-01 -7.55047499e-03 3.10168711e-01] [ 7.20386212e-03 7.55346438e-03 9.99945523e-01 -1.26376370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7068749999999999 meters Centerline goodness : 0.168456 Centerline is valid? [False, False] Translation: X:1.00, Y:0.31, Z:-0.01 [[ 9.98469927e-01 -5.40674143e-02 -1.15982460e-02 9.99786572e-01] [ 5.40746101e-02 9.98536851e-01 3.07492922e-04 3.11669604e-01] [ 1.15646507e-02 -9.34193066e-04 9.99932691e-01 -9.61737373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.736875 meters Centerline goodness : 0.155371 Centerline is valid? [False, False] Translation: X:1.15, Y:0.31, Z:-0.00 [[ 0.99247651 -0.10838385 -0.0569502 1.15405062] [ 0.10867053 0.9940759 0.00195212 0.31146916] [ 0.05640124 -0.00812624 0.99837511 -0.00171622] [ 0. 0. 0. 1. ]] SLAMing on 0.766875 meters Centerline goodness : 0.142976 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:0.01 [[ 0.98628462 -0.14540183 -0.07810863 1.25067841] [ 0.14415092 0.98932317 -0.02145173 0.30988649] [ 0.0803938 0.00989808 0.99671403 0.01196903] [ 0. 0. 0. 1. ]] SLAMing on 0.796875 meters Centerline goodness : 0.142427 Centerline is valid? [False, False] Translation: X:1.30, Y:0.28, Z:0.04 [[ 0.97660289 -0.19810254 -0.08367904 1.29847342] [ 0.19811176 0.98014449 -0.00827676 0.28424263] [ 0.0836572 -0.00849469 0.99645839 0.03687264] [ 0. 0. 0. 1. ]] SLAMing on 0.8268749999999999 meters Centerline goodness : 0.142427 Centerline is valid? [False, False] Translation: X:1.30, Y:0.28, Z:0.04 [[ 0.97660289 -0.19810254 -0.08367904 1.29847342] [ 0.19811176 0.98014449 -0.00827676 0.28424263] [ 0.0836572 -0.00849469 0.99645839 0.03687264] [ 0. 0. 0. 1. ]] SLAMing on 0.8568749999999999 meters Centerline goodness : 0.986851 Centerline is valid? [False, True] Translation: X:1.28, Y:0.27, Z:0.05 [[ 0.97115122 -0.21565659 -0.10177205 1.27811845] [ 0.21554799 0.9764171 -0.01219476 0.2651244 ] [ 0.10200185 -0.01009381 0.994733 0.05258236] [ 0. 0. 0. 1. ]] SLAMing on 0.886875 meters Centerline goodness : 0.489490 Centerline is valid? [True, False] Translation: X:1.35, Y:0.27, Z:0.07 [[ 0.9712393 -0.2062673 -0.11894542 1.35162287] [ 0.20667143 0.97836843 -0.00906301 0.27229395] [ 0.11824185 -0.01578027 0.99285943 0.07488465] [ 0. 0. 0. 1. ]] SLAMing on 0.9168749999999999 meters Centerline goodness : 0.141649 Centerline is valid? [False, False] Translation: X:1.35, Y:0.30, Z:0.09 [[ 0.98049082 -0.16286931 -0.1100515 1.34580194] [ 0.16257928 0.98662653 -0.01166448 0.29589755] [ 0.11047952 -0.00645517 0.99385744 0.09200796] [ 0. 0. 0. 1. ]] SLAMing on 0.9468749999999999 meters Centerline goodness : 0.144653 Centerline is valid? [False, False] Translation: X:1.37, Y:0.32, Z:0.09 [[ 0.98836985 -0.10958384 -0.10543448 1.37418301] [ 0.10497024 0.99329827 -0.04837149 0.32433759] [ 0.11002862 0.03674144 0.9932491 0.08983612] [ 0. 0. 0. 1. ]] SLAMing on 0.9768749999999999 meters Centerline goodness : 0.990102 Centerline is valid? [False, True] Translation: X:1.43, Y:0.35, Z:0.10 [[ 0.99011735 -0.09962877 -0.09870031 1.4321487 ] [ 0.0877566 0.98911786 -0.11808741 0.34944319] [ 0.10939115 0.10825879 0.98808583 0.10118808] [ 0. 0. 0. 1. ]] SLAMing on 1.006875 meters Centerline goodness : 0.287806 Centerline is valid? [True, False] Translation: X:1.44, Y:0.33, Z:0.11 [[ 0.9869623 -0.12667168 -0.09929605 1.44391956] [ 0.11980486 0.99015906 -0.07233145 0.33226569] [ 0.10748123 0.05949226 0.99242554 0.11401896] [ 0. 0. 0. 1. ]] SLAMing on 1.036875 meters Centerline goodness : 0.992388 Centerline is valid? [False, True] Translation: X:1.44, Y:0.31, Z:0.12 [[ 0.98276802 -0.15924094 -0.09385814 1.43981974] [ 0.15616845 0.98694964 -0.03926599 0.31164449] [ 0.09888601 0.02393168 0.99481095 0.12020903] [ 0. 0. 0. 1. ]] SLAMing on 1.066875 meters Centerline goodness : 0.736055 Centerline is valid? [True, False] Translation: X:1.42, Y:0.26, Z:0.11 [[ 0.97481282 -0.19702311 -0.10450773 1.42459144] [ 0.19729982 0.98031227 -0.00778677 0.26270522] [ 0.10398439 -0.01302871 0.99449359 0.11484758] [ 0. 0. 0. 1. ]] SLAMing on 1.096875 meters Centerline goodness : 0.996704 Centerline is valid? [False, True] Translation: X:1.42, Y:0.24, Z:0.12 [[ 0.97645921 -0.18990868 -0.10228443 1.41906271] [ 0.1906629 0.98165253 -0.00244215 0.24318543] [ 0.10087156 -0.01711719 0.9947522 0.11557152] [ 0. 0. 0. 1. ]] SLAMing on 1.1268749999999998 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:1.45, Y:0.23, Z:0.12 [[ 0.97978488 -0.1727096 -0.1009603 1.44844357] [ 0.17229565 0.98496117 -0.01287219 0.23333244] [ 0.10166513 -0.00478304 0.99480718 0.12012351] [ 0. 0. 0. 1. ]] SLAMing on 1.1568749999999999 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:1.48, Y:0.23, Z:0.16 [[ 0.98330834 -0.1513667 -0.10095957 1.47832624] [ 0.15083972 0.98847435 -0.01287792 0.23383817] [ 0.10174523 -0.00256574 0.99480718 0.15751969] [ 0. 0. 0. 1. ]] SLAMing on 1.186875 meters Centerline goodness : 0.996660 Centerline is valid? [True, True] Translation: X:1.49, Y:0.22, Z:0.14 [[ 9.88109772e-01 -1.15880603e-01 -1.01048331e-01 1.49438797e+00] [ 1.15239263e-01 9.93263073e-01 -1.21811230e-02 2.24536920e-01] [ 1.01779132e-01 3.91551463e-04 9.94806944e-01 1.35054530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.216875 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:1.53, Y:0.22, Z:0.13 [[ 0.99028702 -0.09598405 -0.10059168 1.52777122] [ 0.09488074 0.99536473 -0.01570675 0.21977012] [ 0.10163301 0.00600998 0.99480381 0.13104456] [ 0. 0. 0. 1. ]] SLAMing on 1.246875 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:1.57, Y:0.21, Z:0.13 [[ 0.99185336 -0.07805847 -0.10066675 1.56878729] [ 0.07692206 0.99692234 -0.0151274 0.20896499] [ 0.10153775 0.00726067 0.99480519 0.12721586] [ 0. 0. 0. 1. ]] SLAMing on 1.276875 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:1.60, Y:0.21, Z:0.14 [[ 0.99168643 -0.07980282 -0.10094321 1.5980984 ] [ 0.07889306 0.99679859 -0.01297913 0.20802525] [ 0.10165582 0.0049075 0.99480752 0.14340278] [ 0. 0. 0. 1. ]] SLAMing on 1.306875 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:1.63, Y:0.20, Z:0.16 [[ 0.98999554 -0.09858647 -0.1009432 1.62739023] [ 0.09777377 0.99512403 -0.01297917 0.19755262] [ 0.10173058 0.00297972 0.99480752 0.15809223] [ 0. 0. 0. 1. ]] SLAMing on 1.3368749999999998 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:1.66, Y:0.18, Z:0.18 [[ 9.86847757e-01 -1.26261830e-01 -1.00942833e-01 1.65707101e+00] [ 1.25592730e-01 9.91996942e-01 -1.29820604e-02 1.82793057e-01] [ 1.01774120e-01 1.33631237e-04 9.94807524e-01 1.77342747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3668749999999998 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:1.69, Y:0.17, Z:0.18 [[ 0.98429744 -0.14480778 -0.10094188 1.68661199] [ 0.14423492 0.98945822 -0.01298944 0.17040701] [ 0.10175875 -0.00177387 0.99480752 0.18286541] [ 0. 0. 0. 1. ]] SLAMing on 1.3968749999999999 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:1.72, Y:0.17, Z:0.18 [[ 0.98368985 -0.1488799 -0.1009408 1.71667303] [ 0.14832755 0.98885287 -0.01299785 0.16646877] [ 0.10175072 -0.00218645 0.99480752 0.18071704] [ 0. 0. 0. 1. ]] SLAMing on 1.426875 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:1.75, Y:0.16, Z:0.18 [[ 9.86150243e-01 -1.31602664e-01 -1.00937787e-01 1.74562358e+00] [ 1.30957443e-01 9.91302475e-01 -1.30212037e-02 1.60729314e-01] [ 1.01773504e-01 -3.77691388e-04 9.94807525e-01 1.80498820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.456875 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:1.77, Y:0.16, Z:0.17 [[ 9.87849446e-01 -1.18174658e-01 -1.00936721e-01 1.77469571e+00] [ 1.17458561e-01 9.92992306e-01 -1.30294692e-02 1.63576590e-01] [ 1.01769140e-01 1.01527194e-03 9.94807525e-01 1.74060437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.486875 meters Centerline goodness : 0.995707 Centerline is valid? [True, True] Translation: X:1.80, Y:0.18, Z:0.17 [[ 0.9898498 -0.10004879 -0.10093375 1.80091435] [ 0.09923621 0.9949783 -0.01305246 0.18283417] [ 0.10173277 0.0029037 0.99480753 0.17496835] [ 0. 0. 0. 1. ]] SLAMing on 1.516875 meters Centerline goodness : 0.996992 Centerline is valid? [True, True] Translation: X:1.83, Y:0.19, Z:0.18 [[ 0.99033675 -0.09511099 -0.10093079 1.82722946] [ 0.09427051 0.99546075 -0.0130753 0.19337776] [ 0.10171624 0.00343416 0.99480753 0.1796656 ] [ 0. 0. 0. 1. ]] SLAMing on 1.546875 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:1.85, Y:0.20, Z:0.19 [[ 0.98985239 -0.10002716 -0.10092974 1.85376883] [ 0.09921131 0.99498037 -0.01308342 0.20410784] [ 0.1017318 0.00293728 0.99480753 0.18877308] [ 0. 0. 0. 1. ]] SLAMing on 1.576875 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:1.88, Y:0.21, Z:0.19 [[ 0.98991374 -0.0994212 -0.10092678 1.88132328] [ 0.09859989 0.99504085 -0.0131062 0.20953001] [ 0.1017293 0.00302264 0.99480753 0.18695045] [ 0. 0. 0. 1. ]] SLAMing on 1.6068749999999998 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:1.91, Y:0.21, Z:0.20 [[ 0.98997696 -0.09879079 -0.10092573 1.90859541] [ 0.09796539 0.99510341 -0.01311427 0.21396293] [ 0.10172711 0.0030956 0.99480753 0.19620457] [ 0. 0. 0. 1. ]] SLAMing on 1.6368749999999999 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:1.94, Y:0.21, Z:0.19 [[ 0.99030914 -0.09540478 -0.1009244 1.93837316] [ 0.09456082 0.99543257 -0.01312449 0.20862869] [ 0.10171557 0.00345381 0.99480753 0.18524913] [ 0. 0. 0. 1. ]] SLAMing on 1.6668749999999999 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:1.97, Y:0.20, Z:0.18 [[ 0.99052021 -0.09318917 -0.10092318 1.97075316] [ 0.0923328 0.99564158 -0.01313385 0.20010469] [ 0.10170725 0.00369083 0.99480753 0.1765981 ] [ 0. 0. 0. 1. ]] SLAMing on 1.696875 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:2.00, Y:0.20, Z:0.18 [[ 0.99112358 -0.08653672 -0.10092301 2.0011079 ] [ 0.08564584 0.99623906 -0.0131352 0.19512022] [ 0.10168012 0.00437498 0.99480753 0.18477928] [ 0. 0. 0. 1. ]] SLAMing on 1.726875 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:2.03, Y:0.18, Z:0.19 [[ 0.99178656 -0.07857487 -0.10092278 2.0312496 ] [ 0.07764277 0.99689469 -0.01313693 0.18480561] [ 0.10164162 0.0051931 0.99480753 0.18887305] [ 0. 0. 0. 1. ]] SLAMing on 1.756875 meters Centerline goodness : 0.989214 Centerline is valid? [True, True] Translation: X:2.04, Y:0.17, Z:0.19 [[ 0.98946505 -0.10379867 -0.10091953 2.04420897] [ 0.10299437 0.99459485 -0.01316186 0.17414376] [ 0.10174023 0.00262906 0.99480753 0.18822344] [ 0. 0. 0. 1. ]] SLAMing on 1.786875 meters Centerline goodness : 0.989075 Centerline is valid? [True, True] Translation: X:2.08, Y:0.17, Z:0.19 [[ 0.98992574 -0.09992097 -0.10031361 2.08125102] [ 0.098629 0.99496561 -0.0177697 0.16577754] [ 0.10158416 0.00769685 0.99479717 0.19405873] [ 0. 0. 0. 1. ]] SLAMing on 1.8168749999999998 meters Centerline goodness : 0.989075 Centerline is valid? [True, True] Translation: X:2.11, Y:0.17, Z:0.20 [[ 0.9899419 -0.09957477 -0.10049829 2.10931908] [ 0.09842282 0.99501006 -0.01636862 0.16903068] [ 0.10162671 0.00631266 0.99480257 0.19730098] [ 0. 0. 0. 1. ]] SLAMing on 1.8468749999999998 meters Centerline goodness : 0.989085 Centerline is valid? [True, True] Translation: X:2.14, Y:0.17, Z:0.20 [[ 0.9900412 -0.09854727 -0.1005329 2.14126672] [ 0.09741694 0.99511337 -0.0161034 0.16759935] [ 0.10162858 0.00614942 0.99480341 0.20144834] [ 0. 0. 0. 1. ]] SLAMing on 1.8768749999999998 meters Centerline goodness : 0.989208 Centerline is valid? [True, True] Translation: X:2.17, Y:0.17, Z:0.20 [[ 0.99009588 -0.09787939 -0.10064676 2.16918798] [ 0.09683428 0.995184 -0.01522933 0.16911086] [ 0.10165268 0.00533244 0.99480566 0.20249312] [ 0. 0. 0. 1. ]] SLAMing on 1.9068749999999999 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:2.20, Y:0.17, Z:0.21 [[ 0.99016401 -0.09718057 -0.10065376 2.19841057] [ 0.09613733 0.99525239 -0.01517558 0.1687601 ] [ 0.10165066 0.00534973 0.99480577 0.206301 ] [ 0. 0. 0. 1. ]] SLAMing on 1.936875 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:2.23, Y:0.17, Z:0.21 [[ 0.99016461 -0.09713674 -0.10069008 2.22651786] [ 0.0961216 0.99525812 -0.01489645 0.17228002] [ 0.10165961 0.00507144 0.99480631 0.20927219] [ 0. 0. 0. 1. ]] SLAMing on 1.966875 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:2.26, Y:0.16, Z:0.23 [[ 0.99076791 -0.09078017 -0.1006872 2.25707785] [ 0.08973012 0.99585438 -0.01491858 0.16042702] [ 0.1016241 0.00574617 0.99480627 0.2306728 ] [ 0. 0. 0. 1. ]] SLAMing on 1.996875 meters Centerline goodness : 0.989254 Centerline is valid? [True, True] Translation: X:2.28, Y:0.16, Z:0.24 [[ 0.99071563 -0.09122889 -0.10079597 2.28112286] [ 0.09026589 0.99581812 -0.01408336 0.16311094] [ 0.10165926 0.00485417 0.99480743 0.23876 ] [ 0. 0. 0. 1. ]] SLAMing on 2.026875 meters Centerline goodness : 0.985092 Centerline is valid? [True, True] Translation: X:2.30, Y:0.17, Z:0.25 [[ 0.98969916 -0.10176609 -0.10069381 2.30268426] [ 0.10077778 0.99479788 -0.01486684 0.17183135] [ 0.10168293 0.004566 0.99480638 0.25105976] [ 0. 0. 0. 1. ]] SLAMing on 2.0568750000000002 meters Centerline goodness : 0.984450 Centerline is valid? [True, True] Translation: X:2.33, Y:0.17, Z:0.24 [[ 0.98994821 -0.09950883 -0.10050141 2.33296776] [ 0.09836006 0.99501683 -0.01633404 0.17195254] [ 0.10162597 0.00628453 0.99480283 0.24119562] [ 0. 0. 0. 1. ]] SLAMing on 2.086875 meters Centerline goodness : 0.985436 Centerline is valid? [True, True] Translation: X:2.37, Y:0.16, Z:0.21 [[ 0.99017933 -0.09720853 -0.10047583 2.36764971] [ 0.09602825 0.99524136 -0.01652892 0.16420205] [ 0.10160445 0.00671808 0.99480219 0.21467858] [ 0. 0. 0. 1. ]] SLAMing on 2.1168750000000003 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.00, Z:0.23 [[ 0.99312583 -0.05989986 -0.10056384 2.42855775] [ 0.05859828 0.99815581 -0.01584999 -0.00455047] [ 0.10132779 0.00984816 0.99480435 0.22844673] [ 0. 0. 0. 1. ]] SLAMing on 2.146875 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:2.43, Y:0.18, Z:0.23 [[ 0.99159215 -0.08097562 -0.10093537 2.43312896] [ 0.08007392 0.99670468 -0.01295978 0.17739085] [ 0.10165218 0.00476852 0.99480857 0.22941689] [ 0. 0. 0. 1. ]] SLAMing on 2.1768750000000003 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:2.48, Y:0.06, Z:0.25 [[ 0.99290513 -0.06286241 -0.10093427 2.47608291] [ 0.06186669 0.99800017 -0.01296828 0.06298919] [ 0.10154764 0.0066318 0.99480857 0.24503139] [ 0. 0. 0. 1. ]] SLAMing on 2.206875 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:2.50, Y:0.14, Z:0.24 [[ 0.98988482 -0.099704 -0.10093143 2.49643912] [ 0.09889598 0.99501298 -0.01299041 0.13575706] [ 0.10172327 0.00287729 0.99480857 0.24258744] [ 0. 0. 0. 1. ]] SLAMing on 2.236875 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:2.53, Y:0.08, Z:0.24 [[ 0.9926082 -0.06739781 -0.10092817 2.53166466] [ 0.06642057 0.99770682 -0.01301564 0.08432726] [ 0.10157395 0.00621572 0.99480857 0.23785653] [ 0. 0. 0. 1. ]] SLAMing on 2.266875 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:2.56, Y:0.09, Z:0.24 [[ 0.99223377 -0.07272468 -0.10091221 2.55948735] [ 0.07176229 0.99733522 -0.01313927 0.08973812] [ 0.10159885 0.00579554 0.99480857 0.23866505] [ 0. 0. 0. 1. ]] SLAMing on 2.296875 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:2.59, Y:0.09, Z:0.24 [[ 0.99192631 -0.07678942 -0.10092365 2.58723092] [ 0.07585692 0.9970333 -0.01305081 0.09477883] [ 0.1016264 0.00528968 0.99480857 0.23867603] [ 0. 0. 0. 1. ]] SLAMing on 2.3268750000000002 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:2.61, Y:0.10, Z:0.24 [[ 0.9917402 -0.07916155 -0.10091991 2.61430582] [ 0.07823834 0.99684888 -0.01307962 0.09897275] [ 0.1016373 0.00507578 0.99480857 0.2403335 ] [ 0. 0. 0. 1. ]] SLAMing on 2.356875 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:2.64, Y:0.10, Z:0.24 [[ 0.99144374 -0.08279492 -0.10091737 2.64180232] [ 0.08188845 0.99655541 -0.01309919 0.10405431] [ 0.1016543 0.00472314 0.99480857 0.24403396] [ 0. 0. 0. 1. ]] SLAMing on 2.3868750000000003 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:2.67, Y:0.11, Z:0.25 [[ 0.99133282 -0.084117 -0.10091365 2.66870294] [ 0.08321444 0.99644519 -0.01312777 0.11149573] [ 0.10165919 0.00461652 0.99480857 0.24758298] [ 0. 0. 0. 1. ]] SLAMing on 2.416875 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:2.70, Y:0.12, Z:0.25 [[ 0.99121815 -0.08546206 -0.10090991 2.6953428 ] [ 0.08456352 0.99633123 -0.01315651 0.11522473] [ 0.10166407 0.00450767 0.99480857 0.25238334] [ 0. 0. 0. 1. ]] SLAMing on 2.446875 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:2.72, Y:0.12, Z:0.26 [[ 0.99107383 -0.08712161 -0.10090828 2.72157736] [ 0.08623037 0.99618819 -0.01316895 0.11790655] [ 0.10167094 0.00435005 0.99480857 0.25733744] [ 0. 0. 0. 1. ]] SLAMing on 2.476875 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:2.75, Y:0.12, Z:0.26 [[ 0.990613 -0.09221562 -0.10090668 2.74977942] [ 0.09134944 0.99573166 -0.01318122 0.12049922] [ 0.10169149 0.00383971 0.99480857 0.26389669] [ 0. 0. 0. 1. ]] SLAMing on 2.506875 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:2.78, Y:0.12, Z:0.27 [[ 0.99004847 -0.09809457 -0.10090336 2.77719931] [ 0.0972562 0.99517175 -0.01320661 0.12313112] [ 0.10171167 0.00326171 0.99480857 0.27009567] [ 0. 0. 0. 1. ]] SLAMing on 2.536875 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:2.81, Y:0.12, Z:0.28 [[ 0.98960036 -0.10251822 -0.10090164 2.80570726] [ 0.10170142 0.99472713 -0.01321974 0.12384545] [ 0.10172486 0.00282042 0.99480857 0.27886456] [ 0. 0. 0. 1. ]] SLAMing on 2.566875 meters Centerline goodness : 0.996900 Centerline is valid? [True, True] Translation: X:2.83, Y:0.12, Z:0.29 [[ 9.89284546e-01 -1.05523147e-01 -1.00900702e-01 2.83458452e+00] [ 1.04721192e-01 9.94413657e-01 -1.32268781e-02 1.24190566e-01] [ 1.01732778e-01 2.51870429e-03 9.94808574e-01 2.85547068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5968750000000003 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:2.86, Y:0.13, Z:0.29 [[ 9.89280238e-01 -1.05566685e-01 -1.00897405e-01 2.86359094e+00] [ 1.04762397e-01 9.94408983e-01 -1.32519811e-02 1.25930086e-01] [ 1.01732254e-01 2.53966900e-03 9.94808574e-01 2.86502703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.626875 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:2.89, Y:0.13, Z:0.29 [[ 9.89414853e-01 -1.04300679e-01 -1.00894092e-01 2.89148770e+00] [ 1.03487263e-01 9.94542158e-01 -1.32771628e-02 1.27726668e-01] [ 1.01728245e-01 2.69536869e-03 9.94808574e-01 2.85356721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.656875 meters Centerline goodness : 0.996714 Centerline is valid? [True, True] Translation: X:2.92, Y:0.13, Z:0.28 [[ 0.98978533 -0.10072543 -0.10089292 2.92034138] [ 0.09989259 0.99490952 -0.01328608 0.13142476] [ 0.10171757 0.00307192 0.99480857 0.28287785] [ 0. 0. 0. 1. ]] SLAMing on 2.686875 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:2.95, Y:0.14, Z:0.28 [[ 0.98999813 -0.09861533 -0.10088964 2.94875134] [ 0.09776903 0.99512011 -0.01331094 0.13522535] [ 0.10170997 0.00331392 0.99480857 0.28048723] [ 0. 0. 0. 1. ]] SLAMing on 2.716875 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:2.98, Y:0.14, Z:0.28 [[ 0.98997055 -0.09889299 -0.10088847 2.97693775] [ 0.09804723 0.99509262 -0.01331979 0.13902902] [ 0.1017106 0.00329437 0.99480857 0.28339317] [ 0. 0. 0. 1. ]] SLAMing on 2.746875 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:3.00, Y:0.14, Z:0.28 [[ 0.98980186 -0.10057114 -0.10088472 3.00489381] [ 0.09973118 0.99492488 -0.01334814 0.1425299 ] [ 0.10171515 0.00315066 0.99480857 0.28378326] [ 0. 0. 0. 1. ]] SLAMing on 2.776875 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:3.03, Y:0.15, Z:0.28 [[ 9.89086394e-01 -1.07380695e-01 -1.00883557e-01 3.03391665e+00] [ 1.06575117e-01 9.94214935e-01 -1.33569126e-02 1.45824800e-01] [ 1.01734213e-01 2.45946372e-03 9.94808575e-01 2.84375818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8068750000000002 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:3.06, Y:0.15, Z:0.29 [[ 9.87850929e-01 -1.18210463e-01 -1.00880266e-01 3.06130306e+00] [ 1.17458587e-01 9.92987618e-01 -1.33817211e-02 1.48512107e-01] [ 1.01754714e-01 1.36989216e-03 9.94808575e-01 2.86910346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.836875 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:3.09, Y:0.15, Z:0.29 [[ 9.86259595e-01 -1.30827977e-01 -1.00876421e-01 3.08930488e+00] [ 1.30138864e-01 9.91405079e-01 -1.34106413e-02 1.51751795e-01] [ 1.01763883e-01 9.84307408e-05 9.94808576e-01 2.89948729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8668750000000003 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:3.12, Y:0.16, Z:0.29 [[ 9.84842822e-01 -1.41098556e-01 -1.00875233e-01 3.11625133e+00] [ 1.40462186e-01 9.89995096e-01 -1.34195730e-02 1.55936453e-01] [ 1.01759468e-01 -9.52985585e-04 9.94808576e-01 2.93456019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.896875 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:3.14, Y:0.17, Z:0.30 [[ 9.83610623e-01 -1.49447950e-01 -1.00873450e-01 3.13952224e+00] [ 1.48853937e-01 9.88767951e-01 -1.34329632e-02 1.66452393e-01] [ 1.01747963e-01 -1.80260487e-03 9.94808576e-01 2.99419617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.926875 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:3.17, Y:0.17, Z:0.31 [[ 9.84799768e-01 -1.41530482e-01 -1.00690318e-01 3.17254299e+00] [ 1.40754965e-01 9.89933816e-01 -1.48013508e-02 1.71517474e-01] [ 1.01771593e-01 4.03704599e-04 9.94807710e-01 3.09381134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.956875 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:3.20, Y:0.18, Z:0.31 [[ 9.86395359e-01 -1.29804728e-01 -1.00870853e-01 3.19940168e+00] [ 1.29106467e-01 9.91539547e-01 -1.34479011e-02 1.83865477e-01] [ 1.01763041e-01 2.41867736e-04 9.94808637e-01 3.13971197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.986875 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:3.23, Y:0.19, Z:0.32 [[ 9.87215802e-01 -1.23413057e-01 -1.00867130e-01 3.22651820e+00] [ 1.22678644e-01 9.92354954e-01 -1.34757698e-02 1.91917430e-01] [ 1.01759082e-01 9.29250243e-04 9.94808638e-01 3.16354982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.016875 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:3.25, Y:0.21, Z:0.32 [[ 9.89595750e-01 -1.02600362e-01 -1.00863358e-01 3.25351870e+00] [ 1.01755041e-01 9.94717827e-01 -1.35039401e-02 2.08238611e-01] [ 1.01716090e-01 3.10008659e-03 9.94808638e-01 3.18129062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.046875 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:3.28, Y:0.22, Z:0.32 [[ 0.99009708 -0.09764749 -0.10086004 3.28076499] [ 0.09677403 0.99521443 -0.01352869 0.21545145] [ 0.10169841 0.00363409 0.99480864 0.32126911] [ 0. 0. 0. 1. ]] SLAMing on 3.0768750000000002 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:3.31, Y:0.22, Z:0.32 [[ 0.99068787 -0.09146346 -0.1008562 3.30810781] [ 0.09055516 0.99579916 -0.01355728 0.22433782] [ 0.10167251 0.00429798 0.99480864 0.32394511] [ 0. 0. 0. 1. ]] SLAMing on 3.106875 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:3.34, Y:0.23, Z:0.32 [[ 0.99084968 -0.08969737 -0.10085285 3.33726981] [ 0.08877744 0.99595888 -0.01358211 0.22961163] [ 0.10166357 0.00450438 0.99480864 0.32108676] [ 0. 0. 0. 1. ]] SLAMing on 3.1368750000000003 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:3.37, Y:0.23, Z:0.32 [[ 0.99086394 -0.08954351 -0.10084943 3.3658296 ] [ 0.08862021 0.99597254 -0.01360746 0.23017964] [ 0.10166172 0.00454585 0.99480864 0.31947009] [ 0. 0. 0. 1. ]] SLAMing on 3.166875 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:3.40, Y:0.23, Z:0.32 [[ 0.99065295 -0.09184976 -0.10084822 3.39551602] [ 0.09093745 0.99576351 -0.01361643 0.22966496] [ 0.10167164 0.00431828 0.99480864 0.31903682] [ 0. 0. 0. 1. ]] SLAMing on 3.196875 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:3.42, Y:0.23, Z:0.32 [[ 0.9901508 -0.09711704 -0.10084479 3.42346562] [ 0.09622933 0.9952657 -0.01364179 0.22558054] [ 0.10169221 0.0038032 0.99480864 0.32020827] [ 0. 0. 0. 1. ]] SLAMing on 3.226875 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:3.45, Y:0.22, Z:0.32 [[ 9.89666384e-01 -1.01937797e-01 -1.00842125e-01 3.45182714e+00] [ 1.01073012e-01 9.94785208e-01 -1.36614604e-02 2.20778720e-01] [ 1.01708873e-01 3.32787085e-03 9.94808640e-01 3.24741024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.256875 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:3.48, Y:0.22, Z:0.33 [[ 9.89436006e-01 -1.04153893e-01 -1.00838265e-01 3.47926004e+00] [ 1.03297679e-01 9.94556271e-01 -1.36898876e-02 2.19315359e-01] [ 1.01715184e-01 3.12890900e-03 9.94808641e-01 3.29024474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.286875 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:3.51, Y:0.21, Z:0.33 [[ 9.88994901e-01 -1.08263877e-01 -1.00836593e-01 3.50785543e+00] [ 1.07427690e-01 9.94118474e-01 -1.37021941e-02 2.14395180e-01] [ 1.01726973e-01 2.71875779e-03 9.94808641e-01 3.32895686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.316875 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:3.54, Y:0.21, Z:0.33 [[ 9.88860539e-01 -1.09487833e-01 -1.00832781e-01 3.53691858e+00] [ 1.08655135e-01 9.93984680e-01 -1.37301868e-02 2.12170261e-01] [ 1.01729528e-01 2.62124041e-03 9.94808641e-01 3.34205801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3468750000000003 meters Centerline goodness : 0.997251 Centerline is valid? [True, True] Translation: X:3.57, Y:0.21, Z:0.34 [[ 9.89090560e-01 -1.07393580e-01 -1.00828983e-01 3.56520857e+00] [ 1.06547198e-01 9.94212458e-01 -1.37580249e-02 2.09741375e-01] [ 1.01722954e-01 2.86488698e-03 9.94808641e-01 3.35361931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.376875 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:3.59, Y:0.21, Z:0.34 [[ 9.89819291e-01 -1.00456578e-01 -1.00827808e-01 3.59334404e+00] [ 9.95734325e-02 9.94934978e-01 -1.37666317e-02 2.07660798e-01] [ 1.01700061e-01 3.58670669e-03 9.94808641e-01 3.39893858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.406875 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:3.62, Y:0.21, Z:0.34 [[ 0.99048653 -0.0936534 -0.100824 3.62083704] [ 0.0927323 0.99559552 -0.01379445 0.20772534] [ 0.10167182 0.00431358 0.99480864 0.34484631] [ 0. 0. 0. 1. ]] SLAMing on 3.436875 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:3.65, Y:0.21, Z:0.35 [[ 0.9908761 -0.08944191 -0.10082015 3.6490946 ] [ 0.08849625 0.9959806 -0.01382252 0.20879062] [ 0.10165123 0.0047742 0.99480864 0.34874697] [ 0. 0. 0. 1. ]] SLAMing on 3.466875 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:3.68, Y:0.21, Z:0.35 [[ 0.99086585 -0.08955979 -0.10081623 3.67654987] [ 0.08861183 0.99596992 -0.01385109 0.2087561 ] [ 0.10165043 0.00479106 0.99480864 0.35348168] [ 0. 0. 0. 1. ]] SLAMing on 3.496875 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:3.70, Y:0.21, Z:0.36 [[ 0.99048389 -0.09369092 -0.10081501 3.70467512] [ 0.09276336 0.99559171 -0.01385994 0.20776779] [ 0.10166914 0.00437611 0.99480864 0.36037153] [ 0. 0. 0. 1. ]] SLAMing on 3.526875 meters Centerline goodness : 0.997279 Centerline is valid? [True, True] Translation: X:3.73, Y:0.21, Z:0.36 [[ 9.89784170e-01 -1.00816044e-01 -1.00813803e-01 3.73376750e+00] [ 9.99243703e-02 9.94898376e-01 -1.38687230e-02 2.08406313e-01] [ 1.01697679e-01 3.65328664e-03 9.94808643e-01 3.60457013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5568750000000002 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:3.76, Y:0.21, Z:0.36 [[ 9.89153902e-01 -1.06826078e-01 -1.00810449e-01 3.76341340e+00] [ 1.05963006e-01 9.94273013e-01 -1.38930647e-02 2.09327918e-01] [ 1.01717250e-01 3.06020102e-03 9.94808643e-01 3.59745474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.586875 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:3.79, Y:0.21, Z:0.36 [[ 9.88915821e-01 -1.09011196e-01 -1.00807034e-01 3.79105421e+00] [ 1.08156917e-01 9.94036406e-01 -1.39177946e-02 2.09819936e-01] [ 1.01723058e-01 2.86054923e-03 9.94808643e-01 3.63719499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.616875 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:3.82, Y:0.21, Z:0.37 [[ 9.89021651e-01 -1.08050479e-01 -1.00803116e-01 3.81916895e+00] [ 1.07188342e-01 9.94140918e-01 -1.39461152e-02 2.11907199e-01] [ 1.01719387e-01 2.98809099e-03 9.94808644e-01 3.66279701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.646875 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:3.85, Y:0.21, Z:0.37 [[ 9.89351909e-01 -1.04987295e-01 -1.00799146e-01 3.84608104e+00] [ 1.04106394e-01 9.94467981e-01 -1.39747545e-02 2.14035635e-01] [ 1.01708695e-01 3.33211449e-03 9.94808644e-01 3.66776709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.676875 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:3.88, Y:0.21, Z:0.37 [[ 9.89701021e-01 -1.01645303e-01 -1.00797425e-01 3.87540358e+00] [ 1.00745867e-01 9.94813867e-01 -1.39871548e-02 2.14317441e-01] [ 1.01696405e-01 3.68817739e-03 9.94808644e-01 3.67479201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.706875 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:3.90, Y:0.21, Z:0.37 [[ 0.98999823 -0.09871213 -0.10079397 3.90345398] [ 0.09779502 0.99510793 -0.01401199 0.21400834] [ 0.10168404 0.00401469 0.99480864 0.36795858] [ 0. 0. 0. 1. ]] SLAMing on 3.736875 meters Centerline goodness : 0.996597 Centerline is valid? [True, True] Translation: X:3.93, Y:0.22, Z:0.37 [[ 0.99021965 -0.09646688 -0.10079275 3.93046503] [ 0.09553729 0.9953271 -0.01402078 0.21519133] [ 0.1016743 0.00425418 0.99480864 0.36882504] [ 0. 0. 0. 1. ]] SLAMing on 3.766875 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:3.96, Y:0.22, Z:0.37 [[ 0.99059714 -0.09251202 -0.10079107 3.95873209] [ 0.09156082 0.99570061 -0.01403285 0.21623242] [ 0.10165594 0.00467239 0.99480864 0.37167378] [ 0. 0. 0. 1. ]] SLAMing on 3.796875 meters Centerline goodness : 0.996892 Centerline is valid? [True, True] Translation: X:3.99, Y:0.22, Z:0.38 [[ 0.99116777 -0.08618816 -0.1007872 3.98605035] [ 0.0852016 0.99626452 -0.01406058 0.21749906] [ 0.10162257 0.00534916 0.99480865 0.37687128] [ 0. 0. 0. 1. ]] SLAMing on 3.8268750000000002 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:4.01, Y:0.22, Z:0.38 [[ 0.99172245 -0.07955699 -0.10078326 4.01402166] [ 0.07853351 0.99681192 -0.01408879 0.2208864 ] [ 0.10158281 0.00605731 0.99480865 0.38079294] [ 0. 0. 0. 1. ]] SLAMing on 3.856875 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:4.04, Y:0.22, Z:0.38 [[ 0.99186798 -0.07772693 -0.10077918 4.04180827] [ 0.07669111 0.99695494 -0.01411786 0.22498551] [ 0.10156964 0.00627419 0.99480865 0.38260004] [ 0. 0. 0. 1. ]] SLAMing on 3.886875 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:4.07, Y:0.23, Z:0.39 [[ 0.99164503 -0.08052647 -0.10077507 4.068795 ] [ 0.07950205 0.99673431 -0.01414715 0.22809783] [ 0.10158519 0.00601712 0.99480865 0.3873443 ] [ 0. 0. 0. 1. ]] SLAMing on 3.916875 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:4.10, Y:0.23, Z:0.39 [[ 0.99104957 -0.08755216 -0.1007738 4.09691425] [ 0.08656292 0.9961458 -0.01415621 0.2296747 ] [ 0.10162481 0.00530623 0.99480865 0.39351023] [ 0. 0. 0. 1. ]] SLAMing on 3.946875 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:4.12, Y:0.23, Z:0.40 [[ 0.99012447 -0.09746268 -0.10076981 4.12379251] [ 0.09652159 0.99522981 -0.01418455 0.23100742] [ 0.10167158 0.00431801 0.99480865 0.39870154] [ 0. 0. 0. 1. ]] SLAMing on 3.976875 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:4.15, Y:0.23, Z:0.40 [[ 9.89104586e-01 -1.07321522e-01 -1.00768094e-01 4.15172672e+00] [ 1.06430100e-01 9.94218832e-01 -1.41967391e-02 2.33413955e-01] [ 1.01709153e-01 3.31730138e-03 9.94808647e-01 4.01132286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.006875 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:4.18, Y:0.24, Z:0.40 [[ 9.88172094e-01 -1.15596192e-01 -1.00764241e-01 4.17978200e+00] [ 1.14744824e-01 9.93293160e-01 -1.42240355e-02 2.35203835e-01] [ 1.01732676e-01 2.49361988e-03 9.94808647e-01 4.01597048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.036874999999999 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:4.21, Y:0.23, Z:0.40 [[ 9.87710767e-01 -1.19477254e-01 -1.00760246e-01 4.20843984e+00] [ 1.18643129e-01 9.92834669e-01 -1.42522825e-02 2.34656631e-01] [ 1.01741089e-01 2.12262205e-03 9.94808648e-01 4.00776239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.066875 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:4.24, Y:0.23, Z:0.40 [[ 9.88048110e-01 -1.16655708e-01 -1.00759008e-01 4.23707061e+00] [ 1.15806061e-01 9.93169462e-01 -1.42610265e-02 2.33695393e-01] [ 1.01734400e-01 2.42207652e-03 9.94808648e-01 4.00119349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.096875 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:4.27, Y:0.24, Z:0.40 [[ 9.88936950e-01 -1.08864939e-01 -1.00757795e-01 4.26554687e+00] [ 1.07974084e-01 9.94051294e-01 -1.42695905e-02 2.36141239e-01] [ 1.01711875e-01 3.23249474e-03 9.94808648e-01 3.99877062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.126874999999999 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:4.29, Y:0.24, Z:0.40 [[ 0.99023115 -0.09638943 -0.10075391 4.29327121] [ 0.09543139 0.99533333 -0.01429697 0.24016021] [ 0.1016618 0.00454222 0.99480865 0.40246311] [ 0. 0. 0. 1. ]] SLAMing on 4.156874999999999 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:4.32, Y:0.25, Z:0.40 [[ 0.99058982 -0.09263496 -0.10075002 4.31716055] [ 0.09165481 0.99568781 -0.01432434 0.24710521] [ 0.1016425 0.00495532 0.99480865 0.40342309] [ 0. 0. 0. 1. ]] SLAMing on 4.186875 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:4.35, Y:0.25, Z:0.41 [[ 0.99211433 -0.07477252 -0.10058938 4.34929756] [ 0.07358704 0.99716912 -0.01544977 0.24929726] [ 0.10145985 0.00792586 0.99480806 0.40835897] [ 0. 0. 0. 1. ]] SLAMing on 4.216875 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:4.38, Y:0.25, Z:0.41 [[ 0.99235212 -0.07132748 -0.10074556 4.3766301 ] [ 0.07023501 0.99742719 -0.01435405 0.25282354] [ 0.1015102 0.00716841 0.99480867 0.41175982] [ 0. 0. 0. 1. ]] SLAMing on 4.246874999999999 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:4.40, Y:0.26, Z:0.42 [[ 0.99228181 -0.07230062 -0.10074434 4.40398486] [ 0.07121226 0.99735777 -0.01436264 0.25634843] [ 0.10151658 0.00707755 0.99480867 0.41512639] [ 0. 0. 0. 1. ]] SLAMing on 4.2768749999999995 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:4.43, Y:0.25, Z:0.42 [[ 0.99158982 -0.08124655 -0.10074039 4.43128262] [ 0.08020122 0.99667481 -0.01439026 0.25373013] [ 0.10157457 0.00618973 0.99480867 0.42015639] [ 0. 0. 0. 1. ]] SLAMing on 4.306875 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:4.46, Y:0.25, Z:0.42 [[ 0.9908145 -0.09021279 -0.10073869 4.4596339 ] [ 0.08921229 0.9959085 -0.01440221 0.25145716] [ 0.10162578 0.00528279 0.99480867 0.42380231] [ 0. 0. 0. 1. ]] SLAMing on 4.336875 meters Centerline goodness : 0.997411 Centerline is valid? [True, True] Translation: X:4.49, Y:0.25, Z:0.43 [[ 0.99016632 -0.09707307 -0.10073468 4.48870815] [ 0.09610502 0.99526659 -0.01443019 0.24904727] [ 0.10165864 0.00460717 0.99480867 0.42582336] [ 0. 0. 0. 1. ]] SLAMing on 4.366874999999999 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:4.52, Y:0.25, Z:0.43 [[ 9.89899846e-01 -9.97578397e-02 -1.00730675e-01 4.51650478e+00] [ 9.88008009e-02 9.95002194e-01 -1.44580759e-02 2.49626979e-01] [ 1.01669549e-01 4.35977575e-03 9.94808673e-01 4.29799003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.396875 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:4.54, Y:0.25, Z:0.44 [[ 9.89665317e-01 -1.02062252e-01 -1.00726643e-01 4.54402671e+00] [ 1.01114246e-01 9.94769351e-01 -1.44861131e-02 2.46186581e-01] [ 1.01678263e-01 4.15150516e-03 9.94808673e-01 4.35412731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.426875 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:4.57, Y:0.24, Z:0.44 [[ 9.89715644e-01 -1.01574804e-01 -1.00724893e-01 4.57273918e+00] [ 1.00623049e-01 9.94818980e-01 -1.44982709e-02 2.43821543e-01] [ 1.01675694e-01 4.21391963e-03 9.94808673e-01 4.38900868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.456874999999999 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:4.60, Y:0.24, Z:0.44 [[ 0.99044731 -0.09417727 -0.10072121 4.60149171] [ 0.09318482 0.99554289 -0.01452382 0.24258155] [ 0.1016401 0.00499939 0.99480867 0.43924659] [ 0. 0. 0. 1. ]] SLAMing on 4.4868749999999995 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:4.63, Y:0.24, Z:0.44 [[ 0.99090644 -0.08922124 -0.10071746 4.62939905] [ 0.08820068 0.99599646 -0.01454979 0.24371536] [ 0.10161238 0.00553414 0.99480867 0.44104593] [ 0. 0. 0. 1. ]] SLAMing on 4.516875 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:4.66, Y:0.25, Z:0.44 [[ 0.99105683 -0.08753955 -0.10071336 4.65709497] [ 0.08650749 0.99614453 -0.01457807 0.24629349] [ 0.10160122 0.00573523 0.99480867 0.44381343] [ 0. 0. 0. 1. ]] SLAMing on 4.546875 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:4.68, Y:0.25, Z:0.44 [[ 0.9906484 -0.09205095 -0.10070929 4.68457711] [ 0.09103922 0.99574019 -0.01460617 0.24509465] [ 0.1016248 0.00530108 0.99480867 0.44394724] [ 0. 0. 0. 1. ]] SLAMing on 4.576874999999999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:4.71, Y:0.24, Z:0.45 [[ 9.89925092e-01 -9.95304432e-02 -1.00707518e-01 4.71256378e+00] [ 9.85559555e-02 9.95024134e-01 -1.46183699e-02 2.44044636e-01] [ 1.01661383e-01 4.54576556e-03 9.94808675e-01 4.47747353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.606875 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:4.74, Y:0.25, Z:0.45 [[ 9.89408160e-01 -1.04548161e-01 -1.00703401e-01 4.73935184e+00] [ 1.03596662e-01 9.94511542e-01 -1.46466764e-02 2.45622441e-01] [ 1.01681977e-01 4.05900499e-03 9.94808675e-01 4.51299224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.636875 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:4.77, Y:0.25, Z:0.45 [[ 9.89379419e-01 -1.04821503e-01 -1.00701627e-01 4.76752106e+00] [ 1.03870176e-01 9.94482833e-01 -1.46588583e-02 2.49830688e-01] [ 1.01682603e-01 4.04327705e-03 9.94808675e-01 4.54206142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.666874999999999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:4.80, Y:0.25, Z:0.47 [[ 9.87935751e-01 -1.17656072e-01 -1.00697567e-01 4.79621029e+00] [ 1.16768238e-01 9.93050593e-01 -1.46866967e-02 2.48269300e-01] [ 1.01725758e-01 2.75123519e-03 9.94808676e-01 4.65049845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6968749999999995 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:4.82, Y:0.25, Z:0.47 [[ 9.87703271e-01 -1.19595021e-01 -1.00693989e-01 4.82354932e+00] [ 1.18714734e-01 9.92819416e-01 -1.47111867e-02 2.51044312e-01] [ 1.01730332e-01 2.57642713e-03 9.94808676e-01 4.70308775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.726875 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:4.85, Y:0.25, Z:0.48 [[ 9.87791049e-01 -1.18871340e-01 -1.00689860e-01 4.85160038e+00] [ 1.17984431e-01 9.92906050e-01 -1.47393934e-02 2.53712867e-01] [ 1.01727663e-01 2.67960498e-03 9.94808676e-01 4.75220758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.756875 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:4.88, Y:0.26, Z:0.48 [[ 9.88551952e-01 -1.12371780e-01 -1.00685755e-01 4.87917211e+00] [ 1.11448400e-01 9.93660495e-01 -1.47673822e-02 2.59527948e-01] [ 1.01706894e-01 3.37705817e-03 9.94808677e-01 4.76212479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.786874999999999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:4.91, Y:0.27, Z:0.48 [[ 9.89377488e-01 -1.04858907e-01 -1.00681661e-01 4.90621505e+00] [ 1.03893915e-01 9.94478333e-01 -1.47952430e-02 2.66097646e-01] [ 1.01677143e-01 4.17786835e-03 9.94808677e-01 4.76768468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.816875 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:4.93, Y:0.27, Z:0.48 [[ 9.90021379e-01 -9.85957786e-02 -1.00680389e-01 4.93468799e+00] [ 9.75976493e-02 9.95115844e-01 -1.48038968e-02 2.72499116e-01] [ 1.01648252e-01 4.83000502e-03 9.94808677e-01 4.75819234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.846875 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:4.96, Y:0.28, Z:0.48 [[ 0.9904221 -0.09448948 -0.10067677 4.96262018] [ 0.09346774 0.99551188 -0.01482849 0.27904431] [ 0.10162605 0.00527644 0.99480868 0.47573202] [ 0. 0. 0. 1. ]] SLAMing on 4.876874999999999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:4.99, Y:0.29, Z:0.48 [[ 0.99052837 -0.09337326 -0.10067262 4.99015818] [ 0.09234293 0.99561642 -0.0148566 0.28578129] [ 0.10161852 0.00541948 0.99480868 0.47730049] [ 0. 0. 0. 1. ]] SLAMing on 4.906874999999999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:5.02, Y:0.29, Z:0.48 [[ 0.99032027 -0.09555954 -0.10066849 5.0187848 ] [ 0.09453762 0.99541001 -0.01488452 0.29277106] [ 0.10162878 0.00522348 0.99480868 0.47800689] [ 0. 0. 0. 1. ]] SLAMing on 4.936875 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:5.05, Y:0.30, Z:0.48 [[ 9.90099081e-01 -9.78283568e-02 -1.00664898e-01 5.04676200e+00] [ 9.68156413e-02 9.95190665e-01 -1.49087717e-02 2.99385478e-01] [ 1.01639268e-01 5.01522453e-03 9.94808678e-01 4.78276476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.966875 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:5.07, Y:0.31, Z:0.48 [[ 9.89862646e-01 -1.00196009e-01 -1.00661319e-01 5.07324765e+00] [ 9.91930250e-02 9.94956156e-01 -1.49328982e-02 3.06017285e-01] [ 1.01649816e-01 4.79661736e-03 9.94808679e-01 4.81097757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.996874999999999 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:5.10, Y:0.31, Z:0.48 [[ 9.89722627e-01 -1.01572532e-01 -1.00658542e-01 5.10008144e+00] [ 1.00574736e-01 9.94817155e-01 -1.49515939e-02 3.13008294e-01] [ 1.01655516e-01 4.67422448e-03 9.94808679e-01 4.83766712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0268749999999995 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:5.13, Y:0.32, Z:0.49 [[ 9.89721775e-01 -1.01584895e-01 -1.00654442e-01 5.12745296e+00] [ 1.00584366e-01 9.94815767e-01 -1.49791441e-02 3.19160399e-01] [ 1.01654281e-01 4.70092181e-03 9.94808679e-01 4.87790613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.056875 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:5.16, Y:0.33, Z:0.49 [[ 9.89758956e-01 -1.01223257e-01 -1.00653172e-01 5.15526118e+00] [ 1.00220001e-01 9.94852412e-01 -1.49876772e-02 3.25054802e-01] [ 1.01652152e-01 4.74672672e-03 9.94808679e-01 4.93784369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.086874999999999 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:5.18, Y:0.33, Z:0.50 [[ 9.89669275e-01 -1.02099889e-01 -1.00649582e-01 5.18246517e+00] [ 1.01098703e-01 9.94763138e-01 -1.50117434e-02 3.30421752e-01] [ 1.01655192e-01 4.68111896e-03 9.94808680e-01 4.97875846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.116874999999999 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:5.21, Y:0.34, Z:0.50 [[ 9.89440410e-01 -1.04298458e-01 -1.00645446e-01 5.20947326e+00] [ 1.03305782e-01 9.94535938e-01 -1.50394219e-02 3.36178230e-01] [ 1.01664102e-01 4.48335523e-03 9.94808680e-01 5.00443184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.146875 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:5.24, Y:0.34, Z:0.50 [[ 9.89146346e-01 -1.07055252e-01 -1.00641336e-01 5.23655347e+00] [ 1.06073991e-01 9.94244084e-01 -1.50668746e-02 3.41657537e-01] [ 1.01675041e-01 4.22791573e-03 9.94808680e-01 5.02341303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.176875 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:5.26, Y:0.35, Z:0.50 [[ 9.88697121e-01 -1.11131285e-01 -1.00637171e-01 5.26455211e+00] [ 1.10168221e-01 9.93798327e-01 -1.50946433e-02 3.46218819e-01] [ 1.01690540e-01 3.83701223e-03 9.94808681e-01 5.03108716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.206874999999999 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:5.29, Y:0.35, Z:0.51 [[ 9.88328386e-01 -1.14365294e-01 -1.00635886e-01 5.29251971e+00] [ 1.13418053e-01 9.93432553e-01 -1.51032115e-02 3.50444805e-01] [ 1.01702248e-01 3.51300640e-03 9.94808681e-01 5.07079521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2368749999999995 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:5.32, Y:0.36, Z:0.51 [[ 9.88325330e-01 -1.14395296e-01 -1.00631795e-01 5.32058204e+00] [ 1.13445444e-01 9.93429012e-01 -1.51304148e-02 3.56166690e-01] [ 1.01701393e-01 3.53755352e-03 9.94808681e-01 5.12425463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.266875 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:5.35, Y:0.36, Z:0.51 [[ 9.88488227e-01 -1.12982273e-01 -1.00628178e-01 5.34811199e+00] [ 1.12022683e-01 9.93590087e-01 -1.51544344e-02 3.62983835e-01] [ 1.01695343e-01 3.70734140e-03 9.94808682e-01 5.14112072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.296874999999999 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:5.38, Y:0.37, Z:0.52 [[ 9.88549528e-01 -1.12448362e-01 -1.00624041e-01 5.37589838e+00] [ 1.11483229e-01 9.93650341e-01 -1.51818563e-02 3.67844377e-01] [ 1.01692287e-01 3.79012384e-03 9.94808682e-01 5.16220343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.326874999999999 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:5.40, Y:0.38, Z:0.52 [[ 9.88721699e-01 -1.10928052e-01 -1.00619928e-01 5.40331517e+00] [ 1.09952312e-01 9.93820494e-01 -1.52090657e-02 3.75161474e-01] [ 1.01685259e-01 3.97413958e-03 9.94808682e-01 5.18151521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.356875 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:5.43, Y:0.38, Z:0.52 [[ 9.88807126e-01 -1.10167733e-01 -1.00615796e-01 5.42986944e+00] [ 1.09185300e-01 9.93904635e-01 -1.52363505e-02 3.80447534e-01] [ 1.01681061e-01 4.08004609e-03 9.94808683e-01 5.19690435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.386875 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:5.46, Y:0.39, Z:0.52 [[ 9.89028034e-01 -1.08168244e-01 -1.00614005e-01 5.45824474e+00] [ 1.07174307e-01 9.94123313e-01 -1.52481707e-02 3.86964674e-01] [ 1.01672096e-01 4.29763213e-03 9.94808683e-01 5.20499458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.416874999999999 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:5.49, Y:0.39, Z:0.52 [[ 9.89324692e-01 -1.05423866e-01 -1.00610447e-01 5.48654316e+00] [ 1.04413416e-01 9.94416722e-01 -1.52716139e-02 3.91052095e-01] [ 1.01658703e-01 4.60350429e-03 9.94808683e-01 5.22601224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4468749999999995 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:5.51, Y:0.40, Z:0.52 [[ 9.89488769e-01 -1.03876049e-01 -1.00606873e-01 5.51476906e+00] [ 1.02855250e-01 9.94578733e-01 -1.52951206e-02 3.95244763e-01] [ 1.01650253e-01 4.78640498e-03 9.94808683e-01 5.24739867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.476875 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:5.54, Y:0.40, Z:0.53 [[ 9.89546404e-01 -1.03328816e-01 -1.00603532e-01 5.54270574e+00] [ 1.02302976e-01 9.94635355e-01 -1.53170664e-02 4.00513729e-01] [ 1.01646524e-01 4.86490726e-03 9.94808684e-01 5.27083949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.506875 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:5.57, Y:0.40, Z:0.53 [[ 9.89306320e-01 -1.05606206e-01 -1.00599875e-01 5.57105934e+00] [ 1.04589650e-01 9.94397133e-01 -1.53410430e-02 4.03302059e-01] [ 1.01656337e-01 4.65528508e-03 9.94808684e-01 5.32486516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.536874999999999 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:5.60, Y:0.41, Z:0.54 [[ 9.88993408e-01 -1.08500841e-01 -1.00596253e-01 5.59922015e+00] [ 1.07496779e-01 9.94086700e-01 -1.53647578e-02 4.06310296e-01] [ 1.01668487e-01 4.38187103e-03 9.94808684e-01 5.37001199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.566875 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:5.63, Y:0.41, Z:0.54 [[ 9.88849682e-01 -1.09806782e-01 -1.00592132e-01 5.62639371e+00] [ 1.08806711e-01 9.93943759e-01 -1.53916956e-02 4.10507252e-01] [ 1.01673034e-01 4.27497431e-03 9.94808685e-01 5.40695526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.596875 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:5.65, Y:0.41, Z:0.54 [[ 9.88887918e-01 -1.09465698e-01 -1.00588006e-01 5.65393191e+00] [ 1.08461138e-01 9.93981111e-01 -1.54186106e-02 4.14940718e-01] [ 1.01670387e-01 4.33738818e-03 9.94808685e-01 5.44083517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.626874999999999 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:5.68, Y:0.42, Z:0.55 [[ 9.89212188e-01 -1.06499496e-01 -1.00583823e-01 5.68018685e+00] [ 1.05476901e-01 9.94301790e-01 -1.54458517e-02 4.19235722e-01] [ 1.01655650e-01 4.66995479e-03 9.94808685e-01 5.46491832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.656874999999999 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:5.71, Y:0.42, Z:0.55 [[ 9.89614004e-01 -1.02701448e-01 -1.00580987e-01 5.70822143e+00] [ 1.01657454e-01 9.94699260e-01 -1.54642963e-02 4.24982837e-01] [ 1.01636039e-01 5.07887711e-03 9.94808685e-01 5.46811699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.686875 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:5.74, Y:0.43, Z:0.55 [[ 9.89949686e-01 -9.94173761e-02 -1.00577355e-01 5.73618219e+00] [ 9.83541259e-02 9.95030950e-01 -1.54878809e-02 4.30485730e-01] [ 1.01617346e-01 5.44002497e-03 9.94808686e-01 5.45828849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.716875 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:5.76, Y:0.43, Z:0.55 [[ 9.90060715e-01 -9.83068455e-02 -1.00576064e-01 5.76475108e+00] [ 9.72370472e-02 9.95140604e-01 -1.54962629e-02 4.33932326e-01] [ 1.01610714e-01 5.56252163e-03 9.94808686e-01 5.49520812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.746874999999999 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:5.79, Y:0.44, Z:0.56 [[ 9.89923926e-01 -9.96786173e-02 -1.00572336e-01 5.79246187e+00] [ 9.86134118e-02 9.95004780e-01 -1.55204204e-02 4.36557892e-01] [ 1.01617009e-01 5.44625435e-03 9.94808686e-01 5.55087533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7768749999999995 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:5.82, Y:0.44, Z:0.56 [[ 9.89577453e-01 -1.03063418e-01 -1.00570355e-01 5.82068834e+00] [ 1.02014295e-01 9.94661652e-01 -1.55332430e-02 4.39180445e-01] [ 1.01634385e-01 5.11173318e-03 9.94808686e-01 5.59775185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.806875 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:5.85, Y:0.44, Z:0.57 [[ 9.89085498e-01 -1.07685757e-01 -1.00566670e-01 5.84894308e+00] [ 1.06657982e-01 9.94174055e-01 -1.55570678e-02 4.40870782e-01] [ 1.01656049e-01 4.66103213e-03 9.94808686e-01 5.66199874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.836874999999999 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:5.88, Y:0.44, Z:0.57 [[ 9.88556907e-01 -1.12438179e-01 -1.00562898e-01 5.87763136e+00] [ 1.11432400e-01 9.93649858e-01 -1.55814083e-02 4.41913167e-01] [ 1.01676255e-01 4.19714360e-03 9.94808687e-01 5.72608946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.866874999999999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:5.91, Y:0.44, Z:0.58 [[ 9.87834075e-01 -1.18624277e-01 -1.00559038e-01 5.90585935e+00] [ 1.17647871e-01 9.92932738e-01 -1.56062816e-02 4.42843617e-01] [ 1.01699645e-01 3.58585998e-03 9.94808687e-01 5.75263819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.896875 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:5.93, Y:0.44, Z:0.58 [[ 9.87133679e-01 -1.24319168e-01 -1.00557671e-01 5.93417286e+00] [ 1.23371286e-01 9.92237721e-01 -1.56150895e-02 4.43394339e-01] [ 1.01718369e-01 3.00825161e-03 9.94808687e-01 5.78939918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.926875 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:5.96, Y:0.44, Z:0.58 [[ 9.86623520e-01 -1.28308352e-01 -1.00553454e-01 5.96206426e+00] [ 1.27378348e-01 9.91730850e-01 -1.56421956e-02 4.44059688e-01] [ 1.01728987e-01 2.62462524e-03 9.94808687e-01 5.83357629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.956874999999999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:5.99, Y:0.45, Z:0.59 [[ 9.86475619e-01 -1.29443885e-01 -1.00549163e-01 5.98904588e+00] [ 1.28516956e-01 9.91583507e-01 -1.56697302e-02 4.45805029e-01] [ 1.01731242e-01 2.53553446e-03 9.94808688e-01 5.87144629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9868749999999995 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:6.02, Y:0.45, Z:0.59 [[ 9.86839674e-01 -1.26640039e-01 -1.00547299e-01 6.01697951e+00] [ 1.25697381e-01 9.91944683e-01 -1.56816797e-02 4.50823423e-01] [ 1.01723287e-01 2.83677153e-03 9.94808688e-01 5.88424752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.016875 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:6.05, Y:0.46, Z:0.59 [[ 9.87549500e-01 -1.20983824e-01 -1.00543021e-01 6.04525294e+00] [ 1.20009148e-01 9.92648493e-01 -1.57090636e-02 4.56731757e-01] [ 1.01704421e-01 3.44739563e-03 9.94808688e-01 5.86848786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.046874999999999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:6.07, Y:0.46, Z:0.59 [[ 9.88288596e-01 -1.14793297e-01 -1.00539300e-01 6.07285626e+00] [ 1.13784274e-01 9.93380902e-01 -1.57328411e-02 4.62966077e-01] [ 1.01679845e-01 4.10879623e-03 9.94808689e-01 5.87092681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.076874999999999 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:6.10, Y:0.47, Z:0.59 [[ 9.88710125e-01 -1.11105982e-01 -1.00537308e-01 6.09996728e+00] [ 1.10076680e-01 9.93798371e-01 -1.57455609e-02 4.68960155e-01] [ 1.01663239e-01 4.50098247e-03 9.94808689e-01 5.90930869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.106875 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:6.13, Y:0.47, Z:0.60 [[ 9.88969569e-01 -1.08776364e-01 -1.00533053e-01 6.12643476e+00] [ 1.07732326e-01 9.94054812e-01 -1.57726836e-02 4.74684341e-01] [ 1.01651060e-01 4.76804446e-03 9.94808689e-01 5.96303841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.136875 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:6.15, Y:0.48, Z:0.60 [[ 9.88974102e-01 -1.08736353e-01 -1.00531737e-01 6.15453370e+00] [ 1.07691259e-01 9.94059128e-01 -1.57810659e-02 4.81097871e-01] [ 1.01650466e-01 4.78067619e-03 9.94808689e-01 6.02064998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.166874999999999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:6.18, Y:0.49, Z:0.61 [[ 9.88613528e-01 -1.11970608e-01 -1.00527978e-01 6.18120492e+00] [ 1.10939725e-01 9.93701454e-01 -1.58049738e-02 4.87307508e-01] [ 1.01664491e-01 4.47246458e-03 9.94808689e-01 6.05221609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1968749999999995 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:6.21, Y:0.49, Z:0.61 [[ 9.87892372e-01 -1.18165824e-01 -1.00526109e-01 6.20877107e+00] [ 1.17165651e-01 9.92986424e-01 -1.58168536e-02 4.92629413e-01] [ 1.01690073e-01 3.84714207e-03 9.94808689e-01 6.09089979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.226875 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:6.24, Y:0.50, Z:0.61 [[ 9.87350208e-01 -1.22614542e-01 -1.00524827e-01 6.23632105e+00] [ 1.21636496e-01 9.92448554e-01 -1.58249972e-02 4.97799851e-01] [ 1.01706094e-01 3.39732656e-03 9.94808689e-01 6.12494640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.256875 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:6.26, Y:0.50, Z:0.61 [[ 9.86898080e-01 -1.26205369e-01 -1.00520570e-01 6.26305393e+00] [ 1.25243129e-01 9.91999432e-01 -1.58519908e-02 5.04094267e-01] [ 1.01716955e-01 3.05478861e-03 9.94808690e-01 6.14708565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.286874999999999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:6.29, Y:0.51, Z:0.62 [[ 9.86990114e-01 -1.25485061e-01 -1.00518729e-01 6.29144662e+00] [ 1.24517911e-01 9.92090537e-01 -1.58636556e-02 5.13180580e-01] [ 1.01714332e-01 3.14088913e-03 9.94808690e-01 6.15672683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.316875 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:6.32, Y:0.52, Z:0.62 [[ 9.87615256e-01 -1.20468988e-01 -1.00515314e-01 6.31903630e+00] [ 1.19473742e-01 9.92710272e-01 -1.58852642e-02 5.23310756e-01] [ 1.01696267e-01 3.67958865e-03 9.94808690e-01 6.15574279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.346875 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:6.35, Y:0.53, Z:0.62 [[ 9.88346054e-01 -1.14321957e-01 -1.00511527e-01 6.34527058e+00] [ 1.13292601e-01 9.93434288e-01 -1.59091888e-02 5.33873765e-01] [ 1.01670367e-01 4.33657159e-03 9.94808690e-01 6.16928857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.376874999999999 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:6.37, Y:0.54, Z:0.62 [[ 9.88990965e-01 -1.08602829e-01 -1.00510183e-01 6.37159422e+00] [ 1.07543196e-01 9.94072979e-01 -1.59176761e-02 5.44431058e-01] [ 1.01643162e-01 4.93325149e-03 9.94808690e-01 6.20892631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.406874999999999 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:6.40, Y:0.55, Z:0.62 [[ 9.89325855e-01 -1.05512709e-01 -1.00505823e-01 6.39917728e+00] [ 1.04434420e-01 9.94403944e-01 -1.59451631e-02 5.54079407e-01] [ 1.01625804e-01 5.27869480e-03 9.94808691e-01 6.23156559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.436875 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:6.43, Y:0.56, Z:0.62 [[ 9.89364971e-01 -1.05148998e-01 -1.00501955e-01 6.42572150e+00] [ 1.04066376e-01 9.94442137e-01 -1.59695047e-02 5.62422384e-01] [ 1.01622556e-01 5.34079429e-03 9.94808691e-01 6.24836133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.466875 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:6.45, Y:0.57, Z:0.63 [[ 9.89027904e-01 -1.08274827e-01 -1.00500582e-01 6.45359355e+00] [ 1.07207380e-01 9.94108282e-01 -1.59781395e-02 5.69342125e-01] [ 1.01638491e-01 5.02842176e-03 9.94808691e-01 6.30557846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.496874999999999 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:6.48, Y:0.57, Z:0.64 [[ 9.88821152e-01 -1.10150461e-01 -1.00496790e-01 6.48182977e+00] [ 1.09090236e-01 9.93903042e-01 -1.60019528e-02 5.74528404e-01] [ 1.01646688e-01 4.85985079e-03 9.94808691e-01 6.35589956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5268749999999995 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:6.51, Y:0.58, Z:0.64 [[ 9.88791225e-01 -1.10422274e-01 -1.00492959e-01 6.50992443e+00] [ 1.09361010e-01 9.93872898e-01 -1.60259764e-02 5.79108199e-01] [ 1.01646853e-01 4.85633328e-03 9.94808692e-01 6.38490160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.556875 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:6.54, Y:0.58, Z:0.64 [[ 9.88490023e-01 -1.13090774e-01 -1.00488563e-01 6.53706942e+00] [ 1.12040439e-01 9.93573966e-01 -1.60534943e-02 5.84477121e-01] [ 1.01658322e-01 4.60993622e-03 9.94808692e-01 6.44206441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.586874999999999 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:6.56, Y:0.59, Z:0.65 [[ 9.88575236e-01 -1.12344672e-01 -1.00487202e-01 6.56493690e+00] [ 1.11289636e-01 9.93658205e-01 -1.60620125e-02 5.89247853e-01] [ 1.01654414e-01 4.69532369e-03 9.94808692e-01 6.47037855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.616874999999999 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:6.59, Y:0.59, Z:0.65 [[ 9.88653480e-01 -1.11657990e-01 -1.00482788e-01 6.59239060e+00] [ 1.10596629e-01 9.93735131e-01 -1.60895743e-02 5.94087384e-01] [ 1.01649806e-01 4.79395600e-03 9.94808693e-01 6.49781261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.646875 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:6.62, Y:0.60, Z:0.65 [[ 9.89136596e-01 -1.07298174e-01 -1.00478337e-01 6.61954018e+00] [ 1.06211608e-01 9.94212918e-01 -1.61173223e-02 6.00972876e-01] [ 1.01626220e-01 5.27026750e-03 9.94808693e-01 6.48609733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.676875 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:6.65, Y:0.60, Z:0.65 [[ 9.89377940e-01 -1.05053737e-01 -1.00473894e-01 6.64617510e+00] [ 1.03952858e-01 9.94451177e-01 -1.61449735e-02 6.04836639e-01] [ 1.01612472e-01 5.52893221e-03 9.94808693e-01 6.51018474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.706874999999999 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:6.67, Y:0.61, Z:0.65 [[ 9.89395937e-01 -1.04885955e-01 -1.00471968e-01 6.67350419e+00] [ 1.03783003e-01 9.94468723e-01 -1.61569498e-02 6.09387223e-01] [ 1.01610867e-01 5.55833791e-03 9.94808693e-01 6.53809320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7368749999999995 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:6.70, Y:0.62, Z:0.65 [[ 9.89766612e-01 -1.01332711e-01 -1.00467582e-01 6.70118487e+00] [ 1.00208797e-01 9.94834795e-01 -1.61841787e-02 6.15326637e-01] [ 1.01588633e-01 5.95082411e-03 9.94808694e-01 6.53406046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.766875 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:6.73, Y:0.62, Z:0.66 [[ 9.89889110e-01 -1.00131031e-01 -1.00465547e-01 6.72883554e+00] [ 9.89996886e-02 9.94955640e-01 -1.61968030e-02 6.20246706e-01] [ 1.01580565e-01 6.08698111e-03 9.94808694e-01 6.56507034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.796874999999999 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:6.76, Y:0.63, Z:0.66 [[ 9.89998486e-01 -9.90482203e-02 -1.00461174e-01 6.75594663e+00] [ 9.79085994e-02 9.95063160e-01 -1.62238780e-02 6.25258106e-01] [ 1.01572160e-01 6.22560175e-03 9.94808694e-01 6.59715623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.826874999999999 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:6.78, Y:0.63, Z:0.66 [[ 9.90017423e-01 -9.88632895e-02 -1.00456716e-01 6.78306738e+00] [ 9.77199368e-02 9.95081255e-01 -1.62514392e-02 6.29838651e-01] [ 1.01569266e-01 6.27258406e-03 9.94808695e-01 6.62774466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.856875 meters Centerline goodness : 0.997582 Centerline is valid? [True, True] Translation: X:6.81, Y:0.63, Z:0.67 [[ 9.89871399e-01 -1.00319260e-01 -1.00452275e-01 6.81062390e+00] [ 9.91805863e-02 9.94936285e-01 -1.62788403e-02 6.33237542e-01] [ 1.01576695e-01 6.15104287e-03 9.94808695e-01 6.65950119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.886875 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:6.84, Y:0.64, Z:0.67 [[ 9.89639777e-01 -1.02583348e-01 -1.00447839e-01 6.83923929e+00] [ 1.01453498e-01 9.94706638e-01 -1.63061694e-02 6.35288624e-01] [ 1.01588874e-01 5.94644918e-03 9.94808695e-01 6.70303513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.916874999999999 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:6.87, Y:0.64, Z:0.67 [[ 9.89399380e-01 -1.04880451e-01 -1.00443807e-01 6.86634389e+00] [ 1.03759858e-01 9.94468296e-01 -1.63309698e-02 6.36825362e-01] [ 1.01600981e-01 5.73581636e-03 9.94808696e-01 6.73322061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9468749999999995 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:6.90, Y:0.64, Z:0.68 [[ 9.89064329e-01 -1.07996273e-01 -1.00441812e-01 6.89517885e+00] [ 1.06890409e-01 9.94136479e-01 -1.63432281e-02 6.38912011e-01] [ 1.01617877e-01 5.42823755e-03 9.94808696e-01 6.76978956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.976875 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:6.92, Y:0.64, Z:0.68 [[ 9.88543902e-01 -1.12664018e-01 -1.00437905e-01 6.92390054e+00] [ 1.11579680e-01 9.93620697e-01 -1.63672022e-02 6.40963593e-01] [ 1.01641176e-01 4.97286860e-03 9.94808696e-01 6.80921080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.006874999999999 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:6.95, Y:0.64, Z:0.68 [[ 9.88146430e-01 -1.16101877e-01 -1.00433998e-01 6.95236213e+00] [ 1.15032777e-01 9.93226455e-01 -1.63911444e-02 6.43950028e-01] [ 1.01656746e-01 4.64364915e-03 9.94808696e-01 6.81755598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.036874999999999 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:6.98, Y:0.64, Z:0.69 [[ 9.87694410e-01 -1.19890205e-01 -1.00429535e-01 6.98051700e+00] [ 1.18837822e-01 9.92777924e-01 -1.64184426e-02 6.43223626e-01] [ 1.01672636e-01 4.28157681e-03 9.94808697e-01 6.85718952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.066875 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:7.01, Y:0.64, Z:0.69 [[ 9.87116202e-01 -1.24564871e-01 -1.00425081e-01 7.00938428e+00] [ 1.23533804e-01 9.92204082e-01 -1.64456407e-02 6.41125664e-01] [ 1.01690725e-01 3.82786616e-03 9.94808697e-01 6.90960355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.096875 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:7.04, Y:0.64, Z:0.69 [[ 9.86692632e-01 -1.27880281e-01 -1.00420535e-01 7.03806890e+00] [ 1.26863494e-01 9.91783385e-01 -1.64733564e-02 6.41179147e-01] [ 1.01702035e-01 3.51443947e-03 9.94808698e-01 6.91526044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.126874999999999 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:7.07, Y:0.64, Z:0.69 [[ 9.86642837e-01 -1.28265003e-01 -1.00419125e-01 7.06665256e+00] [ 1.27249328e-01 9.91733812e-01 -1.64819471e-02 6.41406241e-01] [ 1.01703098e-01 3.48352890e-03 9.94808698e-01 6.91422249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.156874999999999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:7.09, Y:0.64, Z:0.70 [[ 9.86835876e-01 -1.26774799e-01 -1.00414662e-01 7.09484923e+00] [ 1.25748678e-01 9.91924755e-01 -1.65090917e-02 6.37955815e-01] [ 1.01696726e-01 3.66475302e-03 9.94808698e-01 6.96954070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.186875 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:7.12, Y:0.63, Z:0.70 [[ 9.87177356e-01 -1.24091327e-01 -1.00410209e-01 7.12371069e+00] [ 1.23048627e-01 9.92262864e-01 -1.65361310e-02 6.34782517e-01] [ 1.01685312e-01 3.96875568e-03 9.94808698e-01 7.01553783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.216874999999999 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:7.15, Y:0.63, Z:0.70 [[ 9.87575202e-01 -1.20887763e-01 -1.00406019e-01 7.15187905e+00] [ 1.19825992e-01 9.92656762e-01 -1.65615307e-02 6.34024568e-01] [ 1.01670801e-01 4.32450624e-03 9.94808699e-01 7.03518706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.246874999999999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:7.18, Y:0.63, Z:0.71 [[ 9.88046054e-01 -1.16980930e-01 -1.00401481e-01 7.18066957e+00] [ 1.15896284e-01 9.93122780e-01 -1.65889987e-02 6.33960326e-01] [ 1.01651594e-01 4.75453607e-03 9.94808699e-01 7.05092440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2768749999999995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:7.21, Y:0.63, Z:0.71 [[ 9.88526909e-01 -1.12849480e-01 -1.00396934e-01 7.20893884e+00] [ 1.11740839e-01 9.93598449e-01 -1.66164719e-02 6.33015534e-01] [ 1.01629398e-01 5.20739198e-03 9.94808699e-01 7.08374395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.306875 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:7.24, Y:0.63, Z:0.71 [[ 9.88949517e-01 -1.09088213e-01 -1.00392302e-01 7.23702163e+00] [ 1.07957460e-01 9.94016172e-01 -1.66444093e-02 6.33466281e-01] [ 1.01607281e-01 5.62238259e-03 9.94808700e-01 7.10286724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.336874999999999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:7.27, Y:0.64, Z:0.71 [[ 9.88453589e-01 -1.13498123e-01 -1.00387636e-01 7.26603485e+00] [ 1.12387134e-01 9.93524615e-01 -1.66725075e-02 6.36327869e-01] [ 1.01629885e-01 5.19772130e-03 9.94808700e-01 7.08994681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.366874999999999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:7.29, Y:0.64, Z:0.71 [[ 9.87736751e-01 -1.19579585e-01 -1.00383434e-01 7.29387134e+00] [ 1.18497265e-01 9.92813972e-01 -1.66977671e-02 6.38181255e-01] [ 1.01658788e-01 4.59783592e-03 9.94808701e-01 7.10507372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.396875 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:7.32, Y:0.64, Z:0.71 [[ 9.87127838e-01 -1.24508023e-01 -1.00381191e-01 7.32214945e+00] [ 1.23449690e-01 9.92210113e-01 -1.67112377e-02 6.40213423e-01] [ 1.01679917e-01 4.10410095e-03 9.94808701e-01 7.10482256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.426875 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:7.35, Y:0.64, Z:0.71 [[ 9.86742757e-01 -1.27525063e-01 -1.00379724e-01 7.35017976e+00] [ 1.26481376e-01 9.91828060e-01 -1.67200462e-02 6.43832444e-01] [ 1.01691652e-01 3.80221880e-03 9.94808701e-01 7.12294390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.456874999999999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:7.38, Y:0.65, Z:0.72 [[ 9.86826515e-01 -1.26878979e-01 -1.00375065e-01 7.37706900e+00] [ 1.25829127e-01 9.91910549e-01 -1.67479689e-02 6.46828682e-01] [ 1.01688051e-01 3.89723296e-03 9.94808701e-01 7.18684489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4868749999999995 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:7.41, Y:0.65, Z:0.73 [[ 9.86778851e-01 -1.27250847e-01 -1.00372912e-01 7.40517014e+00] [ 1.26201601e-01 9.91863009e-01 -1.67608663e-02 6.51399444e-01] [ 1.01689013e-01 3.87204628e-03 9.94808701e-01 7.26455510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.516875 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:7.43, Y:0.66, Z:0.73 [[ 9.86873484e-01 -1.26518008e-01 -1.00368922e-01 7.43324554e+00] [ 1.25462565e-01 9.91956359e-01 -1.67847261e-02 6.56448110e-01] [ 1.01685160e-01 3.97185883e-03 9.94808701e-01 7.33039603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.546874999999999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:7.46, Y:0.66, Z:0.74 [[ 9.87021395e-01 -1.25362086e-01 -1.00364897e-01 7.46047811e+00] [ 1.24298250e-01 9.92102520e-01 -1.68087554e-02 6.62195740e-01] [ 1.01679448e-01 4.11542014e-03 9.94808702e-01 7.37790162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.576874999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:7.49, Y:0.67, Z:0.74 [[ 9.87201994e-01 -1.23935641e-01 -1.00360249e-01 7.48781465e+00] [ 1.22861652e-01 9.92280982e-01 -1.68364641e-02 6.69001450e-01] [ 1.01672204e-01 4.29056500e-03 9.94808702e-01 7.41054775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.606875 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:7.51, Y:0.67, Z:0.74 [[ 9.87207579e-01 -1.23892310e-01 -1.00358812e-01 7.51488544e+00] [ 1.22817229e-01 9.92286336e-01 -1.68450266e-02 6.74082005e-01] [ 1.01671647e-01 4.30374677e-03 9.94808702e-01 7.44180432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.636875 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:7.54, Y:0.68, Z:0.75 [[ 9.86863513e-01 -1.26607405e-01 -1.00354227e-01 7.54282330e+00] [ 1.25543530e-01 9.91944629e-01 -1.68722949e-02 6.78781702e-01] [ 1.01681994e-01 4.05182830e-03 9.94808703e-01 7.47074337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.666874999999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:7.57, Y:0.68, Z:0.75 [[ 9.86750434e-01 -1.27489486e-01 -1.00349453e-01 7.57022782e+00] [ 1.26427275e-01 9.91831897e-01 -1.69006394e-02 6.84130894e-01] [ 1.01684443e-01 3.98980528e-03 9.94808703e-01 7.48088940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6968749999999995 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:7.60, Y:0.69, Z:0.75 [[ 9.86668229e-01 -1.28127856e-01 -1.00344697e-01 7.59696229e+00] [ 1.27066071e-01 9.91749781e-01 -1.69288313e-02 6.89693552e-01] [ 1.01685887e-01 3.95273353e-03 9.94808703e-01 7.47199585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.726875 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:7.62, Y:0.69, Z:0.75 [[ 9.86632874e-01 -1.28401433e-01 -1.00342632e-01 7.62435840e+00] [ 1.27339814e-01 9.91714461e-01 -1.69410662e-02 6.94844123e-01] [ 1.01686496e-01 3.93700078e-03 9.94808703e-01 7.49902567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.756874999999999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:7.65, Y:0.70, Z:0.75 [[ 9.86619240e-01 -1.28507297e-01 -1.00341170e-01 7.65206115e+00] [ 1.27445345e-01 9.91700757e-01 -1.69497169e-02 7.00441596e-01] [ 1.01686577e-01 3.93490176e-03 9.94808704e-01 7.49689496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.786874999999999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:7.68, Y:0.71, Z:0.75 [[ 9.86479474e-01 -1.29579465e-01 -1.00336482e-01 7.68062172e+00] [ 1.28520222e-01 9.91561556e-01 -1.69774257e-02 7.05886153e-01] [ 1.01689724e-01 3.85261507e-03 9.94808704e-01 7.52723916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.816875 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:7.71, Y:0.71, Z:0.76 [[ 9.86338986e-01 -1.30647685e-01 -1.00332386e-01 7.70720511e+00] [ 1.29591490e-01 9.91421702e-01 -1.70015991e-02 7.09508982e-01] [ 1.01692924e-01 3.76711662e-03 9.94808704e-01 7.57323313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.846875 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:7.74, Y:0.71, Z:0.76 [[ 9.86037753e-01 -1.32904473e-01 -1.00329210e-01 7.73530191e+00] [ 1.31858010e-01 9.91122482e-01 -1.70203211e-02 7.11887070e-01] [ 1.01700612e-01 3.55346918e-03 9.94808704e-01 7.62922663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.876874999999999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:7.76, Y:0.72, Z:0.77 [[ 9.85867182e-01 -1.34167438e-01 -1.00324462e-01 7.76321804e+00] [ 1.33124649e-01 9.90952665e-01 -1.70482599e-02 7.15826980e-01] [ 1.01704114e-01 3.45166113e-03 9.94808705e-01 7.66973028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.906874999999999 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:7.79, Y:0.72, Z:0.77 [[ 9.85803542e-01 -1.34637808e-01 -1.00319674e-01 7.79051176e+00] [ 1.33594587e-01 9.90888936e-01 -1.70763902e-02 7.18770654e-01] [ 1.01704783e-01 3.43180063e-03 9.94808705e-01 7.68367906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.936875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:7.82, Y:0.72, Z:0.77 [[ 9.85985023e-01 -1.33304719e-01 -1.00316431e-01 7.81892183e+00] [ 1.32252688e-01 9.91068602e-01 -1.70954221e-02 7.22551429e-01] [ 1.01699365e-01 3.58871252e-03 9.94808705e-01 7.68497085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.966874999999999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:7.85, Y:0.73, Z:0.77 [[ 9.85880534e-01 -1.34078863e-01 -1.00311669e-01 7.84709452e+00] [ 1.33027990e-01 9.90964352e-01 -1.71233137e-02 7.26188259e-01] [ 1.01701163e-01 3.53728191e-03 9.94808706e-01 7.71980535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.996874999999999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:7.87, Y:0.73, Z:0.78 [[ 9.85756839e-01 -1.34988832e-01 -1.00306875e-01 7.87469929e+00] [ 1.33939802e-01 9.90841037e-01 -1.71513521e-02 7.28920491e-01] [ 1.01703409e-01 3.47197963e-03 9.94808706e-01 7.76657738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.026875 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:7.90, Y:0.73, Z:0.78 [[ 9.85714407e-01 -1.35301944e-01 -1.00301999e-01 7.90163753e+00] [ 1.34251636e-01 9.90798341e-01 -1.71798187e-02 7.32507214e-01] [ 1.01703518e-01 3.46868737e-03 9.94808707e-01 7.78584638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.056875 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:7.93, Y:0.74, Z:0.78 [[ 9.85752387e-01 -1.35026542e-01 -1.00299877e-01 7.92875082e+00] [ 1.33973555e-01 9.90835766e-01 -1.71922011e-02 7.37314779e-01] [ 1.01702109e-01 3.50972210e-03 9.94808707e-01 7.79429366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.086875000000001 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:7.96, Y:0.74, Z:0.78 [[ 9.85785547e-01 -1.34785788e-01 -1.00297787e-01 7.95672471e+00] [ 1.33730321e-01 9.90868412e-01 -1.72043871e-02 7.41024013e-01] [ 1.01700816e-01 3.54698096e-03 9.94808707e-01 7.82532775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.116875 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:7.98, Y:0.75, Z:0.78 [[ 9.85882789e-01 -1.34076279e-01 -1.00292956e-01 7.98474209e+00] [ 1.33014298e-01 9.90964297e-01 -1.72325031e-02 7.45692879e-01] [ 1.01697208e-01 3.64883114e-03 9.94808707e-01 7.84779189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.146875 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:8.01, Y:0.75, Z:0.79 [[ 9.85646960e-01 -1.35802689e-01 -1.00288085e-01 8.01163653e+00] [ 1.34746733e-01 9.90729722e-01 -1.72608062e-02 7.50378741e-01] [ 1.01702450e-01 3.49956947e-03 9.94808708e-01 7.88449220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.176875 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:8.04, Y:0.76, Z:0.79 [[ 9.84672673e-01 -1.42696640e-01 -1.00286571e-01 8.03901507e+00] [ 1.41675382e-01 9.89762521e-01 -1.72695985e-02 7.55816212e-01] [ 1.01724203e-01 2.79676348e-03 9.94808708e-01 7.93675867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.206875 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:8.07, Y:0.76, Z:0.80 [[ 9.84347858e-01 -1.44923688e-01 -1.00281701e-01 8.06631653e+00] [ 1.43911072e-01 9.89439431e-01 -1.72978310e-02 7.61099436e-01] [ 1.01729534e-01 2.59543587e-03 9.94808708e-01 7.96775513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.236875 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:8.09, Y:0.77, Z:0.80 [[ 9.84033899e-01 -1.47043683e-01 -1.00276818e-01 8.09247095e+00] [ 1.46039159e-01 9.89127075e-01 -1.73260930e-02 7.68478555e-01] [ 1.01734208e-01 2.40512082e-03 9.94808708e-01 7.98432004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.266875 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:8.12, Y:0.78, Z:0.80 [[ 9.84199404e-01 -1.45933260e-01 -1.00274707e-01 8.11944831e+00] [ 1.44921746e-01 9.89291196e-01 -1.73382985e-02 7.76061904e-01] [ 1.01731119e-01 2.53235742e-03 9.94808709e-01 8.01522254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.296875 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:8.15, Y:0.78, Z:0.81 [[ 9.84383943e-01 -1.44686564e-01 -1.00269892e-01 8.14678227e+00] [ 1.43665773e-01 9.89473883e-01 -1.73660984e-02 7.81828975e-01] [ 1.01727081e-01 2.68955680e-03 9.94808709e-01 8.05860056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.326875000000001 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:8.17, Y:0.79, Z:0.81 [[ 9.84944347e-01 -1.40824562e-01 -1.00265025e-01 8.17248386e+00] [ 1.39780962e-01 9.90029659e-01 -1.73941555e-02 7.88669653e-01] [ 1.01714873e-01 3.11713350e-03 9.94808709e-01 8.11054216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.356875 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:8.20, Y:0.80, Z:0.81 [[ 9.85204533e-01 -1.38995023e-01 -1.00261714e-01 8.19970028e+00] [ 1.37940041e-01 9.90287496e-01 -1.74132224e-02 7.97505812e-01] [ 1.01708273e-01 3.32548079e-03 9.94808709e-01 8.13340807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.386875 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:8.23, Y:0.81, Z:0.82 [[ 9.85079319e-01 -1.39883240e-01 -1.00256740e-01 8.22608003e+00] [ 1.38829935e-01 9.90162629e-01 -1.74418092e-02 8.05161436e-01] [ 1.01710294e-01 3.26292880e-03 9.94808710e-01 8.16758545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.416875000000001 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:8.25, Y:0.81, Z:0.82 [[ 9.84874851e-01 -1.41316742e-01 -1.00255210e-01 8.25291426e+00] [ 1.40269942e-01 9.89959504e-01 -1.74506023e-02 8.10134462e-01] [ 1.01714660e-01 3.12386691e-03 9.94808710e-01 8.23853596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.446875 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:8.28, Y:0.82, Z:0.83 [[ 9.84836799e-01 -1.41582742e-01 -1.00253716e-01 8.28095289e+00] [ 1.40536443e-01 9.89921555e-01 -1.74591823e-02 8.15132010e-01] [ 1.01715233e-01 3.10514467e-03 9.94808710e-01 8.26762217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.476875 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:8.31, Y:0.82, Z:0.83 [[ 9.84589467e-01 -1.43295928e-01 -1.00248984e-01 8.30831828e+00] [ 1.42255716e-01 9.89675472e-01 -1.74863106e-02 8.20765169e-01] [ 1.01719677e-01 2.95584626e-03 9.94808710e-01 8.30531761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.506875 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:8.34, Y:0.83, Z:0.83 [[ 9.84864148e-01 -1.41399234e-01 -1.00244035e-01 8.33677754e+00] [ 1.40346349e-01 9.89947544e-01 -1.75146323e-02 8.27735703e-01] [ 1.01712892e-01 3.18064907e-03 9.94808711e-01 8.27804674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.536875 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:8.36, Y:0.83, Z:0.83 [[ 9.85022790e-01 -1.40292936e-01 -1.00239690e-01 8.36360241e+00] [ 1.39231817e-01 9.90104473e-01 -1.75394655e-02 8.33559075e-01] [ 1.01708429e-01 3.32021903e-03 9.94808711e-01 8.28180179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.566875 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:8.39, Y:0.84, Z:0.83 [[ 9.85339295e-01 -1.38054911e-01 -1.00236298e-01 8.39154449e+00] [ 1.36980284e-01 9.90418139e-01 -1.75588282e-02 8.38771572e-01] [ 1.01699931e-01 3.57100688e-03 9.94808711e-01 8.27476077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.596875 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:8.42, Y:0.84, Z:0.83 [[ 9.85533334e-01 -1.36666440e-01 -1.00231394e-01 8.41900829e+00] [ 1.35581819e-01 9.90610052e-01 -1.75867781e-02 8.43896816e-01] [ 1.01693749e-01 3.74280133e-03 9.94808712e-01 8.29699467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.626875 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:8.45, Y:0.85, Z:0.83 [[ 9.85673002e-01 -1.35659122e-01 -1.00226423e-01 8.44628231e+00] [ 1.34566441e-01 9.90747991e-01 -1.76150638e-02 8.50753043e-01] [ 1.01688771e-01 3.87557979e-03 9.94808712e-01 8.31224948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.656875000000001 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:8.47, Y:0.86, Z:0.83 [[ 9.86016923e-01 -1.33140169e-01 -1.00221370e-01 8.47264892e+00] [ 1.32031612e-01 9.91088468e-01 -1.76437643e-02 8.57874765e-01] [ 1.01677338e-01 4.16466101e-03 9.94808713e-01 8.32982794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.686875 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:8.50, Y:0.86, Z:0.84 [[ 9.86134114e-01 -1.32271021e-01 -1.00219186e-01 8.50019267e+00] [ 1.31156737e-01 9.91204404e-01 -1.76561647e-02 8.64820273e-01] [ 1.01673097e-01 4.26692502e-03 9.94808713e-01 8.36138485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.716875 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:8.53, Y:0.87, Z:0.84 [[ 9.86152782e-01 -1.32135528e-01 -1.00214238e-01 8.52631493e+00] [ 1.31017703e-01 9.91222291e-01 -1.76842008e-02 8.70828869e-01] [ 1.01671298e-01 4.30948448e-03 9.94808713e-01 8.38136245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.746875000000001 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:8.55, Y:0.88, Z:0.84 [[ 9.86137332e-01 -1.32253335e-01 -1.00210864e-01 8.55348027e+00] [ 1.31134177e-01 9.91206548e-01 -1.77033037e-02 8.77318940e-01] [ 1.01670985e-01 4.31681954e-03 9.94808713e-01 8.41106521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.776875 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:8.58, Y:0.88, Z:0.85 [[ 9.86263773e-01 -1.31310876e-01 -1.00205910e-01 8.58073110e+00] [ 1.30184036e-01 9.91331286e-01 -1.77313003e-02 8.84236422e-01] [ 1.01665566e-01 4.44252937e-03 9.94808714e-01 8.45983985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.806875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:8.61, Y:0.89, Z:0.85 [[ 9.86365146e-01 -1.30551071e-01 -1.00200876e-01 8.60757259e+00] [ 1.29417449e-01 9.91431146e-01 -1.77596999e-02 8.89962308e-01] [ 1.01660817e-01 4.54980728e-03 9.94808714e-01 8.50378100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.836875000000001 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:8.63, Y:0.90, Z:0.86 [[ 9.86585335e-01 -1.28880433e-01 -1.00195860e-01 8.63367740e+00] [ 1.27735369e-01 9.91648760e-01 -1.77879562e-02 8.97363746e-01] [ 1.01651620e-01 4.75078154e-03 9.94808714e-01 8.56406014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.866875 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:8.66, Y:0.90, Z:0.86 [[ 9.86709395e-01 -1.27928869e-01 -1.00193686e-01 8.66089052e+00] [ 1.26777683e-01 9.91771431e-01 -1.78001942e-02 9.04832924e-01] [ 1.01646394e-01 4.86129549e-03 9.94808714e-01 8.59298924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.896875 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:8.69, Y:0.91, Z:0.86 [[ 9.86427355e-01 -1.30089710e-01 -1.00188528e-01 8.68758016e+00] [ 1.28946676e-01 9.91491238e-01 -1.78291756e-02 9.09611528e-01] [ 1.01655440e-01 4.66820881e-03 9.94808715e-01 8.59983788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.926875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:8.71, Y:0.91, Z:0.86 [[ 9.85575238e-01 -1.36397061e-01 -1.00186287e-01 8.71446761e+00] [ 1.35285166e-01 9.90646049e-01 -1.78417633e-02 9.12861211e-01] [ 1.01682713e-01 4.03068164e-03 9.94808715e-01 8.62644445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.956875 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:8.74, Y:0.92, Z:0.87 [[ 9.84120117e-01 -1.46528995e-01 -1.00184081e-01 8.74228216e+00] [ 1.45468065e-01 9.89201836e-01 -1.78541428e-02 9.15638838e-01] [ 1.01718426e-01 2.99703669e-03 9.94808715e-01 8.66755897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.986875 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:8.77, Y:0.92, Z:0.87 [[ 9.82539066e-01 -1.56783725e-01 -1.00179073e-01 8.77056515e+00] [ 1.55772988e-01 9.87631006e-01 -1.78821964e-02 9.17145455e-01] [ 1.01743596e-01 1.96476302e-03 9.94808715e-01 8.72451011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.016875 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:8.80, Y:0.92, Z:0.88 [[ 9.81734798e-01 -1.61746141e-01 -1.00174708e-01 8.79712060e+00] [ 1.60758654e-01 9.86831297e-01 -1.79066139e-02 9.19926089e-01] [ 1.01751863e-01 1.47559479e-03 9.94808716e-01 8.75729003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.046875 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:8.82, Y:0.93, Z:0.88 [[ 9.81935169e-01 -1.60526572e-01 -1.00172571e-01 8.82414906e+00] [ 1.59531537e-01 9.87030199e-01 -1.79185593e-02 9.25607144e-01] [ 1.01749758e-01 1.61417928e-03 9.94808716e-01 8.77484948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.076875000000001 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:8.85, Y:0.93, Z:0.88 [[ 9.82993886e-01 -1.53911594e-01 -1.00171061e-01 8.85190008e+00] [ 1.52881417e-01 9.88081927e-01 -1.79270004e-02 9.33892671e-01] [ 1.01736388e-01 2.30783814e-03 9.94808716e-01 8.76923029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.106875 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:8.88, Y:0.94, Z:0.88 [[ 9.84318696e-01 -1.45200937e-01 -1.00166820e-01 8.87871444e+00] [ 1.44123338e-01 9.89396906e-01 -1.79506646e-02 9.42552724e-01] [ 1.01711195e-01 3.23279824e-03 9.94808716e-01 8.75759367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.136875 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:8.91, Y:0.95, Z:0.88 [[ 9.85433867e-01 -1.37429994e-01 -1.00165314e-01 8.90564066e+00] [ 1.36311509e-01 9.90503228e-01 -1.79590622e-02 9.52471776e-01] [ 1.01682181e-01 4.04378300e-03 9.94808716e-01 8.75064436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.166875000000001 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:8.93, Y:0.96, Z:0.87 [[ 9.86236639e-01 -1.31549361e-01 -1.00160158e-01 8.93303159e+00] [ 1.30397747e-01 9.91298576e-01 -1.79877770e-02 9.63436530e-01] [ 1.01654902e-01 4.67954591e-03 9.94808717e-01 8.71977992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.196875 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:8.96, Y:0.97, Z:0.87 [[ 9.86715411e-01 -1.27912224e-01 -1.00155677e-01 8.95842672e+00] [ 1.26739432e-01 9.91772484e-01 -1.80126899e-02 9.72678960e-01] [ 1.01635688e-01 5.07972508e-03 9.94808717e-01 8.72656853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.226875 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:8.99, Y:0.98, Z:0.88 [[ 9.86858822e-01 -1.26802722e-01 -1.00153554e-01 8.98547434e+00] [ 1.25623051e-01 9.91914294e-01 -1.80244850e-02 9.79101452e-01] [ 1.01629296e-01 5.20602700e-03 9.94808717e-01 8.77756618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.256875 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:9.01, Y:0.98, Z:0.88 [[ 9.86370688e-01 -1.30549264e-01 -1.00148667e-01 9.01317140e+00] [ 1.29386052e-01 9.91429972e-01 -1.80516018e-02 9.84947809e-01] [ 1.01647013e-01 4.84773032e-03 9.94808717e-01 8.83711359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.286875 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:9.04, Y:0.99, Z:0.89 [[ 9.85419811e-01 -1.37545988e-01 -1.00144381e-01 9.04080114e+00] [ 1.36416301e-01 9.90486686e-01 -1.80753470e-02 9.89791487e-01] [ 1.01677867e-01 4.15047902e-03 9.94808718e-01 8.90751561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.316875 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:9.07, Y:0.99, Z:0.90 [[ 9.84669456e-01 -1.42821806e-01 -1.00139868e-01 9.06873809e+00] [ 1.41716737e-01 9.89741757e-01 -1.81003122e-02 9.92877891e-01] [ 1.01697729e-01 3.63132915e-03 9.94808718e-01 8.96362559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.346875 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:9.10, Y:1.00, Z:0.90 [[ 9.84502120e-01 -1.43974391e-01 -1.00134664e-01 9.09502213e+00] [ 1.42872340e-01 9.89575076e-01 -1.81290588e-02 9.97354286e-01] [ 1.01700888e-01 3.54162307e-03 9.94808718e-01 8.99874874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.376875 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:9.12, Y:1.00, Z:0.90 [[ 9.84954975e-01 -1.40844582e-01 -1.00132412e-01 9.12194053e+00] [ 1.39725152e-01 9.90024125e-01 -1.81414884e-02 1.00253075e+00] [ 1.01688634e-01 3.87753277e-03 9.94808719e-01 9.01290066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.406875 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:9.15, Y:1.01, Z:0.90 [[ 9.85604188e-01 -1.36228958e-01 -1.00130189e-01 9.14897118e+00] [ 1.35084549e-01 9.90667758e-01 -1.81537523e-02 1.00870370e+00] [ 1.01668816e-01 4.36637293e-03 9.94808719e-01 9.02151666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.436875 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:9.18, Y:1.02, Z:0.90 [[ 9.86170025e-01 -1.32074378e-01 -1.00125122e-01 9.17560487e+00] [ 1.30905816e-01 9.91228074e-01 -1.81816523e-02 1.01543050e+00] [ 1.01648163e-01 4.82323966e-03 9.94808719e-01 9.01260676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.466875 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:9.20, Y:1.02, Z:0.90 [[ 9.86423527e-01 -1.30169227e-01 -1.00122915e-01 9.20335246e+00] [ 1.28989666e-01 9.91479022e-01 -1.81938010e-02 1.01938009e+00] [ 1.01638043e-01 5.03197208e-03 9.94808719e-01 9.02647798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.496875000000001 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:9.23, Y:1.02, Z:0.91 [[ 9.86218421e-01 -1.31718139e-01 -1.00117720e-01 9.23090795e+00] [ 1.30543628e-01 9.91275092e-01 -1.82223411e-02 1.02165394e+00] [ 1.01644415e-01 4.90147800e-03 9.94808719e-01 9.06566514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.526875 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:9.26, Y:1.02, Z:0.91 [[ 9.85825124e-01 -1.34633979e-01 -1.00112518e-01 9.25861563e+00] [ 1.33471535e-01 9.90884582e-01 -1.82508797e-02 1.02450395e+00] [ 1.01657139e-01 4.63000430e-03 9.94808720e-01 9.10136144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.556875 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:9.29, Y:1.03, Z:0.91 [[ 9.85272258e-01 -1.38623172e-01 -1.00110904e-01 9.28635604e+00] [ 1.37480319e-01 9.90336177e-01 -1.82597236e-02 1.02643535e+00] [ 1.01674671e-01 4.22752002e-03 9.94808720e-01 9.13493185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.586875000000001 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:9.31, Y:1.03, Z:0.92 [[ 9.84829627e-01 -1.41737223e-01 -1.00105771e-01 9.31486266e+00] [ 1.40607533e-01 9.89896498e-01 -1.82878245e-02 1.02825279e+00] [ 1.01686418e-01 3.93476593e-03 9.94808720e-01 9.17291496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.616875 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:9.34, Y:1.03, Z:0.92 [[ 9.84669778e-01 -1.42847118e-01 -1.00100595e-01 9.34288352e+00] [ 1.41720268e-01 9.89737281e-01 -1.83161126e-02 1.03032962e+00] [ 1.01689694e-01 3.84903948e-03 9.94808721e-01 9.24334266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.646875 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:9.37, Y:1.03, Z:0.93 [[ 9.84718307e-01 -1.42515899e-01 -1.00095328e-01 9.36934530e+00] [ 1.41384428e-01 9.89784780e-01 -1.83448480e-02 1.03346756e+00] [ 1.01687265e-01 3.91258694e-03 9.94808721e-01 9.30099519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.676875 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:9.40, Y:1.04, Z:0.93 [[ 9.84999452e-01 -1.40562158e-01 -1.00091755e-01 9.39721199e+00] [ 1.39418662e-01 9.90063224e-01 -1.83643246e-02 1.03782784e+00] [ 1.01678495e-01 4.13419115e-03 9.94808721e-01 9.31081625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.706875 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:9.42, Y:1.04, Z:0.93 [[ 9.85439109e-01 -1.37449879e-01 -1.00086428e-01 9.42416176e+00] [ 1.36287454e-01 9.90498569e-01 -1.83933091e-02 1.04181254e+00] [ 1.01663622e-01 4.48496156e-03 9.94808722e-01 9.30769576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.736875 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:9.45, Y:1.05, Z:0.93 [[ 9.85836485e-01 -1.34571891e-01 -1.00084122e-01 9.45216347e+00] [ 1.33393428e-01 9.90892233e-01 -1.84058509e-02 1.04517791e+00] [ 1.01649489e-01 4.79459531e-03 9.94808722e-01 9.31918063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.766875 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:9.48, Y:1.05, Z:0.93 [[ 9.85830825e-01 -1.34617137e-01 -1.00079024e-01 9.47951943e+00] [ 1.33436103e-01 9.90885973e-01 -1.84335316e-02 1.04996664e+00] [ 1.01648370e-01 4.81818879e-03 9.94808722e-01 9.34158913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.796875 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:9.51, Y:1.05, Z:0.94 [[ 9.85762856e-01 -1.35117854e-01 -1.00073757e-01 9.50644671e+00] [ 1.33936496e-01 9.90817928e-01 -1.84620804e-02 1.05196966e+00] [ 1.01649429e-01 4.79570479e-03 9.94808723e-01 9.35793137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.826875000000001 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:9.53, Y:1.05, Z:0.94 [[ 9.85498287e-01 -1.37035860e-01 -1.00071472e-01 9.53384013e+00] [ 1.35863087e-01 9.90555357e-01 -1.84744575e-02 1.05296233e+00] [ 1.01657996e-01 4.61052710e-03 9.94808723e-01 9.39221090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.856875 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:9.56, Y:1.06, Z:0.94 [[ 9.85167286e-01 -1.39398060e-01 -1.00067972e-01 9.56173840e+00] [ 1.38235493e-01 9.90226713e-01 -1.84933970e-02 1.05640148e+00] [ 1.01667922e-01 4.38614435e-03 9.94808723e-01 9.40685156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.886875 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:9.59, Y:1.05, Z:0.95 [[ 9.84156374e-01 -1.46368217e-01 -1.00062861e-01 9.59008275e+00] [ 1.45238690e-01 9.89223279e-01 -1.85210073e-02 1.05494348e+00] [ 1.01695398e-01 3.69456854e-03 9.94808723e-01 9.45193209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.916875000000001 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:9.62, Y:1.05, Z:0.95 [[ 9.84003277e-01 -1.47397464e-01 -1.00057676e-01 9.61830419e+00] [ 1.46270397e-01 9.89070729e-01 -1.85489761e-02 1.05499340e+00] [ 1.01698191e-01 3.61677719e-03 9.94808724e-01 9.52834274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.946875 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:9.65, Y:1.06, Z:0.96 [[ 9.84342377e-01 -1.45119340e-01 -1.00052295e-01 9.64503817e+00] [ 1.43977604e-01 9.89406544e-01 -1.85779579e-02 1.05668828e+00] [ 1.01688416e-01 3.88178161e-03 9.94808724e-01 9.55391537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.976875 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:9.67, Y:1.06, Z:0.96 [[ 9.84603676e-01 -1.43337394e-01 -1.00049951e-01 9.67168609e+00] [ 1.42185214e-01 9.89665477e-01 -1.85905748e-02 1.06110587e+00] [ 1.01680707e-01 4.07872469e-03 9.94808724e-01 9.55824675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.006875 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:9.70, Y:1.07, Z:0.96 [[ 9.84544858e-01 -1.43742445e-01 -1.00047646e-01 9.69946971e+00] [ 1.42591090e-01 9.89606847e-01 -1.86029707e-02 1.06522364e+00] [ 1.01681872e-01 4.04955634e-03 9.94808724e-01 9.56377738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.036875 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:9.73, Y:1.07, Z:0.96 [[ 9.84491793e-01 -1.44109134e-01 -1.00042323e-01 9.72741832e+00] [ 1.42956765e-01 9.89553550e-01 -1.86315492e-02 1.06934028e+00] [ 1.01682213e-01 4.04088042e-03 9.94808725e-01 9.56221468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.066875 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:9.76, Y:1.07, Z:0.95 [[ 9.84463719e-01 -1.44301931e-01 -1.00040682e-01 9.75664181e+00] [ 1.43149659e-01 9.89525498e-01 -1.86403596e-02 1.07400672e+00] [ 1.01682645e-01 4.02996830e-03 9.94808725e-01 9.53708664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.096875 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:9.79, Y:1.08, Z:0.95 [[ 9.84101251e-01 -1.46756612e-01 -1.00036114e-01 9.78577532e+00] [ 1.45614483e-01 9.89165328e-01 -1.86648406e-02 1.07887976e+00] [ 1.01691444e-01 3.80138599e-03 9.94808725e-01 9.53665185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.126875 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:9.81, Y:1.08, Z:0.96 [[ 9.83249094e-01 -1.52364391e-01 -1.00031557e-01 9.81350617e+00] [ 1.51248670e-01 9.88319054e-01 -1.86892340e-02 1.08341201e+00] [ 1.01710667e-01 3.24653250e-03 9.94808725e-01 9.59566778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.156875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:9.84, Y:1.09, Z:0.97 [[ 9.82678097e-01 -1.56007557e-01 -1.00027000e-01 9.84087297e+00] [ 1.54908157e-01 9.87751621e-01 -1.87135886e-02 1.08869531e+00] [ 1.01721293e-01 2.89443539e-03 9.94808726e-01 9.68061177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.186875 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:9.87, Y:1.10, Z:0.97 [[ 9.82569907e-01 -1.56690413e-01 -1.00022462e-01 9.86870804e+00] [ 1.55592076e-01 9.87643661e-01 -1.87378141e-02 1.09552758e+00] [ 1.01722586e-01 2.84850984e-03 9.94808726e-01 9.72797118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.216875 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:9.90, Y:1.10, Z:0.98 [[ 9.82852329e-01 -1.54911994e-01 -1.00017866e-01 9.89594359e+00] [ 1.53801985e-01 9.87923542e-01 -1.87623124e-02 1.10318483e+00] [ 1.01716512e-01 3.05763603e-03 9.94808726e-01 9.76095834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.246875000000001 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:9.92, Y:1.11, Z:0.98 [[ 9.83069239e-01 -1.53532941e-01 -1.00012535e-01 9.92199643e+00] [ 1.52412934e-01 9.88138253e-01 -1.87906899e-02 1.11091229e+00] [ 1.01711201e-01 3.22934537e-03 9.94808727e-01 9.81340159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.276875 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:9.95, Y:1.12, Z:0.99 [[ 9.83440795e-01 -1.51136225e-01 -1.00010224e-01 9.94902461e+00] [ 1.50002618e-01 9.88506784e-01 -1.88029805e-02 1.11870720e+00] [ 1.01702596e-01 3.48982263e-03 9.94808727e-01 9.87786535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.306875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:9.98, Y:1.13, Z:0.99 [[ 9.83949798e-01 -1.47789757e-01 -1.00004912e-01 9.97530789e+00] [ 1.46636059e-01 9.89011250e-01 -1.88311898e-02 1.12745735e+00] [ 1.01689040e-01 3.86461918e-03 9.94808727e-01 9.89504042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.336875000000001 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:10.00, Y:1.14, Z:0.99 [[ 9.84550133e-01 -1.43737661e-01 -1.00002598e-01 1.00031130e+01] [ 1.42561891e-01 9.89606503e-01 -1.88434696e-02 1.13639826e+00] [ 1.01671738e-01 4.29578100e-03 9.94808727e-01 9.87487827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.366875 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:10.03, Y:1.14, Z:0.99 [[ 9.84509700e-01 -1.44017805e-01 -9.99976128e-02 1.00310863e+01] [ 1.42840794e-01 9.89565781e-01 -1.88698894e-02 1.14178959e+00] [ 1.01671816e-01 4.29385077e-03 9.94808728e-01 9.90387413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.396875 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:10.06, Y:1.15, Z:0.99 [[ 9.84755880e-01 -1.42328512e-01 -9.99922592e-02 1.00585807e+01] [ 1.41139958e-01 9.89809259e-01 -1.88982160e-02 1.14855445e+00] [ 1.01663019e-01 4.49722604e-03 9.94808728e-01 9.88720572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.426875 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:10.09, Y:1.15, Z:0.99 [[ 9.84594711e-01 -1.43440349e-01 -9.99906023e-02 1.00862341e+01] [ 1.42256614e-01 9.89649222e-01 -1.89069787e-02 1.15389188e+00] [ 1.01667645e-01 4.39138673e-03 9.94808728e-01 9.92900367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.456875 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:10.11, Y:1.16, Z:1.00 [[ 9.84710409e-01 -1.42647787e-01 -9.99850958e-02 1.01131806e+01] [ 1.41457038e-01 9.89763271e-01 -1.89360538e-02 1.15808518e+00] [ 1.01662762e-01 4.50293381e-03 9.94808729e-01 9.98307207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.486875 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:10.14, Y:1.16, Z:1.00 [[ 9.85056584e-01 -1.40238531e-01 -9.99833987e-02 1.01405370e+01] [ 1.39034518e-01 9.90106302e-01 -1.89450104e-02 1.16308284e+00] [ 1.01651014e-01 4.76076365e-03 9.94808729e-01 9.98908446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.516875 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:10.17, Y:1.17, Z:1.00 [[ 9.84976735e-01 -1.40802085e-01 -9.99780238e-02 1.01684612e+01] [ 1.39598092e-01 9.90026457e-01 -1.89733330e-02 1.16862875e+00] [ 1.01652374e-01 4.73155018e-03 9.94808729e-01 9.99165301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.546875 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:10.20, Y:1.17, Z:1.00 [[ 9.84699866e-01 -1.42729343e-01 -9.99725361e-02 1.01950418e+01] [ 1.41532309e-01 9.89751242e-01 -1.90022050e-02 1.17366407e+00] [ 1.01660114e-01 4.56212482e-03 9.94808729e-01 1.00398431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.576875 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:10.22, Y:1.18, Z:1.01 [[ 9.84699776e-01 -1.42731896e-01 -9.99697767e-02 1.02226258e+01] [ 1.41533406e-01 9.89750807e-01 -1.90167107e-02 1.17936399e+00] [ 1.01659458e-01 4.57668777e-03 9.94808730e-01 1.00742466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.606875 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:10.25, Y:1.19, Z:1.01 [[ 9.84825978e-01 -1.41862363e-01 -9.99643092e-02 1.02502067e+01] [ 1.40656506e-01 9.89875255e-01 -1.90454084e-02 1.18614396e+00] [ 1.01654023e-01 4.69578246e-03 9.94808730e-01 1.00842778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.636875 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:10.28, Y:1.19, Z:1.01 [[ 9.84822350e-01 -1.41888737e-01 -9.99626153e-02 1.02777371e+01] [ 1.40682115e-01 9.89871444e-01 -1.90542952e-02 1.19321893e+00] [ 1.01653728e-01 4.70214361e-03 9.94808730e-01 1.01043237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.666875000000001 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:10.30, Y:1.20, Z:1.02 [[ 9.84819570e-01 -1.41911894e-01 -9.99571342e-02 1.03047135e+01] [ 1.40702484e-01 9.89867996e-01 -1.90830053e-02 1.19851234e+00] [ 1.01652474e-01 4.72909994e-03 9.94808730e-01 1.01520343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.696875 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:10.33, Y:1.20, Z:1.02 [[ 9.84609868e-01 -1.43360795e-01 -9.99554438e-02 1.03326337e+01] [ 1.42157917e-01 9.89659854e-01 -1.90918555e-02 1.20436630e+00] [ 1.01658914e-01 4.58857162e-03 9.94808731e-01 1.01711971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.726875 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:10.36, Y:1.21, Z:1.02 [[ 9.84165143e-01 -1.46386344e-01 -9.99500373e-02 1.03596305e+01] [ 1.45196129e-01 9.89218128e-01 -1.91201182e-02 1.20988555e+00] [ 1.01671313e-01 4.30499535e-03 9.94808731e-01 1.01946646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.756875 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:10.39, Y:1.21, Z:1.02 [[ 9.83385152e-01 -1.51541133e-01 -9.99446188e-02 1.03856921e+01] [ 1.50374540e-01 9.88443644e-01 -1.91484002e-02 1.21425542e+00] [ 1.01691393e-01 3.80112630e-03 9.94808731e-01 1.02227823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.786875 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:10.41, Y:1.22, Z:1.03 [[ 9.82461977e-01 -1.57416658e-01 -9.99422856e-02 1.04137131e+01] [ 1.56279087e-01 9.87527073e-01 -1.91605702e-02 1.21696016e+00] [ 1.01711906e-01 3.20564252e-03 9.94808731e-01 1.02854894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.816875 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:10.44, Y:1.22, Z:1.03 [[ 9.81589049e-01 -1.62774517e-01 -9.99369574e-02 1.04419087e+01] [ 1.61661774e-01 9.86659657e-01 -1.91883209e-02 1.22051383e+00] [ 1.01727134e-01 2.67905992e-03 9.94808732e-01 1.03130304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.846875 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:10.47, Y:1.23, Z:1.03 [[ 9.80926078e-01 -1.66726409e-01 -9.99316438e-02 1.04699917e+01] [ 1.65631282e-01 9.86000520e-01 -1.92159542e-02 1.22511953e+00] [ 1.01736460e-01 2.29762431e-03 9.94808732e-01 1.03408258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.876875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:10.50, Y:1.23, Z:1.04 [[ 9.80655395e-01 -1.68314343e-01 -9.99263673e-02 1.04975223e+01] [ 1.67224642e-01 9.85731004e-01 -1.92433538e-02 1.22884397e+00] [ 1.01739451e-01 2.16094773e-03 9.94808733e-01 1.03949350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.906875 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:10.52, Y:1.23, Z:1.04 [[ 9.80812019e-01 -1.67402392e-01 -9.99210765e-02 1.05248332e+01] [ 1.66305179e-01 9.85886010e-01 -1.92707878e-02 1.23340674e+00] [ 1.01736767e-01 2.28362773e-03 9.94808733e-01 1.04355378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.936875 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:10.55, Y:1.24, Z:1.04 [[ 9.81324447e-01 -1.64375126e-01 -9.99157008e-02 1.05512042e+01] [ 1.63259429e-01 9.86394405e-01 -1.92986195e-02 1.24035246e+00] [ 1.01728501e-01 2.62602682e-03 9.94808733e-01 1.04421519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.966875 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:10.58, Y:1.25, Z:1.05 [[ 9.82080404e-01 -1.59798828e-01 -9.99120360e-02 1.05780759e+01] [ 1.58657583e-01 9.87144672e-01 -1.93175746e-02 1.24781473e+00] [ 1.01714560e-01 3.11960936e-03 9.94808734e-01 1.04567277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.996875000000001 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:10.61, Y:1.25, Z:1.05 [[ 9.82973580e-01 -1.54212871e-01 -9.99066127e-02 1.06053281e+01] [ 1.53040010e-01 9.88030619e-01 -1.93455823e-02 1.25447806e+00] [ 1.01694130e-01 3.72648728e-03 9.94808734e-01 1.04700525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.026875 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:10.63, Y:1.26, Z:1.05 [[ 9.83651991e-01 -1.49828296e-01 -9.99011597e-02 1.06335762e+01] [ 1.48630046e-01 9.88703074e-01 -1.93737008e-02 1.26106377e+00] [ 1.01675312e-01 4.20866539e-03 9.94808734e-01 1.04557159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.056875 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:10.66, Y:1.27, Z:1.04 [[ 9.84001264e-01 -1.47520260e-01 -9.98963744e-02 1.06621711e+01] [ 1.46307668e-01 9.89048922e-01 -1.93983440e-02 1.26759746e+00] [ 1.01664050e-01 4.47238947e-03 9.94808735e-01 1.04450890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.086875000000001 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:10.69, Y:1.27, Z:1.05 [[ 9.82998495e-01 -1.54063698e-01 -9.98916171e-02 1.06896232e+01] [ 1.52882232e-01 9.88053530e-01 -1.94228114e-02 1.27261755e+00] [ 1.01690615e-01 3.82094098e-03 9.94808735e-01 1.04578003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.116875 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:10.72, Y:1.28, Z:1.05 [[ 9.81718602e-01 -1.62020338e-01 -9.98899232e-02 1.07178901e+01] [ 1.60878969e-01 9.86782840e-01 -1.94315189e-02 1.27558642e+00] [ 1.01717963e-01 3.00609567e-03 9.94808735e-01 1.05375755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.146875 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:10.75, Y:1.28, Z:1.06 [[ 9.80754834e-01 -1.67758463e-01 -9.98851997e-02 1.07461554e+01] [ 1.66644260e-01 9.85825118e-01 -1.94557696e-02 1.27923121e+00] [ 1.01733209e-01 2.43604491e-03 9.94808735e-01 1.06064919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.176875 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:10.77, Y:1.28, Z:1.07 [[ 9.80429856e-01 -1.69650165e-01 -9.98805277e-02 1.07730486e+01] [ 1.68543306e-01 9.85501748e-01 -1.94797246e-02 1.28270922e+00] [ 1.01737173e-01 2.26430922e-03 9.94808736e-01 1.06820909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.206875 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:10.80, Y:1.29, Z:1.07 [[ 9.80641870e-01 -1.68421292e-01 -9.98788828e-02 1.08000084e+01] [ 1.67307219e-01 9.85712182e-01 -1.94881552e-02 1.28815211e+00] [ 1.01734052e-01 2.40044290e-03 9.94808736e-01 1.07460456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.236875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:10.83, Y:1.30, Z:1.07 [[ 9.80560871e-01 -1.68895382e-01 -9.98735576e-02 1.08258866e+01] [ 1.67780986e-01 9.85631112e-01 -1.95154079e-02 1.29609748e+00] [ 1.01734548e-01 2.37916135e-03 9.94808736e-01 1.07343624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.266875 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:10.85, Y:1.30, Z:1.08 [[ 9.80971020e-01 -1.66498023e-01 -9.98712518e-02 1.08530081e+01] [ 1.65370037e-01 9.86038254e-01 -1.95272010e-02 1.30337010e+00] [ 1.01728115e-01 2.63990570e-03 9.94808736e-01 1.07530572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.296875 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:10.88, Y:1.31, Z:1.08 [[ 9.81136678e-01 -1.65522356e-01 -9.98657537e-02 1.08791395e+01] [ 1.64386475e-01 9.86202149e-01 -1.95552789e-02 1.30958709e+00] [ 1.01724657e-01 2.76982214e-03 9.94808737e-01 1.07589740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.326875 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:10.91, Y:1.32, Z:1.08 [[ 9.81480698e-01 -1.63471544e-01 -9.98633732e-02 1.09070927e+01] [ 1.62323845e-01 9.86543504e-01 -1.95674282e-02 1.31664950e+00] [ 1.01718280e-01 2.99484639e-03 9.94808737e-01 1.07732220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.356875 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:10.93, Y:1.32, Z:1.08 [[ 9.81601753e-01 -1.62745977e-01 -9.98586312e-02 1.09338829e+01] [ 1.61592079e-01 9.86663149e-01 -1.95915982e-02 1.32464506e+00] [ 1.01715285e-01 3.09478333e-03 9.94808737e-01 1.07842078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.386875 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:10.96, Y:1.33, Z:1.08 [[ 9.81563925e-01 -1.62977337e-01 -9.98531325e-02 1.09597672e+01] [ 1.61821787e-01 9.86624944e-01 -1.96195841e-02 1.33050224e+00] [ 1.01715139e-01 3.09946362e-03 9.94808737e-01 1.08012607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.416875000000001 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:10.99, Y:1.33, Z:1.08 [[ 9.81130627e-01 -1.65567479e-01 -9.98503989e-02 1.09875053e+01] [ 1.64423878e-01 9.86194359e-01 -1.96334863e-02 1.33390368e+00] [ 1.01722567e-01 2.84522495e-03 9.94808737e-01 1.08491091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.446875 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:11.02, Y:1.34, Z:1.09 [[ 9.80733129e-01 -1.67909261e-01 -9.98449308e-02 1.10152481e+01] [ 1.66774927e-01 9.85798944e-01 -1.96612548e-02 1.33746500e+00] [ 1.01728334e-01 2.63081296e-03 9.94808738e-01 1.09071808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.476875 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:11.04, Y:1.34, Z:1.09 [[ 9.80532251e-01 -1.69079872e-01 -9.98423830e-02 1.10429260e+01] [ 1.67950270e-01 9.85599124e-01 -1.96741848e-02 1.34286897e+00] [ 1.01731074e-01 2.52261757e-03 9.94808738e-01 1.09454939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.506875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:11.07, Y:1.35, Z:1.10 [[ 9.80520278e-01 -1.69152501e-01 -9.98369493e-02 1.10707289e+01] [ 1.68020472e-01 9.85586609e-01 -1.97017196e-02 1.34793706e+00] [ 1.01730555e-01 2.54328417e-03 9.94808738e-01 1.09775519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.536875 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:11.10, Y:1.35, Z:1.10 [[ 9.81038688e-01 -1.66122907e-01 -9.98312147e-02 1.10979678e+01] [ 1.64972284e-01 9.86100828e-01 -1.97307352e-02 1.35154808e+00] [ 1.01721371e-01 2.88723108e-03 9.94808739e-01 1.09965948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.566875 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:11.13, Y:1.36, Z:1.10 [[ 9.81811725e-01 -1.61492909e-01 -9.98287372e-02 1.11260164e+01] [ 1.60317145e-01 9.86868085e-01 -1.97432621e-02 1.35600416e+00] [ 1.01706192e-01 3.37990804e-03 9.94808739e-01 1.10225541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.596875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:11.15, Y:1.36, Z:1.10 [[ 9.82419884e-01 -1.57754323e-01 -9.98235718e-02 1.11532110e+01] [ 1.56556673e-01 9.87471104e-01 -1.97693444e-02 1.36310018e+00] [ 1.01691592e-01 3.79375074e-03 9.94808739e-01 1.10329507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.626875 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:11.18, Y:1.37, Z:1.11 [[ 9.82824718e-01 -1.55215774e-01 -9.98180186e-02 1.11791489e+01] [ 1.54002240e-01 9.87872145e-01 -1.97973441e-02 1.36884994e+00] [ 1.01680300e-01 4.08512073e-03 9.94808740e-01 1.10627960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.656875 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:11.21, Y:1.37, Z:1.11 [[ 9.83101035e-01 -1.53458377e-01 -9.98142365e-02 1.12068055e+01] [ 1.52233890e-01 9.88145816e-01 -1.98163942e-02 1.37447863e+00] [ 1.01672012e-01 4.28640815e-03 9.94808740e-01 1.10934882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.686875 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:11.23, Y:1.38, Z:1.11 [[ 9.83142918e-01 -1.53193410e-01 -9.98087262e-02 1.12340977e+01] [ 1.51964755e-01 9.88186685e-01 -1.98441094e-02 1.38007848e+00] [ 1.01669641e-01 4.34218698e-03 9.94808740e-01 1.10951448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.716875 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:11.26, Y:1.39, Z:1.11 [[ 9.83167538e-01 -1.53036435e-01 -9.98070212e-02 1.12621235e+01] [ 1.51806106e-01 9.88210897e-01 -1.98526811e-02 1.38530356e+00] [ 1.01668570e-01 4.36719640e-03 9.94808740e-01 1.11198836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.746875000000001 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:11.29, Y:1.39, Z:1.11 [[ 9.83267894e-01 -1.52394038e-01 -9.98013293e-02 1.12906655e+01] [ 1.51157520e-01 9.88309739e-01 -1.98812542e-02 1.39087651e+00] [ 1.01664410e-01 4.46287753e-03 9.94808741e-01 1.11333151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.776875 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:11.32, Y:1.40, Z:1.11 [[ 9.83307400e-01 -1.52142258e-01 -9.97962414e-02 1.13190736e+01] [ 1.50901866e-01 9.88348293e-01 -1.99067608e-02 1.39620033e+00] [ 1.01662104e-01 4.51502619e-03 9.94808741e-01 1.11430719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.806875 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:11.35, Y:1.40, Z:1.12 [[ 9.83255273e-01 -1.52482069e-01 -9.97912110e-02 1.13465248e+01] [ 1.51240868e-01 9.88295967e-01 -1.99319459e-02 1.39996181e+00] [ 1.01662516e-01 4.50568153e-03 9.94808741e-01 1.11519606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.836875000000001 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:11.37, Y:1.40, Z:1.12 [[ 9.82939575e-01 -1.54505798e-01 -9.97885246e-02 1.13746124e+01] [ 1.53273614e-01 9.87982480e-01 -1.99453864e-02 1.40421772e+00] [ 1.01670992e-01 4.31016185e-03 9.94808741e-01 1.12101613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.866875 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:11.40, Y:1.41, Z:1.13 [[ 9.82522669e-01 -1.57138289e-01 -9.97835773e-02 1.14029803e+01] [ 1.55917111e-01 9.87568250e-01 -1.99701066e-02 1.40893098e+00] [ 1.01681161e-01 4.06311528e-03 9.94808742e-01 1.12852565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.896875 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:11.43, Y:1.41, Z:1.14 [[ 9.82221166e-01 -1.59015094e-01 -9.97786559e-02 1.14306590e+01] [ 1.57801067e-01 9.87268472e-01 -1.99946659e-02 1.41259386e+00] [ 1.01687775e-01 3.89400564e-03 9.94808742e-01 1.13515062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.926875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:11.46, Y:1.42, Z:1.14 [[ 9.82247161e-01 -1.58858078e-01 -9.97728717e-02 1.14573440e+01] [ 1.57640321e-01 9.87293568e-01 -2.00234875e-02 1.41696034e+00] [ 1.01686007e-01 3.93978622e-03 9.94808742e-01 1.13783352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.956875 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:11.49, Y:1.42, Z:1.14 [[ 9.82434782e-01 -1.57695187e-01 -9.97703701e-02 1.14855112e+01] [ 1.56470194e-01 9.87479437e-01 -2.00359444e-02 1.42311448e+00] [ 1.01680761e-01 4.07291947e-03 9.94808743e-01 1.13746530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.986875 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:11.51, Y:1.43, Z:1.14 [[ 9.82432387e-01 -1.57713482e-01 -9.97650363e-02 1.15128883e+01] [ 1.56485894e-01 9.87476411e-01 -2.00624679e-02 1.42813578e+00] [ 1.01679742e-01 4.09819737e-03 9.94808743e-01 1.13686977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.016875 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:11.54, Y:1.43, Z:1.14 [[ 9.82107821e-01 -1.59725703e-01 -9.97593449e-02 1.15401738e+01] [ 1.58505584e-01 9.87153657e-01 -2.00907285e-02 1.43244753e+00] [ 1.01686808e-01 3.91884840e-03 9.94808743e-01 1.13885372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.046875 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:11.57, Y:1.44, Z:1.14 [[ 9.81640341e-01 -1.62577485e-01 -9.97537035e-02 1.15676418e+01] [ 1.61369188e-01 9.86689020e-01 -2.01187002e-02 1.43591394e+00] [ 1.01696732e-01 3.65215358e-03 9.94808744e-01 1.14166774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.076875 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:11.60, Y:1.44, Z:1.15 [[ 9.81065574e-01 -1.66014043e-01 -9.97480693e-02 1.15956324e+01] [ 1.64820600e-01 9.86117784e-01 -2.01465960e-02 1.43965434e+00] [ 1.01707963e-01 3.32459509e-03 9.94808744e-01 1.14567645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.106875 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:11.62, Y:1.44, Z:1.15 [[ 9.80479755e-01 -1.69442986e-01 -9.97422868e-02 1.16229132e+01] [ 1.68264308e-01 9.85535430e-01 -2.01751839e-02 1.44277743e+00] [ 1.01718101e-01 2.99829250e-03 9.94808745e-01 1.14940356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.136875 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:11.65, Y:1.45, Z:1.15 [[ 9.79930618e-01 -1.72591473e-01 -9.97404958e-02 1.16503754e+01] [ 1.71428140e-01 9.84989847e-01 -2.01840344e-02 1.44610298e+00] [ 1.01726968e-01 2.68062565e-03 9.94808745e-01 1.15383879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.166875000000001 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:11.68, Y:1.45, Z:1.16 [[ 9.79378733e-01 -1.75699409e-01 -9.97347261e-02 1.16779162e+01] [ 1.74549234e-01 9.84440968e-01 -2.02125038e-02 1.45040461e+00] [ 1.01734275e-01 2.38707633e-03 9.94808745e-01 1.15757802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.196875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:11.71, Y:1.45, Z:1.16 [[ 9.79157399e-01 -1.76929721e-01 -9.97329517e-02 1.17051921e+01] [ 1.75785016e-01 9.84220874e-01 -2.02212556e-02 1.45492749e+00] [ 1.01736994e-01 2.26823349e-03 9.94808745e-01 1.16082514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.226875 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:11.73, Y:1.46, Z:1.16 [[ 9.79454948e-01 -1.75278286e-01 -9.97272675e-02 1.17325662e+01] [ 1.74122195e-01 9.84515835e-01 -2.02492503e-02 1.45924457e+00] [ 1.01732328e-01 2.46849761e-03 9.94808745e-01 1.16488052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.256875 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:11.76, Y:1.47, Z:1.17 [[ 9.80356461e-01 -1.70167034e-01 -9.97215644e-02 1.17600292e+01] [ 1.68981711e-01 9.85410581e-01 -2.02772976e-02 1.46597930e+00] [ 1.01717212e-01 3.02785918e-03 9.94808746e-01 1.16657614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.286875 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:11.79, Y:1.47, Z:1.17 [[ 9.80309170e-01 -1.70440295e-01 -9.97197968e-02 1.17879255e+01] [ 1.69255497e-01 9.85363413e-01 -2.02859867e-02 1.47176726e+00] [ 1.01717789e-01 3.00841497e-03 9.94808746e-01 1.16948552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.316875 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:11.82, Y:1.48, Z:1.17 [[ 9.80589426e-01 -1.68823785e-01 -9.97141234e-02 1.18150303e+01] [ 1.67627827e-01 9.85641040e-01 -2.03138360e-02 1.47884242e+00] [ 1.01711791e-01 3.20467096e-03 9.94808746e-01 1.17063264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.346875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:11.84, Y:1.49, Z:1.18 [[ 9.79211437e-01 -1.76644288e-01 -9.97083593e-02 1.18417077e+01] [ 1.75485809e-01 9.84271777e-01 -2.03420891e-02 1.48679261e+00] [ 1.01733438e-01 2.42180419e-03 9.94808747e-01 1.17553653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.376875 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:11.87, Y:1.49, Z:1.18 [[ 9.78958654e-01 -1.78043066e-01 -9.97026592e-02 1.18685430e+01] [ 1.76888978e-01 9.84019996e-01 -2.03699888e-02 1.49355822e+00] [ 1.01736146e-01 2.30507538e-03 9.94808747e-01 1.17881422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.406875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:11.90, Y:1.50, Z:1.17 [[ 9.78690350e-01 -1.79515228e-01 -9.96969451e-02 1.18958056e+01] [ 1.78365909e-01 9.83752778e-01 -2.03979173e-02 1.50425516e+00] [ 1.01738883e-01 2.18070857e-03 9.94808747e-01 1.17408026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.436875 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:11.92, Y:1.52, Z:1.17 [[ 9.77401572e-01 -1.86405574e-01 -9.96951796e-02 1.19227787e+01] [ 1.85291068e-01 9.82471777e-01 -2.04065427e-02 1.51704806e+00] [ 1.01751594e-01 1.47276066e-03 9.94808748e-01 1.17166134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.466875 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:11.95, Y:1.52, Z:1.18 [[ 9.77503367e-01 -1.85873653e-01 -9.96902786e-02 1.19509372e+01] [ 1.84753950e-01 9.82572427e-01 -2.04304573e-02 1.52420489e+00] [ 1.01750403e-01 1.55266797e-03 9.94808748e-01 1.17627340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.496875000000001 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:11.98, Y:1.53, Z:1.18 [[ 9.77956971e-01 -1.83474740e-01 -9.96854131e-02 1.19781475e+01] [ 1.82340187e-01 9.83022728e-01 -2.04541698e-02 1.53319587e+00] [ 1.01745850e-01 1.82664103e-03 9.94808748e-01 1.18337728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.526875 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:12.00, Y:1.54, Z:1.19 [[ 9.78825326e-01 -1.78786917e-01 -9.96805867e-02 1.20046104e+01] [ 1.77625714e-01 9.83885040e-01 -2.04776637e-02 1.54323611e+00] [ 1.01735376e-01 2.33822049e-03 9.94808748e-01 1.18704604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.556875 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:12.03, Y:1.55, Z:1.19 [[ 9.80258587e-01 -1.70757167e-01 -9.96749349e-02 1.20311330e+01] [ 1.69551736e-01 9.85307946e-01 -2.05051376e-02 1.55386079e+00] [ 1.01711905e-01 3.20027901e-03 9.94808749e-01 1.19084196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.586875000000001 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:12.06, Y:1.56, Z:1.20 [[ 9.81656938e-01 -1.62526676e-01 -9.96731395e-02 1.20570092e+01] [ 1.61278039e-01 9.86695787e-01 -2.05138608e-02 1.56428067e+00] [ 1.01681116e-01 4.06248538e-03 9.94808749e-01 1.19569289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.616875 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:12.08, Y:1.57, Z:1.20 [[ 9.82507470e-01 -1.57304463e-01 -9.96713443e-02 1.20839454e+01] [ 1.56028166e-01 9.87539384e-01 -2.05225795e-02 1.57447240e+00] [ 1.01657671e-01 4.61205055e-03 9.94808749e-01 1.20132114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.646875 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:12.11, Y:1.59, Z:1.20 [[ 9.82976907e-01 -1.54347109e-01 -9.96662948e-02 1.21108841e+01] [ 1.53053199e-01 9.88004320e-01 -2.05470730e-02 1.58625074e+00] [ 1.01642111e-01 4.94305299e-03 9.94808749e-01 1.20375523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.676875 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:12.14, Y:1.60, Z:1.21 [[ 9.83243856e-01 -1.52640641e-01 -9.96611950e-02 1.21371878e+01] [ 1.51335508e-01 9.88268367e-01 -2.05717795e-02 1.59698596e+00] [ 1.01632096e-01 5.14479827e-03 9.94808750e-01 1.20533046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.706875 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:12.16, Y:1.61, Z:1.21 [[ 9.83243738e-01 -1.52645289e-01 -9.96552471e-02 1.21644149e+01] [ 1.51337272e-01 9.88267498e-01 -2.06005527e-02 1.60709199e+00] [ 1.01630619e-01 5.17381123e-03 9.94808750e-01 1.20537915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.736875 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:12.19, Y:1.62, Z:1.20 [[ 9.82697843e-01 -1.56124427e-01 -9.96499484e-02 1.21920653e+01] [ 1.54831610e-01 9.87725536e-01 -2.06261523e-02 1.61637290e+00] [ 1.01647045e-01 4.84031345e-03 9.94808750e-01 1.20486973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.766875 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:12.22, Y:1.62, Z:1.21 [[ 9.81694618e-01 -1.62316398e-01 -9.96446932e-02 1.22191411e+01] [ 1.61052732e-01 9.86729716e-01 -2.06515088e-02 1.62256470e+00] [ 1.01674458e-01 4.22542497e-03 9.94808751e-01 1.21017072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.796875 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:12.25, Y:1.63, Z:1.22 [[ 9.80334049e-01 -1.70342175e-01 -9.96428417e-02 1.22467792e+01] [ 1.69118837e-01 9.85379097e-01 -2.06604387e-02 1.62953192e+00] [ 1.01705317e-01 3.40265001e-03 9.94808751e-01 1.21865877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.826875 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:12.27, Y:1.64, Z:1.22 [[ 9.78508795e-01 -1.80535008e-01 -9.96375911e-02 1.22737294e+01] [ 1.79361664e-01 9.83565704e-01 -2.06857293e-02 1.63599755e+00] [ 1.01734616e-01 2.37000389e-03 9.94808751e-01 1.22307743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.856875 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:12.30, Y:1.64, Z:1.23 [[ 9.76450515e-01 -1.91358193e-01 -9.96314947e-02 1.23009764e+01] [ 1.90237921e-01 9.81519445e-01 -2.07150513e-02 1.64125066e+00] [ 1.01754244e-01 1.27353408e-03 9.94808751e-01 1.22999304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.886875 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:12.33, Y:1.65, Z:1.24 [[ 9.74117278e-01 -2.02902607e-01 -9.96296169e-02 1.23288399e+01] [ 2.01841489e-01 9.79198920e-01 -2.07240783e-02 1.64582585e+00] [ 1.01762183e-01 7.82925375e-05 9.94808751e-01 1.23568891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.916875000000001 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:12.36, Y:1.65, Z:1.24 [[ 9.72651991e-01 -2.09816682e-01 -9.96246126e-02 1.23561709e+01] [ 2.08789225e-01 9.77740546e-01 -2.07481074e-02 1.65251000e+00] [ 1.01760322e-01 -6.19857611e-04 9.94808752e-01 1.23857664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.946875 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:12.38, Y:1.66, Z:1.24 [[ 9.72485471e-01 -2.10589939e-01 -9.96187081e-02 1.23841170e+01] [ 2.09563628e-01 9.77574256e-01 -2.07764184e-02 1.66124044e+00] [ 1.01759989e-01 -6.71692905e-04 9.94808752e-01 1.23875611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.976875 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:12.41, Y:1.67, Z:1.24 [[ 9.73013958e-01 -2.08136923e-01 -9.96135468e-02 1.24112733e+01] [ 2.07095252e-01 9.78099621e-01 -2.08011352e-02 1.66912930e+00] [ 1.01761457e-01 -3.89697758e-04 9.94808753e-01 1.23837803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.006875 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:12.44, Y:1.68, Z:1.24 [[ 9.73512125e-01 -2.05795161e-01 -9.96117166e-02 1.24380295e+01] [ 2.04740360e-01 9.78595081e-01 -2.08098961e-02 1.67885656e+00] [ 1.01762112e-01 -1.35852550e-04 9.94808753e-01 1.23766119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.036875 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:12.47, Y:1.69, Z:1.24 [[ 9.74030152e-01 -2.03331961e-01 -9.96061056e-02 1.24658748e+01] [ 2.02261563e-01 9.79109846e-01 -2.08367188e-02 1.68933391e+00] [ 1.01762090e-01 1.49105793e-04 9.94808753e-01 1.23523068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.066875 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:12.49, Y:1.70, Z:1.23 [[ 9.74266342e-01 -2.02199676e-01 -9.96011327e-02 1.24935439e+01] [ 2.01120947e-01 9.79344273e-01 -2.08604624e-02 1.69862852e+00] [ 1.01761778e-01 2.91772287e-04 9.94808753e-01 1.23326512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.096875 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:12.52, Y:1.71, Z:1.24 [[ 9.74443275e-01 -2.01347732e-01 -9.95961607e-02 1.25213586e+01] [ 2.00262139e-01 9.79519743e-01 -2.08841742e-02 1.70609717e+00] [ 1.01761387e-01 4.05102896e-04 9.94808754e-01 1.23618413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.126875 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:12.55, Y:1.71, Z:1.24 [[ 9.74987410e-01 -1.98698616e-01 -9.95912139e-02 1.25487993e+01] [ 1.97596824e-01 9.80060387e-01 -2.09077375e-02 1.71381137e+00] [ 1.01759742e-01 7.05873323e-04 9.94808754e-01 1.24364082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.156875 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:12.58, Y:1.72, Z:1.25 [[ 9.76449544e-01 -1.91386720e-01 -9.95862003e-02 1.25754141e+01] [ 1.90244511e-01 9.81513573e-01 -2.09315909e-02 1.72419988e+00] [ 1.01751236e-01 1.49291439e-03 9.94808754e-01 1.24868586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.186875 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:12.60, Y:1.73, Z:1.25 [[ 9.78236071e-01 -1.82037958e-01 -9.95809770e-02 1.26020777e+01] [ 1.80844837e-01 9.83288347e-01 -2.09564112e-02 1.73450795e+00] [ 1.01731677e-01 2.49161174e-03 9.94808754e-01 1.25075240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.216875 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:12.63, Y:1.74, Z:1.26 [[ 9.79598537e-01 -1.74558603e-01 -9.95791209e-02 1.26290333e+01] [ 1.73326020e-01 9.84641331e-01 -2.09652273e-02 1.74270030e+00] [ 1.01709379e-01 3.27785320e-03 9.94808754e-01 1.25654275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.246875 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:12.66, Y:1.75, Z:1.26 [[ 9.80209503e-01 -1.71097993e-01 -9.95731278e-02 1.26558957e+01] [ 1.69844725e-01 9.85247195e-01 -2.09936528e-02 1.74966351e+00] [ 1.01696117e-01 3.66620742e-03 9.94808755e-01 1.25946493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.276875 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:12.68, Y:1.76, Z:1.26 [[ 9.80163359e-01 -1.71365633e-01 -9.95671062e-02 1.26835068e+01] [ 1.70110848e-01 9.85200674e-01 -2.10221730e-02 1.75685542e+00] [ 1.01696058e-01 3.66771882e-03 9.94808755e-01 1.26150839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.306875 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:12.71, Y:1.77, Z:1.26 [[ 9.80026907e-01 -1.72147809e-01 -9.95610047e-02 1.27104245e+01] [ 1.70894117e-01 9.85064493e-01 -2.10510304e-02 1.76500291e+00] [ 1.01697899e-01 3.61618625e-03 9.94808756e-01 1.26393116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.336875000000001 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:12.74, Y:1.77, Z:1.27 [[ 9.79332072e-01 -1.76058724e-01 -9.95591155e-02 1.27374580e+01] [ 1.74824245e-01 9.84374401e-01 -2.10599612e-02 1.76926560e+00] [ 1.01711235e-01 3.21934827e-03 9.94808756e-01 1.26943314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.366875 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:12.77, Y:1.77, Z:1.27 [[ 9.78788585e-01 -1.79058888e-01 -9.95531025e-02 1.27654565e+01] [ 1.77836981e-01 9.83833975e-01 -2.10883474e-02 1.77458878e+00] [ 1.01719781e-01 2.93681048e-03 9.94808756e-01 1.27199956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.396875 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:12.79, Y:1.78, Z:1.27 [[ 9.77574279e-01 -1.85577206e-01 -9.95471235e-02 1.27928134e+01] [ 1.84386078e-01 9.82627023e-01 -2.11165339e-02 1.78024369e+00] [ 1.01736441e-01 2.28787672e-03 9.94808757e-01 1.27457464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.426875 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:12.82, Y:1.78, Z:1.28 [[ 9.75866977e-01 -1.94358491e-01 -9.95410434e-02 1.28191073e+01] [ 1.93209919e-01 9.80929564e-01 -2.11451563e-02 1.78468217e+00] [ 1.01752493e-01 1.40254293e-03 9.94808757e-01 1.27854942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.456875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:12.85, Y:1.79, Z:1.29 [[ 9.73909326e-01 -2.03942956e-01 -9.95384102e-02 1.28471298e+01] [ 2.02842943e-01 9.78982686e-01 -2.11575443e-02 1.78781218e+00] [ 1.01761312e-01 4.14865608e-04 9.94808757e-01 1.28513526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.486875 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:12.87, Y:1.79, Z:1.29 [[ 9.72046466e-01 -2.12647218e-01 -9.95330532e-02 1.28744127e+01] [ 2.11590058e-01 9.77128927e-01 -2.11827158e-02 1.78995717e+00] [ 1.01761071e-01 -4.69620442e-04 9.94808757e-01 1.29372565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.516875 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:12.90, Y:1.79, Z:1.30 [[ 9.71028784e-01 -2.17248318e-01 -9.95302395e-02 1.29026636e+01] [ 2.16213885e-01 9.76115920e-01 -2.11959286e-02 1.79468191e+00] [ 1.01757831e-01 -9.37962962e-04 9.94808758e-01 1.30010212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.546875 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:12.93, Y:1.80, Z:1.30 [[ 9.71215116e-01 -2.16416150e-01 -9.95251157e-02 1.29305523e+01] [ 2.15374895e-01 9.76300859e-01 -2.12199600e-02 1.80340139e+00] [ 1.01758798e-01 -8.26065487e-04 9.94808758e-01 1.29696476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.576875 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:12.96, Y:1.81, Z:1.29 [[ 9.72368713e-01 -2.11174939e-01 -9.95200030e-02 1.29586373e+01] [ 2.10103819e-01 9.77448250e-01 -2.12439115e-02 1.81216291e+00] [ 1.01761834e-01 -2.52617772e-04 9.94808758e-01 1.29219755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.606875 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:12.99, Y:1.82, Z:1.29 [[ 9.73848378e-01 -2.04245318e-01 -9.95147552e-02 1.29858439e+01] [ 2.03135545e-01 9.78919610e-01 -2.12684660e-02 1.82104281e+00] [ 1.01760930e-01 4.97277188e-04 9.94808758e-01 1.29065549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.636875 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:13.01, Y:1.83, Z:1.29 [[ 9.74754402e-01 -1.99877559e-01 -9.95128964e-02 1.30127721e+01] [ 1.98744176e-01 9.79820410e-01 -2.12771593e-02 1.83039810e+00] [ 1.01757594e-01 9.62396066e-04 9.94808758e-01 1.29077307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.666875000000001 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:13.04, Y:1.84, Z:1.29 [[ 9.75216777e-01 -1.97612232e-01 -9.95070039e-02 1.30391708e+01] [ 1.96464273e-01 9.80279501e-01 -2.13046817e-02 1.83989663e+00] [ 1.01754742e-01 1.22711191e-03 9.94808759e-01 1.29250305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.696875 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:13.07, Y:1.85, Z:1.30 [[ 9.74946171e-01 -1.98945984e-01 -9.95010503e-02 1.30657366e+01] [ 1.97802117e-01 9.80009821e-01 -2.13324512e-02 1.84941743e+00] [ 1.01756012e-01 1.11647323e-03 9.94808759e-01 1.29568239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.726875 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:13.09, Y:1.86, Z:1.30 [[ 9.73812980e-01 -2.04423659e-01 -9.94949596e-02 1.30927238e+01] [ 2.03305378e-01 9.78882341e-01 -2.13608208e-02 1.85749384e+00] [ 1.01760516e-01 5.73584171e-04 9.94808760e-01 1.30011706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.756875 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:13.12, Y:1.86, Z:1.31 [[ 9.72445613e-01 -2.10835237e-01 -9.94888593e-02 1.31180052e+01] [ 2.09747477e-01 9.77521610e-01 -2.13891957e-02 1.86486640e+00] [ 1.01762106e-01 -6.77077421e-05 9.94808760e-01 1.30560634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.786875 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:13.14, Y:1.87, Z:1.31 [[ 9.71860126e-01 -2.13519057e-01 -9.94862183e-02 1.31437559e+01] [ 2.12444058e-01 9.76938841e-01 -2.14014725e-02 1.87287061e+00] [ 1.01761573e-01 -3.36018169e-04 9.94808760e-01 1.31264695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.816875 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:13.17, Y:1.88, Z:1.32 [[ 9.72671230e-01 -2.09794040e-01 -9.94843611e-02 1.31705407e+01] [ 2.08698708e-01 9.77745599e-01 -2.14101024e-02 1.88199670e+00] [ 1.01762108e-01 6.27329779e-05 9.94808760e-01 1.31733966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.846875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:13.20, Y:1.89, Z:1.32 [[ 9.74471729e-01 -2.01268335e-01 -9.94781727e-02 1.31965932e+01] [ 2.00125678e-01 9.79535650e-01 -2.14388172e-02 1.89322623e+00] [ 1.01757372e-01 9.83384535e-04 9.94808761e-01 1.31986066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.876875 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:13.22, Y:1.90, Z:1.32 [[ 9.75485710e-01 -1.96295963e-01 -9.94762532e-02 1.32217141e+01] [ 1.95126587e-01 9.80543528e-01 -2.14477200e-02 1.90283818e+00] [ 1.01750897e-01 1.51148265e-03 9.94808761e-01 1.32121838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.906875 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:13.25, Y:1.92, Z:1.32 [[ 9.77444554e-01 -1.86298543e-01 -9.94736003e-02 1.32478637e+01] [ 1.85076195e-01 9.82489832e-01 -2.14600168e-02 1.91634664e+00] [ 1.01729771e-01 2.56578109e-03 9.94808761e-01 1.31991586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.936875 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:13.27, Y:1.93, Z:1.32 [[ 9.79086932e-01 -1.77468377e-01 -9.94673547e-02 1.32745644e+01] [ 1.76197606e-01 9.84120231e-01 -2.14889267e-02 1.92744816e+00] [ 1.01701441e-01 3.51361762e-03 9.94808761e-01 1.32006909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.966875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:13.30, Y:1.94, Z:1.32 [[ 9.80228195e-01 -1.71053549e-01 -9.94654184e-02 1.33010780e+01] [ 1.69748940e-01 9.85252830e-01 -2.14978858e-02 1.93828630e+00] [ 1.01675875e-01 4.18868444e-03 9.94808761e-01 1.32067697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.996875 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:13.33, Y:1.95, Z:1.32 [[ 9.80629862e-01 -1.68739227e-01 -9.94592737e-02 1.33277337e+01] [ 1.67419888e-01 9.85650648e-01 -2.15262766e-02 1.94721477e+00] [ 1.01664425e-01 4.45784920e-03 9.94808762e-01 1.32295106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.026875 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:13.35, Y:1.95, Z:1.32 [[ 9.80237968e-01 -1.71004744e-01 -9.94530174e-02 1.33538513e+01] [ 1.69694086e-01 9.85261028e-01 -2.15551424e-02 1.95341701e+00] [ 1.01673214e-01 4.25258015e-03 9.94808762e-01 1.32463634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.056875 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:13.38, Y:1.96, Z:1.33 [[ 9.79451573e-01 -1.75454417e-01 -9.94503074e-02 1.33817050e+01] [ 1.74165316e-01 9.84480208e-01 -2.15676389e-02 1.95850749e+00] [ 1.01690997e-01 3.80366365e-03 9.94808762e-01 1.32550656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.086875000000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:13.41, Y:1.96, Z:1.33 [[ 9.78640385e-01 -1.79927393e-01 -9.94441060e-02 1.34098738e+01] [ 1.78658381e-01 9.83674127e-01 -2.15961944e-02 1.96096503e+00] [ 1.01706341e-01 3.36838501e-03 9.94808763e-01 1.32639851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.116875 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:13.44, Y:1.96, Z:1.33 [[ 9.78220624e-01 -1.82199084e-01 -9.94379439e-02 1.34383479e+01] [ 1.80938885e-01 9.83256579e-01 -2.16245305e-02 1.96342805e+00] [ 1.01712982e-01 3.16137101e-03 9.94808763e-01 1.32914126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.146875 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:13.47, Y:1.97, Z:1.33 [[ 9.78168795e-01 -1.82480512e-01 -9.94317447e-02 1.34661357e+01] [ 1.81218871e-01 9.83204388e-01 -2.16529977e-02 1.96955968e+00] [ 1.01712978e-01 3.16137810e-03 9.94808763e-01 1.33203978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.176875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:13.49, Y:1.97, Z:1.34 [[ 9.78104771e-01 -1.82826744e-01 -9.94255389e-02 1.34943319e+01] [ 1.81563996e-01 9.83140087e-01 -2.16814560e-02 1.97121222e+00] [ 1.01713183e-01 3.15463746e-03 9.94808764e-01 1.33742339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.206875 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:13.52, Y:1.97, Z:1.34 [[ 9.78189374e-01 -1.82376968e-01 -9.94192675e-02 1.35217153e+01] [ 1.81108989e-01 9.83223374e-01 -2.17101755e-02 1.97033965e+00] [ 1.01710784e-01 3.23094000e-03 9.94808764e-01 1.34444544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.236875 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:13.55, Y:1.97, Z:1.35 [[ 9.78159854e-01 -1.82536708e-01 -9.94165493e-02 1.35507699e+01] [ 1.81268288e-01 9.83193743e-01 -2.17226155e-02 1.96974182e+00] [ 1.01710904e-01 3.22712276e-03 9.94808764e-01 1.34813978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.266875 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:13.58, Y:1.97, Z:1.35 [[ 9.77533485e-01 -1.85865205e-01 -9.94103151e-02 1.35801836e+01] [ 1.84611032e-01 9.82570942e-01 -2.17511083e-02 1.96878474e+00] [ 1.01720461e-01 2.91019586e-03 9.94808765e-01 1.34907207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.296875 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:13.61, Y:1.97, Z:1.35 [[ 9.76635438e-01 -1.90530993e-01 -9.94040354e-02 1.36082037e+01] [ 1.89297973e-01 9.81678114e-01 -2.17797696e-02 1.96658225e+00] [ 1.01732487e-01 2.45391245e-03 9.94808765e-01 1.35004238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.326875 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:13.64, Y:1.97, Z:1.35 [[ 9.76085861e-01 -1.93328143e-01 -9.94013156e-02 1.36361609e+01] [ 1.92108312e-01 9.81131743e-01 -2.17921753e-02 1.96880450e+00] [ 1.01738827e-01 2.17521514e-03 9.94808765e-01 1.35119725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.356875 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:13.67, Y:1.96, Z:1.36 [[ 9.74856751e-01 -1.99436561e-01 -9.93950358e-02 1.36660861e+01] [ 1.98245435e-01 9.79909486e-01 -2.18207805e-02 1.96413223e+00] [ 1.01750000e-01 1.56752304e-03 9.94808766e-01 1.35519812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.386875 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:13.69, Y:1.96, Z:1.36 [[ 9.74093947e-01 -2.03132597e-01 -9.93887858e-02 1.36944262e+01] [ 2.01957744e-01 9.79150490e-01 -2.18492109e-02 1.96476286e+00] [ 1.01754865e-01 1.21084913e-03 9.94808766e-01 1.35959879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.416875 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:13.72, Y:1.97, Z:1.36 [[ 9.73099014e-01 -2.07849526e-01 -9.93825091e-02 1.37216568e+01] [ 2.06696272e-01 9.78160527e-01 -2.18777241e-02 1.96723636e+00] [ 1.01759322e-01 7.47197598e-04 9.94808767e-01 1.36060418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.446875 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:13.75, Y:1.97, Z:1.36 [[ 9.71844272e-01 -2.13641459e-01 -9.93782534e-02 1.37506966e+01] [ 2.12516396e-01 9.76912126e-01 -2.18970383e-02 1.96863816e+00] [ 1.01761936e-01 1.61003010e-04 9.94808767e-01 1.36146689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.476875 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:13.78, Y:1.97, Z:1.36 [[ 9.70861929e-01 -2.18064876e-01 -9.93721507e-02 1.37795121e+01] [ 2.16960072e-01 9.75934237e-01 -2.19246985e-02 1.97003193e+00] [ 1.01761691e-01 -2.73933934e-04 9.94808767e-01 1.36132324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.506875 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:13.81, Y:1.97, Z:1.36 [[ 9.70626942e-01 -2.19109312e-01 -9.93702623e-02 1.38070305e+01] [ 2.18009090e-01 9.75700246e-01 -2.19332543e-02 1.97488669e+00] [ 1.01761370e-01 -3.74612877e-04 9.94808767e-01 1.36219790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.536875 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:13.83, Y:1.98, Z:1.36 [[ 9.70961073e-01 -2.17626663e-01 -9.93641348e-02 1.38334576e+01] [ 2.16515856e-01 9.76032069e-01 -2.19609788e-02 1.98042369e+00] [ 1.01761877e-01 -1.90655163e-04 9.94808768e-01 1.36454543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.566875 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:13.86, Y:1.98, Z:1.37 [[ 9.73754328e-01 -2.04767686e-01 -9.93614802e-02 1.38602506e+01] [ 2.03588694e-01 9.78809906e-01 -2.19729829e-02 1.98267796e+00] [ 1.01755358e-01 1.16741326e-03 9.94808768e-01 1.37312660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.596875 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:13.89, Y:1.99, Z:1.38 [[ 9.75864544e-01 -1.94463508e-01 -9.93596238e-02 1.38873557e+01] [ 1.93230289e-01 9.80907169e-01 -2.19813739e-02 1.99064377e+00] [ 1.01737142e-01 2.25155453e-03 9.94808768e-01 1.37708848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.626875 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:13.91, Y:2.00, Z:1.38 [[ 9.76692428e-01 -1.90265116e-01 -9.93533396e-02 1.39136744e+01] [ 1.89007340e-01 9.81728983e-01 -2.20097415e-02 1.99787893e+00] [ 1.01725739e-01 2.71823741e-03 9.94808768e-01 1.37870294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.656875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:13.94, Y:2.01, Z:1.38 [[ 9.77904391e-01 -1.83936015e-01 -9.93506122e-02 1.39406277e+01] [ 1.82644399e-01 9.82932375e-01 -2.20220459e-02 2.00502532e+00] [ 1.01705581e-01 3.38962255e-03 9.94808768e-01 1.38161595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.686875 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:13.97, Y:2.01, Z:1.38 [[ 9.78711209e-01 -1.79596928e-01 -9.93444128e-02 1.39675090e+01] [ 1.78280194e-01 9.83732672e-01 -2.20499772e-02 2.01033376e+00] [ 1.01688453e-01 3.86941870e-03 9.94808769e-01 1.38318057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.716875 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:13.99, Y:2.02, Z:1.39 [[ 9.79210066e-01 -1.76858330e-01 -9.93417263e-02 1.39948050e+01] [ 1.75526328e-01 9.84227501e-01 -2.20620741e-02 2.01519466e+00] [ 1.01676721e-01 4.16631660e-03 9.94808769e-01 1.38558095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.746875 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:14.02, Y:2.02, Z:1.38 [[ 9.79610450e-01 -1.74630502e-01 -9.93355650e-02 1.40224972e+01] [ 1.73284287e-01 9.84624089e-01 -2.20897809e-02 2.01948493e+00] [ 1.01665740e-01 4.42608766e-03 9.94808769e-01 1.38478957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.776875 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:14.05, Y:2.02, Z:1.38 [[ 9.79760229e-01 -1.73789835e-01 -9.93327051e-02 1.40513902e+01] [ 1.72438018e-01 9.84772361e-01 -2.21026339e-02 2.02201685e+00] [ 1.01661316e-01 4.52654696e-03 9.94808769e-01 1.38379907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.806875 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:14.08, Y:2.02, Z:1.38 [[ 9.79532333e-01 -1.75072769e-01 -9.93274053e-02 1.40813457e+01] [ 1.73725109e-01 9.84545585e-01 -2.21264253e-02 2.02333456e+00] [ 1.01666093e-01 4.41788473e-03 9.94808769e-01 1.38319913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.836875000000001 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:14.11, Y:2.02, Z:1.38 [[ 9.79209733e-01 -1.76871166e-01 -9.93221477e-02 1.41115609e+01] [ 1.75530327e-01 9.84224813e-01 -2.21500008e-02 2.02356670e+00] [ 1.01673019e-01 4.25544727e-03 9.94808770e-01 1.38352876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.866875 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:14.14, Y:2.02, Z:1.39 [[ 9.79119636e-01 -1.77372065e-01 -9.93171155e-02 1.41400689e+01] [ 1.76031509e-01 9.84134791e-01 -2.21725417e-02 2.02233169e+00] [ 1.01674218e-01 4.22662921e-03 9.94808770e-01 1.38592192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.896875 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:14.17, Y:2.02, Z:1.39 [[ 9.79344893e-01 -1.76125697e-01 -9.93142424e-02 1.41693076e+01] [ 1.74777457e-01 9.84357988e-01 -2.21854031e-02 2.02198123e+00] [ 1.01668187e-01 4.36927055e-03 9.94808770e-01 1.39273667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.926875 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:14.20, Y:2.02, Z:1.40 [[ 9.79414139e-01 -1.75743220e-01 -9.93089332e-02 1.41974190e+01] [ 1.74390620e-01 9.84426059e-01 -2.22091437e-02 2.02392073e+00] [ 1.01665408e-01 4.43340289e-03 9.94808770e-01 1.39923555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.956875 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:14.23, Y:2.03, Z:1.41 [[ 9.78693224e-01 -1.79715602e-01 -9.93069749e-02 1.42262507e+01] [ 1.78382462e-01 9.83710355e-01 -2.22178967e-02 2.02635681e+00] [ 1.01682202e-01 4.02988227e-03 9.94808770e-01 1.40504601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.986875 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:14.25, Y:2.03, Z:1.41 [[ 9.78182893e-01 -1.82475930e-01 -9.93013702e-02 1.42537067e+01] [ 1.81154413e-01 9.83203098e-01 -2.22429181e-02 2.02931251e+00] [ 1.01692212e-01 3.76876063e-03 9.94808771e-01 1.41047480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.016875 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:14.28, Y:2.03, Z:1.41 [[ 9.78028682e-01 -1.83301744e-01 -9.92993869e-02 1.42814520e+01] [ 1.81983569e-01 9.83049765e-01 -2.22517690e-02 2.03441187e+00] [ 1.01695027e-01 3.69201153e-03 9.94808771e-01 1.41364366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.046875 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:14.31, Y:2.04, Z:1.41 [[ 9.77974534e-01 -1.83593858e-01 -9.92930341e-02 1.43075945e+01] [ 1.82274311e-01 9.82995256e-01 -2.22800810e-02 2.04009516e+00] [ 1.01695067e-01 3.69078245e-03 9.94808771e-01 1.41424576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.076875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:14.34, Y:2.05, Z:1.41 [[ 9.78047770e-01 -1.83204796e-01 -9.92902928e-02 1.43355046e+01] [ 1.81882015e-01 9.83067641e-01 -2.22922908e-02 2.04526956e+00] [ 1.01693128e-01 3.74380684e-03 9.94808771e-01 1.41457530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.106875 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:14.36, Y:2.05, Z:1.42 [[ 9.78051181e-01 -1.83188133e-01 -9.92874342e-02 1.43638773e+01] [ 1.81863976e-01 9.83070690e-01 -2.23050153e-02 2.05057661e+00] [ 1.01692581e-01 3.75863909e-03 9.94808771e-01 1.41713671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.136875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:14.39, Y:2.06, Z:1.42 [[ 9.78263974e-01 -1.82051332e-01 -9.92819758e-02 1.43925168e+01] [ 1.80718883e-01 9.83281287e-01 -2.23292849e-02 2.05629661e+00] [ 1.01687185e-01 3.90180718e-03 9.94808772e-01 1.41945522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.166875 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:14.42, Y:2.06, Z:1.42 [[ 9.78538767e-01 -1.80571474e-01 -9.92765067e-02 1.44193054e+01] [ 1.79228978e-01 9.83553400e-01 -2.23535746e-02 2.06306849e+00] [ 1.01680164e-01 4.08061250e-03 9.94808772e-01 1.42211627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.196875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.45, Y:2.07, Z:1.43 [[ 9.78964329e-01 -1.78253394e-01 -9.92701902e-02 1.44462753e+01] [ 1.76896188e-01 9.83975001e-01 -2.23815904e-02 2.07074994e+00] [ 1.01668980e-01 4.35026036e-03 9.94808772e-01 1.42719408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.226875 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:14.47, Y:2.08, Z:1.43 [[ 9.79209103e-01 -1.76904935e-01 -9.92682061e-02 1.44728279e+01] [ 1.75539941e-01 9.84217659e-01 -2.23903872e-02 2.07771609e+00] [ 1.01662491e-01 4.49933592e-03 9.94808772e-01 1.43005689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.256875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:14.50, Y:2.09, Z:1.43 [[ 9.79922646e-01 -1.72910432e-01 -9.92652505e-02 1.44990921e+01] [ 1.71523702e-01 9.84925227e-01 -2.24034828e-02 2.08730097e+00] [ 1.01642645e-01 4.92733694e-03 9.94808773e-01 1.43197417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.286875 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:14.53, Y:2.10, Z:1.44 [[ 9.80109474e-01 -1.71851860e-01 -9.92590383e-02 1.45259347e+01] [ 1.70456950e-01 9.85109781e-01 -2.24309728e-02 2.09500888e+00] [ 1.01635854e-01 5.06541604e-03 9.94808773e-01 1.43580654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.316875 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:14.55, Y:2.10, Z:1.44 [[ 9.80400099e-01 -1.70189908e-01 -9.92524096e-02 1.45516561e+01] [ 1.68783565e-01 9.85397202e-01 -2.24602651e-02 2.10290810e+00] [ 1.01625557e-01 5.26787061e-03 9.94808773e-01 1.43991561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.346875 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:14.58, Y:2.11, Z:1.44 [[ 9.79778345e-01 -1.73735215e-01 -9.92495351e-02 1.45784792e+01] [ 1.72345674e-01 9.84780145e-01 -2.24729602e-02 2.11124086e+00] [ 1.01643316e-01 4.91329170e-03 9.94808774e-01 1.44289425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.376875 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:14.61, Y:2.12, Z:1.45 [[ 9.78858365e-01 -1.78846934e-01 -9.92475474e-02 1.46058731e+01] [ 1.77482632e-01 9.83867108e-01 -2.24817351e-02 2.11816831e+00] [ 1.01667187e-01 4.39171852e-03 9.94808774e-01 1.44607335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.406875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:14.63, Y:2.12, Z:1.45 [[ 9.78067844e-01 -1.83124277e-01 -9.92410836e-02 1.46333834e+01] [ 1.81778996e-01 9.83081729e-01 -2.25102323e-02 2.12378153e+00] [ 1.01684266e-01 3.97658983e-03 9.94808774e-01 1.44923459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.436875 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:14.66, Y:2.13, Z:1.45 [[ 9.77721100e-01 -1.84970134e-01 -9.92345728e-02 1.46592166e+01] [ 1.83631415e-01 9.82736741e-01 -2.25388984e-02 2.12951841e+00] [ 1.01690484e-01 3.81417156e-03 9.94808774e-01 1.45240756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.466875 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:14.69, Y:2.13, Z:1.46 [[ 9.77199855e-01 -1.87705886e-01 -9.92317636e-02 1.46870663e+01] [ 1.86379956e-01 9.82218892e-01 -2.25512598e-02 2.13450490e+00] [ 1.01700317e-01 3.54227604e-03 9.94808774e-01 1.45571767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.496875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:14.72, Y:2.14, Z:1.46 [[ 9.77566470e-01 -1.85790534e-01 -9.92253726e-02 1.47157121e+01] [ 1.84451924e-01 9.82582140e-01 -2.25793452e-02 2.14045233e+00] [ 1.01692107e-01 3.77049988e-03 9.94808775e-01 1.45689521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.526875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:14.74, Y:2.15, Z:1.46 [[ 9.77917942e-01 -1.83934586e-01 -9.92197903e-02 1.47436246e+01] [ 1.82583975e-01 9.82930393e-01 -2.26038489e-02 2.14644139e+00] [ 1.01683777e-01 3.98876562e-03 9.94808775e-01 1.45901672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.556875 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:14.77, Y:2.15, Z:1.46 [[ 9.78836193e-01 -1.78987198e-01 -9.92133585e-02 1.47702074e+01] [ 1.77608407e-01 9.83840965e-01 -2.26320446e-02 2.15204530e+00] [ 1.01661013e-01 4.53193782e-03 9.94808776e-01 1.46000656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.586875000000001 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:14.80, Y:2.16, Z:1.46 [[ 9.79933583e-01 -1.72880741e-01 -9.92089776e-02 1.47987397e+01] [ 1.71468835e-01 9.84929114e-01 -2.26512322e-02 2.15869558e+00] [ 1.01629772e-01 5.18545530e-03 9.94808776e-01 1.46178722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.616875 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:14.83, Y:2.17, Z:1.46 [[ 9.79343258e-01 -1.76197242e-01 -9.92033988e-02 1.48267536e+01] [ 1.74799789e-01 9.84342851e-01 -2.26756391e-02 2.16626610e+00] [ 1.01645541e-01 4.86650109e-03 9.94808776e-01 1.46202634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.646875 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:14.85, Y:2.17, Z:1.47 [[ 9.78718421e-01 -1.79638657e-01 -9.91978065e-02 1.48543865e+01] [ 1.78256315e-01 9.83722213e-01 -2.27000772e-02 2.17158583e+00] [ 1.01660897e-01 4.53434827e-03 9.94808776e-01 1.46780181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.676875 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:14.88, Y:2.18, Z:1.47 [[ 9.77549820e-01 -1.85896221e-01 -9.91914566e-02 1.48825656e+01] [ 1.84543111e-01 9.82561595e-01 -2.27277903e-02 2.17987271e+00] [ 1.01686726e-01 3.91244736e-03 9.94808777e-01 1.47009047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.706875 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:14.91, Y:2.19, Z:1.47 [[ 9.76885603e-01 -1.89357245e-01 -9.91884658e-02 1.49098798e+01] [ 1.88020571e-01 9.81901787e-01 -2.27408354e-02 2.18884877e+00] [ 1.01699474e-01 3.56572277e-03 9.94808777e-01 1.47345268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.736875 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:14.94, Y:2.19, Z:1.48 [[ 9.76708918e-01 -1.90269483e-01 -9.91827281e-02 1.49365141e+01] [ 1.88934958e-01 9.81725674e-01 -2.27658327e-02 2.19363321e+00] [ 1.01701874e-01 3.49650721e-03 9.94808777e-01 1.48003467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.766875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:14.96, Y:2.20, Z:1.49 [[ 9.76453103e-01 -1.91579556e-01 -9.91796931e-02 1.49629244e+01] [ 1.90250422e-01 9.81471289e-01 -2.27790471e-02 2.19888059e+00] [ 1.01706021e-01 3.37369277e-03 9.94808777e-01 1.48671258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.796875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:14.99, Y:2.20, Z:1.49 [[ 9.76565634e-01 -1.91006133e-01 -9.91777119e-02 1.49907245e+01] [ 1.89673178e-01 9.81582807e-01 -2.27876696e-02 2.20403615e+00] [ 1.01703722e-01 3.44230319e-03 9.94808777e-01 1.49084558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.826875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:15.02, Y:2.21, Z:1.49 [[ 9.76647899e-01 -1.90588371e-01 -9.91713376e-02 1.50183183e+01] [ 1.89250460e-01 9.81663752e-01 -2.28153771e-02 2.20915429e+00] [ 1.01701253e-01 3.51436889e-03 9.94808778e-01 1.49395879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.856875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:15.05, Y:2.21, Z:1.49 [[ 9.76581910e-01 -1.90927240e-01 -9.91693567e-02 1.50462688e+01] [ 1.89590196e-01 9.81597995e-01 -2.28239840e-02 2.21486833e+00] [ 1.01702162e-01 3.48795216e-03 9.94808778e-01 1.49499507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.886875 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:15.07, Y:2.22, Z:1.49 [[ 9.76670473e-01 -1.90477012e-01 -9.91629760e-02 1.50746904e+01] [ 1.89134848e-01 9.81685189e-01 -2.28516726e-02 2.22049208e+00] [ 1.01699543e-01 3.56337954e-03 9.94808778e-01 1.49499854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.916875 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:15.10, Y:2.23, Z:1.50 [[ 9.76958780e-01 -1.88995663e-01 -9.91573579e-02 1.51029259e+01] [ 1.87643427e-01 9.81970790e-01 -2.28760249e-02 2.22623502e+00] [ 1.01693098e-01 3.74270689e-03 9.94808779e-01 1.49539788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.946875 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:15.13, Y:2.23, Z:1.50 [[ 9.77081188e-01 -1.88364767e-01 -9.91517337e-02 1.51300393e+01] [ 1.87006828e-01 9.82091655e-01 -2.29003758e-02 2.23165250e+00] [ 1.01689714e-01 3.83347512e-03 9.94808779e-01 1.49655299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.976875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:15.16, Y:2.24, Z:1.50 [[ 9.77154986e-01 -1.87982609e-01 -9.91497402e-02 1.51579642e+01] [ 1.86621837e-01 9.82164685e-01 -2.29090038e-02 2.23768857e+00] [ 1.01687868e-01 3.88214061e-03 9.94808779e-01 1.49883695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.006875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:15.19, Y:2.24, Z:1.50 [[ 9.77327467e-01 -1.87086797e-01 -9.91440992e-02 1.51854015e+01] [ 1.85718963e-01 9.82335241e-01 -2.29333907e-02 2.24386097e+00] [ 1.01683277e-01 4.00049337e-03 9.94808779e-01 1.50143832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.036875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:15.21, Y:2.25, Z:1.51 [[ 9.76608828e-01 -1.90803672e-01 -9.91420977e-02 1.52133221e+01] [ 1.89454023e-01 9.81621534e-01 -2.29420400e-02 2.25072714e+00] [ 1.01697444e-01 3.62252953e-03 9.94808779e-01 1.50627827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.066875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:15.24, Y:2.26, Z:1.51 [[ 9.76556516e-01 -1.91074124e-01 -9.91365243e-02 1.52410423e+01] [ 1.89723424e-01 9.81568938e-01 -2.29660985e-02 2.25726429e+00] [ 1.01697560e-01 3.61917230e-03 9.94808780e-01 1.50917831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.096874999999997 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:15.27, Y:2.26, Z:1.52 [[ 9.76299903e-01 -1.92384270e-01 -9.91301813e-02 1.52680787e+01] [ 1.91037523e-01 9.81313388e-01 -2.29934448e-02 2.26199901e+00] [ 1.01701351e-01 3.51091366e-03 9.94808780e-01 1.52068751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.126875 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:15.30, Y:2.27, Z:1.52 [[ 9.76519340e-01 -1.91268382e-01 -9.91281199e-02 1.52953226e+01] [ 1.89915006e-01 9.81531040e-01 -2.30023286e-02 2.26982693e+00] [ 1.01696945e-01 3.63630124e-03 9.94808780e-01 1.52337511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.156875 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:15.32, Y:2.28, Z:1.52 [[ 9.77186408e-01 -1.87834086e-01 -9.91215425e-02 1.53219624e+01] [ 1.86460232e-01 9.82192533e-01 -2.30306371e-02 2.27862054e+00] [ 1.01682378e-01 4.02299966e-03 9.94808780e-01 1.52414246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.186874999999997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:15.35, Y:2.29, Z:1.53 [[ 9.78091729e-01 -1.83064998e-01 -9.91149604e-02 1.53485950e+01] [ 1.81663879e-01 9.83090291e-01 -2.30589296e-02 2.28660252e+00] [ 1.01660238e-01 4.54814014e-03 9.94808781e-01 1.52613434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.216874999999998 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:15.38, Y:2.29, Z:1.53 [[ 9.78557409e-01 -1.80560313e-01 -9.91129198e-02 1.53756385e+01] [ 1.79145515e-01 9.83552117e-01 -2.30676971e-02 2.29438875e+00] [ 1.01647833e-01 4.81743086e-03 9.94808781e-01 1.52935061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.246875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:15.40, Y:2.30, Z:1.53 [[ 9.78665422e-01 -1.79977601e-01 -9.91062787e-02 1.54026247e+01] [ 1.78556950e-01 9.83658468e-01 -2.30961945e-02 2.30180617e+00] [ 1.01643528e-01 4.90733210e-03 9.94808781e-01 1.53116786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.276874999999997 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:15.43, Y:2.31, Z:1.53 [[ 9.78562567e-01 -1.80539664e-01 -9.90996053e-02 1.54294875e+01] [ 1.79118993e-01 9.83555606e-01 -2.31247929e-02 2.30850857e+00] [ 1.01644915e-01 4.87843520e-03 9.94808782e-01 1.53350005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.306874999999998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:15.46, Y:2.31, Z:1.54 [[ 9.78530667e-01 -1.80714187e-01 -9.90964974e-02 1.54579774e+01] [ 1.79293061e-01 9.83523577e-01 -2.31381037e-02 2.31490713e+00] [ 1.01645125e-01 4.87402969e-03 9.94808782e-01 1.53694866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.336875 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:15.49, Y:2.32, Z:1.54 [[ 9.78659718e-01 -1.80017139e-01 -9.90908013e-02 1.54864721e+01] [ 1.78589996e-01 9.83650910e-01 -2.31624721e-02 2.32101923e+00] [ 1.01640399e-01 4.97155257e-03 9.94808782e-01 1.53924291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.366874999999997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:15.51, Y:2.33, Z:1.54 [[ 9.78775959e-01 -1.79387234e-01 -9.90850272e-02 1.55136576e+01] [ 1.77954388e-01 9.83765517e-01 -2.31871464e-02 2.32751701e+00] [ 1.01635911e-01 5.06240615e-03 9.94808782e-01 1.54312302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.396874999999998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:15.54, Y:2.33, Z:1.55 [[ 9.78652300e-01 -1.80061768e-01 -9.90829709e-02 1.55411490e+01] [ 1.78631473e-01 9.83642590e-01 -2.31959304e-02 2.33392721e+00] [ 1.01638930e-01 5.00141358e-03 9.94808782e-01 1.55046137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.426875 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:15.57, Y:2.34, Z:1.55 [[ 9.78574662e-01 -1.80486501e-01 -9.90770124e-02 1.55678722e+01] [ 1.79055804e-01 9.83564837e-01 -2.32213532e-02 2.34038140e+00] [ 1.01639806e-01 4.98351372e-03 9.94808783e-01 1.55453629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.456874999999997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:15.59, Y:2.35, Z:1.56 [[ 9.78233652e-01 -1.82326868e-01 -9.90748939e-02 1.55947873e+01] [ 1.80904648e-01 9.83226249e-01 -2.32303884e-02 2.34688480e+00] [ 1.01648560e-01 4.80163893e-03 9.94808783e-01 1.55800559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.486874999999998 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:15.62, Y:2.35, Z:1.56 [[ 9.77919406e-01 -1.84008450e-01 -9.90682929e-02 1.56208958e+01] [ 1.82591973e-01 9.82913635e-01 -2.32585049e-02 2.35276040e+00] [ 1.01655337e-01 4.65586822e-03 9.94808783e-01 1.56099273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.516875 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:15.65, Y:2.36, Z:1.56 [[ 9.77491900e-01 -1.86267621e-01 -9.90654263e-02 1.56484585e+01] [ 1.84861454e-01 9.82489042e-01 -2.32707084e-02 2.35886118e+00] [ 1.01665275e-01 4.43355025e-03 9.94808783e-01 1.56346225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.546875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:15.68, Y:2.36, Z:1.56 [[ 9.77082577e-01 -1.88406431e-01 -9.90588438e-02 1.56771688e+01] [ 1.87008371e-01 9.82081992e-01 -2.32986952e-02 2.36430508e+00] [ 1.01673531e-01 4.23991612e-03 9.94808784e-01 1.56396682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.576874999999998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:15.71, Y:2.37, Z:1.56 [[ 9.76679758e-01 -1.90486606e-01 -9.90530332e-02 1.57053113e+01] [ 1.89096697e-01 9.81681445e-01 -2.33233727e-02 2.36949197e+00] [ 1.01681315e-01 4.04886462e-03 9.94808784e-01 1.56384754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.606875 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:15.73, Y:2.37, Z:1.57 [[ 9.76477917e-01 -1.91521577e-01 -9.90472749e-02 1.57326938e+01] [ 1.90134495e-01 9.81480389e-01 -2.33478010e-02 2.37465293e+00] [ 1.01684566e-01 3.96630850e-03 9.94808784e-01 1.56621094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.636875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:15.76, Y:2.38, Z:1.57 [[ 9.76387858e-01 -1.91983579e-01 -9.90406763e-02 1.57610565e+01] [ 1.90596032e-01 9.81390201e-01 -2.33757589e-02 2.37978418e+00] [ 1.01685311e-01 3.94704726e-03 9.94808785e-01 1.57075632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.666874999999997 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:15.79, Y:2.39, Z:1.57 [[ 9.76350400e-01 -1.92176959e-01 -9.90349038e-02 1.57886469e+01] [ 1.90787929e-01 9.81352331e-01 -2.34001896e-02 2.38623438e+00] [ 1.01685111e-01 3.95212036e-03 9.94808785e-01 1.57471063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.696875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:15.82, Y:2.39, Z:1.58 [[ 9.76481129e-01 -1.91514656e-01 -9.90289932e-02 1.58157183e+01] [ 1.90119704e-01 9.81481411e-01 -2.34251767e-02 2.39229436e+00] [ 1.01681381e-01 4.04688008e-03 9.94808785e-01 1.57858849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.726875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:15.84, Y:2.40, Z:1.58 [[ 9.76645079e-01 -1.90680376e-01 -9.90221367e-02 1.58415799e+01] [ 1.89278223e-01 9.81643346e-01 -2.34541244e-02 2.39884891e+00] [ 1.01676663e-01 4.16362106e-03 9.94808786e-01 1.58114577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.756874999999997 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:15.87, Y:2.41, Z:1.58 [[ 9.76791481e-01 -1.89930528e-01 -9.90191734e-02 1.58676633e+01] [ 1.88523273e-01 9.81788314e-01 -2.34666283e-02 2.40686560e+00] [ 1.01672896e-01 4.25458400e-03 9.94808786e-01 1.58026316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.786875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:15.90, Y:2.41, Z:1.58 [[ 9.76694333e-01 -1.90430963e-01 -9.90163016e-02 1.58955846e+01] [ 1.89025042e-01 9.81691541e-01 -2.34787398e-02 2.41280622e+00] [ 1.01674545e-01 4.21499149e-03 9.94808786e-01 1.58223736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.816875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:15.92, Y:2.42, Z:1.58 [[ 9.76208830e-01 -1.92907334e-01 -9.90105062e-02 1.59244603e+01] [ 1.91511619e-01 9.81208898e-01 -2.35031536e-02 2.41844743e+00] [ 1.01683920e-01 3.98232372e-03 9.94808786e-01 1.58373959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.846874999999997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:15.95, Y:2.42, Z:1.59 [[ 9.75970867e-01 -1.94110424e-01 -9.90050962e-02 1.59525321e+01] [ 1.92718567e-01 9.80972010e-01 -2.35259211e-02 2.42493293e+00] [ 1.01687855e-01 3.88049336e-03 9.94808787e-01 1.58647203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.876875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:15.98, Y:2.43, Z:1.59 [[ 9.75774458e-01 -1.95098346e-01 -9.89992090e-02 1.59802665e+01] [ 1.93709045e-01 9.80776311e-01 -2.35506690e-02 2.43004713e+00] [ 1.01690776e-01 3.80309901e-03 9.94808787e-01 1.58949735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.906875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:16.01, Y:2.44, Z:1.59 [[ 9.75615614e-01 -1.95894527e-01 -9.89924660e-02 1.60072864e+01] [ 1.94506439e-01 9.80617804e-01 -2.35789786e-02 2.43551570e+00] [ 1.01692767e-01 3.74934761e-03 9.94808787e-01 1.59202161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.936874999999997 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:16.03, Y:2.44, Z:1.59 [[ 9.75310854e-01 -1.97409635e-01 -9.89857240e-02 1.60341325e+01] [ 1.96026453e-01 9.80314402e-01 -2.36072483e-02 2.43968188e+00] [ 1.01697429e-01 3.62058511e-03 9.94808788e-01 1.59359822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.966874999999998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:16.06, Y:2.44, Z:1.60 [[ 9.74646465e-01 -2.00666393e-01 -9.89811489e-02 1.60627824e+01] [ 1.99297988e-01 9.79654074e-01 -2.36264151e-02 2.44141265e+00] [ 1.01708313e-01 3.30065814e-03 9.94808788e-01 1.60007267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.996875 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:16.09, Y:2.45, Z:1.60 [[ 9.74343573e-01 -2.02134834e-01 -9.89753042e-02 1.60909208e+01] [ 2.00771495e-01 9.79352563e-01 -2.36508747e-02 2.44649054e+00] [ 1.01712383e-01 3.17265801e-03 9.94808788e-01 1.60442947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.026874999999997 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:16.12, Y:2.45, Z:1.61 [[ 9.73139611e-01 -2.07856548e-01 -9.89694507e-02 1.61197172e+01] [ 2.06520178e-01 9.78155864e-01 -2.36753440e-02 2.44870791e+00] [ 1.01728624e-01 2.60022648e-03 9.94808789e-01 1.60978416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.056874999999998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:16.15, Y:2.45, Z:1.61 [[ 9.72595432e-01 -2.10390915e-01 -9.89635754e-02 1.61475274e+01] [ 2.09065121e-01 9.77614490e-01 -2.36998776e-02 2.45419160e+00] [ 1.01734464e-01 2.36056078e-03 9.94808789e-01 1.61326144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.086875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:16.18, Y:2.46, Z:1.62 [[ 9.71195851e-01 -2.16762498e-01 -9.89577593e-02 1.61756328e+01] [ 2.15467166e-01 9.76222857e-01 -2.37241376e-02 2.45720226e+00] [ 1.01747330e-01 1.71863608e-03 9.94808789e-01 1.61555122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.116874999999997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:16.20, Y:2.46, Z:1.62 [[ 9.70466563e-01 -2.20007567e-01 -9.89511008e-02 1.62027296e+01] [ 2.18726218e-01 9.75497150e-01 -2.37518774e-02 2.46157981e+00] [ 1.01752110e-01 1.40720284e-03 9.94808790e-01 1.62085657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.146874999999998 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:16.23, Y:2.47, Z:1.62 [[ 9.69918603e-01 -2.22413790e-01 -9.89444802e-02 1.62297512e+01] [ 2.21142110e-01 9.74951643e-01 -2.37794253e-02 2.46663314e+00] [ 1.01754956e-01 1.18331576e-03 9.94808790e-01 1.62326995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.176875 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:16.26, Y:2.47, Z:1.62 [[ 9.69957191e-01 -2.22247438e-01 -9.89400027e-02 1.62574864e+01] [ 2.20972997e-01 9.74989532e-01 -2.37980407e-02 2.47266206e+00] [ 1.01754521e-01 1.22001182e-03 9.94808790e-01 1.62439731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.206874999999997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:16.28, Y:2.48, Z:1.63 [[ 9.70242910e-01 -2.20999615e-01 -9.89336419e-02 1.62848879e+01] [ 2.19716009e-01 9.75272921e-01 -2.38244549e-02 2.47910252e+00] [ 1.01752497e-01 1.37820346e-03 9.94808791e-01 1.62782372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.236874999999998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:16.31, Y:2.49, Z:1.63 [[ 9.70248767e-01 -2.20976850e-01 -9.89270550e-02 1.63129165e+01] [ 2.19690341e-01 9.75278036e-01 -2.38517744e-02 2.48684050e+00] [ 1.01752074e-01 1.40883626e-03 9.94808791e-01 1.62945175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.266875 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:16.34, Y:2.49, Z:1.63 [[ 9.70474289e-01 -2.19986877e-01 -9.89213251e-02 1.63409631e+01] [ 2.18692818e-01 9.75501620e-01 -2.38755147e-02 2.49461046e+00] [ 1.01750213e-01 1.53718982e-03 9.94808791e-01 1.63152419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.296875 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:16.37, Y:2.50, Z:1.63 [[ 9.70969338e-01 -2.17794062e-01 -9.89155783e-02 1.63678454e+01] [ 2.16486228e-01 9.75993103e-01 -2.38993002e-02 2.50280238e+00] [ 1.01746048e-01 1.79162724e-03 9.94808792e-01 1.63139799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.326874999999998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:16.40, Y:2.51, Z:1.63 [[ 9.71343956e-01 -2.16118553e-01 -9.89125403e-02 1.63954426e+01] [ 2.14800774e-01 9.76365121e-01 -2.39118671e-02 2.51244116e+00] [ 1.01742553e-01 1.98015741e-03 9.94808792e-01 1.63349243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.356875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:16.42, Y:2.52, Z:1.64 [[ 9.71509240e-01 -2.15376976e-01 -9.89068022e-02 1.64225269e+01] [ 2.14052951e-01 9.76528762e-01 -2.39355781e-02 2.52186894e+00] [ 1.01740510e-01 2.08234239e-03 9.94808792e-01 1.63730344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.386875 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:16.45, Y:2.53, Z:1.64 [[ 9.70935854e-01 -2.17949869e-01 -9.89010746e-02 1.64498031e+01] [ 2.16636739e-01 9.75958236e-01 -2.39592212e-02 2.53135282e+00] [ 1.01745227e-01 1.83726054e-03 9.94808792e-01 1.64320323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.416874999999997 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:16.48, Y:2.54, Z:1.65 [[ 9.70916668e-01 -2.18037948e-01 -9.88952875e-02 1.64768812e+01] [ 2.16722844e-01 9.75938533e-01 -2.39830847e-02 2.53911412e+00] [ 1.01744944e-01 1.85270874e-03 9.94808793e-01 1.64768620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.446875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:16.50, Y:2.55, Z:1.65 [[ 9.71705029e-01 -2.14500236e-01 -9.88887528e-02 1.65026922e+01] [ 2.13164112e-01 9.76721343e-01 -2.40099989e-02 2.54927164e+00] [ 1.01736906e-01 2.25110347e-03 9.94808793e-01 1.65136720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.476875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:16.53, Y:2.56, Z:1.65 [[ 9.72256509e-01 -2.11989611e-01 -9.88821838e-02 1.65289894e+01] [ 2.10637787e-01 9.77268614e-01 -2.40370225e-02 2.56159320e+00] [ 1.01730054e-01 2.54182712e-03 9.94808793e-01 1.65161200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.506874999999997 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:16.56, Y:2.57, Z:1.66 [[ 9.72873862e-01 -2.09141244e-01 -9.88756228e-02 1.65558247e+01] [ 2.07772009e-01 9.77881239e-01 -2.40639807e-02 2.57190366e+00] [ 1.01721387e-01 2.86763098e-03 9.94808794e-01 1.65564008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.536875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:16.58, Y:2.58, Z:1.66 [[ 9.73308268e-01 -2.07112969e-01 -9.88697849e-02 1.65820026e+01] [ 2.05730869e-01 9.78312108e-01 -2.40879428e-02 2.58122977e+00] [ 1.01714433e-01 3.10442717e-03 9.94808794e-01 1.65813612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.566875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:16.61, Y:2.59, Z:1.67 [[ 9.73313960e-01 -2.07087700e-01 -9.88666800e-02 1.66087938e+01] [ 2.05704177e-01 9.78317407e-01 -2.41006798e-02 2.58873638e+00] [ 1.01713948e-01 3.12023907e-03 9.94808794e-01 1.66670492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.596874999999997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:16.64, Y:2.60, Z:1.67 [[ 9.72880626e-01 -2.09116750e-01 -9.88608702e-02 1.66358341e+01] [ 2.07741246e-01 9.77886284e-01 -2.41244884e-02 2.59624430e+00] [ 1.01719524e-01 2.93276704e-03 9.94808794e-01 1.67463163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.626875 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:16.66, Y:2.60, Z:1.68 [[ 9.71918531e-01 -2.13546441e-01 -9.88548728e-02 1.66623478e+01] [ 2.12191259e-01 9.76929728e-01 -2.41490391e-02 2.60342729e+00] [ 1.01731205e-01 2.49475871e-03 9.94808795e-01 1.67955119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.656875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:16.69, Y:2.61, Z:1.68 [[ 9.71042814e-01 -2.17496962e-01 -9.88479866e-02 1.66888494e+01] [ 2.16159304e-01 9.76058717e-01 -2.41771930e-02 2.60884609e+00] [ 1.01739905e-01 2.11017754e-03 9.94808795e-01 1.68251386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.686874999999997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:16.72, Y:2.61, Z:1.69 [[ 9.70263823e-01 -2.20947456e-01 -9.88450029e-02 1.67161747e+01] [ 2.19626396e-01 9.75284123e-01 -2.41893857e-02 2.61446683e+00] [ 1.01746545e-01 1.76111412e-03 9.94808795e-01 1.68602706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.716874999999998 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:16.74, Y:2.62, Z:1.69 [[ 9.70054781e-01 -2.21866503e-01 -9.88381332e-02 1.67428337e+01] [ 2.20547342e-01 9.75075580e-01 -2.42174230e-02 2.62077399e+00] [ 1.01747685e-01 1.69373938e-03 9.94808796e-01 1.68788807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.746875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:16.77, Y:2.63, Z:1.69 [[ 9.69396265e-01 -2.24727602e-01 -9.88351460e-02 1.67709778e+01] [ 2.23422019e-01 9.74420611e-01 -2.42296082e-02 2.62758113e+00] [ 1.01752065e-01 1.40614382e-03 9.94808796e-01 1.68557164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.776874999999997 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:16.80, Y:2.63, Z:1.69 [[ 9.69273768e-01 -2.25258282e-01 -9.88284862e-02 1.67979946e+01] [ 2.23952684e-01 9.74298109e-01 -2.42567421e-02 2.63388626e+00] [ 1.01752439e-01 1.37851915e-03 9.94808796e-01 1.68846218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.806874999999998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:16.83, Y:2.64, Z:1.69 [[ 9.69213341e-01 -2.25521045e-01 -9.88218465e-02 1.68252902e+01] [ 2.24214054e-01 9.74237321e-01 -2.42837621e-02 2.64099031e+00] [ 1.01752430e-01 1.37889932e-03 9.94808796e-01 1.68701323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.836875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:16.85, Y:2.65, Z:1.69 [[ 9.69323543e-01 -2.25049825e-01 -9.88152129e-02 1.68525094e+01] [ 2.23737643e-01 9.74346168e-01 -2.43107260e-02 2.64749759e+00] [ 1.01751349e-01 1.45627619e-03 9.94808797e-01 1.68804572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.866874999999997 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:16.88, Y:2.65, Z:1.69 [[ 9.69552679e-01 -2.24061513e-01 -9.88131601e-02 1.68811489e+01] [ 2.22743362e-01 9.74573742e-01 -2.43190667e-02 2.65390479e+00] [ 1.01749678e-01 1.56864074e-03 9.94808797e-01 1.69056790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.896874999999998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:16.91, Y:2.66, Z:1.69 [[ 9.69553396e-01 -2.24060764e-01 -9.88078232e-02 1.69079624e+01] [ 2.22740401e-01 9.74573877e-01 -2.43407312e-02 2.66063424e+00] [ 1.01749326e-01 1.59114446e-03 9.94808797e-01 1.69403861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.926875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:16.93, Y:2.67, Z:1.70 [[ 9.69708881e-01 -2.23389853e-01 -9.88011098e-02 1.69345264e+01] [ 2.22063244e-01 9.74727715e-01 -2.43679512e-02 2.66761230e+00] [ 1.01747733e-01 1.68972366e-03 9.94808798e-01 1.70093706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.956874999999997 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:16.96, Y:2.67, Z:1.70 [[ 9.69648219e-01 -2.23653932e-01 -9.87990354e-02 1.69621533e+01] [ 2.22327834e-01 9.74667188e-01 -2.43763587e-02 2.67453203e+00] [ 1.01748047e-01 1.67071725e-03 9.94808798e-01 1.70384570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.986874999999998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:16.99, Y:2.68, Z:1.71 [[ 9.69643891e-01 -2.23675636e-01 -9.87923765e-02 1.69893733e+01] [ 2.22346905e-01 9.74662163e-01 -2.44033164e-02 2.68169863e+00] [ 1.01747619e-01 1.69634752e-03 9.94808798e-01 1.70864370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.016875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:17.02, Y:2.69, Z:1.71 [[ 9.69653711e-01 -2.23636068e-01 -9.87855762e-02 1.70164990e+01] [ 2.22304331e-01 9.74671185e-01 -2.44308133e-02 2.68997510e+00] [ 1.01747066e-01 1.72896733e-03 9.94808798e-01 1.71212329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.046874999999996 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:17.04, Y:2.70, Z:1.71 [[ 9.69593640e-01 -2.23898999e-01 -9.87796141e-02 1.70422332e+01] [ 2.22566170e-01 9.74610824e-01 -2.44548961e-02 2.69689826e+00] [ 1.01747108e-01 1.72631132e-03 9.94808799e-01 1.71498916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.076874999999998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:17.07, Y:2.70, Z:1.72 [[ 9.69270537e-01 -2.25296561e-01 -9.87729044e-02 1.70692568e+01] [ 2.23968208e-01 9.74288907e-01 -2.44819665e-02 2.70425473e+00] [ 1.01749048e-01 1.60765848e-03 9.94808799e-01 1.72073770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.106875 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:17.10, Y:2.71, Z:1.73 [[ 9.69040091e-01 -2.26288579e-01 -9.87662961e-02 1.70963572e+01] [ 2.24962650e-01 9.74059102e-01 -2.45085972e-02 2.71174443e+00] [ 1.01750225e-01 1.53108551e-03 9.94808799e-01 1.72501113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.136875 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:17.12, Y:2.72, Z:1.73 [[ 9.68714328e-01 -2.27681976e-01 -9.87596513e-02 1.71231213e+01] [ 2.26360540e-01 9.73734524e-01 -2.45353442e-02 2.72015781e+00] [ 1.01751938e-01 1.41245155e-03 9.94808800e-01 1.72656850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.166874999999997 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:17.15, Y:2.73, Z:1.73 [[ 9.68671124e-01 -2.27868649e-01 -9.87528859e-02 1.71496805e+01] [ 2.26545408e-01 9.73690844e-01 -2.45625444e-02 2.72819838e+00] [ 1.01751815e-01 1.42101461e-03 9.94808800e-01 1.72757378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.196875 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:17.18, Y:2.74, Z:1.73 [[ 9.69168318e-01 -2.25747562e-01 -9.87461920e-02 1.71759826e+01] [ 2.24410597e-01 9.74184399e-01 -2.45894261e-02 2.73699718e+00] [ 1.01748003e-01 1.67160080e-03 9.94808801e-01 1.72651447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.226875 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:17.20, Y:2.75, Z:1.72 [[ 9.69542979e-01 -2.24134280e-01 -9.87432798e-02 1.72029120e+01] [ 2.22787779e-01 9.74556510e-01 -2.46011149e-02 2.74514703e+00] [ 1.01744859e-01 1.85304221e-03 9.94808801e-01 1.72468371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.256874999999997 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:17.23, Y:2.75, Z:1.73 [[ 9.69960531e-01 -2.22323297e-01 -9.87366153e-02 1.72300344e+01] [ 2.20964717e-01 9.74970801e-01 -2.46278339e-02 2.75224368e+00] [ 1.01740658e-01 2.07071860e-03 9.94808801e-01 1.73015583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.286875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:17.26, Y:2.76, Z:1.73 [[ 9.70330809e-01 -2.20704581e-01 -9.87299809e-02 1.72564805e+01] [ 2.19334941e-01 9.75338067e-01 -2.46544020e-02 2.76005099e+00] [ 1.01736448e-01 2.26799136e-03 9.94808801e-01 1.73385181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.316875 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:17.28, Y:2.77, Z:1.74 [[ 9.71253577e-01 -2.16610747e-01 -9.87232149e-02 1.72829066e+01] [ 2.15217254e-01 9.76254249e-01 -2.46814653e-02 2.76916836e+00] [ 1.01725229e-01 2.72502222e-03 9.94808802e-01 1.73754720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.346874999999997 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:17.31, Y:2.78, Z:1.74 [[ 9.71787539e-01 -2.14205681e-01 -9.87162839e-02 1.73097482e+01] [ 2.12797003e-01 9.76783954e-01 -2.47091559e-02 2.77672311e+00] [ 1.01717324e-01 3.00552043e-03 9.94808802e-01 1.74062383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.376875 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:17.34, Y:2.78, Z:1.74 [[ 9.72658878e-01 -2.10216987e-01 -9.87092933e-02 1.73363643e+01] [ 2.08784995e-01 9.77648661e-01 -2.47370509e-02 2.78484359e+00] [ 1.01703157e-01 3.45169283e-03 9.94808803e-01 1.74277316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.406875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:17.36, Y:2.79, Z:1.75 [[ 9.72811506e-01 -2.09512821e-01 -9.87023416e-02 1.73634542e+01] [ 2.08074410e-01 9.77799441e-01 -2.47647578e-02 2.79256109e+00] [ 1.01699629e-01 3.55400990e-03 9.94808803e-01 1.74503169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.436874999999997 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:17.39, Y:2.80, Z:1.75 [[ 9.73218837e-01 -2.07615863e-01 -9.86952284e-02 1.73902542e+01] [ 2.06164862e-01 9.78203125e-01 -2.47930739e-02 2.79981031e+00] [ 1.01691416e-01 3.78159838e-03 9.94808803e-01 1.74737074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.466874999999998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:17.42, Y:2.81, Z:1.75 [[ 9.73255281e-01 -2.07448370e-01 -9.86880483e-02 1.74171612e+01] [ 2.05993622e-01 9.78238476e-01 -2.48216213e-02 2.80718652e+00] [ 1.01689651e-01 3.82866556e-03 9.94808804e-01 1.74953905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.496875 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:17.44, Y:2.81, Z:1.75 [[ 9.73522634e-01 -2.06193526e-01 -9.86808555e-02 1.74431704e+01] [ 2.04729463e-01 9.78503099e-01 -2.48501843e-02 2.81357568e+00] [ 1.01683470e-01 3.98933830e-03 9.94808804e-01 1.75044142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.526874999999997 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:17.47, Y:2.82, Z:1.75 [[ 9.73484651e-01 -2.06374271e-01 -9.86777330e-02 1.74701206e+01] [ 2.04909880e-01 9.78465019e-01 -2.48625772e-02 2.82035395e+00] [ 1.01683706e-01 3.98329488e-03 9.94808804e-01 1.75257325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.556874999999998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:17.50, Y:2.83, Z:1.75 [[ 9.73545695e-01 -2.06089536e-01 -9.86705740e-02 1.74967871e+01] [ 2.04620816e-01 9.78524789e-01 -2.48909564e-02 2.82609512e+00] [ 1.01681368e-01 4.04243012e-03 9.94808805e-01 1.75380653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.586875 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:17.52, Y:2.83, Z:1.76 [[ 9.73570731e-01 -2.05972720e-01 -9.86674773e-02 1.75243410e+01] [ 2.04502161e-01 9.78549281e-01 -2.49032258e-02 2.83296260e+00] [ 1.01680374e-01 4.06733933e-03 9.94808805e-01 1.75652040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.616874999999997 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:17.55, Y:2.84, Z:1.76 [[ 9.74068514e-01 -2.03608947e-01 -9.86606593e-02 1.75515260e+01] [ 2.02123581e-01 9.79042667e-01 -2.49302081e-02 2.83866822e+00] [ 1.01669008e-01 4.34208502e-03 9.94808805e-01 1.76115971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.646874999999998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:17.58, Y:2.85, Z:1.76 [[ 9.74238819e-01 -2.02795915e-01 -9.86536380e-02 1.75788368e+01] [ 2.01303592e-01 9.79210888e-01 -2.49579618e-02 2.84532251e+00] [ 1.01664089e-01 4.45568356e-03 9.94808806e-01 1.76486599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.676875 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:17.61, Y:2.85, Z:1.77 [[ 9.74512522e-01 -2.01480021e-01 -9.86465659e-02 1.76062763e+01] [ 1.99978165e-01 9.79481720e-01 -2.49858834e-02 2.85209228e+00] [ 1.01656664e-01 4.62189700e-03 9.94808806e-01 1.76746665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.706874999999997 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:17.63, Y:2.86, Z:1.77 [[ 9.74582419e-01 -2.01145123e-01 -9.86394894e-02 1.76331346e+01] [ 1.99638741e-01 9.79550245e-01 -2.50137892e-02 2.85916139e+00] [ 1.01653738e-01 4.68573569e-03 9.94808806e-01 1.76975292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.736874999999998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:17.66, Y:2.87, Z:1.77 [[ 9.74519442e-01 -2.01453454e-01 -9.86324617e-02 1.76598500e+01] [ 1.99945849e-01 9.79486898e-01 -2.50414698e-02 2.86649383e+00] [ 1.01653894e-01 4.68224794e-03 9.94808807e-01 1.77170389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.766875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:17.69, Y:2.87, Z:1.78 [[ 9.74290136e-01 -2.02560598e-01 -9.86302935e-02 1.76864222e+01] [ 2.01057775e-01 9.79259040e-01 -2.50500066e-02 2.87132654e+00] [ 1.01658751e-01 4.57558694e-03 9.94808807e-01 1.77817328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.796874999999996 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:17.71, Y:2.88, Z:1.78 [[ 9.74025531e-01 -2.03830210e-01 -9.86281434e-02 1.77135178e+01] [ 2.02333009e-01 9.78996132e-01 -2.50584695e-02 2.87780487e+00] [ 1.01664244e-01 4.45186001e-03 9.94808807e-01 1.78257907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.826874999999998 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:17.74, Y:2.88, Z:1.79 [[ 9.73791575e-01 -2.04948519e-01 -9.86208538e-02 1.77403763e+01] [ 2.03454130e-01 9.78763022e-01 -2.50871261e-02 2.88455866e+00] [ 1.01668014e-01 4.36481202e-03 9.94808807e-01 1.78573544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.856875 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:17.77, Y:2.89, Z:1.79 [[ 9.73284264e-01 -2.07347814e-01 -9.86135198e-02 1.77669789e+01] [ 2.05862769e-01 9.78258509e-01 -2.51159217e-02 2.89220198e+00] [ 1.01677246e-01 4.14407907e-03 9.94808808e-01 1.78726896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.886875 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:17.79, Y:2.90, Z:1.79 [[ 9.73042147e-01 -2.08484562e-01 -9.86061215e-02 1.77943007e+01] [ 2.07002393e-01 9.78017250e-01 -2.51449344e-02 2.89930167e+00] [ 1.01680818e-01 4.05537782e-03 9.94808808e-01 1.78943983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.916874999999997 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:17.82, Y:2.91, Z:1.79 [[ 9.72474666e-01 -2.11119171e-01 -9.85987791e-02 1.78218782e+01] [ 2.09647571e-01 9.77452905e-01 -2.51736931e-02 2.90530857e+00] [ 1.01690312e-01 3.80978430e-03 9.94808809e-01 1.79074030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.946875 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:17.85, Y:2.91, Z:1.79 [[ 9.72121575e-01 -2.12742489e-01 -9.85914605e-02 1.78478697e+01] [ 2.11276303e-01 9.77101411e-01 -2.52023234e-02 2.91108985e+00] [ 1.01695460e-01 3.66968304e-03 9.94808809e-01 1.79422130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.976875 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:17.87, Y:2.92, Z:1.80 [[ 9.71594341e-01 -2.15138991e-01 -9.85882952e-02 1.78737775e+01] [ 2.13683834e-01 9.76577410e-01 -2.52146998e-02 2.91615598e+00] [ 1.01703767e-01 3.43173475e-03 9.94808809e-01 1.79853810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.006874999999997 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:17.90, Y:2.92, Z:1.80 [[ 9.71308340e-01 -2.16427966e-01 -9.85852095e-02 1.79012987e+01] [ 2.14978200e-01 9.76292981e-01 -2.52267585e-02 2.92259858e+00] [ 1.01707824e-01 3.30929005e-03 9.94808809e-01 1.80228798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.036875 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:17.93, Y:2.93, Z:1.81 [[ 9.70786700e-01 -2.18759068e-01 -9.85781614e-02 1.79285368e+01] [ 2.17318481e-01 9.75774000e-01 -2.52542705e-02 2.92899380e+00] [ 1.01714608e-01 3.09365358e-03 9.94808810e-01 1.80512027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.066875 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:17.96, Y:2.94, Z:1.81 [[ 9.70549376e-01 -2.19812911e-01 -9.85707535e-02 1.79561419e+01] [ 2.18374809e-01 9.75537393e-01 -2.52831517e-02 2.93578284e+00] [ 1.01717019e-01 3.01317767e-03 9.94808810e-01 1.80736396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.096874999999997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:17.98, Y:2.94, Z:1.81 [[ 9.70154839e-01 -2.21551021e-01 -9.85633436e-02 1.79821099e+01] [ 2.20118927e-01 9.75144584e-01 -2.53120054e-02 2.94143398e+00] [ 1.01721411e-01 2.86090707e-03 9.94808811e-01 1.80976231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.126875 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:18.01, Y:2.95, Z:1.81 [[ 9.70003463e-01 -2.22214270e-01 -9.85601369e-02 1.80090436e+01] [ 2.20784321e-01 9.74993823e-01 -2.53244856e-02 2.94759751e+00] [ 1.01722987e-01 2.80430581e-03 9.94808811e-01 1.81235425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.156875 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:18.04, Y:2.95, Z:1.81 [[ 9.69497300e-01 -2.24415436e-01 -9.85530143e-02 1.80356079e+01] [ 2.22994005e-01 9.74490093e-01 -2.53521741e-02 2.95373726e+00] [ 1.01728355e-01 2.60213293e-03 9.94808811e-01 1.81418369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.186874999999997 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:18.06, Y:2.96, Z:1.82 [[ 9.69238461e-01 -2.25532084e-01 -9.85499159e-02 1.80626624e+01] [ 2.24115182e-01 9.74232540e-01 -2.53642125e-02 2.96060905e+00] [ 1.01730979e-01 2.49743792e-03 9.94808811e-01 1.81732149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.216874999999998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:18.09, Y:2.97, Z:1.82 [[ 9.69001367e-01 -2.26551694e-01 -9.85427881e-02 1.80894539e+01] [ 2.25137236e-01 9.73996138e-01 -2.53918747e-02 2.96745263e+00] [ 1.01732867e-01 2.41911030e-03 9.94808812e-01 1.82034911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.246875 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:18.12, Y:2.97, Z:1.82 [[ 9.68840127e-01 -2.27243309e-01 -9.85357076e-02 1.81160287e+01] [ 2.25829627e-01 9.73835118e-01 -2.54193220e-02 2.97472502e+00] [ 1.01733903e-01 2.37497711e-03 9.94808812e-01 1.82189203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.276874999999997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:18.14, Y:2.98, Z:1.82 [[ 9.68472872e-01 -2.28805505e-01 -9.85308930e-02 1.81430036e+01] [ 2.27397984e-01 9.73469602e-01 -2.54379706e-02 2.98282893e+00] [ 1.01737177e-01 2.23025809e-03 9.94808812e-01 1.82231349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.306874999999998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:18.17, Y:2.99, Z:1.82 [[ 9.68366733e-01 -2.29257409e-01 -9.85236532e-02 1.81692696e+01] [ 2.27849370e-01 9.73363318e-01 -2.54659804e-02 2.99005530e+00] [ 1.01737575e-01 2.21185595e-03 9.94808813e-01 1.82464127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.336875 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.20, Y:3.00, Z:1.83 [[ 9.68206114e-01 -2.29936146e-01 -9.85205033e-02 1.81961709e+01] [ 2.28530371e-01 9.73203336e-01 -2.54781606e-02 2.99722367e+00] [ 1.01738833e-01 2.15318368e-03 9.94808813e-01 1.82722245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.366874999999997 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:18.22, Y:3.00, Z:1.83 [[ 9.68035214e-01 -2.30657549e-01 -9.85135462e-02 1.82233188e+01] [ 2.29252765e-01 9.73032714e-01 -2.55050329e-02 3.00385666e+00] [ 1.01739832e-01 2.10526711e-03 9.94808813e-01 1.83181203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.396874999999998 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:18.25, Y:3.01, Z:1.84 [[ 9.68073026e-01 -2.30501829e-01 -9.85064597e-02 1.82504352e+01] [ 2.29093461e-01 9.73069517e-01 -2.55323732e-02 3.01067081e+00] [ 1.01738892e-01 2.15001604e-03 9.94808813e-01 1.83660447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.426875 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.28, Y:3.02, Z:1.84 [[ 9.68450348e-01 -2.28914484e-01 -9.84991463e-02 1.82768905e+01] [ 2.27495062e-01 9.73443709e-01 -2.55605562e-02 3.01790954e+00] [ 1.01734556e-01 2.34606015e-03 9.94808814e-01 1.84135970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.456874999999997 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:18.30, Y:3.03, Z:1.84 [[ 9.68619315e-01 -2.28199445e-01 -9.84968856e-02 1.83026251e+01] [ 2.26775451e-01 9.73611374e-01 -2.55692647e-02 3.02531427e+00] [ 1.01732580e-01 2.43020802e-03 9.94808814e-01 1.84382135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.486874999999998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.33, Y:3.03, Z:1.85 [[ 9.69039804e-01 -2.26408556e-01 -9.84937759e-02 1.83299023e+01] [ 2.24974120e-01 9.74028873e-01 -2.55812376e-02 3.03287218e+00] [ 1.01727593e-01 2.63068689e-03 9.94808814e-01 1.84633862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.516875 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:18.36, Y:3.04, Z:1.85 [[ 9.69804021e-01 -2.23115557e-01 -9.84865890e-02 1.83600576e+01] [ 2.21661379e-01 9.74787371e-01 -2.56088773e-02 3.04099649e+00] [ 1.01717222e-01 3.00491907e-03 9.94808814e-01 1.84833702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.546874999999996 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:18.38, Y:3.05, Z:1.85 [[ 9.70393802e-01 -2.20433619e-01 -9.87161979e-02 1.83837375e+01] [ 2.19055360e-01 9.75399102e-01 -2.47253256e-02 3.04815855e+00] [ 1.01737984e-01 2.36899039e-03 9.94808409e-01 1.85147607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.576874999999998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:18.41, Y:3.06, Z:1.85 [[ 9.71545181e-01 -2.15412441e-01 -9.84755935e-02 1.84102276e+01] [ 2.13914676e-01 9.76515554e-01 -2.56492654e-02 3.05613788e+00] [ 1.01688120e-01 3.85404551e-03 9.94808862e-01 1.85170134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.606875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:18.44, Y:3.06, Z:1.85 [[ 9.72133801e-01 -2.12741802e-01 -9.84723237e-02 1.84376078e+01] [ 2.11229115e-01 9.77099653e-01 -2.56618127e-02 3.06435169e+00] [ 1.01676614e-01 4.14649373e-03 9.94808862e-01 1.85277119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.636875 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:18.46, Y:3.07, Z:1.85 [[ 9.72666092e-01 -2.10298164e-01 -9.84649986e-02 1.84642805e+01] [ 2.08770166e-01 9.77627254e-01 -2.56898886e-02 3.07275051e+00] [ 1.01664603e-01 4.43112946e-03 9.94808863e-01 1.85342865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.666874999999997 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:18.49, Y:3.08, Z:1.85 [[ 9.73860761e-01 -2.04698127e-01 -9.84575851e-02 1.84901476e+01] [ 2.03138746e-01 9.78812148e-01 -2.57182699e-02 3.08186920e+00] [ 1.01635962e-01 5.04546348e-03 9.94808863e-01 1.85446506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.696875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:18.52, Y:3.09, Z:1.86 [[ 9.74171412e-01 -2.03216129e-01 -9.84543829e-02 1.85158410e+01] [ 2.01647983e-01 9.79120029e-01 -2.57305229e-02 3.08961320e+00] [ 1.01627515e-01 5.21281218e-03 9.94808863e-01 1.85614294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.726875 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:18.54, Y:3.10, Z:1.86 [[ 9.73324160e-01 -2.07237628e-01 -9.84512286e-02 1.85425941e+01] [ 2.05688714e-01 9.78278831e-01 -2.57425862e-02 3.09807958e+00] [ 1.01647585e-01 4.80557449e-03 9.94808863e-01 1.85892855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.756874999999997 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:18.57, Y:3.11, Z:1.86 [[ 9.72978212e-01 -2.08859218e-01 -9.84440235e-02 1.85702716e+01] [ 2.07315784e-01 9.77934592e-01 -2.57701106e-02 3.10538329e+00] [ 1.01654141e-01 4.66475620e-03 9.94808864e-01 1.86421067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.786875 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:18.60, Y:3.11, Z:1.87 [[ 9.72310967e-01 -2.11946691e-01 -9.84377125e-02 1.85978887e+01] [ 2.10416564e-01 9.77271472e-01 -2.57941951e-02 3.11337169e+00] [ 1.01667362e-01 4.36705355e-03 9.94808864e-01 1.86886995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.816875 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:18.62, Y:3.12, Z:1.87 [[ 9.71822957e-01 -2.14175930e-01 -9.84317584e-02 1.86243457e+01] [ 2.12654888e-01 9.76786254e-01 -2.58168965e-02 3.12110732e+00] [ 1.01676146e-01 4.15745816e-03 9.94808864e-01 1.87111206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.846874999999997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:18.65, Y:3.13, Z:1.87 [[ 9.71460789e-01 -2.15816063e-01 -9.84243991e-02 1.86513218e+01] [ 2.14300566e-01 9.76425782e-01 -2.58449229e-02 3.12865961e+00] [ 1.01681870e-01 4.01492475e-03 9.94808865e-01 1.87332632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.876875 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:18.68, Y:3.14, Z:1.88 [[ 9.71400704e-01 -2.16089650e-01 -9.84171514e-02 1.86788403e+01] [ 2.14572763e-01 9.76365272e-01 -2.58724929e-02 3.13600089e+00] [ 1.01681867e-01 4.01491768e-03 9.94808865e-01 1.87622478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.906875 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:18.71, Y:3.14, Z:1.88 [[ 9.70661112e-01 -2.19391200e-01 -9.84098941e-02 1.87057948e+01] [ 2.17888410e-01 9.75629964e-01 -2.59000675e-02 3.14318398e+00] [ 1.01693888e-01 3.69781299e-03 9.94808866e-01 1.88110489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.936874999999997 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:18.73, Y:3.15, Z:1.89 [[ 9.70163595e-01 -2.21584254e-01 -9.84023248e-02 1.87328857e+01] [ 2.20089787e-01 9.75134957e-01 -2.59287941e-02 3.14993437e+00] [ 1.01700959e-01 3.49782545e-03 9.94808866e-01 1.88621639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.966874999999998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:18.76, Y:3.16, Z:1.89 [[ 9.69219892e-01 -2.25679576e-01 -9.83947614e-02 1.87586262e+01] [ 2.24203209e-01 9.74196659e-01 -2.59574642e-02 3.15747038e+00] [ 1.01713917e-01 3.09806937e-03 9.94808867e-01 1.89061664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.996875 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:18.79, Y:3.17, Z:1.89 [[ 9.68759040e-01 -2.27651944e-01 -9.83896122e-02 1.87857657e+01] [ 2.26183731e-01 9.73738218e-01 -2.59769671e-02 3.16549772e+00] [ 1.01719433e-01 2.91129207e-03 9.94808867e-01 1.89327732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.026874999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:18.81, Y:3.17, Z:1.90 [[ 9.68168175e-01 -2.30155017e-01 -9.83821735e-02 1.88117298e+01] [ 2.28696821e-01 9.73150296e-01 -2.60051096e-02 3.17402032e+00] [ 1.01725848e-01 2.67762919e-03 9.94808867e-01 1.89502089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.056874999999998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:18.84, Y:3.18, Z:1.90 [[ 9.67243760e-01 -2.34010874e-01 -9.83789642e-02 1.88381777e+01] [ 2.32571307e-01 9.72231295e-01 -2.60172447e-02 3.18172655e+00] [ 1.01735426e-01 2.28489337e-03 9.94808867e-01 1.89975144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.086875 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:18.86, Y:3.19, Z:1.90 [[ 9.66826815e-01 -2.35730697e-01 -9.83714834e-02 1.88639715e+01] [ 2.34297129e-01 9.71816077e-01 -2.60454993e-02 3.18860207e+00] [ 1.01738713e-01 2.13333102e-03 9.94808868e-01 1.90448926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.116874999999997 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:18.89, Y:3.20, Z:1.91 [[ 9.66396347e-01 -2.37491382e-01 -9.83663740e-02 1.88909869e+01] [ 2.36064942e-01 9.71387652e-01 -2.60647817e-02 3.19627775e+00] [ 1.01742042e-01 1.96805742e-03 9.94808868e-01 1.90766937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.146874999999998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:18.92, Y:3.21, Z:1.91 [[ 9.65761102e-01 -2.40064533e-01 -9.83591017e-02 1.89181134e+01] [ 2.38648602e-01 9.70755398e-01 -2.60921961e-02 3.20555515e+00] [ 1.01746440e-01 1.72556601e-03 9.94808868e-01 1.90897109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.176875 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:18.94, Y:3.21, Z:1.91 [[ 9.65154663e-01 -2.42494110e-01 -9.83518331e-02 1.89440276e+01] [ 2.41087963e-01 9.70151721e-01 -2.61195657e-02 3.21412242e+00] [ 1.01750041e-01 1.49797753e-03 9.94808869e-01 1.90950948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.206874999999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:18.97, Y:3.22, Z:1.91 [[ 9.64739811e-01 -2.44140598e-01 -9.83486967e-02 1.89705589e+01] [ 2.42741775e-01 9.69738925e-01 -2.61313700e-02 3.22234054e+00] [ 1.01752288e-01 1.33663569e-03 9.94808869e-01 1.91180295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.236874999999998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:19.00, Y:3.23, Z:1.91 [[ 9.64462112e-01 -2.45238242e-01 -9.83414408e-02 1.89965265e+01] [ 2.43842328e-01 9.69462039e-01 -2.61586483e-02 3.23056471e+00] [ 1.01753395e-01 1.24921936e-03 9.94808869e-01 1.91410312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.266875 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:19.02, Y:3.24, Z:1.92 [[ 9.64358914e-01 -2.45644993e-01 -9.83383050e-02 1.90223709e+01] [ 2.44249987e-01 9.69359094e-01 -2.61704313e-02 3.23858931e+00] [ 1.01753766e-01 1.21855899e-03 9.94808869e-01 1.91607625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.296874999999996 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:19.05, Y:3.25, Z:1.92 [[ 9.64262943e-01 -2.46022695e-01 -9.83351950e-02 1.90492739e+01] [ 2.44628456e-01 9.69263337e-01 -2.61821121e-02 3.24758537e+00] [ 1.01754093e-01 1.19085359e-03 9.94808869e-01 1.91909678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.326874999999998 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:19.08, Y:3.26, Z:1.92 [[ 9.64281670e-01 -2.45952137e-01 -9.83280551e-02 1.90758843e+01] [ 2.44554801e-01 9.69281199e-01 -2.62088991e-02 3.25567714e+00] [ 1.01753670e-01 1.22616305e-03 9.94808870e-01 1.92230511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.356875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:19.10, Y:3.27, Z:1.92 [[ 9.64983061e-01 -2.43188713e-01 -9.83206025e-02 1.91025692e+01] [ 2.41774216e-01 9.69977761e-01 -2.62368273e-02 3.26553810e+00] [ 1.01749298e-01 1.54670733e-03 9.94808870e-01 1.92368975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.386875 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:19.13, Y:3.28, Z:1.92 [[ 9.65552139e-01 -2.40920273e-01 -9.83183006e-02 1.91295336e+01] [ 2.39493164e-01 9.70543250e-01 -2.62454505e-02 3.27516703e+00] [ 1.01745224e-01 1.79478996e-03 9.94808870e-01 1.92437546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.416874999999997 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:19.16, Y:3.28, Z:1.93 [[ 9.66296834e-01 -2.37918871e-01 -9.83109309e-02 1.91560138e+01] [ 2.36473455e-01 9.71282674e-01 -2.62730274e-02 3.28402348e+00] [ 1.01738553e-01 2.13961769e-03 9.94808871e-01 1.92615751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.446875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:19.18, Y:3.29, Z:1.93 [[ 9.68079003e-01 -2.30563339e-01 -9.83035596e-02 1.91823882e+01] [ 2.29077253e-01 9.73052872e-01 -2.63005790e-02 3.29376691e+00] [ 1.01718510e-01 2.94192886e-03 9.94808871e-01 1.92802627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.476875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:19.21, Y:3.30, Z:1.93 [[ 9.68878971e-01 -2.27179219e-01 -9.83012793e-02 1.92081918e+01] [ 2.25674899e-01 9.73847355e-01 -2.63090993e-02 3.30229001e+00] [ 1.01707321e-01 3.30620184e-03 9.94808871e-01 1.92990367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.506874999999997 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:19.23, Y:3.31, Z:1.93 [[ 9.69613465e-01 -2.24025027e-01 -9.82980952e-02 1.92345979e+01] [ 2.22503342e-01 9.74576558e-01 -2.63209905e-02 3.31077683e+00] [ 1.01695580e-01 3.64953206e-03 9.94808871e-01 1.93272558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.536875 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:19.26, Y:3.32, Z:1.94 [[ 9.70634431e-01 -2.19562611e-01 -9.82907007e-02 1.92605455e+01] [ 2.18015324e-01 9.75589602e-01 -2.63485752e-02 3.32002524e+00] [ 1.01676547e-01 4.14595530e-03 9.94808871e-01 1.93753455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.566875 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:19.29, Y:3.33, Z:1.94 [[ 9.70850581e-01 -2.18608268e-01 -9.82831369e-02 1.92876551e+01] [ 2.17053263e-01 9.75803334e-01 -2.63767589e-02 3.32788184e+00] [ 1.01671190e-01 4.27521616e-03 9.94808872e-01 1.94220732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.596874999999997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:19.31, Y:3.34, Z:1.95 [[ 9.70991322e-01 -2.17985710e-01 -9.82755424e-02 1.93146956e+01] [ 2.16424675e-01 9.75942178e-01 -2.64050245e-02 3.33715834e+00] [ 1.01667165e-01 4.36979739e-03 9.94808872e-01 1.94901845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.626875 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:19.34, Y:3.35, Z:1.95 [[ 9.70830876e-01 -2.18702201e-01 -9.82688029e-02 1.93407185e+01] [ 2.17142287e-01 9.75782085e-01 -2.64300828e-02 3.34547237e+00] [ 1.01669255e-01 4.32082781e-03 9.94808873e-01 1.95218503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.656875 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:19.37, Y:3.35, Z:1.95 [[ 9.70567046e-01 -2.19871142e-01 -9.82664258e-02 1.93661556e+01] [ 2.18316299e-01 9.75519850e-01 -2.64389180e-02 3.35306679e+00] [ 1.01674004e-01 4.20758013e-03 9.94808873e-01 1.95491949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.686874999999997 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:19.39, Y:3.36, Z:1.96 [[ 9.70194719e-01 -2.21509734e-01 -9.82631410e-02 1.93926499e+01] [ 2.19962023e-01 9.75149756e-01 -2.64511205e-02 3.36093322e+00] [ 1.01680459e-01 4.04857821e-03 9.94808873e-01 1.95674895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.716874999999998 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:19.42, Y:3.37, Z:1.96 [[ 9.69587567e-01 -2.24155742e-01 -9.82555516e-02 1.94196958e+01] [ 2.22618705e-01 9.74545925e-01 -2.64792823e-02 3.36921172e+00] [ 1.01690031e-01 3.80045926e-03 9.94808873e-01 1.95895167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.746875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:19.45, Y:3.38, Z:1.96 [[ 9.69155216e-01 -2.26021027e-01 -9.82479673e-02 1.94465542e+01] [ 2.24490688e-01 9.74115645e-01 -2.65073934e-02 3.37746022e+00] [ 1.01696110e-01 3.63402485e-03 9.94808874e-01 1.95985870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.776874999999997 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:19.47, Y:3.39, Z:1.96 [[ 9.69142981e-01 -2.26076797e-01 -9.82403437e-02 1.94731224e+01] [ 2.24543886e-01 9.74102615e-01 -2.65356174e-02 3.38507388e+00] [ 1.01695263e-01 3.65753880e-03 9.94808874e-01 1.96121000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.806874999999998 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:19.50, Y:3.39, Z:1.96 [[ 9.69209221e-01 -2.25795946e-01 -9.82327677e-02 1.94999572e+01] [ 2.24258762e-01 9.74167532e-01 -2.65636340e-02 3.39285283e+00] [ 1.01693134e-01 3.71616017e-03 9.94808874e-01 1.96229809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.836875 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:19.53, Y:3.40, Z:1.96 [[ 9.69337631e-01 -2.25247313e-01 -9.82252787e-02 1.95270655e+01] [ 2.23704524e-01 9.74294200e-01 -2.65912975e-02 3.40106450e+00] [ 1.01689938e-01 3.80250609e-03 9.94808875e-01 1.96261816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.866874999999997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:19.56, Y:3.41, Z:1.96 [[ 9.69697510e-01 -2.23693962e-01 -9.82229581e-02 1.95554639e+01] [ 2.22142367e-01 9.74651330e-01 -2.65998666e-02 3.40920234e+00] [ 1.01683366e-01 3.97434404e-03 9.94808875e-01 1.96268028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.896874999999998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:19.58, Y:3.42, Z:1.96 [[ 9.69730331e-01 -2.23554299e-01 -9.82169012e-02 1.95825460e+01] [ 2.21999731e-01 9.74683219e-01 -2.66222126e-02 3.41625110e+00] [ 1.01681875e-01 4.01224136e-03 9.94808875e-01 1.96444347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.926875 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:19.61, Y:3.42, Z:1.97 [[ 9.69624299e-01 -2.24015274e-01 -9.82134213e-02 1.96101433e+01] [ 2.22461763e-01 9.74577518e-01 -2.66350440e-02 3.42355235e+00] [ 1.01683249e-01 3.97725501e-03 9.94808875e-01 1.96627044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.956874999999997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:19.64, Y:3.43, Z:1.97 [[ 9.69302148e-01 -2.25407958e-01 -9.82069175e-02 1.96374491e+01] [ 2.23859141e-01 9.74256836e-01 -2.66590031e-02 3.43034889e+00] [ 1.01687912e-01 3.85611285e-03 9.94808876e-01 1.96867195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.986874999999998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:19.66, Y:3.44, Z:1.97 [[ 9.69019602e-01 -2.26622785e-01 -9.81994099e-02 1.96648962e+01] [ 2.25077383e-01 9.73975357e-01 -2.66866291e-02 3.43653399e+00] [ 1.01691603e-01 3.75740051e-03 9.94808876e-01 1.97309177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.016875 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:19.69, Y:3.44, Z:1.98 [[ 9.68526482e-01 -2.28724271e-01 -9.81919588e-02 1.96925320e+01] [ 2.27186850e-01 9.73484718e-01 -2.67140169e-02 3.44187421e+00] [ 1.01698515e-01 3.56531104e-03 9.94808876e-01 1.98071508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.046874999999996 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:19.72, Y:3.45, Z:1.99 [[ 9.68656602e-01 -2.28175476e-01 -9.81852337e-02 1.97194072e+01] [ 2.26632746e-01 9.73613188e-01 -2.67387120e-02 3.44894565e+00] [ 1.01695557e-01 3.64864075e-03 9.94808877e-01 1.98513551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.076874999999998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:19.75, Y:3.46, Z:1.99 [[ 9.68980949e-01 -2.26795684e-01 -9.81816630e-02 1.97470594e+01] [ 2.25244571e-01 9.73934917e-01 -2.67518169e-02 3.45720593e+00] [ 1.01689746e-01 3.80711438e-03 9.94808877e-01 1.98963094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.106875 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:19.77, Y:3.47, Z:1.99 [[ 9.70063647e-01 -2.22122028e-01 -9.81749709e-02 1.97723958e+01] [ 2.20544573e-01 9.75009291e-01 -2.67763532e-02 3.46535101e+00] [ 1.01669127e-01 4.32280977e-03 9.94808877e-01 1.99117721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.136874999999996 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:19.80, Y:3.47, Z:1.99 [[ 9.70487981e-01 -2.20262126e-01 -9.81716591e-02 1.97993270e+01] [ 2.18673969e-01 9.75430199e-01 -2.67884903e-02 3.47280196e+00] [ 1.01660091e-01 4.53032153e-03 9.94808877e-01 1.99409998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.166874999999997 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:19.83, Y:3.48, Z:2.00 [[ 9.70900076e-01 -2.18441963e-01 -9.81638950e-02 1.98257866e+01] [ 2.16841675e-01 9.75838379e-01 -2.68169108e-02 3.47941167e+00] [ 1.01650035e-01 4.75051733e-03 9.94808878e-01 1.99672244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.196875 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:19.85, Y:3.49, Z:2.00 [[ 9.71336544e-01 -2.16494412e-01 -9.81605196e-02 1.98524498e+01] [ 2.14882978e-01 9.76271221e-01 -2.68292608e-02 3.48604564e+00] [ 1.01639675e-01 4.96721661e-03 9.94808878e-01 1.99746582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.226875 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:19.88, Y:3.49, Z:2.00 [[ 9.71372956e-01 -2.16332061e-01 -9.81581336e-02 1.98797715e+01] [ 2.14718923e-01 9.76307076e-01 -2.68379871e-02 3.49378095e+00] [ 1.01638397e-01 4.99328614e-03 9.94808878e-01 1.99981618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.256874999999997 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:19.91, Y:3.50, Z:2.00 [[ 9.71278414e-01 -2.16759550e-01 -9.81506004e-02 1.99069813e+01] [ 2.15145810e-01 9.76212336e-01 -2.68655093e-02 3.50073246e+00] [ 1.01639183e-01 4.97719881e-03 9.94808878e-01 2.00384934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.286875 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:19.93, Y:3.51, Z:2.01 [[ 9.71088235e-01 -2.17613447e-01 -9.81428884e-02 1.99335267e+01] [ 2.16001209e-01 9.76022648e-01 -2.68936528e-02 3.50702908e+00] [ 1.01642102e-01 4.91712733e-03 9.94808879e-01 2.00783042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.316875 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:19.96, Y:3.51, Z:2.01 [[ 9.70759097e-01 -2.19078538e-01 -9.81395427e-02 1.99608057e+01] [ 2.17472516e-01 9.75695536e-01 -2.69058565e-02 3.51342079e+00] [ 1.01648809e-01 4.77645166e-03 9.94808879e-01 2.01256308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.346874999999997 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:19.99, Y:3.52, Z:2.02 [[ 9.70074113e-01 -2.22095389e-01 -9.81318124e-02 1.99880941e+01] [ 2.20501878e-01 9.75014605e-01 -2.69340211e-02 3.51859676e+00] [ 1.01661872e-01 4.48974771e-03 9.94808879e-01 2.01538834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.376875 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:20.01, Y:3.52, Z:2.02 [[ 9.69720829e-01 -2.23636304e-01 -9.81239867e-02 2.00144409e+01] [ 2.22047768e-01 9.74662922e-01 -2.69625012e-02 3.52491554e+00] [ 1.01667606e-01 4.35788681e-03 9.94808880e-01 2.01682097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.406875 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:20.04, Y:3.53, Z:2.02 [[ 9.69291476e-01 -2.25491429e-01 -9.81205911e-02 2.00406097e+01] [ 2.23911105e-01 9.74236201e-01 -2.69748526e-02 3.53133113e+00] [ 1.01675230e-01 4.17620478e-03 9.94808880e-01 2.01891609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.436874999999997 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:20.07, Y:3.54, Z:2.02 [[ 9.68852912e-01 -2.27370630e-01 -9.81153956e-02 2.00683532e+01] [ 2.25797988e-01 9.73800086e-01 -2.69937369e-02 3.53775201e+00] [ 1.01682364e-01 3.99870172e-03 9.94808880e-01 2.02181847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.466874999999998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:20.10, Y:3.54, Z:2.02 [[ 9.68295787e-01 -2.29734874e-01 -9.81078861e-02 2.00958630e+01] [ 2.28171553e-01 9.73245913e-01 -2.70210026e-02 3.54175005e+00] [ 1.01690766e-01 3.77889415e-03 9.94808880e-01 2.02461572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.496875 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:20.12, Y:3.55, Z:2.03 [[ 9.68204868e-01 -2.30120975e-01 -9.81003135e-02 2.01231308e+01] [ 2.28556849e-01 9.73154740e-01 -2.70484673e-02 3.54726537e+00] [ 1.01691205e-01 3.76695915e-03 9.94808881e-01 2.02792532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.526874999999997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:20.15, Y:3.55, Z:2.03 [[ 9.68285788e-01 -2.29783565e-01 -9.80925424e-02 2.01507583e+01] [ 2.28214867e-01 9.73234212e-01 -2.70766207e-02 3.55311586e+00] [ 1.01688781e-01 3.83173049e-03 9.94808881e-01 2.03240128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.556874999999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:20.18, Y:3.56, Z:2.04 [[ 9.68628605e-01 -2.28337502e-01 -9.80847165e-02 2.01776444e+01] [ 2.26758554e-01 9.73573767e-01 -2.71049404e-02 3.55913697e+00] [ 1.01681781e-01 4.01307214e-03 9.94808881e-01 2.03522035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.586875 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:20.20, Y:3.57, Z:2.04 [[ 9.68864088e-01 -2.27339642e-01 -9.80768392e-02 2.02043411e+01] [ 2.25752724e-01 9.73806698e-01 -2.71334140e-02 3.56630679e+00] [ 1.01676384e-01 4.14747688e-03 9.94808882e-01 2.03773475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.616874999999997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:20.23, Y:3.57, Z:2.04 [[ 9.69490476e-01 -2.24656843e-01 -9.80689576e-02 2.02311110e+01] [ 2.23053376e-01 9.74427742e-01 -2.71618710e-02 3.57206989e+00] [ 1.01663213e-01 4.45856320e-03 9.94808882e-01 2.03954157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.646874999999998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:20.26, Y:3.58, Z:2.04 [[ 9.69873954e-01 -2.22998948e-01 -9.80611198e-02 2.02584120e+01] [ 2.21384190e-01 9.74807538e-01 -2.71901380e-02 3.57865837e+00] [ 1.01654091e-01 4.66182507e-03 9.94808883e-01 2.04228557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.676875 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:20.29, Y:3.59, Z:2.04 [[ 9.70390691e-01 -2.20742960e-01 -9.80533147e-02 2.02858324e+01] [ 2.19113900e-01 9.75319571e-01 -2.72182559e-02 3.58532869e+00] [ 1.01641555e-01 4.92749795e-03 9.94808883e-01 2.04449366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.706874999999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:20.31, Y:3.59, Z:2.05 [[ 9.70902353e-01 -2.18484992e-01 -9.80455440e-02 2.03124042e+01] [ 2.16841655e-01 9.75826491e-01 -2.72462191e-02 3.59284739e+00] [ 1.01628329e-01 5.19306023e-03 9.94808884e-01 2.04543610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.736874999999998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:20.34, Y:3.60, Z:2.05 [[ 9.71855077e-01 -2.14208432e-01 -9.80431395e-02 2.03403481e+01] [ 2.12542562e-01 9.76771637e-01 -2.72548687e-02 3.60076327e+00] [ 1.01603981e-01 5.64944253e-03 9.94808884e-01 2.04529036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.766875 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:20.37, Y:3.61, Z:2.05 [[ 9.71793364e-01 -2.14491373e-01 -9.80362611e-02 2.03677615e+01] [ 2.12824449e-01 9.76709567e-01 -2.72795882e-02 3.60849549e+00] [ 1.01604190e-01 5.64560954e-03 9.94808884e-01 2.04819077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.796874999999996 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:20.40, Y:3.62, Z:2.05 [[ 9.72214173e-01 -2.12579508e-01 -9.80283400e-02 2.03950348e+01] [ 2.10900060e-01 9.77126111e-01 -2.73080229e-02 3.61574349e+00] [ 1.01591177e-01 5.87506416e-03 9.94808884e-01 2.04977487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.826874999999998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:20.42, Y:3.62, Z:2.05 [[ 9.72937124e-01 -2.09246931e-01 -9.80258885e-02 2.04222598e+01] [ 2.07549779e-01 9.77842973e-01 -2.73168199e-02 3.62106011e+00] [ 1.01569887e-01 6.23229666e-03 9.94808884e-01 2.05341987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.856875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:20.45, Y:3.63, Z:2.06 [[ 9.73003693e-01 -2.08938284e-01 -9.80235012e-02 2.04490353e+01] [ 2.07238717e-01 9.77908706e-01 -2.73253838e-02 3.62758091e+00] [ 1.01567354e-01 6.27343476e-03 9.94808884e-01 2.05787093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.886874999999996 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:20.48, Y:3.63, Z:2.06 [[ 9.72905823e-01 -2.09397264e-01 -9.80155359e-02 2.04763287e+01] [ 2.07697147e-01 9.77810645e-01 -2.73539256e-02 3.63449318e+00] [ 1.01568472e-01 6.25524631e-03 9.94808885e-01 2.06109810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.916874999999997 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:20.50, Y:3.64, Z:2.06 [[ 9.72787593e-01 -2.09949541e-01 -9.80075993e-02 2.05019062e+01] [ 2.08249358e-01 9.77692392e-01 -2.73823328e-02 3.64125494e+00] [ 1.01570192e-01 6.22717396e-03 9.94808885e-01 2.06392385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.946875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:20.53, Y:3.65, Z:2.07 [[ 9.72311429e-01 -2.12146645e-01 -9.80014591e-02 2.05291636e+01] [ 2.10455342e-01 9.77219297e-01 -2.74042909e-02 3.64642444e+00] [ 1.01582645e-01 6.02057457e-03 9.94808886e-01 2.06836064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.976875 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:20.56, Y:3.65, Z:2.07 [[ 9.71881774e-01 -2.14109918e-01 -9.79936775e-02 2.05558074e+01] [ 2.12425738e-01 9.76792090e-01 -2.74320887e-02 3.65191284e+00] [ 1.01592931e-01 5.84436775e-03 9.94808886e-01 2.07155772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.006874999999997 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:20.58, Y:3.66, Z:2.08 [[ 9.71077878e-01 -2.17728407e-01 -9.79902804e-02 2.05839789e+01] [ 2.16061308e-01 9.75994019e-01 -2.74442184e-02 3.65546941e+00] [ 1.01613314e-01 5.47856520e-03 9.94808886e-01 2.07682990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.036875 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:20.61, Y:3.66, Z:2.08 [[ 9.70496390e-01 -2.20309294e-01 -9.79825103e-02 2.06114115e+01] [ 2.18652481e-01 9.75416006e-01 -2.74719315e-02 3.66235744e+00] [ 1.01626031e-01 5.23729138e-03 9.94808886e-01 2.08021700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.066875 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:20.64, Y:3.67, Z:2.08 [[ 9.70089804e-01 -2.22096223e-01 -9.79746904e-02 2.06375132e+01] [ 2.20445666e-01 9.75011523e-01 -2.74997921e-02 3.66895670e+00] [ 1.01634052e-01 5.07917208e-03 9.94808887e-01 2.08241523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.096874999999997 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:20.66, Y:3.68, Z:2.09 [[ 9.69734532e-01 -2.23644687e-01 -9.79693421e-02 2.06642613e+01] [ 2.22000071e-01 9.74658239e-01 -2.75188325e-02 3.67540788e+00] [ 1.01641067e-01 4.93676119e-03 9.94808887e-01 2.08554171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.126875 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:20.69, Y:3.68, Z:2.09 [[ 9.69032976e-01 -2.26668592e-01 -9.79614251e-02 2.06915573e+01] [ 2.25036503e-01 9.73960849e-01 -2.75469866e-02 3.68001476e+00] [ 1.01654629e-01 4.64904187e-03 9.94808888e-01 2.08633620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.156875 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:20.72, Y:3.69, Z:2.09 [[ 9.68610165e-01 -2.28469663e-01 -9.79589777e-02 2.07185181e+01] [ 2.26845860e-01 9.73540775e-01 -2.75556871e-02 3.68588188e+00] [ 1.01662698e-01 4.46913013e-03 9.94808888e-01 2.08904468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.186874999999997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:20.75, Y:3.69, Z:2.09 [[ 9.68004697e-01 -2.31024832e-01 -9.79511761e-02 2.07461104e+01] [ 2.29411247e-01 9.72938660e-01 -2.75833914e-02 3.69212626e+00] [ 1.01672934e-01 4.22975096e-03 9.94808888e-01 2.09283918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.216874999999998 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:20.77, Y:3.70, Z:2.09 [[ 9.66229776e-01 -2.38342479e-01 -9.79432671e-02 2.07729915e+01] [ 2.36763432e-01 9.71174899e-01 -2.76114464e-02 3.69950232e+00] [ 1.01701023e-01 3.48961761e-03 9.94808888e-01 2.09418864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.246875 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:20.80, Y:3.71, Z:2.10 [[ 9.65577248e-01 -2.40975593e-01 -9.79353988e-02 2.07990802e+01] [ 2.39407208e-01 9.70525763e-01 -2.76393266e-02 3.70608241e+00] [ 1.01709231e-01 3.24146459e-03 9.94808889e-01 2.09837813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.276874999999997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:20.83, Y:3.71, Z:2.10 [[ 9.65161077e-01 -2.42639219e-01 -9.79301011e-02 2.08261444e+01] [ 2.41077463e-01 9.70111688e-01 -2.76580846e-02 3.71268753e+00] [ 1.01714072e-01 3.08576642e-03 9.94808889e-01 2.10283128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.306874999999998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:20.85, Y:3.72, Z:2.11 [[ 9.64919396e-01 -2.43601643e-01 -9.79224134e-02 2.08519396e+01] [ 2.42042068e-01 9.69870694e-01 -2.76852759e-02 3.71942038e+00] [ 1.01716258e-01 3.01271632e-03 9.94808889e-01 2.10524707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.336875 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:20.88, Y:3.73, Z:2.10 [[ 9.64815791e-01 -2.44012996e-01 -9.79190874e-02 2.08796908e+01] [ 2.42454339e-01 9.69767378e-01 -2.76970345e-02 3.72745356e+00] [ 1.01717173e-01 2.98162867e-03 9.94808889e-01 2.10496349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.366874999999997 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:20.91, Y:3.74, Z:2.11 [[ 9.64862276e-01 -2.43831842e-01 -9.79123125e-02 2.09070121e+01] [ 2.42269829e-01 9.69812806e-01 -2.77209640e-02 3.73574513e+00] [ 1.01715868e-01 3.02571317e-03 9.94808890e-01 2.10602915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.396874999999998 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:20.93, Y:3.74, Z:2.11 [[ 9.65163220e-01 -2.42641076e-01 -9.79043808e-02 2.09338966e+01] [ 2.41070120e-01 9.70110918e-01 -2.77489489e-02 3.74334239e+00] [ 1.01711144e-01 3.18044400e-03 9.94808890e-01 2.10757648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.426875 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:20.96, Y:3.75, Z:2.11 [[ 9.66095972e-01 -2.38903508e-01 -9.78963013e-02 2.09609911e+01] [ 2.37310532e-01 9.71036625e-01 -2.77774238e-02 3.75140383e+00] [ 1.01697018e-01 3.60383389e-03 9.94808891e-01 2.10908519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.456874999999997 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:20.99, Y:3.76, Z:2.11 [[ 9.66563043e-01 -2.37007780e-01 -9.78938044e-02 2.09874785e+01] [ 2.35404225e-01 9.71500271e-01 -2.77862208e-02 3.75907988e+00] [ 1.01689408e-01 3.81251901e-03 9.94808891e-01 2.11301381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.486874999999998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:21.01, Y:3.77, Z:2.12 [[ 9.66190769e-01 -2.38524184e-01 -9.78857069e-02 2.10137142e+01] [ 2.36925495e-01 9.71129575e-01 -2.78147176e-02 3.76637899e+00] [ 1.01694188e-01 3.68270385e-03 9.94808891e-01 2.11594635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.516875 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:21.04, Y:3.77, Z:2.12 [[ 9.65626472e-01 -2.40799902e-01 -9.78821959e-02 2.10402748e+01] [ 2.39211603e-01 9.70568629e-01 -2.78270675e-02 3.77408840e+00] [ 1.01702144e-01 3.45599610e-03 9.94808891e-01 2.11952142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.546874999999996 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:21.07, Y:3.78, Z:2.12 [[ 9.65321602e-01 -2.42022388e-01 -9.78742427e-02 2.10665342e+01] [ 2.40437518e-01 9.70264860e-01 -2.78550128e-02 3.78209116e+00] [ 1.01705475e-01 3.35640561e-03 9.94808892e-01 2.12338711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.576874999999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:21.09, Y:3.79, Z:2.13 [[ 9.65152123e-01 -2.42700553e-01 -9.78663420e-02 2.10920488e+01] [ 2.41116347e-01 9.70095593e-01 -2.78827440e-02 3.79131131e+00] [ 1.01706864e-01 3.31391467e-03 9.94808892e-01 2.12776709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.606875 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:21.12, Y:3.80, Z:2.13 [[ 9.65070734e-01 -2.43025165e-01 -9.78634140e-02 2.11187638e+01] [ 2.41441581e-01 9.70014403e-01 -2.78930171e-02 3.80052094e+00] [ 1.01707626e-01 3.29043705e-03 9.94808892e-01 2.13054020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.636874999999996 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:21.15, Y:3.81, Z:2.13 [[ 9.65123774e-01 -2.42817548e-01 -9.78557119e-02 2.11454609e+01] [ 2.41230167e-01 9.70066224e-01 -2.79200119e-02 3.80951403e+00] [ 1.01705990e-01 3.34051751e-03 9.94808892e-01 2.13429524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.666874999999997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:21.17, Y:3.82, Z:2.14 [[ 9.65175210e-01 -2.42614006e-01 -9.78532490e-02 2.11720030e+01] [ 2.41024709e-01 9.70117045e-01 -2.79286412e-02 3.81879041e+00] [ 1.01704984e-01 3.37098125e-03 9.94808893e-01 2.13781366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.696875 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:21.20, Y:3.83, Z:2.14 [[ 9.65332204e-01 -2.41991799e-01 -9.78453080e-02 2.11973132e+01] [ 2.40396504e-01 9.70272106e-01 -2.79564344e-02 3.82926998e+00] [ 1.01701801e-01 3.46557648e-03 9.94808893e-01 2.14116946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.726875 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:21.22, Y:3.84, Z:2.15 [[ 9.65332269e-01 -2.41992537e-01 -9.78428474e-02 2.12237418e+01] [ 2.40396374e-01 9.70271890e-01 -2.79650432e-02 3.83804246e+00] [ 1.01701496e-01 3.47449289e-03 9.94808893e-01 2.14522706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.756874999999997 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:21.25, Y:3.85, Z:2.15 [[ 9.65402147e-01 -2.41716833e-01 -9.78349028e-02 2.12493608e+01] [ 2.40116448e-01 9.70340401e-01 -2.79928097e-02 3.84663372e+00] [ 1.01699492e-01 3.53254920e-03 9.94808893e-01 2.14818653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.786875 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:21.28, Y:3.86, Z:2.15 [[ 9.65495363e-01 -2.41345621e-01 -9.78314591e-02 2.12755941e+01] [ 2.39742121e-01 9.70432607e-01 -2.80048401e-02 3.85571906e+00] [ 1.01697683e-01 3.58422178e-03 9.94808893e-01 2.15084695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.816875 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:21.30, Y:3.87, Z:2.15 [[ 9.66014983e-01 -2.39260545e-01 -9.78235372e-02 2.13017197e+01] [ 2.37643594e-01 9.70947837e-01 -2.80324847e-02 3.86636400e+00] [ 1.01688619e-01 3.83266332e-03 9.94808894e-01 2.15253967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.846874999999997 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:21.33, Y:3.88, Z:2.15 [[ 9.66369549e-01 -2.37827679e-01 -9.78155949e-02 2.13287586e+01] [ 2.36200616e-01 9.71299076e-01 -2.80601711e-02 3.87584358e+00] [ 1.01681682e-01 4.01239107e-03 9.94808894e-01 2.15401400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.876875 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:21.35, Y:3.88, Z:2.15 [[ 9.66757131e-01 -2.36250571e-01 -9.78075513e-02 2.13548182e+01] [ 2.34612638e-01 9.71683057e-01 -2.80881803e-02 3.88492874e+00] [ 1.01673789e-01 4.20756092e-03 9.94808895e-01 2.15421159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.906875 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:21.38, Y:3.89, Z:2.15 [[ 9.67606842e-01 -2.32747430e-01 -9.78040538e-02 2.13809669e+01] [ 2.31090438e-01 9.72526390e-01 -2.81003536e-02 3.89470722e+00] [ 1.01657308e-01 4.58851273e-03 9.94808895e-01 2.15483647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.936874999999997 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:21.41, Y:3.90, Z:2.16 [[ 9.67854355e-01 -2.31719364e-01 -9.77961321e-02 2.14069753e+01] [ 2.30054370e-01 9.72771200e-01 -2.81278962e-02 3.90315796e+00] [ 1.01651039e-01 4.72527925e-03 9.94808895e-01 2.15645330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.966874999999998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:21.43, Y:3.91, Z:2.16 [[ 9.68051629e-01 -2.30895289e-01 -9.77926841e-02 2.14336088e+01] [ 2.29224902e-01 9.72966645e-01 -2.81398788e-02 3.91095095e+00] [ 1.01646385e-01 4.82433705e-03 9.94808895e-01 2.15912280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.996875 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:21.46, Y:3.92, Z:2.16 [[ 9.68094009e-01 -2.30720974e-01 -9.77845645e-02 2.14604473e+01] [ 2.29046863e-01 9.73007757e-01 -2.81680661e-02 3.91967733e+00] [ 1.01644103e-01 4.87208831e-03 9.94808896e-01 2.16272940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.026874999999997 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:21.49, Y:3.93, Z:2.16 [[ 9.68043759e-01 -2.30935207e-01 -9.77763289e-02 2.14865516e+01] [ 2.29259305e-01 9.72956896e-01 -2.81966244e-02 3.92780436e+00] [ 1.01643747e-01 4.87943313e-03 9.94808896e-01 2.16488174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.056874999999998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:21.51, Y:3.94, Z:2.17 [[ 9.67848398e-01 -2.31754105e-01 -9.77727633e-02 2.15137760e+01] [ 2.30081115e-01 9.72762527e-01 -2.82089827e-02 3.93613878e+00] [ 1.01647228e-01 4.80635234e-03 9.94808896e-01 2.16778067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.086875 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:21.54, Y:3.94, Z:2.17 [[ 9.67645962e-01 -2.32601214e-01 -9.77648601e-02 2.15402190e+01] [ 2.30929768e-01 9.72560616e-01 -2.82363469e-02 3.94398225e+00] [ 1.01650061e-01 4.74597059e-03 9.94808897e-01 2.17106838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.116874999999997 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:21.57, Y:3.95, Z:2.17 [[ 9.67181560e-01 -2.34528146e-01 -9.77567308e-02 2.15661385e+01] [ 2.32863657e-01 9.72098574e-01 -2.82644633e-02 3.95206991e+00] [ 1.01657991e-01 4.57287791e-03 9.94808897e-01 2.17231565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.146874999999998 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:21.59, Y:3.96, Z:2.17 [[ 9.66837153e-01 -2.35945397e-01 -9.77532113e-02 2.15931977e+01] [ 2.34286888e-01 9.71756187e-01 -2.82766303e-02 3.96036324e+00] [ 1.01664029e-01 4.43660107e-03 9.94808897e-01 2.17401608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.176875 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:21.62, Y:3.97, Z:2.18 [[ 9.66466869e-01 -2.37460882e-01 -9.77451843e-02 2.16200339e+01] [ 2.35807289e-01 9.71387557e-01 -2.83043508e-02 3.96787264e+00] [ 1.01669632e-01 4.30619038e-03 9.94808898e-01 2.17661222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.206874999999997 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:21.65, Y:3.97, Z:2.18 [[ 9.65469697e-01 -2.41486413e-01 -9.77372820e-02 2.16472127e+01] [ 2.39850585e-01 9.70396319e-01 -2.83316118e-02 3.97368093e+00] [ 1.01685598e-01 3.91096831e-03 9.94808898e-01 2.18235588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.236874999999998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:21.67, Y:3.98, Z:2.19 [[ 9.64836193e-01 -2.44006194e-01 -9.77348388e-02 2.16743510e+01] [ 2.42382381e-01 9.69766788e-01 -2.83400378e-02 3.98042548e+00] [ 1.01695145e-01 3.65429117e-03 9.94808898e-01 2.18735379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.266875 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:21.70, Y:3.99, Z:2.19 [[ 9.64077569e-01 -2.46989599e-01 -9.77270662e-02 2.17008365e+01] [ 2.45378335e-01 9.69012279e-01 -2.83668152e-02 3.98728800e+00] [ 1.01705035e-01 3.36770544e-03 9.94808898e-01 2.19171312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.296874999999996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:21.73, Y:3.99, Z:2.20 [[ 9.62712495e-01 -2.52260938e-01 -9.77193485e-02 2.17278102e+01] [ 2.50674005e-01 9.67655083e-01 -2.83933767e-02 3.99388771e+00] [ 1.01721164e-01 2.83895814e-03 9.94808899e-01 2.19609688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.326874999999998 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:21.75, Y:4.00, Z:2.20 [[ 9.61999690e-01 -2.54966647e-01 -9.77169634e-02 2.17549175e+01] [ 2.53392783e-01 9.66946455e-01 -2.84015828e-02 4.00079525e+00] [ 1.01728528e-01 2.56154052e-03 9.94808899e-01 2.19937390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.356875 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:21.78, Y:4.01, Z:2.20 [[ 9.61402757e-01 -2.57211464e-01 -9.77087592e-02 2.17811494e+01] [ 2.55646287e-01 9.66352277e-01 -2.84297798e-02 4.00718011e+00] [ 1.01733547e-01 2.35358719e-03 9.94808899e-01 2.20223856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.386874999999996 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:21.81, Y:4.01, Z:2.20 [[ 9.60339631e-01 -2.61154135e-01 -9.77052209e-02 2.18079215e+01] [ 2.59608044e-01 9.65295147e-01 -2.84419345e-02 4.01288861e+00] [ 1.01742104e-01 1.94885564e-03 9.94808899e-01 2.20430164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.416874999999997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:21.84, Y:4.02, Z:2.21 [[ 9.59807388e-01 -2.63104804e-01 -9.77017969e-02 2.18351687e+01] [ 2.61567588e-01 9.64765663e-01 -2.84536918e-02 4.02026088e+00] [ 1.01745642e-01 1.75444023e-03 9.94808899e-01 2.20637002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.446875 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:21.86, Y:4.03, Z:2.21 [[ 9.59279077e-01 -2.65027401e-01 -9.76940556e-02 2.18621635e+01] [ 2.63497419e-01 9.64239589e-01 -2.84802465e-02 4.02786193e+00] [ 1.01748522e-01 1.57837307e-03 9.94808900e-01 2.20847661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.476875 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:21.89, Y:4.03, Z:2.21 [[ 9.58886328e-01 -2.66447738e-01 -9.76862997e-02 2.18881822e+01] [ 2.64922397e-01 9.63848268e-01 -2.85068242e-02 4.03337682e+00] [ 1.01750350e-01 1.45551531e-03 9.94808900e-01 2.21108978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.506874999999997 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:21.92, Y:4.04, Z:2.21 [[ 9.58960588e-01 -2.66181584e-01 -9.76829278e-02 2.19156636e+01] [ 2.64653690e-01 9.63921743e-01 -2.85183737e-02 4.04012555e+00] [ 1.01749764e-01 1.49584914e-03 9.94808900e-01 2.21468279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.536875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:21.94, Y:4.05, Z:2.22 [[ 9.59245334e-01 -2.65156514e-01 -9.76750345e-02 2.19424167e+01] [ 2.63620569e-01 9.64204002e-01 -2.85453830e-02 4.04791895e+00] [ 1.01747653e-01 1.63287732e-03 9.94808901e-01 2.21675917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.566875 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:21.97, Y:4.06, Z:2.22 [[ 9.59789909e-01 -2.63179399e-01 -9.76725908e-02 2.19689384e+01] [ 2.61632389e-01 9.64745136e-01 -2.85537421e-02 4.05655588e+00] [ 1.01743913e-01 1.85128025e-03 9.94808901e-01 2.21874610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.596874999999997 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:22.00, Y:4.07, Z:2.22 [[ 9.61397053e-01 -2.57249472e-01 -9.76648085e-02 2.19957840e+01] [ 2.55669203e-01 9.66341773e-01 -2.85803357e-02 4.06783715e+00] [ 1.01729861e-01 2.50716685e-03 9.94808901e-01 2.21750077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.626875 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:22.02, Y:4.08, Z:2.22 [[ 9.62249179e-01 -2.54046152e-01 -9.76579199e-02 2.20222896e+01] [ 2.52447038e-01 9.67187837e-01 -2.86038546e-02 4.07677371e+00] [ 1.01720252e-01 2.87058300e-03 9.94808901e-01 2.21980859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.656875 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:22.05, Y:4.08, Z:2.22 [[ 9.63057860e-01 -2.50966035e-01 -9.76504313e-02 2.20483493e+01] [ 2.49348540e-01 9.67990528e-01 -2.86293970e-02 4.08477376e+00] [ 1.01709699e-01 3.22277333e-03 9.94808902e-01 2.22403709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.686874999999997 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:22.08, Y:4.09, Z:2.23 [[ 9.62989023e-01 -2.51231402e-01 -9.76469419e-02 2.20756470e+01] [ 2.49614061e-01 9.67921741e-01 -2.86412936e-02 4.09288399e+00] [ 1.01710190e-01 3.20720155e-03 9.94808902e-01 2.22694355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.716874999999998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:22.10, Y:4.10, Z:2.23 [[ 9.64008607e-01 -2.47293398e-01 -9.76390373e-02 2.21013856e+01] [ 2.45653187e-01 9.68933767e-01 -2.86682157e-02 4.10181728e+00] [ 1.01695221e-01 3.65106593e-03 9.94808902e-01 2.23255902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.746875 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:22.13, Y:4.11, Z:2.24 [[ 9.64215243e-01 -2.46489713e-01 -9.76308661e-02 2.21278858e+01] [ 2.44842586e-01 9.69138095e-01 -2.86960161e-02 4.11098906e+00] [ 1.01691064e-01 3.76494236e-03 9.94808903e-01 2.23553571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.776874999999997 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:22.15, Y:4.12, Z:2.24 [[ 9.64476933e-01 -2.45466987e-01 -9.76227618e-02 2.21538840e+01] [ 2.43811856e-01 9.69397099e-01 -2.87235602e-02 4.11967673e+00] [ 1.01685908e-01 3.90162444e-03 9.94808903e-01 2.23843452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.806874999999998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:22.18, Y:4.13, Z:2.24 [[ 9.64679200e-01 -2.44671876e-01 -9.76202539e-02 2.21808155e+01] [ 2.43011829e-01 9.69597710e-01 -2.87320811e-02 4.12779080e+00] [ 1.01682307e-01 3.99436451e-03 9.94808903e-01 2.24292139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.836875 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:22.21, Y:4.14, Z:2.25 [[ 9.65003118e-01 -2.43394409e-01 -9.76122150e-02 2.22082367e+01] [ 2.41725097e-01 9.69918489e-01 -2.87593662e-02 4.13650200e+00] [ 1.01675761e-01 4.15755592e-03 9.94808903e-01 2.24869747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.866874999999997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:22.23, Y:4.15, Z:2.25 [[ 9.65007778e-01 -2.43378753e-01 -9.76051836e-02 2.22349590e+01] [ 2.41706953e-01 9.69922304e-01 -2.87832101e-02 4.14564823e+00] [ 1.01674666e-01 4.18417009e-03 9.94808904e-01 2.25141391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.896874999999998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:22.26, Y:4.15, Z:2.25 [[ 9.64913311e-01 -2.43756009e-01 -9.75976960e-02 2.22614233e+01] [ 2.42083571e-01 9.69827619e-01 -2.88085766e-02 4.15440339e+00] [ 1.01675205e-01 4.17098026e-03 9.94808904e-01 2.25362373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.926875 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:22.29, Y:4.16, Z:2.26 [[ 9.64618224e-01 -2.44924364e-01 -9.75896396e-02 2.22869290e+01] [ 2.43255124e-01 9.69533619e-01 -2.88358422e-02 4.16204554e+00] [ 1.01679037e-01 4.07639893e-03 9.94808904e-01 2.25725331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.956874999999997 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:22.31, Y:4.17, Z:2.26 [[ 9.64423928e-01 -2.45689689e-01 -9.75861890e-02 2.23143597e+01] [ 2.44023170e-01 9.69340246e-01 -2.88475151e-02 4.16976610e+00] [ 1.01681757e-01 4.00794264e-03 9.94808905e-01 2.25984502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.986874999999998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:22.34, Y:4.18, Z:2.26 [[ 9.64112739e-01 -2.46910942e-01 -9.75787533e-02 2.23408450e+01] [ 2.45248112e-01 9.69030306e-01 -2.88726450e-02 4.17766473e+00] [ 1.01685741e-01 3.90547978e-03 9.94808905e-01 2.26133789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.016875 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:22.37, Y:4.19, Z:2.26 [[ 9.63809696e-01 -2.48092670e-01 -9.75750863e-02 2.23683243e+01] [ 2.46434618e-01 9.68728875e-01 -2.88850323e-02 4.18541708e+00] [ 1.01689968e-01 3.79379506e-03 9.94808905e-01 2.26442357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.046874999999996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:22.40, Y:4.19, Z:2.27 [[ 9.63098268e-01 -2.50843054e-01 -9.75678645e-02 2.23955898e+01] [ 2.49196585e-01 9.68021337e-01 -2.89094057e-02 4.19337230e+00] [ 1.01699498e-01 3.52901991e-03 9.94808905e-01 2.26606893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.076874999999998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:22.42, Y:4.20, Z:2.27 [[ 9.62705283e-01 -2.52349854e-01 -9.75606918e-02 2.24224727e+01] [ 2.50708642e-01 9.67630107e-01 -2.89335915e-02 4.20093941e+00] [ 1.01704050e-01 3.39521285e-03 9.94808906e-01 2.26965018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.106875 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:22.45, Y:4.21, Z:2.27 [[ 9.62222345e-01 -2.54188222e-01 -9.75525837e-02 2.24482508e+01] [ 2.52553655e-01 9.67149377e-01 -2.89609029e-02 4.20807423e+00] [ 1.01709441e-01 3.22956638e-03 9.94808906e-01 2.27164018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.136874999999996 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:22.47, Y:4.22, Z:2.27 [[ 9.61724808e-01 -2.56065568e-01 -9.75490543e-02 2.24744713e+01] [ 2.54439415e-01 9.66654624e-01 -2.89727864e-02 4.21524899e+00] [ 1.01715177e-01 3.04352314e-03 9.94808906e-01 2.27412596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.166874999999997 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:22.50, Y:4.22, Z:2.28 [[ 9.60869874e-01 -2.59257278e-01 -9.75435802e-02 2.25010888e+01] [ 2.57645633e-01 9.65804451e-01 -2.89912044e-02 4.22216464e+00] [ 1.01724205e-01 2.72509740e-03 9.94808906e-01 2.27710153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.196875 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:22.53, Y:4.23, Z:2.28 [[ 9.60624593e-01 -2.60167668e-01 -9.75355098e-02 2.25277251e+01] [ 2.58557948e-01 9.65559798e-01 -2.90183306e-02 4.22986173e+00] [ 1.01725999e-01 2.65714083e-03 9.94808907e-01 2.27915035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.226875 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:22.55, Y:4.24, Z:2.28 [[ 9.60404380e-01 -2.60982407e-01 -9.75274887e-02 2.25546480e+01] [ 2.59374140e-01 9.65340058e-01 -2.90452637e-02 4.23730167e+00] [ 1.01727494e-01 2.59908996e-03 9.94808907e-01 2.28232089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.256874999999997 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:22.58, Y:4.24, Z:2.29 [[ 9.60497998e-01 -2.60640650e-01 -9.75194755e-02 2.25815932e+01] [ 2.59027900e-01 9.65432213e-01 -2.90721434e-02 4.24473523e+00] [ 1.01725825e-01 2.66347065e-03 9.94808907e-01 2.28705100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.286875 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:22.61, Y:4.25, Z:2.29 [[ 9.61138866e-01 -2.58270502e-01 -9.75111668e-02 2.26077326e+01] [ 2.56642763e-01 9.66068156e-01 -2.90999851e-02 4.25196609e+00] [ 1.01718101e-01 2.94359134e-03 9.94808908e-01 2.29231110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.316875 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:22.63, Y:4.26, Z:2.29 [[ 9.61629670e-01 -2.56438011e-01 -9.75085863e-02 2.26331121e+01] [ 2.54800003e-01 9.66555558e-01 -2.91086295e-02 4.25946508e+00] [ 1.01712025e-01 3.14653366e-03 9.94808908e-01 2.29491248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.346874999999997 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:22.66, Y:4.27, Z:2.30 [[ 9.62068530e-01 -2.54787979e-01 -9.75050276e-02 2.26591359e+01] [ 2.53140317e-01 9.66991196e-01 -2.91205451e-02 4.26822349e+00] [ 1.01706068e-01 3.33350641e-03 9.94808908e-01 2.29647623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.376875 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:22.69, Y:4.28, Z:2.30 [[ 9.63433496e-01 -2.49580119e-01 -9.74969936e-02 2.26860898e+01] [ 2.47903138e-01 9.68346251e-01 -2.91474186e-02 4.27690400e+00] [ 1.01685464e-01 3.91178879e-03 9.94808908e-01 2.29888319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.406875 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:22.71, Y:4.28, Z:2.30 [[ 9.63905215e-01 -2.47753562e-01 -9.74931259e-02 2.27131141e+01] [ 2.46065967e-01 9.68814334e-01 -2.91603496e-02 4.28447271e+00] [ 1.01677318e-01 4.11807282e-03 9.94808908e-01 2.30199912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.436874999999997 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:22.74, Y:4.29, Z:2.30 [[ 9.64387391e-01 -2.45873293e-01 -9.74847900e-02 2.27401008e+01] [ 2.44173318e-01 9.69292237e-01 -2.91881907e-02 4.29122894e+00] [ 1.01667847e-01 4.34553840e-03 9.94808909e-01 2.30496859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.466874999999998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:22.77, Y:4.30, Z:2.31 [[ 9.64543555e-01 -2.45260976e-01 -9.74822235e-02 2.27669191e+01] [ 2.43557024e-01 9.69447020e-01 -2.91967599e-02 4.29899499e+00] [ 1.01664677e-01 4.41906633e-03 9.94808909e-01 2.30668685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.496875 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:22.79, Y:4.31, Z:2.31 [[ 9.64765070e-01 -2.44391437e-01 -9.74740259e-02 2.27941198e+01] [ 2.42680309e-01 9.69666035e-01 -2.92241020e-02 4.30652130e+00] [ 1.01659373e-01 4.53936610e-03 9.94808909e-01 2.31048277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.526874999999997 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:22.82, Y:4.31, Z:2.31 [[ 9.65156188e-01 -2.42845646e-01 -9.74655078e-02 2.28211627e+01] [ 2.41123810e-01 9.70053401e-01 -2.92524836e-02 4.31309595e+00] [ 1.01650586e-01 4.73196104e-03 9.94808910e-01 2.31332854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.556874999999998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:22.85, Y:4.32, Z:2.32 [[ 9.65142307e-01 -2.42902402e-01 -9.74615267e-02 2.28476820e+01] [ 2.41179518e-01 9.70039152e-01 -2.92657415e-02 4.32014130e+00] [ 1.01650216e-01 4.73988126e-03 9.94808910e-01 2.31735605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.586875 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:22.88, Y:4.33, Z:2.32 [[ 9.64632925e-01 -2.44920802e-01 -9.74531741e-02 2.28750840e+01] [ 2.43205364e-01 9.69532382e-01 -2.92935289e-02 4.32803333e+00] [ 1.01658603e-01 4.55636779e-03 9.94808910e-01 2.31989481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.616874999999997 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:22.90, Y:4.34, Z:2.32 [[ 9.64281827e-01 -2.46302367e-01 -9.74458963e-02 2.29022326e+01] [ 2.44591509e-01 9.69182885e-01 -2.93177189e-02 4.33526937e+00] [ 1.01663918e-01 4.43610466e-03 9.94808911e-01 2.32278738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.646874999999998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:22.93, Y:4.34, Z:2.32 [[ 9.63829756e-01 -2.48068766e-01 -9.74376187e-02 2.29286417e+01] [ 2.46364118e-01 9.68732977e-01 -2.93452040e-02 4.34209358e+00] [ 1.01670663e-01 4.27864784e-03 9.94808911e-01 2.32418596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.676875 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:22.96, Y:4.35, Z:2.33 [[ 9.62760754e-01 -2.52187108e-01 -9.74340421e-02 2.29565331e+01] [ 2.50502238e-01 9.67670807e-01 -2.93570746e-02 4.34754219e+00] [ 1.01687554e-01 3.85639370e-03 9.94808911e-01 2.32844547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.706874999999997 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:22.98, Y:4.35, Z:2.33 [[ 9.62238564e-01 -2.54175429e-01 -9.74258610e-02 2.29822375e+01] [ 2.52497963e-01 9.67151150e-01 -2.93841996e-02 4.35435181e+00] [ 1.01694275e-01 3.67477858e-03 9.94808912e-01 2.33106980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.736874999999998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:23.01, Y:4.36, Z:2.33 [[ 9.61635323e-01 -2.56450353e-01 -9.74203355e-02 2.30093377e+01] [ 2.54782658e-01 9.66551235e-01 -2.94025075e-02 4.36163942e+00] [ 1.01702029e-01 3.45347780e-03 9.94808912e-01 2.33490343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.766875 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:23.04, Y:4.37, Z:2.34 [[ 9.60857280e-01 -2.59353347e-01 -9.74121635e-02 2.30362414e+01] [ 2.57697766e-01 9.65777284e-01 -2.94295572e-02 4.36755476e+00] [ 1.01711109e-01 3.17470731e-03 9.94808912e-01 2.33893386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.796874999999996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:23.06, Y:4.37, Z:2.34 [[ 9.60423002e-01 -2.60959988e-01 -9.74040182e-02 2.30630959e+01] [ 2.59309909e-01 9.65344854e-01 -2.94564915e-02 4.37451988e+00] [ 1.01715433e-01 3.03286491e-03 9.94808912e-01 2.34195992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.826874999999998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:23.09, Y:4.38, Z:2.34 [[ 9.59927537e-01 -2.62779733e-01 -9.73957678e-02 2.30899276e+01] [ 2.61136221e-01 9.64851586e-01 -2.94837457e-02 4.38166237e+00] [ 1.01720192e-01 2.86869663e-03 9.94808913e-01 2.34410730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.856875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:23.12, Y:4.39, Z:2.35 [[ 9.59576184e-01 -2.64062933e-01 -9.73874433e-02 2.31163575e+01] [ 2.62423220e-01 9.64501499e-01 -2.95112167e-02 4.38846094e+00] [ 1.01723154e-01 2.76153422e-03 9.94808913e-01 2.34599094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.886874999999996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:23.14, Y:4.40, Z:2.35 [[ 9.59440178e-01 -2.64557990e-01 -9.73838563e-02 2.31430129e+01] [ 2.62919619e-01 9.64365939e-01 -2.95230487e-02 4.39620267e+00] [ 1.01724232e-01 2.72147266e-03 9.94808913e-01 2.34895426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.916874999999997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:23.17, Y:4.40, Z:2.35 [[ 9.59153278e-01 -2.65599243e-01 -9.73757279e-02 2.31709200e+01] [ 2.63963502e-01 9.64079912e-01 -2.95498345e-02 4.40338662e+00] [ 1.01726397e-01 2.63918242e-03 9.94808914e-01 2.35320364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.946875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:23.20, Y:4.41, Z:2.36 [[ 9.59080434e-01 -2.65864628e-01 -9.73689895e-02 2.31968387e+01] [ 2.64228000e-01 9.64006774e-01 -2.95720215e-02 4.41047324e+00] [ 1.01726520e-01 2.63433393e-03 9.94808914e-01 2.35618303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.976875 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:23.22, Y:4.42, Z:2.36 [[ 9.58970497e-01 -2.66262223e-01 -9.73653616e-02 2.32231946e+01] [ 2.64626426e-01 9.63897113e-01 -2.95839616e-02 4.41808865e+00] [ 1.01727282e-01 2.60469869e-03 9.94808914e-01 2.35997987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.006874999999997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:23.25, Y:4.43, Z:2.36 [[ 9.58785334e-01 -2.66931195e-01 -9.73571804e-02 2.32495378e+01] [ 2.65296105e-01 9.63712184e-01 -2.96108606e-02 4.42630206e+00] [ 1.01728363e-01 2.56197802e-03 9.94808914e-01 2.36283543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.036875 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.28, Y:4.44, Z:2.36 [[ 9.58564376e-01 -2.67726576e-01 -9.73489436e-02 2.32765700e+01] [ 2.66092829e-01 9.63491671e-01 -2.96379153e-02 4.43532695e+00] [ 1.01729754e-01 2.50599399e-03 9.94808915e-01 2.36351785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.066875 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:23.30, Y:4.44, Z:2.37 [[ 9.58221438e-01 -2.68954377e-01 -9.73407407e-02 2.33016572e+01] [ 2.67324211e-01 9.63149918e-01 -2.96648321e-02 4.44311432e+00] [ 1.01732213e-01 2.40394137e-03 9.94808915e-01 2.36818274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.096874999999997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:23.33, Y:4.45, Z:2.37 [[ 9.57689740e-01 -2.70843543e-01 -9.73351822e-02 2.33290755e+01] [ 2.69221247e-01 9.62620816e-01 -2.96830594e-02 4.45163449e+00] [ 1.01736337e-01 2.22246228e-03 9.94808915e-01 2.37216315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.126875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:23.36, Y:4.46, Z:2.38 [[ 9.57186925e-01 -2.72617763e-01 -9.73280327e-02 2.33554853e+01] [ 2.71002227e-01 9.62120220e-01 -2.97064834e-02 4.45995685e+00] [ 1.01739783e-01 2.05854388e-03 9.94808916e-01 2.37672453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.156875 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.38, Y:4.47, Z:2.38 [[ 9.55930290e-01 -2.76992833e-01 -9.73254897e-02 2.33823333e+01] [ 2.75399030e-01 9.60870649e-01 -2.97148128e-02 4.46927375e+00] [ 1.01747997e-01 1.60194421e-03 9.94808916e-01 2.38036523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.186874999999997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:23.41, Y:4.48, Z:2.38 [[ 9.55259440e-01 -2.79300107e-01 -9.73183044e-02 2.34079730e+01] [ 2.77715842e-01 9.60202866e-01 -2.97383266e-02 4.47676309e+00] [ 1.01751233e-01 1.38098237e-03 9.94808916e-01 2.38260700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.216874999999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:23.43, Y:4.48, Z:2.39 [[ 9.54550833e-01 -2.81713599e-01 -9.73147272e-02 2.34340044e+01] [ 2.80140641e-01 9.59497867e-01 -2.97500279e-02 4.48379247e+00] [ 1.01754261e-01 1.13610385e-03 9.94808916e-01 2.38583273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.246875 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.46, Y:4.49, Z:2.39 [[ 9.53628927e-01 -2.84820615e-01 -9.73092304e-02 2.34601165e+01] [ 2.83261941e-01 9.58580481e-01 -2.97679967e-02 4.49175833e+00] [ 1.01757268e-01 8.23621246e-04 9.94808916e-01 2.38878698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.276874999999997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:23.49, Y:4.50, Z:2.39 [[ 9.53260233e-01 -2.86053351e-01 -9.73057438e-02 2.34871307e+01] [ 2.84499918e-01 9.58213434e-01 -2.97793891e-02 4.50092657e+00] [ 1.01758165e-01 7.04031337e-04 9.94808916e-01 2.39090006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.306874999999998 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:23.51, Y:4.51, Z:2.39 [[ 9.52895877e-01 -2.87267461e-01 -9.72977585e-02 2.35137823e+01] [ 2.85717677e-01 9.57850220e-01 -2.98054569e-02 4.51032434e+00] [ 1.01758817e-01 6.01807432e-04 9.94808917e-01 2.39094295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.336875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:23.54, Y:4.52, Z:2.39 [[ 9.52841390e-01 -2.87450868e-01 -9.72896877e-02 2.35409380e+01] [ 2.85899350e-01 9.57795190e-01 -2.98317782e-02 4.51912102e+00] [ 1.01758765e-01 6.09894505e-04 9.94808917e-01 2.39246046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.366874999999997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:23.57, Y:4.53, Z:2.39 [[ 9.53015669e-01 -2.86875279e-01 -9.72815908e-02 2.35681083e+01] [ 2.85318077e-01 9.57967685e-01 -2.98581588e-02 4.52775618e+00] [ 1.01758188e-01 6.99096822e-04 9.94808918e-01 2.39451730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.396874999999998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:23.59, Y:4.54, Z:2.40 [[ 9.53855322e-01 -2.84073763e-01 -9.72734342e-02 2.35945843e+01] [ 2.82499310e-01 9.58801880e-01 -2.98847083e-02 4.53678187e+00] [ 1.01755413e-01 1.02601006e-03 9.94808918e-01 2.39757762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.426875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:23.62, Y:4.55, Z:2.40 [[ 9.54260360e-01 -2.82711042e-01 -9.72709217e-02 2.36213113e+01] [ 2.81128691e-01 9.59204397e-01 -2.98928841e-02 4.54634111e+00] [ 1.01753744e-01 1.17994746e-03 9.94808918e-01 2.40109782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.456874999999997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:23.65, Y:4.56, Z:2.41 [[ 9.54780659e-01 -2.80951624e-01 -9.72629300e-02 2.36484603e+01] [ 2.79357517e-01 9.59720918e-01 -2.99188643e-02 4.55623013e+00] [ 1.01751022e-01 1.39482239e-03 9.94808918e-01 2.40525683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.486874999999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:23.68, Y:4.57, Z:2.41 [[ 9.55194412e-01 -2.79544130e-01 -9.72559193e-02 2.36754551e+01] [ 2.77940425e-01 9.60131563e-01 -2.99416363e-02 4.56644198e+00] [ 1.01748487e-01 1.56873208e-03 9.94808919e-01 2.40899468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.516875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:23.70, Y:4.58, Z:2.41 [[ 9.56431290e-01 -2.75285054e-01 -9.72487869e-02 2.37013008e+01] [ 2.73657013e-01 9.61360469e-01 -2.99647842e-02 4.57650802e+00] [ 1.01739997e-01 2.04644470e-03 9.94808919e-01 2.41285704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.546874999999996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:23.73, Y:4.59, Z:2.42 [[ 9.56949779e-01 -2.73480113e-01 -9.72406692e-02 2.37275249e+01] [ 2.71840101e-01 9.61874988e-01 -2.99911046e-02 4.58554778e+00] [ 1.01735338e-01 2.26606760e-03 9.94808919e-01 2.41569500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.576874999999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:23.75, Y:4.59, Z:2.42 [[ 9.56874294e-01 -2.73747064e-01 -9.72323516e-02 2.37547114e+01] [ 2.72105691e-01 9.61799049e-01 -3.00180463e-02 4.59404124e+00] [ 1.01735335e-01 2.26602067e-03 9.94808920e-01 2.41859347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.606875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:23.78, Y:4.60, Z:2.42 [[ 9.57345860e-01 -2.72096300e-01 -9.72240127e-02 2.37806059e+01] [ 2.70443696e-01 9.62266857e-01 -3.00450307e-02 4.60324394e+00] [ 1.01730587e-01 2.46986442e-03 9.94808920e-01 2.42087776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.636874999999996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:23.81, Y:4.61, Z:2.42 [[ 9.57756715e-01 -2.70648607e-01 -9.72183430e-02 2.38067936e+01] [ 2.68986705e-01 9.62674580e-01 -3.00633655e-02 4.61262315e+00] [ 1.01726235e-01 2.64294850e-03 9.94808920e-01 2.42381642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.666874999999997 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:23.83, Y:4.62, Z:2.43 [[ 9.58553647e-01 -2.67815458e-01 -9.72100164e-02 2.38330923e+01] [ 2.66136296e-01 9.63465644e-01 -3.00902656e-02 4.62276953e+00] [ 1.01717149e-01 2.97202014e-03 9.94808921e-01 2.42619500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.696875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:23.86, Y:4.63, Z:2.43 [[ 9.58872337e-01 -2.66675277e-01 -9.72015343e-02 2.38595993e+01] [ 2.64987503e-01 9.63781381e-01 -3.01176408e-02 4.63175202e+00] [ 1.01712659e-01 3.12178072e-03 9.94808921e-01 2.42924120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.726874999999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:23.88, Y:4.64, Z:2.43 [[ 9.59464841e-01 -2.64538744e-01 -9.71929621e-02 2.38847928e+01] [ 2.62837242e-01 9.64369144e-01 -3.01452791e-02 4.64178356e+00] [ 1.01704488e-01 3.37740529e-03 9.94808921e-01 2.43125890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.756874999999997 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:23.91, Y:4.65, Z:2.43 [[ 9.59651567e-01 -2.63861929e-01 -9.71892586e-02 2.39111487e+01] [ 2.62155761e-01 9.64554249e-01 -3.01572146e-02 4.65141943e+00] [ 1.01701653e-01 3.46169420e-03 9.94808922e-01 2.43292788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.786875 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:23.94, Y:4.66, Z:2.43 [[ 9.59870651e-01 -2.63066955e-01 -9.71808142e-02 2.39379703e+01] [ 2.61353978e-01 9.64770957e-01 -3.01844020e-02 4.66084485e+00] [ 1.01697746e-01 3.57452926e-03 9.94808922e-01 2.43404799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.816875 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:23.96, Y:4.67, Z:2.44 [[ 9.59976058e-01 -2.62685164e-01 -9.71723826e-02 2.39642044e+01] [ 2.60967497e-01 9.64874722e-01 -3.02115217e-02 4.67015720e+00] [ 1.01695294e-01 3.64350399e-03 9.94808922e-01 2.43509416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.846874999999997 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:23.99, Y:4.68, Z:2.44 [[ 9.60255653e-01 -2.61664380e-01 -9.71639546e-02 2.39900456e+01] [ 2.59938769e-01 9.65151523e-01 -3.02386030e-02 4.68043324e+00] [ 1.01690304e-01 3.78011073e-03 9.94808923e-01 2.43812044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.876875 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:24.02, Y:4.69, Z:2.44 [[ 9.60349405e-01 -2.61323233e-01 -9.71554874e-02 2.40165067e+01] [ 2.59593138e-01 9.65243692e-01 -3.02657834e-02 4.68969076e+00] [ 1.01687874e-01 3.84482921e-03 9.94808923e-01 2.44207418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.906875 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:24.04, Y:4.70, Z:2.45 [[ 9.60409031e-01 -2.61107213e-01 -9.71468804e-02 2.40431313e+01] [ 2.59373229e-01 9.65301942e-01 -3.02933850e-02 4.69860939e+00] [ 1.01685894e-01 3.89674040e-03 9.94808924e-01 2.44616114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.936874999999997 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:24.07, Y:4.71, Z:2.45 [[ 9.60090261e-01 -2.62280098e-01 -9.71382561e-02 2.40691786e+01] [ 2.60549301e-01 9.64984299e-01 -3.03210146e-02 4.70781415e+00] [ 1.01689491e-01 3.80160611e-03 9.94808924e-01 2.44920549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.966874999999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:24.10, Y:4.72, Z:2.45 [[ 9.59553827e-01 -2.64237387e-01 -9.71342146e-02 2.40958509e+01] [ 2.62515265e-01 9.64450925e-01 -3.03339563e-02 4.71651732e+00] [ 1.01696548e-01 3.60784973e-03 9.94808924e-01 2.45225229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.996875 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:24.12, Y:4.72, Z:2.46 [[ 9.59084650e-01 -2.65938505e-01 -9.71254165e-02 2.41220533e+01] [ 2.64222223e-01 9.63983797e-01 -3.03621007e-02 4.72445558e+00] [ 1.01701779e-01 3.45713127e-03 9.94808925e-01 2.45581713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.026874999999997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:24.15, Y:4.73, Z:2.46 [[ 9.57751666e-01 -2.70700810e-01 -9.71226981e-02 2.41497449e+01] [ 2.69008011e-01 9.62658976e-01 -3.03707937e-02 4.73233614e+00] [ 1.01717436e-01 2.96089440e-03 9.94808925e-01 2.46120758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.056874999999998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:24.18, Y:4.74, Z:2.46 [[ 9.56985139e-01 -2.73400899e-01 -9.71153559e-02 2.41767866e+01] [ 2.71719568e-01 9.61896390e-01 -3.03942534e-02 4.74062061e+00] [ 1.01724727e-01 2.69870623e-03 9.94808925e-01 2.46456753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.086875 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:24.20, Y:4.75, Z:2.47 [[ 9.56340753e-01 -2.75649459e-01 -9.71068483e-02 2.42038993e+01] [ 2.73976920e-01 9.61255005e-01 -3.04214105e-02 4.74896445e+00] [ 1.01730089e-01 2.48819942e-03 9.94808925e-01 2.46800270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.116874999999997 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:24.23, Y:4.76, Z:2.47 [[ 9.55547973e-01 -2.78388198e-01 -9.70983165e-02 2.42303387e+01] [ 2.76726983e-01 9.60466063e-01 -3.04486177e-02 4.75686664e+00] [ 1.01736174e-01 2.22539074e-03 9.94808926e-01 2.47275616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.146874999999998 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:24.26, Y:4.77, Z:2.48 [[ 9.55238689e-01 -2.79450539e-01 -9.70898723e-02 2.42571954e+01] [ 2.77792060e-01 9.60157703e-01 -3.04755199e-02 4.76522039e+00] [ 1.01737989e-01 2.14060000e-03 9.94808926e-01 2.47634468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.176875 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:24.28, Y:4.77, Z:2.48 [[ 9.55074397e-01 -2.80014472e-01 -9.70813665e-02 2.42827389e+01] [ 2.78356147e-01 9.59993462e-01 -3.05025914e-02 4.77330042e+00] [ 1.01738644e-01 2.10904894e-03 9.94808926e-01 2.47836421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.206874999999997 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:24.31, Y:4.78, Z:2.48 [[ 9.55151066e-01 -2.79755769e-01 -9.70729134e-02 2.43093259e+01] [ 2.78093381e-01 9.60068760e-01 -3.05294694e-02 4.78361058e+00] [ 1.01737467e-01 2.16492060e-03 9.94808927e-01 2.47806792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.236874999999998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:24.34, Y:4.79, Z:2.48 [[ 9.55141679e-01 -2.79790763e-01 -9.70644244e-02 2.43354863e+01] [ 2.78125817e-01 9.60058506e-01 -3.05564356e-02 4.79361002e+00] [ 1.01736935e-01 2.18960288e-03 9.94808927e-01 2.47903247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.266875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:24.36, Y:4.80, Z:2.48 [[ 9.55418878e-01 -2.78845690e-01 -9.70559023e-02 2.43616457e+01] [ 2.77173134e-01 9.60333122e-01 -3.05834802e-02 4.80388310e+00] [ 1.01734069e-01 2.31874578e-03 9.94808928e-01 2.48157812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.296874999999996 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:24.39, Y:4.81, Z:2.48 [[ 9.55558344e-01 -2.78370336e-01 -9.70474429e-02 2.43876572e+01] [ 2.76692613e-01 9.60470826e-01 -3.06103001e-02 4.81295421e+00] [ 1.01732237e-01 2.39761709e-03 9.94808928e-01 2.48468260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.326874999999998 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:24.41, Y:4.82, Z:2.49 [[ 9.55693707e-01 -2.77908229e-01 -9.70389356e-02 2.44143754e+01] [ 2.76225396e-01 9.60604440e-01 -3.06372461e-02 4.82211670e+00] [ 1.01730375e-01 2.47520493e-03 9.94808928e-01 2.48836085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.356875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:24.44, Y:4.83, Z:2.49 [[ 9.55874526e-01 -2.77288677e-01 -9.70303068e-02 2.44406973e+01] [ 2.75599891e-01 9.60783215e-01 -3.06645499e-02 4.83067169e+00] [ 1.01728023e-01 2.56992010e-03 9.94808929e-01 2.49197015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.386874999999996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:24.47, Y:4.84, Z:2.50 [[ 9.56433544e-01 -2.75357320e-01 -9.70217618e-02 2.44653558e+01] [ 2.73655885e-01 9.61337862e-01 -3.06915624e-02 4.83957206e+00] [ 1.01721839e-01 2.80386370e-03 9.94808929e-01 2.49794613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.416874999999997 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:24.49, Y:4.85, Z:2.50 [[ 9.56626826e-01 -2.74687132e-01 -9.70159494e-02 2.44916336e+01] [ 2.72980401e-01 9.61529303e-01 -3.07099243e-02 4.84904013e+00] [ 1.01719299e-01 2.89448469e-03 9.94808929e-01 2.50048994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.446875 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:24.52, Y:4.86, Z:2.50 [[ 9.57064917e-01 -2.73159898e-01 -9.70072928e-02 2.45174452e+01] [ 2.71442577e-01 9.61963694e-01 -3.07372448e-02 4.85917574e+00] [ 1.01713676e-01 3.08562908e-03 9.94808930e-01 2.50072148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.476874999999996 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:24.54, Y:4.87, Z:2.50 [[ 9.57259693e-01 -2.72477884e-01 -9.70035201e-02 2.45440319e+01] [ 2.70755869e-01 9.62156822e-01 -3.07491465e-02 4.86766605e+00] [ 1.01711061e-01 3.17064619e-03 9.94808930e-01 2.50336440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.506874999999997 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:24.57, Y:4.88, Z:2.51 [[ 9.57372440e-01 -2.72084382e-01 -9.69953675e-02 2.45698750e+01] [ 2.70357753e-01 9.62267943e-01 -3.07748420e-02 4.87543735e+00] [ 1.01708887e-01 3.23953596e-03 9.94808930e-01 2.50614783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.536875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:24.60, Y:4.88, Z:2.51 [[ 9.57341219e-01 -2.72195567e-01 -9.69915667e-02 2.45965695e+01] [ 2.70468295e-01 9.62236496e-01 -3.07868159e-02 4.88371756e+00] [ 1.01708860e-01 3.24034417e-03 9.94808930e-01 2.50981090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.566875 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:24.62, Y:4.89, Z:2.51 [[ 9.57321306e-01 -2.72268707e-01 -9.69828279e-02 2.46234720e+01] [ 2.70539025e-01 9.62215731e-01 -3.08143201e-02 4.89289487e+00] [ 1.01708178e-01 3.26156549e-03 9.94808931e-01 2.51269312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.596874999999997 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:24.65, Y:4.90, Z:2.51 [[ 9.57284791e-01 -2.72400165e-01 -9.69741143e-02 2.46504002e+01] [ 2.70668383e-01 9.62178473e-01 -3.08417180e-02 4.90173061e+00] [ 1.01707694e-01 3.27648081e-03 9.94808931e-01 2.51467573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.626875 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:24.68, Y:4.91, Z:2.52 [[ 9.57307053e-01 -2.72325091e-01 -9.69652059e-02 2.46757499e+01] [ 2.70590094e-01 9.62199596e-01 -3.08697004e-02 4.90999584e+00] [ 1.01706476e-01 3.31395772e-03 9.94808932e-01 2.51600749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.656875 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:24.70, Y:4.92, Z:2.52 [[ 9.57269152e-01 -2.72460444e-01 -9.69591509e-02 2.47037220e+01] [ 2.70724216e-01 9.62161258e-01 -3.08887068e-02 4.91814238e+00] [ 1.01706289e-01 3.31961611e-03 9.94808932e-01 2.51719673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.686874999999997 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:24.73, Y:4.93, Z:2.52 [[ 9.56969610e-01 -2.73513373e-01 -9.69515320e-02 2.47304227e+01] [ 2.71780110e-01 9.61862767e-01 -3.09126022e-02 4.92680824e+00] [ 1.01709079e-01 3.23292287e-03 9.94808932e-01 2.51831988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.716874999999998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:24.76, Y:4.93, Z:2.52 [[ 9.56227816e-01 -2.76096961e-01 -9.69475710e-02 2.47575721e+01] [ 2.74375661e-01 9.61125195e-01 -3.09250197e-02 4.93487975e+00] [ 1.01717057e-01 2.97131019e-03 9.94808932e-01 2.52084324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.746875 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:24.78, Y:4.94, Z:2.52 [[ 9.55779545e-01 -2.77647800e-01 -9.69389535e-02 2.47840868e+01] [ 2.75931712e-01 9.60678751e-01 -3.09520092e-02 4.94314249e+00] [ 1.01720950e-01 2.83476584e-03 9.94808933e-01 2.52468086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.776874999999997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:24.81, Y:4.95, Z:2.53 [[ 9.55465002e-01 -2.78731348e-01 -9.69302127e-02 2.48109802e+01] [ 2.77018044e-01 9.60365182e-01 -3.09793579e-02 4.95093093e+00] [ 1.01723320e-01 2.74827437e-03 9.94808933e-01 2.52841632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.806874999999998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:24.84, Y:4.96, Z:2.53 [[ 9.55271048e-01 -2.79396281e-01 -9.69275165e-02 2.48372260e+01] [ 2.77685533e-01 9.60172121e-01 -3.09877917e-02 4.95889715e+00] [ 1.01724973e-01 2.68637120e-03 9.94808933e-01 2.53234305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.836875 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:24.86, Y:4.97, Z:2.54 [[ 9.55148990e-01 -2.79816247e-01 -9.69189135e-02 2.48635506e+01] [ 2.78104928e-01 9.60049863e-01 -3.10146754e-02 4.96758939e+00] [ 1.01725400e-01 2.67000846e-03 9.94808933e-01 2.53652888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.866874999999997 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:24.89, Y:4.98, Z:2.54 [[ 9.55215391e-01 -2.79590408e-01 -9.69162526e-02 2.48901909e+01] [ 2.77877088e-01 9.60115565e-01 -3.10229881e-02 4.97724251e+00] [ 1.01724533e-01 2.70282968e-03 9.94808934e-01 2.53945393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.896874999999998 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:24.92, Y:4.99, Z:2.54 [[ 9.55424114e-01 -2.78879279e-01 -9.69077430e-02 2.49160524e+01] [ 2.77159619e-01 9.60322066e-01 -3.10495474e-02 4.98715401e+00] [ 1.01721719e-01 2.80657312e-03 9.94808934e-01 2.54166440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.926875 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:24.94, Y:5.00, Z:2.54 [[ 9.56070633e-01 -2.76657691e-01 -9.68992593e-02 2.49421556e+01] [ 2.74923973e-01 9.60963626e-01 -3.10760010e-02 4.99880789e+00] [ 1.01714078e-01 3.07092263e-03 9.94808934e-01 2.54288366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.956874999999997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:24.97, Y:5.01, Z:2.54 [[ 9.56309576e-01 -2.75832485e-01 -9.68939370e-02 2.49684717e+01] [ 2.74092865e-01 9.61200474e-01 -3.10925868e-02 5.00862494e+00] [ 1.01710844e-01 3.17620161e-03 9.94808934e-01 2.54478054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.986874999999998 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:25.00, Y:5.02, Z:2.55 [[ 9.56471413e-01 -2.75273799e-01 -9.68853503e-02 2.49953310e+01] [ 2.73528618e-01 9.61360329e-01 -3.11193203e-02 5.01909758e+00] [ 1.01708066e-01 3.26382427e-03 9.94808935e-01 2.54589808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.016875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:25.02, Y:5.03, Z:2.55 [[ 9.56281791e-01 -2.75934435e-01 -9.68778812e-02 2.50212068e+01] [ 2.74190280e-01 9.61171073e-01 -3.11425551e-02 5.02822937e+00] [ 1.01709520e-01 3.21808499e-03 9.94808935e-01 2.54942730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.046874999999996 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:25.05, Y:5.04, Z:2.55 [[ 9.56161817e-01 -2.76352975e-01 -9.68690490e-02 2.50465527e+01] [ 2.74608183e-01 9.61050871e-01 -3.11700037e-02 5.03724010e+00] [ 1.01710007e-01 3.20253382e-03 9.94808936e-01 2.55175419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.076874999999998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:25.07, Y:5.05, Z:2.56 [[ 9.56020161e-01 -2.76843960e-01 -9.68652369e-02 2.50726693e+01] [ 2.75100479e-01 9.60909683e-01 -3.11818460e-02 5.04702127e+00] [ 1.01711250e-01 3.16280030e-03 9.94808936e-01 2.55526389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.106875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:25.10, Y:5.06, Z:2.56 [[ 9.55965900e-01 -2.77034333e-01 -9.68564762e-02 2.50993470e+01] [ 2.75289075e-01 9.60854787e-01 -3.12090348e-02 5.05661148e+00] [ 1.01710983e-01 3.17124335e-03 9.94808936e-01 2.55844298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.136874999999996 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:25.12, Y:5.07, Z:2.56 [[ 9.56068910e-01 -2.76681694e-01 -9.68477142e-02 2.51249046e+01] [ 2.74931884e-01 9.60956169e-01 -3.12362013e-02 5.06595750e+00] [ 1.01708894e-01 3.23743639e-03 9.94808936e-01 2.56002895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.166874999999997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:25.15, Y:5.08, Z:2.56 [[ 9.56288667e-01 -2.75922525e-01 -9.68439223e-02 2.51510833e+01] [ 2.74167646e-01 9.61174109e-01 -3.12479533e-02 5.07516532e+00] [ 1.01705885e-01 3.33059342e-03 9.94808936e-01 2.56249107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.196875 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:25.18, Y:5.09, Z:2.56 [[ 9.56863853e-01 -2.73922133e-01 -9.68412725e-02 2.51778188e+01] [ 2.72156211e-01 9.61745314e-01 -3.12561632e-02 5.08509226e+00] [ 1.01698395e-01 3.55193896e-03 9.94808937e-01 2.56473958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.226874999999996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:25.20, Y:5.09, Z:2.57 [[ 9.57196121e-01 -2.72761772e-01 -9.68328545e-02 2.52039243e+01] [ 2.70987301e-01 9.62074480e-01 -3.12822208e-02 5.09423729e+00] [ 1.01693012e-01 3.70274652e-03 9.94808937e-01 2.56783146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.256874999999997 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:25.23, Y:5.10, Z:2.57 [[ 9.57753910e-01 -2.70799709e-01 -9.68244099e-02 2.52302377e+01] [ 2.69012609e-01 9.62627656e-01 -3.13083368e-02 5.10420713e+00] [ 1.01684143e-01 3.93869485e-03 9.94808937e-01 2.57114633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.286875 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:25.26, Y:5.11, Z:2.57 [[ 9.57934598e-01 -2.70163028e-01 -9.68155188e-02 2.52566664e+01] [ 2.68369917e-01 9.62806136e-01 -3.13358072e-02 5.11339168e+00] [ 1.01680352e-01 4.03528111e-03 9.94808938e-01 2.57459137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.316875 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:25.28, Y:5.12, Z:2.58 [[ 9.57957622e-01 -2.70082362e-01 -9.68127646e-02 2.52828142e+01] [ 2.68287983e-01 9.62828693e-01 -3.13443140e-02 5.12213780e+00] [ 1.01679654e-01 4.05282321e-03 9.94808938e-01 2.57776533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.346874999999997 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:25.31, Y:5.13, Z:2.58 [[ 9.57866360e-01 -2.70409052e-01 -9.68038216e-02 2.53092343e+01] [ 2.68613550e-01 9.62737017e-01 -3.13719094e-02 5.12985500e+00] [ 1.01679871e-01 4.04727849e-03 9.94808938e-01 2.58058496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.376875 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:25.34, Y:5.14, Z:2.58 [[ 9.57610343e-01 -2.71315297e-01 -9.68010359e-02 2.53354052e+01] [ 2.69523537e-01 9.62482378e-01 -3.13805027e-02 5.13808034e+00] [ 1.01683302e-01 3.96013635e-03 9.94808938e-01 2.58307130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.406875 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:25.36, Y:5.15, Z:2.59 [[ 9.57318872e-01 -2.72343315e-01 -9.67971862e-02 2.53620503e+01] [ 2.70555589e-01 9.62192388e-01 -3.13923730e-02 5.14640189e+00] [ 1.01687019e-01 3.86349139e-03 9.94808938e-01 2.58604712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.436874999999997 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:25.39, Y:5.15, Z:2.59 [[ 9.57001488e-01 -2.73459609e-01 -9.67884016e-02 2.53883506e+01] [ 2.71674835e-01 9.61876085e-01 -3.14194345e-02 5.15468903e+00] [ 1.01690395e-01 3.77347251e-03 9.94808939e-01 2.58800006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.466874999999998 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:25.41, Y:5.16, Z:2.59 [[ 9.56194415e-01 -2.76271577e-01 -9.67794205e-02 2.54147268e+01] [ 2.74498346e-01 9.61073223e-01 -3.14470741e-02 5.16311564e+00] [ 1.01700042e-01 3.50372574e-03 9.94808939e-01 2.58679285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.496875 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:25.44, Y:5.17, Z:2.59 [[ 9.56118790e-01 -2.76534161e-01 -9.67766368e-02 2.54417743e+01] [ 2.74761404e-01 9.60997770e-01 -3.14556385e-02 5.17200327e+00] [ 1.01700691e-01 3.48484236e-03 9.94808939e-01 2.58970062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.526874999999997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:25.47, Y:5.18, Z:2.59 [[ 9.55682389e-01 -2.78041598e-01 -9.67679747e-02 2.54690152e+01] [ 2.76273845e-01 9.60563184e-01 -3.14822634e-02 5.17987120e+00] [ 1.01705133e-01 3.35258432e-03 9.94808940e-01 2.59180939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.556874999999998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:25.50, Y:5.19, Z:2.60 [[ 9.54791903e-01 -2.81087287e-01 -9.67592847e-02 2.54966707e+01] [ 2.79332402e-01 9.59677339e-01 -3.15089493e-02 5.18560853e+00] [ 1.01714458e-01 3.05648627e-03 9.94808940e-01 2.59549210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.586875 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:25.52, Y:5.19, Z:2.60 [[ 9.54285150e-01 -2.82805946e-01 -9.67504440e-02 2.55238477e+01] [ 2.81057113e-01 9.59172756e-01 -3.15360723e-02 5.19343654e+00] [ 1.01718979e-01 2.90200497e-03 9.94808940e-01 2.59782076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.616874999999997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:25.55, Y:5.20, Z:2.60 [[ 9.53825097e-01 -2.84356714e-01 -9.67416287e-02 2.55512536e+01] [ 2.82613090e-01 9.58714563e-01 -3.15630913e-02 5.20165605e+00] [ 1.01722785e-01 2.76521804e-03 9.94808941e-01 2.60101246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.646874999999998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:25.58, Y:5.21, Z:2.60 [[ 9.53174580e-01 -2.86532320e-01 -9.67339125e-02 2.55779371e+01] [ 2.84797460e-01 9.58067162e-01 -3.15867224e-02 5.20884910e+00] [ 1.01728202e-01 2.55808835e-03 9.94808941e-01 2.60437655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.676875 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:25.61, Y:5.22, Z:2.61 [[ 9.52964982e-01 -2.87231613e-01 -9.67250916e-02 2.56050307e+01] [ 2.85497606e-01 9.57857865e-01 -3.16137106e-02 5.21699060e+00] [ 1.01729347e-01 2.51197706e-03 9.94808941e-01 2.60730854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.706874999999997 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:25.63, Y:5.22, Z:2.61 [[ 9.52880308e-01 -2.87515365e-01 -9.67162547e-02 2.56319552e+01] [ 2.85780075e-01 9.57772736e-01 -3.16407226e-02 5.22487589e+00] [ 1.01729386e-01 2.51024304e-03 9.94808942e-01 2.61039672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.736874999999998 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:25.66, Y:5.23, Z:2.61 [[ 9.52844511e-01 -2.87636949e-01 -9.67074124e-02 2.56588318e+01] [ 2.85899544e-01 9.57736188e-01 -3.16677256e-02 5.23298215e+00] [ 1.01728996e-01 2.52581337e-03 9.94808942e-01 2.61263485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.766875 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:25.69, Y:5.24, Z:2.61 [[ 9.52872558e-01 -2.87546988e-01 -9.66985924e-02 2.56854603e+01] [ 2.85806392e-01 9.57763100e-01 -3.16946351e-02 5.24046959e+00] [ 1.01728040e-01 2.56387220e-03 9.94808943e-01 2.61401734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.796874999999996 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:25.71, Y:5.25, Z:2.62 [[ 9.52860637e-01 -2.87587405e-01 -9.66958650e-02 2.57120005e+01] [ 2.85846173e-01 9.57750953e-01 -3.17029539e-02 5.24812458e+00] [ 1.01727927e-01 2.56835393e-03 9.94808943e-01 2.61782394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.826874999999998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:25.74, Y:5.25, Z:2.62 [[ 9.52500628e-01 -2.88780435e-01 -9.66871987e-02 2.57404454e+01] [ 2.87042650e-01 9.57392169e-01 -3.17293622e-02 5.25439265e+00] [ 1.01730386e-01 2.46888767e-03 9.94808943e-01 2.62291504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.856875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:25.77, Y:5.26, Z:2.63 [[ 9.52226311e-01 -2.89686240e-01 -9.66795501e-02 2.57671119e+01] [ 2.87950745e-01 9.57118664e-01 -3.17526505e-02 5.26107081e+00] [ 1.01732108e-01 2.39676073e-03 9.94808943e-01 2.62671803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.886874999999996 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:25.79, Y:5.27, Z:2.63 [[ 9.52010285e-01 -2.90398367e-01 -9.66705999e-02 2.57935023e+01] [ 2.88663768e-01 9.56902957e-01 -3.17798761e-02 5.26823440e+00] [ 1.01733207e-01 2.34946921e-03 9.94808944e-01 2.63004596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.916874999999997 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:25.82, Y:5.28, Z:2.63 [[ 9.51829748e-01 -2.90990846e-01 -9.66667353e-02 2.58192361e+01] [ 2.89258100e-01 9.56723076e-01 -3.17916269e-02 5.27595368e+00] [ 1.01734369e-01 2.29858000e-03 9.94808944e-01 2.63186130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.946875 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:25.85, Y:5.28, Z:2.63 [[ 9.51593209e-01 -2.91764702e-01 -9.66629395e-02 2.58461887e+01] [ 2.90034764e-01 9.56487530e-01 -3.18031641e-02 5.28362149e+00] [ 1.01735937e-01 2.22806213e-03 9.94808944e-01 2.63230549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.976874999999996 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:25.87, Y:5.29, Z:2.64 [[ 9.51372844e-01 -2.92485303e-01 -9.66543283e-02 2.58734889e+01] [ 2.90756417e-01 9.56267536e-01 -3.18293135e-02 5.29137340e+00] [ 1.01737003e-01 2.17867826e-03 9.94808944e-01 2.63515733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.006874999999997 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:25.90, Y:5.30, Z:2.64 [[ 9.51088927e-01 -2.93410044e-01 -9.66457390e-02 2.59006389e+01] [ 2.91683270e-01 9.55984365e-01 -3.18553723e-02 5.29792618e+00] [ 1.01738502e-01 2.10734672e-03 9.94808945e-01 2.63845005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.036875 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:25.93, Y:5.30, Z:2.64 [[ 9.50106114e-01 -2.96579885e-01 -9.66371777e-02 2.59301726e+01] [ 2.94866807e-01 9.55006360e-01 -3.18813231e-02 5.30166917e+00] [ 1.01744478e-01 1.79554399e-03 9.94808945e-01 2.64179974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.066875 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:25.96, Y:5.31, Z:2.64 [[ 9.49359404e-01 -2.98963789e-01 -9.66300905e-02 2.59573015e+01] [ 2.97260832e-01 9.54263176e-01 -3.19027896e-02 5.30891892e+00] [ 1.01748316e-01 1.56287226e-03 9.94808945e-01 2.64420731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.096874999999997 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:25.98, Y:5.32, Z:2.65 [[ 9.48799691e-01 -3.00738171e-01 -9.66214230e-02 2.59845978e+01] [ 2.99041714e-01 9.53705715e-01 -3.19290188e-02 5.31687073e+00] [ 1.01750678e-01 1.40040730e-03 9.94808946e-01 2.64586409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.126875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:26.01, Y:5.32, Z:2.65 [[ 9.48334011e-01 -3.02206202e-01 -9.66127105e-02 2.60116994e+01] [ 3.00514656e-01 9.53241730e-01 -3.19553601e-02 5.32474450e+00] [ 1.01752375e-01 1.27081933e-03 9.94808946e-01 2.64790132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.156875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:26.04, Y:5.33, Z:2.65 [[ 9.47664403e-01 -3.04302221e-01 -9.66040245e-02 2.60390298e+01] [ 3.02618856e-01 9.52574934e-01 -3.19815970e-02 5.33013455e+00] [ 1.01754643e-01 1.07362165e-03 9.94808946e-01 2.65254362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.186874999999997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:26.07, Y:5.34, Z:2.66 [[ 9.47302090e-01 -3.05429097e-01 -9.66013334e-02 2.60659761e+01] [ 3.03750745e-01 9.52214337e-01 -3.19897237e-02 5.33726645e+00] [ 1.01755767e-01 9.61205195e-04 9.94808946e-01 2.65554999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.216874999999998 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:26.09, Y:5.35, Z:2.66 [[ 9.47001279e-01 -3.06363228e-01 -9.65927009e-02 2.60930971e+01] [ 3.04687064e-01 9.51914273e-01 -3.20157683e-02 5.34549574e+00] [ 1.01756425e-01 8.88427057e-04 9.94808947e-01 2.65852742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.246875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:26.12, Y:5.35, Z:2.66 [[ 9.46970815e-01 -3.06459941e-01 -9.65845767e-02 2.61199499e+01] [ 3.04781782e-01 9.51883127e-01 -3.20402586e-02 5.35394426e+00] [ 1.01756285e-01 9.03970459e-04 9.94808947e-01 2.66073423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.276874999999997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:26.15, Y:5.36, Z:2.66 [[ 9.47175444e-01 -3.05829807e-01 -9.65753980e-02 2.61458509e+01] [ 3.04145561e-01 9.52085672e-01 -3.20679012e-02 5.36246998e+00] [ 1.01755373e-01 1.00094997e-03 9.94808948e-01 2.66236083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.306874999999998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:26.17, Y:5.37, Z:2.67 [[ 9.47651780e-01 -3.04351868e-01 -9.65714430e-02 2.61711298e+01] [ 3.02658751e-01 9.52558957e-01 -3.20798073e-02 5.37032342e+00] [ 1.01753542e-01 1.17229416e-03 9.94808948e-01 2.66502736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.336875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:26.20, Y:5.38, Z:2.67 [[ 9.48067668e-01 -3.03055088e-01 -9.65676423e-02 2.61978960e+01] [ 3.01354095e-01 9.52972120e-01 -3.20912442e-02 5.37878613e+00] [ 1.01751686e-01 1.32361658e-03 9.94808948e-01 2.66780692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.366874999999997 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:26.22, Y:5.39, Z:2.67 [[ 9.49054166e-01 -2.99954314e-01 -9.65587938e-02 2.62249551e+01] [ 2.98234591e-01 9.53952081e-01 -3.21178463e-02 5.38774367e+00] [ 1.01746349e-01 1.68440345e-03 9.94808948e-01 2.67029583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.396874999999998 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:26.25, Y:5.40, Z:2.67 [[ 9.49601128e-01 -2.98220878e-01 -9.65505376e-02 2.62505042e+01] [ 2.96489694e-01 9.54495003e-01 -3.21426466e-02 5.39629208e+00] [ 1.01742614e-01 1.89645414e-03 9.94808948e-01 2.67249491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.426875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:26.28, Y:5.41, Z:2.68 [[ 9.49916362e-01 -2.97216489e-01 -9.65466898e-02 2.62770688e+01] [ 2.95478957e-01 9.54807988e-01 -3.21541999e-02 5.40631084e+00] [ 1.01740309e-01 2.01628535e-03 9.94808949e-01 2.67547669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.456874999999997 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:26.30, Y:5.42, Z:2.68 [[ 9.50850995e-01 -2.94219055e-01 -9.65273686e-02 2.63046715e+01] [ 2.92460222e-01 9.55735002e-01 -3.22121671e-02 5.41600858e+00] [ 1.01732018e-01 2.39855539e-03 9.94808948e-01 2.67824859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.486874999999998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:26.33, Y:5.43, Z:2.68 [[ 9.50976261e-01 -2.93811200e-01 -9.65356420e-02 2.63309009e+01] [ 2.92052790e-01 9.55860420e-01 -3.21873540e-02 5.42640061e+00] [ 1.01731604e-01 2.41590594e-03 9.94808949e-01 2.68012471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.516875 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:26.36, Y:5.43, Z:2.69 [[ 9.51498228e-01 -2.92142797e-01 -9.64557292e-02 2.63577166e+01] [ 2.90351557e-01 9.56370470e-01 -3.24268124e-02 5.43366416e+00] [ 1.01720671e-01 2.84798339e-03 9.94808923e-01 2.68503579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.546874999999996 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:26.38, Y:5.44, Z:2.69 [[ 9.51564163e-01 -2.91905452e-01 -9.65238330e-02 2.63847227e+01] [ 2.90133666e-01 9.56443488e-01 -3.22228140e-02 5.44099869e+00] [ 1.01725607e-01 2.65726148e-03 9.94808946e-01 2.69026679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.576874999999998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:26.41, Y:5.45, Z:2.69 [[ 9.51319948e-01 -2.92703363e-01 -9.65147559e-02 2.64116941e+01] [ 2.90932915e-01 9.56199758e-01 -3.22499794e-02 5.44941626e+00] [ 1.01727064e-01 2.60072938e-03 9.94808947e-01 2.69358216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.606875 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:26.44, Y:5.46, Z:2.69 [[ 9.50539376e-01 -2.95231355e-01 -9.65056535e-02 2.64369325e+01] [ 2.93471125e-01 9.55422881e-01 -3.22771949e-02 5.45996727e+00] [ 1.01732949e-01 2.35912202e-03 9.94808947e-01 2.69362397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.636874999999996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:26.46, Y:5.47, Z:2.69 [[ 9.50373047e-01 -2.95827010e-01 -9.63195301e-02 2.64644661e+01] [ 2.94013484e-01 9.55237175e-01 -3.28330726e-02 5.46798552e+00] [ 1.01720906e-01 2.88442658e-03 9.94808794e-01 2.69489789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.666874999999997 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:26.49, Y:5.47, Z:2.70 [[ 9.50693961e-01 -2.94785903e-01 -9.63445094e-02 2.64926715e+01] [ 2.92974601e-01 9.55558875e-01 -3.27585078e-02 5.47411143e+00] [ 1.01719597e-01 2.91682132e-03 9.94808834e-01 2.69888823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.696875 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:26.52, Y:5.48, Z:2.70 [[ 9.50539717e-01 -2.95235875e-01 -9.64884652e-02 2.65208563e+01] [ 2.93470423e-01 9.55421349e-01 -3.23288918e-02 5.48187087e+00] [ 1.01731788e-01 2.41338496e-03 9.94808936e-01 2.69953984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.726874999999996 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:26.55, Y:5.49, Z:2.70 [[ 9.50437095e-01 -2.95568669e-01 -9.64805180e-02 2.65474121e+01] [ 2.93802522e-01 9.55318475e-01 -3.23525919e-02 5.48992395e+00] [ 1.01732034e-01 2.40288396e-03 9.94808936e-01 2.70158083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.756874999999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:26.57, Y:5.50, Z:2.71 [[ 9.50210589e-01 -2.96299002e-01 -9.64714353e-02 2.65746292e+01] [ 2.94533861e-01 9.55092332e-01 -3.23796528e-02 5.49677258e+00] [ 1.01733187e-01 2.35338463e-03 9.94808937e-01 2.70597643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.786875 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:26.60, Y:5.50, Z:2.71 [[ 9.50188906e-01 -2.96369445e-01 -9.64686243e-02 2.66014284e+01] [ 2.94603816e-01 9.55070473e-01 -3.23880253e-02 5.50425402e+00] [ 1.01733156e-01 2.35471750e-03 9.94808937e-01 2.71136947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.816874999999996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:26.63, Y:5.51, Z:2.72 [[ 9.50300454e-01 -2.96014548e-01 -9.64594952e-02 2.66277119e+01] [ 2.94244340e-01 9.55180362e-01 -3.24151915e-02 5.51208739e+00] [ 1.01731584e-01 2.42151066e-03 9.94808937e-01 2.71618408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.846874999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:26.65, Y:5.52, Z:2.72 [[ 9.50499825e-01 -2.95376724e-01 -9.64503706e-02 2.66536146e+01] [ 2.93600490e-01 9.55377542e-01 -3.24423188e-02 5.52017486e+00] [ 1.01729224e-01 2.51854218e-03 9.94808937e-01 2.71926796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.876875 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:26.68, Y:5.53, Z:2.72 [[ 9.48339695e-01 -3.02241480e-01 -9.64464115e-02 2.66807435e+01] [ 3.00499365e-01 9.53229702e-01 -3.24540846e-02 5.52965412e+00] [ 1.01744555e-01 1.79541134e-03 9.94808937e-01 2.71844324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.906875 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:26.71, Y:5.54, Z:2.72 [[ 9.46083200e-01 -3.09234857e-01 -9.64384881e-02 2.67067640e+01] [ 3.07526494e-01 9.50985100e-01 -3.24776123e-02 5.53918561e+00] [ 1.01754775e-01 1.06913317e-03 9.94808938e-01 2.72196859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.936874999999997 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:26.73, Y:5.55, Z:2.73 [[ 9.44722287e-01 -3.13370628e-01 -9.64295053e-02 2.67334402e+01] [ 3.11681005e-01 9.49630678e-01 -3.25042614e-02 5.54733363e+00] [ 1.01758297e-01 6.52255019e-04 9.94808938e-01 2.72779760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.966874999999998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:26.76, Y:5.56, Z:2.73 [[ 9.43941924e-01 -3.15716178e-01 -9.64206338e-02 2.67599517e+01] [ 3.14036065e-01 9.48853578e-01 -3.25305565e-02 5.55618741e+00] [ 1.01759486e-01 4.27399601e-04 9.94808939e-01 2.73265964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.996875 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:26.79, Y:5.57, Z:2.73 [[ 9.43854404e-01 -3.15980461e-01 -9.64116835e-02 2.67864731e+01] [ 3.14299016e-01 9.48765601e-01 -3.25570614e-02 5.56649757e+00] [ 1.01759484e-01 4.27028535e-04 9.94808939e-01 2.73330594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.026874999999997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:26.81, Y:5.58, Z:2.73 [[ 9.44149819e-01 -3.15097508e-01 -9.64089158e-02 2.68128014e+01] [ 3.13410634e-01 9.49059154e-01 -3.25652550e-02 5.58099588e+00] [ 1.01758995e-01 5.30900226e-04 9.94808939e-01 2.72847275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.056874999999998 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:26.84, Y:5.59, Z:2.73 [[ 9.44986685e-01 -3.12581220e-01 -9.64009618e-02 2.68387433e+01] [ 3.10878874e-01 9.49890676e-01 -3.25887839e-02 5.59174563e+00] [ 1.01757017e-01 8.26944429e-04 9.94808939e-01 2.72849207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.086875 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:26.86, Y:5.60, Z:2.73 [[ 9.46072327e-01 -3.09280696e-01 -9.63981527e-02 2.68649394e+01] [ 3.07560395e-01 9.50970048e-01 -3.25970913e-02 5.60117995e+00] [ 1.01753407e-01 1.19095206e-03 9.94808939e-01 2.73282809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.116874999999997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:26.89, Y:5.61, Z:2.73 [[ 9.47142007e-01 -3.05992047e-01 -9.63892392e-02 2.68866059e+01] [ 3.04252062e-01 9.52032770e-01 -3.26234273e-02 5.61491411e+00] [ 1.01748224e-01 1.57239361e-03 9.94808940e-01 2.73336817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.146874999999998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:26.92, Y:5.62, Z:2.74 [[ 9.49129029e-01 -2.99876542e-01 -9.60632399e-02 2.69175191e+01] [ 2.98007656e-01 9.53972487e-01 -3.35846815e-02 5.62097810e+00] [ 1.01712946e-01 3.24861519e-03 9.94808486e-01 2.74477050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.176875 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:26.94, Y:5.63, Z:2.75 [[ 9.49917925e-01 -2.97266089e-01 -9.63784682e-02 2.69436714e+01] [ 2.95478041e-01 9.54791293e-01 -3.26544493e-02 5.63132476e+00] [ 1.01728383e-01 2.54132575e-03 9.94808965e-01 2.74959326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.206874999999997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:26.97, Y:5.64, Z:2.75 [[ 9.50741520e-01 -2.94624367e-01 -9.63693108e-02 2.69681054e+01] [ 2.92820045e-01 9.55608887e-01 -3.26814522e-02 5.64174367e+00] [ 1.01720122e-01 2.85274767e-03 9.94808966e-01 2.75190581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.236874999999998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:26.99, Y:5.65, Z:2.75 [[ 9.51547210e-01 -2.92013065e-01 -9.63653261e-02 2.69936599e+01] [ 2.90194198e-01 9.56409160e-01 -3.26931974e-02 5.65208472e+00] [ 1.01711521e-01 3.14446225e-03 9.94808966e-01 2.75317264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.266875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:27.02, Y:5.66, Z:2.76 [[ 9.52678736e-01 -2.88301420e-01 -9.63613937e-02 2.70201252e+01] [ 2.86462443e-01 9.57533115e-01 -3.27047840e-02 5.66259327e+00] [ 1.01698061e-01 3.55323207e-03 9.94808966e-01 2.75627600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.296874999999996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:27.05, Y:5.67, Z:2.76 [[ 9.52918307e-01 -2.87511694e-01 -9.63520984e-02 2.70466662e+01] [ 2.85665931e-01 9.57770109e-01 -3.27321463e-02 5.67182725e+00] [ 1.01694035e-01 3.66654954e-03 9.94808966e-01 2.75935256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.326874999999998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:27.07, Y:5.68, Z:2.76 [[ 9.52448245e-01 -2.89068151e-01 -9.63428509e-02 2.70729515e+01] [ 2.87227570e-01 9.57302015e-01 -3.27593427e-02 5.68099877e+00] [ 1.01698888e-01 3.52925548e-03 9.94808967e-01 2.76157318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.356875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:27.10, Y:5.69, Z:2.77 [[ 9.51534441e-01 -2.92065132e-01 -9.63336172e-02 2.70997117e+01] [ 2.90237096e-01 9.56392950e-01 -3.27864734e-02 5.69027841e+00] [ 1.01708578e-01 3.23786931e-03 9.94808967e-01 2.76533369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.386874999999996 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:27.13, Y:5.70, Z:2.77 [[ 9.51453578e-01 -2.92331462e-01 -9.63244738e-02 2.71266386e+01] [ 2.90502073e-01 9.56311577e-01 -3.28133142e-02 5.69956579e+00] [ 1.01708574e-01 3.23788597e-03 9.94808968e-01 2.76823210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.416874999999997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:27.15, Y:5.71, Z:2.77 [[ 9.51053841e-01 -2.93632338e-01 -9.63153283e-02 2.71538722e+01] [ 2.91806879e-01 9.55913317e-01 -3.28401366e-02 5.70818940e+00] [ 1.01712031e-01 3.12726261e-03 9.94808968e-01 2.77317303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.446875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:27.18, Y:5.72, Z:2.78 [[ 9.50472874e-01 -2.95510147e-01 -9.63071555e-02 2.71805847e+01] [ 2.93691866e-01 9.55335041e-01 -3.28640868e-02 5.71642141e+00] [ 1.01717271e-01 2.95179489e-03 9.94808968e-01 2.77739584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.476874999999996 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:27.21, Y:5.72, Z:2.78 [[ 9.49796813e-01 -2.97678947e-01 -9.62977573e-02 2.72066678e+01] [ 2.95868981e-01 9.54662081e-01 -3.28916025e-02 5.72464847e+00] [ 1.01722955e-01 2.74881993e-03 9.94808969e-01 2.77991824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.506874999999997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:27.23, Y:5.73, Z:2.78 [[ 9.48553895e-01 -3.01617361e-01 -9.62937007e-02 2.72347336e+01] [ 2.99826393e-01 9.53426188e-01 -3.29034743e-02 5.73427335e+00] [ 1.01733195e-01 2.33932578e-03 9.94808969e-01 2.77898401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.536875 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:27.26, Y:5.75, Z:2.77 [[ 9.46932032e-01 -3.06672600e-01 -9.62893763e-02 2.72560987e+01] [ 3.04906360e-01 9.51813343e-01 -3.29161246e-02 5.74839562e+00] [ 1.01743987e-01 1.81008946e-03 9.94808969e-01 2.77343922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.566874999999996 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:27.29, Y:5.75, Z:2.78 [[ 9.48035647e-01 -3.03382897e-01 -9.58500424e-02 2.72888369e+01] [ 3.01469832e-01 9.52862208e-01 -3.41987268e-02 5.75280896e+00] [ 1.01707192e-01 3.52571589e-03 9.94808130e-01 2.78043933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.596874999999997 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:27.32, Y:5.76, Z:2.78 [[ 9.48156456e-01 -3.02868105e-01 -9.62821183e-02 2.73157190e+01] [ 3.01080274e-01 9.53029850e-01 -3.29359120e-02 5.76121073e+00] [ 1.01734970e-01 2.23975100e-03 9.94809017e-01 2.78263441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.626875 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:27.34, Y:5.77, Z:2.79 [[ 9.48388165e-01 -3.02143112e-01 -9.62778700e-02 2.73425751e+01] [ 3.00350296e-01 9.53259727e-01 -3.29483259e-02 5.77009301e+00] [ 1.01732926e-01 2.33071556e-03 9.94809017e-01 2.78616939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.656875 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:27.37, Y:5.78, Z:2.79 [[ 9.48672141e-01 -3.01253004e-01 -9.62693966e-02 2.73691126e+01] [ 2.99453109e-01 9.53541091e-01 -3.29730652e-02 5.77918209e+00] [ 1.01730060e-01 2.45245831e-03 9.94809017e-01 2.78979765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.686874999999997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:27.40, Y:5.79, Z:2.79 [[ 9.49162623e-01 -2.99704958e-01 -9.62665754e-02 2.73954909e+01] [ 2.97896287e-01 9.54028320e-01 -3.29812999e-02 5.78944581e+00] [ 1.01725698e-01 2.62716174e-03 9.94809017e-01 2.79271212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.716874999999998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:27.42, Y:5.80, Z:2.80 [[ 9.49446042e-01 -2.98808608e-01 -9.62581413e-02 2.74219187e+01] [ 2.96992852e-01 9.54309099e-01 -3.30058971e-02 5.79908918e+00] [ 1.01722466e-01 2.74933843e-03 9.94809017e-01 2.79655706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.746875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:27.45, Y:5.81, Z:2.80 [[ 9.49655852e-01 -2.98142052e-01 -9.62552850e-02 2.74493336e+01] [ 2.96322039e-01 9.54517318e-01 -3.30142249e-02 5.80854829e+00] [ 1.01720265e-01 2.82958953e-03 9.94809017e-01 2.80077985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.776874999999997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:27.48, Y:5.82, Z:2.80 [[ 9.49683802e-01 -2.98055617e-01 -9.62472125e-02 2.74752862e+01] [ 2.96232780e-01 9.54544209e-01 -3.30377422e-02 5.81660206e+00] [ 1.01719304e-01 2.86382933e-03 9.94809018e-01 2.80479060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.806874999999998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:27.50, Y:5.82, Z:2.81 [[ 9.49638851e-01 -2.98200422e-01 -9.62421960e-02 2.75017873e+01] [ 2.96376847e-01 9.54498982e-01 -3.30523492e-02 5.82496075e+00] [ 1.01719303e-01 2.86383637e-03 9.94809018e-01 2.80963545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.836875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:27.53, Y:5.83, Z:2.81 [[ 9.49517149e-01 -2.98590713e-01 -9.62328979e-02 2.75285153e+01] [ 2.96766396e-01 9.54377001e-01 -3.30793991e-02 5.83407441e+00] [ 1.01719666e-01 2.85076640e-03 9.94809018e-01 2.81305245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.866874999999997 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:27.55, Y:5.84, Z:2.81 [[ 9.49392459e-01 -2.98989910e-01 -9.62236539e-02 2.75548402e+01] [ 2.97164916e-01 9.54252057e-01 -3.31062670e-02 5.84359702e+00] [ 1.01720059e-01 2.83654616e-03 9.94809019e-01 2.81311430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.896874999999998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:27.58, Y:5.85, Z:2.82 [[ 9.49433718e-01 -2.98859792e-01 -9.62207874e-02 2.75819022e+01] [ 2.97033288e-01 9.54292748e-01 -3.31145960e-02 5.85272142e+00] [ 1.01719421e-01 2.85933708e-03 9.94809019e-01 2.81503340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.926875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:27.61, Y:5.86, Z:2.82 [[ 9.49230109e-01 -2.99508419e-01 -9.62128191e-02 2.76082907e+01] [ 2.97682893e-01 9.54089506e-01 -3.31377316e-02 5.86205956e+00] [ 1.01720671e-01 2.81442227e-03 9.94809019e-01 2.81600982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.956874999999997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:27.64, Y:5.87, Z:2.82 [[ 9.49015636e-01 -3.00190202e-01 -9.62037749e-02 2.76355823e+01] [ 2.98365509e-01 9.53875345e-01 -3.31639675e-02 5.87123397e+00] [ 1.01721907e-01 2.76923545e-03 9.94809019e-01 2.81666527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.986874999999998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:27.66, Y:5.88, Z:2.82 [[ 9.48493800e-01 -3.01837483e-01 -9.61958653e-02 2.76633634e+01] [ 3.00018907e-01 9.53355802e-01 -3.31868945e-02 5.87987491e+00] [ 1.01725935e-01 2.61698528e-03 9.94809020e-01 2.81874583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.016875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:27.69, Y:5.89, Z:2.82 [[ 9.48293171e-01 -3.02469779e-01 -9.61878041e-02 2.76893936e+01] [ 3.00652079e-01 9.53155500e-01 -3.32102424e-02 5.88839503e+00] [ 1.01727029e-01 2.57398286e-03 9.94809020e-01 2.82119392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.046874999999996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:27.72, Y:5.90, Z:2.83 [[ 9.48281597e-01 -3.02506969e-01 -9.61849623e-02 2.77164236e+01] [ 3.00688625e-01 9.53143685e-01 -3.32184709e-02 5.89715082e+00] [ 1.01726908e-01 2.57874056e-03 9.94809020e-01 2.82665082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.076874999999998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:27.74, Y:5.91, Z:2.83 [[ 9.48242305e-01 -3.02632672e-01 -9.61769094e-02 2.77429555e+01] [ 3.00812611e-01 9.53103750e-01 -3.32417701e-02 5.90622577e+00] [ 1.01726619e-01 2.59002544e-03 9.94809020e-01 2.83112919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.106875 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:27.77, Y:5.91, Z:2.84 [[ 9.48523525e-01 -3.01753062e-01 -9.61676197e-02 2.77691570e+01] [ 2.99925773e-01 9.53382258e-01 -3.32686234e-02 5.91478875e+00] [ 1.01723411e-01 2.71292428e-03 9.94809021e-01 2.83662021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.136874999999996 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:27.80, Y:5.92, Z:2.84 [[ 9.48634232e-01 -3.01405766e-01 -9.61647418e-02 2.77950142e+01] [ 2.99575856e-01 9.53491978e-01 -3.32769400e-02 5.92365272e+00] [ 1.01722171e-01 2.75900958e-03 9.94809021e-01 2.84018521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.166874999999997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:27.82, Y:5.93, Z:2.84 [[ 9.48803788e-01 -3.00872493e-01 -9.61619203e-02 2.78222394e+01] [ 2.99039027e-01 9.53660193e-01 -3.32850915e-02 5.93366664e+00] [ 1.01720364e-01 2.82485389e-03 9.94809021e-01 2.84418641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.196875 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:27.85, Y:5.94, Z:2.85 [[ 9.49107079e-01 -2.99916953e-01 -9.61539075e-02 2.78490846e+01] [ 2.98076257e-01 9.53960747e-01 -3.33082229e-02 5.94394375e+00] [ 1.01716754e-01 2.95187338e-03 9.94809021e-01 2.84831127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.226874999999996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:27.88, Y:5.95, Z:2.85 [[ 9.49145048e-01 -2.99799417e-01 -9.61456554e-02 2.78753998e+01] [ 2.97955711e-01 9.53997574e-01 -3.33320260e-02 5.95279562e+00] [ 1.01715644e-01 2.98978030e-03 9.94809021e-01 2.85097044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.256874999999997 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:27.90, Y:5.96, Z:2.85 [[ 9.49164850e-01 -2.99739737e-01 -9.61362455e-02 2.79008187e+01] [ 2.97892981e-01 9.54016216e-01 -3.33591440e-02 5.96132560e+00] [ 1.01714598e-01 3.02501416e-03 9.94809022e-01 2.85326132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.286875 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:27.93, Y:5.97, Z:2.86 [[ 9.49423490e-01 -2.98921541e-01 -9.61298600e-02 2.79275846e+01] [ 2.97068744e-01 9.54272551e-01 -3.33775350e-02 5.97105022e+00] [ 1.01711351e-01 3.13223902e-03 9.94809022e-01 2.85613357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.316874999999996 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:27.95, Y:5.98, Z:2.86 [[ 9.49648822e-01 -2.98207903e-01 -9.61205574e-02 2.79538286e+01] [ 2.96348756e-01 9.54495452e-01 -3.34043031e-02 5.98094817e+00] [ 1.01708062e-01 3.23714948e-03 9.94809022e-01 2.85891703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.346874999999997 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:27.98, Y:5.99, Z:2.86 [[ 9.49862860e-01 -2.97528421e-01 -9.61113186e-02 2.79799555e+01] [ 2.95663122e-01 9.54707126e-01 -3.34308642e-02 5.99044920e+00] [ 1.01704793e-01 3.33816383e-03 9.94809023e-01 2.86181625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.376875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:28.00, Y:6.00, Z:2.86 [[ 9.50296120e-01 -2.96144770e-01 -9.61018229e-02 2.80048340e+01] [ 2.94269664e-01 9.55136596e-01 -3.34581389e-02 6.00062719e+00] [ 1.01698821e-01 3.51528842e-03 9.94809023e-01 2.86402176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.406875 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:28.03, Y:6.01, Z:2.87 [[ 9.50322230e-01 -2.96062314e-01 -9.60976905e-02 2.80309540e+01] [ 2.94185589e-01 9.55162079e-01 -3.34700036e-02 6.01058637e+00] [ 1.01698077e-01 3.53673273e-03 9.94809023e-01 2.86634755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.436874999999997 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:28.06, Y:6.02, Z:2.87 [[ 9.50306959e-01 -2.96114427e-01 -9.60881392e-02 2.80566697e+01] [ 2.94235201e-01 9.55145837e-01 -3.34974018e-02 6.02003942e+00] [ 1.01697250e-01 3.56030103e-03 9.94809024e-01 2.86771843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.466874999999998 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:28.08, Y:6.03, Z:2.87 [[ 9.50114312e-01 -2.96733311e-01 -9.60840097e-02 2.80835123e+01] [ 2.94856042e-01 9.54953949e-01 -3.35092428e-02 6.02939814e+00] [ 1.01699113e-01 3.50666041e-03 9.94809024e-01 2.87038809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.496875 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:28.11, Y:6.04, Z:2.87 [[ 9.49734216e-01 -2.97950666e-01 -9.60745555e-02 2.81104635e+01] [ 2.96076863e-01 9.54575197e-01 -3.35363272e-02 6.03874337e+00] [ 1.01702559e-01 3.40514433e-03 9.94809024e-01 2.87111485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.526874999999997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:28.14, Y:6.05, Z:2.87 [[ 9.49356888e-01 -2.99153384e-01 -9.60663934e-02 2.81375814e+01] [ 2.97283353e-01 9.54199327e-01 -3.35596917e-02 6.04760184e+00] [ 1.01705983e-01 3.30118492e-03 9.94809024e-01 2.87337283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.556874999999998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:28.16, Y:6.06, Z:2.88 [[ 9.48942509e-01 -3.00468273e-01 -9.60569193e-02 2.81644956e+01] [ 2.98602213e-01 9.53786478e-01 -3.35867874e-02 6.05615910e+00] [ 1.01709555e-01 3.18912165e-03 9.94809025e-01 2.87589130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.586875 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:28.19, Y:6.06, Z:2.88 [[ 9.47786619e-01 -3.04095636e-01 -9.60539881e-02 2.81915360e+01] [ 3.02247268e-01 9.52637367e-01 -3.35951682e-02 6.06436848e+00] [ 1.01720762e-01 2.80899534e-03 9.94809025e-01 2.87984840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.616874999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:28.22, Y:6.07, Z:2.88 [[ 9.47175568e-01 -3.05996150e-01 -9.60458189e-02 2.82186697e+01] [ 3.04155150e-01 9.52029118e-01 -3.36185073e-02 6.07364595e+00] [ 1.01725550e-01 2.62979832e-03 9.94809025e-01 2.88413131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.646874999999998 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:28.25, Y:6.08, Z:2.89 [[ 9.46683528e-01 -3.07517587e-01 -9.60376529e-02 2.82458328e+01] [ 3.05682025e-01 9.51539136e-01 -3.36418188e-02 6.08317698e+00] [ 1.01729036e-01 2.49117153e-03 9.94809026e-01 2.88819099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.676875 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:28.27, Y:6.09, Z:2.89 [[ 9.45628923e-01 -3.10747913e-01 -9.60295454e-02 2.82728106e+01] [ 3.08926592e-01 9.50489891e-01 -3.36649455e-02 6.09247025e+00] [ 1.01736424e-01 2.16846596e-03 9.94809026e-01 2.89470094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.706874999999997 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:28.30, Y:6.10, Z:2.90 [[ 9.45093795e-01 -3.12374123e-01 -9.60214834e-02 2.82990414e+01] [ 3.10558833e-01 9.49957018e-01 -3.36879250e-02 6.10140524e+00] [ 1.01739518e-01 2.01792913e-03 9.94809026e-01 2.89884565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.736874999999998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:28.32, Y:6.11, Z:2.90 [[ 9.44548131e-01 -3.14023087e-01 -9.60121260e-02 2.83246628e+01] [ 3.12213579e-01 9.49413508e-01 -3.37145730e-02 6.11013856e+00] [ 1.01742364e-01 1.86874743e-03 9.94809027e-01 2.90253744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.766875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:28.35, Y:6.12, Z:2.91 [[ 9.43777318e-01 -3.16334099e-01 -9.60057868e-02 2.83511634e+01] [ 3.14534671e-01 9.48646431e-01 -3.37326151e-02 6.11979312e+00] [ 1.01746323e-01 1.63892847e-03 9.94809027e-01 2.90631939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.796874999999996 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:28.38, Y:6.13, Z:2.91 [[ 9.43425028e-01 -3.17385991e-01 -9.59966085e-02 2.83773804e+01] [ 3.15589336e-01 9.48295165e-01 -3.37587146e-02 6.13015493e+00] [ 1.01747663e-01 1.55331029e-03 9.94809027e-01 2.90840388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.826874999999998 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:28.40, Y:6.14, Z:2.91 [[ 9.43146840e-01 -3.18214471e-01 -9.59874425e-02 2.84037673e+01] [ 3.16419444e-01 9.48017577e-01 -3.37847566e-02 6.14048185e+00] [ 1.01748581e-01 1.49169318e-03 9.94809027e-01 2.90972450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.856875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:28.43, Y:6.15, Z:2.91 [[ 9.42947160e-01 -3.18808490e-01 -9.59781253e-02 2.84288606e+01] [ 3.17013840e-01 9.47818035e-01 -3.38112051e-02 6.14959296e+00] [ 1.01749097e-01 1.45578576e-03 9.94809028e-01 2.91139511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.886874999999996 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:28.46, Y:6.16, Z:2.91 [[ 9.42508864e-01 -3.20103133e-01 -9.59740868e-02 2.84567081e+01] [ 3.18314007e-01 9.47381771e-01 -3.38226647e-02 6.15983699e+00] [ 1.01750841e-01 1.32826510e-03 9.94809028e-01 2.91007478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.916874999999997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:28.48, Y:6.17, Z:2.91 [[ 9.42339145e-01 -3.20603714e-01 -9.59697550e-02 2.84834913e+01] [ 3.18815926e-01 9.47212543e-01 -3.38349515e-02 6.16968612e+00] [ 1.01751367e-01 1.28731303e-03 9.94809028e-01 2.91071119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.946875 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:28.51, Y:6.18, Z:2.91 [[ 9.42071278e-01 -3.21392332e-01 -9.59618492e-02 2.85093333e+01] [ 3.19606341e-01 9.46945334e-01 -3.38573588e-02 6.17956212e+00] [ 1.01752121e-01 1.22602974e-03 9.94809028e-01 2.91276555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.976874999999996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:28.54, Y:6.19, Z:2.92 [[ 9.42375383e-01 -3.20502334e-01 -9.59525485e-02 2.85354342e+01] [ 3.18709059e-01 9.47246764e-01 -3.38836969e-02 6.18972866e+00] [ 1.01750545e-01 1.35021539e-03 9.94809029e-01 2.91598486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.006874999999997 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:28.56, Y:6.20, Z:2.92 [[ 9.42629889e-01 -3.19753891e-01 -9.59496804e-02 2.85612031e+01] [ 3.17955922e-01 9.47499539e-01 -3.38918167e-02 6.19955286e+00] [ 1.01749318e-01 1.43967032e-03 9.94809029e-01 2.92084901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.036875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:28.59, Y:6.21, Z:2.92 [[ 9.43026249e-01 -3.18585816e-01 -9.59404567e-02 2.85868280e+01] [ 3.16779162e-01 9.47892683e-01 -3.39179071e-02 6.20917226e+00] [ 1.01747021e-01 1.59353924e-03 9.94809029e-01 2.92435852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.066874999999996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:28.61, Y:6.22, Z:2.93 [[ 9.43515451e-01 -3.17134941e-01 -9.59375992e-02 2.86121927e+01] [ 3.15319982e-01 9.48378794e-01 -3.39259875e-02 6.21813254e+00] [ 1.01744301e-01 1.75865140e-03 9.94809029e-01 2.92731756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.096874999999997 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:28.64, Y:6.23, Z:2.93 [[ 9.44671081e-01 -3.13677727e-01 -9.59313961e-02 2.86385258e+01] [ 3.11843191e-01 9.49527073e-01 -3.39435189e-02 6.22766236e+00] [ 1.01736784e-01 2.14990799e-03 9.94809029e-01 2.93138530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.126875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:28.66, Y:6.24, Z:2.93 [[ 9.45185837e-01 -3.12126103e-01 -9.59219926e-02 2.86649501e+01] [ 3.10280903e-01 9.50037786e-01 -3.39700719e-02 6.23763222e+00] [ 1.01732464e-01 2.34526835e-03 9.94809030e-01 2.93473768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.156875 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:28.69, Y:6.25, Z:2.94 [[ 9.45565262e-01 -3.10977750e-01 -9.59123274e-02 2.86900701e+01] [ 3.09123894e-01 9.50413909e-01 -3.39973393e-02 6.24747909e+00] [ 1.01728826e-01 2.49791091e-03 9.94809030e-01 2.93643846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.186874999999997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:28.72, Y:6.26, Z:2.94 [[ 9.46276758e-01 -3.08808006e-01 -9.59057485e-02 2.87167853e+01] [ 3.06941154e-01 9.51120417e-01 -3.40158880e-02 6.25717005e+00] [ 1.01722294e-01 2.75102310e-03 9.94809030e-01 2.93816562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.216874999999998 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:28.74, Y:6.27, Z:2.94 [[ 9.46442560e-01 -3.08302468e-01 -9.58961329e-02 2.87424110e+01] [ 3.06430287e-01 9.51284161e-01 -3.40429746e-02 6.26580737e+00] [ 1.01720005e-01 2.83424058e-03 9.94809031e-01 2.94014994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.246875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:28.77, Y:6.27, Z:2.94 [[ 9.46559219e-01 -3.07945407e-01 -9.58919729e-02 2.87687760e+01] [ 3.06070214e-01 9.51399654e-01 -3.40546883e-02 6.27461422e+00] [ 1.01718575e-01 2.88510252e-03 9.94809031e-01 2.94314718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.276874999999997 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:28.80, Y:6.28, Z:2.95 [[ 9.46922832e-01 -3.06828491e-01 -9.58823674e-02 2.87958246e+01] [ 3.04944854e-01 9.51759987e-01 -3.40817118e-02 6.28309583e+00] [ 1.01714241e-01 3.03391652e-03 9.94809031e-01 2.94637442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.306874999999998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:28.82, Y:6.29, Z:2.95 [[ 9.46834670e-01 -3.07103512e-01 -9.58725216e-02 2.88226333e+01] [ 3.05218482e-01 9.51671282e-01 -3.41093859e-02 6.29273748e+00] [ 1.01714238e-01 3.03388365e-03 9.94809032e-01 2.94927283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.336875 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:28.85, Y:6.30, Z:2.95 [[ 9.47011533e-01 -3.06560772e-01 -9.58626568e-02 2.88477556e+01] [ 3.04670168e-01 9.51845969e-01 -3.41370881e-02 6.30136427e+00] [ 1.01711575e-01 3.12172437e-03 9.94809032e-01 2.95175451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.366874999999997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:28.87, Y:6.31, Z:2.95 [[ 9.47077929e-01 -3.06357686e-01 -9.58559531e-02 2.88739373e+01] [ 3.04464144e-01 9.51911214e-01 -3.41559014e-02 6.31024767e+00] [ 1.01710280e-01 3.16359975e-03 9.94809032e-01 2.95371773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.396874999999998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:28.90, Y:6.32, Z:2.96 [[ 9.47025479e-01 -3.06522743e-01 -9.58464885e-02 2.89007521e+01] [ 3.04627360e-01 9.51858042e-01 -3.41824399e-02 6.31913578e+00] [ 1.01709946e-01 3.17417880e-03 9.94809033e-01 2.95622853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.426875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:28.93, Y:6.33, Z:2.96 [[ 9.46965485e-01 -3.06711002e-01 -9.58370018e-02 2.89270733e+01] [ 3.04813893e-01 9.51797370e-01 -3.42090171e-02 6.32741667e+00] [ 1.01709688e-01 3.18230889e-03 9.94809033e-01 2.95849524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.456874999999997 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:28.95, Y:6.34, Z:2.96 [[ 9.46701262e-01 -3.07528575e-01 -9.58274274e-02 2.89540256e+01] [ 3.05632929e-01 9.51533721e-01 -3.42358165e-02 6.33522349e+00] [ 1.01711520e-01 3.12307336e-03 9.94809033e-01 2.95891743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.486874999999998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:28.98, Y:6.34, Z:2.96 [[ 9.46599441e-01 -3.07842765e-01 -9.58244763e-02 2.89811658e+01] [ 3.05947888e-01 9.51432201e-01 -3.42440744e-02 6.34413279e+00] [ 1.01712283e-01 3.09812559e-03 9.94809033e-01 2.96058244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.516875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:29.01, Y:6.35, Z:2.96 [[ 9.46440094e-01 -3.08335260e-01 -9.58150077e-02 2.90078493e+01] [ 3.06440219e-01 9.51272790e-01 -3.42705473e-02 6.35287857e+00] [ 1.01713028e-01 3.07344805e-03 9.94809034e-01 2.96284145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.546874999999996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:29.04, Y:6.36, Z:2.97 [[ 9.46354470e-01 -3.08600899e-01 -9.58055465e-02 2.90351437e+01] [ 3.06704542e-01 9.51186649e-01 -3.42969765e-02 6.36114663e+00] [ 1.01713035e-01 3.07310077e-03 9.94809034e-01 2.96569239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.576874999999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:29.06, Y:6.37, Z:2.97 [[ 9.46061204e-01 -3.09501363e-01 -9.57972030e-02 2.90611999e+01] [ 3.07607250e-01 9.50894263e-01 -3.43202655e-02 6.36857637e+00] [ 1.01715180e-01 3.00115753e-03 9.94809035e-01 2.96791520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.606875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:29.09, Y:6.38, Z:2.97 [[ 9.45721766e-01 -3.10539020e-01 -9.57907039e-02 2.90887978e+01] [ 3.08648375e-01 9.50556182e-01 -3.43383955e-02 6.37806795e+00] [ 1.01717857e-01 2.90892289e-03 9.94809035e-01 2.97176349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.636874999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:29.11, Y:6.39, Z:2.97 [[ 9.44435900e-01 -3.14430542e-01 -9.57823834e-02 2.91103297e+01] [ 3.12557468e-01 9.49277151e-01 -3.43615890e-02 6.39048189e+00] [ 1.01728361e-01 2.51481892e-03 9.94809035e-01 2.97093998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.666874999999997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:29.14, Y:6.39, Z:2.98 [[ 9.44694628e-01 -3.13784515e-01 -9.53485049e-02 2.91426125e+01] [ 3.11786097e-01 9.49486321e-01 -3.55690311e-02 6.39452501e+00] [ 1.01693112e-01 3.87353445e-03 9.94808276e-01 2.97983829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.696875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:29.17, Y:6.40, Z:2.98 [[ 9.44360342e-01 -3.14658293e-01 -9.57794467e-02 2.91686810e+01] [ 3.12785708e-01 9.49201728e-01 -3.43683043e-02 6.40281786e+00] [ 1.01728288e-01 2.49762147e-03 9.94809086e-01 2.98439957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.726874999999996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:29.19, Y:6.42, Z:2.98 [[ 9.43081659e-01 -3.18471110e-01 -9.57764944e-02 2.91903338e+01] [ 3.16617266e-01 9.47930251e-01 -3.43765299e-02 6.41529925e+00] [ 1.01737368e-01 2.09538308e-03 9.94809086e-01 2.98387847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.756874999999997 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:29.22, Y:6.42, Z:2.99 [[ 9.43904374e-01 -3.16137453e-01 -9.54025395e-02 2.92220953e+01] [ 3.14166402e-01 9.48707098e-01 -3.54162943e-02 6.42131380e+00] [ 1.01705483e-01 3.45732253e-03 9.94808545e-01 2.99043036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.786875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:29.25, Y:6.43, Z:2.99 [[ 9.43697193e-01 -3.16646136e-01 -9.57644682e-02 2.92491383e+01] [ 3.14779604e-01 9.48540884e-01 -3.44091799e-02 6.43033220e+00] [ 1.01732047e-01 2.32714502e-03 9.94809115e-01 2.99283105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.816874999999996 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:29.28, Y:6.44, Z:2.99 [[ 9.43493744e-01 -3.17254709e-01 -9.57549187e-02 2.92755253e+01] [ 3.15388608e-01 9.48337601e-01 -3.44357343e-02 6.44007031e+00] [ 1.01732889e-01 2.28988942e-03 9.94809115e-01 2.99428857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.846874999999997 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:29.30, Y:6.45, Z:3.00 [[ 9.43205204e-01 -3.18114381e-01 -9.57454141e-02 2.93024473e+01] [ 3.16250016e-01 9.48049729e-01 -3.44621406e-02 6.44954726e+00] [ 1.01734316e-01 2.22538158e-03 9.94809116e-01 2.99590637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.876875 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:29.33, Y:6.46, Z:3.00 [[ 9.42755720e-01 -3.19446839e-01 -9.57359351e-02 2.93280832e+01] [ 3.17586651e-01 9.47601850e-01 -3.44884535e-02 6.45752055e+00] [ 1.01736777e-01 2.10973186e-03 9.94809116e-01 2.99837068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.906875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:29.35, Y:6.47, Z:3.00 [[ 9.42412425e-01 -3.20460118e-01 -9.57294885e-02 2.93546456e+01] [ 3.18603324e-01 9.47259856e-01 -3.45063381e-02 6.46680167e+00] [ 1.01738607e-01 2.01946852e-03 9.94809116e-01 3.00198190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.936874999999997 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:29.38, Y:6.48, Z:3.01 [[ 9.42303694e-01 -3.20782536e-01 -9.57199668e-02 2.93806475e+01] [ 3.18924721e-01 9.47150734e-01 -3.45327310e-02 6.47600044e+00] [ 1.01738734e-01 2.01285630e-03 9.94809117e-01 3.00540942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.966874999999998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:29.41, Y:6.49, Z:3.01 [[ 9.42084480e-01 -3.21426637e-01 -9.57170272e-02 2.94069661e+01] [ 3.19571308e-01 9.46932472e-01 -3.45408771e-02 6.48647355e+00] [ 1.01739919e-01 1.95200864e-03 9.94809117e-01 3.00859062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.996875 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:29.43, Y:6.50, Z:3.01 [[ 9.42293588e-01 -3.20815929e-01 -9.57075389e-02 2.94331823e+01] [ 3.18954791e-01 9.47139353e-01 -3.45671479e-02 6.49643357e+00] [ 1.01738068e-01 2.04602372e-03 9.94809117e-01 3.01102648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.026875 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:29.46, Y:6.51, Z:3.01 [[ 9.42494570e-01 -3.20227874e-01 -9.56979305e-02 2.94587714e+01] [ 3.18361015e-01 9.47338133e-01 -3.45937280e-02 6.50605159e+00] [ 1.01736175e-01 2.13791042e-03 9.94809117e-01 3.01371984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.056875 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:29.48, Y:6.52, Z:3.02 [[ 9.43048215e-01 -3.18594990e-01 -9.56937607e-02 2.94839311e+01] [ 3.16718575e-01 9.47888084e-01 -3.46052587e-02 6.51556606e+00] [ 1.01732038e-01 2.32643587e-03 9.94809117e-01 3.01724250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.086875 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:29.51, Y:6.53, Z:3.02 [[ 9.43353093e-01 -3.17693060e-01 -9.56873150e-02 2.95100989e+01] [ 3.15810212e-01 9.48190462e-01 -3.46230726e-02 6.52548665e+00] [ 1.01729309e-01 2.44275140e-03 9.94809118e-01 3.01998962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.116875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:29.54, Y:6.54, Z:3.02 [[ 9.43746885e-01 -3.16524196e-01 -9.56778480e-02 2.95358693e+01] [ 3.14632709e-01 9.48580882e-01 -3.46492143e-02 6.53557423e+00] [ 1.01725492e-01 2.59670753e-03 9.94809118e-01 3.02229856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.146874999999994 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:29.56, Y:6.55, Z:3.02 [[ 9.44971984e-01 -3.12850631e-01 -9.56683500e-02 2.95613189e+01] [ 3.10937703e-01 9.49797536e-01 -3.46754190e-02 6.54653411e+00] [ 1.01713790e-01 3.02040249e-03 9.94809118e-01 3.02465804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.176874999999995 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:29.59, Y:6.56, Z:3.03 [[ 9.45748646e-01 -3.10497848e-01 -9.56586861e-02 2.95874612e+01] [ 3.08570226e-01 9.50568347e-01 -3.47020585e-02 6.55619199e+00] [ 1.01705034e-01 3.30200249e-03 9.94809119e-01 3.02755132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.206875 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:29.61, Y:6.57, Z:3.03 [[ 9.46273815e-01 -3.08894999e-01 -9.56543127e-02 2.96134579e+01] [ 3.06957996e-01 9.51089753e-01 -3.47141092e-02 6.56602566e+00] [ 1.01698851e-01 3.48719634e-03 9.94809119e-01 3.03037779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.236875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:29.64, Y:6.58, Z:3.03 [[ 9.46774948e-01 -3.07358568e-01 -9.56446993e-02 2.96387167e+01] [ 3.05411080e-01 9.51586656e-01 -3.47405761e-02 6.57595611e+00] [ 1.01692033e-01 3.68055621e-03 9.94809119e-01 3.03266625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.266875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:29.66, Y:6.59, Z:3.04 [[ 9.47362332e-01 -3.05544592e-01 -9.56405461e-02 2.96643599e+01] [ 3.03586740e-01 9.52169832e-01 -3.47520061e-02 6.58671836e+00] [ 1.01684330e-01 3.88753986e-03 9.94809119e-01 3.03658873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.296875 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:29.68, Y:6.60, Z:3.04 [[ 9.46445684e-01 -3.08375273e-01 -9.56308399e-02 2.96838946e+01] [ 3.06429108e-01 9.51257927e-01 -3.47786955e-02 6.59988467e+00] [ 1.01694484e-01 3.61207323e-03 9.94809120e-01 3.03843949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.326875 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:29.71, Y:6.61, Z:3.04 [[ 9.46512009e-01 -3.08334065e-01 -9.51058382e-02 2.97118791e+01] [ 3.06242537e-01 9.51264154e-01 -3.62217942e-02 6.60846557e+00] [ 1.01639188e-01 5.15891003e-03 9.94807952e-01 3.04153061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.356874999999995 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:29.74, Y:6.62, Z:3.05 [[ 9.45240890e-01 -3.12172045e-01 -9.52274878e-02 2.97381102e+01] [ 3.10133435e-01 9.50015448e-01 -3.58873428e-02 6.61700788e+00] [ 1.01670610e-01 4.38895598e-03 9.94808436e-01 3.04885812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.386874999999996 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:29.77, Y:6.62, Z:3.05 [[ 9.44997842e-01 -3.12930115e-01 -9.51515688e-02 2.97710519e+01] [ 3.10874353e-01 9.49765349e-01 -3.60959581e-02 6.62313148e+00] [ 1.01667175e-01 4.53042006e-03 9.94808153e-01 3.05138649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.416875 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:29.80, Y:6.63, Z:3.06 [[ 9.44040666e-01 -3.15658997e-01 -9.56379600e-02 2.97975519e+01] [ 3.13752074e-01 9.48868548e-01 -3.47579334e-02 6.63236460e+00] [ 1.01719507e-01 2.80629432e-03 9.94809161e-01 3.05555603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.446875 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:29.82, Y:6.64, Z:3.06 [[ 9.43313006e-01 -3.17829782e-01 -9.56284562e-02 2.98238860e+01] [ 3.15931323e-01 9.48144223e-01 -3.47840616e-02 6.64190815e+00] [ 1.01724979e-01 2.60023303e-03 9.94809161e-01 3.05795424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.476875 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:29.84, Y:6.66, Z:3.05 [[ 9.40679835e-01 -3.25543359e-01 -9.56188784e-02 2.98444864e+01] [ 3.23681850e-01 9.45525408e-01 -3.48103704e-02 6.65620784e+00] [ 1.01742364e-01 1.79531795e-03 9.94809162e-01 3.05329047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.506875 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:29.88, Y:6.66, Z:3.06 [[ 9.41458674e-01 -3.23448769e-01 -9.50602869e-02 2.98789279e+01] [ 3.21421420e-01 9.46238603e-01 -3.63424869e-02 6.66086059e+00] [ 1.01704646e-01 3.66053707e-03 9.94807904e-01 3.06037439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.536874999999995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:29.91, Y:6.67, Z:3.07 [[ 9.40993075e-01 -3.24636067e-01 -9.56214268e-02 2.99059706e+01] [ 3.22770833e-01 9.45837129e-01 -3.48010667e-02 6.66905501e+00] [ 1.01739977e-01 1.88375527e-03 9.94809242e-01 3.06525668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.566874999999996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:29.93, Y:6.68, Z:3.07 [[ 9.40266544e-01 -3.26737207e-01 -9.56118420e-02 2.99327428e+01] [ 3.24880122e-01 9.45113728e-01 -3.48273799e-02 6.67737378e+00] [ 1.01743465e-01 1.68463318e-03 9.94809243e-01 3.07048778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.596875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:29.96, Y:6.69, Z:3.08 [[ 9.40065423e-01 -3.27316280e-01 -9.56088595e-02 2.99597098e+01] [ 3.25461349e-01 9.44913432e-01 -3.48355657e-02 6.68706293e+00] [ 1.01744343e-01 1.63072233e-03 9.94809243e-01 3.07517435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.626875 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:29.99, Y:6.70, Z:3.08 [[ 9.40004388e-01 -3.27493958e-01 -9.56005137e-02 2.99865099e+01] [ 3.25637616e-01 9.44851857e-01 -3.48584543e-02 6.69693966e+00] [ 1.01744256e-01 1.63597655e-03 9.94809243e-01 3.07957826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.656875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:30.01, Y:6.71, Z:3.08 [[ 9.40215619e-01 -3.26889506e-01 -9.55920525e-02 3.00125344e+01] [ 3.25027691e-01 9.45060988e-01 -3.48816423e-02 6.70696149e+00] [ 1.01742762e-01 1.72620078e-03 9.94809243e-01 3.08127595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.686875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:30.04, Y:6.72, Z:3.08 [[ 9.40461705e-01 -3.26183657e-01 -9.55824456e-02 3.00383392e+01] [ 3.24315532e-01 9.45304644e-01 -3.49079473e-02 6.71686371e+00] [ 1.01740932e-01 1.83071592e-03 9.94809244e-01 3.08260886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.716874999999995 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:30.06, Y:6.73, Z:3.08 [[ 9.40832334e-01 -3.25113952e-01 -9.55794819e-02 3.00640642e+01] [ 3.23239498e-01 9.45672827e-01 -3.49160599e-02 6.72758896e+00] [ 1.01738617e-01 1.95509441e-03 9.94809244e-01 3.08415022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.746874999999996 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:30.09, Y:6.74, Z:3.09 [[ 9.40953713e-01 -3.24765296e-01 -9.55699326e-02 3.00901376e+01] [ 3.22886396e-01 9.45792482e-01 -3.49421783e-02 6.73782796e+00] [ 1.01737331e-01 2.02074128e-03 9.94809244e-01 3.08684263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.776875 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:30.11, Y:6.75, Z:3.08 [[ 9.39711272e-01 -3.28345778e-01 -9.55603262e-02 3.01101031e+01] [ 3.26482647e-01 9.44556134e-01 -3.49684304e-02 6.75337112e+00] [ 1.01743829e-01 1.66143988e-03 9.94809244e-01 3.08293249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.806875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:30.14, Y:6.76, Z:3.08 [[ 9.40706506e-01 -3.25636733e-01 -9.50367668e-02 3.01358279e+01] [ 3.23615063e-01 9.45488544e-01 -3.63964963e-02 6.76424566e+00] [ 1.01708210e-01 3.48309169e-03 9.94808176e-01 3.08473651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.836875 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:30.17, Y:6.77, Z:3.10 [[ 9.42974522e-01 -3.19020672e-01 -9.49992760e-02 3.01695878e+01] [ 3.16955176e-01 9.47737971e-01 -3.64986830e-02 6.76855879e+00] [ 1.01678255e-01 4.30681592e-03 9.94808013e-01 3.09504718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.866875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:30.20, Y:6.78, Z:3.10 [[ 9.43691458e-01 -3.16727912e-01 -9.55503074e-02 3.01955211e+01] [ 3.14802518e-01 9.48511866e-01 -3.49945057e-02 6.77810595e+00] [ 1.01714337e-01 2.94453883e-03 9.94809290e-01 3.09824814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.896874999999994 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:30.22, Y:6.79, Z:3.10 [[ 9.43989703e-01 -3.15840810e-01 -9.55406923e-02 3.02216568e+01] [ 3.13908234e-01 9.48807235e-01 -3.50207370e-02 6.78876940e+00] [ 1.01710678e-01 3.06820515e-03 9.94809290e-01 3.10066328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.926874999999995 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:30.25, Y:6.80, Z:3.10 [[ 9.42478932e-01 -3.20323727e-01 -9.55310036e-02 3.02487245e+01] [ 3.18411394e-01 9.47304535e-01 -3.50471464e-02 6.79977677e+00] [ 1.01723386e-01 2.61303712e-03 9.94809291e-01 3.10366809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.956875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:30.27, Y:6.81, Z:3.11 [[ 9.42111395e-01 -3.21405636e-01 -9.55224363e-02 3.02744893e+01] [ 3.19496480e-01 9.46938256e-01 -3.50704815e-02 6.80933082e+00] [ 1.01725700e-01 2.52121811e-03 9.94809291e-01 3.10729319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.986875 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:30.30, Y:6.82, Z:3.11 [[ 9.42198817e-01 -3.21150168e-01 -9.55194158e-02 3.03005900e+01] [ 3.19238870e-01 9.47024830e-01 -3.50787065e-02 6.81933075e+00] [ 1.01724791e-01 2.55760544e-03 9.94809291e-01 3.11145051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.016875 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:30.33, Y:6.83, Z:3.12 [[ 9.43284847e-01 -3.17949012e-01 -9.55098026e-02 3.03262878e+01] [ 3.16018692e-01 9.48103283e-01 -3.51048611e-02 6.83116167e+00] [ 1.01714713e-01 2.93100061e-03 9.94809291e-01 3.11546945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.046875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:30.35, Y:6.84, Z:3.12 [[ 9.43985417e-01 -3.15865861e-01 -9.55002096e-02 3.03517961e+01] [ 3.13922273e-01 9.48798516e-01 -3.51309390e-02 6.84250743e+00] [ 1.01707121e-01 3.18345122e-03 9.94809292e-01 3.11890239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.076875 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:30.37, Y:6.86, Z:3.11 [[ 9.43012391e-01 -3.18761944e-01 -9.54905970e-02 3.03679809e+01] [ 3.16830498e-01 9.47830374e-01 -3.51570481e-02 6.85892583e+00] [ 1.01715617e-01 2.89919862e-03 9.94809292e-01 3.11486193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.106874999999995 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:30.40, Y:6.87, Z:3.12 [[ 9.46303690e-01 -3.09078415e-01 -9.47621232e-02 3.04023567e+01] [ 3.06899777e-01 9.51017289e-01 -3.71300709e-02 6.86569594e+00] [ 1.01596521e-01 6.05384860e-03 9.94807267e-01 3.12491931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.136874999999996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:30.43, Y:6.88, Z:3.13 [[ 9.46664768e-01 -3.07748443e-01 -9.54814751e-02 3.04284418e+01] [ 3.05758842e-01 9.51458892e-01 -3.51782278e-02 6.87612837e+00] [ 1.01672743e-01 4.10768362e-03 9.94809419e-01 3.12927248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.166875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:30.45, Y:6.89, Z:3.13 [[ 9.46840903e-01 -3.07209221e-01 -9.54714565e-02 3.04543087e+01] [ 3.05214155e-01 9.51632755e-01 -3.52053968e-02 6.88691434e+00] [ 1.01669188e-01 4.19466973e-03 9.94809419e-01 3.13168316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.196875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:30.48, Y:6.90, Z:3.13 [[ 9.46754380e-01 -3.07478848e-01 -9.54615158e-02 3.04809962e+01] [ 3.05482437e-01 9.51545671e-01 -3.52323311e-02 6.89687750e+00] [ 1.01669189e-01 4.19454730e-03 9.94809420e-01 3.13458145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.226875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:30.50, Y:6.91, Z:3.13 [[ 9.45737050e-01 -3.10596908e-01 -9.54515248e-02 3.05021436e+01] [ 3.08613571e-01 9.50533766e-01 -3.52593780e-02 6.91328048e+00] [ 1.01681351e-01 3.88846420e-03 9.94809420e-01 3.13113261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.256875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:30.53, Y:6.92, Z:3.14 [[ 9.46844284e-01 -3.07345005e-01 -9.49997358e-02 3.05338399e+01] [ 3.05222643e-01 9.51581996e-01 -3.64807148e-02 6.91985242e+00] [ 1.01612204e-01 5.54548580e-03 9.94808629e-01 3.13804100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.286874999999995 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:30.56, Y:6.93, Z:3.14 [[ 9.45865801e-01 -3.10204652e-01 -9.54513543e-02 3.05602434e+01] [ 3.08219431e-01 9.50661681e-01 -3.52583431e-02 6.93055911e+00] [ 1.01679247e-01 3.92969881e-03 9.94809473e-01 3.14234714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.316874999999996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:30.59, Y:6.94, Z:3.15 [[ 9.43769903e-01 -3.16526541e-01 -9.54427506e-02 3.05864720e+01] [ 3.14571103e-01 9.48578003e-01 -3.52816175e-02 6.94100142e+00] [ 1.01702462e-01 3.27419731e-03 9.94809474e-01 3.14898090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.346875 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:30.61, Y:6.95, Z:3.15 [[ 9.42797451e-01 -3.19414040e-01 -9.54339470e-02 3.06118660e+01] [ 3.17470923e-01 9.47610543e-01 -3.53054148e-02 6.95015635e+00] [ 1.01711259e-01 2.98835184e-03 9.94809474e-01 3.15341060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.376875 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:30.64, Y:6.96, Z:3.16 [[ 9.41728272e-01 -3.22553948e-01 -9.54296178e-02 3.06384054e+01] [ 3.20625696e-01 9.46547339e-01 -3.53171126e-02 6.96021865e+00] [ 1.01720325e-01 2.66193588e-03 9.94809474e-01 3.15667262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.406875 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:30.66, Y:6.97, Z:3.16 [[ 9.40667401e-01 -3.25637710e-01 -9.54197168e-02 3.06643308e+01] [ 3.23722547e-01 9.45491684e-01 -3.53438429e-02 6.97074177e+00] [ 1.01727837e-01 2.35728703e-03 9.94809474e-01 3.15869084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.436875 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:30.69, Y:6.98, Z:3.16 [[ 9.38889662e-01 -3.30731240e-01 -9.54099033e-02 3.06891475e+01] [ 3.28839564e-01 9.43723202e-01 -3.53703144e-02 6.98156393e+00] [ 1.01738607e-01 1.83427156e-03 9.94809475e-01 3.15908840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.466874999999995 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:30.72, Y:6.99, Z:3.16 [[ 9.38080367e-01 -3.33020992e-01 -9.54056766e-02 3.07152028e+01] [ 3.31139955e-01 9.42918058e-01 -3.53817118e-02 6.99113149e+00] [ 1.01742588e-01 1.59825767e-03 9.94809475e-01 3.16258130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.496874999999996 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:30.74, Y:7.00, Z:3.17 [[ 9.36568028e-01 -3.37253476e-01 -9.53961319e-02 3.07413638e+01] [ 3.35391683e-01 9.41413157e-01 -3.54074276e-02 7.00000629e+00] [ 1.01748452e-01 1.16639543e-03 9.94809475e-01 3.16824863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.526875 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:30.77, Y:7.01, Z:3.17 [[ 9.35882821e-01 -3.39152850e-01 -9.53870523e-02 3.07674323e+01] [ 3.37298400e-01 9.40730765e-01 -3.54318710e-02 7.00979969e+00] [ 1.01750355e-01 9.86179278e-04 9.94809476e-01 3.17207607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.556875 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:30.79, Y:7.02, Z:3.18 [[ 9.35218901e-01 -3.40980195e-01 -9.53840298e-02 3.07940071e+01] [ 3.39134388e-01 9.40070143e-01 -3.54400058e-02 7.01978568e+00] [ 1.01752019e-01 7.96158711e-04 9.94809476e-01 3.17719401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.586875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:30.82, Y:7.03, Z:3.18 [[ 9.34776855e-01 -3.42192525e-01 -9.53756123e-02 3.08194934e+01] [ 3.40350700e-01 9.39629609e-01 -3.54626445e-02 7.02993889e+00] [ 1.01752801e-01 6.88502891e-04 9.94809476e-01 3.18079976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.616875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:30.85, Y:7.04, Z:3.18 [[ 9.34529868e-01 -3.42869147e-01 -9.53660010e-02 3.08459141e+01] [ 3.41028200e-01 9.39382955e-01 -3.54884724e-02 7.04034303e+00] [ 1.01753098e-01 6.42541813e-04 9.94809476e-01 3.18435582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.646874999999994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:30.87, Y:7.06, Z:3.18 [[ 9.33633758e-01 -3.45304450e-01 -9.53564007e-02 3.08681017e+01] [ 3.43473529e-01 9.38490635e-01 -3.55142497e-02 7.05540040e+00] [ 1.01754318e-01 4.04902916e-04 9.94809477e-01 3.18339315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.676874999999995 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:30.90, Y:7.06, Z:3.19 [[ 9.35137379e-01 -3.41290210e-01 -9.50740499e-02 3.08973582e+01] [ 3.39361349e-01 9.39956518e-01 -3.62714679e-02 7.06266272e+00] [ 1.01744570e-01 1.65434760e-03 9.94809181e-01 3.19133784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.706875 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:30.92, Y:7.07, Z:3.19 [[ 9.35433242e-01 -3.40400842e-01 -9.53515432e-02 3.09223228e+01] [ 3.38543185e-01 9.40279937e-01 -3.55267862e-02 7.07329507e+00] [ 1.01750491e-01 9.52321659e-04 9.94809495e-01 3.19389233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.736875 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:30.95, Y:7.09, Z:3.20 [[ 9.36264240e-01 -3.38109674e-01 -9.53473682e-02 3.09475495e+01] [ 3.36239016e-01 9.41105932e-01 -3.55379876e-02 7.08526229e+00] [ 1.01747711e-01 1.21344176e-03 9.94809495e-01 3.19567845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.766875 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:30.97, Y:7.10, Z:3.20 [[ 9.36711165e-01 -3.36872271e-01 -9.53376466e-02 3.09738681e+01] [ 3.34992565e-01 9.41549351e-01 -3.55640487e-02 7.09610503e+00] [ 1.01745641e-01 1.37583874e-03 9.94809495e-01 3.19844621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.796875 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:31.00, Y:7.11, Z:3.20 [[ 9.37237083e-01 -3.35408029e-01 -9.53315482e-02 3.10001735e+01] [ 3.33519103e-01 9.42071677e-01 -3.55803883e-02 7.10701088e+00] [ 1.01743099e-01 1.55236695e-03 9.94809495e-01 3.20151038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.826875 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:31.03, Y:7.12, Z:3.20 [[ 9.38230418e-01 -3.32621894e-01 -9.53223886e-02 3.10253319e+01] [ 3.30716121e-01 9.43058396e-01 -3.56049107e-02 7.12000742e+00] [ 1.01737552e-01 1.88095958e-03 9.94809496e-01 3.20345686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.856874999999995 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:31.05, Y:7.13, Z:3.21 [[ 9.38621668e-01 -3.31519033e-01 -9.53126234e-02 3.10509539e+01] [ 3.29604936e-01 9.43446350e-01 -3.56310327e-02 7.13171363e+00] [ 1.01734712e-01 2.02854828e-03 9.94809496e-01 3.20599198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.886874999999996 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:31.08, Y:7.14, Z:3.21 [[ 9.39026580e-01 -3.30373182e-01 -9.53028993e-02 3.10765159e+01] [ 3.28450561e-01 9.43847872e-01 -3.56570230e-02 7.14282968e+00] [ 1.01731563e-01 2.18060162e-03 9.94809496e-01 3.20847469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.916875 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:31.10, Y:7.15, Z:3.21 [[ 9.39406715e-01 -3.29293539e-01 -9.52931728e-02 3.11019843e+01] [ 3.27362743e-01 9.44224739e-01 -3.56829983e-02 7.15353022e+00] [ 1.01728352e-01 2.32541376e-03 9.94809497e-01 3.21150558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.946875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:31.13, Y:7.17, Z:3.21 [[ 9.40159332e-01 -3.27141413e-01 -9.52833965e-02 3.11270520e+01] [ 3.25196948e-01 9.44971855e-01 -3.57090846e-02 7.16625762e+00] [ 1.01722048e-01 2.58635949e-03 9.94809497e-01 3.21299783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.976875 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:31.15, Y:7.18, Z:3.22 [[ 9.40386269e-01 -3.26491236e-01 -9.52740182e-02 3.11530695e+01] [ 3.24540912e-01 9.45196420e-01 -3.57340891e-02 7.17780998e+00] [ 1.01719528e-01 2.68353004e-03 9.94809498e-01 3.21530421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.006875 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:31.18, Y:7.19, Z:3.22 [[ 9.40526911e-01 -3.26088802e-01 -9.52639688e-02 3.11788360e+01] [ 3.24133710e-01 9.45335125e-01 -3.57608601e-02 7.18858070e+00] [ 1.01717592e-01 2.75578761e-03 9.94809498e-01 3.21996969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.036874999999995 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:31.21, Y:7.20, Z:3.23 [[ 9.40752333e-01 -3.25440891e-01 -9.52537392e-02 3.12051058e+01] [ 3.23479733e-01 9.45558076e-01 -3.57880873e-02 7.19881249e+00] [ 1.01714849e-01 2.85507251e-03 9.94809498e-01 3.22707985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.066874999999996 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:31.23, Y:7.21, Z:3.23 [[ 9.40707164e-01 -3.25574041e-01 -9.52448213e-02 3.12309000e+01] [ 3.23611164e-01 9.45512205e-01 -3.58118054e-02 7.20955979e+00] [ 1.01714535e-01 2.86613442e-03 9.94809499e-01 3.23007104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.096875 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:31.26, Y:7.22, Z:3.23 [[ 9.40731628e-01 -3.25506370e-01 -9.52344878e-02 3.12559736e+01] [ 3.23540370e-01 9.45535391e-01 -3.58392645e-02 7.22054434e+00] [ 1.01713488e-01 2.90292826e-03 9.94809499e-01 3.23110902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.126875 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:31.28, Y:7.23, Z:3.23 [[ 9.40868397e-01 -3.25112141e-01 -9.52300134e-02 3.12819464e+01] [ 3.23142926e-01 9.45670844e-01 -3.58511495e-02 7.23167275e+00] [ 1.01711891e-01 2.95830841e-03 9.94809499e-01 3.23155569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.156875 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:31.31, Y:7.24, Z:3.23 [[ 9.40685593e-01 -3.25641603e-01 -9.52268929e-02 3.13079886e+01] [ 3.23674253e-01 9.45488804e-01 -3.58594361e-02 7.24164004e+00] [ 1.01713285e-01 2.90996154e-03 9.94809499e-01 3.23310587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.186875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:31.34, Y:7.25, Z:3.24 [[ 9.40463439e-01 -3.26283535e-01 -9.52238181e-02 3.13350149e+01] [ 3.24318638e-01 9.45267653e-01 -3.58675996e-02 7.25144085e+00] [ 1.01715002e-01 2.84930707e-03 9.94809499e-01 3.23637026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.216874999999995 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:31.36, Y:7.26, Z:3.24 [[ 9.39370331e-01 -3.29419927e-01 -9.52149800e-02 3.13613330e+01] [ 3.27468697e-01 9.44180113e-01 -3.58910461e-02 7.26114752e+00] [ 1.01723316e-01 2.53505841e-03 9.94809500e-01 3.23752903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.246874999999996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:31.39, Y:7.27, Z:3.24 [[ 9.38798491e-01 -3.31046970e-01 -9.52118576e-02 3.13871029e+01] [ 3.29103237e-01 9.43611307e-01 -3.58993272e-02 7.27086053e+00] [ 1.01727349e-01 2.36770371e-03 9.94809500e-01 3.24064937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.276875 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:31.41, Y:7.28, Z:3.24 [[ 9.38206647e-01 -3.32723441e-01 -9.52018900e-02 3.14134763e+01] [ 3.30785630e-01 9.43021849e-01 -3.59257411e-02 7.28035095e+00] [ 1.01730799e-01 2.21435188e-03 9.94809500e-01 3.24477357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.306875 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:31.44, Y:7.29, Z:3.25 [[ 9.37040476e-01 -3.35996517e-01 -9.51918429e-02 3.14411787e+01] [ 3.34072825e-01 9.41861336e-01 -3.59523432e-02 7.28926732e+00] [ 1.01737378e-01 1.88779289e-03 9.94809500e-01 3.24954555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.336875 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:31.47, Y:7.30, Z:3.25 [[ 9.36369337e-01 -3.37864824e-01 -9.51831182e-02 3.14675318e+01] [ 3.35948405e-01 9.41193093e-01 -3.59754269e-02 7.29831853e+00] [ 1.01740525e-01 1.70966988e-03 9.94809501e-01 3.25374169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.366875 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:31.49, Y:7.31, Z:3.26 [[ 9.35806082e-01 -3.39424587e-01 -9.51731368e-02 3.14942961e+01] [ 3.37513526e-01 9.40631963e-01 -3.60018136e-02 7.30769638e+00] [ 1.01742795e-01 1.56849524e-03 9.94809501e-01 3.25736272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.396874999999994 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:31.52, Y:7.32, Z:3.26 [[ 9.35260926e-01 -3.40926614e-01 -9.51632546e-02 3.15205594e+01] [ 3.39020647e-01 9.40088820e-01 -3.60279163e-02 7.31719524e+00] [ 1.01744787e-01 1.43319421e-03 9.94809501e-01 3.26001315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.426874999999995 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:31.55, Y:7.33, Z:3.26 [[ 9.35174545e-01 -3.41166242e-01 -9.51533757e-02 3.15471587e+01] [ 3.39258860e-01 9.40001881e-01 -3.60539885e-02 7.32720624e+00] [ 1.01744756e-01 1.43514653e-03 9.94809502e-01 3.26043821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.456875 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:31.57, Y:7.34, Z:3.26 [[ 9.35509401e-01 -3.40248243e-01 -9.51487932e-02 3.15736735e+01] [ 3.38334895e-01 9.40334375e-01 -3.60660782e-02 7.33766989e+00] [ 1.01743101e-01 1.54799827e-03 9.94809502e-01 3.26261542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.486875 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:31.60, Y:7.35, Z:3.27 [[ 9.36177941e-01 -3.38406156e-01 -9.51427196e-02 3.15997279e+01] [ 3.36481688e-01 9.40998489e-01 -3.60820934e-02 7.34732386e+00] [ 1.01739558e-01 1.76547701e-03 9.94809502e-01 3.26559862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.516875 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:31.63, Y:7.36, Z:3.27 [[ 9.36688144e-01 -3.36994105e-01 -9.51330357e-02 3.16254836e+01] [ 3.35059779e-01 9.41504745e-01 -3.61076076e-02 7.35722983e+00] [ 1.01736255e-01 1.94631404e-03 9.94809502e-01 3.26964119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.546875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:31.65, Y:7.37, Z:3.27 [[ 9.37974464e-01 -3.33399920e-01 -9.51230654e-02 3.16512063e+01] [ 3.31444479e-01 9.42782532e-01 -3.61338549e-02 7.36735280e+00] [ 1.01727389e-01 2.36461834e-03 9.94809503e-01 3.27254180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.576875 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:31.68, Y:7.38, Z:3.28 [[ 9.38577555e-01 -3.31699206e-01 -9.51199790e-02 3.16773152e+01] [ 3.29734231e-01 9.43381733e-01 -3.61419777e-02 7.37783460e+00] [ 1.01722716e-01 2.55773588e-03 9.94809503e-01 3.27792749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.606874999999995 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:31.70, Y:7.39, Z:3.28 [[ 9.39105380e-01 -3.30204857e-01 -9.51096097e-02 3.17030494e+01] [ 3.28229478e-01 9.43905290e-01 -3.61692445e-02 7.38824016e+00] [ 1.01717724e-01 2.74895459e-03 9.94809503e-01 3.27965674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.636874999999996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:31.73, Y:7.40, Z:3.28 [[ 9.39912653e-01 -3.27901347e-01 -9.51047412e-02 3.17294942e+01] [ 3.25912911e-01 9.44707168e-01 -3.61820415e-02 7.39905539e+00] [ 1.01710271e-01 3.01209549e-03 9.94809503e-01 3.28476703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.666875 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:31.76, Y:7.41, Z:3.29 [[ 9.40269834e-01 -3.26878214e-01 -9.50961217e-02 3.17562333e+01] [ 3.24882274e-01 9.45061230e-01 -3.62046819e-02 7.40946285e+00] [ 1.01706179e-01 3.14712594e-03 9.94809504e-01 3.28965724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.696875 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:31.78, Y:7.42, Z:3.29 [[ 9.40626084e-01 -3.25854241e-01 -9.50872403e-02 3.17825326e+01] [ 3.23850732e-01 9.45414320e-01 -3.62279930e-02 7.42018669e+00] [ 1.01701884e-01 3.28292277e-03 9.94809504e-01 3.29297589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.726875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:31.81, Y:7.43, Z:3.30 [[ 9.41059224e-01 -3.24604182e-01 -9.50771380e-02 3.18080912e+01] [ 3.22591639e-01 9.45843669e-01 -3.62544862e-02 7.43042874e+00] [ 1.01696467e-01 3.44652893e-03 9.94809504e-01 3.29563191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.756875 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:31.83, Y:7.44, Z:3.30 [[ 9.41517424e-01 -3.23273677e-01 -9.50740264e-02 3.18336042e+01] [ 3.21253551e-01 9.46298672e-01 -3.62626442e-02 7.44156895e+00] [ 1.01691183e-01 3.59904270e-03 9.94809504e-01 3.29816170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.786874999999995 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:31.86, Y:7.45, Z:3.30 [[ 9.41507136e-01 -3.23306574e-01 -9.50640371e-02 3.18599087e+01] [ 3.21283977e-01 9.46287339e-01 -3.62888128e-02 7.45219849e+00] [ 1.01690306e-01 3.62362437e-03 9.94809505e-01 3.29981201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.816874999999996 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:31.89, Y:7.46, Z:3.30 [[ 9.41403313e-01 -3.23611678e-01 -9.50541150e-02 3.18863522e+01] [ 3.21588011e-01 9.46183062e-01 -3.63147840e-02 7.46193295e+00] [ 1.01690482e-01 3.61859418e-03 9.94809505e-01 3.30314087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.846875 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:31.91, Y:7.47, Z:3.31 [[ 9.40921895e-01 -3.25011720e-01 -9.50440370e-02 3.19125700e+01] [ 3.22992507e-01 9.45703528e-01 -3.63411413e-02 7.47026093e+00] [ 1.01694778e-01 3.49566383e-03 9.94809506e-01 3.30822877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.876875 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:31.94, Y:7.48, Z:3.31 [[ 9.40559179e-01 -3.26062891e-01 -9.50337897e-02 3.19392149e+01] [ 3.24046319e-01 9.45341926e-01 -3.63679191e-02 7.48025994e+00] [ 1.01697655e-01 3.41083037e-03 9.94809506e-01 3.31089779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.906875 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:31.96, Y:7.49, Z:3.31 [[ 9.40303462e-01 -3.26802581e-01 -9.50235348e-02 3.19648836e+01] [ 3.24787069e-01 9.45086655e-01 -3.63946940e-02 7.48992752e+00] [ 1.01699355e-01 3.35964134e-03 9.94809506e-01 3.31253778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.936875 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:31.99, Y:7.50, Z:3.31 [[ 9.39985806e-01 -3.27716059e-01 -9.50203670e-02 3.19913421e+01] [ 3.25704361e-01 9.44770604e-01 -3.64029626e-02 7.50041532e+00] [ 1.01702285e-01 3.26972024e-03 9.94809506e-01 3.31402424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.966874999999995 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:32.02, Y:7.51, Z:3.31 [[ 9.40008353e-01 -3.27654139e-01 -9.50108468e-02 3.20179754e+01] [ 3.25639618e-01 9.44791964e-01 -3.64277932e-02 7.50978614e+00] [ 1.01701202e-01 3.30313398e-03 9.94809507e-01 3.31476732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.996874999999996 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:32.04, Y:7.52, Z:3.32 [[ 9.39983694e-01 -3.27725793e-01 -9.50076778e-02 3.20449819e+01] [ 3.25710803e-01 9.44767107e-01 -3.64360565e-02 7.51944903e+00] [ 1.01701164e-01 3.30427196e-03 9.94809507e-01 3.31784383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.026875 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:32.07, Y:7.53, Z:3.32 [[ 9.40253492e-01 -3.26953537e-01 -9.49987177e-02 3.20707883e+01] [ 3.24932263e-01 9.45034252e-01 -3.64594029e-02 7.52851794e+00] [ 1.01697573e-01 3.41293258e-03 9.94809507e-01 3.32067154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.056875 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:32.10, Y:7.54, Z:3.32 [[ 9.40408112e-01 -3.26509831e-01 -9.49942744e-02 3.20969746e+01] [ 3.24485134e-01 9.45187424e-01 -3.64709763e-02 7.53893127e+00] [ 1.01695526e-01 3.47337209e-03 9.94809507e-01 3.32388127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.086875 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:32.12, Y:7.55, Z:3.33 [[ 9.40696253e-01 -3.25681695e-01 -9.49841713e-02 3.21230890e+01] [ 3.23650139e-01 9.45472652e-01 -3.64972696e-02 7.54935565e+00] [ 1.01691429e-01 3.59120448e-03 9.94809508e-01 3.32675742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.116875 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:32.15, Y:7.56, Z:3.33 [[ 9.40607242e-01 -3.25941610e-01 -9.49741198e-02 3.21496291e+01] [ 3.23908738e-01 9.45383081e-01 -3.65234073e-02 7.55966940e+00] [ 1.01691424e-01 3.59123403e-03 9.94809508e-01 3.32965551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.146874999999994 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:32.18, Y:7.57, Z:3.33 [[ 9.40929895e-01 -3.25011934e-01 -9.49640719e-02 3.21757115e+01] [ 3.22971712e-01 9.45702599e-01 -3.65495142e-02 7.56987134e+00] [ 1.01686798e-01 3.71982170e-03 9.94809508e-01 3.33240048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.176874999999995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:32.20, Y:7.58, Z:3.34 [[ 9.41656913e-01 -3.22902435e-01 -9.49540738e-02 3.22028840e+01] [ 3.20848911e-01 9.46423907e-01 -3.65754705e-02 7.58044256e+00] [ 1.01677114e-01 3.97563347e-03 9.94809509e-01 3.33563829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.206875 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:32.23, Y:7.59, Z:3.34 [[ 9.41796909e-01 -3.22496462e-01 -9.49453229e-02 3.22298600e+01] [ 3.20438598e-01 9.46562031e-01 -3.65981727e-02 7.59086219e+00] [ 1.01674419e-01 4.04389978e-03 9.94809509e-01 3.33874703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.236875 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:32.26, Y:7.60, Z:3.34 [[ 9.41788480e-01 -3.22523624e-01 -9.49366678e-02 3.22556282e+01] [ 3.20463640e-01 9.46552686e-01 -3.66206107e-02 7.60050810e+00] [ 1.01673570e-01 4.06511925e-03 9.94809509e-01 3.34339667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.266875 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:32.28, Y:7.61, Z:3.35 [[ 9.41655931e-01 -3.22913460e-01 -9.49263165e-02 3.22811286e+01] [ 3.20852750e-01 9.46419822e-01 -3.66474234e-02 7.61026002e+00] [ 1.01674094e-01 4.05189393e-03 9.94809510e-01 3.34567995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.296875 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:32.31, Y:7.62, Z:3.35 [[ 9.41523739e-01 -3.23300003e-01 -9.49218448e-02 3.23077033e+01] [ 3.21240083e-01 9.46287972e-01 -3.66590021e-02 7.61993723e+00] [ 1.01675256e-01 4.02261947e-03 9.94809510e-01 3.34811677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.326874999999994 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:32.33, Y:7.63, Z:3.35 [[ 9.41132341e-01 -3.24440547e-01 -9.49117906e-02 3.23337399e+01] [ 3.22383782e-01 9.45897937e-01 -3.66850143e-02 7.62924698e+00] [ 1.01678973e-01 3.92743140e-03 9.94809510e-01 3.35092804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.356874999999995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:32.36, Y:7.64, Z:3.35 [[ 9.40739925e-01 -3.25579609e-01 -9.49015941e-02 3.23597881e+01] [ 3.23525960e-01 9.45506863e-01 -3.67113732e-02 7.63896549e+00] [ 1.01682583e-01 3.83272517e-03 9.94809511e-01 3.35359100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.386874999999996 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:32.39, Y:7.65, Z:3.36 [[ 9.40139779e-01 -3.27311508e-01 -9.48913682e-02 3.23872659e+01] [ 3.25263979e-01 9.44909350e-01 -3.67377862e-02 7.64873016e+00] [ 1.01688441e-01 3.67391023e-03 9.94809511e-01 3.35536951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.416875 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:32.41, Y:7.66, Z:3.36 [[ 9.39833822e-01 -3.28191549e-01 -9.48825287e-02 3.24145966e+01] [ 3.26146186e-01 9.44604321e-01 -3.67606019e-02 7.65873603e+00] [ 1.01690965e-01 3.60328213e-03 9.94809511e-01 3.35790381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.446875 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:32.44, Y:7.67, Z:3.36 [[ 9.39607357e-01 -3.28841902e-01 -9.48736933e-02 3.24406249e+01] [ 3.26797543e-01 9.44378286e-01 -3.67833906e-02 7.66823665e+00] [ 1.01692576e-01 3.55745453e-03 9.94809512e-01 3.36072265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.476875 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:32.47, Y:7.68, Z:3.36 [[ 9.39263636e-01 -3.29825339e-01 -9.48634202e-02 3.24671664e+01] [ 3.27783305e-01 9.44035560e-01 -3.68098658e-02 7.67793794e+00] [ 1.01695268e-01 3.47952295e-03 9.94809512e-01 3.36235577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.506875 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:32.49, Y:7.69, Z:3.37 [[ 9.38515248e-01 -3.31949792e-01 -9.48602377e-02 3.24947327e+01] [ 3.29917733e-01 9.43291429e-01 -3.68180655e-02 7.68691405e+00] [ 1.01702598e-01 3.25824131e-03 9.94809512e-01 3.36809641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.536874999999995 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:32.52, Y:7.70, Z:3.37 [[ 9.38082119e-01 -3.33174393e-01 -9.48512616e-02 3.25205885e+01] [ 3.31146235e-01 9.42859957e-01 -3.68411753e-02 7.69656521e+00] [ 1.01705993e-01 3.15040963e-03 9.94809512e-01 3.37114078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.566874999999996 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:32.55, Y:7.71, Z:3.37 [[ 9.37719149e-01 -3.34197548e-01 -9.48409037e-02 3.25475909e+01] [ 3.32171911e-01 9.42498056e-01 -3.68678208e-02 7.70602350e+00] [ 1.01708503e-01 3.06817736e-03 9.94809513e-01 3.37449809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.596875 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:32.58, Y:7.71, Z:3.38 [[ 9.37355409e-01 -3.35218962e-01 -9.48318737e-02 3.25755405e+01] [ 3.33196187e-01 9.42135528e-01 -3.68910333e-02 7.71344476e+00] [ 1.01711051e-01 2.98239093e-03 9.94809513e-01 3.37883489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.626875 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:32.60, Y:7.72, Z:3.38 [[ 9.36895737e-01 -3.36503901e-01 -9.48235293e-02 3.26014191e+01] [ 3.34485514e-01 9.41677710e-01 -3.69124690e-02 7.72235233e+00] [ 1.01714394e-01 2.86603793e-03 9.94809513e-01 3.38185179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.656875 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:32.63, Y:7.73, Z:3.38 [[ 9.36586677e-01 -3.37364052e-01 -9.48203211e-02 3.26280808e+01] [ 3.35349223e-01 9.41370150e-01 -3.69207085e-02 7.73109969e+00] [ 1.01716740e-01 2.78152271e-03 9.94809513e-01 3.38479866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.686875 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:32.66, Y:7.74, Z:3.39 [[ 9.35956615e-01 -3.39110962e-01 -9.48101796e-02 3.26562535e+01] [ 3.37102428e-01 9.40742734e-01 -3.69467330e-02 7.73903309e+00] [ 1.01721030e-01 2.61979746e-03 9.94809514e-01 3.38867635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.716874999999995 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:32.68, Y:7.75, Z:3.39 [[ 9.35902478e-01 -3.39262836e-01 -9.48012627e-02 3.26821155e+01] [ 3.37252764e-01 9.40687952e-01 -3.69695987e-02 7.74757032e+00] [ 1.01720817e-01 2.62795125e-03 9.94809514e-01 3.39114790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.746874999999996 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:32.71, Y:7.76, Z:3.39 [[ 9.35879471e-01 -3.39328242e-01 -9.47943036e-02 3.27089024e+01] [ 3.37316699e-01 9.40664326e-01 -3.69874342e-02 7.75640861e+00] [ 1.01720501e-01 2.64007872e-03 9.94809514e-01 3.39448173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.776875 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:32.73, Y:7.77, Z:3.40 [[ 9.36084192e-01 -3.38765914e-01 -9.47841834e-02 3.27344254e+01] [ 3.36748875e-01 9.40866732e-01 -3.70133501e-02 7.76501241e+00] [ 1.01718146e-01 2.72914482e-03 9.94809515e-01 3.39693801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.806875 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:32.76, Y:7.77, Z:3.40 [[ 9.36388264e-01 -3.37925747e-01 -9.47797854e-02 3.27609604e+01] [ 3.35903279e-01 9.41168511e-01 -3.70246087e-02 7.77347407e+00] [ 1.01715318e-01 2.83256842e-03 9.94809515e-01 3.40001468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.836875 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:32.79, Y:7.78, Z:3.40 [[ 9.36325202e-01 -3.38103314e-01 -9.47695351e-02 3.27876742e+01] [ 3.36079100e-01 9.41104710e-01 -3.70508271e-02 7.78350135e+00] [ 1.01715063e-01 2.84156314e-03 9.94809515e-01 3.40158111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.866875 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:32.81, Y:7.79, Z:3.40 [[ 9.36401062e-01 -3.37896027e-01 -9.47593021e-02 3.28141608e+01] [ 3.35868111e-01 9.41179000e-01 -3.70769803e-02 7.79277286e+00] [ 1.01713629e-01 2.89229591e-03 9.94809516e-01 3.40406428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.896874999999994 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:32.84, Y:7.80, Z:3.41 [[ 9.36585850e-01 -3.37386431e-01 -9.47488385e-02 3.28412280e+01] [ 3.35353214e-01 9.41361534e-01 -3.71037004e-02 7.80025563e+00] [ 1.01711197e-01 2.97647320e-03 9.94809516e-01 3.40768038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.926874999999995 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:32.87, Y:7.81, Z:3.41 [[ 9.36684757e-01 -3.37112647e-01 -9.47456021e-02 3.28675546e+01] [ 3.35077200e-01 9.41459491e-01 -3.71119628e-02 7.80910229e+00] [ 1.01710058e-01 3.01511878e-03 9.94809516e-01 3.41181562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.956875 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:32.89, Y:7.82, Z:3.41 [[ 9.36734248e-01 -3.36978055e-01 -9.47351043e-02 3.28933495e+01] [ 3.34939216e-01 9.41507533e-01 -3.71387412e-02 7.81825708e+00] [ 1.01708755e-01 3.05862921e-03 9.94809516e-01 3.41460952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.986875 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:32.92, Y:7.83, Z:3.42 [[ 9.36591322e-01 -3.37376010e-01 -9.47318489e-02 3.29199554e+01] [ 3.35338361e-01 9.41365116e-01 -3.71470430e-02 7.82830345e+00] [ 1.01709779e-01 3.02437522e-03 9.94809516e-01 3.41715451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.016875 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:32.95, Y:7.84, Z:3.42 [[ 9.36347539e-01 -3.38054506e-01 -9.47229537e-02 3.29458323e+01] [ 3.36018024e-01 9.41121830e-01 -3.71697118e-02 7.83843483e+00] [ 1.01711228e-01 2.97514836e-03 9.94809517e-01 3.42028505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.046875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:32.97, Y:7.85, Z:3.42 [[ 9.36117446e-01 -3.38694078e-01 -9.47124536e-02 3.29714615e+01] [ 3.36658156e-01 9.40891976e-01 -3.71964479e-02 7.84775456e+00] [ 1.01712404e-01 2.93452376e-03 9.94809517e-01 3.42320780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.076874999999994 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:33.00, Y:7.86, Z:3.43 [[ 9.35770966e-01 -3.39651098e-01 -9.47091962e-02 3.29979500e+01] [ 3.37619220e-01 9.40547218e-01 -3.72047401e-02 7.85650993e+00] [ 1.01715102e-01 2.83947056e-03 9.94809517e-01 3.42655417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.106874999999995 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:33.03, Y:7.86, Z:3.43 [[ 9.34498446e-01 -3.43139619e-01 -9.46987702e-02 3.30254465e+01] [ 3.41122888e-01 9.39281113e-01 -3.72312590e-02 7.86406180e+00] [ 1.01724286e-01 2.48863566e-03 9.94809518e-01 3.43023781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.136874999999996 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:33.05, Y:7.87, Z:3.43 [[ 9.33698915e-01 -3.45312108e-01 -9.46883532e-02 3.30517281e+01] [ 3.43303822e-01 9.38485134e-01 -3.72577333e-02 7.87320169e+00] [ 1.01729158e-01 2.28063157e-03 9.94809518e-01 3.43341739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.166875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:33.08, Y:7.88, Z:3.44 [[ 9.32772991e-01 -3.47806520e-01 -9.46845951e-02 3.30773305e+01] [ 3.45810065e-01 9.37564157e-01 -3.72672814e-02 7.88212861e+00] [ 1.01734686e-01 2.01902750e-03 9.94809518e-01 3.43763262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.196875 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:33.10, Y:7.89, Z:3.44 [[ 9.30968959e-01 -3.52607914e-01 -9.46808143e-02 3.31046918e+01] [ 3.50635196e-01 9.35769947e-01 -3.72768845e-02 7.89002422e+00] [ 1.01743585e-01 1.50519641e-03 9.94809518e-01 3.44077339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.226875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:33.13, Y:7.90, Z:3.44 [[ 9.30179780e-01 -3.54686856e-01 -9.46721233e-02 3.31315067e+01] [ 3.52722624e-01 9.34984246e-01 -3.72989439e-02 7.89928529e+00] [ 1.01746389e-01 1.30172370e-03 9.94809518e-01 3.44348271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.256875 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:33.16, Y:7.91, Z:3.45 [[ 9.29536482e-01 -3.56372084e-01 -9.46618562e-02 3.31585152e+01] [ 3.54413911e-01 9.34343419e-01 -3.73249831e-02 7.90850889e+00] [ 1.01748264e-01 1.14545485e-03 9.94809519e-01 3.44608155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.286874999999995 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:33.18, Y:7.92, Z:3.45 [[ 9.29161192e-01 -3.57352155e-01 -9.46515574e-02 3.31848036e+01] [ 3.55396394e-01 9.33969111e-01 -3.73510815e-02 7.91776034e+00] [ 1.01749120e-01 1.06635324e-03 9.94809519e-01 3.44873951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.316874999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:33.21, Y:7.93, Z:3.45 [[ 9.28878044e-01 -3.58088349e-01 -9.46483684e-02 3.32110009e+01] [ 3.56135575e-01 9.33687177e-01 -3.73591607e-02 7.92667419e+00] [ 1.01749848e-01 9.94453027e-04 9.94809519e-01 3.45208878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.346875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:33.24, Y:7.94, Z:3.46 [[ 9.28979866e-01 -3.57826807e-01 -9.46381755e-02 3.32375083e+01] [ 3.55870050e-01 9.33787380e-01 -3.73849636e-02 7.93690321e+00] [ 1.01749276e-01 1.05098622e-03 9.94809520e-01 3.45514247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.376875 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:33.26, Y:7.95, Z:3.46 [[ 9.29275984e-01 -3.57059808e-01 -9.46279006e-02 3.32625275e+01] [ 3.55096437e-01 9.34080800e-01 -3.74109533e-02 7.94631879e+00] [ 1.01748053e-01 1.16307007e-03 9.94809520e-01 3.45738284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.406875 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:33.29, Y:7.96, Z:3.46 [[ 9.29597472e-01 -3.56223155e-01 -9.46234877e-02 3.32889302e+01] [ 3.54254325e-01 9.34400053e-01 -3.74221114e-02 7.95622135e+00] [ 1.01746815e-01 1.26672038e-03 9.94809520e-01 3.46089842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.436875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:33.32, Y:7.97, Z:3.46 [[ 9.30553925e-01 -3.53719828e-01 -9.46132933e-02 3.33163550e+01] [ 3.51735460e-01 9.35350107e-01 -3.74478680e-02 7.96666302e+00] [ 1.01742607e-01 1.56841028e-03 9.94809520e-01 3.46325896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.466874999999995 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:33.34, Y:7.98, Z:3.46 [[ 9.30716101e-01 -3.53295114e-01 -9.46049804e-02 3.33422374e+01] [ 3.51306424e-01 9.35510492e-01 -3.74688574e-02 7.97751125e+00] [ 1.01741516e-01 1.63753146e-03 9.94809521e-01 3.46451610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.496874999999996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:33.37, Y:7.99, Z:3.47 [[ 9.30999360e-01 -3.52550765e-01 -9.45946555e-02 3.33681330e+01] [ 3.50555597e-01 9.35791059e-01 -3.74949059e-02 7.98860083e+00] [ 1.01739691e-01 1.74704751e-03 9.94809521e-01 3.46615525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.526875 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:33.39, Y:8.00, Z:3.47 [[ 9.31609329e-01 -3.50938549e-01 -9.45843159e-02 3.33937224e+01] [ 3.48932443e-01 9.36396458e-01 -3.75209703e-02 7.99870608e+00] [ 1.01735973e-01 1.95134957e-03 9.94809521e-01 3.47092863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.556875 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:33.42, Y:8.01, Z:3.47 [[ 9.32000470e-01 -3.49901278e-01 -9.45738872e-02 3.34193328e+01] [ 3.47887180e-01 9.36784242e-01 -3.75472382e-02 8.00894543e+00] [ 1.01733154e-01 2.09300072e-03 9.94809522e-01 3.47485694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.586875 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:33.45, Y:8.02, Z:3.48 [[ 9.32312172e-01 -3.49072697e-01 -9.45635578e-02 3.34455452e+01] [ 3.47051712e-01 9.37093038e-01 -3.75732351e-02 8.01989192e+00] [ 1.01730642e-01 2.21153976e-03 9.94809522e-01 3.47838987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.616875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:33.47, Y:8.03, Z:3.48 [[ 9.32699713e-01 -3.48038689e-01 -9.45532483e-02 3.34710840e+01] [ 3.46009777e-01 9.37477219e-01 -3.75991614e-02 8.03057741e+00] [ 1.01727479e-01 2.35237865e-03 9.94809523e-01 3.48113658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.646874999999994 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:33.50, Y:8.04, Z:3.48 [[ 9.33580811e-01 -3.45671082e-01 -9.45429718e-02 3.34966479e+01] [ 3.43627441e-01 9.38352035e-01 -3.76249840e-02 8.04282848e+00] [ 1.01720459e-01 2.63840360e-03 9.94809523e-01 3.48115936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.676874999999995 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:33.52, Y:8.05, Z:3.48 [[ 9.33996480e-01 -3.44549188e-01 -9.45327040e-02 3.35225477e+01] [ 3.42497210e-01 9.38764124e-01 -3.76507643e-02 8.05395738e+00] [ 1.01716451e-01 2.78849392e-03 9.94809523e-01 3.48330942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.706875 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:33.55, Y:8.06, Z:3.49 [[ 9.34389414e-01 -3.43484993e-01 -9.45223940e-02 3.35486712e+01] [ 3.41424970e-01 9.39153588e-01 -3.76766299e-02 8.06461543e+00] [ 1.01712402e-01 2.93233860e-03 9.94809524e-01 3.48628786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.736875 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:33.57, Y:8.08, Z:3.49 [[ 9.34996801e-01 -3.41831029e-01 -9.45120659e-02 3.35744384e+01] [ 3.39759965e-01 9.39756184e-01 -3.77025203e-02 8.07585090e+00] [ 1.01706190e-01 3.14031959e-03 9.94809524e-01 3.49083144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.766875 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:33.60, Y:8.09, Z:3.49 [[ 9.34593110e-01 -3.42934561e-01 -9.45071774e-02 3.35995771e+01] [ 3.40867879e-01 9.39354398e-01 -3.77147701e-02 8.08868969e+00] [ 1.01709431e-01 3.03350309e-03 9.94809524e-01 3.49262630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.796875 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:33.63, Y:8.10, Z:3.50 [[ 9.35693674e-01 -3.39942050e-01 -9.44285494e-02 3.36257821e+01] [ 3.37840295e-01 9.40439602e-01 -3.79116175e-02 8.09778898e+00] [ 1.01692100e-01 3.57189172e-03 9.94809509e-01 3.49898687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.826874999999994 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:33.65, Y:8.11, Z:3.50 [[ 9.35712780e-01 -3.39871588e-01 -9.44928421e-02 3.36503564e+01] [ 3.37785700e-01 9.40465686e-01 -3.77506921e-02 8.10856210e+00] [ 1.01697663e-01 3.40547433e-03 9.94809523e-01 3.50118319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.856874999999995 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:33.68, Y:8.12, Z:3.50 [[ 9.35701133e-01 -3.39905693e-01 -9.44855017e-02 3.36765495e+01] [ 3.37818126e-01 9.40453302e-01 -3.77690554e-02 8.11937189e+00] [ 1.01697119e-01 3.42163286e-03 9.94809524e-01 3.50310708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.886874999999996 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:33.70, Y:8.13, Z:3.50 [[ 9.35479524e-01 -3.40518122e-01 -9.44746981e-02 3.37024427e+01] [ 3.38430942e-01 9.40231863e-01 -3.77960600e-02 8.12936678e+00] [ 1.01698365e-01 3.38427912e-03 9.94809524e-01 3.50446159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.916875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:33.73, Y:8.14, Z:3.51 [[ 9.34709686e-01 -3.42626565e-01 -9.44713660e-02 3.37293910e+01] [ 3.40549266e-01 9.39466352e-01 -3.78043868e-02 8.13983245e+00] [ 1.01705457e-01 3.16397216e-03 9.94809524e-01 3.50566921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.946875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:33.76, Y:8.15, Z:3.51 [[ 9.34264929e-01 -3.43840008e-01 -9.44621191e-02 3.37556257e+01] [ 3.41766554e-01 9.39023272e-01 -3.78274780e-02 8.15100681e+00] [ 1.01708728e-01 3.05689317e-03 9.94809524e-01 3.50813657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.976875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:33.78, Y:8.16, Z:3.51 [[ 9.34147194e-01 -3.44162656e-01 -9.44514957e-02 3.37813454e+01] [ 3.42088169e-01 9.38905086e-01 -3.78539853e-02 8.16100821e+00] [ 1.01708918e-01 3.05045497e-03 9.94809525e-01 3.51103614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.006875 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:33.81, Y:8.17, Z:3.51 [[ 9.33003457e-01 -3.47252194e-01 -9.44482053e-02 3.38081999e+01] [ 3.45192633e-01 9.37767829e-01 -3.78621933e-02 8.17096793e+00] [ 1.01718218e-01 2.72273257e-03 9.94809525e-01 3.51486517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.036874999999995 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:33.83, Y:8.18, Z:3.52 [[ 9.32907788e-01 -3.47511638e-01 -9.44389790e-02 3.38345995e+01] [ 3.45451075e-01 9.37671727e-01 -3.78851924e-02 8.18167302e+00] [ 1.01718306e-01 2.71934420e-03 9.94809525e-01 3.51776524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.066874999999996 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:33.86, Y:8.19, Z:3.52 [[ 9.28892670e-01 -3.58108461e-01 -9.44284768e-02 3.38620532e+01] [ 3.56099601e-01 9.33678640e-01 -3.79113508e-02 8.19068122e+00] [ 1.01742227e-01 1.58963298e-03 9.94809526e-01 3.52498218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.096875 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:33.89, Y:8.20, Z:3.53 [[ 9.26931638e-01 -3.63156632e-01 -9.44192751e-02 3.38885114e+01] [ 3.61171507e-01 9.31727500e-01 -3.79342543e-02 8.20085678e+00] [ 1.01749111e-01 1.06090866e-03 9.94809526e-01 3.52903546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.126875 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:33.91, Y:8.21, Z:3.53 [[ 9.25446633e-01 -3.66926773e-01 -9.44101360e-02 3.39142690e+01] [ 3.64958867e-01 9.30249586e-01 -3.79569861e-02 8.21180645e+00] [ 1.01752424e-01 6.71348711e-04 9.94809526e-01 3.53147247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.156875 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:33.94, Y:8.22, Z:3.53 [[ 9.24677775e-01 -3.68860879e-01 -9.44069052e-02 3.39401181e+01] [ 3.66902199e-01 9.29484499e-01 -3.79650199e-02 8.22342487e+00] [ 1.01753566e-01 4.67309014e-04 9.94809526e-01 3.53433458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.186875 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:33.97, Y:8.24, Z:3.53 [[ 9.25099169e-01 -3.67805463e-01 -9.43963418e-02 3.39657230e+01] [ 3.65838621e-01 9.29902558e-01 -3.79912667e-02 8.23666293e+00] [ 1.01752795e-01 6.11861727e-04 9.94809527e-01 3.53480901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.216874999999995 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:33.99, Y:8.25, Z:3.54 [[ 9.26007888e-01 -3.65514313e-01 -9.43857990e-02 3.39898952e+01] [ 3.63532918e-01 9.30805292e-01 -3.80174415e-02 8.24795706e+00] [ 1.01750720e-01 8.92105729e-04 9.94809527e-01 3.53743431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.246874999999996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:34.02, Y:8.26, Z:3.54 [[ 9.27090095e-01 -3.62762507e-01 -9.43786002e-02 3.40156850e+01] [ 3.60765055e-01 9.31880835e-01 -3.80353042e-02 8.25953968e+00] [ 1.01747391e-01 1.21365293e-03 9.94809527e-01 3.54118760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.276875 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:34.04, Y:8.27, Z:3.55 [[ 9.29230898e-01 -3.57245818e-01 -9.43682364e-02 3.40409594e+01] [ 3.55217318e-01 9.34008574e-01 -3.80610002e-02 8.27244175e+00] [ 1.01737875e-01 1.84622552e-03 9.94809528e-01 3.54573364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.306875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:34.07, Y:8.28, Z:3.55 [[ 9.30205244e-01 -3.54703859e-01 -9.43577071e-02 3.40664443e+01] [ 3.52659659e-01 9.34976224e-01 -3.80870859e-02 8.28445697e+00] [ 1.01731849e-01 2.15265018e-03 9.94809528e-01 3.54868031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.336875 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:34.09, Y:8.30, Z:3.55 [[ 9.30939786e-01 -3.52774348e-01 -9.43470932e-02 3.40902550e+01] [ 3.50717599e-01 9.35705369e-01 -3.81133601e-02 8.29653880e+00] [ 1.01726497e-01 2.39205731e-03 9.94809528e-01 3.54998033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.366875 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:34.12, Y:8.31, Z:3.55 [[ 9.32240098e-01 -3.49324916e-01 -9.43424789e-02 3.41155145e+01] [ 3.47249381e-01 9.36997529e-01 -3.81247785e-02 8.30960725e+00] [ 1.01716605e-01 2.78107987e-03 9.94809528e-01 3.55202727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.396874999999994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:34.14, Y:8.32, Z:3.55 [[ 9.32386610e-01 -3.48936526e-01 -9.43319155e-02 3.41409644e+01] [ 3.46856369e-01 9.37142021e-01 -3.81508976e-02 8.32130815e+00] [ 1.01714644e-01 2.85176035e-03 9.94809529e-01 3.55447045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.426874999999995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:34.17, Y:8.33, Z:3.56 [[ 9.32537749e-01 -3.48535272e-01 -9.43213170e-02 3.41666790e+01] [ 3.46450423e-01 9.37291105e-01 -3.81770826e-02 8.33276972e+00] [ 1.01712591e-01 2.92391053e-03 9.94809529e-01 3.55695347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.456875 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:34.19, Y:8.35, Z:3.56 [[ 9.32502946e-01 -3.48631271e-01 -9.43106188e-02 3.41908567e+01] [ 3.46544243e-01 9.37255345e-01 -3.82034928e-02 8.34506802e+00] [ 1.01712064e-01 2.94206762e-03 9.94809530e-01 3.55809351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.486875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:34.22, Y:8.36, Z:3.56 [[ 9.32156564e-01 -3.49557605e-01 -9.43059959e-02 3.42167003e+01] [ 3.47474146e-01 9.36910529e-01 -3.82149011e-02 8.35624250e+00] [ 1.01714590e-01 2.85337554e-03 9.94809530e-01 3.56113662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.516875 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:34.24, Y:8.37, Z:3.56 [[ 9.31600165e-01 -3.51040697e-01 -9.42950798e-02 3.42422833e+01] [ 3.48962085e-01 9.36356250e-01 -3.82418178e-02 8.36706499e+00] [ 1.01718222e-01 2.72067609e-03 9.94809530e-01 3.56451977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.546875 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:34.27, Y:8.38, Z:3.57 [[ 9.30991147e-01 -3.52653599e-01 -9.42916976e-02 3.42676313e+01] [ 3.50582382e-01 9.35750458e-01 -3.82501553e-02 8.37737498e+00] [ 1.01722554e-01 2.55354800e-03 9.94809530e-01 3.56921211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.576874999999994 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:34.29, Y:8.39, Z:3.57 [[ 9.29504039e-01 -3.56557580e-01 -9.42811412e-02 3.42930331e+01] [ 3.54503720e-01 9.34270865e-01 -3.82761578e-02 8.38815392e+00] [ 1.01731777e-01 2.15482801e-03 9.94809531e-01 3.57385474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.606874999999995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:34.32, Y:8.40, Z:3.58 [[ 9.28426923e-01 -3.59355678e-01 -9.42705976e-02 3.43192192e+01] [ 3.57313551e-01 9.33198787e-01 -3.83021080e-02 8.39917661e+00] [ 1.01737287e-01 1.87654632e-03 9.94809531e-01 3.57646888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.636874999999996 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:34.35, Y:8.41, Z:3.58 [[ 9.27491524e-01 -3.61765802e-01 -9.42601563e-02 3.43451976e+01] [ 3.59733466e-01 9.32267566e-01 -3.83277868e-02 8.40958839e+00] [ 1.01741369e-01 1.64016463e-03 9.94809531e-01 3.57976245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.666875 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:34.37, Y:8.42, Z:3.58 [[ 9.25809338e-01 -3.66051993e-01 -9.42497129e-02 3.43707359e+01] [ 3.64039158e-01 9.30593630e-01 -3.83534505e-02 8.42009660e+00] [ 1.01747539e-01 1.19739651e-03 9.94809532e-01 3.58316351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.696875 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:34.40, Y:8.43, Z:3.59 [[ 9.25172211e-01 -3.67662005e-01 -9.42392131e-02 3.43965705e+01] [ 3.65654870e-01 9.29958897e-01 -3.83792325e-02 8.43078283e+00] [ 1.01749180e-01 1.04837224e-03 9.94809532e-01 3.58532500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.726875 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:34.42, Y:8.44, Z:3.59 [[ 9.24714977e-01 -3.68813157e-01 -9.42288010e-02 3.44221224e+01] [ 3.66809377e-01 9.29503068e-01 -3.84047793e-02 8.44134440e+00] [ 1.01750148e-01 9.49466770e-04 9.94809533e-01 3.58684211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.756875 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:34.45, Y:8.45, Z:3.59 [[ 9.24320761e-01 -3.69802690e-01 -9.42183662e-02 3.44489568e+01] [ 3.67801428e-01 9.29109906e-01 -3.84303622e-02 8.45188879e+00] [ 1.01750869e-01 8.68332025e-04 9.94809533e-01 3.58761733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.786874999999995 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:34.48, Y:8.46, Z:3.59 [[ 9.24430584e-01 -3.69530394e-01 -9.42092546e-02 3.44752820e+01] [ 3.67525447e-01 9.29218186e-01 -3.84526856e-02 8.46246907e+00] [ 1.01750389e-01 9.22540222e-04 9.94809533e-01 3.59016773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.816874999999996 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:34.50, Y:8.47, Z:3.59 [[ 9.24650804e-01 -3.68981655e-01 -9.41988762e-02 3.45007639e+01] [ 3.66971278e-01 9.29436129e-01 -3.84780934e-02 8.47303978e+00] [ 1.01749549e-01 1.01051805e-03 9.94809534e-01 3.59294412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.846875 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:34.53, Y:8.48, Z:3.59 [[ 9.24999548e-01 -3.68109188e-01 -9.41884434e-02 3.45261363e+01] [ 3.66091699e-01 9.29781877e-01 -3.85036145e-02 8.48399922e+00] [ 1.01748242e-01 1.13421870e-03 9.94809534e-01 3.59485343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.876875 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:34.55, Y:8.50, Z:3.60 [[ 9.26086190e-01 -3.65369498e-01 -9.41780110e-02 3.45522443e+01] [ 3.63335270e-01 9.30861423e-01 -3.85291146e-02 8.49506680e+00] [ 1.01744041e-01 1.46308792e-03 9.94809534e-01 3.59663750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.906875 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:34.58, Y:8.51, Z:3.60 [[ 9.26686904e-01 -3.63845931e-01 -9.41675078e-02 3.45793466e+01] [ 3.61801246e-01 9.31457669e-01 -3.85547681e-02 8.50555731e+00] [ 1.01741043e-01 1.65827709e-03 9.94809535e-01 3.60070935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.936875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:34.61, Y:8.52, Z:3.60 [[ 9.27263875e-01 -3.62375412e-01 -9.41582031e-02 3.46054770e+01] [ 3.60320855e-01 9.32030396e-01 -3.85774788e-02 8.51630813e+00] [ 1.01737837e-01 1.84433815e-03 9.94809535e-01 3.60426394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.966874999999995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:34.63, Y:8.53, Z:3.61 [[ 9.28868025e-01 -3.58246309e-01 -9.41476182e-02 3.46310921e+01] [ 3.56167951e-01 9.33624216e-01 -3.86032939e-02 8.52676638e+00] [ 1.01727984e-01 2.32500108e-03 9.94809535e-01 3.60782291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.996874999999996 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:34.66, Y:8.54, Z:3.61 [[ 9.29501864e-01 -3.56599395e-01 -9.41443393e-02 3.46569479e+01] [ 3.54511801e-01 9.34254008e-01 -3.86112886e-02 8.53752019e+00] [ 1.01723489e-01 2.51398539e-03 9.94809535e-01 3.61035817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.026875 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:34.68, Y:8.55, Z:3.61 [[ 9.30163088e-01 -3.54873910e-01 -9.41336194e-02 3.46829370e+01] [ 3.52774860e-01 9.34910183e-01 -3.86374060e-02 8.54747216e+00] [ 1.01717887e-01 2.73111456e-03 9.94809536e-01 3.61314423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.056875 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:34.71, Y:8.56, Z:3.61 [[ 9.30688072e-01 -3.53497676e-01 -9.41228210e-02 3.47084534e+01] [ 3.51388951e-01 9.35430876e-01 -3.86636937e-02 8.55758498e+00] [ 1.01712919e-01 2.91011923e-03 9.94809536e-01 3.61483539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.086875 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:34.74, Y:8.57, Z:3.62 [[ 9.31622425e-01 -3.51029103e-01 -9.41181528e-02 3.47359091e+01] [ 3.48906665e-01 9.36359108e-01 -3.86750540e-02 8.56733299e+00] [ 1.01704459e-01 3.19209677e-03 9.94809536e-01 3.61761338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.116875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:34.76, Y:8.58, Z:3.62 [[ 9.32004447e-01 -3.50016103e-01 -9.41086574e-02 3.47624906e+01] [ 3.47886188e-01 9.36737772e-01 -3.86981458e-02 8.57701963e+00] [ 1.01700108e-01 3.32774188e-03 9.94809537e-01 3.61958123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.146874999999994 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:34.79, Y:8.59, Z:3.62 [[ 9.32039911e-01 -3.49924560e-01 -9.40978526e-02 3.47883152e+01] [ 3.47791532e-01 9.36771835e-01 -3.87244009e-02 8.58717920e+00] [ 1.01698837e-01 3.36625087e-03 9.94809537e-01 3.62096205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.176874999999995 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:34.82, Y:8.60, Z:3.62 [[ 9.32113396e-01 -3.49731703e-01 -9.40869391e-02 3.48151402e+01] [ 3.47595025e-01 9.36843672e-01 -3.87508989e-02 8.59640596e+00] [ 1.01697171e-01 3.41607999e-03 9.94809537e-01 3.62366033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.206875 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:34.84, Y:8.61, Z:3.63 [[ 9.31950455e-01 -3.50168587e-01 -9.40760881e-02 3.48414435e+01] [ 3.48031472e-01 9.36680533e-01 -3.87772241e-02 8.60614713e+00] [ 1.01697806e-01 3.39701222e-03 9.94809538e-01 3.62693854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.236875 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:34.87, Y:8.62, Z:3.63 [[ 9.31706177e-01 -3.50820983e-01 -9.40650713e-02 3.48678080e+01] [ 3.48684488e-01 9.36436534e-01 -3.88039303e-02 8.61582530e+00] [ 1.01699202e-01 3.35483034e-03 9.94809538e-01 3.62896127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.266875 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:34.89, Y:8.62, Z:3.63 [[ 9.30746294e-01 -3.53362669e-01 -9.40540292e-02 3.48947575e+01] [ 3.51236393e-01 9.35481253e-01 -3.88306760e-02 8.62394306e+00] [ 1.01707092e-01 3.10630980e-03 9.94809539e-01 3.63233717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.296875 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:34.92, Y:8.63, Z:3.64 [[ 9.30222062e-01 -3.54741311e-01 -9.40506091e-02 3.49216576e+01] [ 3.52621216e-01 9.34959792e-01 -3.88389580e-02 8.63330409e+00] [ 1.01711321e-01 2.96461548e-03 9.94809539e-01 3.63796329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.326874999999994 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:34.95, Y:8.64, Z:3.64 [[ 9.29830751e-01 -3.55768247e-01 -9.40410988e-02 3.49468963e+01] [ 3.53651059e-01 9.34569781e-01 -3.88619719e-02 8.64239545e+00] [ 1.01713825e-01 2.87732233e-03 9.94809539e-01 3.64086495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.356874999999995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:34.97, Y:8.65, Z:3.64 [[ 9.29560360e-01 -3.56475377e-01 -9.40363901e-02 3.49727500e+01] [ 3.54360643e-01 9.34300485e-01 -3.88733625e-02 8.65181822e+00] [ 1.01715641e-01 2.81234116e-03 9.94809539e-01 3.64408619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.386874999999996 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:35.00, Y:8.66, Z:3.65 [[ 9.29016467e-01 -3.57893286e-01 -9.40255285e-02 3.49987142e+01] [ 3.55783132e-01 9.33758632e-01 -3.88996166e-02 8.66230217e+00] [ 1.01719060e-01 2.68568735e-03 9.94809539e-01 3.64564245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.416875 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:35.02, Y:8.67, Z:3.65 [[ 9.24445967e-01 -3.69541469e-01 -9.40146621e-02 3.50239511e+01] [ 3.67488415e-01 9.29213131e-01 -3.89258613e-02 8.67179343e+00] [ 1.01744378e-01 1.43555630e-03 9.94809540e-01 3.64675913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.446875 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:35.05, Y:8.68, Z:3.65 [[ 9.21770362e-01 -3.76166894e-01 -9.40099371e-02 3.50498162e+01] [ 3.74146945e-01 9.26551646e-01 -3.89372694e-02 8.68126400e+00] [ 1.01751974e-01 7.17690220e-04 9.94809540e-01 3.65248898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.476875 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:35.08, Y:8.69, Z:3.66 [[ 9.17646146e-01 -3.86121347e-01 -9.39992359e-02 3.50768853e+01] [ 3.84150620e-01 9.22447928e-01 -3.89630865e-02 8.69093746e+00] [ 1.01753880e-01 -3.55538577e-04 9.94809540e-01 3.65884605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.506875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:35.10, Y:8.70, Z:3.66 [[ 9.16420452e-01 -3.89023709e-01 -9.39899462e-02 3.51026385e+01] [ 3.87065892e-01 9.21227511e-01 -3.89854829e-02 8.70226846e+00] [ 1.01752401e-01 -6.53208555e-04 9.94809541e-01 3.66008518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.536874999999995 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:35.13, Y:8.71, Z:3.66 [[ 9.15406704e-01 -3.91405783e-01 -9.39791453e-02 3.51280968e+01] [ 3.89457804e-01 9.20217758e-01 -3.90115024e-02 8.71480477e+00] [ 1.01750606e-01 -8.89520686e-04 9.94809541e-01 3.66067442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.566874999999996 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:35.15, Y:8.73, Z:3.66 [[ 9.15115131e-01 -3.92089605e-01 -9.39682793e-02 3.51529852e+01] [ 3.90142536e-01 9.19926553e-01 -3.90376585e-02 8.72668190e+00] [ 1.01750175e-01 -9.37070778e-04 9.94809541e-01 3.66192993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.596875 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:35.18, Y:8.74, Z:3.66 [[ 9.15995339e-01 -3.90029976e-01 -9.39635882e-02 3.51772959e+01] [ 3.88070929e-01 9.20801897e-01 -3.90489466e-02 8.73855273e+00] [ 1.01752110e-01 -6.95883920e-04 9.94809542e-01 3.66386484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.626875 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:35.20, Y:8.75, Z:3.67 [[ 9.16909188e-01 -3.87878531e-01 -9.39562982e-02 3.52025850e+01] [ 3.85906409e-01 9.21710396e-01 -3.90664793e-02 8.74934713e+00] [ 1.01753545e-01 -4.37923888e-04 9.94809542e-01 3.66817400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.656875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:35.23, Y:8.76, Z:3.67 [[ 9.17867502e-01 -3.85607895e-01 -9.39457308e-02 3.52283738e+01] [ 3.83621297e-01 9.22662737e-01 -3.90918752e-02 8.76085676e+00] [ 1.01754361e-01 -1.58421247e-04 9.94809542e-01 3.67173684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.686875 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:35.25, Y:8.77, Z:3.67 [[ 9.20358666e-01 -3.79626256e-01 -9.39352471e-02 3.52527574e+01] [ 3.77605923e-01 9.25139786e-01 -3.91170506e-02 8.77477238e+00] [ 1.01753094e-01 5.31210840e-04 9.94809542e-01 3.67454260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.716874999999995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:35.28, Y:8.79, Z:3.68 [[ 9.21780947e-01 -3.76162273e-01 -9.39245976e-02 3.52765037e+01] [ 3.74121369e-01 9.26553322e-01 -3.91426049e-02 8.78759110e+00] [ 1.01750119e-01 9.41708380e-04 9.94809543e-01 3.67512958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.746874999999996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:35.30, Y:8.80, Z:3.68 [[ 9.23231894e-01 -3.72589614e-01 -9.39140502e-02 3.53023162e+01] [ 3.70527671e-01 9.27995216e-01 -3.91678948e-02 8.80072158e+00] [ 1.01745340e-01 1.36329538e-03 9.94809543e-01 3.67779194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.776875 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:35.33, Y:8.81, Z:3.69 [[ 9.25653604e-01 -3.66534171e-01 -9.39047718e-02 3.53278831e+01] [ 3.64438817e-01 9.30402323e-01 -3.91901271e-02 8.81264291e+00] [ 1.01733739e-01 2.05393842e-03 9.94809543e-01 3.68508253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.806875 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:35.35, Y:8.82, Z:3.69 [[ 9.26513824e-01 -3.64356515e-01 -9.38960269e-02 3.53522998e+01] [ 3.62247879e-01 9.31256660e-01 -3.92110678e-02 8.82339130e+00] [ 1.01728108e-01 2.31595973e-03 9.94809544e-01 3.68874630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.836875 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:35.38, Y:8.84, Z:3.69 [[ 9.27178197e-01 -3.62663770e-01 -9.38913212e-02 3.53778686e+01] [ 3.60545336e-01 9.31916665e-01 -3.92223325e-02 8.83510895e+00] [ 1.01723406e-01 2.51401368e-03 9.94809544e-01 3.69221880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.866875 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:35.40, Y:8.85, Z:3.69 [[ 9.28325708e-01 -3.59719129e-01 -9.38803911e-02 3.54028985e+01] [ 3.57583024e-01 9.33056235e-01 -3.92484768e-02 8.84802473e+00] [ 1.01714112e-01 2.86533587e-03 9.94809544e-01 3.69454816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.896874999999994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:35.43, Y:8.86, Z:3.70 [[ 9.28863686e-01 -3.58330582e-01 -9.38693071e-02 3.54275813e+01] [ 3.56184731e-01 9.33589800e-01 -3.92749684e-02 8.85944595e+00] [ 1.01708850e-01 3.04627798e-03 9.94809545e-01 3.69585242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.926874999999995 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:35.45, Y:8.87, Z:3.70 [[ 9.28765430e-01 -3.58586435e-01 -9.38644953e-02 3.54538131e+01] [ 3.56440726e-01 9.33491608e-01 -3.92864649e-02 8.87054259e+00] [ 1.01709312e-01 3.03078165e-03 9.94809545e-01 3.69875902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.956875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:35.48, Y:8.88, Z:3.70 [[ 9.29224686e-01 -3.57397501e-01 -9.38536595e-02 3.54789122e+01] [ 3.55243135e-01 9.33946923e-01 -3.93123342e-02 8.88197131e+00] [ 1.01704467e-01 3.18912320e-03 9.94809545e-01 3.70083509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.986875 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:35.51, Y:8.89, Z:3.70 [[ 9.29902752e-01 -3.55632368e-01 -9.38429037e-02 3.55050623e+01] [ 3.53466452e-01 9.34619703e-01 -3.93379928e-02 8.89433136e+00] [ 1.01697290e-01 3.41018954e-03 9.94809545e-01 3.70186601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.016875 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:35.53, Y:8.91, Z:3.70 [[ 9.30000403e-01 -3.55379266e-01 -9.38340450e-02 3.55311915e+01] [ 3.53209938e-01 9.34715786e-01 -3.93591124e-02 8.90563313e+00] [ 1.01695576e-01 3.46087318e-03 9.94809546e-01 3.70410805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.046875 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:35.56, Y:8.92, Z:3.71 [[ 9.30211762e-01 -3.54828265e-01 -9.38241958e-02 3.55567782e+01] [ 3.52653781e-01 9.34924769e-01 -3.93825772e-02 8.91669322e+00] [ 1.01692616e-01 3.54667912e-03 9.94809546e-01 3.70650423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.076874999999994 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:35.58, Y:8.93, Z:3.71 [[ 9.30295224e-01 -3.54610304e-01 -9.38207267e-02 3.55816058e+01] [ 3.52433884e-01 9.35007337e-01 -3.93908398e-02 8.92734216e+00] [ 1.01691465e-01 3.57950703e-03 9.94809546e-01 3.70890365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.106874999999995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:35.61, Y:8.94, Z:3.71 [[ 9.30614124e-01 -3.53774558e-01 -9.38131873e-02 3.56074435e+01] [ 3.51592100e-01 9.35323443e-01 -3.94087875e-02 8.93795509e+00] [ 1.01687500e-01 3.69039878e-03 9.94809546e-01 3.71285184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.136874999999996 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:35.63, Y:8.95, Z:3.72 [[ 9.30652211e-01 -3.53677303e-01 -9.38020662e-02 3.56331221e+01] [ 3.51491690e-01 9.35360066e-01 -3.94352407e-02 8.94944057e+00] [ 1.01686056e-01 3.72984714e-03 9.94809547e-01 3.71577785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.166875 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:35.66, Y:8.96, Z:3.72 [[ 9.31201197e-01 -3.52232323e-01 -9.37908363e-02 3.56577924e+01] [ 3.50036721e-01 9.35904402e-01 -3.94619313e-02 8.96133284e+00] [ 1.01679024e-01 3.91676092e-03 9.94809547e-01 3.71772926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.196875 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:35.68, Y:8.97, Z:3.72 [[ 9.31375242e-01 -3.51772780e-01 -9.37873620e-02 3.56826227e+01] [ 3.49574028e-01 9.36076975e-01 -3.94701868e-02 8.97175205e+00] [ 1.01676727e-01 3.97592881e-03 9.94809547e-01 3.71988038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.226875 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:35.71, Y:8.98, Z:3.72 [[ 9.31555562e-01 -3.51296982e-01 -9.37798794e-02 3.57088689e+01] [ 3.49094043e-01 9.36255334e-01 -3.94879573e-02 8.98241272e+00] [ 1.01673913e-01 4.04722899e-03 9.94809547e-01 3.72327683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.256875 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:35.73, Y:8.99, Z:3.73 [[ 9.31654245e-01 -3.51038175e-01 -9.37686950e-02 3.57348146e+01] [ 3.48831264e-01 9.36352153e-01 -3.95144982e-02 8.99265462e+00] [ 1.01671617e-01 4.10439757e-03 9.94809548e-01 3.72775086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.286874999999995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:35.76, Y:9.00, Z:3.73 [[ 9.31691728e-01 -3.50941665e-01 -9.37575209e-02 3.57599171e+01] [ 3.48731606e-01 9.36388155e-01 -3.95409938e-02 9.00268151e+00] [ 1.01670014e-01 4.14380599e-03 9.94809548e-01 3.73122465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.316874999999996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:35.79, Y:9.01, Z:3.73 [[ 9.31462020e-01 -3.51552919e-01 -9.37499345e-02 3.57867460e+01] [ 3.49344136e-01 9.36159047e-01 -3.95589726e-02 9.01401660e+00] [ 1.01671922e-01 4.09669066e-03 9.94809548e-01 3.73438631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.346875 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:35.81, Y:9.02, Z:3.74 [[ 9.31222130e-01 -3.52190467e-01 -9.37401701e-02 3.58127535e+01] [ 3.49982576e-01 9.35919577e-01 -3.95820972e-02 9.02499602e+00] [ 1.01673698e-01 4.05229862e-03 9.94809549e-01 3.73772724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.376875 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:35.84, Y:9.03, Z:3.74 [[ 9.30996784e-01 -3.52788735e-01 -9.37288428e-02 3.58383350e+01] [ 3.50581169e-01 9.35694383e-01 -3.96089019e-02 9.03421079e+00] [ 1.01675126e-01 4.01619303e-03 9.94809549e-01 3.73981561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.406875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:35.86, Y:9.04, Z:3.74 [[ 9.30781138e-01 -3.53358592e-01 -9.37239490e-02 3.58645817e+01] [ 3.51152739e-01 9.35479541e-01 -3.96204783e-02 9.04437357e+00] [ 1.01677073e-01 3.96657254e-03 9.94809549e-01 3.74242201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.436875 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:35.89, Y:9.05, Z:3.74 [[ 9.30482557e-01 -3.54147077e-01 -9.37126386e-02 3.58902085e+01] [ 3.51942517e-01 9.35181567e-01 -3.96472124e-02 9.05431645e+00] [ 1.01679277e-01 3.90957769e-03 9.94809550e-01 3.74404791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.466874999999995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:35.92, Y:9.06, Z:3.75 [[ 9.30012106e-01 -3.55381600e-01 -9.37091307e-02 3.59163427e+01] [ 3.53182445e-01 9.34713647e-01 -3.96555019e-02 9.06356986e+00] [ 1.01684039e-01 3.78367698e-03 9.94809550e-01 3.74552581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.496874999999996 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:35.94, Y:9.07, Z:3.75 [[ 9.29834073e-01 -3.55848058e-01 -9.37056914e-02 3.59426810e+01] [ 3.53650444e-01 9.34536334e-01 -3.96636272e-02 9.07391860e+00] [ 1.01685598e-01 3.74153271e-03 9.94809550e-01 3.74743296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.526875 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:35.97, Y:9.08, Z:3.75 [[ 9.29424507e-01 -3.56917755e-01 -9.37005933e-02 3.59682480e+01] [ 3.54724341e-01 9.34128730e-01 -3.96756673e-02 9.08467692e+00] [ 1.01689366e-01 3.63765633e-03 9.94809550e-01 3.75027385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.556875 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:35.99, Y:9.10, Z:3.75 [[ 9.29166369e-01 -3.57592145e-01 -9.36894715e-02 3.59946073e+01] [ 3.55399502e-01 9.33870950e-01 -3.97019128e-02 9.09506400e+00] [ 1.01690968e-01 3.59249067e-03 9.94809550e-01 3.75381234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.586875 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:36.02, Y:9.10, Z:3.76 [[ 9.28108077e-01 -3.60332889e-01 -9.36782074e-02 3.60205934e+01] [ 3.58151464e-01 9.32817869e-01 -3.97284733e-02 9.10288816e+00] [ 1.01700181e-01 3.32132991e-03 9.94809551e-01 3.75745978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.616875 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:36.05, Y:9.11, Z:3.76 [[ 9.27138984e-01 -3.62820352e-01 -9.36733509e-02 3.60471648e+01] [ 3.60650408e-01 9.31854078e-01 -3.97399207e-02 9.11211535e+00] [ 1.01708346e-01 3.06109749e-03 9.94809551e-01 3.76185899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.646874999999994 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:36.07, Y:9.12, Z:3.77 [[ 9.26098614e-01 -3.65470570e-01 -9.36622648e-02 3.60727810e+01] [ 3.63311481e-01 9.30818688e-01 -3.97660324e-02 9.12122111e+00] [ 1.01715901e-01 2.79869133e-03 9.94809551e-01 3.76572464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.676874999999995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:36.10, Y:9.13, Z:3.77 [[ 9.24200544e-01 -3.70245200e-01 -9.36581404e-02 3.60993339e+01] [ 3.68109517e-01 9.28931254e-01 -3.97757438e-02 9.12909394e+00] [ 1.01728752e-01 2.28431128e-03 9.94809551e-01 3.77125213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.706875 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:36.13, Y:9.14, Z:3.77 [[ 9.23411596e-01 -3.72209786e-01 -9.36530850e-02 3.61260299e+01] [ 3.70082962e-01 9.28146295e-01 -3.97876435e-02 9.13885194e+00] [ 1.01733114e-01 2.08096027e-03 9.94809551e-01 3.77401040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.736875 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:36.15, Y:9.15, Z:3.78 [[ 9.22602682e-01 -3.74213137e-01 -9.36419735e-02 3.61527353e+01] [ 3.72093942e-01 9.27340801e-01 -3.98137778e-02 9.14838645e+00] [ 1.01736861e-01 1.88868707e-03 9.94809552e-01 3.77527139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.766875 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:36.18, Y:9.16, Z:3.78 [[ 9.21906825e-01 -3.75925033e-01 -9.36385372e-02 3.61787863e+01] [ 3.73813817e-01 9.26648504e-01 -3.98218580e-02 9.15757651e+00] [ 1.01740044e-01 1.70866359e-03 9.94809552e-01 3.77791218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.796875 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:36.21, Y:9.17, Z:3.78 [[ 9.21063792e-01 -3.77988574e-01 -9.36276074e-02 3.62070486e+01] [ 3.75885372e-01 9.25809030e-01 -3.98475394e-02 9.16562137e+00] [ 1.01743199e-01 1.50887774e-03 9.94809552e-01 3.78094278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.826874999999994 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:36.23, Y:9.17, Z:3.78 [[ 9.20837639e-01 -3.78541572e-01 -9.36179550e-02 3.62328108e+01] [ 3.76438915e-01 9.25583119e-01 -3.98702038e-02 9.17497132e+00] [ 1.01743728e-01 1.47254296e-03 9.94809552e-01 3.78353699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.856874999999995 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:36.26, Y:9.19, Z:3.79 [[ 9.20745673e-01 -3.78766050e-01 -9.36145527e-02 3.62592574e+01] [ 3.76663738e-01 9.25491306e-01 -3.98781909e-02 9.18529600e+00] [ 1.01743959e-01 1.45646438e-03 9.94809552e-01 3.78743354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.886874999999996 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:36.29, Y:9.20, Z:3.79 [[ 9.21302956e-01 -3.77410854e-01 -9.36050757e-02 3.62860335e+01] [ 3.75299304e-01 9.26044485e-01 -3.99004236e-02 9.19530147e+00] [ 1.01741317e-01 1.63045846e-03 9.94809553e-01 3.78954090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.916875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:36.31, Y:9.21, Z:3.79 [[ 9.21490521e-01 -3.76955202e-01 -9.35948473e-02 3.63115670e+01] [ 3.74838872e-01 9.26229919e-01 -3.99244023e-02 9.20579863e+00] [ 1.01740059e-01 1.70697126e-03 9.94809553e-01 3.79114121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.946875 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:36.34, Y:9.22, Z:3.79 [[ 9.21801135e-01 -3.76197683e-01 -9.35840303e-02 3.63373374e+01] [ 3.74074887e-01 9.26537639e-01 -3.99497416e-02 9.21654540e+00] [ 1.01738127e-01 1.81828162e-03 9.94809553e-01 3.79468719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.976875 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:36.36, Y:9.23, Z:3.80 [[ 9.22374902e-01 -3.74791472e-01 -9.35729298e-02 3.63629897e+01] [ 3.72658821e-01 9.27106976e-01 -3.99757252e-02 9.22706692e+00] [ 1.01734677e-01 2.00182792e-03 9.94809554e-01 3.79651759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.006875 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:36.39, Y:9.24, Z:3.80 [[ 9.21650227e-01 -3.76570859e-01 -9.35694823e-02 3.63890904e+01] [ 3.74446524e-01 9.26386041e-01 -3.99837928e-02 9.23805623e+00] [ 1.01738193e-01 1.81430429e-03 9.94809554e-01 3.80086082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.036874999999995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:36.41, Y:9.25, Z:3.81 [[ 9.20490447e-01 -3.79399857e-01 -9.35579244e-02 3.64147056e+01] [ 3.77287332e-01 9.25231540e-01 -4.00108191e-02 9.24855053e+00] [ 1.01742842e-01 1.53135707e-03 9.94809554e-01 3.80527898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.066874999999996 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:36.44, Y:9.26, Z:3.81 [[ 9.19724252e-01 -3.81254355e-01 -9.35543555e-02 3.64396295e+01] [ 3.79150542e-01 9.24469217e-01 -4.00191622e-02 9.25939046e+00] [ 1.01745602e-01 1.33540946e-03 9.94809554e-01 3.80939714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.096875 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:36.46, Y:9.27, Z:3.81 [[ 9.18838730e-01 -3.83384423e-01 -9.35509060e-02 3.64648164e+01] [ 3.81290789e-01 9.23588196e-01 -4.00272243e-02 9.27283660e+00] [ 1.01748327e-01 1.10846510e-03 9.94809554e-01 3.81074765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.126875 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:36.49, Y:9.29, Z:3.81 [[ 9.18690836e-01 -3.83741384e-01 -9.35398160e-02 3.64903002e+01] [ 3.81646959e-01 9.23439953e-01 -4.00531241e-02 9.28509523e+00] [ 1.01748444e-01 1.09725176e-03 9.94809555e-01 3.81230844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.156875 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:36.52, Y:9.30, Z:3.82 [[ 9.18518871e-01 -3.84155476e-01 -9.35288976e-02 3.65166189e+01] [ 3.82060597e-01 9.23267787e-01 -4.00786036e-02 9.29728101e+00] [ 1.01748633e-01 1.07924722e-03 9.94809555e-01 3.81529972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.186875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:36.54, Y:9.31, Z:3.82 [[ 9.19078466e-01 -3.82817079e-01 -9.35192863e-02 3.65413003e+01] [ 3.80713005e-01 9.23823315e-01 -4.01010182e-02 9.30852984e+00] [ 1.01746652e-01 1.25197385e-03 9.94809555e-01 3.81985892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.216874999999995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:36.57, Y:9.32, Z:3.82 [[ 9.19395086e-01 -3.82056872e-01 -9.35158904e-02 3.65664648e+01] [ 3.79948069e-01 9.24137835e-01 -4.01089360e-02 9.31968350e+00] [ 1.01745467e-01 1.34477670e-03 9.94809555e-01 3.82461527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.246874999999996 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:36.59, Y:9.33, Z:3.83 [[ 9.19755981e-01 -3.81189929e-01 -9.35049336e-02 3.65917996e+01] [ 3.79074061e-01 9.24495582e-01 -4.01344629e-02 9.33165518e+00] [ 1.01743751e-01 1.46861741e-03 9.94809556e-01 3.82860170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.276875 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:36.62, Y:9.34, Z:3.83 [[ 9.20179944e-01 -3.80168034e-01 -9.34940495e-02 3.66172740e+01] [ 3.78044329e-01 9.24916037e-01 -4.01598018e-02 9.34411987e+00] [ 1.01741619e-01 1.60934898e-03 9.94809556e-01 3.83162670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.306875 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:36.64, Y:9.36, Z:3.83 [[ 9.21220753e-01 -3.77641674e-01 -9.34830957e-02 3.66428802e+01] [ 3.75502396e-01 9.25949833e-01 -4.01852837e-02 9.35762373e+00] [ 1.01736295e-01 1.91639086e-03 9.94809557e-01 3.83231675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.336875 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:36.67, Y:9.37, Z:3.83 [[ 9.21638990e-01 -3.76622247e-01 -9.34732842e-02 3.66677931e+01] [ 3.74475426e-01 9.26364650e-01 -4.02080930e-02 9.36937025e+00] [ 1.01733609e-01 2.05389828e-03 9.94809557e-01 3.83326198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.366875 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:36.69, Y:9.38, Z:3.84 [[ 9.21992338e-01 -3.75758293e-01 -9.34656799e-02 3.66935624e+01] [ 3.73605253e-01 9.26715168e-01 -4.02257619e-02 9.38164248e+00] [ 1.01731227e-01 2.16857530e-03 9.94809557e-01 3.83543197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.396874999999994 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:36.72, Y:9.39, Z:3.84 [[ 9.22489293e-01 -3.74539386e-01 -9.34545441e-02 3.67183679e+01] [ 3.72377489e-01 9.27208074e-01 -4.02516166e-02 9.39342302e+00] [ 1.01727624e-01 2.33131686e-03 9.94809557e-01 3.83948828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.426874999999995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:36.74, Y:9.40, Z:3.84 [[ 9.22507109e-01 -3.74498278e-01 -9.34434278e-02 3.67436254e+01] [ 3.72333560e-01 9.27224596e-01 -4.02774066e-02 9.40435624e+00] [ 1.01726864e-01 2.36406978e-03 9.94809558e-01 3.84325320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.456875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:36.77, Y:9.42, Z:3.85 [[ 9.22296381e-01 -3.75019722e-01 -9.34322897e-02 3.67689590e+01] [ 3.72855057e-01 9.27013892e-01 -4.03032273e-02 9.41536916e+00] [ 1.01727536e-01 2.33481903e-03 9.94809558e-01 3.84729484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.486875 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:36.79, Y:9.43, Z:3.85 [[ 9.21860856e-01 -3.76091798e-01 -9.34212081e-02 3.67943946e+01] [ 3.73930019e-01 9.26579689e-01 -4.03288979e-02 9.42673077e+00] [ 1.01729562e-01 2.24463820e-03 9.94809559e-01 3.85007418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.516875 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:36.82, Y:9.44, Z:3.85 [[ 9.21282675e-01 -3.77508709e-01 -9.34098922e-02 3.68197130e+01] [ 3.75351533e-01 9.26003614e-01 -4.03550907e-02 9.43795555e+00] [ 1.01732296e-01 2.11689968e-03 9.94809559e-01 3.85172183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.546875 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:36.85, Y:9.45, Z:3.85 [[ 9.20423853e-01 -3.79598706e-01 -9.34063877e-02 3.68460320e+01] [ 3.77451427e-01 9.25149303e-01 -4.03632007e-02 9.44887310e+00] [ 1.01736673e-01 1.89487840e-03 9.94809559e-01 3.85440372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.576874999999994 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:36.87, Y:9.46, Z:3.86 [[ 9.20129900e-01 -3.80313423e-01 -9.33952193e-02 3.68722601e+01] [ 3.78167195e-01 9.24855826e-01 -4.03890265e-02 9.45949693e+00] [ 1.01737602e-01 1.84414282e-03 9.94809559e-01 3.85772003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.606874999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:36.90, Y:9.47, Z:3.86 [[ 9.19878337e-01 -3.80924216e-01 -9.33840823e-02 3.68981637e+01] [ 3.78778514e-01 9.24604502e-01 -4.04147602e-02 9.47001190e+00] [ 1.01738304e-01 1.80477848e-03 9.94809560e-01 3.86182561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.636874999999996 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:36.92, Y:9.48, Z:3.87 [[ 9.19590612e-01 -3.81619565e-01 -9.33788704e-02 3.69246102e+01] [ 3.79476215e-01 9.24317844e-01 -4.04267990e-02 9.48103797e+00] [ 1.01739414e-01 1.74104454e-03 9.94809560e-01 3.86698359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.666875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:36.95, Y:9.49, Z:3.87 [[ 9.19307039e-01 -3.82304549e-01 -9.33691566e-02 3.69498901e+01] [ 3.80162444e-01 9.24034835e-01 -4.04492215e-02 9.49209168e+00] [ 1.01740275e-01 1.68980723e-03 9.94809560e-01 3.87225963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.696875 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:36.98, Y:9.50, Z:3.88 [[ 9.19111827e-01 -3.82774878e-01 -9.33640288e-02 3.69753840e+01] [ 3.80633991e-01 9.23840175e-01 -4.04610538e-02 9.50311767e+00] [ 1.01740916e-01 1.65071027e-03 9.94809560e-01 3.87555196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.726875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:37.00, Y:9.51, Z:3.88 [[ 9.18854013e-01 -3.83395986e-01 -9.33532058e-02 3.70011013e+01] [ 3.81255760e-01 9.23582659e-01 -4.04860097e-02 9.51429223e+00] [ 1.01741576e-01 1.60928506e-03 9.94809561e-01 3.87807295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.756875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:37.03, Y:9.53, Z:3.88 [[ 9.18698617e-01 -3.83770849e-01 -9.33423044e-02 3.70271361e+01] [ 3.81630002e-01 9.23426982e-01 -4.05111280e-02 9.52521172e+00] [ 1.01741792e-01 1.59529351e-03 9.94809561e-01 3.88168365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.786874999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:37.05, Y:9.54, Z:3.89 [[ 9.18479864e-01 -3.84296826e-01 -9.33310749e-02 3.70531145e+01] [ 3.82156060e-01 9.23208264e-01 -4.05369824e-02 9.53580011e+00] [ 1.01742253e-01 1.56536630e-03 9.94809561e-01 3.88520028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.816874999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:37.08, Y:9.55, Z:3.89 [[ 9.18372631e-01 -3.84555768e-01 -9.33197337e-02 3.70792014e+01] [ 3.82413684e-01 9.23100434e-01 -4.05630741e-02 9.54725539e+00] [ 1.01742251e-01 1.56527385e-03 9.94809562e-01 3.88809856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.846875 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:37.10, Y:9.56, Z:3.89 [[ 9.18190281e-01 -3.84993714e-01 -9.33083482e-02 3.71035423e+01] [ 3.82851226e-01 9.22917901e-01 -4.05892477e-02 9.55792158e+00] [ 1.01742550e-01 1.54543724e-03 9.94809562e-01 3.88980697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.876875 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:37.13, Y:9.57, Z:3.89 [[ 9.18063625e-01 -3.85297518e-01 -9.33006075e-02 3.71291032e+01] [ 3.83154787e-01 9.22791134e-01 -4.06070333e-02 9.56845975e+00] [ 1.01742763e-01 1.53126579e-03 9.94809562e-01 3.89252039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.906875 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:37.16, Y:9.58, Z:3.90 [[ 9.18065997e-01 -3.85294649e-01 -9.32891149e-02 3.71553996e+01] [ 3.83149223e-01 9.22792283e-01 -4.06334190e-02 9.57933762e+00] [ 1.01742314e-01 1.56050838e-03 9.94809563e-01 3.89565263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.936875 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:37.18, Y:9.59, Z:3.90 [[ 9.18127967e-01 -3.85149724e-01 -9.32776791e-02 3.71807059e+01] [ 3.83000887e-01 9.22852704e-01 -4.06596539e-02 9.58985245e+00] [ 1.01741613e-01 1.60533154e-03 9.94809563e-01 3.89766486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.966874999999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:37.21, Y:9.60, Z:3.90 [[ 9.16610564e-01 -3.88748343e-01 -9.32727175e-02 3.72062080e+01] [ 3.86616898e-01 9.21343172e-01 -4.06710326e-02 9.60056236e+00] [ 1.01746978e-01 1.21868933e-03 9.94809563e-01 3.90221596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.996874999999996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:37.23, Y:9.61, Z:3.91 [[ 9.13605400e-01 -3.95761916e-01 -9.32613445e-02 3.72312507e+01] [ 3.93664145e-01 9.18353030e-01 -4.06970952e-02 9.61178159e+00] [ 1.01753199e-01 4.67438469e-04 9.94809564e-01 3.90853051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.026875 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:37.26, Y:9.63, Z:3.92 [[ 9.10528132e-01 -4.02792537e-01 -9.32560632e-02 3.72568222e+01] [ 4.00730185e-01 9.15291254e-01 -4.07091935e-02 9.62501965e+00] [ 1.01753818e-01 -3.03653605e-04 9.94809564e-01 3.91520118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.056875 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:37.28, Y:9.64, Z:3.92 [[ 9.10242483e-01 -4.03439880e-01 -9.32463743e-02 3.72817771e+01] [ 4.01378644e-01 9.15006087e-01 -4.07313743e-02 9.63821163e+00] [ 1.01753661e-01 -3.51675975e-04 9.94809564e-01 3.91660058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.086875 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:37.31, Y:9.65, Z:3.92 [[ 9.10529395e-01 -4.02794479e-01 -9.32353389e-02 3.73071903e+01] [ 4.00727281e-01 9.15290415e-01 -4.07566192e-02 9.65230134e+00] [ 1.01753953e-01 -2.51844017e-04 9.94809564e-01 3.91574597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.116875 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:37.33, Y:9.67, Z:3.92 [[ 9.11282520e-01 -4.01089945e-01 -9.32256699e-02 3.73322916e+01] [ 3.99011580e-01 9.16038675e-01 -4.07787239e-02 9.66617850e+00] [ 1.01754255e-01 -3.71835967e-05 9.94809565e-01 3.91510223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.146874999999994 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:37.36, Y:9.68, Z:3.92 [[ 9.12271534e-01 -3.98837916e-01 -9.32146164e-02 3.73573573e+01] [ 3.96745230e-01 9.17021405e-01 -4.08039751e-02 9.67957929e+00] [ 1.01753971e-01 2.41850495e-04 9.94809565e-01 3.91599993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.176874999999995 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:37.38, Y:9.69, Z:3.92 [[ 9.14980623e-01 -3.92585741e-01 -9.32035184e-02 3.73822308e+01] [ 3.90458019e-01 9.19714903e-01 -4.08293092e-02 9.69268261e+00] [ 1.01749670e-01 9.65965538e-04 9.94809566e-01 3.92088460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.206875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:37.41, Y:9.70, Z:3.93 [[ 9.16337015e-01 -3.89411941e-01 -9.31923559e-02 3.74070720e+01] [ 3.87265233e-01 9.21062716e-01 -4.08547717e-02 9.70404367e+00] [ 1.01745340e-01 1.34658012e-03 9.94809566e-01 3.92643766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.236875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:37.43, Y:9.72, Z:3.93 [[ 9.17474653e-01 -3.86726674e-01 -9.31812192e-02 3.74316465e+01] [ 3.84563558e-01 9.22192866e-01 -4.08801565e-02 9.71603856e+00] [ 1.01740503e-01 1.67240618e-03 9.94809566e-01 3.93192142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.266875 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:37.46, Y:9.73, Z:3.94 [[ 9.19642813e-01 -3.81544846e-01 -9.31698772e-02 3.74556744e+01] [ 3.79352532e-01 9.24347530e-01 -4.09059898e-02 9.72968044e+00] [ 1.01728815e-01 2.27467066e-03 9.94809567e-01 3.93716971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.296875 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:37.48, Y:9.74, Z:3.94 [[ 9.20583341e-01 -3.79272759e-01 -9.31583927e-02 3.74809752e+01] [ 3.77066191e-01 9.25281389e-01 -4.09321277e-02 9.74249992e+00] [ 1.01722168e-01 2.55455465e-03 9.94809567e-01 3.93980394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.326874999999994 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:37.50, Y:9.76, Z:3.94 [[ 9.22124220e-01 -3.75513834e-01 -9.31465668e-02 3.75049646e+01] [ 3.73285403e-01 9.26811937e-01 -4.09590217e-02 9.75502140e+00] [ 1.01710029e-01 2.99905219e-03 9.94809568e-01 3.93975862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.356874999999995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:37.53, Y:9.77, Z:3.94 [[ 9.22397188e-01 -3.74844101e-01 -9.31414375e-02 3.75309306e+01] [ 3.72611091e-01 9.27082724e-01 -4.09706825e-02 9.76646272e+00] [ 1.01707436e-01 3.08570972e-03 9.94809568e-01 3.94253407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.386874999999996 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:37.56, Y:9.78, Z:3.95 [[ 9.22694493e-01 -3.74114623e-01 -9.31295901e-02 3.75554929e+01] [ 3.71875195e-01 9.27376966e-01 -4.09975949e-02 9.77693640e+00] [ 1.01704036e-01 3.19567057e-03 9.94809568e-01 3.94522457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.416875 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:37.58, Y:9.79, Z:3.95 [[ 9.22607506e-01 -3.74330371e-01 -9.31244538e-02 3.75798823e+01] [ 3.72090862e-01 9.27289939e-01 -4.10092586e-02 9.78715528e+00] [ 1.01704380e-01 3.18469144e-03 9.94809568e-01 3.94896238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.446875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:37.61, Y:9.80, Z:3.95 [[ 9.22275504e-01 -3.75149560e-01 -9.31166048e-02 3.76053585e+01] [ 3.72912413e-01 9.26959067e-01 -4.10270731e-02 9.79836894e+00] [ 1.01706569e-01 3.11392672e-03 9.94809568e-01 3.95231529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.476875 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:37.63, Y:9.81, Z:3.96 [[ 9.22058428e-01 -3.75685655e-01 -9.31050118e-02 3.76310410e+01] [ 3.73448580e-01 9.26742024e-01 -4.10533649e-02 9.80952308e+00] [ 1.01707487e-01 3.08366664e-03 9.94809569e-01 3.95503208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.506875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:37.66, Y:9.82, Z:3.96 [[ 9.21426282e-01 -3.77236331e-01 -9.30932739e-02 3.76564524e+01] [ 3.75004453e-01 9.26112356e-01 -4.10799649e-02 9.82025901e+00] [ 1.01711686e-01 2.94176706e-03 9.94809569e-01 3.95599187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.536874999999995 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:37.68, Y:9.83, Z:3.96 [[ 9.20803484e-01 -3.78754884e-01 -9.30896456e-02 3.76817192e+01] [ 3.76529904e-01 9.25492838e-01 -4.10881851e-02 9.83130136e+00] [ 1.01716151e-01 2.78310870e-03 9.94809569e-01 3.95833397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.566874999999996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:37.71, Y:9.84, Z:3.96 [[ 9.20220647e-01 -3.80171580e-01 -9.30780861e-02 3.77069315e+01] [ 3.77951175e-01 9.24912168e-01 -4.11143546e-02 9.84173895e+00] [ 1.01719564e-01 2.65530604e-03 9.94809570e-01 3.95987950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.596875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:37.73, Y:9.85, Z:3.96 [[ 9.19449560e-01 -3.82033904e-01 -9.30731021e-02 3.77325032e+01] [ 3.79821861e-01 9.24145030e-01 -4.11256342e-02 9.85212860e+00] [ 1.01724431e-01 2.46174741e-03 9.94809570e-01 3.96370577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.626875 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:37.76, Y:9.86, Z:3.97 [[ 9.18356317e-01 -3.84657215e-01 -9.30618146e-02 3.77596572e+01] [ 3.82456001e-01 9.23056872e-01 -4.11511605e-02 9.86186846e+00] [ 1.01730438e-01 2.19937877e-03 9.94809570e-01 3.96887313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.656875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:37.78, Y:9.87, Z:3.97 [[ 9.17497672e-01 -3.86673651e-01 -9.31746188e-02 3.77844174e+01] [ 3.84508641e-01 9.22215057e-01 -4.08961229e-02 9.87233456e+00] [ 1.01740490e-01 1.69565146e-03 9.94809528e-01 3.97306240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.686875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:37.81, Y:9.88, Z:3.97 [[ 9.16980122e-01 -3.87929835e-01 -9.30478371e-02 3.78118095e+01] [ 3.85742210e-01 9.21687009e-01 -4.11825855e-02 9.88373865e+00] [ 1.01736936e-01 1.87113396e-03 9.94809577e-01 3.97382319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.716874999999995 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:37.84, Y:9.89, Z:3.98 [[ 9.16591772e-01 -3.88818977e-01 -9.31628980e-02 3.78365041e+01] [ 3.86662310e-01 9.21312972e-01 -4.09226823e-02 9.89479817e+00] [ 1.01743702e-01 1.48681255e-03 9.94809534e-01 3.97744708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.746874999999996 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:37.86, Y:9.90, Z:3.98 [[ 9.15937164e-01 -3.90390053e-01 -9.30307353e-02 3.78617809e+01] [ 3.88211174e-01 9.20648096e-01 -4.12209708e-02 9.90493634e+00] [ 1.01740826e-01 1.64024814e-03 9.94809587e-01 3.97934263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.776875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:37.89, Y:9.92, Z:3.98 [[ 9.15664253e-01 -3.91032450e-01 -9.30193447e-02 3.78873791e+01] [ 3.88854267e-01 9.20375506e-01 -4.12466589e-02 9.91589469e+00] [ 1.01741509e-01 1.59712197e-03 9.94809587e-01 3.98261339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.806875 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:37.91, Y:9.93, Z:3.98 [[ 9.15200342e-01 -3.92119647e-01 -9.30081501e-02 3.79142418e+01] [ 3.89944497e-01 9.19912996e-01 -4.12718866e-02 9.92684871e+00] [ 1.01742924e-01 1.50402847e-03 9.94809588e-01 3.98417982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.836875 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:37.94, Y:9.94, Z:3.99 [[ 9.15239655e-01 -3.92011681e-01 -9.30763957e-02 3.79394814e+01] [ 3.89851597e-01 9.19959253e-01 -4.11181822e-02 9.93737964e+00] [ 1.01745299e-01 1.34700941e-03 9.94809570e-01 3.98529345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.866875 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:37.96, Y:9.95, Z:3.99 [[ 9.15153100e-01 -3.92221815e-01 -9.30422003e-02 3.79646474e+01] [ 3.90054990e-01 9.19869591e-01 -4.11951431e-02 9.94847940e+00] [ 1.01744325e-01 1.40828839e-03 9.94809584e-01 3.99056395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.896874999999994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:37.99, Y:9.96, Z:3.99 [[ 9.15305146e-01 -3.91881865e-01 -9.29789918e-02 3.79918925e+01] [ 3.89698845e-01 9.20014150e-01 -4.13373194e-02 9.95992614e+00] [ 1.01741334e-01 1.60245552e-03 9.94809596e-01 3.99177386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.926874999999995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:38.02, Y:9.97, Z:4.00 [[ 9.15709768e-01 -3.90909181e-01 -9.30893857e-02 3.80155970e+01] [ 3.88746372e-01 9.20428132e-01 -4.10890744e-02 9.97087164e+00] [ 1.01744186e-01 1.43750581e-03 9.94809557e-01 3.99728594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.956875 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:38.04, Y:9.98, Z:4.00 [[ 9.16210023e-01 -3.89764829e-01 -9.29654321e-02 3.80423386e+01] [ 3.87567853e-01 9.20912524e-01 -4.13676469e-02 9.98220140e+00] [ 1.01736685e-01 1.87103983e-03 9.94809603e-01 3.99945613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.986875 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:38.07, Y:9.99, Z:4.00 [[ 9.17231448e-01 -3.87331946e-01 -9.30614534e-02 3.80675915e+01] [ 3.85144357e-01 9.21938360e-01 -4.11519726e-02 9.99414523e+00] [ 1.01736397e-01 1.90378981e-03 9.94809570e-01 4.00452102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.016875 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:38.09, Y:10.01, Z:4.01 [[ 9.17915131e-01 -3.85722031e-01 -9.30071321e-02 3.80916253e+01] [ 3.83513842e-01 9.22612380e-01 -4.12738397e-02 1.00060514e+01] [ 1.01729761e-01 2.21635938e-03 9.94809602e-01 4.00653556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.046875 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:38.12, Y:10.02, Z:4.01 [[ 9.19035561e-01 -3.83063222e-01 -9.29311893e-02 3.81164316e+01] [ 3.80824232e-01 9.23718186e-01 -4.14441324e-02 1.00192363e+01] [ 1.01717952e-01 2.69818264e-03 9.94809619e-01 4.00744014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.076874999999994 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:38.14, Y:10.03, Z:4.01 [[ 9.19433891e-01 -3.82108962e-01 -9.29196462e-02 3.81422585e+01] [ 3.79862501e-01 9.24112937e-01 -4.14699965e-02 1.00308680e+01] [ 1.01714304e-01 2.83223107e-03 9.94809619e-01 4.01019661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.106874999999995 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:38.17, Y:10.04, Z:4.01 [[ 9.19646395e-01 -3.81600064e-01 -9.29080189e-02 3.81670675e+01] [ 3.79348386e-01 9.24322931e-01 -4.14960295e-02 1.00418015e+01] [ 1.01711900e-01 2.91716690e-03 9.94809620e-01 4.01242308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.136874999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:38.19, Y:10.05, Z:4.02 [[ 9.19581577e-01 -3.81757383e-01 -9.29033050e-02 3.81927865e+01] [ 3.79505441e-01 9.24257986e-01 -4.15065807e-02 1.00527836e+01] [ 1.01712065e-01 2.91137722e-03 9.94809620e-01 4.01572336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.166875 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:38.22, Y:10.06, Z:4.02 [[ 9.18533721e-01 -3.84274537e-01 -9.28917818e-02 3.82171767e+01] [ 3.82032807e-01 9.23215034e-01 -4.15323536e-02 1.00634130e+01] [ 1.01718915e-01 2.66115917e-03 9.94809620e-01 4.01890651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.196875 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:38.24, Y:10.07, Z:4.02 [[ 9.17942279e-01 -3.85686393e-01 -9.28869185e-02 3.82425018e+01] [ 3.83450763e-01 9.22626508e-01 -4.15432276e-02 1.00743645e+01] [ 1.01722591e-01 2.51672521e-03 9.94809620e-01 4.02215138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.226875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:38.27, Y:10.09, Z:4.02 [[ 9.16900976e-01 -3.88158131e-01 -9.28755408e-02 3.82680157e+01] [ 3.85932556e-01 9.21589990e-01 -4.15686487e-02 1.00855231e+01] [ 1.01728378e-01 2.27063971e-03 9.94809621e-01 4.02409429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.256874999999994 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:38.29, Y:10.09, Z:4.03 [[ 9.14729489e-01 -3.93250813e-01 -9.28642030e-02 3.82939261e+01] [ 3.91048778e-01 9.19429603e-01 -4.15939619e-02 1.00948880e+01] [ 1.01738957e-01 1.73279039e-03 9.94809621e-01 4.02541884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.286874999999995 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:38.32, Y:10.11, Z:4.03 [[ 9.13567198e-01 -3.95944595e-01 -9.28593176e-02 3.83194209e+01] [ 3.93755312e-01 9.18273265e-01 -4.16048657e-02 1.01052507e+01] [ 1.01743451e-01 1.44499099e-03 9.94809621e-01 4.02866460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.316874999999996 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:38.35, Y:10.11, Z:4.03 [[ 9.11978816e-01 -3.99592113e-01 -9.28481643e-02 3.83461209e+01] [ 3.97419121e-01 9.16692428e-01 -4.16297413e-02 1.01148964e+01] [ 1.01748125e-01 1.06580634e-03 9.94809621e-01 4.03314319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.346875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:38.37, Y:10.13, Z:4.04 [[ 9.11475403e-01 -4.00741725e-01 -9.28367386e-02 3.83705209e+01] [ 3.98572084e-01 9.16190558e-01 -4.16552058e-02 1.01253539e+01] [ 1.01749122e-01 9.65563167e-04 9.94809622e-01 4.03515445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.376875 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:38.40, Y:10.14, Z:4.04 [[ 9.11406300e-01 -4.00900013e-01 -9.28317616e-02 3.83965078e+01] [ 3.98730062e-01 9.16121312e-01 -4.16662946e-02 1.01364430e+01] [ 1.01749173e-01 9.60109383e-04 9.94809622e-01 4.03827982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.406875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:38.42, Y:10.15, Z:4.04 [[ 9.12396973e-01 -3.98642833e-01 -9.28205595e-02 3.84218366e+01] [ 3.96458681e-01 9.17105422e-01 -4.16912348e-02 1.01472266e+01] [ 1.01746150e-01 1.23943982e-03 9.94809622e-01 4.04121955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.436875 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:38.45, Y:10.16, Z:4.04 [[ 9.12945598e-01 -3.97387442e-01 -9.28092443e-02 3.84470468e+01] [ 3.95194256e-01 9.17649847e-01 -4.17164086e-02 1.01591946e+01] [ 1.01743966e-01 1.40713132e-03 9.94809623e-01 4.04377988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.466874999999995 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:38.47, Y:10.17, Z:4.05 [[ 9.13683932e-01 -3.95689566e-01 -9.27978461e-02 3.84723270e+01] [ 3.93485066e-01 9.18382888e-01 -4.17417485e-02 1.01712002e+01] [ 1.01740728e-01 1.62419832e-03 9.94809623e-01 4.04685691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.496874999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:38.50, Y:10.18, Z:4.05 [[ 9.15583552e-01 -3.91276676e-01 -9.27864316e-02 3.84968277e+01] [ 3.89046962e-01 9.20270596e-01 -4.17671062e-02 1.01830963e+01] [ 1.01731119e-01 2.14299616e-03 9.94809623e-01 4.05087727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.526875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:38.52, Y:10.20, Z:4.05 [[ 9.16326420e-01 -3.89534628e-01 -9.27828900e-02 3.85219178e+01] [ 3.87295208e-01 9.21008835e-01 -4.17749720e-02 1.01951644e+01] [ 1.01726660e-01 2.34514187e-03 9.94809624e-01 4.05339202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.556875 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:38.55, Y:10.21, Z:4.06 [[ 9.17915145e-01 -3.85778835e-01 -9.27711017e-02 3.85478099e+01] [ 3.83517616e-01 9.22587071e-01 -4.18011344e-02 1.02065658e+01] [ 1.01715412e-01 2.79054250e-03 9.94809624e-01 4.05667782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.586875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:38.57, Y:10.22, Z:4.06 [[ 9.18094590e-01 -3.85354426e-01 -9.27593132e-02 3.85733523e+01] [ 3.83088409e-01 9.22764190e-01 -4.18272777e-02 1.02186612e+01] [ 1.01713299e-01 2.86637963e-03 9.94809624e-01 4.05889793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.616875 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:38.60, Y:10.23, Z:4.06 [[ 9.18364582e-01 -3.84713381e-01 -9.27475546e-02 3.85986746e+01] [ 3.82441475e-01 9.23031319e-01 -4.18533351e-02 1.02304298e+01] [ 1.01710436e-01 2.96610902e-03 9.94809625e-01 4.06098110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.646874999999994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:38.62, Y:10.24, Z:4.06 [[ 9.17489499e-01 -3.86798527e-01 -9.27357442e-02 3.86246737e+01] [ 3.84534587e-01 9.22160106e-01 -4.18794875e-02 1.02422528e+01] [ 1.01716128e-01 2.76388894e-03 9.94809625e-01 4.06211469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.676874999999995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:38.65, Y:10.25, Z:4.07 [[ 9.16818811e-01 -3.88388411e-01 -9.27238349e-02 3.86494572e+01] [ 3.86129907e-01 9.21492049e-01 -4.19058389e-02 1.02534060e+01] [ 1.01720019e-01 2.61661570e-03 9.94809626e-01 4.06503606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.706875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:38.67, Y:10.26, Z:4.07 [[ 9.16005439e-01 -3.90304077e-01 -9.27187280e-02 3.86746049e+01] [ 3.88054205e-01 9.20682838e-01 -4.19171350e-02 1.02642493e+01] [ 1.01724970e-01 2.41643139e-03 9.94809626e-01 4.06740984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.736875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:38.70, Y:10.28, Z:4.07 [[ 9.15899105e-01 -3.90554735e-01 -9.27136891e-02 3.87005160e+01] [ 3.88305015e-01 9.20576577e-01 -4.19282775e-02 1.02760850e+01] [ 1.01725338e-01 2.40088141e-03 9.94809626e-01 4.07031671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.766875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:38.73, Y:10.29, Z:4.07 [[ 9.15000440e-01 -3.92658245e-01 -9.27022004e-02 3.87263508e+01] [ 3.90416708e-01 9.19681839e-01 -4.19536632e-02 1.02872465e+01] [ 1.01729982e-01 2.19513236e-03 9.94809626e-01 4.07409401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.796875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:38.75, Y:10.30, Z:4.08 [[ 9.13142811e-01 -3.96961825e-01 -9.26904291e-02 3.87522143e+01] [ 3.94739716e-01 9.17833463e-01 -4.19796542e-02 1.02970933e+01] [ 1.01738698e-01 1.74482584e-03 9.94809627e-01 4.07713495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.826874999999994 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:38.78, Y:10.31, Z:4.08 [[ 9.12351362e-01 -3.98778325e-01 -9.26867868e-02 3.87788746e+01] [ 3.96564739e-01 9.17046041e-01 -4.19876945e-02 1.03082988e+01] [ 1.01741833e-01 1.55121876e-03 9.94809627e-01 4.08107076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.856874999999995 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:38.80, Y:10.32, Z:4.08 [[ 9.11799778e-01 -4.00040226e-01 -9.26767636e-02 3.88046212e+01] [ 3.97830890e-01 9.16496459e-01 -4.20098065e-02 1.03192470e+01] [ 1.01743538e-01 1.43485294e-03 9.94809627e-01 4.08495968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.886874999999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:38.83, Y:10.33, Z:4.09 [[ 9.11564897e-01 -4.00575979e-01 -9.26732061e-02 3.88304080e+01] [ 3.98368606e-01 9.16262501e-01 -4.20176530e-02 1.03293092e+01] [ 1.01744246e-01 1.38372162e-03 9.94809627e-01 4.08906519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.916875 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:38.86, Y:10.34, Z:4.09 [[ 9.11673578e-01 -4.00331199e-01 -9.26618462e-02 3.88560610e+01] [ 3.98120021e-01 9.16369391e-01 -4.20426900e-02 1.03409361e+01] [ 1.01743480e-01 1.43867346e-03 9.94809627e-01 4.09116236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.946875 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:38.88, Y:10.35, Z:4.09 [[ 9.12258641e-01 -3.98998820e-01 -9.26504916e-02 3.88817352e+01] [ 3.96778244e-01 9.16950017e-01 -4.20676978e-02 1.03524835e+01] [ 1.01740832e-01 1.61492143e-03 9.94809628e-01 4.09340795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.976875 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:38.91, Y:10.36, Z:4.10 [[ 9.10486486e-01 -4.03028966e-01 -9.26391421e-02 3.89069693e+01] [ 4.00826616e-01 9.15186446e-01 -4.20926763e-02 1.03638066e+01] [ 1.01746655e-01 1.19257911e-03 9.94809628e-01 4.09585847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.006874999999994 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:38.93, Y:10.38, Z:4.10 [[ 9.09561589e-01 -4.05114560e-01 -9.26277965e-02 3.89324984e+01] [ 4.02920447e-01 9.14265399e-01 -4.21176284e-02 1.03754926e+01] [ 1.01748854e-01 9.86943904e-04 9.94809628e-01 4.09888041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.036874999999995 meters Centerline goodness : 0.999924 Centerline is valid? [True, True] Translation: X:38.96, Y:10.39, Z:4.10 [[ 9.08994283e-01 -4.06388475e-01 -9.26164123e-02 3.89579109e+01] [ 4.04198405e-01 9.13699976e-01 -4.21426473e-02 1.03874924e+01] [ 1.01749900e-01 8.72019351e-04 9.94809629e-01 4.10171317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.066874999999996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:38.98, Y:10.40, Z:4.10 [[ 9.09415091e-01 -4.05448500e-01 -9.26051059e-02 3.89830095e+01] [ 4.03251038e-01 9.14117336e-01 -4.21674778e-02 1.04008577e+01] [ 1.01748673e-01 1.00463562e-03 9.94809629e-01 4.10246113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.096875 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:39.01, Y:10.41, Z:4.10 [[ 9.09878010e-01 -4.04411190e-01 -9.25937175e-02 3.90075516e+01] [ 4.02205823e-01 9.14576553e-01 -4.21924702e-02 1.04136831e+01] [ 1.01747150e-01 1.14826844e-03 9.94809629e-01 4.10447231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.126875 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:39.03, Y:10.43, Z:4.11 [[ 9.10508212e-01 -4.02992955e-01 -9.25822543e-02 3.90324748e+01] [ 4.00777714e-01 9.15202107e-01 -4.22176089e-02 1.04270175e+01] [ 1.01744873e-01 1.33457537e-03 9.94809630e-01 4.10572865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.156875 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:39.06, Y:10.44, Z:4.11 [[ 9.10852234e-01 -4.02217412e-01 -9.25708431e-02 3.90576447e+01] [ 3.99995634e-01 9.15543038e-01 -4.22426155e-02 1.04390467e+01] [ 1.01743306e-01 1.44884761e-03 9.94809630e-01 4.10977364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.186875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:39.08, Y:10.45, Z:4.11 [[ 9.11097550e-01 -4.01664070e-01 -9.25593339e-02 3.90824222e+01] [ 3.99436883e-01 9.15785787e-01 -4.22678189e-02 1.04514291e+01] [ 1.01741987e-01 1.53849448e-03 9.94809631e-01 4.11316781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.216874999999995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:39.11, Y:10.46, Z:4.12 [[ 9.11905697e-01 -3.99828597e-01 -9.25477824e-02 3.91067583e+01] [ 3.97589409e-01 9.16588215e-01 -4.22930966e-02 1.04648447e+01] [ 1.01738196e-01 1.77129764e-03 9.94809631e-01 4.11660264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.246874999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:39.13, Y:10.48, Z:4.12 [[ 9.12204764e-01 -3.99148542e-01 -9.25359973e-02 3.91308430e+01] [ 3.96903250e-01 9.16884357e-01 -4.23188664e-02 1.04770402e+01] [ 1.01736322e-01 1.87563350e-03 9.94809631e-01 4.11984306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.276875 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:39.16, Y:10.49, Z:4.12 [[ 9.12399204e-01 -3.98705744e-01 -9.25279557e-02 3.91560578e+01] [ 3.96456400e-01 9.17076850e-01 -4.23364416e-02 1.04901242e+01] [ 1.01735029e-01 1.94443537e-03 9.94809632e-01 4.12270906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.306875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:39.18, Y:10.50, Z:4.13 [[ 9.12816961e-01 -3.97751134e-01 -9.25161144e-02 3.91800556e+01] [ 3.95494279e-01 9.17490987e-01 -4.23623022e-02 1.05030020e+01] [ 1.01732355e-01 2.07943406e-03 9.94809632e-01 4.12645646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.336875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:39.21, Y:10.52, Z:4.13 [[ 9.12525591e-01 -3.98419995e-01 -9.25124438e-02 3.92055564e+01] [ 3.96165753e-01 9.17200879e-01 -4.23703168e-02 1.05153612e+01] [ 1.01733676e-01 2.01373641e-03 9.94809632e-01 4.12956206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.366875 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:39.23, Y:10.53, Z:4.13 [[ 9.12163206e-01 -3.99251661e-01 -9.25007886e-02 3.92311261e+01] [ 3.96999104e-01 9.16839305e-01 -4.23957466e-02 1.05278745e+01] [ 1.01734931e-01 1.94910993e-03 9.94809632e-01 4.13242263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.396874999999994 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:39.25, Y:10.54, Z:4.13 [[ 9.11506079e-01 -4.00752369e-01 -9.24889564e-02 3.92547389e+01] [ 3.98504894e-01 9.16184622e-01 -4.24215437e-02 1.05400086e+01] [ 1.01737494e-01 1.81019317e-03 9.94809633e-01 4.13440404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.426874999999995 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:39.28, Y:10.55, Z:4.14 [[ 9.10980456e-01 -4.01946950e-01 -9.24838254e-02 3.92792918e+01] [ 3.99704475e-01 9.15661398e-01 -4.24327270e-02 1.05517981e+01] [ 1.01739574e-01 1.68918609e-03 9.94809633e-01 4.13783875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.456875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:39.30, Y:10.56, Z:4.14 [[ 9.10430241e-01 -4.03192828e-01 -9.24787509e-02 3.93043213e+01] [ 4.00955636e-01 9.15113710e-01 -4.24437835e-02 1.05637015e+01] [ 1.01741602e-01 1.56222765e-03 9.94809633e-01 4.14136697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.486875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:39.33, Y:10.58, Z:4.14 [[ 9.09655253e-01 -4.04940980e-01 -9.24668767e-02 3.93285354e+01] [ 4.02710162e-01 9.14341761e-01 -4.24696367e-02 1.05762543e+01] [ 1.01744023e-01 1.39537723e-03 9.94809633e-01 4.14275195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.516875 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:39.35, Y:10.59, Z:4.14 [[ 9.08856601e-01 -4.06731493e-01 -9.24617331e-02 3.93542402e+01] [ 4.04508769e-01 9.13546953e-01 -4.24808320e-02 1.05888357e+01] [ 1.01746427e-01 1.20740273e-03 9.94809633e-01 4.14353819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.546875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:39.38, Y:10.60, Z:4.14 [[ 9.07356942e-01 -4.10068731e-01 -9.24500656e-02 3.93802444e+01] [ 4.07860674e-01 9.12054216e-01 -4.25062087e-02 1.06009734e+01] [ 1.01749939e-01 8.61557500e-04 9.94809634e-01 4.14387645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.576874999999994 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:39.40, Y:10.61, Z:4.15 [[ 9.06471623e-01 -4.12024675e-01 -9.24384339e-02 3.94044705e+01] [ 4.09824175e-01 9.11172442e-01 -4.25314893e-02 1.06122231e+01] [ 1.01751377e-01 6.70083224e-04 9.94809634e-01 4.14569006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.606874999999995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:39.43, Y:10.62, Z:4.15 [[ 9.05391764e-01 -4.14393312e-01 -9.24334173e-02 3.94297714e+01] [ 4.12203997e-01 9.10097803e-01 -4.25423891e-02 1.06236882e+01] [ 1.01752731e-01 4.16104689e-04 9.94809634e-01 4.14925105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.636874999999996 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:39.46, Y:10.64, Z:4.15 [[ 9.04335995e-01 -4.16694813e-01 -9.24220785e-02 3.94553017e+01] [ 4.14514959e-01 9.09046423e-01 -4.25670080e-02 1.06351393e+01] [ 1.01753411e-01 1.84543483e-04 9.94809635e-01 4.15254681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.666875 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:39.48, Y:10.65, Z:4.16 [[ 9.02342648e-01 -4.20996460e-01 -9.24106384e-02 3.94806607e+01] [ 4.18836519e-01 9.07062239e-01 -4.25918296e-02 1.06461985e+01] [ 1.01753210e-01 -2.72525863e-04 9.94809635e-01 4.15833732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.696875 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:39.51, Y:10.66, Z:4.16 [[ 9.01818132e-01 -4.22121363e-01 -9.23991969e-02 3.95065272e+01] [ 4.19964767e-01 9.06539253e-01 -4.26166364e-02 1.06575678e+01] [ 1.01752892e-01 -3.71951768e-04 9.94809635e-01 4.16253751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.726875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:39.53, Y:10.67, Z:4.17 [[ 9.01588925e-01 -4.22613261e-01 -9.23874546e-02 3.95319558e+01] [ 4.20456634e-01 9.06310031e-01 -4.26420772e-02 1.06693748e+01] [ 1.01752784e-01 -3.99293680e-04 9.94809636e-01 4.16522581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.756874999999994 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:39.56, Y:10.68, Z:4.17 [[ 9.01961850e-01 -4.21819302e-01 -9.23758461e-02 3.95566087e+01] [ 4.19655945e-01 9.06679876e-01 -4.26672101e-02 1.06814684e+01] [ 1.01753173e-01 -2.81877235e-04 9.94809636e-01 4.16690961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.786874999999995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:39.58, Y:10.70, Z:4.17 [[ 9.03514216e-01 -4.18485003e-01 -9.23708006e-02 3.95816999e+01] [ 4.16303118e-01 9.08223701e-01 -4.26781305e-02 1.06950580e+01] [ 1.01753508e-01 1.06045309e-04 9.94809636e-01 4.16800446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.816874999999996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:39.61, Y:10.71, Z:4.17 [[ 9.04577682e-01 -4.16183873e-01 -9.23590845e-02 3.96056595e+01] [ 4.13987420e-01 9.09280391e-01 -4.27034700e-02 1.07067052e+01] [ 1.01752800e-01 3.93106790e-04 9.94809637e-01 4.17034835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.846875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:39.63, Y:10.72, Z:4.17 [[ 9.05558705e-01 -4.14046093e-01 -9.23540237e-02 3.96309800e+01] [ 4.11837423e-01 9.10255687e-01 -4.27144122e-02 1.07189193e+01] [ 1.01751511e-01 6.45564697e-04 9.94809637e-01 4.17351572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.876875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:39.65, Y:10.73, Z:4.18 [[ 9.06484096e-01 -4.12018793e-01 -9.23422852e-02 3.96546744e+01] [ 4.09797035e-01 9.11174902e-01 -4.27397741e-02 1.07307560e+01] [ 1.01749563e-01 9.01330894e-04 9.94809637e-01 4.17601715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.906875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:39.68, Y:10.74, Z:4.18 [[ 9.07510078e-01 -4.09755175e-01 -9.23371781e-02 3.96794828e+01] [ 4.07520595e-01 9.12194789e-01 -4.27508049e-02 1.07428680e+01] [ 1.01746856e-01 1.16748455e-03 9.94809637e-01 4.17866574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.936875 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:39.70, Y:10.76, Z:4.18 [[ 9.08777553e-01 -4.06939004e-01 -9.23255428e-02 3.97045464e+01] [ 4.04687356e-01 9.13454084e-01 -4.27759181e-02 1.07560181e+01] [ 1.01742334e-01 1.51081439e-03 9.94809638e-01 4.18113324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.966874999999995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:39.73, Y:10.77, Z:4.18 [[ 9.09219387e-01 -4.05953570e-01 -9.23136290e-02 3.97294213e+01] [ 4.03694246e-01 9.13892214e-01 -4.28016136e-02 1.07676521e+01] [ 1.01740175e-01 1.64957603e-03 9.94809638e-01 4.18499900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.996874999999996 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:39.75, Y:10.78, Z:4.19 [[ 9.08872929e-01 -4.06729477e-01 -9.23099718e-02 3.97545314e+01] [ 4.04473341e-01 9.13547297e-01 -4.28094996e-02 1.07795456e+01] [ 1.01741411e-01 1.57147253e-03 9.94809638e-01 4.18857473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.026875 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:39.78, Y:10.79, Z:4.19 [[ 9.08215805e-01 -4.08197369e-01 -9.22982141e-02 3.97792668e+01] [ 4.05946214e-01 9.12892572e-01 -4.28348345e-02 1.07913273e+01] [ 1.01743421e-01 1.43516315e-03 9.94809638e-01 4.19125878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.056875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:39.80, Y:10.80, Z:4.19 [[ 9.06728574e-01 -4.11491199e-01 -9.22945618e-02 3.98033058e+01] [ 4.09256234e-01 9.11413100e-01 -4.28427026e-02 1.08022737e+01] [ 1.01747868e-01 1.07457793e-03 9.94809638e-01 4.19447687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.086875 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:39.83, Y:10.81, Z:4.20 [[ 9.05947735e-01 -4.13208596e-01 -9.22895342e-02 3.98285662e+01] [ 4.10981408e-01 9.10635963e-01 -4.28535301e-02 1.08132957e+01] [ 1.01749616e-01 8.93775756e-04 9.94809638e-01 4.19775178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.116875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:39.85, Y:10.82, Z:4.20 [[ 9.05054066e-01 -4.15164896e-01 -9.22780982e-02 3.98541528e+01] [ 4.12945332e-01 9.09745908e-01 -4.28781417e-02 1.08245242e+01] [ 1.01751121e-01 7.01226626e-04 9.94809639e-01 4.20157884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.146874999999994 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:39.88, Y:10.84, Z:4.21 [[ 9.03403001e-01 -4.18748086e-01 -9.22662414e-02 3.98786357e+01] [ 4.16544527e-01 9.08102381e-01 -4.29036403e-02 1.08351173e+01] [ 1.01753011e-01 3.26279405e-04 9.94809639e-01 4.20569724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.176874999999995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:39.90, Y:10.85, Z:4.21 [[ 9.02657979e-01 -4.20352780e-01 -9.22611148e-02 3.99037855e+01] [ 4.18156450e-01 9.07360742e-01 -4.29146619e-02 1.08464697e+01] [ 1.01753411e-01 1.57681763e-04 9.94809639e-01 4.20959725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.206875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:39.93, Y:10.86, Z:4.21 [[ 9.02402727e-01 -4.20903140e-01 -9.22489308e-02 3.99280423e+01] [ 4.18707002e-01 9.07105579e-01 -4.29408366e-02 1.08575796e+01] [ 1.01753453e-01 1.24654782e-04 9.94809640e-01 4.21220911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.236875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:39.95, Y:10.87, Z:4.21 [[ 9.02261694e-01 -4.21206536e-01 -9.22436468e-02 3.99531065e+01] [ 4.19010819e-01 9.06964742e-01 -4.29521845e-02 1.08702325e+01] [ 1.01753476e-01 1.03024760e-04 9.94809640e-01 4.21356131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.266875 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:39.98, Y:10.88, Z:4.22 [[ 9.02677387e-01 -4.20317547e-01 -9.22317441e-02 3.99782332e+01] [ 4.18114588e-01 9.07377048e-01 -4.29777283e-02 1.08819318e+01] [ 1.01753261e-01 2.31585799e-04 9.94809640e-01 4.21540029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.296875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:40.00, Y:10.89, Z:4.22 [[ 9.03904320e-01 -4.17675067e-01 -9.22199487e-02 4.00034381e+01] [ 4.15455788e-01 9.08596295e-01 -4.30030236e-02 1.08939215e+01] [ 1.01751994e-01 5.57307338e-04 9.94809641e-01 4.21622186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.326874999999994 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:40.03, Y:10.91, Z:4.22 [[ 9.04906189e-01 -4.15500835e-01 -9.22162977e-02 4.00282637e+01] [ 4.13269485e-01 9.09592436e-01 -4.30108515e-02 1.09059066e+01] [ 1.01750291e-01 8.10603837e-04 9.94809641e-01 4.21764443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.356874999999995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:40.05, Y:10.92, Z:4.22 [[ 9.05829622e-01 -4.13484588e-01 -9.22127468e-02 4.00529469e+01] [ 4.11242033e-01 9.10510517e-01 -4.30184630e-02 1.09185997e+01] [ 1.01748147e-01 1.04564066e-03 9.94809641e-01 4.21974770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.386874999999996 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:40.08, Y:10.93, Z:4.22 [[ 9.07909561e-01 -4.08900048e-01 -9.22007597e-02 4.00772024e+01] [ 4.06631251e-01 9.12577793e-01 -4.30441395e-02 1.09298774e+01] [ 1.01741116e-01 1.58847551e-03 9.94809641e-01 4.22243866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.416875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:40.10, Y:10.94, Z:4.23 [[ 9.08143448e-01 -4.08381504e-01 -9.21955738e-02 4.01016128e+01] [ 4.06108915e-01 9.12809835e-01 -4.30552442e-02 1.09412433e+01] [ 1.01739992e-01 1.65889346e-03 9.94809641e-01 4.22548476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.446875 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:40.13, Y:10.95, Z:4.23 [[ 9.08325331e-01 -4.07977946e-01 -9.21905059e-02 4.01264444e+01] [ 4.05702183e-01 9.12990170e-01 -4.30660929e-02 1.09534532e+01] [ 1.01739042e-01 1.71613359e-03 9.94809641e-01 4.22885046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.476875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:40.15, Y:10.97, Z:4.23 [[ 9.08557285e-01 -4.07463830e-01 -9.21785617e-02 4.01503750e+01] [ 4.05182836e-01 9.13219568e-01 -4.30916432e-02 1.09653199e+01] [ 1.01737552e-01 1.80205530e-03 9.94809642e-01 4.23080947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.506874999999994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:40.18, Y:10.98, Z:4.23 [[ 9.08495426e-01 -4.07602906e-01 -9.21733837e-02 4.01754013e+01] [ 4.05321503e-01 9.13157509e-01 -4.31027163e-02 1.09769931e+01] [ 1.01737610e-01 1.79876621e-03 9.94809642e-01 4.23407910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.536874999999995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:40.20, Y:10.99, Z:4.24 [[ 9.08540708e-01 -4.07504630e-01 -9.21615888e-02 4.02014700e+01] [ 4.05220167e-01 9.13201292e-01 -4.31279212e-02 1.09891719e+01] [ 1.01736910e-01 1.83773766e-03 9.94809642e-01 4.23879665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.566874999999996 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:40.23, Y:11.00, Z:4.24 [[ 9.08784128e-01 -4.06963815e-01 -9.21512981e-02 4.02266008e+01] [ 4.04674350e-01 9.13442257e-01 -4.31498983e-02 1.10017938e+01] [ 1.01735337e-01 1.92267598e-03 9.94809642e-01 4.24083343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.596875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:40.25, Y:11.01, Z:4.24 [[ 9.09234364e-01 -4.05959552e-01 -9.21396379e-02 4.02517730e+01] [ 4.03662422e-01 9.13888717e-01 -4.31747825e-02 1.10142927e+01] [ 1.01732591e-01 2.06268655e-03 9.94809643e-01 4.24278182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.626875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:40.28, Y:11.03, Z:4.25 [[ 9.09123411e-01 -4.06210649e-01 -9.21278080e-02 4.02775182e+01] [ 4.03912249e-01 9.13777136e-01 -4.32000109e-02 1.10264793e+01] [ 1.01732589e-01 2.06259121e-03 9.94809643e-01 4.24568013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.656875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:40.30, Y:11.04, Z:4.25 [[ 9.09654343e-01 -4.05023001e-01 -9.21159304e-02 4.03022205e+01] [ 4.02715963e-01 9.14303792e-01 -4.32253228e-02 1.10385111e+01] [ 1.01729194e-01 2.22354701e-03 9.94809644e-01 4.24746407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.686875 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:40.33, Y:11.05, Z:4.25 [[ 9.10902710e-01 -4.02208723e-01 -9.21107833e-02 4.03274051e+01] [ 3.99886214e-01 9.15544450e-01 -4.32362883e-02 1.10508248e+01] [ 1.01721529e-01 2.55021974e-03 9.94809644e-01 4.25117608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.716874999999995 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:40.35, Y:11.06, Z:4.25 [[ 9.11543348e-01 -4.00757450e-01 -9.20988119e-02 4.03514151e+01] [ 3.98424978e-01 9.16180089e-01 -4.32617740e-02 1.10628952e+01] [ 1.01716576e-01 2.74051516e-03 9.94809644e-01 4.25266486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.746874999999996 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:40.38, Y:11.08, Z:4.26 [[ 9.11964929e-01 -3.99798364e-01 -9.20936269e-02 4.03762634e+01] [ 3.97459902e-01 9.16598653e-01 -4.32728087e-02 1.10751742e+01] [ 1.01713292e-01 2.85975992e-03 9.94809644e-01 4.25617785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.776875 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:40.40, Y:11.09, Z:4.26 [[ 9.12930575e-01 -3.97591158e-01 -9.20816797e-02 4.04007021e+01] [ 3.95238935e-01 9.17557327e-01 -4.32982167e-02 1.10862419e+01] [ 1.01705208e-01 3.13400085e-03 9.94809644e-01 4.25906805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.806875 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:40.43, Y:11.10, Z:4.26 [[ 9.13013656e-01 -3.97401545e-01 -9.20764748e-02 4.04259390e+01] [ 3.95047246e-01 9.17639352e-01 -4.33092826e-02 1.10982991e+01] [ 1.01704172e-01 3.16740867e-03 9.94809645e-01 4.26207246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.836875 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:40.45, Y:11.11, Z:4.26 [[ 9.13356052e-01 -3.96616769e-01 -9.20644357e-02 4.04513222e+01] [ 3.94255920e-01 9.17978409e-01 -4.33348596e-02 1.11102179e+01] [ 1.01700496e-01 3.28320753e-03 9.94809645e-01 4.26402038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.866875 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:40.48, Y:11.12, Z:4.27 [[ 9.13395075e-01 -3.96529697e-01 -9.20523576e-02 4.04768186e+01] [ 3.94165827e-01 9.18015887e-01 -4.33605010e-02 1.11217109e+01] [ 1.01699253e-01 3.32137446e-03 9.94809645e-01 4.26724925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.896874999999994 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:40.50, Y:11.13, Z:4.27 [[ 9.13323464e-01 -3.96697485e-01 -9.20399666e-02 4.05015314e+01] [ 3.94331818e-01 9.17943356e-01 -4.33867870e-02 1.11328835e+01] [ 1.01698905e-01 3.33188327e-03 9.94809646e-01 4.27040972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.926874999999995 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:40.53, Y:11.14, Z:4.28 [[ 9.13430370e-01 -3.96453220e-01 -9.20315309e-02 4.05268188e+01] [ 3.94084518e-01 9.18048706e-01 -4.34046733e-02 1.11439010e+01] [ 1.01697350e-01 3.37894530e-03 9.94809646e-01 4.27582076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.956875 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:40.55, Y:11.16, Z:4.28 [[ 9.13590327e-01 -3.96087316e-01 -9.20193069e-02 4.05518366e+01] [ 3.93714159e-01 9.18206375e-01 -4.34305734e-02 1.11558320e+01] [ 1.01695013e-01 3.44844770e-03 9.94809646e-01 4.27839763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.986875 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:40.58, Y:11.17, Z:4.28 [[ 9.14121574e-01 -3.94860598e-01 -9.20155238e-02 4.05774331e+01] [ 3.92480442e-01 9.18734016e-01 -4.34385871e-02 1.11673752e+01] [ 1.01689978e-01 3.59385616e-03 9.94809646e-01 4.28265519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.016875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:40.60, Y:11.18, Z:4.29 [[ 9.14259528e-01 -3.94543991e-01 -9.20030086e-02 4.06025217e+01] [ 3.92159575e-01 9.18869770e-01 -4.34650782e-02 1.11783562e+01] [ 1.01687669e-01 3.65850105e-03 9.94809647e-01 4.28585402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.046875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:40.63, Y:11.19, Z:4.29 [[ 9.14351952e-01 -3.94331018e-01 -9.19975832e-02 4.06279568e+01] [ 3.91944375e-01 9.18961041e-01 -4.34765586e-02 1.11892805e+01] [ 1.01686350e-01 3.69494102e-03 9.94809647e-01 4.28887810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.076874999999994 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:40.65, Y:11.20, Z:4.29 [[ 9.14182042e-01 -3.94727629e-01 -9.19852865e-02 4.06534473e+01] [ 3.92340374e-01 9.18790813e-01 -4.35025598e-02 1.12012878e+01] [ 1.01686898e-01 3.67971720e-03 9.94809647e-01 4.29083689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.106874999999995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:40.68, Y:11.21, Z:4.29 [[ 9.13793963e-01 -3.95628087e-01 -9.19728780e-02 4.06789344e+01] [ 3.93242739e-01 9.18403721e-01 -4.35287780e-02 1.12128166e+01] [ 1.01689441e-01 3.60866811e-03 9.94809648e-01 4.29133448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.136874999999996 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:40.70, Y:11.22, Z:4.29 [[ 9.13205350e-01 -3.96987749e-01 -9.19604021e-02 4.07044891e+01] [ 3.94606615e-01 9.17817286e-01 -4.35551193e-02 1.12235669e+01] [ 1.01693695e-01 3.48658498e-03 9.94809648e-01 4.29357508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.166875 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:40.73, Y:11.23, Z:4.30 [[ 9.12312214e-01 -3.99036863e-01 -9.19565433e-02 4.07304184e+01] [ 3.96665269e-01 9.16929063e-01 -4.35632647e-02 1.12343630e+01] [ 1.01700976e-01 3.26733149e-03 9.94809648e-01 4.29689650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.196875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:40.76, Y:11.24, Z:4.30 [[ 9.10512410e-01 -4.03129468e-01 -9.19444554e-02 4.07563214e+01] [ 4.00776056e-01 9.15138554e-01 -4.35887624e-02 1.12436264e+01] [ 1.01713831e-01 2.83897290e-03 9.94809649e-01 4.30246953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.226875 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:40.78, Y:11.25, Z:4.31 [[ 9.09547370e-01 -4.05304856e-01 -9.19323446e-02 4.07816847e+01] [ 4.02959932e-01 9.14177820e-01 -4.36142905e-02 1.12544268e+01] [ 1.01719594e-01 2.62421184e-03 9.94809649e-01 4.30521706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.256874999999994 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:40.81, Y:11.26, Z:4.31 [[ 9.07590589e-01 -4.09670600e-01 -9.19201916e-02 4.08071798e+01] [ 4.07345361e-01 9.12230956e-01 -4.36398888e-02 1.12640695e+01] [ 1.01730424e-01 2.16388876e-03 9.94809649e-01 4.30709792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.286874999999995 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:40.83, Y:11.27, Z:4.31 [[ 9.06613486e-01 -4.11829612e-01 -9.19149498e-02 4.08326533e+01] [ 4.09514305e-01 9.11258816e-01 -4.36509264e-02 1.12746444e+01] [ 1.01735052e-01 1.93403174e-03 9.94809649e-01 4.31059407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.316874999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:40.86, Y:11.28, Z:4.31 [[ 9.05911726e-01 -4.13373722e-01 -9.19027248e-02 4.08578264e+01] [ 4.11063725e-01 9.10559698e-01 -4.36766497e-02 1.12848356e+01] [ 1.01737697e-01 1.78931274e-03 9.94809650e-01 4.31276050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.346875 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:40.88, Y:11.29, Z:4.31 [[ 9.04652924e-01 -4.16122512e-01 -9.18974580e-02 4.08846352e+01] [ 4.13825513e-01 9.09307334e-01 -4.36877285e-02 1.12937766e+01] [ 1.01742480e-01 1.49271863e-03 9.94809650e-01 4.31437241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.376875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:40.91, Y:11.30, Z:4.32 [[ 9.04306098e-01 -4.16878314e-01 -9.18855402e-02 4.09096982e+01] [ 4.14582660e-01 9.08961171e-01 -4.37127801e-02 1.13044742e+01] [ 1.01743298e-01 1.43558191e-03 9.94809650e-01 4.31759589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.406875 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:40.94, Y:11.32, Z:4.32 [[ 9.01482669e-01 -4.22950980e-01 -9.18774559e-02 4.09352125e+01] [ 4.20684956e-01 9.06152236e-01 -4.37297656e-02 1.13164222e+01] [ 1.01750509e-01 7.70162321e-04 9.94809650e-01 4.32043223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.436875 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:40.96, Y:11.33, Z:4.33 [[ 8.96199121e-01 -4.34036683e-01 -9.18656211e-02 4.09588495e+01] [ 4.31825874e-01 9.00895082e-01 -4.37546136e-02 1.13306270e+01] [ 1.01752394e-01 -4.57105850e-04 9.94809651e-01 4.32542894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.466874999999995 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:40.98, Y:11.34, Z:4.33 [[ 8.93810398e-01 -4.38935480e-01 -9.18619461e-02 4.09836684e+01] [ 4.36749614e-01 8.98518020e-01 -4.37623279e-02 1.13430749e+01] [ 1.01748452e-01 -1.00544577e-03 9.94809651e-01 4.33036340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.496874999999996 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:41.01, Y:11.36, Z:4.33 [[ 8.90851316e-01 -4.44912901e-01 -9.18501149e-02 4.10077592e+01] [ 4.42756061e-01 8.95572307e-01 -4.37871457e-02 1.13573545e+01] [ 1.01739885e-01 -1.65935872e-03 9.94809651e-01 4.33369899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.526875 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:41.03, Y:11.37, Z:4.33 [[ 8.89688391e-01 -4.47236256e-01 -9.18384365e-02 4.10317183e+01] [ 4.45089216e-01 8.94413848e-01 -4.38116261e-02 1.13722485e+01] [ 1.01735717e-01 -1.89760260e-03 9.94809652e-01 4.33425575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.556875 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:41.06, Y:11.39, Z:4.33 [[ 8.89260183e-01 -4.48089534e-01 -9.18264507e-02 4.10552630e+01] [ 4.45944438e-01 8.93986521e-01 -4.38367334e-02 1.13859384e+01] [ 1.01734391e-01 -1.96723338e-03 9.94809652e-01 4.33453325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.586875 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:41.08, Y:11.40, Z:4.34 [[ 8.89939674e-01 -4.46739559e-01 -9.18212556e-02 4.10799150e+01] [ 4.44586170e-01 8.94662240e-01 -4.38476124e-02 1.14005783e+01] [ 1.01737473e-01 -1.80073044e-03 9.94809652e-01 4.33751005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.616875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:41.10, Y:11.41, Z:4.34 [[ 8.90654108e-01 -4.45315666e-01 -9.18107705e-02 4.11041108e+01] [ 4.43152466e-01 8.95372187e-01 -4.38695557e-02 1.14133706e+01] [ 1.01740611e-01 -1.61356936e-03 9.94809652e-01 4.34079169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.646874999999994 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:41.13, Y:11.43, Z:4.34 [[ 8.91794979e-01 -4.43027600e-01 -9.18055649e-02 4.11285381e+01] [ 4.40851173e-01 8.96506971e-01 -4.38804469e-02 1.14258428e+01] [ 1.01744578e-01 -1.34022873e-03 9.94809652e-01 4.34499847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.676874999999995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:41.15, Y:11.44, Z:4.35 [[ 8.92872917e-01 -4.40853533e-01 -9.17938791e-02 4.11522737e+01] [ 4.38663121e-01 8.97578424e-01 -4.39048789e-02 1.14388648e+01] [ 1.01747826e-01 -1.06511223e-03 9.94809653e-01 4.34757949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.706875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:41.18, Y:11.45, Z:4.35 [[ 8.94884775e-01 -4.36756289e-01 -9.17888041e-02 4.11763502e+01] [ 4.34543243e-01 8.99579680e-01 -4.39154864e-02 1.14548028e+01] [ 1.01751708e-01 -5.86904459e-04 9.94809653e-01 4.34909192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.736875 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:41.20, Y:11.47, Z:4.35 [[ 8.95789395e-01 -4.34900401e-01 -9.17769107e-02 4.12002276e+01] [ 4.32675083e-01 9.00478495e-01 -4.39403279e-02 1.14684204e+01] [ 1.01752801e-01 -3.48302709e-04 9.94809653e-01 4.35055212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.766875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:41.23, Y:11.48, Z:4.36 [[ 8.97497065e-01 -4.31366392e-01 -9.17717473e-02 4.12250346e+01] [ 4.29121508e-01 9.02176830e-01 -4.39511093e-02 1.14828514e+01] [ 1.01753375e-01 6.47611161e-05 9.94809653e-01 4.35537292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.796875 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:41.25, Y:11.50, Z:4.36 [[ 8.98573807e-01 -4.29121134e-01 -9.17614601e-02 4.12500913e+01] [ 4.26862365e-01 9.03246884e-01 -4.39725766e-02 1.14953079e+01] [ 1.01752815e-01 3.43091687e-04 9.94809654e-01 4.36023766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.826874999999994 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:41.27, Y:11.51, Z:4.36 [[ 8.99343746e-01 -4.27507801e-01 -9.17491555e-02 4.12742939e+01] [ 4.25238030e-01 9.04011490e-01 -4.39982353e-02 1.15090721e+01] [ 1.01751880e-01 5.54307638e-04 9.94809654e-01 4.36341280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.856874999999995 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:41.30, Y:11.52, Z:4.36 [[ 9.01011912e-01 -4.23983323e-01 -9.17369893e-02 4.12968417e+01] [ 4.21692713e-01 9.05669465e-01 -4.40235876e-02 1.15245830e+01] [ 1.01748657e-01 9.80956920e-04 9.94809654e-01 4.36347899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.886874999999996 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:41.32, Y:11.54, Z:4.37 [[ 9.01807068e-01 -4.22290547e-01 -9.17317062e-02 4.13211890e+01] [ 4.19990075e-01 9.06459757e-01 -4.40345932e-02 1.15381061e+01] [ 1.01746493e-01 1.18430124e-03 9.94809654e-01 4.36552673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.916875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:41.35, Y:11.55, Z:4.37 [[ 9.03053804e-01 -4.19620440e-01 -9.17197554e-02 4.13453210e+01] [ 4.17303685e-01 9.07698406e-01 -4.40594715e-02 1.15518800e+01] [ 1.01742131e-01 1.51308140e-03 9.94809655e-01 4.36838712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.946875 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:41.37, Y:11.56, Z:4.37 [[ 9.03410925e-01 -4.18853723e-01 -9.17074652e-02 4.13693664e+01] [ 4.16530432e-01 9.08052261e-01 -4.40850383e-02 1.15647910e+01] [ 1.01740353e-01 1.62795510e-03 9.94809655e-01 4.37046115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.976875 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:41.39, Y:11.58, Z:4.37 [[ 9.03533025e-01 -4.18591433e-01 -9.17021561e-02 4.13943337e+01] [ 4.16265674e-01 9.08173125e-01 -4.40960791e-02 1.15783506e+01] [ 1.01739675e-01 1.66980386e-03 9.94809655e-01 4.37307528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.006874999999994 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:41.42, Y:11.59, Z:4.38 [[ 9.03755868e-01 -4.18112776e-01 -9.16898984e-02 4.14192138e+01] [ 4.15781976e-01 9.08393437e-01 -4.41215521e-02 1.15914960e+01] [ 1.01738287e-01 1.75210445e-03 9.94809656e-01 4.37641954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.036874999999995 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:41.44, Y:11.60, Z:4.38 [[ 9.03978254e-01 -4.17634420e-01 -9.16777418e-02 4.14431492e+01] [ 4.15298607e-01 9.08613299e-01 -4.41467974e-02 1.16042553e+01] [ 1.01736837e-01 1.83410632e-03 9.94809656e-01 4.37857828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.066874999999996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:41.47, Y:11.62, Z:4.38 [[ 9.04072730e-01 -4.17431025e-01 -9.16724529e-02 4.14677364e+01] [ 4.15093057e-01 9.08706688e-01 -4.41577772e-02 1.16177188e+01] [ 1.01736197e-01 1.86924348e-03 9.94809656e-01 4.38086410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.096875 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:41.49, Y:11.63, Z:4.38 [[ 9.04321330e-01 -4.16894885e-01 -9.16601708e-02 4.14928610e+01] [ 4.14551587e-01 9.08952596e-01 -4.41832571e-02 1.16305146e+01] [ 1.01734524e-01 1.95799248e-03 9.94809657e-01 4.38277946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.126875 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:41.52, Y:11.64, Z:4.38 [[ 9.04512949e-01 -4.16481682e-01 -9.16478816e-02 4.15168436e+01] [ 4.14133688e-01 9.09141835e-01 -4.42087335e-02 1.16432367e+01] [ 1.01733051e-01 2.03289669e-03 9.94809657e-01 4.38493519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.156875 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:41.54, Y:11.66, Z:4.39 [[ 9.04637923e-01 -4.16211323e-01 -9.16425784e-02 4.15420617e+01] [ 4.13860834e-01 9.09265542e-01 -4.42197240e-02 1.16561498e+01] [ 1.01732189e-01 2.07556543e-03 9.94809657e-01 4.38676390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.186875 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:41.57, Y:11.67, Z:4.39 [[ 9.04484045e-01 -4.16548145e-01 -9.16310792e-02 4.15669957e+01] [ 4.14196967e-01 9.09111314e-01 -4.42435397e-02 1.16684608e+01] [ 1.01732415e-01 2.06426063e-03 9.94809657e-01 4.38995908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.216874999999995 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:41.59, Y:11.68, Z:4.39 [[ 9.04379330e-01 -4.16778148e-01 -9.16187895e-02 4.15911056e+01] [ 4.14425571e-01 9.09005888e-01 -4.42689745e-02 1.16804756e+01] [ 1.01732360e-01 2.06677636e-03 9.94809658e-01 4.39258119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.246874999999996 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:41.62, Y:11.69, Z:4.40 [[ 9.04613395e-01 -4.16271689e-01 -9.16105158e-02 4.16164047e+01] [ 4.13914790e-01 9.09237752e-01 -4.42860895e-02 1.16928465e+01] [ 1.01730785e-01 2.14284239e-03 9.94809658e-01 4.39751952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.276875 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:41.64, Y:11.71, Z:4.40 [[ 9.04783825e-01 -4.15903428e-01 -9.16000527e-02 4.16412807e+01] [ 4.13542457e-01 9.09406104e-01 -4.43077205e-02 1.17050943e+01] [ 1.01729380e-01 2.20839793e-03 9.94809658e-01 4.40072130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.306875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:41.67, Y:11.72, Z:4.40 [[ 9.05195443e-01 -4.15009459e-01 -9.15879812e-02 4.16663587e+01] [ 4.12641402e-01 9.09814096e-01 -4.43326595e-02 1.17174165e+01] [ 1.01726509e-01 2.33672837e-03 9.94809659e-01 4.40426715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.336875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:41.69, Y:11.73, Z:4.41 [[ 9.06239548e-01 -4.12726296e-01 -9.15799399e-02 4.16903138e+01] [ 4.10344927e-01 9.10851351e-01 -4.43492645e-02 1.17299108e+01] [ 1.01719820e-01 2.61169370e-03 9.94809659e-01 4.40515586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.366875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:41.72, Y:11.74, Z:4.41 [[ 9.06877374e-01 -4.11324887e-01 -9.15711013e-02 4.17152674e+01] [ 4.08934551e-01 9.11484535e-01 -4.43675068e-02 1.17426680e+01] [ 1.01715102e-01 2.78930078e-03 9.94809659e-01 4.40704718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.396874999999994 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:41.74, Y:11.76, Z:4.41 [[ 9.07643576e-01 -4.09634119e-01 -9.15588711e-02 4.17405719e+01] [ 4.07232660e-01 9.12244949e-01 -4.43927315e-02 1.17556474e+01] [ 1.01708895e-01 3.00701496e-03 9.94809659e-01 4.40944282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.426874999999995 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:41.77, Y:11.77, Z:4.41 [[ 9.09268776e-01 -4.06016661e-01 -9.15465103e-02 4.17661112e+01] [ 4.03594336e-01 9.13859199e-01 -4.44182072e-02 1.17680079e+01] [ 1.01695153e-01 3.44043586e-03 9.94809660e-01 4.41172604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.456875 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:41.79, Y:11.78, Z:4.41 [[ 9.09809168e-01 -4.04806933e-01 -9.15348311e-02 4.17900493e+01] [ 4.02376088e-01 9.14395084e-01 -4.44422623e-02 1.17796329e+01] [ 1.01689535e-01 3.60255046e-03 9.94809660e-01 4.41327936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.486875 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:41.82, Y:11.79, Z:4.42 [[ 9.10328738e-01 -4.03638402e-01 -9.15293869e-02 4.18156615e+01] [ 4.01200546e-01 9.14910931e-01 -4.44534718e-02 1.17918880e+01] [ 1.01684365e-01 3.74563287e-03 9.94809660e-01 4.41605695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.516875 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:41.84, Y:11.80, Z:4.42 [[ 9.11271785e-01 -4.01507604e-01 -9.15170876e-02 4.18412428e+01] [ 3.99056499e-01 9.15846903e-01 -4.44787782e-02 1.18044531e+01] [ 1.01674209e-01 4.01176706e-03 9.94809661e-01 4.41818258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.546875 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:41.87, Y:11.82, Z:4.42 [[ 9.11159430e-01 -4.01765362e-01 -9.15045780e-02 4.18668116e+01] [ 3.99312972e-01 9.15733859e-01 -4.45044990e-02 1.18169995e+01] [ 1.01674206e-01 4.01172889e-03 9.94809661e-01 4.42108084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.576874999999994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:41.89, Y:11.83, Z:4.42 [[ 9.11677454e-01 -4.00591346e-01 -9.14920445e-02 4.18911625e+01] [ 3.98130486e-01 9.16247332e-01 -4.45302506e-02 1.18286688e+01] [ 1.01667775e-01 4.17145336e-03 9.94809661e-01 4.42296552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.606874999999995 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:41.92, Y:11.84, Z:4.43 [[ 9.12042265e-01 -3.99761312e-01 -9.14866135e-02 4.19163994e+01] [ 3.97295177e-01 9.16609298e-01 -4.45414057e-02 1.18406623e+01] [ 1.01663411e-01 4.27645430e-03 9.94809662e-01 4.42691359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.636874999999996 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:41.94, Y:11.85, Z:4.43 [[ 9.12995285e-01 -3.97582938e-01 -9.14735880e-02 4.19404544e+01] [ 3.95103236e-01 9.17554965e-01 -4.45681399e-02 1.18521132e+01] [ 1.01651577e-01 4.54899093e-03 9.94809662e-01 4.42886563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.666875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:41.97, Y:11.86, Z:4.43 [[ 9.13299543e-01 -3.96884818e-01 -9.14679455e-02 4.19656159e+01] [ 3.94400474e-01 9.17856696e-01 -4.45797171e-02 1.18645835e+01] [ 1.01647479e-01 4.63963424e-03 9.94809662e-01 4.43172132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.696875 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:41.99, Y:11.88, Z:4.44 [[ 9.13939707e-01 -3.95411349e-01 -9.14553263e-02 4.19896878e+01] [ 3.92917077e-01 9.18491433e-01 -4.46055905e-02 1.18755737e+01] [ 1.01638490e-01 4.83246086e-03 9.94809662e-01 4.43511695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.726875 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:42.02, Y:11.89, Z:4.44 [[ 9.14006935e-01 -3.95257188e-01 -9.14498616e-02 4.20151060e+01] [ 3.92761031e-01 9.18557627e-01 -4.46167913e-02 1.18872082e+01] [ 1.01637075e-01 4.86211475e-03 9.94809663e-01 4.43873294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.756874999999994 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:42.04, Y:11.90, Z:4.44 [[ 9.13922409e-01 -3.95455514e-01 -9.14372320e-02 4.20402982e+01] [ 3.92957763e-01 9.18472226e-01 -4.46426595e-02 1.18993680e+01] [ 1.01636744e-01 4.86895679e-03 9.94809663e-01 4.44128313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.786874999999995 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:42.06, Y:11.91, Z:4.44 [[ 9.13550210e-01 -3.96317479e-01 -9.14246657e-02 4.20644626e+01] [ 3.93821454e-01 9.18100974e-01 -4.46683795e-02 1.19108109e+01] [ 1.01639934e-01 4.80181280e-03 9.94809663e-01 4.44148946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.816874999999996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:42.09, Y:11.92, Z:4.44 [[ 9.13153577e-01 -3.97232476e-01 -9.14161064e-02 4.20896679e+01] [ 3.94739262e-01 9.17705882e-01 -4.46858898e-02 1.19223563e+01] [ 1.01643785e-01 4.71955369e-03 9.94809664e-01 4.44375498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.846875 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:42.11, Y:11.93, Z:4.45 [[ 9.12662749e-01 -3.98361779e-01 -9.14035049e-02 4.21144036e+01] [ 3.95871625e-01 9.17216727e-01 -4.47116509e-02 1.19334013e+01] [ 1.01648236e-01 4.62260422e-03 9.94809664e-01 4.44597359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.876875 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:42.14, Y:11.94, Z:4.45 [[ 9.11959630e-01 -3.99970032e-01 -9.13980706e-02 4.21396750e+01] [ 3.97486800e-01 9.16517386e-01 -4.47227568e-02 1.19446104e+01] [ 1.01655683e-01 4.45582211e-03 9.94809664e-01 4.44969329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.906875 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:42.17, Y:11.96, Z:4.45 [[ 9.10822856e-01 -4.02554906e-01 -9.13852939e-02 4.21658017e+01] [ 4.00081998e-01 9.15386222e-01 -4.47488493e-02 1.19558466e+01] [ 1.01666708e-01 4.19666379e-03 9.94809664e-01 4.45279183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.936875 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:42.19, Y:11.97, Z:4.46 [[ 9.10225953e-01 -4.03905622e-01 -9.13726608e-02 4.21909350e+01] [ 4.01436903e-01 9.14791586e-01 -4.47746300e-02 1.19678156e+01] [ 1.01671666e-01 4.07467224e-03 9.94809665e-01 4.45550567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.966874999999995 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:42.22, Y:11.98, Z:4.46 [[ 9.09710079e-01 -4.05069052e-01 -9.13599211e-02 4.22157744e+01] [ 4.02603567e-01 9.14277459e-01 -4.48006096e-02 1.19796993e+01] [ 1.01675657e-01 3.97373590e-03 9.94809665e-01 4.45840949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.996874999999996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:42.24, Y:11.99, Z:4.46 [[ 9.08965801e-01 -4.06739348e-01 -9.13470026e-02 4.22418497e+01] [ 4.04279616e-01 9.13536282e-01 -4.48269346e-02 1.19908665e+01] [ 1.01681679e-01 3.81641935e-03 9.94809666e-01 4.46109934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.026875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:42.27, Y:12.00, Z:4.46 [[ 9.08599369e-01 -4.07560180e-01 -9.13339300e-02 4.22661463e+01] [ 4.05101906e-01 9.13170633e-01 -4.48535540e-02 1.20019080e+01] [ 1.01683985e-01 3.75436168e-03 9.94809666e-01 4.46319816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.056875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:42.29, Y:12.01, Z:4.47 [[ 9.07933607e-01 -4.09042437e-01 -9.13282514e-02 4.22918344e+01] [ 4.06590466e-01 9.12508255e-01 -4.48651136e-02 1.20122286e+01] [ 1.01689519e-01 3.60134812e-03 9.94809666e-01 4.46551051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.086875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:42.32, Y:12.02, Z:4.47 [[ 9.07661660e-01 -4.09648379e-01 -9.13154765e-02 4.23177193e+01] [ 4.07196851e-01 9.12236545e-01 -4.48910998e-02 1.20237428e+01] [ 1.01690881e-01 3.56255568e-03 9.94809667e-01 4.46848869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.116875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:42.34, Y:12.04, Z:4.47 [[ 9.07319609e-01 -4.10408306e-01 -9.13025189e-02 4.23434768e+01] [ 4.07957963e-01 9.11895128e-01 -4.49174384e-02 1.20356526e+01] [ 1.01692812e-01 3.50688299e-03 9.94809667e-01 4.47113306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.146874999999994 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:42.37, Y:12.05, Z:4.47 [[ 9.06869006e-01 -4.11405881e-01 -9.12896866e-02 4.23692152e+01] [ 4.08957951e-01 9.11445816e-01 -4.49435037e-02 1.20470522e+01] [ 1.01695625e-01 3.42422738e-03 9.94809668e-01 4.47254027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.176874999999995 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:42.39, Y:12.06, Z:4.47 [[ 9.06624230e-01 -4.11946359e-01 -9.12836434e-02 4.23947196e+01] [ 4.09499923e-01 9.11201839e-01 -4.49557745e-02 1.20589029e+01] [ 1.01697191e-01 3.37734940e-03 9.94809668e-01 4.47482583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.206875 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:42.42, Y:12.07, Z:4.48 [[ 9.06217541e-01 -4.12843116e-01 -9.12706381e-02 4.24196968e+01] [ 4.10398556e-01 9.10796152e-01 -4.49821629e-02 1.20698750e+01] [ 1.01699522e-01 3.30628703e-03 9.94809668e-01 4.47632442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.236875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:42.44, Y:12.08, Z:4.48 [[ 9.05973844e-01 -4.13379584e-01 -9.12617842e-02 4.24449834e+01] [ 4.10935929e-01 9.10552937e-01 -4.50001189e-02 1.20814893e+01] [ 1.01700816e-01 3.26618465e-03 9.94809668e-01 4.47957092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.266875 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:42.47, Y:12.09, Z:4.48 [[ 9.05782974e-01 -4.13800464e-01 -9.12489946e-02 4.24703538e+01] [ 4.11356329e-01 9.10361811e-01 -4.50260383e-02 1.20932971e+01] [ 1.01701395e-01 3.24796748e-03 9.94809669e-01 4.48224753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.296875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:42.49, Y:12.10, Z:4.49 [[ 9.05748976e-01 -4.13877690e-01 -9.12362383e-02 4.24947207e+01] [ 4.11431346e-01 9.10326632e-01 -4.50518717e-02 1.21038973e+01] [ 1.01700742e-01 3.26823835e-03 9.94809669e-01 4.48592192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.326874999999994 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:42.52, Y:12.12, Z:4.49 [[ 9.05657718e-01 -4.14078563e-01 -9.12306997e-02 4.25201483e+01] [ 4.11632107e-01 9.10235314e-01 -4.50630846e-02 1.21161308e+01] [ 1.01701062e-01 3.25824532e-03 9.94809669e-01 4.48932639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.356874999999995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:42.55, Y:12.13, Z:4.49 [[ 9.05643468e-01 -4.14112490e-01 -9.12181659e-02 4.25454571e+01] [ 4.11663654e-01 9.10219791e-01 -4.50884416e-02 1.21284763e+01] [ 1.01700267e-01 3.28284921e-03 9.94809670e-01 4.49213744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.386874999999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:42.57, Y:12.14, Z:4.49 [[ 9.05645265e-01 -4.14111327e-01 -9.12056055e-02 4.25694137e+01] [ 4.11659931e-01 9.10220217e-01 -4.51138348e-02 1.21407105e+01] [ 1.01699336e-01 3.31143768e-03 9.94809670e-01 4.49380936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.416875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:42.59, Y:12.15, Z:4.49 [[ 9.05329952e-01 -4.14801407e-01 -9.12001731e-02 4.25947130e+01] [ 4.12352393e-01 9.09906179e-01 -4.51248141e-02 1.21526369e+01] [ 1.01701437e-01 3.24623615e-03 9.94809670e-01 4.49476676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.446875 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:42.62, Y:12.16, Z:4.50 [[ 9.05047936e-01 -4.15419156e-01 -9.11874912e-02 4.26202652e+01] [ 4.12970689e-01 9.09624455e-01 -4.51504270e-02 1.21644293e+01] [ 1.01702724e-01 3.20553967e-03 9.94809670e-01 4.49699659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.476875 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:42.65, Y:12.18, Z:4.50 [[ 9.04582265e-01 -4.16434976e-01 -9.11747557e-02 4.26458426e+01] [ 4.13989061e-01 9.09160148e-01 -4.51761300e-02 1.21758067e+01] [ 1.01705375e-01 3.12017454e-03 9.94809671e-01 4.50014675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.506874999999994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:42.67, Y:12.19, Z:4.50 [[ 9.03454297e-01 -4.18879238e-01 -9.11620394e-02 4.26711307e+01] [ 4.16443123e-01 9.08037402e-01 -4.52017762e-02 1.21854860e+01] [ 1.01712627e-01 2.87393449e-03 9.94809671e-01 4.50410015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.536874999999995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:42.70, Y:12.20, Z:4.51 [[ 9.02582584e-01 -4.20756154e-01 -9.11533779e-02 4.26963671e+01] [ 4.18327809e-01 9.07169811e-01 -4.52192361e-02 1.21973540e+01] [ 1.01717864e-01 2.68210210e-03 9.94809671e-01 4.50751974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.566874999999996 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:42.72, Y:12.21, Z:4.51 [[ 9.00392553e-01 -4.25425163e-01 -9.11410000e-02 4.27220449e+01] [ 4.23018086e-01 9.04990975e-01 -4.52441705e-02 1.22085042e+01] [ 1.01729791e-01 2.18322278e-03 9.94809672e-01 4.51036575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.596875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:42.75, Y:12.22, Z:4.51 [[ 8.99187957e-01 -4.27968014e-01 -9.11284626e-02 4.27470021e+01] [ 4.25571385e-01 9.03791833e-01 -4.52694087e-02 1.22199642e+01] [ 1.01735019e-01 1.92404110e-03 9.94809672e-01 4.51367870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.626875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:42.77, Y:12.23, Z:4.52 [[ 8.98031762e-01 -4.30391475e-01 -9.11160357e-02 4.27729005e+01] [ 4.28004735e-01 9.02640772e-01 -4.52944072e-02 1.22315170e+01] [ 1.01739376e-01 1.67772158e-03 9.94809673e-01 4.51760089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.656875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:42.80, Y:12.24, Z:4.52 [[ 8.97072803e-01 -4.32389314e-01 -9.11036093e-02 4.27988322e+01] [ 4.30010302e-01 9.01685806e-01 -4.53193877e-02 1.22431222e+01] [ 1.01742450e-01 1.47929957e-03 9.94809673e-01 4.52104375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.686875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:42.82, Y:12.25, Z:4.52 [[ 8.96216650e-01 -4.34163698e-01 -9.10911627e-02 4.28228436e+01] [ 4.31791279e-01 9.00833046e-01 -4.53443913e-02 1.22542900e+01] [ 1.01744818e-01 1.30602876e-03 9.94809673e-01 4.52428301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.716874999999995 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:42.85, Y:12.27, Z:4.53 [[ 8.95544851e-01 -4.35548853e-01 -9.10857655e-02 4.28480632e+01] [ 4.33182472e-01 9.00164345e-01 -4.53552304e-02 1.22660807e+01] [ 1.01746577e-01 1.16088592e-03 9.94809673e-01 4.52705804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.746874999999996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:42.87, Y:12.28, Z:4.53 [[ 8.95234898e-01 -4.36188159e-01 -9.10734147e-02 4.28724400e+01] [ 4.33822556e-01 8.99854791e-01 -4.53800175e-02 1.22786072e+01] [ 1.01747075e-01 1.11607378e-03 9.94809674e-01 4.52915557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.776875 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:42.90, Y:12.29, Z:4.53 [[ 8.95392549e-01 -4.35865560e-01 -9.10680847e-02 4.28977440e+01] [ 4.33497205e-01 9.00011032e-01 -4.53907110e-02 1.22904732e+01] [ 1.01746529e-01 1.16474423e-03 9.94809674e-01 4.53253900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.806875 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:42.92, Y:12.30, Z:4.54 [[ 8.95437598e-01 -4.35786122e-01 -9.10052918e-02 4.29225144e+01] [ 4.33404557e-01 9.00049291e-01 -4.55166378e-02 1.23025591e+01] [ 1.01744767e-01 1.31520069e-03 9.94809666e-01 4.53595329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.836875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:42.95, Y:12.32, Z:4.54 [[ 8.95668154e-01 -4.35302462e-01 -9.10512140e-02 4.29470366e+01] [ 4.32927760e-01 9.00283379e-01 -4.54245903e-02 1.23152608e+01] [ 1.01745331e-01 1.26676090e-03 9.94809672e-01 4.53852637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.866875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:42.97, Y:12.33, Z:4.54 [[ 8.96142511e-01 -4.34327688e-01 -9.10387770e-02 4.29708873e+01] [ 4.31945435e-01 9.00753842e-01 -4.54495027e-02 1.23274584e+01] [ 1.01743506e-01 1.40544738e-03 9.94809672e-01 4.54128192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.896874999999994 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:43.00, Y:12.34, Z:4.54 [[ 8.96590626e-01 -4.33403009e-01 -9.10334025e-02 4.29958941e+01] [ 4.31014907e-01 9.01198931e-01 -4.54602650e-02 1.23401291e+01] [ 1.01741821e-01 1.52249392e-03 9.94809672e-01 4.54440196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.926874999999995 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:43.02, Y:12.35, Z:4.55 [[ 8.97569140e-01 -4.31375476e-01 -9.10210868e-02 4.30200503e+01] [ 4.28974467e-01 9.02170732e-01 -4.54849104e-02 1.23538068e+01] [ 1.01737635e-01 1.78012972e-03 9.94809673e-01 4.54652100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.956875 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:43.04, Y:12.37, Z:4.55 [[ 8.98066497e-01 -4.30341765e-01 -9.10084191e-02 4.30434380e+01] [ 4.27932893e-01 9.02663978e-01 -4.55102425e-02 1.23667057e+01] [ 1.01734980e-01 1.92572804e-03 9.94809673e-01 4.54772388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.986875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:43.07, Y:12.38, Z:4.55 [[ 8.98461266e-01 -4.29518121e-01 -9.10029533e-02 4.30680825e+01] [ 4.27103928e-01 9.03055955e-01 -4.55211696e-02 1.23798415e+01] [ 1.01732926e-01 2.03128883e-03 9.94809673e-01 4.54976601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.016875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:43.09, Y:12.39, Z:4.55 [[ 8.98942843e-01 -4.28511939e-01 -9.09905645e-02 4.30921759e+01] [ 4.26090100e-01 9.03533506e-01 -4.55459197e-02 1.23923773e+01] [ 1.01729994e-01 2.17299981e-03 9.94809673e-01 4.55248815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.046875 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:43.12, Y:12.41, Z:4.56 [[ 8.99798545e-01 -4.26713339e-01 -9.09851945e-02 4.31171819e+01] [ 4.24281240e-01 9.04383780e-01 -4.55566445e-02 1.24051784e+01] [ 1.01725162e-01 2.38849130e-03 9.94809674e-01 4.55553725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.076874999999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:43.14, Y:12.42, Z:4.56 [[ 9.00232904e-01 -4.25798863e-01 -9.09727800e-02 4.31409356e+01] [ 4.23359604e-01 9.04814334e-01 -4.55814218e-02 1.24177890e+01] [ 1.01721993e-01 2.51969555e-03 9.94809674e-01 4.55731533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.106874999999995 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:43.17, Y:12.43, Z:4.56 [[ 9.00651360e-01 -4.24914178e-01 -9.09674059e-02 4.31659364e+01] [ 4.22469337e-01 9.05229814e-01 -4.55921445e-02 1.24312637e+01] [ 1.01719156e-01 2.63168734e-03 9.94809674e-01 4.55966045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.136874999999996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:43.19, Y:12.44, Z:4.56 [[ 9.00580612e-01 -4.25066761e-01 -9.09549906e-02 4.31905665e+01] [ 4.22620198e-01 9.05158145e-01 -4.56168994e-02 1.24448676e+01] [ 1.01718878e-01 2.64227904e-03 9.94809674e-01 4.56050890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.166875 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:43.22, Y:12.46, Z:4.56 [[ 8.99807727e-01 -4.26703096e-01 -9.09424101e-02 4.32156995e+01] [ 4.24262326e-01 9.04388351e-01 -4.56419662e-02 1.24575877e+01] [ 1.01722825e-01 2.48555539e-03 9.94809675e-01 4.56225060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.196875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:43.24, Y:12.47, Z:4.57 [[ 8.99015894e-01 -4.28371537e-01 -9.09299106e-02 4.32404851e+01] [ 4.25936752e-01 9.03599702e-01 -4.56668547e-02 1.24703589e+01] [ 1.01726621e-01 2.32483743e-03 9.94809675e-01 4.56534546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.226875 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.27, Y:12.48, Z:4.57 [[ 8.98800064e-01 -4.28826875e-01 -9.09173029e-02 4.32652040e+01] [ 4.26391876e-01 9.03383758e-01 -4.56919415e-02 1.24827495e+01] [ 1.01727147e-01 2.30152054e-03 9.94809676e-01 4.56902878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.256874999999994 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:43.29, Y:12.49, Z:4.57 [[ 8.98772069e-01 -4.28888227e-01 -9.09046551e-02 4.32894621e+01] [ 4.26450999e-01 9.03354578e-01 -4.57170907e-02 1.24949945e+01] [ 1.01726658e-01 2.32286322e-03 9.94809676e-01 4.57275077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.286874999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:43.31, Y:12.51, Z:4.58 [[ 8.98951135e-01 -4.28513939e-01 -9.08991809e-02 4.33139168e+01] [ 4.26073703e-01 9.03532042e-01 -4.57279725e-02 1.25076256e+01] [ 1.01725396e-01 2.37746209e-03 9.94809676e-01 4.57806788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.316874999999996 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:43.34, Y:12.52, Z:4.58 [[ 8.99281208e-01 -4.27823488e-01 -9.08865894e-02 4.33384125e+01] [ 4.25377210e-01 9.03858890e-01 -4.57529852e-02 1.25206339e+01] [ 1.01722854e-01 2.48371599e-03 9.94809676e-01 4.58018791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.346875 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:43.36, Y:12.53, Z:4.58 [[ 8.99824862e-01 -4.26681525e-01 -9.08740565e-02 4.33622554e+01] [ 4.24226927e-01 9.04398088e-01 -4.57778644e-02 1.25338008e+01] [ 1.01718892e-01 2.64083874e-03 9.94809677e-01 4.58152027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.376875 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:43.39, Y:12.55, Z:4.58 [[ 9.00287943e-01 -4.25704725e-01 -9.08686266e-02 4.33864574e+01] [ 4.23244078e-01 9.04857917e-01 -4.57886401e-02 1.25474006e+01] [ 1.01715637e-01 2.76335249e-03 9.94809677e-01 4.58383063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:12.56, Z:4.59 [[ 9.01299801e-01 -4.23560879e-01 -9.08562132e-02 4.34103096e+01] [ 4.21086883e-01 9.05862563e-01 -4.58132583e-02 1.25598609e+01] [ 1.01707946e-01 3.03312089e-03 9.94809677e-01 4.58741617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.436875 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:43.44, Y:12.57, Z:4.59 [[ 9.01593795e-01 -4.22936534e-01 -9.08477700e-02 4.34350380e+01] [ 4.20457695e-01 9.06153927e-01 -4.58299951e-02 1.25720747e+01] [ 1.01705243e-01 3.12239526e-03 9.94809677e-01 4.59179521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.466874999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:43.46, Y:12.59, Z:4.59 [[ 9.01476908e-01 -4.23188336e-01 -9.08351037e-02 4.34604159e+01] [ 4.20708244e-01 9.06036359e-01 -4.58550861e-02 1.25850142e+01] [ 1.01705244e-01 3.12222419e-03 9.94809678e-01 4.59469350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.496874999999996 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:43.49, Y:12.60, Z:4.60 [[ 9.01607274e-01 -4.22913257e-01 -9.08223530e-02 4.34851031e+01] [ 4.20429235e-01 9.06164584e-01 -4.58803269e-02 1.25976065e+01] [ 1.01703398e-01 3.18166411e-03 9.94809678e-01 4.59911134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.526875 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:43.51, Y:12.61, Z:4.60 [[ 9.01955961e-01 -4.22171886e-01 -9.08093770e-02 4.35098917e+01] [ 4.19681537e-01 9.06509816e-01 -4.59059957e-02 1.26102108e+01] [ 1.01699812e-01 3.29416758e-03 9.94809679e-01 4.60343270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.556875 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:43.53, Y:12.62, Z:4.61 [[ 9.01780119e-01 -4.22550202e-01 -9.07961629e-02 4.35344629e+01] [ 4.20059136e-01 9.06333582e-01 -4.59321166e-02 1.26231189e+01] [ 1.01700237e-01 3.28091184e-03 9.94809679e-01 4.60516947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.586875 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:43.56, Y:12.64, Z:4.61 [[ 9.01946080e-01 -4.22198677e-01 -9.07829660e-02 4.35595213e+01] [ 4.19703216e-01 9.06497135e-01 -4.59581851e-02 1.26364281e+01] [ 1.01697983e-01 3.34990207e-03 9.94809679e-01 4.60611839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.616875 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:43.58, Y:12.65, Z:4.61 [[ 9.02164491e-01 -4.21732642e-01 -9.07789090e-02 4.35838242e+01] [ 4.19234026e-01 9.06713814e-01 -4.59661972e-02 1.26497925e+01] [ 1.01695937e-01 3.41146337e-03 9.94809679e-01 4.60694561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.646874999999994 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:43.61, Y:12.66, Z:4.61 [[ 9.02000094e-01 -4.22086885e-01 -9.07661412e-02 4.36087377e+01] [ 4.19587523e-01 9.06549007e-01 -4.59913952e-02 1.26618699e+01] [ 1.01696320e-01 3.39990248e-03 9.94809680e-01 4.61061733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.676874999999995 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:43.63, Y:12.67, Z:4.61 [[ 9.01761722e-01 -4.22598645e-01 -9.07534136e-02 4.36341837e+01] [ 4.20099341e-01 9.06310667e-01 -4.60164965e-02 1.26736989e+01] [ 1.01697296e-01 3.37046588e-03 9.94809680e-01 4.61448116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.706875 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:43.66, Y:12.69, Z:4.62 [[ 9.01362735e-01 -4.23451784e-01 -9.07403241e-02 4.36586893e+01] [ 4.20954192e-01 9.05912620e-01 -4.60422936e-02 1.26862173e+01] [ 1.01699496e-01 3.30328783e-03 9.94809681e-01 4.61793043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.736875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:43.68, Y:12.70, Z:4.62 [[ 9.00887835e-01 -4.24463998e-01 -9.07271917e-02 4.36840179e+01] [ 4.21968917e-01 9.05439097e-01 -4.60681567e-02 1.26985358e+01] [ 1.01702220e-01 3.21818713e-03 9.94809681e-01 4.62055644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.766875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:43.71, Y:12.71, Z:4.63 [[ 8.99890744e-01 -4.26574682e-01 -9.07231451e-02 4.37100976e+01] [ 4.24089474e-01 9.04447405e-01 -4.60761244e-02 1.27110412e+01] [ 1.01709221e-01 2.98874694e-03 9.94809681e-01 4.62582118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.796875 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:43.74, Y:12.72, Z:4.63 [[ 8.93909086e-01 -4.38973793e-01 -9.07113764e-02 4.37351768e+01] [ 4.36549465e-01 8.98498426e-01 -4.60992822e-02 1.27220044e+01] [ 1.01740406e-01 1.60856447e-03 9.94809681e-01 4.62966601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.826874999999994 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:43.76, Y:12.73, Z:4.63 [[ 8.91306344e-01 -4.44235524e-01 -9.07072252e-02 4.37604555e+01] [ 4.41837459e-01 8.95909461e-01 -4.61074489e-02 1.27342878e+01] [ 1.01748028e-01 1.01801186e-03 9.94809682e-01 4.63294142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.856874999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:43.79, Y:12.75, Z:4.64 [[ 8.89024358e-01 -4.48787507e-01 -9.06943439e-02 4.37853791e+01] [ 4.46410429e-01 8.93638348e-01 -4.61327729e-02 1.27464190e+01] [ 1.01751756e-01 5.26257883e-04 9.94809682e-01 4.63696853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.886874999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:43.81, Y:12.76, Z:4.64 [[ 8.85523864e-01 -4.55658133e-01 -9.06816001e-02 4.38104942e+01] [ 4.53314290e-01 8.90154824e-01 -4.61578094e-02 1.27588541e+01] [ 1.01752845e-01 -2.33423443e-04 9.94809682e-01 4.64042634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.916875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:43.83, Y:12.77, Z:4.64 [[ 8.84370520e-01 -4.57895115e-01 -9.06688903e-02 4.38343145e+01] [ 4.55560427e-01 8.89006102e-01 -4.61827622e-02 1.27709298e+01] [ 1.01752058e-01 -4.62484978e-04 9.94809683e-01 4.64154562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.946875 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:43.86, Y:12.78, Z:4.64 [[ 8.82935050e-01 -4.60658052e-01 -9.06634243e-02 4.38592598e+01] [ 4.58336768e-01 8.87577359e-01 -4.61934902e-02 1.27836550e+01] [ 1.01750206e-01 -7.68529198e-04 9.94809683e-01 4.64411289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.976875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:43.88, Y:12.80, Z:4.65 [[ 8.82951801e-01 -4.60628467e-01 -9.06506009e-02 4.38830876e+01] [ 4.58304446e-01 8.87592740e-01 -4.62186413e-02 1.27954040e+01] [ 1.01750437e-01 -7.36740810e-04 9.94809683e-01 4.64810606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.006874999999994 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:43.91, Y:12.81, Z:4.65 [[ 8.83151085e-01 -4.60247367e-01 -9.06450327e-02 4.39083196e+01] [ 4.57920222e-01 8.87790458e-01 -4.62295593e-02 1.28081334e+01] [ 1.01750828e-01 -6.80508069e-04 9.94809683e-01 4.65303403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.036874999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:43.93, Y:12.82, Z:4.66 [[ 8.84405292e-01 -4.57835250e-01 -9.06320232e-02 4.39314405e+01] [ 4.55492839e-01 8.89036976e-01 -4.62550501e-02 1.28215095e+01] [ 1.01752412e-01 -3.74026466e-04 9.94809684e-01 4.65556421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.066874999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:43.96, Y:12.83, Z:4.66 [[ 8.85341239e-01 -4.56023844e-01 -9.06263940e-02 4.39552855e+01] [ 4.53670828e-01 8.89967544e-01 -4.62660767e-02 1.28348410e+01] [ 1.01752983e-01 -1.53285508e-04 9.94809684e-01 4.65770124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.096875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:43.98, Y:12.85, Z:4.66 [[ 8.86220905e-01 -4.54313047e-01 -9.06209786e-02 4.39800037e+01] [ 4.51950016e-01 8.90842103e-01 -4.62766813e-02 1.28487062e+01] [ 1.01753083e-01 5.52097109e-05 9.94809684e-01 4.65979124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.126875 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:44.00, Y:12.86, Z:4.66 [[ 8.88110085e-01 -4.50611320e-01 -9.06085825e-02 4.40044573e+01] [ 4.48226552e-01 8.92720102e-01 -4.63009399e-02 1.28633644e+01] [ 1.01751831e-01 5.07159187e-04 9.94809684e-01 4.66077441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.156875 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:44.03, Y:12.88, Z:4.66 [[ 8.89094882e-01 -4.48667611e-01 -9.05961641e-02 4.40292948e+01] [ 4.46270290e-01 8.93698384e-01 -4.63252261e-02 1.28769535e+01] [ 1.01750274e-01 7.57145003e-04 9.94809685e-01 4.66291053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.186875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:44.05, Y:12.89, Z:4.67 [[ 8.90020027e-01 -4.46832160e-01 -9.05835076e-02 4.40526708e+01] [ 4.44422828e-01 8.94617254e-01 -4.63499614e-02 1.28902096e+01] [ 1.01748222e-01 9.95015288e-04 9.94809685e-01 4.66536705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.216874999999995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:44.08, Y:12.90, Z:4.67 [[ 8.90820849e-01 -4.45234588e-01 -9.05780147e-02 4.40766160e+01] [ 4.42815921e-01 8.95413171e-01 -4.63606931e-02 1.29036382e+01] [ 1.01746131e-01 1.18968500e-03 9.94809685e-01 4.66937328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.246874999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.10, Y:12.92, Z:4.67 [[ 8.92627079e-01 -4.41603019e-01 -9.05741224e-02 4.40998821e+01] [ 4.39164899e-01 8.97209102e-01 -4.63682964e-02 1.29173924e+01] [ 1.01740307e-01 1.61262166e-03 9.94809685e-01 4.67290147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.276875 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:44.12, Y:12.93, Z:4.68 [[ 8.93154117e-01 -4.40537206e-01 -9.05687267e-02 4.41242754e+01] [ 4.38092550e-01 8.97732656e-01 -4.63788331e-02 1.29312176e+01] [ 1.01738105e-01 1.74596128e-03 9.94809685e-01 4.67510133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.306875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:44.15, Y:12.94, Z:4.68 [[ 8.93573445e-01 -4.39688602e-01 -9.05562368e-02 4.41490224e+01] [ 4.37237128e-01 8.98148338e-01 -4.64032073e-02 1.29449401e+01] [ 1.01735895e-01 1.87012494e-03 9.94809685e-01 4.67655569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.336875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:44.17, Y:12.96, Z:4.68 [[ 8.93944540e-01 -4.38936188e-01 -9.05438168e-02 4.41736391e+01] [ 4.36478412e-01 8.98516049e-01 -4.64274291e-02 1.29583530e+01] [ 1.01733751e-01 1.98312534e-03 9.94809686e-01 4.67778745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.366875 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:44.20, Y:12.97, Z:4.68 [[ 8.93671679e-01 -4.39494013e-01 -9.05314462e-02 4.41981229e+01] [ 4.37036648e-01 8.98243409e-01 -4.64515388e-02 1.29708526e+01] [ 1.01734448e-01 1.94686482e-03 9.94809686e-01 4.68118568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.396874999999994 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:44.22, Y:12.98, Z:4.68 [[ 8.93183409e-01 -4.40488023e-01 -9.05190535e-02 4.42228208e+01] [ 4.38033301e-01 8.97756559e-01 -4.64756757e-02 1.29833390e+01] [ 1.01736052e-01 1.86094261e-03 9.94809687e-01 4.68434534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.426874999999995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:44.25, Y:13.00, Z:4.69 [[ 8.92603711e-01 -4.41664138e-01 -9.05063754e-02 4.42481030e+01] [ 4.39212941e-01 8.97178750e-01 -4.65003520e-02 1.29960719e+01] [ 1.01737935e-01 1.75481549e-03 9.94809687e-01 4.68868411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.456875 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:44.27, Y:13.01, Z:4.69 [[ 8.91560664e-01 -4.43768568e-01 -9.04933214e-02 4.42732308e+01] [ 4.41325594e-01 8.96140098e-01 -4.65257422e-02 1.30081109e+01] [ 1.01741356e-01 1.54350283e-03 9.94809687e-01 4.69347520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.486875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:44.30, Y:13.02, Z:4.70 [[ 8.90986960e-01 -4.44920136e-01 -9.04892811e-02 4.42981428e+01] [ 4.42482283e-01 8.95569123e-01 -4.65335990e-02 1.30206313e+01] [ 1.01743141e-01 1.42092621e-03 9.94809687e-01 4.69712237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.516875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:44.32, Y:13.03, Z:4.70 [[ 8.90425125e-01 -4.46046033e-01 -9.04766983e-02 4.43232857e+01] [ 4.43611490e-01 8.95009047e-01 -4.65580514e-02 1.30339513e+01] [ 1.01744498e-01 1.31995581e-03 9.94809688e-01 4.69915195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.546875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:44.35, Y:13.05, Z:4.70 [[ 8.90325181e-01 -4.46248045e-01 -9.04641059e-02 4.43469595e+01] [ 4.43812058e-01 8.94908335e-01 -4.65825061e-02 1.30463569e+01] [ 1.01744435e-01 1.32451719e-03 9.94809688e-01 4.70136080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.576874999999994 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:44.37, Y:13.06, Z:4.70 [[ 8.90258217e-01 -4.46382735e-01 -9.04586187e-02 4.43721177e+01] [ 4.43946358e-01 8.94841164e-01 -4.65931594e-02 1.30591505e+01] [ 1.01744478e-01 1.32116871e-03 9.94809688e-01 4.70470772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.606874999999995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:44.40, Y:13.07, Z:4.71 [[ 8.90691101e-01 -4.45520879e-01 -9.04461608e-02 4.43963466e+01] [ 4.43077614e-01 8.95270380e-01 -4.66173300e-02 1.30720673e+01] [ 1.01742763e-01 1.44697184e-03 9.94809689e-01 4.70827010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.636874999999996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:44.42, Y:13.09, Z:4.71 [[ 8.90957130e-01 -4.44991221e-01 -9.04334380e-02 4.44200368e+01] [ 4.42542730e-01 8.95533615e-01 -4.66419982e-02 1.30851114e+01] [ 1.01741463e-01 1.53536026e-03 9.94809689e-01 4.70985064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.666875 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:44.44, Y:13.10, Z:4.71 [[ 8.90880764e-01 -4.45145214e-01 -9.04278914e-02 4.44449245e+01] [ 4.42696423e-01 8.95457089e-01 -4.66527493e-02 1.30987680e+01] [ 1.01741544e-01 1.52993293e-03 9.94809689e-01 4.71192987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.696875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:44.47, Y:13.11, Z:4.71 [[ 8.90838620e-01 -4.45232126e-01 -9.04151918e-02 4.44693886e+01] [ 4.42781285e-01 8.95413848e-01 -4.66773488e-02 1.31115112e+01] [ 1.01741270e-01 1.54783015e-03 9.94809689e-01 4.71496332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.726875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:44.49, Y:13.12, Z:4.72 [[ 8.90502192e-01 -4.45907255e-01 -9.04022468e-02 4.44938587e+01] [ 4.43457340e-01 8.95077914e-01 -4.67024067e-02 1.31232743e+01] [ 1.01741996e-01 1.49905570e-03 9.94809690e-01 4.71866176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.756874999999994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:44.52, Y:13.14, Z:4.72 [[ 8.90295664e-01 -4.46320585e-01 -9.03967156e-02 4.45190687e+01] [ 4.43871708e-01 8.94871942e-01 -4.67131104e-02 1.31356773e+01] [ 1.01742507e-01 1.46393509e-03 9.94809690e-01 4.72237301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.786874999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.54, Y:13.15, Z:4.72 [[ 8.89685640e-01 -4.47537941e-01 -9.03839199e-02 4.45428874e+01] [ 4.45092813e-01 8.94263921e-01 -4.67378554e-02 1.31482656e+01] [ 1.01744042e-01 1.35276567e-03 9.94809690e-01 4.72471898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.816874999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:44.57, Y:13.16, Z:4.73 [[ 8.89586311e-01 -4.47736468e-01 -9.03783740e-02 4.45679140e+01] [ 4.45291272e-01 8.94164556e-01 -4.67485773e-02 1.31611784e+01] [ 1.01744182e-01 1.34219335e-03 9.94809690e-01 4.72676956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.846875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:44.59, Y:13.17, Z:4.73 [[ 8.89588840e-01 -4.47733991e-01 -9.03657493e-02 4.45925650e+01] [ 4.45286305e-01 8.94165754e-01 -4.67729684e-02 1.31737170e+01] [ 1.01743806e-01 1.37008009e-03 9.94809691e-01 4.72813778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.876875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.62, Y:13.19, Z:4.73 [[ 8.89552351e-01 -4.47807475e-01 -9.03608299e-02 4.46176589e+01] [ 4.45359202e-01 8.94128951e-01 -4.67824702e-02 1.31865999e+01] [ 1.01743774e-01 1.37242934e-03 9.94809691e-01 4.72996208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.906875 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:44.64, Y:13.20, Z:4.73 [[ 8.89505557e-01 -4.47902997e-01 -9.03480485e-02 4.46439179e+01] [ 4.45452710e-01 8.94081078e-01 -4.68071412e-02 1.31988111e+01] [ 1.01743539e-01 1.38942919e-03 9.94809691e-01 4.73136855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.936875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:44.67, Y:13.21, Z:4.73 [[ 8.89418501e-01 -4.48078094e-01 -9.03368828e-02 4.46691831e+01] [ 4.45626520e-01 8.93993333e-01 -4.68286810e-02 1.32107783e+01] [ 1.01743477e-01 1.39378455e-03 9.94809691e-01 4.73499524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.966874999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.69, Y:13.22, Z:4.74 [[ 8.89281848e-01 -4.48351824e-01 -9.03240691e-02 4.46942232e+01] [ 4.45899150e-01 8.93856089e-01 -4.68533834e-02 1.32221564e+01] [ 1.01743519e-01 1.39043769e-03 9.94809692e-01 4.73918695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.996874999999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:44.72, Y:13.23, Z:4.74 [[ 8.89284983e-01 -4.48348176e-01 -9.03113105e-02 4.47191939e+01] [ 4.45892987e-01 8.93857875e-01 -4.68779630e-02 1.32349327e+01] [ 1.01743125e-01 1.41868852e-03 9.94809692e-01 4.74182044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.026875 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.74, Y:13.25, Z:4.74 [[ 8.89127038e-01 -4.48662109e-01 -9.03073747e-02 4.47439515e+01] [ 4.46207765e-01 8.93700384e-01 -4.68855439e-02 1.32474580e+01] [ 1.01743502e-01 1.39135291e-03 9.94809692e-01 4.74473987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.056875 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:44.77, Y:13.26, Z:4.75 [[ 8.88975123e-01 -4.48965614e-01 -9.02945652e-02 4.47692525e+01] [ 4.46510327e-01 8.93547962e-01 -4.69102002e-02 1.32583270e+01] [ 1.01743592e-01 1.38454517e-03 9.94809693e-01 4.74810626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.086875 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:44.79, Y:13.27, Z:4.75 [[ 8.88746126e-01 -4.49421332e-01 -9.02817248e-02 4.47944519e+01] [ 4.46965882e-01 8.93318877e-01 -4.69348996e-02 1.32705191e+01] [ 1.01743914e-01 1.36035945e-03 9.94809693e-01 4.75143464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.116875 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:44.82, Y:13.28, Z:4.75 [[ 8.88756467e-01 -4.49403465e-01 -9.02688653e-02 4.48194870e+01] [ 4.46945412e-01 8.93327819e-01 -4.69596189e-02 1.32828108e+01] [ 1.01743504e-01 1.39040984e-03 9.94809693e-01 4.75449382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.146874999999994 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:44.84, Y:13.30, Z:4.76 [[ 8.88981353e-01 -4.48961023e-01 -9.02560416e-02 4.48443630e+01] [ 4.46498195e-01 8.93550134e-01 -4.69842531e-02 1.32956805e+01] [ 1.01742396e-01 1.46896519e-03 9.94809694e-01 4.75716881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.176874999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.87, Y:13.31, Z:4.76 [[ 8.89852571e-01 -4.47234355e-01 -9.02431915e-02 4.48695399e+01] [ 4.44760161e-01 8.94415206e-01 -4.70089216e-02 1.33089019e+01] [ 1.01738887e-01 1.69443339e-03 9.94809694e-01 4.75811165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.206875 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:44.89, Y:13.32, Z:4.76 [[ 8.90234308e-01 -4.46476598e-01 -9.02303981e-02 4.48943900e+01] [ 4.43996033e-01 8.94793482e-01 -4.70334649e-02 1.33217167e+01] [ 1.01736914e-01 1.80886527e-03 9.94809695e-01 4.76061291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.236875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:44.92, Y:13.33, Z:4.76 [[ 8.90645303e-01 -4.45658774e-01 -9.02175239e-02 4.49196866e+01] [ 4.43171524e-01 8.95200833e-01 -4.70581467e-02 1.33344549e+01] [ 1.01734679e-01 1.93027981e-03 9.94809695e-01 4.76190819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.266875 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.94, Y:13.35, Z:4.76 [[ 8.90562959e-01 -4.45825949e-01 -9.02044262e-02 4.49438668e+01] [ 4.43337014e-01 8.95117568e-01 -4.70832401e-02 1.33464034e+01] [ 1.01734497e-01 1.93962874e-03 9.94809695e-01 4.76387179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.296875 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:44.97, Y:13.36, Z:4.77 [[ 8.90039605e-01 -4.46871650e-01 -9.01955117e-02 4.49693823e+01] [ 4.44386336e-01 8.94596191e-01 -4.71003112e-02 1.33590734e+01] [ 1.01736355e-01 1.83948937e-03 9.94809696e-01 4.76670209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.326874999999994 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:45.00, Y:13.37, Z:4.77 [[ 8.89729857e-01 -4.47490486e-01 -9.01834074e-02 4.49950604e+01] [ 4.45005995e-01 8.94286891e-01 -4.71234760e-02 1.33709924e+01] [ 1.01737146e-01 1.79500663e-03 9.94809696e-01 4.77123733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.356874999999995 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:45.02, Y:13.38, Z:4.77 [[ 8.89608021e-01 -4.47735236e-01 -9.01705496e-02 4.50202513e+01] [ 4.45249507e-01 8.94164379e-01 -4.71480666e-02 1.33842927e+01] [ 1.01737144e-01 1.79490549e-03 9.94809696e-01 4.77413560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.386874999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.05, Y:13.40, Z:4.78 [[ 8.88815020e-01 -4.49309982e-01 -9.01576379e-02 4.50461474e+01] [ 4.46829823e-01 8.93374413e-01 -4.71727438e-02 1.33954774e+01] [ 1.01739712e-01 1.64272177e-03 9.94809697e-01 4.77671813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.416875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:45.07, Y:13.41, Z:4.78 [[ 8.88156721e-01 -4.50612490e-01 -9.01444514e-02 4.50707955e+01] [ 4.48136462e-01 8.92718358e-01 -4.71979292e-02 1.34080353e+01] [ 1.01741583e-01 1.52214258e-03 9.94809697e-01 4.77903858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.446875 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:45.10, Y:13.42, Z:4.78 [[ 8.87220665e-01 -4.52455363e-01 -9.01312194e-02 4.50953683e+01] [ 4.49986245e-01 8.91786045e-01 -4.72231842e-02 1.34199992e+01] [ 1.01744147e-01 1.33957590e-03 9.94809697e-01 4.78210473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.476875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:45.12, Y:13.43, Z:4.79 [[ 8.87008910e-01 -4.52871164e-01 -9.01271471e-02 4.51199520e+01] [ 4.50403397e-01 8.91575021e-01 -4.72309550e-02 1.34316853e+01] [ 1.01744651e-01 1.30070478e-03 9.94809698e-01 4.78551614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.506874999999994 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:45.15, Y:13.44, Z:4.79 [[ 8.86645000e-01 -4.53584340e-01 -9.01215332e-02 4.51450528e+01] [ 4.51119157e-01 8.91212506e-01 -4.72416645e-02 1.34438767e+01] [ 1.01745517e-01 1.23103552e-03 9.94809698e-01 4.78850887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.536874999999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:45.17, Y:13.46, Z:4.79 [[ 8.86728638e-01 -4.53423377e-01 -9.01086264e-02 4.51705919e+01] [ 4.50954865e-01 8.91294345e-01 -4.72662701e-02 1.34563515e+01] [ 1.01744941e-01 1.27743187e-03 9.94809698e-01 4.79096251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.566874999999996 meters Centerline goodness : 0.999949 Centerline is valid? [True, True] Translation: X:45.19, Y:13.47, Z:4.79 [[ 8.86835502e-01 -4.53216567e-01 -9.00973682e-02 4.51948293e+01] [ 4.50744811e-01 8.91399454e-01 -4.72877204e-02 1.34695868e+01] [ 1.01744323e-01 1.32550802e-03 9.94809698e-01 4.79372379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.596875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.22, Y:13.48, Z:4.80 [[ 8.87529677e-01 -4.51858281e-01 -9.00842130e-02 4.52191874e+01] [ 4.49376999e-01 8.92088457e-01 -4.73127683e-02 1.34843945e+01] [ 1.01741753e-01 1.50971264e-03 9.94809699e-01 4.79587711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.626875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.24, Y:13.50, Z:4.80 [[ 8.87903734e-01 -4.51125450e-01 -9.00710127e-02 4.52427159e+01] [ 4.48637858e-01 8.92459073e-01 -4.73378849e-02 1.34975945e+01] [ 1.01740017e-01 1.62221851e-03 9.94809699e-01 4.79769721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.656875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:45.27, Y:13.51, Z:4.80 [[ 8.88222273e-01 -4.50499097e-01 -9.00652901e-02 4.52675785e+01] [ 4.48007190e-01 8.92775253e-01 -4.73487702e-02 1.35110126e+01] [ 1.01738640e-01 1.70633484e-03 9.94809699e-01 4.80145588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.29, Y:13.52, Z:4.80 [[ 8.88692972e-01 -4.49572447e-01 -9.00523004e-02 4.52916827e+01] [ 4.47073291e-01 8.93241976e-01 -4.73734624e-02 1.35247021e+01] [ 1.01736298e-01 1.84048474e-03 9.94809700e-01 4.80398393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.716874999999995 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:45.32, Y:13.54, Z:4.81 [[ 8.88836073e-01 -4.49292057e-01 -9.00393378e-02 4.53163617e+01] [ 4.46788972e-01 8.93382916e-01 -4.73980869e-02 1.35386901e+01] [ 1.01735190e-01 1.90054626e-03 9.94809700e-01 4.80644064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.746874999999996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:45.34, Y:13.55, Z:4.81 [[ 8.89339646e-01 -4.48297073e-01 -9.00262664e-02 4.53405240e+01] [ 4.45786391e-01 8.93882298e-01 -4.74229013e-02 1.35520014e+01] [ 1.01732434e-01 2.04258183e-03 9.94809700e-01 4.80935552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.776875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:45.36, Y:13.57, Z:4.81 [[ 8.89718192e-01 -4.47547956e-01 -9.00131461e-02 4.53648561e+01] [ 4.45030933e-01 8.94257332e-01 -4.74477918e-02 1.35653721e+01] [ 1.01730078e-01 2.15652915e-03 9.94809701e-01 4.81271721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:13.58, Z:4.81 [[ 8.90032688e-01 -4.46924820e-01 -9.00001078e-02 4.53898319e+01] [ 4.44402120e-01 8.94568676e-01 -4.74725105e-02 1.35792080e+01] [ 1.01727920e-01 2.25584737e-03 9.94809701e-01 4.81462692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.836875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:45.41, Y:13.59, Z:4.82 [[ 8.89959042e-01 -4.47074097e-01 -8.99869738e-02 4.54144112e+01] [ 4.44549643e-01 8.94494054e-01 -4.74973938e-02 1.35922391e+01] [ 1.01727667e-01 2.26705798e-03 9.94809701e-01 4.81783546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.866875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:45.44, Y:13.61, Z:4.82 [[ 8.89909086e-01 -4.47176189e-01 -8.99737460e-02 4.54401047e+01] [ 4.44649725e-01 8.94442977e-01 -4.75224379e-02 1.36055303e+01] [ 1.01727288e-01 2.28384786e-03 9.94809702e-01 4.82198009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.896874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.46, Y:13.62, Z:4.83 [[ 8.89919718e-01 -4.47157345e-01 -8.99622333e-02 4.54640819e+01] [ 4.44628584e-01 8.94452329e-01 -4.75442221e-02 1.36182420e+01] [ 1.01726677e-01 2.31076030e-03 9.94809702e-01 4.82648773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.926874999999995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:45.49, Y:13.63, Z:4.83 [[ 8.89708908e-01 -4.47577885e-01 -8.99560801e-02 4.54884967e+01] [ 4.45050090e-01 8.94242058e-01 -4.75558615e-02 1.36314360e+01] [ 1.01727462e-01 2.27591208e-03 9.94809702e-01 4.82935322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:13.64, Z:4.83 [[ 8.89471757e-01 -4.48051607e-01 -8.99430398e-02 4.55128185e+01] [ 4.45523736e-01 8.94004863e-01 -4.75805120e-02 1.36443256e+01] [ 1.01728040e-01 2.24976247e-03 9.94809703e-01 4.83314016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.986875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.54, Y:13.66, Z:4.84 [[ 8.89207246e-01 -4.48578804e-01 -8.99306969e-02 4.55362898e+01] [ 4.46051263e-01 8.93740536e-01 -4.76038296e-02 1.36569189e+01] [ 1.01728778e-01 2.21596928e-03 9.94809703e-01 4.83577618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.016875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:45.56, Y:13.67, Z:4.84 [[ 8.88615449e-01 -4.49751140e-01 -8.99249445e-02 4.55606495e+01] [ 4.47228481e-01 8.93151458e-01 -4.76146936e-02 1.36696819e+01] [ 1.01731358e-01 2.09415600e-03 9.94809703e-01 4.83897006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.58, Y:13.68, Z:4.84 [[ 8.87156365e-01 -4.52625048e-01 -8.99118989e-02 4.55848142e+01] [ 4.50114590e-01 8.91699137e-01 -4.76393153e-02 1.36817987e+01] [ 1.01737110e-01 1.79286420e-03 9.94809703e-01 4.84044372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.076874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:13.69, Z:4.84 [[ 8.86228117e-01 -4.54440964e-01 -8.99062578e-02 4.56091933e+01] [ 4.51938735e-01 8.90775427e-01 -4.76499590e-02 1.36947874e+01] [ 1.01740378e-01 1.59661301e-03 9.94809704e-01 4.84307340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.106874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:13.71, Z:4.84 [[ 8.84915837e-01 -4.56993634e-01 -8.98931545e-02 4.56335797e+01] [ 4.54502014e-01 8.89468968e-01 -4.76746660e-02 1.37082360e+01] [ 1.01744190e-01 1.33144722e-03 9.94809704e-01 4.84488026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.136874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.66, Y:13.72, Z:4.85 [[ 8.84177814e-01 -4.58422475e-01 -8.98800755e-02 4.56586367e+01] [ 4.55935708e-01 8.88733597e-01 -4.76993109e-02 1.37216222e+01] [ 1.01745879e-01 1.19513665e-03 9.94809704e-01 4.84728847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.166875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.68, Y:13.73, Z:4.85 [[ 8.83400364e-01 -4.59921434e-01 -8.98669681e-02 4.56835198e+01] [ 4.57439886e-01 8.87958992e-01 -4.77239930e-02 1.37346956e+01] [ 1.01747470e-01 1.05065714e-03 9.94809705e-01 4.85045159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:13.75, Z:4.85 [[ 8.82680066e-01 -4.61304894e-01 -8.98537440e-02 4.57073283e+01] [ 4.58827959e-01 8.87241201e-01 -4.77488782e-02 1.37464615e+01] [ 1.01748735e-01 9.19572999e-04 9.94809705e-01 4.85461205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:13.76, Z:4.86 [[ 8.81505204e-01 -4.63547094e-01 -8.98480237e-02 4.57317884e+01] [ 4.61080663e-01 8.86072028e-01 -4.77596395e-02 1.37577060e+01] [ 1.01750663e-01 6.73184368e-04 9.94809705e-01 4.85789542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.256874999999994 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:45.76, Y:13.77, Z:4.86 [[ 8.80246668e-01 -4.65933594e-01 -8.98425802e-02 4.57572924e+01] [ 4.63478500e-01 8.84819597e-01 -4.77698773e-02 1.37722805e+01] [ 1.01752066e-01 4.09171019e-04 9.94809705e-01 4.85746104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.286874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.78, Y:13.78, Z:4.86 [[ 8.80204248e-01 -4.66007403e-01 -8.98753747e-02 4.57817738e+01] [ 4.63558987e-01 8.84780759e-01 -4.77082212e-02 1.37836475e+01] [ 1.01752386e-01 3.30441373e-04 9.94809702e-01 4.86320030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.316874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:13.80, Z:4.87 [[ 8.79681201e-01 -4.67003842e-01 -8.98242463e-02 4.58069691e+01] [ 4.64550798e-01 8.84255227e-01 -4.78042928e-02 1.37967321e+01] [ 1.01752348e-01 3.24612445e-04 9.94809708e-01 4.86570255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:13.81, Z:4.86 [[ 8.78376555e-01 -4.69455626e-01 -8.98111488e-02 4.58283300e+01] [ 4.67012834e-01 8.82956064e-01 -4.78288868e-02 1.38104375e+01] [ 1.01752838e-01 6.88137347e-05 9.94809708e-01 4.86431905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.376875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:45.86, Y:13.82, Z:4.87 [[ 8.79022395e-01 -4.68332631e-01 -8.93542182e-02 4.58566655e+01] [ 4.65796642e-01 8.83551450e-01 -4.86859607e-02 1.38223483e+01] [ 1.01750273e-01 1.17515493e-03 9.94809279e-01 4.87165325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:13.83, Z:4.88 [[ 8.79112407e-01 -4.68078186e-01 -8.98008254e-02 4.58811364e+01] [ 4.65626279e-01 8.83687020e-01 -4.78478663e-02 1.38345567e+01] [ 1.01752366e-01 2.50028671e-04 9.94809727e-01 4.87752502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.91, Y:13.85, Z:4.88 [[ 8.79274994e-01 -4.67775216e-01 -8.97877020e-02 4.59050538e+01] [ 4.65319220e-01 8.83847413e-01 -4.78724800e-02 1.38470273e+01] [ 1.01752188e-01 3.13131147e-04 9.94809728e-01 4.88130010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.466874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.93, Y:13.86, Z:4.88 [[ 8.78354643e-01 -4.69502192e-01 -8.97820288e-02 4.59278709e+01] [ 4.67054099e-01 8.82931297e-01 -4.78831175e-02 1.38624989e+01] [ 1.01752592e-01 1.25293999e-04 9.94809728e-01 4.88062789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.496874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.96, Y:13.87, Z:4.89 [[ 8.79385375e-01 -4.67613265e-01 -8.95499644e-02 4.59559971e+01] [ 4.65111019e-01 8.83932763e-01 -4.83178027e-02 1.38742219e+01] [ 1.01750193e-01 8.39293948e-04 9.94809627e-01 4.88713878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:13.89, Z:4.89 [[ 8.79302420e-01 -4.67728900e-01 -8.97604033e-02 4.59813021e+01] [ 4.65267436e-01 8.83871899e-01 -4.79236749e-02 1.38868537e+01] [ 1.01751986e-01 3.76810644e-04 9.94809726e-01 4.89072592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.01, Y:13.90, Z:4.89 [[ 8.79247097e-01 -4.67835415e-01 -8.97472343e-02 4.60062591e+01] [ 4.65371989e-01 8.83815518e-01 -4.79483241e-02 1.38998263e+01] [ 1.01751923e-01 3.92575884e-04 9.94809727e-01 4.89401489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:13.91, Z:4.90 [[ 8.79963521e-01 -4.66489106e-01 -8.97335821e-02 4.60295684e+01] [ 4.64016086e-01 8.84526755e-01 -4.79738602e-02 1.39128868e+01] [ 1.01751037e-01 5.77421397e-04 9.94809727e-01 4.89509409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.05, Y:13.93, Z:4.90 [[ 8.80416634e-01 -4.65635165e-01 -8.97242664e-02 4.60534228e+01] [ 4.63155945e-01 8.84976502e-01 -4.79912769e-02 1.39262286e+01] [ 1.01750294e-01 6.95991063e-04 9.94809727e-01 4.89711440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.646874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:13.94, Z:4.90 [[ 8.80863872e-01 -4.64789657e-01 -8.97185200e-02 4.60777210e+01] [ 4.62304966e-01 8.85420761e-01 -4.80020173e-02 1.39392238e+01] [ 1.01749481e-01 8.05925553e-04 9.94809727e-01 4.90045407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.676874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.10, Y:13.95, Z:4.90 [[ 8.81720067e-01 -4.63165912e-01 -8.97054149e-02 4.61029555e+01] [ 4.60670339e-01 8.86271005e-01 -4.80264954e-02 1.39523923e+01] [ 1.01747544e-01 1.02130083e-03 9.94809728e-01 4.90225467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.13, Y:13.97, Z:4.90 [[ 8.81853842e-01 -4.62913697e-01 -8.96923109e-02 4.61275228e+01] [ 4.60414334e-01 8.86402700e-01 -4.80509556e-02 1.39650936e+01] [ 1.01746952e-01 1.07829417e-03 9.94809728e-01 4.90414885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.15, Y:13.98, Z:4.91 [[ 8.81925058e-01 -4.62780552e-01 -8.96791630e-02 4.61518731e+01] [ 4.60278009e-01 8.86472167e-01 -4.80754816e-02 1.39779878e+01] [ 1.01746480e-01 1.12162532e-03 9.94809728e-01 4.90685009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.18, Y:13.99, Z:4.91 [[ 8.81647879e-01 -4.63310951e-01 -8.96659350e-02 4.61760662e+01] [ 4.60808635e-01 8.86195113e-01 -4.81001406e-02 1.39914421e+01] [ 1.01746835e-01 1.08854983e-03 9.94809729e-01 4.90880514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:14.00, Z:4.91 [[ 8.81211277e-01 -4.64143391e-01 -8.96526481e-02 4.61995306e+01] [ 4.61642854e-01 8.85759488e-01 -4.81248930e-02 1.40037847e+01] [ 1.01747535e-01 1.02069413e-03 9.94809729e-01 4.91095270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.826874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:14.02, Z:4.91 [[ 8.79983789e-01 -4.66467540e-01 -8.96468955e-02 4.62235576e+01] [ 4.63977924e-01 8.84537987e-01 -4.81356067e-02 1.40164766e+01] [ 1.01749782e-01 7.64373113e-04 9.94809729e-01 4.91297925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.856874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:14.03, Z:4.92 [[ 8.77740037e-01 -4.70677660e-01 -8.96379832e-02 4.62484008e+01] [ 4.68208194e-01 8.82305193e-01 -4.81521974e-02 1.40287855e+01] [ 1.01752222e-01 2.95873344e-04 9.94809729e-01 4.91507745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.886874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:14.04, Z:4.92 [[ 8.77045560e-01 -4.71972932e-01 -8.96249828e-02 4.62731614e+01] [ 4.69507737e-01 8.81613022e-01 -4.81763829e-02 1.40416657e+01] [ 1.01752501e-01 1.73259843e-04 9.94809730e-01 4.91870782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:14.06, Z:4.92 [[ 8.76484388e-01 -4.73016735e-01 -8.96118642e-02 4.62979816e+01] [ 4.70554486e-01 8.81053439e-01 -4.82007721e-02 1.40552493e+01] [ 1.01752613e-01 7.99595915e-05 9.94809730e-01 4.92088646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:14.07, Z:4.92 [[ 8.76667744e-01 -4.72679289e-01 -8.95988612e-02 4.63216201e+01] [ 4.70212811e-01 8.81234514e-01 -4.82249309e-02 1.40682379e+01] [ 1.01752535e-01 1.46709014e-04 9.94809731e-01 4.92378296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.35, Y:14.08, Z:4.93 [[ 8.77043877e-01 -4.71982075e-01 -8.95932996e-02 4.63461814e+01] [ 4.69510911e-01 8.81608112e-01 -4.82352612e-02 1.40816017e+01] [ 1.01752358e-01 2.39408734e-04 9.94809731e-01 4.92716530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.006874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:14.09, Z:4.93 [[ 8.77032580e-01 -4.72005567e-01 -8.95801184e-02 4.63696386e+01] [ 4.69532027e-01 8.81595528e-01 -4.82597283e-02 1.40943788e+01] [ 1.01752292e-01 2.64619491e-04 9.94809731e-01 4.92950036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.036874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:14.11, Z:4.93 [[ 8.77244953e-01 -4.71612454e-01 -8.95711204e-02 4.63928856e+01] [ 4.69135164e-01 8.81805866e-01 -4.82764232e-02 1.41069847e+01] [ 1.01752102e-01 3.29286281e-04 9.94809731e-01 4.93318848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.066874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:14.12, Z:4.94 [[ 8.77285211e-01 -4.71538604e-01 -8.95656370e-02 4.64173053e+01] [ 4.69059892e-01 8.81845351e-01 -4.82865941e-02 1.41203302e+01] [ 1.01752034e-01 3.49466918e-04 9.94809731e-01 4.93682771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.44, Y:14.13, Z:4.94 [[ 8.77358961e-01 -4.71403880e-01 -8.95524106e-02 4.64415268e+01] [ 4.68921965e-01 8.81917358e-01 -4.83111115e-02 1.41340885e+01] [ 1.01751871e-01 3.93094213e-04 9.94809732e-01 4.93905734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:14.15, Z:4.94 [[ 8.77265068e-01 -4.71581112e-01 -8.95391225e-02 4.64657454e+01] [ 4.69097606e-01 8.81822598e-01 -4.83357271e-02 1.41476978e+01] [ 1.01751838e-01 4.00656942e-04 9.94809732e-01 4.94105197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:14.16, Z:4.94 [[ 8.77447803e-01 -4.71243538e-01 -8.95258685e-02 4.64894891e+01] [ 4.68755774e-01 8.82003010e-01 -4.83602632e-02 1.41600080e+01] [ 1.01751547e-01 4.67838877e-04 9.94809732e-01 4.94214916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:14.17, Z:4.94 [[ 8.77599744e-01 -4.70961605e-01 -8.95201494e-02 4.65142824e+01] [ 4.68471298e-01 8.82153560e-01 -4.83708476e-02 1.41725988e+01] [ 1.01751331e-01 5.12622849e-04 9.94809733e-01 4.94487198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.216874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.54, Y:14.19, Z:4.95 [[ 8.77411391e-01 -4.71314897e-01 -8.95070900e-02 4.65384793e+01] [ 4.68823960e-01 8.81964862e-01 -4.83950012e-02 1.41857965e+01] [ 1.01751393e-01 4.99256969e-04 9.94809733e-01 4.94765142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.246874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:14.20, Z:4.95 [[ 8.77283474e-01 -4.71555452e-01 -8.94939196e-02 4.65634828e+01] [ 4.69063280e-01 8.81836270e-01 -4.84193443e-02 1.41994526e+01] [ 1.01751390e-01 4.99179059e-04 9.94809733e-01 4.95054972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.59, Y:14.21, Z:4.95 [[ 8.77403229e-01 -4.71335100e-01 -8.94807053e-02 4.65883801e+01] [ 4.68839295e-01 8.81954034e-01 -4.84437525e-02 1.42127186e+01] [ 1.01751110e-01 5.52634120e-04 9.94809734e-01 4.95330424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:14.23, Z:4.95 [[ 8.77216010e-01 -4.71685974e-01 -8.94673903e-02 4.66130879e+01] [ 4.69189482e-01 8.81766438e-01 -4.84683308e-02 1.42271488e+01] [ 1.01751174e-01 5.40037200e-04 9.94809734e-01 4.95418815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:14.24, Z:4.96 [[ 8.77063657e-01 -4.71971721e-01 -8.94541000e-02 4.66369043e+01] [ 4.69474212e-01 8.81613525e-01 -4.84928472e-02 1.42402044e+01] [ 1.01751197e-01 5.34920806e-04 9.94809734e-01 4.95642293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:14.25, Z:4.96 [[ 8.76914958e-01 -4.72249030e-01 -8.94483680e-02 4.66620914e+01] [ 4.69751881e-01 8.81465024e-01 -4.85034179e-02 1.42530698e+01] [ 1.01751300e-01 5.14833581e-04 9.94809735e-01 4.96012682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.396874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.69, Y:14.27, Z:4.97 [[ 8.76612082e-01 -4.72813517e-01 -8.94350918e-02 4.66859271e+01] [ 4.70316802e-01 8.81162386e-01 -4.85278857e-02 1.42660780e+01] [ 1.01751479e-01 4.77304529e-04 9.94809735e-01 4.96503463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.426874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:14.28, Z:4.97 [[ 8.76721659e-01 -4.72611078e-01 -8.94309844e-02 4.67099528e+01] [ 4.70112540e-01 8.81270963e-01 -4.85354538e-02 1.42796891e+01] [ 1.01751323e-01 5.09456389e-04 9.94809735e-01 4.96818447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.73, Y:14.29, Z:4.97 [[ 8.76926507e-01 -4.72233420e-01 -8.94175533e-02 4.67335782e+01] [ 4.69730401e-01 8.81473345e-01 -4.85601857e-02 1.42931465e+01] [ 1.01750932e-01 5.81570782e-04 9.94809735e-01 4.97143158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:14.31, Z:4.97 [[ 8.77649034e-01 -4.70890974e-01 -8.94084136e-02 4.67580246e+01] [ 4.68379286e-01 8.82191089e-01 -4.85770077e-02 1.43069084e+01] [ 1.01749780e-01 7.56514930e-04 9.94809736e-01 4.97369831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.78, Y:14.32, Z:4.98 [[ 8.77992119e-01 -4.70253513e-01 -8.93950413e-02 4.67824758e+01] [ 4.67736023e-01 8.82530961e-01 -4.86016041e-02 1.43208714e+01] [ 1.01748967e-01 8.58544186e-04 9.94809736e-01 4.97571742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.546875 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:46.81, Y:14.33, Z:4.98 [[ 8.78282409e-01 -4.69713685e-01 -8.93815710e-02 4.68071163e+01] [ 4.67190886e-01 8.82818301e-01 -4.86263644e-02 1.43347087e+01] [ 1.01748155e-01 9.49425180e-04 9.94809736e-01 4.97732696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.576874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:14.35, Z:4.98 [[ 8.78927701e-01 -4.68507655e-01 -8.93681915e-02 4.68307778e+01] [ 4.65976133e-01 8.83458731e-01 -4.86509416e-02 1.43470853e+01] [ 1.01746448e-01 1.11721595e-03 9.94809737e-01 4.97876628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.606874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.86, Y:14.36, Z:4.98 [[ 8.78593139e-01 -4.69135863e-01 -8.93623986e-02 4.68555899e+01] [ 4.66606500e-01 8.83125373e-01 -4.86615799e-02 1.43603650e+01] [ 1.01747094e-01 1.05665421e-03 9.94809737e-01 4.98204323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.636874999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:46.88, Y:14.37, Z:4.99 [[ 8.78222465e-01 -4.69831971e-01 -8.93488679e-02 4.68804834e+01] [ 4.67303674e-01 8.82755294e-01 -4.86864112e-02 1.43739739e+01] [ 1.01747619e-01 1.00444584e-03 9.94809737e-01 4.98569841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:14.39, Z:4.99 [[ 8.77927890e-01 -4.70384777e-01 -8.93352223e-02 4.69040648e+01] [ 4.67856788e-01 8.82460890e-01 -4.87114370e-02 1.43859007e+01] [ 1.01747958e-01 9.69038994e-04 9.94809738e-01 4.98857607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:14.40, Z:4.99 [[ 8.77823285e-01 -4.70581233e-01 -8.93285149e-02 4.69277972e+01] [ 4.68053006e-01 8.82356153e-01 -4.87237341e-02 1.43987812e+01] [ 1.01748040e-01 9.60348337e-04 9.94809738e-01 4.99094552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:14.41, Z:4.99 [[ 8.77695223e-01 -4.70821147e-01 -8.93226855e-02 4.69529196e+01] [ 4.68293072e-01 8.82228176e-01 -4.87344186e-02 1.44122096e+01] [ 1.01748185e-01 9.44771582e-04 9.94809738e-01 4.99380537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.756874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:14.42, Z:5.00 [[ 8.77954107e-01 -4.70340778e-01 -8.93092347e-02 4.69766716e+01] [ 4.67807717e-01 8.82484274e-01 -4.87590557e-02 1.44248205e+01] [ 1.01747367e-01 1.02866398e-03 9.94809738e-01 4.99655616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.786874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:14.44, Z:5.00 [[ 8.77965908e-01 -4.70319860e-01 -8.93033758e-02 4.70011409e+01] [ 4.67785600e-01 8.82495405e-01 -4.87697840e-02 1.44382452e+01] [ 1.01747217e-01 1.04337442e-03 9.94809738e-01 4.99923005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.816874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:14.45, Z:5.00 [[ 8.78192362e-01 -4.69899482e-01 -8.92897068e-02 4.70245587e+01] [ 4.67360511e-01 8.82719220e-01 -4.87947970e-02 1.44513253e+01] [ 1.01746390e-01 1.12073507e-03 9.94809739e-01 5.00074556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:14.46, Z:5.00 [[ 8.78386701e-01 -4.69537231e-01 -8.92837764e-02 4.70479930e+01] [ 4.66995291e-01 8.82911891e-01 -4.88056459e-02 1.44645642e+01] [ 1.01745776e-01 1.17512718e-03 9.94809739e-01 5.00231938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.07, Y:14.48, Z:5.01 [[ 8.78139656e-01 -4.70000839e-01 -8.92746122e-02 4.70724630e+01] [ 4.67459584e-01 8.82665231e-01 -4.88224032e-02 1.44777551e+01] [ 1.01746167e-01 1.14061523e-03 9.94809739e-01 5.00534593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.10, Y:14.49, Z:5.01 [[ 8.77645666e-01 -4.70925153e-01 -8.92613288e-02 4.70975123e+01] [ 4.68386195e-01 8.82172531e-01 -4.88466773e-02 1.44904541e+01] [ 1.01747021e-01 1.06130045e-03 9.94809739e-01 5.00993635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93687499999999 meters Centerline goodness : 0.999949 Centerline is valid? [True, True] Translation: X:47.12, Y:14.50, Z:5.01 [[ 8.77064270e-01 -4.72009656e-01 -8.92476927e-02 4.71220350e+01] [ 4.69473762e-01 8.81592851e-01 -4.88715791e-02 1.45042040e+01] [ 1.01747985e-01 9.64065826e-04 9.94809740e-01 5.01268097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.966874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:14.52, Z:5.02 [[ 8.76866723e-01 -4.72379115e-01 -8.92340824e-02 4.71449851e+01] [ 4.69842602e-01 8.81394957e-01 -4.88964174e-02 1.45210613e+01] [ 1.01748117e-01 9.49667840e-04 9.94809740e-01 5.01761237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.996874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:14.54, Z:5.02 [[ 8.75558062e-01 -4.74802547e-01 -8.92223145e-02 4.71665839e+01] [ 4.72276381e-01 8.80092075e-01 -4.89178813e-02 1.45377270e+01] [ 1.01750187e-01 6.92853591e-04 9.94809740e-01 5.02494686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.19, Y:14.56, Z:5.03 [[ 8.73420417e-01 -4.78724483e-01 -8.92168408e-02 4.71889849e+01] [ 4.76217657e-01 8.77965152e-01 -4.89278622e-02 1.45550594e+01] [ 1.01752243e-01 2.47958887e-04 9.94809740e-01 5.02986499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.21, Y:14.57, Z:5.03 [[ 8.72285059e-01 -4.80792601e-01 -8.92034246e-02 4.72124172e+01] [ 4.78294050e-01 8.76834348e-01 -4.89523099e-02 1.45724525e+01] [ 1.01752535e-01 3.49013243e-05 9.94809741e-01 5.02664020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:14.59, Z:5.02 [[ 8.70498691e-01 -4.84021870e-01 -8.91900081e-02 4.72337789e+01] [ 4.81537691e-01 8.75055844e-01 -4.89767423e-02 1.45933782e+01] [ 1.01752052e-01 -3.14160492e-04 9.94809741e-01 5.01673013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:14.61, Z:5.02 [[ 8.69686980e-01 -4.85479592e-01 -8.91858840e-02 4.72571273e+01] [ 4.83002282e-01 8.74247870e-01 -4.89842511e-02 1.46087535e+01] [ 1.01751423e-01 -4.76020034e-04 9.94809741e-01 5.01937100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.146874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:14.62, Z:5.02 [[ 8.68881736e-01 -4.86921786e-01 -8.91723255e-02 4.72813505e+01] [ 4.84449514e-01 8.73445359e-01 -4.90089211e-02 1.46228752e+01] [ 1.01750665e-01 -6.16533311e-04 9.94809742e-01 5.02323490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.176874999999995 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:47.30, Y:14.64, Z:5.03 [[ 8.67484743e-01 -4.89408804e-01 -8.91585311e-02 4.73040407e+01] [ 4.86947037e-01 8.72054041e-01 -4.90340036e-02 1.46361252e+01] [ 1.01748730e-01 -8.79232479e-04 9.94809742e-01 5.02908245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.206875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:47.33, Y:14.65, Z:5.03 [[ 8.66850812e-01 -4.90532471e-01 -8.91491130e-02 4.73273964e+01] [ 4.88074867e-01 8.71422350e-01 -4.90511208e-02 1.46504309e+01] [ 1.01747697e-01 -9.91437585e-04 9.94809742e-01 5.03393253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:14.66, Z:5.04 [[ 8.66803283e-01 -4.90618916e-01 -8.91355571e-02 4.73499744e+01] [ 4.88159236e-01 8.71373704e-01 -4.90757423e-02 1.46644529e+01] [ 1.01747868e-01 -9.73330919e-04 9.94809743e-01 5.03754868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.37, Y:14.68, Z:5.04 [[ 8.67028698e-01 -4.90221474e-01 -8.91299286e-02 4.73730823e+01] [ 4.87758648e-01 8.71597424e-01 -4.90859624e-02 1.46825213e+01] [ 1.01748409e-01 -9.14955347e-04 9.94809743e-01 5.04062446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.40, Y:14.70, Z:5.04 [[ 8.67762980e-01 -4.88922656e-01 -8.91181611e-02 4.73971172e+01] [ 4.86450799e-01 8.72326826e-01 -4.91073176e-02 1.46975893e+01] [ 1.01749843e-01 -7.38088429e-04 9.94809743e-01 5.04467824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.326874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:14.71, Z:5.05 [[ 8.68657573e-01 -4.87333661e-01 -8.91062439e-02 4.74204928e+01] [ 4.84851238e-01 8.73215681e-01 -4.91289323e-02 1.47114752e+01] [ 1.01751152e-01 -5.27053559e-04 9.94809743e-01 5.04907779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.356874999999995 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.44, Y:14.73, Z:5.05 [[ 8.69740527e-01 -4.85399057e-01 -8.91020277e-02 4.74448423e+01] [ 4.82905711e-01 8.74292669e-01 -4.91365778e-02 1.47254972e+01] [ 1.01752098e-01 -2.91804986e-04 9.94809743e-01 5.05443700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.386874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.47, Y:14.74, Z:5.06 [[ 8.72558369e-01 -4.80317737e-01 -8.90885191e-02 4.74674002e+01] [ 4.77795383e-01 8.77094500e-01 -4.91610578e-02 1.47404871e+01] [ 1.01751978e-01 3.29809302e-04 9.94809744e-01 5.05846945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.416875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:47.49, Y:14.76, Z:5.06 [[ 8.73962839e-01 -4.77758552e-01 -8.90826683e-02 4.74906482e+01] [ 4.75221834e-01 8.78490954e-01 -4.91716575e-02 1.47559568e+01] [ 1.01750498e-01 6.40172381e-04 9.94809744e-01 5.05885085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.446875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.51, Y:14.77, Z:5.06 [[ 8.75212384e-01 -4.75468104e-01 -8.90694375e-02 4.75137836e+01] [ 4.72917098e-01 8.79732465e-01 -4.91956122e-02 1.47714845e+01] [ 1.01748220e-01 9.34149117e-04 9.94809744e-01 5.06021736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.476875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.54, Y:14.79, Z:5.06 [[ 8.76486328e-01 -4.73118112e-01 -8.90559862e-02 4.75372512e+01] [ 4.70552516e-01 8.80998142e-01 -4.92199503e-02 1.47863137e+01] [ 1.01745008e-01 1.23509518e-03 9.94809745e-01 5.06273710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.506874999999994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:47.56, Y:14.80, Z:5.07 [[ 8.78297868e-01 -4.69747807e-01 -8.90497202e-02 4.75620722e+01] [ 4.67163750e-01 8.82799134e-01 -4.92312842e-02 1.48010735e+01] [ 1.01739304e-01 1.63893075e-03 9.94809745e-01 5.06798469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.536874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:14.81, Z:5.07 [[ 8.78705577e-01 -4.68986954e-01 -8.90378846e-02 4.75860321e+01] [ 4.66396832e-01 8.83203356e-01 -4.92526804e-02 1.48147347e+01] [ 1.01737423e-01 1.75161767e-03 9.94809745e-01 5.07115397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.566874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:14.83, Z:5.07 [[ 8.78842574e-01 -4.68732763e-01 -8.90243054e-02 4.76102097e+01] [ 4.66138856e-01 8.83338171e-01 -4.92772127e-02 1.48287921e+01] [ 1.01736411e-01 1.80922459e-03 9.94809745e-01 5.07376611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.596875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.63, Y:14.84, Z:5.08 [[ 8.79291225e-01 -4.67893174e-01 -8.90107871e-02 4.76337737e+01] [ 4.65292504e-01 8.83782912e-01 -4.93016193e-02 1.48427932e+01] [ 1.01734104e-01 1.93442922e-03 9.94809746e-01 5.07571307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.626875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:47.66, Y:14.86, Z:5.08 [[ 8.79348933e-01 -4.67785822e-01 -8.90049422e-02 4.76583763e+01] [ 4.65183536e-01 8.83839684e-01 -4.93121689e-02 1.48567908e+01] [ 1.01733633e-01 1.95896929e-03 9.94809746e-01 5.07862290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:14.87, Z:5.08 [[ 8.79477643e-01 -4.67546319e-01 -8.89916629e-02 4.76830886e+01] [ 4.64940388e-01 8.83966279e-01 -4.93361220e-02 1.48699569e+01] [ 1.01732551e-01 2.01419803e-03 9.94809746e-01 5.08191785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:14.88, Z:5.08 [[ 8.79347344e-01 -4.67793869e-01 -8.89783367e-02 4.77080674e+01] [ 4.65186772e-01 8.83835303e-01 -4.93601442e-02 1.48833357e+01] [ 1.01732568e-01 2.01316651e-03 9.94809747e-01 5.08479747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.716874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:14.90, Z:5.09 [[ 8.79176802e-01 -4.68116874e-01 -8.89648437e-02 4.77332328e+01] [ 4.65508967e-01 8.83664290e-01 -4.93844517e-02 1.48965461e+01] [ 1.01732751e-01 2.00373187e-03 9.94809747e-01 5.08719901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.746874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:14.91, Z:5.09 [[ 8.78791745e-01 -4.68841903e-01 -8.89513264e-02 4.77585555e+01] [ 4.66235237e-01 8.83279953e-01 -4.94087871e-02 1.49094063e+01] [ 1.01733833e-01 1.94779149e-03 9.94809747e-01 5.08864234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:14.92, Z:5.09 [[ 8.78511003e-01 -4.69370285e-01 -8.89379182e-02 4.77835948e+01] [ 4.66763876e-01 8.82999361e-01 -4.94329108e-02 1.49228372e+01] [ 1.01734464e-01 1.91434866e-03 9.94809748e-01 5.09076923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.806875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.81, Y:14.94, Z:5.09 [[ 8.78283597e-01 -4.69798214e-01 -8.89244687e-02 4.78073392e+01] [ 4.67191545e-01 8.82771803e-01 -4.94570932e-02 1.49355246e+01] [ 1.01734868e-01 1.89259382e-03 9.94809748e-01 5.09351755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:14.95, Z:5.10 [[ 8.77932494e-01 -4.70455741e-01 -8.89153012e-02 4.78328937e+01] [ 4.67850766e-01 8.82421683e-01 -4.94735694e-02 1.49479480e+01] [ 1.01735914e-01 1.83536240e-03 9.94809748e-01 5.09650393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:14.96, Z:5.10 [[ 8.77796265e-01 -4.70712393e-01 -8.89019753e-02 4.78580548e+01] [ 4.68106306e-01 8.82284808e-01 -4.94975040e-02 1.49609062e+01] [ 1.01735951e-01 1.83314879e-03 9.94809749e-01 5.09932920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.896874999999994 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.88, Y:14.97, Z:5.10 [[ 8.78017490e-01 -4.70302157e-01 -8.88885193e-02 4.78829653e+01] [ 4.67691529e-01 8.82503393e-01 -4.95216568e-02 1.49739962e+01] [ 1.01734562e-01 1.90847329e-03 9.94809749e-01 5.10163695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.926874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:14.99, Z:5.10 [[ 8.78206294e-01 -4.69952048e-01 -8.88750675e-02 4.79074593e+01] [ 4.67337191e-01 8.82689733e-01 -4.95457866e-02 1.49871582e+01] [ 1.01733254e-01 1.97679720e-03 9.94809749e-01 5.10490458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.956875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:47.93, Y:15.00, Z:5.11 [[ 8.78721469e-01 -4.68990648e-01 -8.88614174e-02 4.79316376e+01] [ 4.66368413e-01 8.83200596e-01 -4.95702564e-02 1.50000749e+01] [ 1.01730444e-01 2.11629033e-03 9.94809750e-01 5.10684604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.986875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.96, Y:15.01, Z:5.11 [[ 8.79927593e-01 -4.66724899e-01 -8.88555026e-02 4.79562137e+01] [ 4.64090061e-01 8.84399318e-01 -4.95808564e-02 1.50126516e+01] [ 1.01724366e-01 2.39060795e-03 9.94809750e-01 5.11097118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:15.03, Z:5.11 [[ 8.80465096e-01 -4.65712728e-01 -8.88418184e-02 4.79797748e+01] [ 4.63070279e-01 8.84932328e-01 -4.96053646e-02 1.50258331e+01] [ 1.01720847e-01 2.53578650e-03 9.94809750e-01 5.11301318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.046875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:48.00, Y:15.04, Z:5.12 [[ 8.81029679e-01 -4.64645554e-01 -8.88325041e-02 4.80044065e+01] [ 4.61996014e-01 8.85492708e-01 -4.96220389e-02 1.50392503e+01] [ 1.01717194e-01 2.67822620e-03 9.94809750e-01 5.11616746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.076874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:15.05, Z:5.12 [[ 8.81458988e-01 -4.63833254e-01 -8.88187215e-02 4.80278401e+01] [ 4.61177119e-01 8.85918095e-01 -4.96466963e-02 1.50520155e+01] [ 1.01713901e-01 2.80036460e-03 9.94809751e-01 5.11814245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.106874999999995 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:48.05, Y:15.06, Z:5.12 [[ 8.81963695e-01 -4.62873994e-01 -8.88127590e-02 4.80531020e+01] [ 4.60211936e-01 8.86419269e-01 -4.96573603e-02 1.50644760e+01] [ 1.01710442e-01 2.92329725e-03 9.94809751e-01 5.12117092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.136874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:15.08, Z:5.12 [[ 8.81786606e-01 -4.63213869e-01 -8.87991783e-02 4.80781809e+01] [ 4.60551087e-01 8.86241746e-01 -4.96816341e-02 1.50775559e+01] [ 1.01710761e-01 2.91204144e-03 9.94809751e-01 5.12447399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:15.09, Z:5.13 [[ 8.81660291e-01 -4.63456862e-01 -8.87855232e-02 4.81029815e+01] [ 4.60792854e-01 8.86114697e-01 -4.97060250e-02 1.50915590e+01] [ 1.01710755e-01 2.91209383e-03 9.94809752e-01 5.12737216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.196875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.13, Y:15.10, Z:5.13 [[ 8.81212030e-01 -4.64311221e-01 -8.87718873e-02 4.81281072e+01] [ 4.61649082e-01 8.85667554e-01 -4.97303661e-02 1.51045653e+01] [ 1.01712747e-01 2.84153658e-03 9.94809752e-01 5.13031318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.15, Y:15.12, Z:5.13 [[ 8.80690146e-01 -4.65302969e-01 -8.87581765e-02 4.81533559e+01] [ 4.62643384e-01 8.85147195e-01 -4.97548250e-02 1.51173193e+01] [ 1.01715119e-01 2.75520098e-03 9.94809752e-01 5.13409601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.256874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:15.13, Z:5.14 [[ 8.79321834e-01 -4.67886241e-01 -8.87444509e-02 4.81784693e+01] [ 4.65237285e-01 8.83785206e-01 -4.97792946e-02 1.51294446e+01] [ 1.01722080e-01 2.48479329e-03 9.94809753e-01 5.13797553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.286874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:15.14, Z:5.14 [[ 8.78610773e-01 -4.69222809e-01 -8.87302917e-02 4.82021734e+01] [ 4.66578096e-01 8.83076662e-01 -4.98045202e-02 1.51417248e+01] [ 1.01725067e-01 2.35917743e-03 9.94809753e-01 5.14000329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.316874999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.23, Y:15.15, Z:5.14 [[ 8.77820417e-01 -4.70700898e-01 -8.87241828e-02 4.82258154e+01] [ 4.68062607e-01 8.82290101e-01 -4.98154005e-02 1.51539992e+01] [ 1.01728622e-01 2.20050335e-03 9.94809753e-01 5.14244064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:15.17, Z:5.15 [[ 8.76823887e-01 -4.72556413e-01 -8.87147513e-02 4.82511658e+01] [ 4.69925883e-01 8.81298143e-01 -4.98321913e-02 1.51662301e+01] [ 1.01732667e-01 2.00469791e-03 9.94809753e-01 5.14675709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:15.18, Z:5.15 [[ 8.76493167e-01 -4.73170352e-01 -8.87104596e-02 4.82746919e+01] [ 4.70542183e-01 8.80968811e-01 -4.98398300e-02 1.51787468e+01] [ 1.01733878e-01 1.94225718e-03 9.94809754e-01 5.14969233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:15.19, Z:5.15 [[ 8.76341529e-01 -4.73452894e-01 -8.87010792e-02 4.82994854e+01] [ 4.70824479e-01 8.80817028e-01 -4.98565190e-02 1.51922808e+01] [ 1.01734134e-01 1.92869868e-03 9.94809754e-01 5.15268109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.32, Y:15.21, Z:5.15 [[ 8.76817487e-01 -4.72573441e-01 -8.86873009e-02 4.83240566e+01] [ 4.69938060e-01 8.81288888e-01 -4.98810167e-02 1.52051848e+01] [ 1.01731576e-01 2.05900953e-03 9.94809754e-01 5.15467736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.466874999999995 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:48.35, Y:15.22, Z:5.16 [[ 8.77162913e-01 -4.71934543e-01 -8.86736235e-02 4.83487791e+01] [ 4.69293450e-01 8.81630941e-01 -4.99053192e-02 1.52187197e+01] [ 1.01729454e-01 2.16114443e-03 9.94809754e-01 5.15701556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.496874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:15.23, Z:5.16 [[ 8.77543461e-01 -4.71229119e-01 -8.86599783e-02 4.83731721e+01] [ 4.68581988e-01 8.82007914e-01 -4.99295492e-02 1.52322549e+01] [ 1.01727060e-01 2.27088049e-03 9.94809755e-01 5.15907678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:15.25, Z:5.16 [[ 8.78125221e-01 -4.70146691e-01 -8.86464081e-02 4.83977288e+01] [ 4.67491628e-01 8.82584961e-01 -4.99536305e-02 1.52454053e+01] [ 1.01723521e-01 2.42408924e-03 9.94809755e-01 5.16087950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.42, Y:15.26, Z:5.16 [[ 8.78202011e-01 -4.70005795e-01 -8.86328346e-02 4.84217173e+01] [ 4.67347589e-01 8.82659878e-01 -4.99777025e-02 1.52588868e+01] [ 1.01722457e-01 2.46817737e-03 9.94809756e-01 5.16240381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.586875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:48.45, Y:15.27, Z:5.17 [[ 8.78679212e-01 -4.69114178e-01 -8.86269166e-02 4.84465228e+01] [ 4.66450391e-01 8.83133746e-01 -4.99881948e-02 1.52712844e+01] [ 1.01719592e-01 2.58352768e-03 9.94809756e-01 5.16556839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.47, Y:15.28, Z:5.17 [[ 8.78720783e-01 -4.69037099e-01 -8.86227181e-02 4.84715061e+01] [ 4.66372171e-01 8.83174634e-01 -4.99956371e-02 1.52840925e+01] [ 1.01719145e-01 2.60103600e-03 9.94809756e-01 5.17040774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.646874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.50, Y:15.30, Z:5.17 [[ 8.78551454e-01 -4.69356899e-01 -8.86083777e-02 4.84956426e+01] [ 4.66691032e-01 8.83004743e-01 -5.00210402e-02 1.52965697e+01] [ 1.01719338e-01 2.59332231e-03 9.94809756e-01 5.17394431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.676874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:15.31, Z:5.18 [[ 8.78435729e-01 -4.69575278e-01 -8.85986882e-02 4.85191889e+01] [ 4.66908789e-01 8.82888646e-01 -5.00381965e-02 1.53085487e+01] [ 1.01719476e-01 2.58783341e-03 9.94809756e-01 5.17725733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:15.32, Z:5.18 [[ 8.78170578e-01 -4.70072089e-01 -8.85927016e-02 4.85428541e+01] [ 4.67407052e-01 8.82624363e-01 -5.00487937e-02 1.53212202e+01] [ 1.01720618e-01 2.54252465e-03 9.94809756e-01 5.17974827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:15.33, Z:5.18 [[ 8.77749293e-01 -4.70860033e-01 -8.85833372e-02 4.85663239e+01] [ 4.68197323e-01 8.82204470e-01 -5.00653626e-02 1.53338659e+01] [ 1.01722394e-01 2.47035530e-03 9.94809757e-01 5.18220084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:15.35, Z:5.19 [[ 8.77549455e-01 -4.71233465e-01 -8.85775137e-02 4.85906900e+01] [ 4.68571611e-01 8.82005144e-01 -5.00756636e-02 1.53474580e+01] [ 1.01723151e-01 2.43896301e-03 9.94809757e-01 5.18530169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:15.36, Z:5.19 [[ 8.77302461e-01 -4.71695675e-01 -8.85640053e-02 4.86152981e+01] [ 4.69033760e-01 8.81758112e-01 -5.00995434e-02 1.53614095e+01] [ 1.01723768e-01 2.41294431e-03 9.94809757e-01 5.18810208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.826874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:15.37, Z:5.19 [[ 8.77170255e-01 -4.71944065e-01 -8.85502289e-02 4.86392433e+01] [ 4.69280956e-01 8.81625193e-01 -5.01238813e-02 1.53748158e+01] [ 1.01723781e-01 2.41224170e-03 9.94809757e-01 5.18956662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.856874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.66, Y:15.39, Z:5.19 [[ 8.76562410e-01 -4.73073207e-01 -8.85442427e-02 4.86633620e+01] [ 4.70414770e-01 8.81020136e-01 -5.01344537e-02 1.53884067e+01] [ 1.01726528e-01 2.29345798e-03 9.94809758e-01 5.19222257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.886874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.69, Y:15.40, Z:5.20 [[ 8.75685032e-01 -4.74697902e-01 -8.85303694e-02 4.86877508e+01] [ 4.72045261e-01 8.80146211e-01 -5.01589401e-02 1.54019468e+01] [ 1.01730013e-01 2.13309179e-03 9.94809758e-01 5.19517641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:15.42, Z:5.20 [[ 8.73723513e-01 -4.78301199e-01 -8.85165799e-02 4.87131105e+01] [ 4.75664496e-01 8.78194129e-01 -5.01832630e-02 1.54151587e+01] [ 1.01737456e-01 1.74210249e-03 9.94809758e-01 5.20110436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.74, Y:15.43, Z:5.21 [[ 8.72572211e-01 -4.80400571e-01 -8.85043936e-02 4.87365798e+01] [ 4.77772445e-01 8.77047874e-01 -5.02047459e-02 1.54284206e+01] [ 1.01740979e-01 1.52230557e-03 9.94809759e-01 5.20524159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:15.44, Z:5.21 [[ 8.71567451e-01 -4.82222124e-01 -8.84985975e-02 4.87604779e+01] [ 4.79602315e-01 8.76047988e-01 -5.02149611e-02 1.54423111e+01] [ 1.01743783e-01 1.32159338e-03 9.94809759e-01 5.20900737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.006874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:15.46, Z:5.21 [[ 8.70636478e-01 -4.83903515e-01 -8.84845287e-02 4.87838004e+01] [ 4.81289841e-01 8.75120596e-01 -5.02397397e-02 1.54565310e+01] [ 1.01745820e-01 1.15384530e-03 9.94809759e-01 5.21064925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.036874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.81, Y:15.47, Z:5.21 [[ 8.69809212e-01 -4.85390049e-01 -8.84784443e-02 4.88071901e+01] [ 4.82782950e-01 8.74297155e-01 -5.02504528e-02 1.54709103e+01] [ 1.01747522e-01 9.92422338e-04 9.94809759e-01 5.21270038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.066874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.83, Y:15.49, Z:5.22 [[ 8.68503292e-01 -4.87724580e-01 -8.84690089e-02 4.88305090e+01] [ 4.85127853e-01 8.72997244e-01 -5.02670589e-02 1.54858956e+01] [ 1.01749681e-01 7.38325713e-04 9.94809759e-01 5.21510879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:15.50, Z:5.22 [[ 8.67914721e-01 -4.88773646e-01 -8.84554141e-02 4.88547729e+01] [ 4.86179914e-01 8.72410402e-01 -5.02909706e-02 1.55000464e+01] [ 1.01750324e-01 6.43028071e-04 9.94809760e-01 5.21866563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:15.51, Z:5.22 [[ 8.66984280e-01 -4.90424671e-01 -8.84415090e-02 4.88775335e+01] [ 4.87837007e-01 8.71483456e-01 -5.03154121e-02 1.55137960e+01] [ 1.01751231e-01 4.77630222e-04 9.94809760e-01 5.22056068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.90, Y:15.53, Z:5.22 [[ 8.65989295e-01 -4.92180566e-01 -8.84354657e-02 4.89013716e+01] [ 4.89600940e-01 8.70493084e-01 -5.03260319e-02 1.55285922e+01] [ 1.01751956e-01 2.83717666e-04 9.94809760e-01 5.22306757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:15.54, Z:5.23 [[ 8.65266312e-01 -4.93452934e-01 -8.84217798e-02 4.89254584e+01] [ 4.90877474e-01 8.69772485e-01 -5.03500662e-02 1.55434642e+01] [ 1.01752219e-01 1.61956105e-04 9.94809761e-01 5.22605777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.216874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.95, Y:15.56, Z:5.23 [[ 8.64320491e-01 -4.95110187e-01 -8.84080987e-02 4.89489171e+01] [ 4.92540912e-01 8.68830192e-01 -5.03740771e-02 1.55578515e+01] [ 1.01752344e-01 -5.25847378e-06 9.94809761e-01 5.22996017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.246874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:15.57, Z:5.24 [[ 8.60952969e-01 -5.00945516e-01 -8.83944351e-02 4.89713780e+01] [ 4.98404344e-01 8.65478565e-01 -5.03980421e-02 1.55729723e+01] [ 1.01750162e-01 -6.65826444e-04 9.94809761e-01 5.23812546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.276875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.99, Y:15.59, Z:5.24 [[ 8.59189763e-01 -5.03964774e-01 -8.83881061e-02 4.89945199e+01] [ 5.01438363e-01 8.63723617e-01 -5.04091395e-02 1.55887966e+01] [ 1.01747325e-01 -1.01017065e-03 9.94809761e-01 5.24135556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:15.61, Z:5.24 [[ 8.57919054e-01 -5.06127263e-01 -8.83747137e-02 4.90180807e+01] [ 5.03609863e-01 8.62457917e-01 -5.04326075e-02 1.56051552e+01] [ 1.01744789e-01 -1.23928253e-03 9.94809762e-01 5.24279079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:15.62, Z:5.24 [[ 8.57080504e-01 -5.07548368e-01 -8.83609859e-02 4.90417399e+01] [ 5.05036016e-01 8.61622161e-01 -5.04566480e-02 1.56215678e+01] [ 1.01742973e-01 -1.38007097e-03 9.94809762e-01 5.24318349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.06, Y:15.64, Z:5.24 [[ 8.56398238e-01 -5.08701118e-01 -8.83472192e-02 4.90645499e+01] [ 5.06192394e-01 8.60941900e-01 -5.04807414e-02 1.56374407e+01] [ 1.01741432e-01 -1.48907239e-03 9.94809763e-01 5.24418407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.396874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.09, Y:15.65, Z:5.25 [[ 8.56025211e-01 -5.09330976e-01 -8.83334248e-02 4.90864867e+01] [ 5.06823106e-01 8.60569345e-01 -5.05048680e-02 1.56527110e+01] [ 1.01740731e-01 -1.53598043e-03 9.94809763e-01 5.24568405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.426874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.11, Y:15.67, Z:5.25 [[ 8.56302152e-01 -5.08866278e-01 -8.83274344e-02 4.91089799e+01] [ 5.06354861e-01 8.60844327e-01 -5.05153424e-02 1.56702174e+01] [ 1.01741725e-01 -1.46862933e-03 9.94809763e-01 5.24912863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:15.69, Z:5.25 [[ 8.56820716e-01 -5.07995074e-01 -8.83134524e-02 4.91313186e+01] [ 5.05476521e-01 8.61358937e-01 -5.05397748e-02 1.56853052e+01] [ 1.01743538e-01 -1.33685070e-03 9.94809763e-01 5.25224303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:15.70, Z:5.26 [[ 8.57296424e-01 -5.07192909e-01 -8.83073827e-02 4.91542384e+01] [ 5.04669018e-01 8.61831678e-01 -5.05503781e-02 1.57016910e+01] [ 1.01744893e-01 -1.22934170e-03 9.94809763e-01 5.25603419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:15.72, Z:5.26 [[ 8.58370701e-01 -5.05375009e-01 -8.82940567e-02 4.91772829e+01] [ 5.02839119e-01 8.62899256e-01 -5.05736433e-02 1.57184598e+01] [ 1.01747531e-01 -9.86772143e-04 9.94809764e-01 5.26009102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.20, Y:15.73, Z:5.26 [[ 8.59744746e-01 -5.03036322e-01 -8.82804062e-02 4.91996712e+01] [ 5.00485667e-01 8.64265002e-01 -5.05974603e-02 1.57348001e+01] [ 1.01750026e-01 -6.82177350e-04 9.94809764e-01 5.26231865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.576874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.22, Y:15.75, Z:5.26 [[ 8.63118621e-01 -4.97227550e-01 -8.82666965e-02 4.92207878e+01] [ 4.94644029e-01 8.67620172e-01 -5.06213655e-02 1.57539115e+01] [ 1.01752304e-01 3.16488547e-05 9.94809765e-01 5.26325224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.606874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:15.77, Z:5.27 [[ 8.64810825e-01 -4.94280952e-01 -8.82529173e-02 4.92438899e+01] [ 4.91679642e-01 8.69302120e-01 -5.06453767e-02 1.57707965e+01] [ 1.01751493e-01 4.06507135e-04 9.94809765e-01 5.26544030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.636874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:15.79, Z:5.27 [[ 8.66544536e-01 -4.91237655e-01 -8.82390699e-02 4.92661425e+01] [ 4.88618116e-01 8.71025223e-01 -5.06694916e-02 1.57871661e+01] [ 1.01749218e-01 7.92162949e-04 9.94809765e-01 5.26773882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.666875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.29, Y:15.80, Z:5.27 [[ 8.68046425e-01 -4.88580528e-01 -8.82296558e-02 4.92876815e+01] [ 4.85945609e-01 8.72518084e-01 -5.06858788e-02 1.58028776e+01] [ 1.01746104e-01 1.12288199e-03 9.94809765e-01 5.26985774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.31, Y:15.82, Z:5.27 [[ 8.69379616e-01 -4.86205373e-01 -8.82236877e-02 4.93109933e+01] [ 4.83557184e-01 8.73843429e-01 -5.06962648e-02 1.58191291e+01] [ 1.01742486e-01 1.41310117e-03 9.94809766e-01 5.27396540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.33, Y:15.83, Z:5.28 [[ 8.70534176e-01 -4.84137642e-01 -8.82099335e-02 4.93337286e+01] [ 4.81476427e-01 8.74990236e-01 -5.07201854e-02 1.58348026e+01] [ 1.01738381e-01 1.68265118e-03 9.94809766e-01 5.27805289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.756874999999994 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.36, Y:15.85, Z:5.28 [[ 8.72524503e-01 -4.80543919e-01 -8.81959965e-02 4.93558690e+01] [ 4.77861906e-01 8.76968075e-01 -5.07444086e-02 1.58524859e+01] [ 1.01729990e-01 2.13023288e-03 9.94809766e-01 5.28256679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.786874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.38, Y:15.87, Z:5.28 [[ 8.73071567e-01 -4.79551947e-01 -8.81814577e-02 4.93781379e+01] [ 4.76862336e-01 8.77510544e-01 -5.07696611e-02 1.58678791e+01] [ 1.01726849e-01 2.27513174e-03 9.94809767e-01 5.28488253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.816874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:15.88, Z:5.29 [[ 8.73569279e-01 -4.78645855e-01 -8.81751627e-02 4.94012135e+01] [ 4.75950538e-01 8.78004793e-01 -5.07805917e-02 1.58833838e+01] [ 1.01724135e-01 2.39334874e-03 9.94809767e-01 5.28820333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.42, Y:15.90, Z:5.29 [[ 8.73981612e-01 -4.77895185e-01 -8.81608438e-02 4.94239732e+01] [ 4.75193554e-01 8.78413282e-01 -5.08054389e-02 1.58988979e+01] [ 1.01721331e-01 2.50955475e-03 9.94809767e-01 5.29038656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.45, Y:15.91, Z:5.29 [[ 8.74272311e-01 -4.77364964e-01 -8.81511091e-02 4.94468995e+01] [ 4.74658944e-01 8.78701302e-01 -5.08223237e-02 1.59143798e+01] [ 1.01719291e-01 2.59083810e-03 9.94809767e-01 5.29253126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:15.93, Z:5.29 [[ 8.74321291e-01 -4.77277906e-01 -8.81367170e-02 4.94701717e+01] [ 4.74568932e-01 8.78748476e-01 -5.08472705e-02 1.59300001e+01] [ 1.01718285e-01 2.62990357e-03 9.94809768e-01 5.29433527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.49, Y:15.95, Z:5.30 [[ 8.74828995e-01 -4.76349373e-01 -8.81220962e-02 4.94927635e+01] [ 4.73633151e-01 8.79251737e-01 -5.08725968e-02 1.59464350e+01] [ 1.01714636e-01 2.76727657e-03 9.94809768e-01 5.29561311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.966874999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.52, Y:15.96, Z:5.30 [[ 8.75115699e-01 -4.75825153e-01 -8.81075332e-02 4.95159140e+01] [ 4.73103746e-01 8.79535251e-01 -5.08978064e-02 1.59614220e+01] [ 1.01712138e-01 2.85746540e-03 9.94809769e-01 5.29826556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.996874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.54, Y:15.98, Z:5.30 [[ 8.75373785e-01 -4.75352869e-01 -8.80930526e-02 4.95395482e+01] [ 4.72626560e-01 8.79790315e-01 -5.09228571e-02 1.59768664e+01] [ 1.01709741e-01 2.94141778e-03 9.94809769e-01 5.30175498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.026875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.56, Y:15.99, Z:5.30 [[ 8.75564690e-01 -4.75003814e-01 -8.80786585e-02 4.95615822e+01] [ 4.72273243e-01 8.79978586e-01 -5.09477417e-02 1.59915726e+01] [ 1.01707705e-01 3.01085000e-03 9.94809770e-01 5.30491393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.056875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.59, Y:16.01, Z:5.31 [[ 8.75434334e-01 -4.75245174e-01 -8.80724254e-02 4.95861773e+01] [ 4.72514737e-01 8.79848313e-01 -5.09585145e-02 1.60059049e+01] [ 1.01708163e-01 2.99531423e-03 9.94809770e-01 5.30781959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.61, Y:16.02, Z:5.31 [[ 8.75809335e-01 -4.74556354e-01 -8.80583612e-02 4.96099755e+01] [ 4.71820006e-01 8.80219652e-01 -5.09828065e-02 1.60211834e+01] [ 1.01704915e-01 3.10352136e-03 9.94809770e-01 5.31130412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.63, Y:16.04, Z:5.31 [[ 8.76232767e-01 -4.73776739e-01 -8.80439624e-02 4.96331776e+01] [ 4.71033974e-01 8.80639094e-01 -5.10076602e-02 1.60356773e+01] [ 1.01701198e-01 3.22288576e-03 9.94809770e-01 5.31420695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.146874999999994 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.66, Y:16.05, Z:5.32 [[ 8.76925202e-01 -4.72495026e-01 -8.80377220e-02 4.96564123e+01] [ 4.69744741e-01 8.81326840e-01 -5.10184287e-02 1.60505523e+01] [ 1.01695961e-01 3.38408907e-03 9.94809770e-01 5.31640070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.176874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:16.07, Z:5.32 [[ 8.77043399e-01 -4.72278259e-01 -8.80234197e-02 4.96797730e+01] [ 4.69524414e-01 8.81442810e-01 -5.10430931e-02 1.60652741e+01] [ 1.01694153e-01 3.43786328e-03 9.94809771e-01 5.31815184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.206875 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:49.70, Y:16.08, Z:5.32 [[ 8.77308881e-01 -4.71787570e-01 -8.80091793e-02 4.97026835e+01] [ 4.69028807e-01 8.81705209e-01 -5.10676347e-02 1.60794271e+01] [ 1.01691227e-01 3.52324913e-03 9.94809771e-01 5.32031964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.236875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:49.73, Y:16.09, Z:5.32 [[ 8.77286831e-01 -4.71829721e-01 -8.80030135e-02 4.97262887e+01] [ 4.69070105e-01 8.81682623e-01 -5.10782579e-02 1.60937623e+01] [ 1.01690968e-01 3.53070032e-03 9.94809771e-01 5.32321952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.266875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:49.75, Y:16.11, Z:5.33 [[ 8.77597309e-01 -4.71254657e-01 -8.79887029e-02 4.97497974e+01] [ 4.68489694e-01 8.81989739e-01 -5.11028978e-02 1.61071655e+01] [ 1.01687612e-01 3.62596504e-03 9.94809772e-01 5.32554755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.296875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.77, Y:16.12, Z:5.33 [[ 8.77428169e-01 -4.71570658e-01 -8.79825141e-02 4.97741504e+01] [ 4.68806210e-01 8.81820924e-01 -5.11135508e-02 1.61208530e+01] [ 1.01688473e-01 3.60172030e-03 9.94809772e-01 5.32851875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.326874999999994 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.80, Y:16.13, Z:5.33 [[ 8.77188902e-01 -4.72018269e-01 -8.79680855e-02 4.97989005e+01] [ 4.69253578e-01 8.81581503e-01 -5.11383708e-02 1.61343836e+01] [ 1.01689282e-01 3.57867246e-03 9.94809772e-01 5.33190556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.356874999999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.82, Y:16.15, Z:5.33 [[ 8.76768238e-01 -4.72801915e-01 -8.79534375e-02 4.98232934e+01] [ 4.70038627e-01 8.81161722e-01 -5.11635518e-02 1.61482404e+01] [ 1.01691428e-01 3.51706412e-03 9.94809773e-01 5.33467189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.386874999999996 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.85, Y:16.16, Z:5.34 [[ 8.76554395e-01 -4.73200975e-01 -8.79387823e-02 4.98480951e+01] [ 4.70437166e-01 8.80947551e-01 -5.11887286e-02 1.61621119e+01] [ 1.01692011e-01 3.50003351e-03 9.94809773e-01 5.33753587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.416875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.87, Y:16.18, Z:5.34 [[ 8.76138495e-01 -4.73973268e-01 -8.79242777e-02 4.98722142e+01] [ 4.71210836e-01 8.80532516e-01 -5.12136303e-02 1.61753898e+01] [ 1.01694077e-01 3.43936056e-03 9.94809774e-01 5.34013101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:16.19, Z:5.34 [[ 8.75461413e-01 -4.75225449e-01 -8.79095370e-02 4.98969478e+01] [ 4.72466766e-01 8.79857788e-01 -5.12389208e-02 1.61873084e+01] [ 1.01697930e-01 3.32336337e-03 9.94809774e-01 5.34189324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.476875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.92, Y:16.20, Z:5.34 [[ 8.75140457e-01 -4.75817420e-01 -8.79031441e-02 4.99206063e+01] [ 4.73060611e-01 8.79538008e-01 -5.12498858e-02 1.61995042e+01] [ 1.01699745e-01 3.26733339e-03 9.94809774e-01 5.34364947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.506874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:16.21, Z:5.35 [[ 8.74866999e-01 -4.76321190e-01 -8.78968605e-02 4.99459717e+01] [ 4.73565832e-01 8.79265459e-01 -5.12606602e-02 1.62121415e+01] [ 1.01701212e-01 3.22131006e-03 9.94809774e-01 5.34644088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.536874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.97, Y:16.23, Z:5.35 [[ 8.74558784e-01 -4.76889564e-01 -8.78821775e-02 4.99713300e+01] [ 4.74134540e-01 8.78957452e-01 -5.12858208e-02 1.62250260e+01] [ 1.01702368e-01 3.18448924e-03 9.94809775e-01 5.34847216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.566874999999996 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:50.00, Y:16.24, Z:5.35 [[ 8.74572059e-01 -4.76867906e-01 -8.78675954e-02 4.99959764e+01] [ 4.74110267e-01 8.78969088e-01 -5.13107921e-02 1.62374133e+01] [ 1.01701370e-01 3.21605601e-03 9.94809775e-01 5.34992469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:16.25, Z:5.35 [[ 8.74578392e-01 -4.76857454e-01 -8.78612766e-02 5.00206675e+01] [ 4.74098678e-01 8.78974707e-01 -5.13216098e-02 1.62496646e+01] [ 1.01700932e-01 3.22985600e-03 9.94809775e-01 5.35335004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.626875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:50.05, Y:16.26, Z:5.36 [[ 8.74841363e-01 -4.76377473e-01 -8.78469810e-02 5.00474358e+01] [ 4.73613832e-01 8.79234621e-01 -5.13460679e-02 1.62593940e+01] [ 1.01698217e-01 3.31411876e-03 9.94809775e-01 5.35693427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:16.27, Z:5.36 [[ 8.74749303e-01 -4.76549171e-01 -8.78324833e-02 5.00728976e+01] [ 4.73783906e-01 8.79141539e-01 -5.13708558e-02 1.62713526e+01] [ 1.01697923e-01 3.32300329e-03 9.94809776e-01 5.35947808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.10, Y:16.28, Z:5.36 [[ 8.74816463e-01 -4.76428578e-01 -8.78178050e-02 5.00980434e+01] [ 4.73660194e-01 8.79206733e-01 -5.13959360e-02 1.62827737e+01] [ 1.01696498e-01 3.36621242e-03 9.94809776e-01 5.36121509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.716874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:16.29, Z:5.36 [[ 8.74913923e-01 -4.76251418e-01 -8.78078251e-02 5.01237751e+01] [ 4.73480437e-01 8.79302554e-01 -5.14129807e-02 1.62947444e+01] [ 1.01695150e-01 3.40664526e-03 9.94809776e-01 5.36416981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.746874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:16.31, Z:5.37 [[ 8.75096134e-01 -4.75919237e-01 -8.77931421e-02 5.01483953e+01] [ 4.73144079e-01 8.79482125e-01 -5.14380413e-02 1.63060042e+01] [ 1.01692853e-01 3.47442574e-03 9.94809777e-01 5.36556529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.17, Y:16.31, Z:5.37 [[ 8.75454368e-01 -4.75261115e-01 -8.77867991e-02 5.01747697e+01] [ 4.72481577e-01 8.79837584e-01 -5.14488644e-02 1.63147764e+01] [ 1.01689770e-01 3.56348783e-03 9.94809777e-01 5.36740735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.20, Y:16.33, Z:5.37 [[ 8.75474804e-01 -4.75224608e-01 -8.77806362e-02 5.01998927e+01] [ 4.72443835e-01 8.79857236e-01 -5.14593771e-02 1.63265497e+01] [ 1.01689190e-01 3.57996764e-03 9.94809777e-01 5.37048492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.836875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:50.22, Y:16.34, Z:5.37 [[ 8.75417371e-01 -4.75333051e-01 -8.77662678e-02 5.02246362e+01] [ 4.72550369e-01 8.79798591e-01 -5.14838715e-02 1.63379319e+01] [ 1.01688624e-01 3.59589324e-03 9.94809777e-01 5.37270590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.25, Y:16.35, Z:5.38 [[ 8.75067213e-01 -4.75978518e-01 -8.77600328e-02 5.02498980e+01] [ 4.73198003e-01 8.79449809e-01 -5.14944976e-02 1.63492735e+01] [ 1.01690819e-01 3.53327415e-03 9.94809777e-01 5.37685858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.896874999999994 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:50.27, Y:16.36, Z:5.38 [[ 8.74543941e-01 -4.76941969e-01 -8.77453914e-02 5.02744975e+01] [ 4.74163785e-01 8.78928014e-01 -5.15194341e-02 1.63603384e+01] [ 1.01693663e-01 3.45032206e-03 9.94809778e-01 5.38007254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.926874999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:50.30, Y:16.37, Z:5.38 [[ 8.73545434e-01 -4.78770164e-01 -8.77354240e-02 5.03012190e+01] [ 4.75999453e-01 8.77934234e-01 -5.15364027e-02 1.63698828e+01] [ 1.01700024e-01 3.25737544e-03 9.94809778e-01 5.38377596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:16.38, Z:5.39 [[ 8.72767909e-01 -4.80186905e-01 -8.77309088e-02 5.03265772e+01] [ 4.77422548e-01 8.77160714e-01 -5.15440878e-02 1.63818344e+01] [ 1.01704903e-01 3.10131177e-03 9.94809778e-01 5.38696925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.35, Y:16.39, Z:5.39 [[ 8.71899919e-01 -4.81763849e-01 -8.77161684e-02 5.03513897e+01] [ 4.79004917e-01 8.76296132e-01 -5.15691605e-02 1.63936087e+01] [ 1.01709496e-01 2.94667094e-03 9.94809779e-01 5.38861016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:16.41, Z:5.39 [[ 8.70941528e-01 -4.83495447e-01 -8.77097862e-02 5.03763043e+01] [ 4.80744165e-01 8.75342533e-01 -5.15800132e-02 1.64050546e+01] [ 1.01714808e-01 2.75720760e-03 9.94809779e-01 5.39121472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:16.42, Z:5.39 [[ 8.69718512e-01 -4.85693738e-01 -8.77000784e-02 5.04022319e+01] [ 4.82951917e-01 8.74125417e-01 -5.15965138e-02 1.64170994e+01] [ 1.01720971e-01 2.51952219e-03 9.94809779e-01 5.39435796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.076874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:16.43, Z:5.40 [[ 8.68310451e-01 -4.88209130e-01 -8.76858382e-02 5.04265814e+01] [ 4.85477636e-01 8.72723764e-01 -5.16207031e-02 1.64284734e+01] [ 1.01727213e-01 2.25328259e-03 9.94809779e-01 5.39694117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.106874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:16.44, Z:5.40 [[ 8.65707586e-01 -4.92810972e-01 -8.76796548e-02 5.04535783e+01] [ 4.90101878e-01 8.70134684e-01 -5.16312037e-02 1.64380671e+01] [ 1.01737532e-01 1.72556121e-03 9.94809779e-01 5.40104557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.136874999999996 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:50.48, Y:16.45, Z:5.40 [[ 8.64741909e-01 -4.94506100e-01 -8.76649746e-02 5.04775352e+01] [ 4.91803159e-01 8.69172767e-01 -5.16561174e-02 1.64496821e+01] [ 1.01740274e-01 1.55529817e-03 9.94809780e-01 5.40389247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:16.46, Z:5.41 [[ 8.63976947e-01 -4.95842521e-01 -8.76585988e-02 5.05022637e+01] [ 4.93145337e-01 8.68411311e-01 -5.16669347e-02 1.64624456e+01] [ 1.01742382e-01 1.41061119e-03 9.94809780e-01 5.40748477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.52, Y:16.48, Z:5.40 [[ 8.61882313e-01 -4.99477102e-01 -8.76441845e-02 5.05247587e+01] [ 4.96796134e-01 8.66326499e-01 -5.16913746e-02 1.64787906e+01] [ 1.01747138e-01 1.01058945e-03 9.94809780e-01 5.40438957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.55, Y:16.49, Z:5.41 [[ 8.63035303e-01 -4.97522989e-01 -8.74124793e-02 5.05521710e+01] [ 4.94792152e-01 8.67449127e-01 -5.20839539e-02 1.64900645e+01] [ 1.01738843e-01 1.69928216e-03 9.94809690e-01 5.41202952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.256874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.58, Y:16.50, Z:5.41 [[ 8.62566914e-01 -4.98297054e-01 -8.76262824e-02 5.05765088e+01] [ 4.95606920e-01 8.67005560e-01 -5.17217493e-02 1.65036126e+01] [ 1.01745269e-01 1.18527768e-03 9.94809778e-01 5.41424890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.286874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.60, Y:16.52, Z:5.41 [[ 8.61033590e-01 -5.00944418e-01 -8.76119135e-02 5.05999412e+01] [ 4.98265457e-01 8.65478988e-01 -5.17460776e-02 1.65192290e+01] [ 1.01748179e-01 9.01120858e-04 9.94809779e-01 5.41295117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.316874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.63, Y:16.53, Z:5.42 [[ 8.62267952e-01 -4.98842811e-01 -8.74632938e-02 5.06257886e+01] [ 4.96127488e-01 8.66691276e-01 -5.19975724e-02 1.65310564e+01] [ 1.01742289e-01 1.44289605e-03 9.94809743e-01 5.42082945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:16.55, Z:5.42 [[ 8.62187787e-01 -4.98958272e-01 -8.75948769e-02 5.06501611e+01] [ 4.96266136e-01 8.66625222e-01 -5.17749618e-02 1.65457060e+01] [ 1.01745475e-01 1.16936859e-03 9.94809776e-01 5.42387653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.67, Y:16.56, Z:5.43 [[ 8.62455834e-01 -4.98497290e-01 -8.75807425e-02 5.06741802e+01] [ 4.95800356e-01 8.66890354e-01 -5.17988600e-02 1.65602635e+01] [ 1.01744492e-01 1.25166572e-03 9.94809777e-01 5.42729026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.70, Y:16.57, Z:5.43 [[ 8.62966943e-01 -4.97614467e-01 -8.75665328e-02 5.06970103e+01] [ 4.94910560e-01 8.67397214e-01 -5.18228706e-02 1.65741905e+01] [ 1.01742777e-01 1.38382246e-03 9.94809777e-01 5.43092922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:16.59, Z:5.43 [[ 8.63749812e-01 -4.96255415e-01 -8.75604122e-02 5.07212491e+01] [ 4.93543490e-01 8.68175179e-01 -5.18332100e-02 1.65889490e+01] [ 1.01740288e-01 1.55605405e-03 9.94809777e-01 5.43449445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.466874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.74, Y:16.60, Z:5.44 [[ 8.65437127e-01 -4.93309530e-01 -8.75459166e-02 5.07433025e+01] [ 4.90580068e-01 8.69851699e-01 -5.18576814e-02 1.66040233e+01] [ 1.01733853e-01 1.93128106e-03 9.94809777e-01 5.43591390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.496874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.77, Y:16.62, Z:5.44 [[ 8.66040214e-01 -4.92251116e-01 -8.75396281e-02 5.07665216e+01] [ 4.89515187e-01 8.70450781e-01 -5.18682947e-02 1.66190948e+01] [ 1.01731164e-01 2.06805164e-03 9.94809778e-01 5.43783808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.79, Y:16.63, Z:5.44 [[ 8.66535764e-01 -4.91380733e-01 -8.75256787e-02 5.07900199e+01] [ 4.88637998e-01 8.70942102e-01 -5.18918232e-02 1.66343048e+01] [ 1.01728441e-01 2.19774822e-03 9.94809778e-01 5.44044201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.81, Y:16.65, Z:5.44 [[ 8.66682611e-01 -4.91124245e-01 -8.75112971e-02 5.08135432e+01] [ 4.88377760e-01 8.71086612e-01 -5.19160654e-02 1.66492080e+01] [ 1.01727158e-01 2.25617992e-03 9.94809778e-01 5.44374413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.84, Y:16.66, Z:5.45 [[ 8.66899638e-01 -4.90743680e-01 -8.74966188e-02 5.08369148e+01] [ 4.87992768e-01 8.71300874e-01 -5.19407917e-02 1.66634247e+01] [ 1.01725496e-01 2.32973636e-03 9.94809779e-01 5.44680996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.86, Y:16.68, Z:5.45 [[ 8.66795068e-01 -4.90929489e-01 -8.74902727e-02 5.08594164e+01] [ 4.88178442e-01 8.71196219e-01 -5.19514791e-02 1.66773301e+01] [ 1.01725708e-01 2.32042083e-03 9.94809779e-01 5.45041680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.646874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:16.69, Z:5.45 [[ 8.66424362e-01 -4.91584548e-01 -8.74840441e-02 5.08826604e+01] [ 4.88835770e-01 8.70826931e-01 -5.19619657e-02 1.66924474e+01] [ 1.01727161e-01 2.25578286e-03 9.94809779e-01 5.45340394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.676874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:16.71, Z:5.45 [[ 8.66006396e-01 -4.92323070e-01 -8.74695161e-02 5.09066102e+01] [ 4.89575579e-01 8.70409769e-01 -5.19864097e-02 1.67072866e+01] [ 1.01728430e-01 2.19762433e-03 9.94809779e-01 5.45469443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:16.72, Z:5.46 [[ 8.65373354e-01 -4.93437495e-01 -8.74551082e-02 5.09297496e+01] [ 4.90693228e-01 8.69778736e-01 -5.20106364e-02 1.67217972e+01] [ 1.01730592e-01 2.09498953e-03 9.94809780e-01 5.45571259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.95, Y:16.74, Z:5.46 [[ 8.64506734e-01 -4.94955352e-01 -8.74488751e-02 5.09534279e+01] [ 4.92217761e-01 8.68916267e-01 -5.20211146e-02 1.67362998e+01] [ 1.01733879e-01 1.92871445e-03 9.94809780e-01 5.45710216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.98, Y:16.75, Z:5.46 [[ 8.63638695e-01 -4.96470967e-01 -8.74344541e-02 5.09764582e+01] [ 4.93738662e-01 8.68051505e-01 -5.20453414e-02 1.67500660e+01] [ 1.01736610e-01 1.77860034e-03 9.94809780e-01 5.45864742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.00, Y:16.76, Z:5.46 [[ 8.62655638e-01 -4.98178234e-01 -8.74282441e-02 5.10011308e+01] [ 4.95453607e-01 8.67073192e-01 -5.20557712e-02 1.67641830e+01] [ 1.01739739e-01 1.58956563e-03 9.94809780e-01 5.46136300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.826874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.02, Y:16.78, Z:5.47 [[ 8.60528380e-01 -5.01846283e-01 -8.74140414e-02 5.10245588e+01] [ 4.99138066e-01 8.64956014e-01 -5.20796101e-02 1.67772976e+01] [ 1.01745260e-01 1.18430699e-03 9.94809781e-01 5.46506129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.856874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.05, Y:16.79, Z:5.47 [[ 8.59370877e-01 -5.03826910e-01 -8.74078983e-02 5.10486640e+01] [ 5.01127849e-01 8.63804098e-01 -5.20899183e-02 1.67914673e+01] [ 1.01747603e-01 9.62026730e-04 9.94809781e-01 5.46878815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.886874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:16.81, Z:5.47 [[ 8.56889091e-01 -5.08038769e-01 -8.73939072e-02 5.10687027e+01] [ 5.05359107e-01 8.61334063e-01 -5.21133814e-02 1.68080798e+01] [ 1.01750967e-01 4.90081097e-04 9.94809781e-01 5.46876867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:16.82, Z:5.48 [[ 8.57410831e-01 -5.07226402e-01 -8.69945085e-02 5.10966505e+01] [ 5.04474482e-01 8.61811755e-01 -5.27825381e-02 1.68204857e+01] [ 1.01745587e-01 1.36981020e-03 9.94809509e-01 5.47618829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.12, Y:16.83, Z:5.48 [[ 8.56445109e-01 -5.08789815e-01 -8.73767701e-02 5.11197102e+01] [ 5.06111129e-01 8.60890664e-01 -5.21420200e-02 1.68345487e+01] [ 1.01751174e-01 4.34422299e-04 9.94809786e-01 5.47909826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:16.85, Z:5.48 [[ 8.56310970e-01 -5.09017178e-01 -8.73672383e-02 5.11441083e+01] [ 5.06338043e-01 8.60756255e-01 -5.21579863e-02 1.68492396e+01] [ 1.01751208e-01 4.26099430e-04 9.94809786e-01 5.48200103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.006874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.17, Y:16.86, Z:5.48 [[ 8.55336104e-01 -5.10655981e-01 -8.73534118e-02 5.11682831e+01] [ 5.07982999e-01 8.59785091e-01 -5.21811325e-02 1.68638777e+01] [ 1.01751768e-01 2.58358526e-04 9.94809786e-01 5.48462743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.036874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.19, Y:16.88, Z:5.49 [[ 8.53492318e-01 -5.13734121e-01 -8.73390889e-02 5.11921105e+01] [ 5.11074732e-01 8.57949443e-01 -5.22050948e-02 1.68791911e+01] [ 1.01752061e-01 -8.01540272e-05 9.94809787e-01 5.48608241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.066874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.22, Y:16.89, Z:5.49 [[ 8.52834030e-01 -5.14828593e-01 -8.73248924e-02 5.12153760e+01] [ 5.12172494e-01 8.57293116e-01 -5.22288310e-02 1.68937012e+01] [ 1.01751925e-01 -1.82883475e-04 9.94809787e-01 5.48824879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:16.91, Z:5.49 [[ 8.52166161e-01 -5.15934365e-01 -8.73187529e-02 5.12392572e+01] [ 5.13283000e-01 8.56628063e-01 -5.22390933e-02 1.69085869e+01] [ 1.01751638e-01 -3.02843875e-04 9.94809787e-01 5.49098622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.26, Y:16.92, Z:5.49 [[ 8.51856146e-01 -5.16448439e-01 -8.73047283e-02 5.12627680e+01] [ 5.13797365e-01 8.56318221e-01 -5.22625215e-02 1.69230014e+01] [ 1.01751527e-01 -3.36789216e-04 9.94809787e-01 5.49418278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.29, Y:16.94, Z:5.50 [[ 8.51664631e-01 -5.16766626e-01 -8.72903831e-02 5.12858571e+01] [ 5.14114765e-01 8.56126237e-01 -5.22864704e-02 1.69371668e+01] [ 1.01751490e-01 -3.46737242e-04 9.94809788e-01 5.49799166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:16.96, Z:5.50 [[ 8.49661510e-01 -5.20054606e-01 -8.72841679e-02 5.13056571e+01] [ 5.17418943e-01 8.54132705e-01 -5.22968437e-02 1.69557416e+01] [ 1.01749477e-01 -7.27866732e-04 9.94809788e-01 5.49594093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.216874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:16.97, Z:5.50 [[ 8.51453905e-01 -5.17189549e-01 -8.68401873e-02 5.13331782e+01] [ 5.14463147e-01 8.55870748e-01 -5.30370852e-02 1.69691588e+01] [ 1.01754202e-01 4.82557150e-04 9.94809454e-01 5.50337870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.246874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.36, Y:16.98, Z:5.51 [[ 8.51067836e-01 -5.17752067e-01 -8.72716186e-02 5.13565839e+01] [ 5.15102192e-01 8.55530604e-01 -5.23174774e-02 1.69848376e+01] [ 1.01751023e-01 -4.28079755e-04 9.94809804e-01 5.50638898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.38, Y:17.00, Z:5.51 [[ 8.51131150e-01 -5.17650422e-01 -8.72571226e-02 5.13791621e+01] [ 5.14997536e-01 8.55592128e-01 -5.23416434e-02 1.69990043e+01] [ 1.01751181e-01 -3.87599986e-04 9.94809804e-01 5.50975260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:17.01, Z:5.51 [[ 8.50918477e-01 -5.18001598e-01 -8.72472947e-02 5.14029317e+01] [ 5.15348874e-01 8.55379551e-01 -5.23580202e-02 1.70144094e+01] [ 1.01751090e-01 -4.10388323e-04 9.94809805e-01 5.51284112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:17.03, Z:5.52 [[ 8.51110549e-01 -5.17688280e-01 -8.72334753e-02 5.14265396e+01] [ 5.15031554e-01 8.55569241e-01 -5.23810347e-02 1.70293166e+01] [ 1.01751326e-01 -3.45941177e-04 9.94809805e-01 5.51660805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.45, Y:17.04, Z:5.52 [[ 8.51518199e-01 -5.17019923e-01 -8.72190117e-02 5.14491258e+01] [ 5.14357232e-01 8.55973330e-01 -5.24051067e-02 1.70445432e+01] [ 1.01751632e-01 -2.37827388e-04 9.94809805e-01 5.51926042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.396874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.47, Y:17.06, Z:5.52 [[ 8.53264497e-01 -5.14133873e-01 -8.72127206e-02 5.14714842e+01] [ 5.11455043e-01 8.57709943e-01 -5.24155744e-02 1.70613434e+01] [ 1.01751840e-01 1.18963013e-04 9.94809805e-01 5.52165833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.426874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.49, Y:17.08, Z:5.52 [[ 8.54291880e-01 -5.12427335e-01 -8.71986812e-02 5.14941466e+01] [ 5.09737242e-01 8.58730519e-01 -5.24389201e-02 1.70766925e+01] [ 1.01751305e-01 3.49728414e-04 9.94809806e-01 5.52364283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.52, Y:17.09, Z:5.52 [[ 8.55252158e-01 -5.10824037e-01 -8.71925976e-02 5.15177666e+01] [ 5.08124591e-01 8.59685116e-01 -5.24490336e-02 1.70927280e+01] [ 1.01750405e-01 5.52446153e-04 9.94809806e-01 5.52490510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:17.11, Z:5.53 [[ 8.56168721e-01 -5.09288748e-01 -8.71785101e-02 5.15413459e+01] [ 5.06578971e-01 8.60595369e-01 -5.24724389e-02 1.71088713e+01] [ 1.01749045e-01 7.62460922e-04 9.94809806e-01 5.52618782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:17.12, Z:5.53 [[ 8.57041782e-01 -5.07820633e-01 -8.71641447e-02 5.15649199e+01] [ 5.05100847e-01 8.61462288e-01 -5.24962910e-02 1.71245096e+01] [ 1.01747323e-01 9.64831376e-04 9.94809807e-01 5.52723583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:17.14, Z:5.53 [[ 8.57637868e-01 -5.06815750e-01 -8.71497660e-02 5.15877717e+01] [ 5.04088361e-01 8.62053687e-01 -5.25201505e-02 1.71391659e+01] [ 1.01745817e-01 1.11208724e-03 9.94809807e-01 5.52877174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.576874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:17.15, Z:5.53 [[ 8.58272888e-01 -5.05740698e-01 -8.71435366e-02 5.16114769e+01] [ 5.03006728e-01 8.62684635e-01 -5.25304845e-02 1.71536679e+01] [ 1.01744194e-01 1.25170546e-03 9.94809807e-01 5.53168866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.606874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:17.17, Z:5.53 [[ 8.58479064e-01 -5.05393136e-01 -8.71290698e-02 5.16339130e+01] [ 5.02654946e-01 8.62888193e-01 -5.25544689e-02 1.71677572e+01] [ 1.01743313e-01 1.32105341e-03 9.94809807e-01 5.53446248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.636874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.66, Y:17.18, Z:5.54 [[ 8.58829014e-01 -5.04799307e-01 -8.71228178e-02 5.16574468e+01] [ 5.02057017e-01 8.63235593e-01 -5.25648313e-02 1.71826082e+01] [ 1.01742208e-01 1.40358014e-03 9.94809808e-01 5.53794891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:17.20, Z:5.54 [[ 8.59316549e-01 -5.03971430e-01 -8.71083554e-02 5.16801137e+01] [ 5.01222468e-01 8.63718969e-01 -5.25887869e-02 1.71968894e+01] [ 1.01740385e-01 1.52975008e-03 9.94809808e-01 5.54075948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.696875 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:51.70, Y:17.21, Z:5.54 [[ 8.59904868e-01 -5.02968039e-01 -8.71020693e-02 5.17040388e+01] [ 5.00212885e-01 8.64303415e-01 -5.25991965e-02 1.72118786e+01] [ 1.01738331e-01 1.66072771e-03 9.94809808e-01 5.54435031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.726875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:51.73, Y:17.23, Z:5.55 [[ 8.60676636e-01 -5.01648760e-01 -8.70876059e-02 5.17274392e+01] [ 4.98884443e-01 8.65069430e-01 -5.26231324e-02 1.72260704e+01] [ 1.01735155e-01 1.84484877e-03 9.94809808e-01 5.54855911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.756874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.75, Y:17.24, Z:5.55 [[ 8.62446876e-01 -4.98601708e-01 -8.70730860e-02 5.17510039e+01] [ 4.95819450e-01 8.66828329e-01 -5.26471469e-02 1.72411772e+01] [ 1.01727375e-01 2.23283775e-03 9.94809809e-01 5.55393786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.786874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:17.26, Z:5.56 [[ 8.63406052e-01 -4.96941439e-01 -8.70585716e-02 5.17735816e+01] [ 4.94148339e-01 8.67780601e-01 -5.26711374e-02 1.72557336e+01] [ 1.01722210e-01 2.45673035e-03 9.94809809e-01 5.55615803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.816874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:17.27, Z:5.56 [[ 8.64437589e-01 -4.95145997e-01 -8.70522618e-02 5.17971151e+01] [ 4.92342762e-01 8.68805650e-01 -5.26815639e-02 1.72702166e+01] [ 1.01716562e-01 2.68037309e-03 9.94809809e-01 5.55830012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.82, Y:17.28, Z:5.56 [[ 8.65339533e-01 -4.93570607e-01 -8.70376229e-02 5.18206661e+01] [ 4.90756992e-01 8.69700914e-01 -5.27057386e-02 1.72844288e+01] [ 1.01710704e-01 2.89403725e-03 9.94809810e-01 5.55991646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:17.30, Z:5.56 [[ 8.66172563e-01 -4.92108375e-01 -8.70312457e-02 5.18443874e+01] [ 4.89286341e-01 8.70528502e-01 -5.27162668e-02 1.72986316e+01] [ 1.01705296e-01 3.07818417e-03 9.94809810e-01 5.56274377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:17.31, Z:5.57 [[ 8.66918426e-01 -4.90795805e-01 -8.70167795e-02 5.18679843e+01] [ 4.87964783e-01 8.71268528e-01 -5.27401349e-02 1.73130931e+01] [ 1.01699618e-01 3.26027080e-03 9.94809810e-01 5.56532944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:17.33, Z:5.57 [[ 8.68262662e-01 -4.88416438e-01 -8.70019084e-02 5.18920505e+01] [ 4.85571044e-01 8.72603376e-01 -5.27646556e-02 1.73279228e+01] [ 1.01689284e-01 3.56797285e-03 9.94809811e-01 5.56696441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.966874999999995 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:51.92, Y:17.34, Z:5.57 [[ 8.68721866e-01 -4.87601892e-01 -8.69868654e-02 5.19158100e+01] [ 4.84749950e-01 8.73058280e-01 -5.27894435e-02 1.73416240e+01] [ 1.01684836e-01 3.69246514e-03 9.94809811e-01 5.56968734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.996874999999996 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:51.94, Y:17.36, Z:5.57 [[ 8.68912886e-01 -4.87262574e-01 -8.69803411e-02 5.19402686e+01] [ 4.84407865e-01 8.73247479e-01 -5.28001914e-02 1.73559430e+01] [ 1.01682921e-01 3.74480543e-03 9.94809811e-01 5.57302089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.026875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:51.96, Y:17.37, Z:5.58 [[ 8.69269134e-01 -4.86629443e-01 -8.69652676e-02 5.19648126e+01] [ 4.83769099e-01 8.73600010e-01 -5.28250068e-02 1.73699569e+01] [ 1.01679062e-01 3.84803880e-03 9.94809811e-01 5.57624885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:17.38, Z:5.58 [[ 8.69577943e-01 -4.86080123e-01 -8.69500710e-02 5.19882770e+01] [ 4.83214548e-01 8.73905360e-01 -5.28500088e-02 1.73842331e+01] [ 1.01675472e-01 3.94166274e-03 9.94809812e-01 5.57657491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.01, Y:17.40, Z:5.58 [[ 8.69312677e-01 -4.86588215e-01 -8.67604700e-02 5.20133845e+01] [ 4.83694098e-01 8.73621118e-01 -5.31616458e-02 1.73981958e+01] [ 1.01663609e-01 4.24856527e-03 9.94809761e-01 5.57745125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:17.41, Z:5.58 [[ 8.69139457e-01 -4.86867273e-01 -8.69302226e-02 5.20378120e+01] [ 4.84002362e-01 8.73467311e-01 -5.28826110e-02 1.74117692e+01] [ 1.01677520e-01 3.88793067e-03 9.94809814e-01 5.58012726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.146874999999994 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:52.06, Y:17.43, Z:5.58 [[ 8.68772166e-01 -4.87524991e-01 -8.69155120e-02 5.20617464e+01] [ 4.84660944e-01 8.73100591e-01 -5.29067778e-02 1.74254519e+01] [ 1.01679361e-01 3.83938184e-03 9.94809814e-01 5.58321307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.176874999999995 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:52.09, Y:17.44, Z:5.59 [[ 8.68387896e-01 -4.88211742e-01 -8.69008405e-02 5.20863087e+01] [ 4.85348712e-01 8.72716994e-01 -5.29308652e-02 1.74394914e+01] [ 1.01681310e-01 3.78731164e-03 9.94809815e-01 5.58739577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.206875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:52.11, Y:17.45, Z:5.59 [[ 8.68035904e-01 -4.88839910e-01 -8.68861974e-02 5.21109206e+01] [ 4.85977612e-01 8.72365485e-01 -5.29548911e-02 1.74533565e+01] [ 1.01682984e-01 3.74200005e-03 9.94809815e-01 5.59203245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:17.47, Z:5.60 [[ 8.67579789e-01 -4.89651556e-01 -8.68715319e-02 5.21336251e+01] [ 4.86790905e-01 8.71910458e-01 -5.29789387e-02 1.74669604e+01] [ 1.01685417e-01 3.67518488e-03 9.94809815e-01 5.59528012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.266875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:52.16, Y:17.48, Z:5.60 [[ 8.66947256e-01 -4.90771735e-01 -8.68651802e-02 5.21582581e+01] [ 4.87915639e-01 8.71280930e-01 -5.29893511e-02 1.74810715e+01] [ 1.01689651e-01 3.55609271e-03 9.94809816e-01 5.59795130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:17.50, Z:5.60 [[ 8.66345054e-01 -4.91836219e-01 -8.68526407e-02 5.21827739e+01] [ 4.88983391e-01 8.70680880e-01 -5.30098962e-02 1.74953850e+01] [ 1.01693120e-01 3.45536264e-03 9.94809816e-01 5.60146306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.326874999999994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:52.21, Y:17.51, Z:5.60 [[ 8.65584309e-01 -4.93176469e-01 -8.68376332e-02 5.22058654e+01] [ 4.90327894e-01 8.69922929e-01 -5.30344692e-02 1.75087660e+01] [ 1.01697400e-01 3.32689055e-03 9.94809816e-01 5.60443620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.356874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.23, Y:17.52, Z:5.61 [[ 8.64998394e-01 -4.94204499e-01 -8.68313959e-02 5.22294645e+01] [ 4.91360056e-01 8.69339725e-01 -5.30446794e-02 1.75217923e+01] [ 1.01700901e-01 3.21808294e-03 9.94809816e-01 5.60731953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.386874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.25, Y:17.54, Z:5.61 [[ 8.64015819e-01 -4.95921435e-01 -8.68250774e-02 5.22538519e+01] [ 4.93084582e-01 8.68362113e-01 -5.30550197e-02 1.75352567e+01] [ 1.01706729e-01 3.02826930e-03 9.94809816e-01 5.61101439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.28, Y:17.55, Z:5.61 [[ 8.63182849e-01 -4.97372525e-01 -8.68097937e-02 5.22778871e+01] [ 4.94540468e-01 8.67532269e-01 -5.30800154e-02 1.75485880e+01] [ 1.01710839e-01 2.88680293e-03 9.94809817e-01 5.61293053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:17.56, Z:5.61 [[ 8.62050721e-01 -4.99333316e-01 -8.68031891e-02 5.23040099e+01] [ 4.96510066e-01 8.66405863e-01 -5.30908139e-02 1.75618730e+01] [ 1.01716804e-01 2.66831728e-03 9.94809817e-01 5.61463902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:17.58, Z:5.62 [[ 8.61943387e-01 -4.99520807e-01 -8.67903283e-02 5.23271197e+01] [ 4.96696390e-01 8.66297772e-01 -5.31118300e-02 1.75751212e+01] [ 1.01716732e-01 2.67094787e-03 9.94809817e-01 5.61592958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.506874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.35, Y:17.59, Z:5.62 [[ 8.61940819e-01 -4.99526342e-01 -8.67839714e-02 5.23515205e+01] [ 4.96700909e-01 8.66294544e-01 -5.31222150e-02 1.75892106e+01] [ 1.01716427e-01 2.68252800e-03 9.94809817e-01 5.61855239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.536874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.37, Y:17.60, Z:5.62 [[ 8.62158486e-01 -4.99153016e-01 -8.67698797e-02 5.23748801e+01] [ 4.96323384e-01 8.66509483e-01 -5.31452225e-02 1.76033024e+01] [ 1.01714522e-01 2.75368427e-03 9.94809818e-01 5.61923418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.566874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.40, Y:17.62, Z:5.62 [[ 8.62397269e-01 -4.98741377e-01 -8.67639897e-02 5.23985577e+01] [ 4.95908702e-01 8.66746285e-01 -5.31548368e-02 1.76175345e+01] [ 1.01712882e-01 2.81356852e-03 9.94809818e-01 5.62133786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:17.63, Z:5.62 [[ 8.62864152e-01 -4.97935639e-01 -8.67499521e-02 5.24217314e+01] [ 4.95096603e-01 8.67209018e-01 -5.31777366e-02 1.76310500e+01] [ 1.01709431e-01 2.93555596e-03 9.94809818e-01 5.62423893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:17.65, Z:5.63 [[ 8.64194268e-01 -4.95624627e-01 -8.67438544e-02 5.24468071e+01] [ 4.92772977e-01 8.68530865e-01 -5.31876814e-02 1.76450986e+01] [ 1.01700840e-01 3.21946208e-03 9.94809818e-01 5.63043917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:17.66, Z:5.63 [[ 8.65042242e-01 -4.94145388e-01 -8.67309361e-02 5.24704992e+01] [ 4.91284214e-01 8.69372562e-01 -5.32087385e-02 1.76595105e+01] [ 1.01694349e-01 3.41826665e-03 9.94809818e-01 5.63399374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.49, Y:17.67, Z:5.64 [[ 8.65502150e-01 -4.93340220e-01 -8.67263300e-02 5.24941817e+01] [ 4.90474267e-01 8.69829308e-01 -5.32162449e-02 1.76747856e+01] [ 1.01690818e-01 3.52174121e-03 9.94809818e-01 5.63829785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.716874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:17.69, Z:5.64 [[ 8.66269898e-01 -4.91992978e-01 -8.67143231e-02 5.25176944e+01] [ 4.89118342e-01 8.70591292e-01 -5.32358028e-02 1.76900350e+01] [ 1.01684376e-01 3.70300754e-03 9.94809819e-01 5.64161944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.746874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.54, Y:17.71, Z:5.65 [[ 8.66855598e-01 -4.90962701e-01 -8.67006295e-02 5.25412561e+01] [ 4.88080703e-01 8.71172086e-01 -5.32580952e-02 1.77052147e+01] [ 1.01678906e-01 3.85017375e-03 9.94809819e-01 5.64643205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.776875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:52.56, Y:17.72, Z:5.65 [[ 8.67335205e-01 -4.90117598e-01 -8.66855352e-02 5.25638161e+01] [ 4.87228946e-01 8.71647241e-01 -5.32826521e-02 1.77198115e+01] [ 1.01673973e-01 3.97821807e-03 9.94809820e-01 5.64931140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.806875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.59, Y:17.74, Z:5.65 [[ 8.67676497e-01 -4.89514294e-01 -8.66790171e-02 5.25868938e+01] [ 4.86621587e-01 8.71985814e-01 -5.32932534e-02 1.77353649e+01] [ 1.01670683e-01 4.06142257e-03 9.94809820e-01 5.65080840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.61, Y:17.75, Z:5.65 [[ 8.67626857e-01 -4.89604925e-01 -8.66640303e-02 5.26105217e+01] [ 4.86710240e-01 8.71934845e-01 -5.33176136e-02 1.77509636e+01] [ 1.01669954e-01 4.07952254e-03 9.94809820e-01 5.65146529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:17.77, Z:5.65 [[ 8.67490224e-01 -4.89849435e-01 -8.66501118e-02 5.26347175e+01] [ 4.86953710e-01 8.71797513e-01 -5.33402240e-02 1.77659994e+01] [ 1.01670031e-01 4.07752939e-03 9.94809820e-01 5.65436457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.896874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:17.78, Z:5.65 [[ 8.67468310e-01 -4.89890890e-01 -8.66351354e-02 5.26581439e+01] [ 4.86992948e-01 8.71774108e-01 -5.33645376e-02 1.77811982e+01] [ 1.01669069e-01 4.10134526e-03 9.94809821e-01 5.65498829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.926874999999995 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:52.68, Y:17.80, Z:5.66 [[ 8.67064385e-01 -4.90608097e-01 -8.66201322e-02 5.26814770e+01] [ 4.87711290e-01 8.71370946e-01 -5.33888794e-02 1.77962073e+01] [ 1.01671283e-01 4.04597955e-03 9.94809821e-01 5.65517380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.71, Y:17.81, Z:5.66 [[ 8.66670901e-01 -4.91304081e-01 -8.66132226e-02 5.27057521e+01] [ 4.88409615e-01 8.70979035e-01 -5.34000866e-02 1.78105904e+01] [ 1.01673981e-01 3.97757053e-03 9.94809821e-01 5.65787848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.73, Y:17.82, Z:5.66 [[ 8.65441957e-01 -4.93468241e-01 -8.65985774e-02 5.27297397e+01] [ 4.90582178e-01 8.69755725e-01 -5.34238262e-02 1.78247823e+01] [ 1.01682570e-01 3.75150195e-03 9.94809822e-01 5.66410713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:17.84, Z:5.67 [[ 8.64720379e-01 -4.94734251e-01 -8.65834120e-02 5.27532236e+01] [ 4.91852048e-01 8.69036727e-01 -5.34483933e-02 1.78398134e+01] [ 1.01686916e-01 3.63168637e-03 9.94809822e-01 5.66671661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.046875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:52.78, Y:17.85, Z:5.67 [[ 8.63933261e-01 -4.96108295e-01 -8.65787584e-02 5.27765553e+01] [ 4.93232203e-01 8.68253683e-01 -5.34559304e-02 1.78548550e+01] [ 1.01692256e-01 3.47892448e-03 9.94809822e-01 5.66917225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.076874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:17.87, Z:5.67 [[ 8.62763670e-01 -4.98140288e-01 -8.65742665e-02 5.27999809e+01] [ 4.95273645e-01 8.67090366e-01 -5.34632043e-02 1.78701008e+01] [ 1.01699888e-01 3.24815781e-03 9.94809822e-01 5.67261159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.106874999999995 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:52.82, Y:17.88, Z:5.68 [[ 8.61831697e-01 -4.99753521e-01 -8.65594850e-02 5.28229490e+01] [ 4.96892577e-01 8.66162164e-01 -5.34871257e-02 1.78846592e+01] [ 1.01704930e-01 3.08613475e-03 9.94809823e-01 5.67541766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.136874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:17.90, Z:5.68 [[ 8.60735614e-01 -5.01640072e-01 -8.65531106e-02 5.28466316e+01] [ 4.98787585e-01 8.65071656e-01 -5.34974387e-02 1.78990799e+01] [ 1.01711102e-01 2.87553377e-03 9.94809823e-01 5.67960714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:17.91, Z:5.68 [[ 8.58527343e-01 -5.05412577e-01 -8.65385935e-02 5.28704571e+01] [ 5.02576782e-01 8.62874319e-01 -5.35209116e-02 1.79126890e+01] [ 1.01722072e-01 2.45687825e-03 9.94809823e-01 5.68423156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:17.93, Z:5.69 [[ 8.57247474e-01 -5.07582870e-01 -8.65239724e-02 5.28944298e+01] [ 5.04755697e-01 8.61600063e-01 -5.35445384e-02 1.79272142e+01] [ 1.01727351e-01 2.22745231e-03 9.94809823e-01 5.68806824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:17.94, Z:5.69 [[ 8.55982549e-01 -5.09715662e-01 -8.65090777e-02 5.29171248e+01] [ 5.06896905e-01 8.60340592e-01 -5.35685922e-02 1.79409084e+01] [ 1.01732022e-01 2.00259634e-03 9.94809824e-01 5.69142937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.256874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:17.96, Z:5.69 [[ 8.54556226e-01 -5.12104441e-01 -8.65025877e-02 5.29405094e+01] [ 5.09296807e-01 8.58921443e-01 -5.35790702e-02 1.79555417e+01] [ 1.01737007e-01 1.73083634e-03 9.94809824e-01 5.69386657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.286874999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.96, Y:17.97, Z:5.70 [[ 8.53255559e-01 -5.14271161e-01 -8.64877067e-02 5.29634586e+01] [ 5.11472180e-01 8.57626328e-01 -5.36030805e-02 1.79704855e+01] [ 1.01740653e-01 1.50107061e-03 9.94809824e-01 5.69514450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.316874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:17.99, Z:5.70 [[ 8.52163589e-01 -5.16079656e-01 -8.64812491e-02 5.29875845e+01] [ 5.13288894e-01 8.56539611e-01 -5.36134970e-02 1.79855914e+01] [ 1.01743451e-01 1.29760528e-03 9.94809824e-01 5.69667368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.01, Y:18.00, Z:5.70 [[ 8.50131461e-01 -5.19422774e-01 -8.64666406e-02 5.30111016e+01] [ 5.16646826e-01 8.54516895e-01 -5.36370470e-02 1.79998437e+01] [ 1.01747509e-01 9.25825719e-04 9.94809825e-01 5.69734572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.04, Y:18.01, Z:5.70 [[ 8.49229459e-01 -5.20897218e-01 -8.64604727e-02 5.30351295e+01] [ 5.18127872e-01 8.53619065e-01 -5.36469875e-02 1.80144305e+01] [ 1.01748874e-01 7.61021494e-04 9.94809825e-01 5.70122038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.06, Y:18.03, Z:5.70 [[ 8.48296545e-01 -5.22417548e-01 -8.64458051e-02 5.30591477e+01] [ 5.19653661e-01 8.52689590e-01 -5.36706124e-02 1.80291912e+01] [ 1.01749908e-01 6.06715931e-04 9.94809825e-01 5.70492151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:18.04, Z:5.71 [[ 8.47503356e-01 -5.23705756e-01 -8.64311465e-02 5.30821734e+01] [ 5.20946141e-01 8.51899085e-01 -5.36942082e-02 1.80432809e+01] [ 1.01750581e-01 4.80049397e-04 9.94809826e-01 5.70899957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.466874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:18.06, Z:5.71 [[ 8.46796203e-01 -5.24850053e-01 -8.64211357e-02 5.31059165e+01] [ 5.22094734e-01 8.51194626e-01 -5.37103159e-02 1.80576983e+01] [ 1.01751068e-01 3.61671757e-04 9.94809826e-01 5.71227931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.496874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:18.07, Z:5.71 [[ 8.46407883e-01 -5.25478471e-01 -8.64064402e-02 5.31284638e+01] [ 5.22724005e-01 8.50806839e-01 -5.37339469e-02 1.80717811e+01] [ 1.01751223e-01 3.14115719e-04 9.94809826e-01 5.71465603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.15, Y:18.09, Z:5.72 [[ 8.46437545e-01 -5.25431740e-01 -8.64000505e-02 5.31517648e+01] [ 5.22675982e-01 8.50835693e-01 -5.37442192e-02 1.80872385e+01] [ 1.01751165e-01 3.31893719e-04 9.94809826e-01 5.71553001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:18.10, Z:5.72 [[ 8.46769697e-01 -5.24898677e-01 -8.63855260e-02 5.31753349e+01] [ 5.22137770e-01 8.51164614e-01 -5.37675549e-02 1.81026629e+01] [ 1.01750821e-01 4.23590224e-04 9.94809827e-01 5.71629469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:18.12, Z:5.72 [[ 8.47427730e-01 -5.23838032e-01 -8.63710477e-02 5.31987306e+01] [ 5.21069255e-01 8.51817693e-01 -5.37908026e-02 1.81176739e+01] [ 1.01750055e-01 5.78520367e-04 9.94809827e-01 5.71872016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.22, Y:18.13, Z:5.72 [[ 8.48005124e-01 -5.22905226e-01 -8.63564356e-02 5.32220273e+01] [ 5.20129232e-01 8.52390526e-01 -5.38142509e-02 1.81326564e+01] [ 1.01749161e-01 7.18253905e-04 9.94809827e-01 5.72271951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.646874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.24, Y:18.15, Z:5.73 [[ 8.48963666e-01 -5.21349971e-01 -8.63417724e-02 5.32443111e+01] [ 5.18563551e-01 8.53342451e-01 -5.38377669e-02 1.81468428e+01] [ 1.01747418e-01 9.32611789e-04 9.94809828e-01 5.72594247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.676874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:18.16, Z:5.73 [[ 8.49942951e-01 -5.19752999e-01 -8.63353950e-02 5.32665252e+01] [ 5.16957314e-01 8.54315826e-01 -5.38479919e-02 1.81613878e+01] [ 1.01745350e-01 1.13600724e-03 9.94809828e-01 5.72871775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:18.18, Z:5.73 [[ 8.51641772e-01 -5.16965740e-01 -8.63291079e-02 5.32897604e+01] [ 5.14154723e-01 8.56004807e-01 -5.38580696e-02 1.81772182e+01] [ 1.01740908e-01 1.48126333e-03 9.94809828e-01 5.73275438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.31, Y:18.19, Z:5.74 [[ 8.52420254e-01 -5.15683565e-01 -8.63143755e-02 5.33122979e+01] [ 5.12863596e-01 8.56777507e-01 -5.38816697e-02 1.81920551e+01] [ 1.01738107e-01 1.66232554e-03 9.94809828e-01 5.73621597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:18.21, Z:5.74 [[ 8.52843465e-01 -5.14985040e-01 -8.63043062e-02 5.33355195e+01] [ 5.12159871e-01 8.57197348e-01 -5.38977934e-02 1.82079596e+01] [ 1.01736380e-01 1.76477856e-03 9.94809828e-01 5.73877871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.36, Y:18.22, Z:5.74 [[ 8.53366642e-01 -5.14120158e-01 -8.62892663e-02 5.33586680e+01] [ 5.11288144e-01 8.57716076e-01 -5.39218613e-02 1.82229479e+01] [ 1.01734007e-01 1.89643891e-03 9.94809829e-01 5.74075479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.826874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:18.24, Z:5.74 [[ 8.53351427e-01 -5.14147923e-01 -8.62743063e-02 5.33817253e+01] [ 5.11313633e-01 8.57699377e-01 -5.39457866e-02 1.82380283e+01] [ 1.01733533e-01 1.92148506e-03 9.94809829e-01 5.74315083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.856874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:18.25, Z:5.75 [[ 8.53280510e-01 -5.14268020e-01 -8.62599304e-02 5.34052232e+01] [ 5.11432020e-01 8.57627344e-01 -5.39687641e-02 1.82537938e+01] [ 1.01733284e-01 1.93440413e-03 9.94809830e-01 5.74602471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.886874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:18.27, Z:5.75 [[ 8.53227598e-01 -5.14358320e-01 -8.62449105e-02 5.34285038e+01] [ 5.11520355e-01 8.57573150e-01 -5.39927561e-02 1.82692380e+01] [ 1.01732943e-01 1.95208228e-03 9.94809830e-01 5.74757429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:18.28, Z:5.75 [[ 8.53420090e-01 -5.14041384e-01 -8.62299506e-02 5.34516453e+01] [ 5.11199394e-01 8.57763010e-01 -5.40166376e-02 1.82839318e+01] [ 1.01731649e-01 2.01818525e-03 9.94809830e-01 5.74918940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:18.30, Z:5.75 [[ 8.53281667e-01 -5.14272356e-01 -8.62226212e-02 5.34751956e+01] [ 5.11430360e-01 8.57624584e-01 -5.40283344e-02 1.82989993e+01] [ 1.01731918e-01 2.00452110e-03 9.94809830e-01 5.75099199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.50, Y:18.31, Z:5.75 [[ 8.53185250e-01 -5.14433066e-01 -8.62180407e-02 5.34990035e+01] [ 5.11591150e-01 8.57528218e-01 -5.40356430e-02 1.83140345e+01] [ 1.01732124e-01 1.99402702e-03 9.94809830e-01 5.75356279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.006874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:18.33, Z:5.76 [[ 8.53191122e-01 -5.14425798e-01 -8.62032895e-02 5.35224779e+01] [ 5.11581469e-01 8.57532511e-01 -5.40591654e-02 1.83296635e+01] [ 1.01731553e-01 2.02279450e-03 9.94809831e-01 5.75615374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.036874999999995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:53.54, Y:18.35, Z:5.76 [[ 8.53426403e-01 -5.14037841e-01 -8.61885821e-02 5.35449465e+01] [ 5.11189174e-01 8.57764945e-01 -5.40826038e-02 1.83462985e+01] [ 1.01730049e-01 2.09685198e-03 9.94809831e-01 5.75907378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.066874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:18.36, Z:5.76 [[ 8.53509335e-01 -5.13902648e-01 -8.61735650e-02 5.35678125e+01] [ 5.11050880e-01 8.57845839e-01 -5.41065211e-02 1.83619893e+01] [ 1.01729119e-01 2.14134465e-03 9.94809832e-01 5.76148119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.59, Y:18.38, Z:5.76 [[ 8.53415558e-01 -5.14060870e-01 -8.61586165e-02 5.35915361e+01] [ 5.11207504e-01 8.57751011e-01 -5.41303146e-02 1.83777244e+01] [ 1.01728917e-01 2.15072132e-03 9.94809832e-01 5.76450704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.61, Y:18.39, Z:5.77 [[ 8.53221209e-01 -5.14385859e-01 -8.61438133e-02 5.36149970e+01] [ 5.11531769e-01 8.57556184e-01 -5.41538625e-02 1.83932013e+01] [ 1.01729141e-01 2.13992683e-03 9.94809832e-01 5.76873713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.64, Y:18.41, Z:5.77 [[ 8.53021360e-01 -5.14717991e-01 -8.61391312e-02 5.36375115e+01] [ 5.11864837e-01 8.57356951e-01 -5.41613090e-02 1.84080059e+01] [ 1.01729783e-01 2.10916113e-03 9.94809832e-01 5.77164844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:18.42, Z:5.77 [[ 8.53039412e-01 -5.14689768e-01 -8.61289977e-02 5.36610152e+01] [ 5.11834845e-01 8.57373838e-01 -5.41774189e-02 1.84236585e+01] [ 1.01729312e-01 2.13165138e-03 9.94809833e-01 5.77482456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.216874999999995 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:53.68, Y:18.44, Z:5.78 [[ 8.53171624e-01 -5.14473059e-01 -8.61141781e-02 5.36831927e+01] [ 5.11614660e-01 8.57503758e-01 -5.42009643e-02 1.84384587e+01] [ 1.01728167e-01 2.18544879e-03 9.94809833e-01 5.77766379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.246874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:18.45, Z:5.78 [[ 8.52967208e-01 -5.14812974e-01 -8.61077443e-02 5.37060565e+01] [ 5.11955271e-01 8.57299801e-01 -5.42111836e-02 1.84542318e+01] [ 1.01728773e-01 2.15704841e-03 9.94809833e-01 5.78104168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:18.47, Z:5.78 [[ 8.53152323e-01 -5.14508665e-01 -8.60926643e-02 5.37287096e+01] [ 5.11647002e-01 8.57482301e-01 -5.42351216e-02 1.84706914e+01] [ 1.01727376e-01 2.22176643e-03 9.94809833e-01 5.78447129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.75, Y:18.49, Z:5.79 [[ 8.53222051e-01 -5.14395390e-01 -8.60785372e-02 5.37507074e+01] [ 5.11530892e-01 8.57550154e-01 -5.42575339e-02 1.84856448e+01] [ 1.01726488e-01 2.26189348e-03 9.94809834e-01 5.78623971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.77, Y:18.50, Z:5.79 [[ 8.52965818e-01 -5.14821263e-01 -8.60719524e-02 5.37736830e+01] [ 5.11957873e-01 8.57294654e-01 -5.42679778e-02 1.85011255e+01] [ 1.01727334e-01 2.22351640e-03 9.94809834e-01 5.78898272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.80, Y:18.52, Z:5.79 [[ 8.52478639e-01 -5.15630086e-01 -8.60568640e-02 5.37961336e+01] [ 5.12768390e-01 8.56808595e-01 -5.42918943e-02 1.85162860e+01] [ 1.01728795e-01 2.15544053e-03 9.94809834e-01 5.79097328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.396874999999994 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:53.82, Y:18.53, Z:5.79 [[ 8.52130677e-01 -5.16206022e-01 -8.60502864e-02 5.38194273e+01] [ 5.13346201e-01 8.56461871e-01 -5.43023175e-02 1.85314017e+01] [ 1.01729973e-01 2.09908302e-03 9.94809834e-01 5.79400590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.426874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:18.55, Z:5.80 [[ 8.52326602e-01 -5.15884966e-01 -8.60352532e-02 5.38419333e+01] [ 5.13021112e-01 8.56655130e-01 -5.43261253e-02 1.85460382e+01] [ 1.01728572e-01 2.16570053e-03 9.94809835e-01 5.79853519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.456875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:53.87, Y:18.56, Z:5.80 [[ 8.52321957e-01 -5.15893729e-01 -8.60287289e-02 5.38650248e+01] [ 5.13028876e-01 8.56649824e-01 -5.43364550e-02 1.85618861e+01] [ 1.01728332e-01 2.17693159e-03 9.94809835e-01 5.80170185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:18.58, Z:5.80 [[ 8.52410774e-01 -5.15749425e-01 -8.60139687e-02 5.38880501e+01] [ 5.12881485e-01 8.56736595e-01 -5.43598102e-02 1.85777647e+01] [ 1.01727356e-01 2.22191594e-03 9.94809835e-01 5.80469979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.91, Y:18.59, Z:5.81 [[ 8.52480538e-01 -5.15636558e-01 -8.59992557e-02 5.39113179e+01] [ 5.12765699e-01 8.56804423e-01 -5.43830769e-02 1.85939064e+01] [ 1.01726445e-01 2.26304628e-03 9.94809836e-01 5.80708426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:18.61, Z:5.81 [[ 8.52695460e-01 -5.15283601e-01 -8.59840915e-02 5.39345503e+01] [ 5.12408537e-01 8.57016549e-01 -5.44070423e-02 1.86097307e+01] [ 1.01724846e-01 2.33365536e-03 9.94809836e-01 5.80961060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.576874999999994 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:53.96, Y:18.63, Z:5.81 [[ 8.53026163e-01 -5.14738494e-01 -8.59688803e-02 5.39581443e+01] [ 5.11858250e-01 8.57343800e-01 -5.44310669e-02 1.86256394e+01] [ 1.01722652e-01 2.42724353e-03 9.94809836e-01 5.81189640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.606874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:18.64, Z:5.81 [[ 8.53668996e-01 -5.13674248e-01 -8.59535532e-02 5.39803277e+01] [ 5.10786187e-01 8.57981408e-01 -5.44552597e-02 1.86412228e+01] [ 1.01718815e-01 2.58287917e-03 9.94809837e-01 5.81340723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.636874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:18.66, Z:5.82 [[ 8.53860321e-01 -5.13357271e-01 -8.59468706e-02 5.40034091e+01] [ 5.10466549e-01 8.58170949e-01 -5.44658048e-02 1.86560813e+01] [ 1.01717525e-01 2.63318715e-03 9.94809837e-01 5.81726269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:18.67, Z:5.82 [[ 8.53869032e-01 -5.13345309e-01 -8.59317760e-02 5.40268895e+01] [ 5.10452133e-01 8.58178013e-01 -5.44896095e-02 1.86716341e+01] [ 1.01716746e-01 2.66293173e-03 9.94809837e-01 5.82062185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:18.69, Z:5.82 [[ 8.53970029e-01 -5.13179796e-01 -8.59167379e-02 5.40492722e+01] [ 5.10283403e-01 8.58276848e-01 -5.45133108e-02 1.86867778e+01] [ 1.01715477e-01 2.71084827e-03 9.94809838e-01 5.82310947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.07, Y:18.70, Z:5.83 [[ 8.54777531e-01 -5.11834746e-01 -8.59102192e-02 5.40719368e+01] [ 5.08930544e-01 8.59079088e-01 -5.45235820e-02 1.87033930e+01] [ 1.01710737e-01 2.88319819e-03 9.94809838e-01 5.82582882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.756874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:18.72, Z:5.83 [[ 8.55031040e-01 -5.11413729e-01 -8.58948080e-02 5.40939023e+01] [ 5.08504974e-01 8.59329520e-01 -5.45478496e-02 1.87186148e+01] [ 1.01708463e-01 2.96216753e-03 9.94809838e-01 5.82818898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.786874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.12, Y:18.73, Z:5.83 [[ 8.54890709e-01 -5.11650032e-01 -8.58843440e-02 5.41178887e+01] [ 5.08740812e-01 8.59188874e-01 -5.45643201e-02 1.87339626e+01] [ 1.01708709e-01 2.95365937e-03 9.94809838e-01 5.83109154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.816874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:18.75, Z:5.83 [[ 8.55003603e-01 -5.11463884e-01 -8.58692852e-02 5.41406297e+01] [ 5.08551352e-01 8.59299524e-01 -5.45880082e-02 1.87494446e+01] [ 1.01707231e-01 3.00400267e-03 9.94809839e-01 5.83394990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:18.76, Z:5.84 [[ 8.55040462e-01 -5.11404896e-01 -8.58536031e-02 5.41631976e+01] [ 5.08489595e-01 8.59334504e-01 -5.46126612e-02 1.87646853e+01] [ 1.01706146e-01 3.04037121e-03 9.94809839e-01 5.83593307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.19, Y:18.78, Z:5.84 [[ 8.54459602e-01 -5.12375953e-01 -8.58467866e-02 5.41859949e+01] [ 5.09464458e-01 8.58756225e-01 -5.46233742e-02 1.87809518e+01] [ 1.01709166e-01 2.93757994e-03 9.94809839e-01 5.83906512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.21, Y:18.80, Z:5.84 [[ 8.53598193e-01 -5.13812255e-01 -8.58317634e-02 5.42090427e+01] [ 5.10905620e-01 8.57898104e-01 -5.46469705e-02 1.87963211e+01] [ 1.01713190e-01 2.79462501e-03 9.94809840e-01 5.84210313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:18.81, Z:5.85 [[ 8.52487025e-01 -5.15656229e-01 -8.58168154e-02 5.42322690e+01] [ 5.12756535e-01 8.56791620e-01 -5.46704346e-02 1.88108249e+01] [ 1.01718278e-01 2.60270331e-03 9.94809840e-01 5.84668089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.966874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:18.83, Z:5.85 [[ 8.51558355e-01 -5.17190949e-01 -8.58014621e-02 5.42559262e+01] [ 5.14296588e-01 8.55866537e-01 -5.46945202e-02 1.88264520e+01] [ 1.01722111e-01 2.44817642e-03 9.94809840e-01 5.85055267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.996874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:18.84, Z:5.85 [[ 8.50873502e-01 -5.18319424e-01 -8.57861224e-02 5.42786285e+01] [ 5.15428354e-01 8.55183892e-01 -5.47185694e-02 1.88417907e+01] [ 1.01724607e-01 2.34198085e-03 9.94809841e-01 5.85283981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.30, Y:18.86, Z:5.85 [[ 8.50062254e-01 -5.19649926e-01 -8.57794756e-02 5.43001668e+01] [ 5.16764552e-01 8.54376460e-01 -5.47289872e-02 1.88580270e+01] [ 1.01727879e-01 2.19525396e-03 9.94809841e-01 5.85410962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:18.87, Z:5.86 [[ 8.49837053e-01 -5.20019225e-01 -8.57728943e-02 5.43235863e+01] [ 5.17134686e-01 8.54151816e-01 -5.47392997e-02 1.88739057e+01] [ 1.01728562e-01 2.16334630e-03 9.94809841e-01 5.85659002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:18.89, Z:5.86 [[ 8.49756096e-01 -5.20154016e-01 -8.57576601e-02 5.43456495e+01] [ 5.17267755e-01 8.54069708e-01 -5.47631561e-02 1.88887071e+01] [ 1.01728295e-01 2.17565337e-03 9.94809841e-01 5.85882265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:18.91, Z:5.86 [[ 8.49298565e-01 -5.20902437e-01 -8.57472922e-02 5.43679129e+01] [ 5.18018340e-01 8.53613624e-01 -5.47793852e-02 1.89055087e+01] [ 1.01729772e-01 2.10538327e-03 9.94809842e-01 5.85969084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.146874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.39, Y:18.92, Z:5.86 [[ 8.49216432e-01 -5.21038792e-01 -8.57323080e-02 5.43911070e+01] [ 5.18153023e-01 8.53530372e-01 -5.48028262e-02 1.89214673e+01] [ 1.01729527e-01 2.11700596e-03 9.94809842e-01 5.86221589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.176874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:18.94, Z:5.86 [[ 8.49277327e-01 -5.20942011e-01 -8.57172230e-02 5.44126189e+01] [ 5.18053371e-01 8.53589345e-01 -5.48264106e-02 1.89369650e+01] [ 1.01728689e-01 2.15673116e-03 9.94809842e-01 5.86470986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:18.95, Z:5.87 [[ 8.49304155e-01 -5.20899348e-01 -8.57106813e-02 5.44356453e+01] [ 5.18009460e-01 8.53615336e-01 -5.48366355e-02 1.89523302e+01] [ 1.01728320e-01 2.17403863e-03 9.94809842e-01 5.86840795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:18.97, Z:5.87 [[ 8.49359311e-01 -5.20811894e-01 -8.56955834e-02 5.44592626e+01] [ 5.17919184e-01 8.53668598e-01 -5.48602196e-02 1.89679940e+01] [ 1.01727483e-01 2.21265174e-03 9.94809843e-01 5.87255915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.48, Y:18.98, Z:5.88 [[ 8.50129276e-01 -5.19556452e-01 -8.56814309e-02 5.44817504e+01] [ 5.16655153e-01 8.54432785e-01 -5.48823143e-02 1.89838175e+01] [ 1.01723484e-01 2.38930937e-03 9.94809843e-01 5.87720885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:19.00, Z:5.88 [[ 8.50295340e-01 -5.19287179e-01 -8.56659844e-02 5.45045044e+01] [ 5.16382091e-01 8.54596292e-01 -5.49064143e-02 1.89997654e+01] [ 1.01722030e-01 2.45028811e-03 9.94809844e-01 5.87980960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.326874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:19.02, Z:5.88 [[ 8.50563839e-01 -5.18849802e-01 -8.56506835e-02 5.45273708e+01] [ 5.15940102e-01 8.54861671e-01 -5.49302725e-02 1.90155090e+01] [ 1.01720047e-01 2.53108108e-03 9.94809844e-01 5.88156555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.356874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:19.03, Z:5.88 [[ 8.51275558e-01 -5.17683804e-01 -8.56352944e-02 5.45510431e+01] [ 5.14765807e-01 8.55567761e-01 -5.49542533e-02 1.90310212e+01] [ 1.01715724e-01 2.69909115e-03 9.94809844e-01 5.88261235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.386874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:19.05, Z:5.89 [[ 8.51218247e-01 -5.17778822e-01 -8.56305311e-02 5.45741153e+01] [ 5.14860558e-01 8.55510269e-01 -5.49616747e-02 1.90459143e+01] [ 1.01715790e-01 2.69659729e-03 9.94809844e-01 5.88577900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:19.06, Z:5.89 [[ 8.51196755e-01 -5.17816687e-01 -8.56152019e-02 5.45979857e+01] [ 5.14896216e-01 8.55487274e-01 -5.49855429e-02 1.90617484e+01] [ 1.01715147e-01 2.72057219e-03 9.94809845e-01 5.88961668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.446875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.62, Y:19.08, Z:5.89 [[ 8.51429773e-01 -5.17435665e-01 -8.56018354e-02 5.46213869e+01] [ 5.14511184e-01 8.55717561e-01 -5.50063442e-02 1.90766944e+01] [ 1.01713238e-01 2.79093744e-03 9.94809845e-01 5.89367827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.64, Y:19.09, Z:5.90 [[ 8.52083856e-01 -5.16360449e-01 -8.55861577e-02 5.46439549e+01] [ 5.13428111e-01 8.56366273e-01 -5.50307269e-02 1.90910808e+01] [ 1.01708790e-01 2.94845469e-03 9.94809845e-01 5.89670809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.506874999999994 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.67, Y:19.11, Z:5.90 [[ 8.52401491e-01 -5.15837059e-01 -8.55793655e-02 5.46675101e+01] [ 5.12901033e-01 8.56681380e-01 -5.50412876e-02 1.91061888e+01] [ 1.01706585e-01 3.02353063e-03 9.94809846e-01 5.90054482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.536874999999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.69, Y:19.12, Z:5.90 [[ 8.52915307e-01 -5.14989541e-01 -8.55643097e-02 5.46909246e+01] [ 5.12046919e-01 8.57190664e-01 -5.50646827e-02 1.91210843e+01] [ 1.01702663e-01 3.15256960e-03 9.94809846e-01 5.90348427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.566874999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:54.71, Y:19.14, Z:5.90 [[ 8.53990826e-01 -5.13206625e-01 -8.55489925e-02 5.47147926e+01] [ 5.10252698e-01 8.58258379e-01 -5.50884695e-02 1.91359096e+01] [ 1.01694907e-01 3.39344333e-03 9.94809846e-01 5.90422545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:19.15, Z:5.91 [[ 8.54346211e-01 -5.12617349e-01 -8.55336521e-02 5.47381723e+01] [ 5.09658099e-01 8.58610074e-01 -5.51122777e-02 1.91502668e+01] [ 1.01691565e-01 3.49204715e-03 9.94809847e-01 5.90635691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:19.16, Z:5.91 [[ 8.55147346e-01 -5.11280892e-01 -8.55269900e-02 5.47634249e+01] [ 5.08313946e-01 8.59405858e-01 -5.51226144e-02 1.91645971e+01] [ 1.01685536e-01 3.66339561e-03 9.94809847e-01 5.90921348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:19.18, Z:5.91 [[ 8.55602374e-01 -5.10521361e-01 -8.55132611e-02 5.47869518e+01] [ 5.07548511e-01 8.59856766e-01 -5.51439043e-02 1.91787564e+01] [ 1.01681297e-01 3.77912710e-03 9.94809847e-01 5.91105304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:19.19, Z:5.91 [[ 8.55841518e-01 -5.10122151e-01 -8.55025537e-02 5.48112170e+01] [ 5.07145662e-01 8.60093365e-01 -5.51605015e-02 1.91934939e+01] [ 1.01678773e-01 3.84639813e-03 9.94809847e-01 5.91464180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.716874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:19.21, Z:5.92 [[ 8.56278027e-01 -5.09391660e-01 -8.54872905e-02 5.48361104e+01] [ 5.06409189e-01 8.60525679e-01 -5.51841462e-02 1.92069516e+01] [ 1.01674353e-01 3.96142243e-03 9.94809848e-01 5.91916009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.746874999999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.86, Y:19.22, Z:5.92 [[ 8.56490131e-01 -5.09037536e-01 -8.54718864e-02 5.48606887e+01] [ 5.06050933e-01 8.60734878e-01 -5.52079946e-02 1.92208013e+01] [ 1.01671575e-01 4.03197460e-03 9.94809848e-01 5.92122631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:19.23, Z:5.92 [[ 8.56444128e-01 -5.09117538e-01 -8.54563483e-02 5.48834719e+01] [ 5.06128939e-01 8.60687469e-01 -5.52320356e-02 1.92346194e+01] [ 1.01670806e-01 4.05122171e-03 9.94809849e-01 5.92309632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:19.25, Z:5.93 [[ 8.56371527e-01 -5.09240784e-01 -8.54495822e-02 5.49074704e+01] [ 5.06251753e-01 8.60614565e-01 -5.52425015e-02 1.92485381e+01] [ 1.01670890e-01 4.04910460e-03 9.94809849e-01 5.92738491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.836875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.93, Y:19.26, Z:5.93 [[ 8.56329097e-01 -5.09314744e-01 -8.54340060e-02 5.49302415e+01] [ 5.06323682e-01 8.60570703e-01 -5.52665802e-02 1.92620265e+01] [ 1.01670087e-01 4.06912025e-03 9.94809849e-01 5.92990065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.96, Y:19.28, Z:5.93 [[ 8.56405834e-01 -5.09186833e-01 -8.54272543e-02 5.49550964e+01] [ 5.06194100e-01 8.60646260e-01 -5.52770146e-02 1.92751833e+01] [ 1.01668975e-01 4.09678571e-03 9.94809849e-01 5.93393101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.896874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:19.29, Z:5.94 [[ 8.56236627e-01 -5.09473908e-01 -8.54118000e-02 5.49805849e+01] [ 5.06480220e-01 8.60476379e-01 -5.53008836e-02 1.92889702e+01] [ 1.01669194e-01 4.09125472e-03 9.94809850e-01 5.93673399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.926874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:19.30, Z:5.94 [[ 8.56056356e-01 -5.09779036e-01 -8.53981771e-02 5.50042184e+01] [ 5.06784767e-01 8.60295697e-01 -5.53219128e-02 1.93029113e+01] [ 1.01669636e-01 4.08017979e-03 9.94809850e-01 5.93886880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.956875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:55.03, Y:19.32, Z:5.94 [[ 8.55775813e-01 -5.10250977e-01 -8.53914448e-02 5.50281692e+01] [ 5.07258011e-01 8.60016074e-01 -5.53323024e-02 1.93169534e+01] [ 1.01671376e-01 4.03655167e-03 9.94809850e-01 5.94192525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:19.33, Z:5.95 [[ 8.54596583e-01 -5.12226143e-01 -8.53759881e-02 5.50529117e+01] [ 5.09240601e-01 8.58842074e-01 -5.53561414e-02 1.93292230e+01] [ 1.01679353e-01 3.83024974e-03 9.94809850e-01 5.94580231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:19.34, Z:5.95 [[ 8.53559522e-01 -5.13954978e-01 -8.53605453e-02 5.50776261e+01] [ 5.10975660e-01 8.57809383e-01 -5.53799445e-02 1.93431999e+01] [ 1.01685875e-01 3.65291798e-03 9.94809851e-01 5.94899037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.10, Y:19.35, Z:5.95 [[ 8.51759736e-01 -5.16934804e-01 -8.53449512e-02 5.51030906e+01] [ 5.13967953e-01 8.56018308e-01 -5.54039659e-02 1.93549080e+01] [ 1.01697079e-01 3.32629754e-03 9.94809851e-01 5.95147853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.076874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.13, Y:19.37, Z:5.95 [[ 8.50752885e-01 -5.18590971e-01 -8.53400997e-02 5.51276061e+01] [ 5.15631663e-01 8.55016702e-01 -5.54114378e-02 1.93689002e+01] [ 1.01703082e-01 3.13738313e-03 9.94809851e-01 5.95457697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.106874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.15, Y:19.38, Z:5.96 [[ 8.49940126e-01 -5.19924461e-01 -8.53248870e-02 5.51520250e+01] [ 5.16969494e-01 8.54206953e-01 -5.54348531e-02 1.93826531e+01] [ 1.01707048e-01 3.00594232e-03 9.94809852e-01 5.95910702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.136874999999996 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:55.18, Y:19.39, Z:5.96 [[ 8.48469217e-01 -5.22324004e-01 -8.53089875e-02 5.51767359e+01] [ 5.19378648e-01 8.52742684e-01 -5.54593102e-02 1.93947246e+01] [ 1.01714344e-01 2.74785090e-03 9.94809852e-01 5.96227589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:19.41, Z:5.97 [[ 8.47851996e-01 -5.23326363e-01 -8.53024648e-02 5.52017168e+01] [ 5.20385052e-01 8.52128248e-01 -5.54693411e-02 1.94084892e+01] [ 1.01717208e-01 2.63966401e-03 9.94809852e-01 5.96545958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.23, Y:19.42, Z:5.97 [[ 8.46984771e-01 -5.24731244e-01 -8.52872759e-02 5.52270412e+01] [ 5.21794677e-01 8.51264281e-01 -5.54926851e-02 1.94208197e+01] [ 1.01720757e-01 2.49901264e-03 9.94809852e-01 5.96849108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.25, Y:19.43, Z:5.97 [[ 8.46507858e-01 -5.25502746e-01 -8.52719848e-02 5.52514333e+01] [ 5.22567715e-01 8.50788421e-01 -5.55161721e-02 1.94349050e+01] [ 1.01722318e-01 2.43448966e-03 9.94809853e-01 5.97138912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.256874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.28, Y:19.45, Z:5.97 [[ 8.46417493e-01 -5.25650778e-01 -8.52565992e-02 5.52756281e+01] [ 5.22714119e-01 8.50696939e-01 -5.55397898e-02 1.94484244e+01] [ 1.01722062e-01 2.44502144e-03 9.94809853e-01 5.97437252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.286874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.30, Y:19.46, Z:5.97 [[ 8.44908631e-01 -5.28075143e-01 -8.52411220e-02 5.52993355e+01] [ 5.25148371e-01 8.49194844e-01 -5.55635339e-02 1.94610597e+01] [ 1.01728042e-01 2.18187298e-03 9.94809854e-01 5.97487384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.316874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:19.47, Z:5.98 [[ 8.41522022e-01 -5.33457056e-01 -8.52306026e-02 5.53241312e+01] [ 5.30556066e-01 8.45825727e-01 -5.55796652e-02 1.94738640e+01] [ 1.01739601e-01 1.55189901e-03 9.94809854e-01 5.97847702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.35, Y:19.49, Z:5.98 [[ 8.40312630e-01 -5.35362504e-01 -8.52154498e-02 5.53484432e+01] [ 5.32468919e-01 8.44621317e-01 -5.56028880e-02 1.94873165e+01] [ 1.01742487e-01 1.34923055e-03 9.94809854e-01 5.98351994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.376875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:55.37, Y:19.50, Z:5.99 [[ 8.39501841e-01 -5.36635442e-01 -8.52001247e-02 5.53720634e+01] [ 5.33746008e-01 8.43813313e-01 -5.56263608e-02 1.95011989e+01] [ 1.01744076e-01 1.22320581e-03 9.94809855e-01 5.98600769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:19.52, Z:5.99 [[ 8.38877728e-01 -5.37611596e-01 -8.51934816e-02 5.53961254e+01] [ 5.34726147e-01 8.43191867e-01 -5.56365331e-02 1.95155130e+01] [ 1.01745296e-01 1.11706632e-03 9.94809855e-01 5.98718990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.42, Y:19.53, Z:5.99 [[ 8.39211388e-01 -5.37092985e-01 -8.51784689e-02 5.54203560e+01] [ 5.34202538e-01 8.43522180e-01 -5.56595078e-02 1.95308240e+01] [ 1.01744259e-01 1.20753859e-03 9.94809855e-01 5.98841626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.466874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:19.55, Z:5.99 [[ 8.39879754e-01 -5.36049314e-01 -8.51653176e-02 5.54452845e+01] [ 5.33151471e-01 8.44185577e-01 -5.56796236e-02 1.95455268e+01] [ 1.01742357e-01 1.35817424e-03 9.94809855e-01 5.99032199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.496874999999996 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:55.47, Y:19.56, Z:5.99 [[ 8.39860730e-01 -5.36081260e-01 -8.51518447e-02 5.54689054e+01] [ 5.33181494e-01 8.44165257e-01 -5.57002203e-02 1.95597210e+01] [ 1.01742073e-01 1.37903997e-03 9.94809856e-01 5.99327930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.526875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:55.49, Y:19.57, Z:6.00 [[ 8.39788490e-01 -5.36195187e-01 -8.51470128e-02 5.54912505e+01] [ 5.33295255e-01 8.44092906e-01 -5.57076057e-02 1.95742913e+01] [ 1.01742139e-01 1.37410814e-03 9.94809856e-01 5.99601185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:19.59, Z:6.00 [[ 8.39966201e-01 -5.35918078e-01 -8.51386822e-02 5.55154130e+01] [ 5.33015436e-01 8.44268790e-01 -5.57203346e-02 1.95898442e+01] [ 1.01741467e-01 1.42296598e-03 9.94809856e-01 6.00208762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:19.61, Z:6.01 [[ 8.40007326e-01 -5.35855727e-01 -8.51253944e-02 5.55393932e+01] [ 5.32950710e-01 8.44308310e-01 -5.57406274e-02 1.96058727e+01] [ 1.01741012e-01 1.45489597e-03 9.94809856e-01 6.00568508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:19.62, Z:6.01 [[ 8.40105038e-01 -5.35704633e-01 -8.51121132e-02 5.55622608e+01] [ 5.32796789e-01 8.44404112e-01 -5.57608995e-02 1.96222216e+01] [ 1.01740391e-01 1.49755195e-03 9.94809856e-01 6.01010966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.646874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:19.64, Z:6.01 [[ 8.40128333e-01 -5.35668856e-01 -8.51073509e-02 5.55860934e+01] [ 5.32760093e-01 8.44426785e-01 -5.57681672e-02 1.96381776e+01] [ 1.01740197e-01 1.51061720e-03 9.94809856e-01 6.01334382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.676874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.61, Y:19.65, Z:6.02 [[ 8.39982888e-01 -5.35899013e-01 -8.50940390e-02 5.56098574e+01] [ 5.32989372e-01 8.44280745e-01 -5.57884720e-02 1.96538852e+01] [ 1.01740246e-01 1.50714342e-03 9.94809857e-01 6.01624388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:19.67, Z:6.02 [[ 8.40497440e-01 -5.35094057e-01 -8.50788060e-02 5.56337659e+01] [ 5.32177949e-01 8.44790912e-01 -5.58116930e-02 1.96698519e+01] [ 1.01738307e-01 1.63252067e-03 9.94809857e-01 6.02129290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.66, Y:19.69, Z:6.02 [[ 8.41042739e-01 -5.34238724e-01 -8.50652507e-02 5.56564786e+01] [ 5.31316162e-01 8.45331820e-01 -5.58323457e-02 1.96854919e+01] [ 1.01736164e-01 1.76084646e-03 9.94809857e-01 6.02481401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:19.70, Z:6.03 [[ 8.42598332e-01 -5.31782732e-01 -8.50598375e-02 5.56790865e+01] [ 5.28846837e-01 8.46878298e-01 -5.58405914e-02 1.97023973e+01] [ 1.01730393e-01 2.06756313e-03 9.94809857e-01 6.02830130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.70, Y:19.72, Z:6.03 [[ 8.43212860e-01 -5.30810242e-01 -8.50444634e-02 5.57023205e+01] [ 5.27867052e-01 8.47487811e-01 -5.58639963e-02 1.97188244e+01] [ 1.01727327e-01 2.21306994e-03 9.94809858e-01 6.02989818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.826874999999994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:55.73, Y:19.74, Z:6.03 [[ 8.43910446e-01 -5.29702962e-01 -8.50290019e-02 5.57261081e+01] [ 5.26751795e-01 8.48179893e-01 -5.58875200e-02 1.97355260e+01] [ 1.01723675e-01 2.37488254e-03 9.94809858e-01 6.03028700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.856874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:19.75, Z:6.03 [[ 8.45116111e-01 -5.27779438e-01 -8.50154341e-02 5.57499593e+01] [ 5.24816480e-01 8.49377384e-01 -5.59081515e-02 1.97522883e+01] [ 1.01717360e-01 2.63137870e-03 9.94809858e-01 6.03056425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.886874999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:55.77, Y:19.77, Z:6.03 [[ 8.45516999e-01 -5.27139157e-01 -8.50018405e-02 5.57729669e+01] [ 5.24170898e-01 8.49774581e-01 -5.59288115e-02 1.97687918e+01] [ 1.01714670e-01 2.73326983e-03 9.94809859e-01 6.03299616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:19.79, Z:6.04 [[ 8.46235056e-01 -5.25988193e-01 -8.49861833e-02 5.57957265e+01] [ 5.23011757e-01 8.50486925e-01 -5.59525931e-02 1.97856060e+01] [ 1.01710041e-01 2.90027269e-03 9.94809859e-01 6.03683597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:19.80, Z:6.04 [[ 8.46397896e-01 -5.25728311e-01 -8.49726058e-02 5.58190083e+01] [ 5.22748503e-01 8.50647402e-01 -5.59732051e-02 1.98012853e+01] [ 1.01708425e-01 2.95630054e-03 9.94809860e-01 6.04085128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.976875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:55.84, Y:19.82, Z:6.05 [[ 8.46240018e-01 -5.25984925e-01 -8.49569910e-02 5.58427260e+01] [ 5.23004029e-01 8.50488761e-01 -5.59968957e-02 1.98175821e+01] [ 1.01708489e-01 2.95396543e-03 9.94809860e-01 6.04572991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.87, Y:19.83, Z:6.05 [[ 8.46287038e-01 -5.25911495e-01 -8.49432060e-02 5.58650682e+01] [ 5.22928136e-01 8.50534051e-01 -5.60177987e-02 1.98334187e+01] [ 1.01707493e-01 2.98794465e-03 9.94809860e-01 6.05110282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.89, Y:19.85, Z:6.05 [[ 8.46053250e-01 -5.26288302e-01 -8.49383371e-02 5.58879579e+01] [ 5.23306093e-01 8.50301071e-01 -5.60251803e-02 1.98497150e+01] [ 1.01708556e-01 2.95153647e-03 9.94809860e-01 6.05449581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.91, Y:19.87, Z:6.06 [[ 8.45777357e-01 -5.26734111e-01 -8.49225481e-02 5.59098137e+01] [ 5.23751743e-01 8.50025064e-01 -5.60491031e-02 1.98660279e+01] [ 1.01709269e-01 2.92672973e-03 9.94809861e-01 6.05555113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:19.88, Z:6.06 [[ 8.45090954e-01 -5.27835776e-01 -8.49156854e-02 5.59326165e+01] [ 5.24857901e-01 8.49341814e-01 -5.60594983e-02 1.98822550e+01] [ 1.01712651e-01 2.80670650e-03 9.94809861e-01 6.05823895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.96, Y:19.90, Z:6.06 [[ 8.44623700e-01 -5.28585632e-01 -8.49001494e-02 5.59555880e+01] [ 5.25609170e-01 8.48875548e-01 -5.60830172e-02 1.98977849e+01] [ 1.01714338e-01 2.74474844e-03 9.94809861e-01 6.06215607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.98, Y:19.91, Z:6.07 [[ 8.43118294e-01 -5.30986036e-01 -8.48844623e-02 5.59778964e+01] [ 5.28019293e-01 8.47376929e-01 -5.61067504e-02 1.99133212e+01] [ 1.01721036e-01 2.48399394e-03 9.94809862e-01 6.06610193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:19.93, Z:6.07 [[ 8.42024383e-01 -5.32720111e-01 -8.48776855e-02 5.60009984e+01] [ 5.29761105e-01 8.46288399e-01 -5.61170005e-02 1.99294945e+01] [ 1.01725655e-01 2.28698627e-03 9.94809862e-01 6.06876256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.02, Y:19.94, Z:6.07 [[ 8.41069974e-01 -5.34228145e-01 -8.48621744e-02 5.60229092e+01] [ 5.31274421e-01 8.45337648e-01 -5.61404472e-02 1.99445394e+01] [ 1.01728998e-01 2.13294191e-03 9.94809862e-01 6.07055700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.05, Y:19.96, Z:6.07 [[ 8.39066899e-01 -5.37369793e-01 -8.48554349e-02 5.60459045e+01] [ 5.34431020e-01 8.43344883e-01 -5.61506320e-02 1.99610900e+01] [ 1.01736050e-01 1.76476002e-03 9.94809862e-01 6.07350577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:19.98, Z:6.08 [[ 8.38142621e-01 -5.38812696e-01 -8.48399993e-02 5.60690217e+01] [ 5.35878929e-01 8.42424039e-01 -5.61739445e-02 1.99771350e+01] [ 1.01738489e-01 1.61780915e-03 9.94809862e-01 6.07612891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:19.99, Z:6.08 [[ 8.36760202e-01 -5.40959489e-01 -8.48244929e-02 5.60911083e+01] [ 5.38034335e-01 8.41047509e-01 -5.61973501e-02 1.99925326e+01] [ 1.01741918e-01 1.38521642e-03 9.94809863e-01 6.07833829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.11, Y:20.01, Z:6.08 [[ 8.36668302e-01 -5.41103260e-01 -8.48140033e-02 5.61145779e+01] [ 5.38177238e-01 8.40955016e-01 -5.62131768e-02 2.00083207e+01] [ 1.01741895e-01 1.38681717e-03 9.94809863e-01 6.08079996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.14, Y:20.02, Z:6.08 [[ 8.36858347e-01 -5.40811682e-01 -8.47987729e-02 5.61368272e+01] [ 5.37881840e-01 8.41142451e-01 -5.62361428e-02 2.00235744e+01] [ 1.01741011e-01 1.44996554e-03 9.94809863e-01 6.08302329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.396875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:56.16, Y:20.04, Z:6.09 [[ 8.36991564e-01 -5.40606734e-01 -8.47908047e-02 5.61599037e+01] [ 5.37674627e-01 8.41274117e-01 -5.62481545e-02 2.00398130e+01] [ 1.01740440e-01 1.48936647e-03 9.94809864e-01 6.08657477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.18, Y:20.06, Z:6.09 [[ 8.37644620e-01 -5.39596723e-01 -8.47753899e-02 5.61827857e+01] [ 5.36657102e-01 8.41922019e-01 -5.62713776e-02 2.00561217e+01] [ 1.01738118e-01 1.64010155e-03 9.94809864e-01 6.08897676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.21, Y:20.07, Z:6.09 [[ 8.38029784e-01 -5.39000765e-01 -8.47599942e-02 5.62059785e+01] [ 5.36055758e-01 8.42303477e-01 -5.62945582e-02 2.00711515e+01] [ 1.01736448e-01 1.74043348e-03 9.94809864e-01 6.09169188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.23, Y:20.09, Z:6.09 [[ 8.37329859e-01 -5.40089873e-01 -8.47445430e-02 5.62301249e+01] [ 5.37148073e-01 8.41605758e-01 -5.63178087e-02 2.00860799e+01] [ 1.01738173e-01 1.63621483e-03 9.94809865e-01 6.09489491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:20.10, Z:6.10 [[ 8.35542906e-01 -5.42852382e-01 -8.47310047e-02 5.62538529e+01] [ 5.39922656e-01 8.39827087e-01 -5.63381699e-02 2.01006964e+01] [ 1.01742703e-01 1.32476911e-03 9.94809865e-01 6.09925621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:20.11, Z:6.10 [[ 8.34156310e-01 -5.44983047e-01 -8.47155743e-02 5.62764852e+01] [ 5.42061909e-01 8.38446351e-01 -5.63613630e-02 2.01148104e+01] [ 1.01745452e-01 1.09310065e-03 9.94809865e-01 6.10219154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.30, Y:20.13, Z:6.11 [[ 8.32675566e-01 -5.47243829e-01 -8.47088749e-02 5.63005997e+01] [ 5.44333315e-01 8.36972822e-01 -5.63714302e-02 2.01296346e+01] [ 1.01747943e-01 8.29249946e-04 9.94809865e-01 6.10550468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:20.15, Z:6.11 [[ 8.32572342e-01 -5.47403180e-01 -8.46938840e-02 5.63238635e+01] [ 5.44491198e-01 8.36868603e-01 -5.63939440e-02 2.01451101e+01] [ 1.01747877e-01 8.36963708e-04 9.94809866e-01 6.10808832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.35, Y:20.16, Z:6.11 [[ 8.32926860e-01 -5.46865977e-01 -8.46785057e-02 5.63476553e+01] [ 5.43948878e-01 8.37219647e-01 -5.64170259e-02 2.01608272e+01] [ 1.01747061e-01 9.30478107e-04 9.94809866e-01 6.10964249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:20.18, Z:6.11 [[ 8.34694168e-01 -5.44167098e-01 -8.46629488e-02 5.63714120e+01] [ 5.41233753e-01 8.38975870e-01 -5.64403620e-02 2.01759346e+01] [ 1.01743159e-01 1.28799540e-03 9.94809867e-01 6.11121427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:20.19, Z:6.11 [[ 8.35685056e-01 -5.42644897e-01 -8.46581491e-02 5.63944460e+01] [ 5.39703024e-01 8.39960903e-01 -5.64475604e-02 2.01921133e+01] [ 1.01740516e-01 1.48212364e-03 9.94809867e-01 6.11330360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:20.21, Z:6.12 [[ 8.37122013e-01 -5.40427911e-01 -8.46428284e-02 5.64173824e+01] [ 5.37472394e-01 8.41388439e-01 -5.64705246e-02 2.02079502e+01] [ 1.01735745e-01 1.77953564e-03 9.94809867e-01 6.11599053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.44, Y:20.22, Z:6.12 [[ 8.38812651e-01 -5.37802515e-01 -8.46273691e-02 5.64399987e+01] [ 5.34831310e-01 8.43068167e-01 -5.64936825e-02 2.02245269e+01] [ 1.01729085e-01 2.12624887e-03 9.94809867e-01 6.12023144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.786875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:56.46, Y:20.24, Z:6.12 [[ 8.39438875e-01 -5.36827014e-01 -8.46116546e-02 5.64632768e+01] [ 5.33848494e-01 8.43689274e-01 -5.65172087e-02 2.02408400e+01] [ 1.01725910e-01 2.27293774e-03 9.94809868e-01 6.12364813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.48, Y:20.26, Z:6.13 [[ 8.41036357e-01 -5.34323149e-01 -8.45968066e-02 5.64846125e+01] [ 5.31329743e-01 8.45276285e-01 -5.65394250e-02 2.02567524e+01] [ 1.01717998e-01 2.60291253e-03 9.94809868e-01 6.12610255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.51, Y:20.27, Z:6.13 [[ 8.41634137e-01 -5.33382161e-01 -8.45898896e-02 5.65074105e+01] [ 5.30382976e-01 8.45869979e-01 -5.65497718e-02 2.02725621e+01] [ 1.01714688e-01 2.72918100e-03 9.94809868e-01 6.12930995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.53, Y:20.29, Z:6.13 [[ 8.42212565e-01 -5.32470880e-01 -8.45739780e-02 5.65295619e+01] [ 5.29464726e-01 8.46443463e-01 -5.65735588e-02 2.02874987e+01] [ 1.01710863e-01 2.86802396e-03 9.94809869e-01 6.13180181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:20.30, Z:6.13 [[ 8.42117964e-01 -5.32621577e-01 -8.45670786e-02 5.65522313e+01] [ 5.29615146e-01 8.46348665e-01 -5.65838702e-02 2.03033854e+01] [ 1.01711024e-01 2.86228792e-03 9.94809869e-01 6.13467866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:20.32, Z:6.14 [[ 8.42592810e-01 -5.31872588e-01 -8.45512055e-02 5.65754484e+01] [ 5.28860020e-01 8.46819143e-01 -5.66075790e-02 2.03189664e+01] [ 1.01707599e-01 2.98138684e-03 9.94809869e-01 6.13787983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.60, Y:20.33, Z:6.14 [[ 8.42660201e-01 -5.31768384e-01 -8.45350279e-02 5.65975933e+01] [ 5.28752873e-01 8.46884435e-01 -5.66317276e-02 2.03334420e+01] [ 1.01706362e-01 3.02316413e-03 9.94809870e-01 6.14072571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.62, Y:20.35, Z:6.14 [[ 8.42695114e-01 -5.31715054e-01 -8.45224596e-02 5.66205973e+01] [ 5.28697398e-01 8.46917814e-01 -5.66504796e-02 2.03488078e+01] [ 1.01705490e-01 3.05227791e-03 9.94809870e-01 6.14374462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.64, Y:20.37, Z:6.15 [[ 8.43221705e-01 -5.30882103e-01 -8.45065079e-02 5.66433465e+01] [ 5.27857895e-01 8.47439715e-01 -5.66742651e-02 2.03650960e+01] [ 1.01701524e-01 3.18154305e-03 9.94809870e-01 6.14538745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.67, Y:20.38, Z:6.15 [[ 8.43573456e-01 -5.30325537e-01 -8.44905242e-02 5.66653908e+01] [ 5.27296164e-01 8.47787758e-01 -5.66980837e-02 2.03802923e+01] [ 1.01698474e-01 3.27746915e-03 9.94809871e-01 6.14669298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.69, Y:20.40, Z:6.15 [[ 8.43475145e-01 -5.30482967e-01 -8.44837367e-02 5.66886330e+01] [ 5.27453369e-01 8.47689285e-01 -5.67081957e-02 2.03959269e+01] [ 1.01698690e-01 3.27072211e-03 9.94809871e-01 6.14930985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:20.41, Z:6.15 [[ 8.43547847e-01 -5.30369880e-01 -8.44678615e-02 5.67124527e+01] [ 5.27337354e-01 8.47759880e-01 -5.67318323e-02 2.04113434e+01] [ 1.01697319e-01 3.31295648e-03 9.94809871e-01 6.15246857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:20.43, Z:6.15 [[ 8.41345741e-01 -5.33858772e-01 -8.44520940e-02 5.67367181e+01] [ 5.30841363e-01 8.45568616e-01 -5.67552946e-02 2.04281398e+01] [ 1.01709352e-01 2.92016067e-03 9.94809871e-01 6.15265342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.76, Y:20.45, Z:6.15 [[ 8.38537349e-01 -5.38261336e-01 -8.44384238e-02 5.67587338e+01] [ 5.35264057e-01 8.42774536e-01 -5.67756254e-02 2.04460774e+01] [ 1.01722677e-01 2.41162911e-03 9.94809872e-01 6.15228525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.78, Y:20.46, Z:6.16 [[ 8.37842815e-01 -5.39370211e-01 -8.42567125e-02 5.67834653e+01] [ 5.36351370e-01 8.42064721e-01 -5.70457160e-02 2.04594035e+01] [ 1.01718365e-01 2.60414008e-03 9.94809827e-01 6.16075044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.81, Y:20.47, Z:6.17 [[ 8.35213959e-01 -5.43406343e-01 -8.44226832e-02 5.68079161e+01] [ 5.40432804e-01 8.39467840e-01 -5.67990351e-02 2.04745718e+01] [ 1.01735083e-01 1.81455958e-03 9.94809871e-01 6.16660330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.83, Y:20.49, Z:6.17 [[ 8.33918454e-01 -5.45394497e-01 -8.44088518e-02 5.68307282e+01] [ 5.42429021e-01 8.38177960e-01 -5.68195826e-02 2.04904374e+01] [ 1.01738727e-01 1.59708764e-03 9.94809872e-01 6.17007802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.85, Y:20.51, Z:6.17 [[ 8.32906342e-01 -5.46941343e-01 -8.43930807e-02 5.68535505e+01] [ 5.43981406e-01 8.37169698e-01 -5.68429975e-02 2.05064558e+01] [ 1.01741115e-01 1.43662643e-03 9.94809872e-01 6.17328519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:20.52, Z:6.18 [[ 8.32308409e-01 -5.47853245e-01 -8.43773353e-02 5.68759427e+01] [ 5.44895611e-01 8.36573362e-01 -5.68663603e-02 2.05220289e+01] [ 1.01742251e-01 1.35351023e-03 9.94809872e-01 6.17646467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:20.54, Z:6.18 [[ 8.32391060e-01 -5.47728708e-01 -8.43705238e-02 5.68986931e+01] [ 5.44769413e-01 8.36654860e-01 -5.68764646e-02 2.05376456e+01] [ 1.01741881e-01 1.38097999e-03 9.94809873e-01 6.17880071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.386875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.92, Y:20.55, Z:6.18 [[ 8.32489520e-01 -5.47581417e-01 -8.43551461e-02 5.69216183e+01] [ 5.44619057e-01 8.36751191e-01 -5.68992626e-02 2.05538600e+01] [ 1.01741248e-01 1.42661961e-03 9.94809873e-01 6.18082344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.94, Y:20.57, Z:6.18 [[ 8.33541016e-01 -5.45981841e-01 -8.43398126e-02 5.69445646e+01] [ 5.43009005e-01 8.37795386e-01 -5.69219820e-02 2.05704771e+01] [ 1.01737874e-01 1.64952900e-03 9.94809873e-01 6.18161308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.97, Y:20.59, Z:6.18 [[ 8.33986185e-01 -5.45302844e-01 -8.43317969e-02 5.69674704e+01] [ 5.42325344e-01 8.38237292e-01 -5.69338551e-02 2.05863288e+01] [ 1.01736250e-01 1.74677783e-03 9.94809873e-01 6.18415894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.99, Y:20.60, Z:6.19 [[ 8.34444478e-01 -5.44603671e-01 -8.43163948e-02 5.69904655e+01] [ 5.41620306e-01 8.38691471e-01 -5.69566557e-02 2.06021829e+01] [ 1.01734245e-01 1.85969531e-03 9.94809874e-01 6.18696523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.01, Y:20.62, Z:6.19 [[ 8.34789973e-01 -5.44076377e-01 -8.43006311e-02 5.70124515e+01] [ 5.41087976e-01 8.39033423e-01 -5.69799779e-02 2.06178081e+01] [ 1.01732507e-01 1.95225633e-03 9.94809874e-01 6.18985008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.04, Y:20.63, Z:6.19 [[ 8.35889177e-01 -5.42387171e-01 -8.42937730e-02 5.70360571e+01] [ 5.39389172e-01 8.40125852e-01 -5.69901217e-02 2.06348730e+01] [ 1.01728089e-01 2.17027744e-03 9.94809874e-01 6.19398771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:20.65, Z:6.20 [[ 8.35996623e-01 -5.42223688e-01 -8.42800013e-02 5.70582116e+01] [ 5.39222810e-01 8.40231258e-01 -5.70104808e-02 2.06499504e+01] [ 1.01727125e-01 2.21487030e-03 9.94809875e-01 6.19765666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:20.67, Z:6.20 [[ 8.35852132e-01 -5.42447441e-01 -8.42732855e-02 5.70817347e+01] [ 5.39446697e-01 8.40086861e-01 -5.70204064e-02 2.06660025e+01] [ 1.01727453e-01 2.19968278e-03 9.94809875e-01 6.20056299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.10, Y:20.68, Z:6.20 [[ 8.35716365e-01 -5.42658959e-01 -8.42580063e-02 5.71048586e+01] [ 5.39657012e-01 8.39950242e-01 -5.70429753e-02 2.06813674e+01] [ 1.01727414e-01 2.20132409e-03 9.94809875e-01 6.20499271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:20.70, Z:6.21 [[ 8.35117523e-01 -5.43582561e-01 -8.42420414e-02 5.71277562e+01] [ 5.40582921e-01 8.39353034e-01 -5.70665430e-02 2.06963588e+01] [ 1.01729191e-01 2.11746127e-03 9.94809875e-01 6.20761615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:20.71, Z:6.21 [[ 8.34632220e-01 -5.44328492e-01 -8.42350883e-02 5.71514492e+01] [ 5.41331602e-01 8.38869677e-01 -5.70768045e-02 2.07116690e+01] [ 1.01730792e-01 2.03902476e-03 9.94809875e-01 6.21094275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:20.73, Z:6.21 [[ 8.34171566e-01 -5.45036664e-01 -8.42189598e-02 5.71743367e+01] [ 5.42040971e-01 8.38409869e-01 -5.71005928e-02 2.07263429e+01] [ 1.01731924e-01 1.98156417e-03 9.94809876e-01 6.21320539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:20.74, Z:6.21 [[ 8.33145401e-01 -5.46605053e-01 -8.42119777e-02 5.71986851e+01] [ 5.43616298e-01 8.37388600e-01 -5.71108881e-02 2.07412433e+01] [ 1.01735250e-01 1.80267022e-03 9.94809876e-01 6.21472012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:20.76, Z:6.22 [[ 8.32363723e-01 -5.47797064e-01 -8.41962578e-02 5.72220742e+01] [ 5.44812044e-01 8.36609549e-01 -5.71340541e-02 2.07565215e+01] [ 1.01737260e-01 1.68517869e-03 9.94809876e-01 6.21685385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:20.77, Z:6.22 [[ 8.31373198e-01 -5.49301583e-01 -8.41806208e-02 5.72455906e+01] [ 5.46321915e-01 8.35622781e-01 -5.71570843e-02 2.07715456e+01] [ 1.01739721e-01 1.52914999e-03 9.94809877e-01 6.21943561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.27, Y:20.79, Z:6.22 [[ 8.29563966e-01 -5.52032491e-01 -8.41650473e-02 5.72704687e+01] [ 5.49064489e-01 8.33821704e-01 -5.71800074e-02 2.07850214e+01] [ 1.01743865e-01 1.22243508e-03 9.94809877e-01 6.22343303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:20.80, Z:6.23 [[ 8.28831028e-01 -5.53134713e-01 -8.41493661e-02 5.72944183e+01] [ 5.50170031e-01 8.33091079e-01 -5.72030755e-02 2.07997775e+01] [ 1.01745093e-01 1.11522457e-03 9.94809877e-01 6.22713320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.896875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:57.32, Y:20.82, Z:6.23 [[ 8.27829584e-01 -5.54634740e-01 -8.41337268e-02 5.73177142e+01] [ 5.51675441e-01 8.32093375e-01 -5.72260685e-02 2.08151688e+01] [ 1.01746682e-01 9.58921692e-04 9.94809878e-01 6.22934570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:20.83, Z:6.23 [[ 8.27595133e-01 -5.54986893e-01 -8.41180367e-02 5.73415851e+01] [ 5.52027064e-01 8.31858557e-01 -5.72491225e-02 2.08304367e+01] [ 1.01746821e-01 9.43662297e-04 9.94809878e-01 6.23260527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.37, Y:20.85, Z:6.23 [[ 8.27568831e-01 -5.55028469e-01 -8.41024858e-02 5.73650621e+01] [ 5.52066534e-01 8.31830791e-01 -5.72719587e-02 2.08454880e+01] [ 1.01746605e-01 9.66320114e-04 9.94809879e-01 6.23490757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:20.86, Z:6.24 [[ 8.27569785e-01 -5.55029445e-01 -8.40866595e-02 5.73876847e+01] [ 5.52065156e-01 8.31830106e-01 -5.72951855e-02 2.08608113e+01] [ 1.01746330e-01 9.94449605e-04 9.94809879e-01 6.23727560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:20.88, Z:6.24 [[ 8.27707753e-01 -5.54824999e-01 -8.40779173e-02 5.74100482e+01] [ 5.51858354e-01 8.31966435e-01 -5.73080114e-02 2.08756740e+01] [ 1.01745923e-01 1.03518436e-03 9.94809879e-01 6.23964622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.43, Y:20.89, Z:6.24 [[ 8.27928820e-01 -5.54496356e-01 -8.40693750e-02 5.74342851e+01] [ 5.51526749e-01 8.32185437e-01 -5.73205401e-02 2.08905548e+01] [ 1.01745340e-01 1.09081809e-03 9.94809879e-01 6.24321347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:20.91, Z:6.25 [[ 8.27967680e-01 -5.54440584e-01 -8.40545036e-02 5.74567162e+01] [ 5.51468477e-01 8.32222551e-01 -5.73423392e-02 2.09056142e+01] [ 1.01744973e-01 1.12419447e-03 9.94809880e-01 6.24592889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.48, Y:20.92, Z:6.25 [[ 8.28090025e-01 -5.54259149e-01 -8.40458560e-02 5.74800495e+01] [ 5.51284824e-01 8.32343346e-01 -5.73550110e-02 2.09215069e+01] [ 1.01744549e-01 1.16190760e-03 9.94809880e-01 6.24887164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:20.94, Z:6.25 [[ 8.28388755e-01 -5.53814937e-01 -8.40302653e-02 5.75030950e+01] [ 5.50836015e-01 8.32638858e-01 -5.73778438e-02 2.09371917e+01] [ 1.01743571e-01 1.24426415e-03 9.94809880e-01 6.25154645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:20.95, Z:6.25 [[ 8.28947051e-01 -5.52981317e-01 -8.40145745e-02 5.75253478e+01] [ 5.49995794e-01 8.33192519e-01 -5.74008097e-02 2.09522437e+01] [ 1.01741890e-01 1.37456931e-03 9.94809880e-01 6.25367650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:20.97, Z:6.26 [[ 8.29130390e-01 -5.52707688e-01 -8.40059996e-02 5.75484799e+01] [ 5.49719493e-01 8.33373977e-01 -5.74133564e-02 2.09677270e+01] [ 1.01741217e-01 1.42342310e-03 9.94809881e-01 6.25615208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:20.98, Z:6.26 [[ 8.29107807e-01 -5.52743901e-01 -8.39906259e-02 5.75715535e+01] [ 5.49753614e-01 8.33349919e-01 -5.74358379e-02 2.09832461e+01] [ 1.01740890e-01 1.44635143e-03 9.94809881e-01 6.25855201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:21.00, Z:6.26 [[ 8.29175911e-01 -5.52644069e-01 -8.39752427e-02 5.75951335e+01] [ 5.49650995e-01 8.33416058e-01 -5.74583206e-02 2.09976216e+01] [ 1.01740316e-01 1.48597964e-03 9.94809881e-01 6.26076579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:21.01, Z:6.26 [[ 8.28942679e-01 -5.52996182e-01 -8.39598570e-02 5.76185654e+01] [ 5.50002634e-01 8.33182490e-01 -5.74807939e-02 2.10126011e+01] [ 1.01740542e-01 1.47014080e-03 9.94809882e-01 6.26396831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:21.03, Z:6.27 [[ 8.28947341e-01 -5.52991536e-01 -8.39444260e-02 5.76422197e+01] [ 5.49995683e-01 8.33185523e-01 -5.75033203e-02 2.10272976e+01] [ 1.01740130e-01 1.49815253e-03 9.94809882e-01 6.26681405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:21.04, Z:6.27 [[ 8.29447784e-01 -5.52242960e-01 -8.39290602e-02 5.76665889e+01] [ 5.49241014e-01 8.33681653e-01 -5.75257388e-02 2.10410898e+01] [ 1.01738302e-01 1.61731444e-03 9.94809882e-01 6.26959819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.69, Y:21.06, Z:6.27 [[ 8.28854028e-01 -5.53136101e-01 -8.39133698e-02 5.76899100e+01] [ 5.50136402e-01 8.33089489e-01 -5.75486176e-02 2.10565979e+01] [ 1.01739564e-01 1.53560423e-03 9.94809883e-01 6.27088552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.406875 meters Centerline goodness : 0.999924 Centerline is valid? [True, True] Translation: X:57.71, Y:21.07, Z:6.27 [[ 8.25965784e-01 -5.57442139e-01 -8.38974671e-02 5.77137669e+01] [ 5.54462169e-01 8.30215148e-01 -5.75717922e-02 2.10723417e+01] [ 1.01745891e-01 1.03435898e-03 9.94809883e-01 6.27209382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:21.09, Z:6.27 [[ 8.23602475e-01 -5.60930314e-01 -8.38817308e-02 5.77363087e+01] [ 5.57966008e-01 8.27862780e-01 -5.75947108e-02 2.10864144e+01] [ 1.01749182e-01 6.31991955e-04 9.94809884e-01 6.27480240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:21.10, Z:6.28 [[ 8.21434986e-01 -5.64100949e-01 -8.38730152e-02 5.77605032e+01] [ 5.61151792e-01 8.25705791e-01 -5.76074002e-02 2.11012824e+01] [ 1.01750824e-01 2.55241176e-04 9.94809884e-01 6.27819443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:21.12, Z:6.28 [[ 8.19693350e-01 -5.66631051e-01 -8.38574073e-02 5.77843295e+01] [ 5.63692753e-01 8.23971632e-01 -5.76301112e-02 2.11153515e+01] [ 1.01751135e-01 -3.07938647e-05 9.94809884e-01 6.28132024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.81, Y:21.13, Z:6.28 [[ 8.19297452e-01 -5.67205698e-01 -8.38414058e-02 5.78077125e+01] [ 5.64268019e-01 8.23576160e-01 -5.76533813e-02 2.11317633e+01] [ 1.01751109e-01 -7.37555700e-05 9.94809885e-01 6.28296972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:21.15, Z:6.28 [[ 8.19685461e-01 -5.66647217e-01 -8.38252758e-02 5.78295355e+01] [ 5.63704225e-01 8.23960516e-01 -5.76768240e-02 2.11469796e+01] [ 1.01751129e-01 2.41919763e-05 9.94809885e-01 6.28481856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:21.17, Z:6.28 [[ 8.19095041e-01 -5.67502693e-01 -8.38093509e-02 5.78499078e+01] [ 5.64561799e-01 8.23371539e-01 -5.76999550e-02 2.11655530e+01] [ 1.01751114e-01 -5.38108592e-05 9.94809885e-01 6.28484664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:21.18, Z:6.29 [[ 8.20762781e-01 -5.65126443e-01 -8.35497523e-02 5.78743894e+01] [ 5.62134758e-01 8.25004007e-01 -5.80766845e-02 2.11796451e+01] [ 1.01749551e-01 7.00961243e-04 9.94809800e-01 6.29314822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:21.20, Z:6.30 [[ 8.21112780e-01 -5.64582887e-01 -8.37852342e-02 5.78973754e+01] [ 5.61623213e-01 8.25376302e-01 -5.77349676e-02 2.11963130e+01] [ 1.01750521e-01 3.51187358e-04 9.94809885e-01 6.29616241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:21.21, Z:6.30 [[ 8.22680751e-01 -5.62298059e-01 -8.37691746e-02 5.79178797e+01] [ 5.59324172e-01 8.26934371e-01 -5.77582596e-02 2.12137504e+01] [ 1.01748967e-01 6.62484185e-04 9.94809886e-01 6.29757434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:21.23, Z:6.30 [[ 8.23511956e-01 -5.61081338e-01 -8.37603198e-02 5.79402531e+01] [ 5.58099861e-01 8.27760259e-01 -5.77710979e-02 2.12310175e+01] [ 1.01747749e-01 8.28566985e-04 9.94809886e-01 6.29995462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.96, Y:21.25, Z:6.30 [[ 8.24172465e-01 -5.60113019e-01 -8.37445754e-02 5.79625027e+01] [ 5.57124232e-01 8.28415629e-01 -5.77939119e-02 2.12485820e+01] [ 1.01746438e-01 9.76018611e-04 9.94809886e-01 6.30188036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:21.26, Z:6.30 [[ 8.25075552e-01 -5.58784241e-01 -8.37287579e-02 5.79834885e+01] [ 5.55786297e-01 8.29312250e-01 -5.78168185e-02 2.12649185e+01] [ 1.01744412e-01 1.16794714e-03 9.94809887e-01 6.30382340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.796875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.00, Y:21.28, Z:6.31 [[ 8.26486234e-01 -5.56696936e-01 -8.37199226e-02 5.80037848e+01] [ 5.53686997e-01 8.30714419e-01 -5.78296094e-02 2.12823927e+01] [ 1.01740913e-01 1.44074354e-03 9.94809887e-01 6.30517323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:21.30, Z:6.31 [[ 8.27070551e-01 -5.55829739e-01 -8.37114424e-02 5.80262086e+01] [ 5.52814125e-01 8.31294689e-01 -5.78418823e-02 2.12990628e+01] [ 1.01739116e-01 1.56244965e-03 9.94809887e-01 6.30885969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.05, Y:21.31, Z:6.31 [[ 8.27541709e-01 -5.55130404e-01 -8.36956042e-02 5.80474871e+01] [ 5.52108904e-01 8.31761639e-01 -5.78647907e-02 2.13149940e+01] [ 1.01737298e-01 1.67643949e-03 9.94809887e-01 6.31166966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:21.33, Z:6.31 [[ 8.27548534e-01 -5.55121848e-01 -8.36848789e-02 5.80693101e+01] [ 5.52098736e-01 8.31767309e-01 -5.78802976e-02 2.13318930e+01] [ 1.01736964e-01 1.69643949e-03 9.94809887e-01 6.31451658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.09, Y:21.35, Z:6.32 [[ 8.27009355e-01 -5.55927155e-01 -8.36691455e-02 5.80921565e+01] [ 5.52905852e-01 8.31229425e-01 -5.79030323e-02 2.13478120e+01] [ 1.01738124e-01 1.62518911e-03 9.94809888e-01 6.31734689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:21.36, Z:6.32 [[ 8.26386169e-01 -5.56855501e-01 -8.36531621e-02 5.81148958e+01] [ 5.53836603e-01 8.30607960e-01 -5.79261146e-02 2.13635972e+01] [ 1.01739458e-01 1.53915683e-03 9.94809888e-01 6.32121727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.14, Y:21.38, Z:6.32 [[ 8.25870220e-01 -5.57622802e-01 -8.36372518e-02 5.81381617e+01] [ 5.54605502e-01 8.30093152e-01 -5.79490777e-02 2.13795284e+01] [ 1.01740437e-01 1.47273757e-03 9.94809889e-01 6.32467131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:21.39, Z:6.33 [[ 8.25403196e-01 -5.58316254e-01 -8.36213090e-02 5.81599794e+01] [ 5.55300173e-01 8.29626999e-01 -5.79720744e-02 2.13948419e+01] [ 1.01741247e-01 1.41540824e-03 9.94809889e-01 6.32652291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:21.41, Z:6.33 [[ 8.25203697e-01 -5.58612359e-01 -8.36127488e-02 5.81828654e+01] [ 5.55596542e-01 8.29427688e-01 -5.79844180e-02 2.14104335e+01] [ 1.01741541e-01 1.39400197e-03 9.94809889e-01 6.32889902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.21, Y:21.43, Z:6.33 [[ 8.25119241e-01 -5.58739456e-01 -8.35970021e-02 5.82062765e+01] [ 5.55721991e-01 8.29342054e-01 -5.80071116e-02 2.14259244e+01] [ 1.01741371e-01 1.40609146e-03 9.94809890e-01 6.33239561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:21.44, Z:6.34 [[ 8.25078406e-01 -5.58802120e-01 -8.35811841e-02 5.82298013e+01] [ 5.55782668e-01 8.29299799e-01 -5.80298944e-02 2.14411557e+01] [ 1.01741087e-01 1.42623928e-03 9.94809890e-01 6.33520513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:21.46, Z:6.34 [[ 8.25100959e-01 -5.58771199e-01 -8.35652700e-02 5.82521463e+01] [ 5.55749270e-01 8.29320578e-01 -5.80528024e-02 2.14562006e+01] [ 1.01740632e-01 1.45808510e-03 9.94809890e-01 6.33714539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.156875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:58.28, Y:21.47, Z:6.34 [[ 8.24967788e-01 -5.58969414e-01 -8.35544342e-02 5.82755527e+01] [ 5.55946920e-01 8.29187002e-01 -5.80683941e-02 2.14720253e+01] [ 1.01740707e-01 1.45272432e-03 9.94809890e-01 6.34076811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.30, Y:21.49, Z:6.35 [[ 8.25701055e-01 -5.57888043e-01 -8.35386088e-02 5.82988340e+01] [ 5.54857722e-01 8.29914650e-01 -5.80911520e-02 2.14867813e+01] [ 1.01738274e-01 1.61388333e-03 9.94809891e-01 6.34542471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:21.50, Z:6.35 [[ 8.26173615e-01 -5.57189051e-01 -8.35315463e-02 5.83217032e+01] [ 5.54154139e-01 8.30383905e-01 -5.81013057e-02 2.15023831e+01] [ 1.01736663e-01 1.71241373e-03 9.94809891e-01 6.34881554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:21.52, Z:6.35 [[ 8.26883257e-01 -5.56137759e-01 -8.35156952e-02 5.83440327e+01] [ 5.53095195e-01 8.31088020e-01 -5.81240815e-02 2.15177133e+01] [ 1.01733890e-01 1.86970017e-03 9.94809891e-01 6.35125950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27687499999999 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:58.36, Y:21.54, Z:6.35 [[ 8.27328077e-01 -5.55477118e-01 -8.35070312e-02 5.83623822e+01] [ 5.52429940e-01 8.31529498e-01 -5.81365264e-02 2.15356159e+01] [ 1.01732070e-01 1.96619630e-03 9.94809891e-01 6.35037382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30687499999999 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:58.39, Y:21.55, Z:6.36 [[ 8.29315348e-01 -5.52604992e-01 -8.28479078e-02 5.83896812e+01] [ 5.49448531e-01 8.33436040e-01 -5.90819643e-02 2.15503367e+01] [ 1.01697421e-01 3.47691853e-03 9.94809301e-01 6.35567121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.41, Y:21.57, Z:6.36 [[ 8.30137914e-01 -5.51272815e-01 -8.34824944e-02 5.84124026e+01] [ 5.48200862e-01 8.34321225e-01 -5.81713704e-02 2.15659349e+01] [ 1.01719512e-01 2.52508475e-03 9.94809914e-01 6.35797150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:21.59, Z:6.35 [[ 8.27945643e-01 -5.54562318e-01 -8.34664446e-02 5.84246983e+01] [ 5.51504667e-01 8.32139420e-01 -5.81943902e-02 2.15862587e+01] [ 1.01728135e-01 2.14965808e-03 9.94809914e-01 6.34956048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:21.60, Z:6.36 [[ 8.32030367e-01 -5.48616700e-01 -8.21290692e-02 5.84596381e+01] [ 5.45338878e-01 8.36057667e-01 -6.01089467e-02 2.15989367e+01] [ 1.01641410e-01 5.22429463e-03 9.94807384e-01 6.35911315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:21.62, Z:6.36 [[ 8.32129798e-01 -5.48264777e-01 -8.34609665e-02 5.84836012e+01] [ 5.45174899e-01 8.36299682e-01 -5.81994195e-02 2.16150856e+01] [ 1.01707071e-01 2.92864732e-03 9.94810080e-01 6.36286208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:21.63, Z:6.36 [[ 8.32072171e-01 -5.48354378e-01 -8.34468533e-02 5.85068528e+01] [ 5.45262923e-01 8.36240885e-01 -5.82196482e-02 2.16309609e+01] [ 1.01706669e-01 2.94247397e-03 9.94810080e-01 6.36492980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:21.65, Z:6.37 [[ 8.31921399e-01 -5.48585532e-01 -8.34308074e-02 5.85301474e+01] [ 5.45492932e-01 8.36089264e-01 -5.82426335e-02 2.16473556e+01] [ 1.01706668e-01 2.94237746e-03 9.94810080e-01 6.36782769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.516875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:58.54, Y:21.67, Z:6.36 [[ 8.27021589e-01 -5.55947192e-01 -8.34146996e-02 5.85421108e+01] [ 5.52889379e-01 8.31215041e-01 -5.82656939e-02 2.16664229e+01] [ 1.01728202e-01 2.06788533e-03 9.94810081e-01 6.36080480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.58, Y:21.68, Z:6.37 [[ 8.30818183e-01 -5.50466027e-01 -8.20262101e-02 5.85774436e+01] [ 5.47183429e-01 8.34841542e-01 -6.02486031e-02 2.16778363e+01] [ 1.01643697e-01 5.17225203e-03 9.94807422e-01 6.37217780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.60, Y:21.69, Z:6.38 [[ 8.30005042e-01 -5.51486451e-01 -8.33925904e-02 5.86013460e+01] [ 5.48403224e-01 8.34179634e-01 -5.82944449e-02 2.16936246e+01] [ 1.01712997e-01 2.65191772e-03 9.94810250e-01 6.37700700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:21.71, Z:6.38 [[ 8.29218684e-01 -5.52670272e-01 -8.33783165e-02 5.86248370e+01] [ 5.49590955e-01 8.33396160e-01 -5.83148538e-02 2.17094041e+01] [ 1.01716055e-01 2.53179783e-03 9.94810250e-01 6.38066317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.65, Y:21.72, Z:6.39 [[ 8.28202875e-01 -5.54193495e-01 -8.33640708e-02 5.86482701e+01] [ 5.51119813e-01 8.32384499e-01 -5.83352117e-02 2.17233964e+01] [ 1.01719955e-01 2.36979891e-03 9.94810251e-01 6.38629331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.67, Y:21.74, Z:6.39 [[ 8.27634395e-01 -5.55043234e-01 -8.33565672e-02 5.86725342e+01] [ 5.51972767e-01 8.31818380e-01 -5.83459319e-02 2.17394746e+01] [ 1.01722039e-01 2.27854500e-03 9.94810251e-01 6.39111196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69687499999999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:58.70, Y:21.76, Z:6.39 [[ 8.26507641e-01 -5.56721824e-01 -8.33422425e-02 5.86955527e+01] [ 5.53657794e-01 8.30696342e-01 -5.83663863e-02 2.17550070e+01] [ 1.01725937e-01 2.09718214e-03 9.94810251e-01 6.39417138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:21.77, Z:6.40 [[ 8.24353037e-01 -5.59909675e-01 -8.33260209e-02 5.87184208e+01] [ 5.56859505e-01 8.28551841e-01 -5.83895357e-02 2.17698380e+01] [ 1.01732794e-01 1.73270431e-03 9.94810251e-01 6.39736892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.74, Y:21.79, Z:6.40 [[ 8.23455229e-01 -5.61230745e-01 -8.33158834e-02 5.87413358e+01] [ 5.58185848e-01 8.27657859e-01 -5.84039973e-02 2.17858611e+01] [ 1.01735165e-01 1.58732994e-03 9.94810252e-01 6.40048732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:21.80, Z:6.40 [[ 8.22855412e-01 -5.62112197e-01 -8.32997522e-02 5.87635357e+01] [ 5.59069475e-01 8.27059616e-01 -5.84269957e-02 2.18010848e+01] [ 1.01736388e-01 1.50662093e-03 9.94810252e-01 6.40128428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:21.82, Z:6.40 [[ 8.22147598e-01 -5.63149300e-01 -8.32838085e-02 5.87872885e+01] [ 5.60109581e-01 8.26353973e-01 -5.84497137e-02 2.18170286e+01] [ 1.01737821e-01 1.40623260e-03 9.94810252e-01 6.40441414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.80, Y:21.84, Z:6.40 [[ 8.18525050e-01 -5.68403965e-01 -8.32686909e-02 5.87981336e+01] [ 5.65389061e-01 8.22749247e-01 -5.84712427e-02 2.18372985e+01] [ 1.01744539e-01 7.80969886e-04 9.94810253e-01 6.39616416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.83, Y:21.85, Z:6.41 [[ 8.22073939e-01 -5.63470197e-01 -8.18277257e-02 5.88328480e+01] [ 5.60224546e-01 8.26127147e-01 -6.05177151e-02 2.18498661e+01] [ 1.01700034e-01 3.90813585e-03 9.94807433e-01 6.40866894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.85, Y:21.86, Z:6.41 [[ 8.22322321e-01 -5.62900364e-01 -8.32416973e-02 5.88545554e+01] [ 5.59853629e-01 8.26523385e-01 -5.85064831e-02 2.18649605e+01] [ 1.01734530e-01 1.50802074e-03 9.94810440e-01 6.41308148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:21.88, Z:6.42 [[ 8.22980138e-01 -5.61939569e-01 -8.32322887e-02 5.88770514e+01] [ 5.58886576e-01 8.27176656e-01 -5.85198648e-02 2.18824637e+01] [ 1.01732434e-01 1.64327754e-03 9.94810440e-01 6.41620683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.90, Y:21.90, Z:6.42 [[ 8.23495780e-01 -5.61185720e-01 -8.32183126e-02 5.88993727e+01] [ 5.58126879e-01 8.27688037e-01 -5.85397330e-02 2.18993716e+01] [ 1.01730464e-01 1.76084601e-03 9.94810440e-01 6.41848851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:21.92, Z:6.42 [[ 8.24019830e-01 -5.60418318e-01 -8.32023382e-02 5.89205415e+01] [ 5.57353282e-01 8.28207559e-01 -5.85624287e-02 2.19154211e+01] [ 1.01728263e-01 1.88350628e-03 9.94810441e-01 6.42032016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:21.93, Z:6.42 [[ 8.24392614e-01 -5.59871142e-01 -8.31932840e-02 5.89432175e+01] [ 5.56802030e-01 8.28577356e-01 -5.85752881e-02 2.19323660e+01] [ 1.01726685e-01 1.96684544e-03 9.94810441e-01 6.42356634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:21.95, Z:6.43 [[ 8.25125804e-01 -5.58792435e-01 -8.31770552e-02 5.89647590e+01] [ 5.55715531e-01 8.29304820e-01 -5.85983241e-02 2.19491771e+01] [ 1.01723433e-01 2.12820788e-03 9.94810441e-01 6.42576448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:21.97, Z:6.43 [[ 8.25248102e-01 -5.58613162e-01 -8.31679342e-02 5.89876654e+01] [ 5.55534046e-01 8.29425490e-01 -5.86112665e-02 2.19660585e+01] [ 1.01722629e-01 2.16621741e-03 9.94810441e-01 6.42841011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:21.98, Z:6.43 [[ 8.25034719e-01 -5.58930671e-01 -8.31517766e-02 5.90102384e+01] [ 5.55850855e-01 8.29211590e-01 -5.86341805e-02 2.19832862e+01] [ 1.01722859e-01 2.15524855e-03 9.94810442e-01 6.43068845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:22.00, Z:6.43 [[ 8.24400689e-01 -5.59867818e-01 -8.31356087e-02 5.90325674e+01] [ 5.56790441e-01 8.28579356e-01 -5.86570955e-02 2.20008046e+01] [ 1.01724669e-01 2.06783771e-03 9.94810442e-01 6.43283407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.05, Y:22.02, Z:6.44 [[ 8.23999948e-01 -5.60459887e-01 -8.31191981e-02 5.90544639e+01] [ 5.57383168e-01 8.28179100e-01 -5.86803408e-02 2.20169127e+01] [ 1.01725560e-01 2.02335579e-03 9.94810443e-01 6.43583517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:22.03, Z:6.44 [[ 8.23379016e-01 -5.61373085e-01 -8.31099058e-02 5.90771223e+01] [ 5.58299674e-01 8.27560600e-01 -5.86934986e-02 2.20336056e+01] [ 1.01727434e-01 1.92676180e-03 9.94810443e-01 6.43879747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:22.05, Z:6.44 [[ 8.22780774e-01 -5.62251949e-01 -8.30935837e-02 5.90995315e+01] [ 5.59180673e-01 8.26963927e-01 -5.87165971e-02 2.20499615e+01] [ 1.01728917e-01 1.84656116e-03 9.94810443e-01 6.44119514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:22.07, Z:6.44 [[ 8.20716167e-01 -5.65263776e-01 -8.30772943e-02 5.91212535e+01] [ 5.62205521e-01 8.24908848e-01 -5.87396358e-02 2.20670377e+01] [ 1.01734584e-01 1.50205528e-03 9.94810443e-01 6.44326385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:22.08, Z:6.45 [[ 8.18632547e-01 -5.68279514e-01 -8.30611091e-02 5.91434590e+01] [ 5.65234384e-01 8.22834770e-01 -5.87625139e-02 2.20825351e+01] [ 1.01739101e-01 1.15591155e-03 9.94810444e-01 6.44644245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:22.10, Z:6.45 [[ 8.16618739e-01 -5.71170877e-01 -8.30521757e-02 5.91658246e+01] [ 5.68139343e-01 8.20830781e-01 -5.87751372e-02 2.20985716e+01] [ 1.01742429e-01 8.11669934e-04 9.94810444e-01 6.44918539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:22.11, Z:6.45 [[ 8.14878941e-01 -5.73652585e-01 -8.30362758e-02 5.91886916e+01] [ 5.70631591e-01 8.19098548e-01 -5.87975917e-02 2.21144067e+01] [ 1.01744283e-01 5.29797094e-04 9.94810444e-01 6.45218658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:22.13, Z:6.45 [[ 8.12363595e-01 -5.77211457e-01 -8.30200204e-02 5.92109499e+01] [ 5.74206603e-01 8.16594711e-01 -5.88205349e-02 2.21303202e+01] [ 1.01745596e-01 1.13017317e-04 9.94810445e-01 6.45385306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.23, Y:22.15, Z:6.46 [[ 8.11040019e-01 -5.79072050e-01 -8.30039067e-02 5.92333385e+01] [ 5.76074577e-01 8.15276366e-01 -5.88432648e-02 2.21464247e+01] [ 1.01745613e-01 -9.21977778e-05 9.94810445e-01 6.45589781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.25, Y:22.17, Z:6.45 [[ 8.07176811e-01 -5.84447377e-01 -8.29871031e-02 5.92506109e+01] [ 5.81475679e-01 8.11431277e-01 -5.88669536e-02 2.21652629e+01] [ 1.01742968e-01 -7.38942222e-04 9.94810446e-01 6.45223399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.28, Y:22.18, Z:6.46 [[ 8.09005108e-01 -5.81998849e-01 -8.23897729e-02 5.92787687e+01] [ 5.78928324e-01 8.13189383e-01 -5.97078244e-02 2.21778378e+01] [ 1.01748374e-01 6.06161832e-04 9.94809982e-01 6.46005523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:22.19, Z:6.46 [[ 8.08863967e-01 -5.82114581e-01 -8.29559962e-02 5.93020524e+01] [ 5.79126138e-01 8.13106673e-01 -5.89105706e-02 2.21938427e+01] [ 1.01744776e-01 -3.91347863e-04 9.94810458e-01 6.46374873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:22.21, Z:6.46 [[ 8.06372045e-01 -5.85563879e-01 -8.29401504e-02 5.93181296e+01] [ 5.82591289e-01 8.10625873e-01 -5.89328717e-02 2.22129026e+01] [ 1.01742393e-01 -7.98388848e-04 9.94810458e-01 6.46141223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:22.23, Z:6.47 [[ 8.10756942e-01 -5.79582091e-01 -8.22057184e-02 5.93467092e+01] [ 5.76472977e-01 8.14912935e-01 -5.99651117e-02 2.22268856e+01] [ 1.01745208e-01 1.22775536e-03 9.94809733e-01 6.46971120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:22.24, Z:6.47 [[ 8.12152834e-01 -5.77522366e-01 -8.29197862e-02 5.93694365e+01] [ 5.74504780e-01 8.16374826e-01 -5.89610162e-02 2.22436573e+01] [ 1.01744932e-01 2.47542823e-04 9.94810488e-01 6.47351814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.39, Y:22.26, Z:6.48 [[ 8.13654403e-01 -5.75407228e-01 -8.29037630e-02 5.93915107e+01] [ 5.72376373e-01 8.17866878e-01 -5.89835375e-02 2.22604737e+01] [ 1.01743796e-01 5.40059841e-04 9.94810489e-01 6.47681815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:22.28, Z:6.48 [[ 8.15481217e-01 -5.72817635e-01 -8.28875279e-02 5.94131091e+01] [ 5.69771085e-01 8.19682355e-01 -5.90063433e-02 2.22764944e+01] [ 1.01741318e-01 8.91647996e-04 9.94810489e-01 6.47963089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.44, Y:22.29, Z:6.48 [[ 8.18934408e-01 -5.67871097e-01 -8.28785384e-02 5.94352866e+01] [ 5.64797897e-01 8.23116090e-01 -5.90189671e-02 2.22938929e+01] [ 1.01733824e-01 1.52303874e-03 9.94810489e-01 6.48275468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:22.31, Z:6.48 [[ 8.19171198e-01 -5.67531876e-01 -8.28620386e-02 5.94566696e+01] [ 5.64454602e-01 8.23349883e-01 -5.90421236e-02 2.23107040e+01] [ 1.01732737e-01 1.59374806e-03 9.94810490e-01 6.48360511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:22.33, Z:6.49 [[ 8.19209843e-01 -5.67477430e-01 -8.28528778e-02 5.94793267e+01] [ 5.64398579e-01 8.23387365e-01 -5.90549761e-02 2.23277838e+01] [ 1.01732379e-01 1.61637118e-03 9.94810490e-01 6.48515367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.50, Y:22.34, Z:6.49 [[ 8.16988274e-01 -5.70673456e-01 -8.28369839e-02 5.95018873e+01] [ 5.67608690e-01 8.21176140e-01 -5.90772622e-02 2.23442135e+01] [ 1.01737580e-01 1.24643857e-03 9.94810490e-01 6.48814759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.52, Y:22.36, Z:6.49 [[ 8.15949190e-01 -5.72160591e-01 -8.28201467e-02 5.95233746e+01] [ 5.69101063e-01 8.20140884e-01 -5.91008569e-02 2.23601783e+01] [ 1.01739370e-01 1.09026287e-03 9.94810491e-01 6.49130447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:22.38, Z:6.49 [[ 8.15163419e-01 -5.73281177e-01 -8.28087685e-02 5.95448014e+01] [ 5.70225791e-01 8.19358134e-01 -5.91167951e-02 2.23760695e+01] [ 1.01740584e-01 9.70153298e-04 9.94810491e-01 6.49475622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:22.39, Z:6.50 [[ 8.14720915e-01 -5.73911142e-01 -8.27999504e-02 5.95666285e+01] [ 5.70857746e-01 8.18917077e-01 -5.91291434e-02 2.23927656e+01] [ 1.01741168e-01 9.06756788e-04 9.94810491e-01 6.49830101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:22.41, Z:6.50 [[ 8.15353980e-01 -5.73013752e-01 -8.27836190e-02 5.95879368e+01] [ 5.69953416e-01 8.19545084e-01 -5.91519993e-02 2.24088054e+01] [ 1.01739817e-01 1.04701155e-03 9.94810491e-01 6.50190780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.926875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:59.61, Y:22.43, Z:6.50 [[ 8.15885319e-01 -5.72258244e-01 -8.27746795e-02 5.96109778e+01] [ 5.69192759e-01 8.20072658e-01 -5.91645061e-02 2.24255035e+01] [ 1.01738628e-01 1.15670373e-03 9.94810491e-01 6.50482130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:22.44, Z:6.51 [[ 8.16950612e-01 -5.70738733e-01 -8.27586631e-02 5.96327359e+01] [ 5.67663192e-01 8.21130569e-01 -5.91869014e-02 2.24409848e+01] [ 1.01735925e-01 1.37372847e-03 9.94810492e-01 6.50696880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:22.46, Z:6.51 [[ 8.19373590e-01 -5.67256017e-01 -8.27498143e-02 5.96550938e+01] [ 5.64161462e-01 8.23539490e-01 -5.91992704e-02 2.24582872e+01] [ 1.01728882e-01 1.82206253e-03 9.94810492e-01 6.50960442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:22.47, Z:6.51 [[ 8.20645469e-01 -5.65416779e-01 -8.27337922e-02 5.96767679e+01] [ 5.62310632e-01 8.24802733e-01 -5.92216536e-02 2.24739960e+01] [ 1.01723975e-01 2.07789074e-03 9.94810492e-01 6.51308262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.70, Y:22.49, Z:6.52 [[ 8.21989805e-01 -5.63461939e-01 -8.27248706e-02 5.96999623e+01] [ 5.60344654e-01 8.26138723e-01 -5.92341134e-02 2.24901936e+01] [ 1.01718387e-01 2.33539831e-03 9.94810492e-01 6.51734147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:22.51, Z:6.52 [[ 8.23782220e-01 -5.60840621e-01 -8.27082364e-02 5.97215545e+01] [ 5.57707806e-01 8.27919424e-01 -5.92573306e-02 2.25068137e+01] [ 1.01709673e-01 2.68810629e-03 9.94810493e-01 6.52019938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.106875 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:59.75, Y:22.52, Z:6.52 [[ 8.23989968e-01 -5.60536713e-01 -8.26990157e-02 5.97451759e+01] [ 5.57401082e-01 8.28125038e-01 -5.92701960e-02 2.25237734e+01] [ 1.01708246e-01 2.74152608e-03 9.94810493e-01 6.51992052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:22.54, Z:6.52 [[ 8.24257785e-01 -5.60122207e-01 -8.28384995e-02 5.97690177e+01] [ 5.57004015e-01 8.28406059e-01 -5.90756175e-02 2.25405174e+01] [ 1.01713480e-01 2.55216084e-03 9.94810462e-01 6.52234064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.79, Y:22.56, Z:6.53 [[ 8.23629263e-01 -5.61034386e-01 -8.29171566e-02 5.97893740e+01] [ 5.57931810e-01 8.27789290e-01 -5.89659752e-02 2.25575706e+01] [ 1.01719874e-01 2.30398346e-03 9.94810414e-01 6.52528540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:22.57, Z:6.53 [[ 8.22838007e-01 -5.62234214e-01 -8.26456482e-02 5.98105989e+01] [ 5.59099696e-01 8.26973885e-01 -5.93441105e-02 2.25738317e+01] [ 1.01711082e-01 2.62343279e-03 9.94810521e-01 6.52636191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:22.59, Z:6.53 [[ 8.22090041e-01 -5.63328694e-01 -8.26362329e-02 5.98332699e+01] [ 5.60198367e-01 8.26229091e-01 -5.93572184e-02 2.25899267e+01] [ 1.01714084e-01 2.50429544e-03 9.94810521e-01 6.53111861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:22.61, Z:6.54 [[ 8.20844702e-01 -5.65144195e-01 -8.26196965e-02 5.98553940e+01] [ 5.62020708e-01 8.24988916e-01 -5.93802267e-02 2.26056369e+01] [ 1.01718724e-01 2.30796420e-03 9.94810522e-01 6.53514312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.88, Y:22.62, Z:6.54 [[ 8.19997132e-01 -5.66374622e-01 -8.26104758e-02 5.98780172e+01] [ 5.63256063e-01 8.24145056e-01 -5.93930519e-02 2.26222459e+01] [ 1.01721733e-01 2.17128086e-03 9.94810522e-01 6.53720812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:22.64, Z:6.54 [[ 8.19238742e-01 -5.67473469e-01 -8.25938634e-02 5.98995881e+01] [ 5.64358147e-01 8.23389096e-01 -5.94161446e-02 2.26382927e+01] [ 1.01723972e-01 2.06348786e-03 9.94810522e-01 6.53889424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:22.66, Z:6.54 [[ 8.16803370e-01 -5.70974622e-01 -8.25847159e-02 5.99207957e+01] [ 5.67875807e-01 8.20966064e-01 -5.94288565e-02 2.26564613e+01] [ 1.01731618e-01 1.64382806e-03 9.94810523e-01 6.53623833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:22.67, Z:6.54 [[ 8.17456064e-01 -5.70062674e-01 -8.24265217e-02 5.99457430e+01] [ 5.66937050e-01 8.21598703e-01 -5.96485710e-02 2.26703205e+01] [ 1.01724947e-01 2.02943699e-03 9.94810493e-01 6.54247266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.97, Y:22.69, Z:6.55 [[ 8.17311121e-01 -5.70250421e-01 -8.25650560e-02 5.99687938e+01] [ 5.67145157e-01 8.21469008e-01 -5.94561973e-02 2.26870126e+01] [ 1.01729556e-01 1.76783956e-03 9.94810521e-01 6.54551315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.99, Y:22.70, Z:6.55 [[ 8.16847461e-01 -5.70916580e-01 -8.25498930e-02 5.99920563e+01] [ 5.67812580e-01 8.21006292e-01 -5.94772424e-02 2.27026365e+01] [ 1.01730525e-01 1.71096670e-03 9.94810521e-01 6.54978759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:22.72, Z:6.55 [[ 8.16252728e-01 -5.71768922e-01 -8.25335357e-02 6.00144955e+01] [ 5.68666971e-01 8.20413087e-01 -5.94999321e-02 2.27180701e+01] [ 1.01731805e-01 1.63288610e-03 9.94810521e-01 6.55333962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.04, Y:22.73, Z:6.56 [[ 8.15215684e-01 -5.73247874e-01 -8.25243173e-02 6.00383794e+01] [ 5.70152178e-01 8.19380699e-01 -5.95127150e-02 2.27319980e+01] [ 1.01734370e-01 1.46427940e-03 9.94810522e-01 6.55716174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:22.75, Z:6.56 [[ 8.14422490e-01 -5.74376589e-01 -8.25078288e-02 6.00614112e+01] [ 5.71284350e-01 8.18590073e-01 -5.95355657e-02 2.27471212e+01] [ 1.01735925e-01 1.35167224e-03 9.94810522e-01 6.56033421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55687499999999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:60.08, Y:22.76, Z:6.56 [[ 8.14178976e-01 -5.74724081e-01 -8.24913734e-02 6.00839948e+01] [ 5.71631313e-01 8.18346164e-01 -5.95583573e-02 2.27616945e+01] [ 1.01736121e-01 1.33651029e-03 9.94810522e-01 6.56358896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.11, Y:22.78, Z:6.57 [[ 8.13757002e-01 -5.75322708e-01 -8.24822604e-02 6.01064982e+01] [ 5.72231726e-01 8.17925517e-01 -5.95709753e-02 2.27764505e+01] [ 1.01736880e-01 1.27733208e-03 9.94810522e-01 6.56558297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.13, Y:22.79, Z:6.57 [[ 8.12752172e-01 -5.76742647e-01 -8.24731848e-02 6.01306107e+01] [ 5.73657674e-01 8.16925134e-01 -5.95835374e-02 2.27901964e+01] [ 1.01738785e-01 1.11527403e-03 9.94810523e-01 6.56829488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:22.81, Z:6.57 [[ 8.12176957e-01 -5.77554697e-01 -8.24570380e-02 6.01542358e+01] [ 5.74471629e-01 8.16351326e-01 -5.96058744e-02 2.28054431e+01] [ 1.01739565e-01 1.04128874e-03 9.94810523e-01 6.57226611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.18, Y:22.82, Z:6.58 [[ 8.11640287e-01 -5.78310986e-01 -8.24405711e-02 6.01775493e+01] [ 5.75229495e-01 8.15815821e-01 -5.96286411e-02 2.28208533e+01] [ 1.01740220e-01 9.74759301e-04 9.94810523e-01 6.57569087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:22.83, Z:6.58 [[ 8.10726433e-01 -5.79593792e-01 -8.24238303e-02 6.02002951e+01] [ 5.76516556e-01 8.14905103e-01 -5.96517728e-02 2.28346298e+01] [ 1.01741397e-01 8.42566175e-04 9.94810524e-01 6.57919610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:22.85, Z:6.58 [[ 8.10515501e-01 -5.79890042e-01 -8.24145713e-02 6.02222224e+01] [ 5.76813033e-01 8.14694338e-01 -5.96645622e-02 2.28494263e+01] [ 1.01741570e-01 8.21253665e-04 9.94810524e-01 6.58260133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:22.87, Z:6.59 [[ 8.10883497e-01 -5.79376624e-01 -8.24055866e-02 6.02445786e+01] [ 5.76295709e-01 8.15059455e-01 -5.96769689e-02 2.28657605e+01] [ 1.01740893e-01 9.01083283e-04 9.94810524e-01 6.58542253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:22.88, Z:6.59 [[ 8.11589001e-01 -5.78390290e-01 -8.23891138e-02 6.02663961e+01] [ 5.75301992e-01 8.15759501e-01 -5.96997025e-02 2.28825073e+01] [ 1.01739431e-01 1.05300059e-03 9.94810524e-01 6.58755008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.29, Y:22.90, Z:6.59 [[ 8.12888796e-01 -5.76563373e-01 -8.23801076e-02 6.02890053e+01] [ 5.73464443e-01 8.17051403e-01 -5.97121275e-02 2.28991301e+01] [ 1.01736608e-01 1.29725692e-03 9.94810525e-01 6.58799699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:22.92, Z:6.59 [[ 8.13421931e-01 -5.75813342e-01 -8.23635680e-02 6.03123736e+01] [ 5.72708266e-01 8.17579953e-01 -5.97349328e-02 2.29155438e+01] [ 1.01734973e-01 1.41940812e-03 9.94810525e-01 6.59013897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.33, Y:22.93, Z:6.59 [[ 8.13703320e-01 -5.75417846e-01 -8.23480980e-02 6.03344916e+01] [ 5.72308592e-01 8.17858219e-01 -5.97562514e-02 2.29311950e+01] [ 1.01733882e-01 1.49533614e-03 9.94810525e-01 6.59193608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:22.95, Z:6.59 [[ 8.13838270e-01 -5.75228230e-01 -8.23392602e-02 6.03571362e+01] [ 5.72116776e-01 8.17991522e-01 -5.97684268e-02 2.29470856e+01] [ 1.01733303e-01 1.53416097e-03 9.94810525e-01 6.59423541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:22.96, Z:6.60 [[ 8.13865908e-01 -5.75191474e-01 -8.23228521e-02 6.03794376e+01] [ 5.72077548e-01 8.18017306e-01 -5.97910182e-02 2.29623177e+01] [ 1.01732802e-01 1.56681596e-03 9.94810526e-01 6.59638935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.40, Y:22.98, Z:6.60 [[ 8.12493779e-01 -5.77129355e-01 -8.23138281e-02 6.04013592e+01] [ 5.74024073e-01 8.16651647e-01 -5.98034389e-02 2.29772769e+01] [ 1.01736043e-01 1.33980319e-03 9.94810526e-01 6.59962388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.42, Y:22.99, Z:6.60 [[ 8.10764747e-01 -5.79557114e-01 -8.23047809e-02 6.04235679e+01] [ 5.76463019e-01 8.14930946e-01 -5.98158876e-02 2.29922705e+01] [ 1.01739436e-01 1.05095050e-03 9.94810526e-01 6.60236670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:23.01, Z:6.60 [[ 8.10340388e-01 -5.80151564e-01 -8.22959175e-02 6.04463685e+01] [ 5.77059288e-01 8.14507937e-01 -5.98280797e-02 2.30085482e+01] [ 1.01740032e-01 9.91485763e-04 9.94810526e-01 6.60494816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.066875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:60.47, Y:23.02, Z:6.61 [[ 8.10317246e-01 -5.80186141e-01 -8.22800280e-02 6.04689559e+01] [ 5.77091824e-01 8.14483280e-01 -5.98499242e-02 2.30244968e+01] [ 1.01739804e-01 1.01429427e-03 9.94810526e-01 6.60656790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.49, Y:23.04, Z:6.61 [[ 8.10290162e-01 -5.80226206e-01 -8.22642234e-02 6.04920419e+01] [ 5.77129891e-01 8.14454711e-01 -5.98716399e-02 2.30410451e+01] [ 1.01739579e-01 1.03625854e-03 9.94810527e-01 6.60814352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:23.06, Z:6.61 [[ 8.09872703e-01 -5.80811052e-01 -8.22479644e-02 6.05140998e+01] [ 5.77715477e-01 8.14037801e-01 -5.98939672e-02 2.30567035e+01] [ 1.01740030e-01 9.90567155e-04 9.94810527e-01 6.61013351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:23.07, Z:6.61 [[ 8.09764078e-01 -5.80963772e-01 -8.22388820e-02 6.05363802e+01] [ 5.77867716e-01 8.13928818e-01 -5.99064355e-02 2.30729248e+01] [ 1.01740065e-01 9.86884542e-04 9.94810527e-01 6.61400916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:23.09, Z:6.62 [[ 8.09980884e-01 -5.80663635e-01 -8.22235401e-02 6.05589651e+01] [ 5.77563899e-01 8.14142886e-01 -5.99274854e-02 2.30894656e+01] [ 1.01739422e-01 1.05076922e-03 9.94810528e-01 6.61872123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.58, Y:23.11, Z:6.62 [[ 8.10270495e-01 -5.80261780e-01 -8.22070061e-02 6.05807749e+01] [ 5.77157680e-01 8.14429242e-01 -5.99501578e-02 2.31059391e+01] [ 1.01738575e-01 1.12943907e-03 9.94810528e-01 6.62128201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:23.12, Z:6.62 [[ 8.11040003e-01 -5.79187045e-01 -8.21978079e-02 6.06034020e+01] [ 5.76076157e-01 8.15193675e-01 -5.99627668e-02 2.31231095e+01] [ 1.01736791e-01 1.28000533e-03 9.94810528e-01 6.62489508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.62, Y:23.14, Z:6.63 [[ 8.12226645e-01 -5.77523806e-01 -8.21835167e-02 6.06247045e+01] [ 5.74402432e-01 8.16372442e-01 -5.99823477e-02 2.31417500e+01] [ 1.01733592e-01 1.51284919e-03 9.94810528e-01 6.62868939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.65, Y:23.16, Z:6.63 [[ 8.11311729e-01 -5.78810704e-01 -8.21671950e-02 6.06465423e+01] [ 5.75693642e-01 8.15460770e-01 -6.00046978e-02 2.31589001e+01] [ 1.01735485e-01 1.37938336e-03 9.94810529e-01 6.63207163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.67, Y:23.18, Z:6.64 [[ 8.09270677e-01 -5.81663286e-01 -8.21510381e-02 6.06667306e+01] [ 5.78558606e-01 8.13428990e-01 -6.00268097e-02 2.31761809e+01] [ 1.01739427e-01 1.04874680e-03 9.94810529e-01 6.63661253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:23.19, Z:6.64 [[ 8.08543233e-01 -5.82675337e-01 -8.21419059e-02 6.06886186e+01] [ 5.79574592e-01 8.12704481e-01 -6.00393039e-02 2.31941023e+01] [ 1.01740517e-01 9.37011288e-04 9.94810529e-01 6.63808963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.71, Y:23.21, Z:6.64 [[ 8.08143008e-01 -5.83232583e-01 -8.21257152e-02 6.07105813e+01] [ 5.80132458e-01 8.12304718e-01 -6.00614425e-02 2.32121855e+01] [ 1.01740896e-01 8.94441741e-04 9.94810530e-01 6.63959465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.73, Y:23.23, Z:6.64 [[ 8.08030556e-01 -5.83390689e-01 -8.21092228e-02 6.07316874e+01] [ 5.80289088e-01 8.12191165e-01 -6.00839806e-02 2.32293352e+01] [ 1.01740820e-01 9.02606265e-04 9.94810530e-01 6.64005811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.75, Y:23.25, Z:6.64 [[ 8.08434059e-01 -5.82832456e-01 -8.21017633e-02 6.07537758e+01] [ 5.79726948e-01 8.12591753e-01 -6.00941719e-02 2.32489144e+01] [ 1.01740050e-01 9.85570678e-04 9.94810530e-01 6.64167851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.78, Y:23.27, Z:6.65 [[ 8.08944784e-01 -5.82125402e-01 -8.20874761e-02 6.07751585e+01] [ 5.79014280e-01 8.13098278e-01 -6.01136816e-02 2.32662484e+01] [ 1.01738887e-01 1.09882833e-03 9.94810530e-01 6.64511000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.80, Y:23.28, Z:6.65 [[ 8.09524142e-01 -5.81321765e-01 -8.20711187e-02 6.07967000e+01] [ 5.78204257e-01 8.13672845e-01 -6.01360056e-02 2.32833358e+01] [ 1.01737410e-01 1.22767816e-03 9.94810531e-01 6.64848750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:23.30, Z:6.65 [[ 8.10079516e-01 -5.80549918e-01 -8.20546781e-02 6.08188864e+01] [ 5.77426186e-01 8.14223534e-01 -6.01584304e-02 2.33009658e+01] [ 1.01735822e-01 1.35259235e-03 9.94810531e-01 6.65199845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.84, Y:23.32, Z:6.65 [[ 8.11075253e-01 -5.79160300e-01 -8.20382873e-02 6.08399269e+01] [ 5.76027209e-01 8.15212199e-01 -6.01807743e-02 2.33198657e+01] [ 1.01732928e-01 1.55485104e-03 9.94810532e-01 6.65433864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:23.34, Z:6.66 [[ 8.11603400e-01 -5.78422290e-01 -8.20217955e-02 6.08602831e+01] [ 5.75283167e-01 8.15735771e-01 -6.02032430e-02 2.33368893e+01] [ 1.01731010e-01 1.67539847e-03 9.94810532e-01 6.65689204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.88, Y:23.36, Z:6.66 [[ 8.12600804e-01 -5.77021596e-01 -8.20122671e-02 6.08813702e+01] [ 5.73874041e-01 8.16726755e-01 -6.02162204e-02 2.33561052e+01] [ 1.01727672e-01 1.86703805e-03 9.94810532e-01 6.66186298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:23.37, Z:6.67 [[ 8.12925721e-01 -5.76565802e-01 -8.19978579e-02 6.09030078e+01] [ 5.73413956e-01 8.17048395e-01 -6.02358354e-02 2.33736444e+01] [ 1.01726141e-01 1.94854385e-03 9.94810532e-01 6.66565328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.92, Y:23.39, Z:6.67 [[ 8.13293531e-01 -5.76049234e-01 -8.19811733e-02 6.09240535e+01] [ 5.72892483e-01 8.17412449e-01 -6.02585347e-02 2.33904322e+01] [ 1.01724314e-01 2.04147858e-03 9.94810533e-01 6.66904870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.94, Y:23.41, Z:6.67 [[ 8.13346879e-01 -5.75975250e-01 -8.19717423e-02 6.09447080e+01] [ 5.72816832e-01 8.17464519e-01 -6.02713613e-02 2.34075872e+01] [ 1.01723803e-01 2.06672985e-03 9.94810533e-01 6.67231694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.97, Y:23.43, Z:6.68 [[ 8.13097264e-01 -5.76328922e-01 -8.19622667e-02 6.09658830e+01] [ 5.73170997e-01 8.17215283e-01 -6.02842443e-02 2.34258299e+01] [ 1.01724370e-01 2.03855991e-03 9.94810533e-01 6.67649530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.99, Y:23.44, Z:6.68 [[ 8.12586232e-01 -5.77051543e-01 -8.19459130e-02 6.09883434e+01] [ 5.73895041e-01 8.16705340e-01 -6.03064662e-02 2.34430810e+01] [ 1.01725604e-01 1.97585104e-03 9.94810533e-01 6.67923725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:23.46, Z:6.68 [[ 8.11453473e-01 -5.78645665e-01 -8.19295704e-02 6.10096249e+01] [ 5.75495015e-01 8.15577060e-01 -6.03286604e-02 2.34594848e+01] [ 1.01728796e-01 1.80384162e-03 9.94810534e-01 6.68146855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:23.48, Z:6.69 [[ 8.08104008e-01 -5.83315452e-01 -8.19206629e-02 6.10314364e+01] [ 5.80187408e-01 8.12244769e-01 -6.03407536e-02 2.34761344e+01] [ 1.01737324e-01 1.23226778e-03 9.94810534e-01 6.68594029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:23.49, Z:6.69 [[ 8.05760075e-01 -5.86551283e-01 -8.19041702e-02 6.10534842e+01] [ 5.83437594e-01 8.09911641e-01 -6.03631319e-02 2.34930075e+01] [ 1.01741213e-01 8.52229690e-04 9.94810534e-01 6.68866229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.08, Y:23.51, Z:6.69 [[ 8.03441311e-01 -5.89725760e-01 -8.18876596e-02 6.10757624e+01] [ 5.86626193e-01 8.07603429e-01 -6.03855217e-02 2.35099132e+01] [ 1.01743652e-01 4.78776723e-04 9.94810535e-01 6.69113434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.10, Y:23.53, Z:6.69 [[ 7.98838826e-01 -5.95947675e-01 -8.18712399e-02 6.10977928e+01] [ 5.92878244e-01 8.03023218e-01 -6.04077754e-02 2.35270592e+01] [ 1.01744380e-01 -2.83600543e-04 9.94810535e-01 6.69463823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:23.54, Z:6.70 [[ 7.96761663e-01 -5.98724248e-01 -8.18543072e-02 6.11191054e+01] [ 5.95667042e-01 8.00954995e-01 -6.04307112e-02 2.35429936e+01] [ 1.01742948e-01 -6.09039137e-04 9.94810536e-01 6.69818018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:23.56, Z:6.70 [[ 7.94825051e-01 -6.01294074e-01 -8.18448252e-02 6.11410262e+01] [ 5.98249103e-01 7.99027276e-01 -6.04435504e-02 2.35593662e+01] [ 1.01740596e-01 -9.21545267e-04 9.94810536e-01 6.70233853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:23.58, Z:6.70 [[ 7.91514143e-01 -6.05647987e-01 -8.18283394e-02 6.11614575e+01] [ 6.02623824e-01 7.95731366e-01 -6.04658607e-02 2.35767909e+01] [ 1.01734403e-01 -1.45212291e-03 9.94810536e-01 6.70478667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05687499999999 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:61.18, Y:23.59, Z:6.71 [[ 7.90155720e-01 -6.07420318e-01 -8.18198932e-02 6.11835359e+01] [ 6.04404430e-01 7.94378866e-01 -6.04772876e-02 2.35945477e+01] [ 1.01731127e-01 -1.66583123e-03 9.94810536e-01 6.70749289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:23.61, Z:6.71 [[ 7.89130309e-01 -6.08754098e-01 -8.18034408e-02 6.12052491e+01] [ 6.05743043e-01 7.93356901e-01 -6.04995335e-02 2.36122082e+01] [ 1.01728663e-01 -1.80984963e-03 9.94810536e-01 6.71064597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:23.63, Z:6.71 [[ 7.88823496e-01 -6.09153819e-01 -8.17870210e-02 6.12261589e+01] [ 6.06142605e-01 7.93049975e-01 -6.05217228e-02 2.36308268e+01] [ 1.01728233e-01 -1.83364099e-03 9.94810537e-01 6.71389162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:23.65, Z:6.72 [[ 7.89228997e-01 -6.08630556e-01 -8.17706334e-02 6.12483333e+01] [ 6.05614248e-01 7.93451841e-01 -6.05438559e-02 2.36492523e+01] [ 1.01729900e-01 -1.73849404e-03 9.94810537e-01 6.71564189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.176875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:61.27, Y:23.67, Z:6.72 [[ 7.89931583e-01 -6.07720345e-01 -8.17562040e-02 6.12696534e+01] [ 6.04697156e-01 7.94149502e-01 -6.05633347e-02 2.36675320e+01] [ 1.01732219e-01 -1.59685316e-03 9.94810538e-01 6.71742786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.29, Y:23.69, Z:6.72 [[ 7.90911027e-01 -6.06447336e-01 -8.17396776e-02 6.12905531e+01] [ 6.03415054e-01 7.95122414e-01 -6.05856314e-02 2.36857673e+01] [ 1.01735045e-01 -1.40510800e-03 9.94810538e-01 6.72003375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.31, Y:23.70, Z:6.72 [[ 7.94383780e-01 -6.01893512e-01 -8.17227667e-02 6.13104781e+01] [ 5.98834739e-01 7.98575966e-01 -6.06084337e-02 2.37041043e+01] [ 1.01741660e-01 -7.92075069e-04 9.94810538e-01 6.72246002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:23.72, Z:6.73 [[ 7.96194443e-01 -5.99497477e-01 -8.17140376e-02 6.13319736e+01] [ 5.96424880e-01 8.00376507e-01 -6.06202003e-02 2.37221748e+01] [ 1.01743653e-01 -4.70818486e-04 9.94810538e-01 6.72744066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:23.74, Z:6.73 [[ 7.96027171e-01 -5.99721883e-01 -8.16970454e-02 6.13547944e+01] [ 5.96648115e-01 8.00208374e-01 -6.06430919e-02 2.37392139e+01] [ 1.01743649e-01 -4.70839240e-04 9.94810539e-01 6.73033858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.38, Y:23.76, Z:6.73 [[ 7.98331313e-01 -5.96653574e-01 -8.16800342e-02 6.13760609e+01] [ 5.93561393e-01 8.02498916e-01 -6.06659956e-02 2.37572795e+01] [ 1.01744722e-01 -5.05509846e-05 9.94810539e-01 6.73246935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.40, Y:23.78, Z:6.74 [[ 8.03337163e-01 -5.89897479e-01 -8.16723147e-02 6.13966096e+01] [ 5.86769193e-01 8.07477734e-01 -6.06763863e-02 2.37779053e+01] [ 1.01741423e-01 8.20797848e-04 9.94810539e-01 6.73508326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38687499999999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:61.42, Y:23.80, Z:6.74 [[ 8.05786834e-01 -5.86548869e-01 -8.16578331e-02 6.14180326e+01] [ 5.83401403e-01 8.09912844e-01 -6.06958693e-02 2.37962215e+01] [ 1.01736821e-01 1.26863801e-03 9.94810540e-01 6.73649972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41687499999999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:61.44, Y:23.81, Z:6.74 [[ 8.08282987e-01 -5.83106615e-01 -8.16412219e-02 6.14397806e+01] [ 5.79939324e-01 8.12393797e-01 -6.07182048e-02 2.38139369e+01] [ 1.01730009e-01 1.73053691e-03 9.94810540e-01 6.73779856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44687499999999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:61.46, Y:23.83, Z:6.74 [[ 8.10303268e-01 -5.80298230e-01 -8.16246221e-02 6.14615802e+01] [ 5.77114446e-01 8.14401318e-01 -6.07405120e-02 2.38319914e+01] [ 1.01722811e-01 2.11148679e-03 9.94810540e-01 6.73996151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47687499999999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:61.48, Y:23.85, Z:6.74 [[ 8.13129333e-01 -5.76333968e-01 -8.16078738e-02 6.14830776e+01] [ 5.73127953e-01 8.17210013e-01 -6.07630059e-02 2.38496956e+01] [ 1.01710556e-01 2.63642877e-03 9.94810541e-01 6.74244057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.506875 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:61.50, Y:23.87, Z:6.74 [[ 8.14192260e-01 -5.74833792e-01 -8.15909052e-02 6.15044632e+01] [ 5.71617979e-01 8.18265223e-01 -6.07857825e-02 2.38659124e+01] [ 1.01704722e-01 2.85248527e-03 9.94810541e-01 6.74435433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.536875 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:61.53, Y:23.88, Z:6.75 [[ 8.14727950e-01 -5.74075339e-01 -8.15835373e-02 6.15262212e+01] [ 5.70854745e-01 8.18797134e-01 -6.07956696e-02 2.38831497e+01] [ 1.01701661e-01 2.95958184e-03 9.94810541e-01 6.74622941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.566875 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:61.55, Y:23.90, Z:6.75 [[ 8.15241424e-01 -5.73348308e-01 -8.15667738e-02 6.15481707e+01] [ 5.70121840e-01 8.19305950e-01 -6.08181522e-02 2.39004935e+01] [ 1.01698128e-01 3.07847785e-03 9.94810542e-01 6.74506673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.596875 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:61.57, Y:23.92, Z:6.75 [[ 8.15120781e-01 -5.73522190e-01 -8.15500479e-02 6.15699794e+01] [ 5.70294349e-01 8.19184217e-01 -6.08405715e-02 2.39160746e+01] [ 1.01697930e-01 3.08488268e-03 9.94810542e-01 6.74658247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.626875 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:61.59, Y:23.93, Z:6.75 [[ 8.14816004e-01 -5.73956735e-01 -8.15386115e-02 6.15927003e+01] [ 5.70729530e-01 8.18879945e-01 -6.08558948e-02 2.39321876e+01] [ 1.01698984e-01 3.04986363e-03 9.94810542e-01 6.74896355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.656875 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:61.62, Y:23.95, Z:6.75 [[ 8.14575294e-01 -5.74300684e-01 -8.15218654e-02 6.16157302e+01] [ 5.71072953e-01 8.18638817e-01 -6.08783195e-02 2.39488887e+01] [ 1.01699424e-01 3.03504262e-03 9.94810543e-01 6.75141090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.686875 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:61.64, Y:23.97, Z:6.75 [[ 8.14294963e-01 -5.74700470e-01 -8.15051091e-02 6.16397857e+01] [ 5.71472492e-01 8.18358290e-01 -6.09007449e-02 2.39650381e+01] [ 1.01700068e-01 3.01324205e-03 9.94810543e-01 6.75454267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.716875 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:61.66, Y:23.98, Z:6.76 [[ 8.14374014e-01 -5.74590559e-01 -8.14902138e-02 6.16620896e+01] [ 5.71360042e-01 8.18435321e-01 -6.09206696e-02 2.39803008e+01] [ 1.01698911e-01 3.05195826e-03 9.94810543e-01 6.75802245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.746875 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:61.68, Y:24.00, Z:6.76 [[ 8.14254328e-01 -5.74762563e-01 -8.14732237e-02 6.16842156e+01] [ 5.71530633e-01 8.18314511e-01 -6.09433832e-02 2.39961590e+01] [ 1.01698696e-01 3.05897036e-03 9.94810544e-01 6.76136395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77687499999999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:61.71, Y:24.01, Z:6.77 [[ 8.14204060e-01 -5.74835089e-01 -8.14639105e-02 6.17065168e+01] [ 5.71602278e-01 8.18263541e-01 -6.09558297e-02 2.40121011e+01] [ 1.01698498e-01 3.06552723e-03 9.94810544e-01 6.76503863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80687499999999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:61.73, Y:24.03, Z:6.77 [[ 8.14542282e-01 -5.74358086e-01 -8.14472811e-02 6.17296649e+01] [ 5.71120679e-01 8.18598099e-01 -6.09780414e-02 2.40277389e+01] [ 1.01695821e-01 3.15296651e-03 9.94810544e-01 6.76791316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83687499999999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:61.75, Y:24.04, Z:6.77 [[ 8.14641144e-01 -5.74220215e-01 -8.14306535e-02 6.17520019e+01] [ 5.70979907e-01 8.18694642e-01 -6.10002380e-02 2.40440463e+01] [ 1.01694410e-01 3.19803669e-03 9.94810545e-01 6.77085017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.866875 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:61.77, Y:24.06, Z:6.77 [[ 8.14852534e-01 -5.73922569e-01 -8.14139550e-02 6.17746050e+01] [ 5.70678557e-01 8.18903069e-01 -6.10225166e-02 2.40606135e+01] [ 1.01692337e-01 3.26315388e-03 9.94810545e-01 6.77357662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.896875 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:61.80, Y:24.08, Z:6.78 [[ 8.15438594e-01 -5.73091970e-01 -8.13971331e-02 6.17972210e+01] [ 5.69841597e-01 8.19484026e-01 -6.10449470e-02 2.40766454e+01] [ 1.01688019e-01 3.39493343e-03 9.94810545e-01 6.77551123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.926875 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:61.82, Y:24.09, Z:6.78 [[ 8.15638918e-01 -5.72809197e-01 -8.13804538e-02 6.18198797e+01] [ 5.69555208e-01 8.19681441e-01 -6.10671745e-02 2.40930184e+01] [ 1.01685887e-01 3.45810290e-03 9.94810546e-01 6.77859037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.956875 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:61.84, Y:24.11, Z:6.78 [[ 8.15693006e-01 -5.72734544e-01 -8.13637724e-02 6.18425329e+01] [ 5.69477972e-01 8.19733448e-01 -6.10893922e-02 2.41093343e+01] [ 1.01684611e-01 3.49531383e-03 9.94810546e-01 6.78257093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.986875 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:61.87, Y:24.13, Z:6.79 [[ 8.15723948e-01 -5.72692883e-01 -8.13468027e-02 6.18656236e+01] [ 5.69433857e-01 8.19762410e-01 -6.11119808e-02 2.41262481e+01] [ 1.01683447e-01 3.52888262e-03 9.94810547e-01 6.78691790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.016875 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:61.89, Y:24.14, Z:6.79 [[ 8.15572339e-01 -5.72910859e-01 -8.13320792e-02 6.18877170e+01] [ 5.69650962e-01 8.19610098e-01 -6.11315696e-02 2.41426676e+01] [ 1.01683533e-01 3.52632004e-03 9.94810547e-01 6.79093881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.046875 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:61.91, Y:24.16, Z:6.79 [[ 8.15037265e-01 -5.73674213e-01 -8.13151466e-02 6.19101968e+01] [ 5.70415856e-01 8.19076266e-01 -6.11540846e-02 2.41598885e+01] [ 1.01685828e-01 3.45940893e-03 9.94810547e-01 6.79301969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.076875 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:61.93, Y:24.18, Z:6.80 [[ 8.14512501e-01 -5.74421421e-01 -8.12983225e-02 6.19320369e+01] [ 5.71164541e-01 8.18552692e-01 -6.11764424e-02 2.41765615e+01] [ 1.01688020e-01 3.39425810e-03 9.94810548e-01 6.79508931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.106875 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:61.95, Y:24.19, Z:6.80 [[ 8.13529208e-01 -5.75814505e-01 -8.12888919e-02 6.19540034e+01] [ 5.72563294e-01 8.17573962e-01 -6.11889709e-02 2.41931955e+01] [ 1.01693178e-01 3.23597931e-03 9.94810548e-01 6.79804765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13687499999999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:61.98, Y:24.21, Z:6.80 [[ 8.13011251e-01 -5.76548038e-01 -8.12715514e-02 6.19753837e+01] [ 5.73298178e-01 8.17057091e-01 -6.12119941e-02 2.42090662e+01] [ 1.01695152e-01 3.17320762e-03 9.94810548e-01 6.80021701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16687499999999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:62.00, Y:24.22, Z:6.80 [[ 8.12441261e-01 -5.77352614e-01 -8.12598095e-02 6.19976295e+01] [ 5.74105204e-01 8.16489068e-01 -6.12275777e-02 2.42249870e+01] [ 1.01697648e-01 3.09213092e-03 9.94810548e-01 6.80310125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19687499999999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:62.02, Y:24.24, Z:6.81 [[ 8.11572594e-01 -5.78574675e-01 -8.12482045e-02 6.20201630e+01] [ 5.75331821e-01 8.15624052e-01 -6.12429736e-02 2.42419169e+01] [ 1.01701623e-01 2.95844148e-03 9.94810549e-01 6.80638723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22687499999999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:62.04, Y:24.26, Z:6.81 [[ 8.10409132e-01 -5.80205591e-01 -8.12312228e-02 6.20406298e+01] [ 5.76968637e-01 8.14465304e-01 -6.12654895e-02 2.42589265e+01] [ 1.01706592e-01 2.78224426e-03 9.94810549e-01 6.80824478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.256875 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:62.06, Y:24.28, Z:6.81 [[ 8.09804224e-01 -5.81051183e-01 -8.12197065e-02 6.20630836e+01] [ 5.77816936e-01 8.13862555e-01 -6.12807528e-02 2.42762285e+01] [ 1.01708932e-01 2.69529058e-03 9.94810549e-01 6.81078292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.286875 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:62.09, Y:24.29, Z:6.81 [[ 8.08899500e-01 -5.82312329e-01 -8.12031466e-02 6.20851501e+01] [ 5.79082209e-01 8.12961115e-01 -6.13026886e-02 2.42927077e+01] [ 1.01712312e-01 2.56441658e-03 9.94810549e-01 6.81345071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.316875 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:62.11, Y:24.31, Z:6.82 [[ 8.07723115e-01 -5.83945291e-01 -8.11866232e-02 6.21080367e+01] [ 5.80721186e-01 8.11789506e-01 -6.13245637e-02 2.43093289e+01] [ 1.01716639e-01 2.38647555e-03 9.94810550e-01 6.81682288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.346875 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:62.13, Y:24.33, Z:6.82 [[ 8.05584560e-01 -5.86894378e-01 -8.11696148e-02 6.21305417e+01] [ 5.83682895e-01 8.09660927e-01 -6.13470680e-02 2.43251398e+01] [ 1.01724115e-01 2.04293506e-03 9.94810550e-01 6.81990965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.376875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:62.15, Y:24.34, Z:6.82 [[ 8.04200186e-01 -5.88792247e-01 -8.11526367e-02 6.21527067e+01] [ 5.85588120e-01 8.08282336e-01 -6.13695192e-02 2.43417147e+01] [ 1.01728140e-01 1.83135880e-03 9.94810551e-01 6.82256447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.406875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:62.18, Y:24.36, Z:6.83 [[ 8.03107336e-01 -5.90284352e-01 -8.11356341e-02 6.21756102e+01] [ 5.87085540e-01 8.07193652e-01 -6.13919899e-02 2.43585633e+01] [ 1.01730900e-01 1.67079990e-03 9.94810551e-01 6.82574198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.436875 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:62.20, Y:24.37, Z:6.83 [[ 8.01671121e-01 -5.92235729e-01 -8.11187667e-02 6.21992498e+01] [ 5.89044610e-01 8.05763448e-01 -6.14142693e-02 2.43745114e+01] [ 1.01734262e-01 1.45147382e-03 9.94810551e-01 6.82872088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.466875 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:62.22, Y:24.39, Z:6.83 [[ 8.01207175e-01 -5.92859307e-01 -8.11474264e-02 6.22207441e+01] [ 5.89675204e-01 8.05304966e-01 -6.13764224e-02 2.43902522e+01] [ 1.01736009e-01 1.32460481e-03 9.94810550e-01 6.83274268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.496875 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:62.24, Y:24.41, Z:6.84 [[ 8.00502683e-01 -5.93817430e-01 -8.10944805e-02 6.22434167e+01] [ 5.90631153e-01 8.04598778e-01 -6.14462991e-02 2.44071361e+01] [ 1.01736403e-01 1.29100081e-03 9.94810554e-01 6.83575198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52687499999999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:62.27, Y:24.42, Z:6.84 [[ 7.99474850e-01 -5.95202816e-01 -8.10775679e-02 6.22653542e+01] [ 5.92021375e-01 8.03574702e-01 -6.14686069e-02 2.44227357e+01] [ 1.01738170e-01 1.14295207e-03 9.94810554e-01 6.83806807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55687499999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:62.29, Y:24.44, Z:6.84 [[ 7.98734804e-01 -5.96196797e-01 -8.10684390e-02 6.22883641e+01] [ 5.93019237e-01 8.02837664e-01 -6.14806444e-02 2.44393555e+01] [ 1.01739359e-01 1.03158661e-03 9.94810554e-01 6.84084964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58687499999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:62.31, Y:24.45, Z:6.84 [[ 7.98070941e-01 -5.97087426e-01 -8.10517059e-02 6.23104803e+01] [ 5.93912206e-01 8.02175611e-01 -6.15026962e-02 2.44549029e+01] [ 1.01740188e-01 9.45917247e-04 9.94810554e-01 6.84387971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.616875 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:62.33, Y:24.47, Z:6.85 [[ 7.97142944e-01 -5.98327023e-01 -8.10425805e-02 6.23337242e+01] [ 5.95156963e-01 8.01251602e-01 -6.15147185e-02 2.44713958e+01] [ 1.01741416e-01 8.02967755e-04 9.94810555e-01 6.84655776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.646875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:62.36, Y:24.49, Z:6.85 [[ 7.95647420e-01 -6.00316414e-01 -8.10270736e-02 6.23575438e+01] [ 5.97154548e-01 7.99762385e-01 -6.15351374e-02 2.44864021e+01] [ 1.01742959e-01 5.74587818e-04 9.94810555e-01 6.84970318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.676875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:62.38, Y:24.50, Z:6.85 [[ 7.94878568e-01 -6.01336329e-01 -8.10103768e-02 6.23806705e+01] [ 5.98177503e-01 7.98995868e-01 -6.15571108e-02 2.45023487e+01] [ 1.01743483e-01 4.71843264e-04 9.94810555e-01 6.85329335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.706875 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:62.40, Y:24.52, Z:6.86 [[ 7.93936970e-01 -6.02581206e-01 -8.09936915e-02 6.24035699e+01] [ 5.99426597e-01 7.98057501e-01 -6.15790567e-02 2.45185510e+01] [ 1.01744005e-01 3.40116793e-04 9.94810556e-01 6.85654743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.736875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:62.43, Y:24.53, Z:6.86 [[ 7.93369854e-01 -6.03329929e-01 -8.09769828e-02 6.24264493e+01] [ 6.00176966e-01 7.97491645e-01 -6.16010211e-02 2.45340925e+01] [ 1.01744207e-01 2.71873232e-04 9.94810556e-01 6.86024458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.766875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:62.45, Y:24.55, Z:6.86 [[ 7.93249588e-01 -6.03490271e-01 -8.09603886e-02 6.24490806e+01] [ 6.00335916e-01 7.97370313e-01 -6.16228227e-02 2.45507031e+01] [ 1.01744184e-01 2.78849667e-04 9.94810556e-01 6.86264197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.796875 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:62.47, Y:24.57, Z:6.86 [[ 7.93191778e-01 -6.03568489e-01 -8.09437031e-02 6.24713102e+01] [ 6.00412305e-01 7.97311101e-01 -6.16447319e-02 2.45673596e+01] [ 1.01744131e-01 2.96499177e-04 9.94810557e-01 6.86486498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.826875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:62.49, Y:24.58, Z:6.87 [[ 7.93827049e-01 -6.02734828e-01 -8.09280101e-02 6.24940356e+01] [ 5.99572218e-01 7.97941441e-01 -6.16653271e-02 2.45838182e+01] [ 1.01743653e-01 4.29418114e-04 9.94810557e-01 6.86772386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.856875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:62.52, Y:24.60, Z:6.87 [[ 7.94152919e-01 -6.02307657e-01 -8.09112387e-02 6.25161401e+01] [ 5.99140592e-01 7.98263881e-01 -6.16873251e-02 2.46008482e+01] [ 1.01743268e-01 5.11961805e-04 9.94810558e-01 6.87037787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88687499999999 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:62.54, Y:24.62, Z:6.87 [[ 7.94949882e-01 -6.01257634e-01 -8.08946368e-02 6.25382901e+01] [ 5.98082925e-01 7.99054944e-01 -6.17090886e-02 2.46175078e+01] [ 1.01742320e-01 6.73931719e-04 9.94810558e-01 6.87344496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:62.56, Y:24.63, Z:6.88 [[ 7.95437719e-01 -6.00614319e-01 -8.08781478e-02 6.25612708e+01] [ 5.97434093e-01 7.99538508e-01 -6.17306922e-02 2.46349731e+01] [ 1.01741531e-01 7.83558156e-04 9.94810558e-01 6.87699136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:24.65, Z:6.88 [[ 7.96207614e-01 -5.99595296e-01 -8.08635645e-02 6.25851764e+01] [ 5.96407883e-01 8.00302818e-01 -6.17497895e-02 2.46527171e+01] [ 1.01740222e-01 9.37985236e-04 9.94810559e-01 6.87860557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:24.67, Z:6.88 [[ 7.97083623e-01 -5.98389127e-01 -8.11674260e-02 6.26051327e+01] [ 5.95235950e-01 8.01205408e-01 -6.13519177e-02 2.46689921e+01] [ 1.01744101e-01 5.88838859e-04 9.94810430e-01 6.88228290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.63, Y:24.69, Z:6.88 [[ 7.97262200e-01 -5.98195430e-01 -8.08406595e-02 6.26273318e+01] [ 5.94997811e-01 8.01349421e-01 -6.17795273e-02 2.46861170e+01] [ 1.01737847e-01 1.15446636e-03 9.94810574e-01 6.88474841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.036875 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:62.65, Y:24.70, Z:6.88 [[ 7.96191638e-01 -5.99621865e-01 -8.08238491e-02 6.26485112e+01] [ 5.96429337e-01 8.00282837e-01 -6.18015120e-02 2.47042408e+01] [ 1.01739477e-01 1.00013237e-03 9.94810574e-01 6.88365795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.066875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:62.67, Y:24.72, Z:6.89 [[ 7.96704222e-01 -5.98962152e-01 -8.06642606e-02 6.26723858e+01] [ 5.95745099e-01 8.00776200e-01 -6.20101142e-02 2.47200716e+01] [ 1.01735732e-01 1.34838188e-03 9.94810546e-01 6.89160079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:24.74, Z:6.90 [[ 7.96491147e-01 -5.99226713e-01 -8.08034638e-02 6.26946836e+01] [ 5.96029449e-01 8.00578647e-01 -6.18281935e-02 2.47366918e+01] [ 1.01738633e-01 1.08436478e-03 9.94810572e-01 6.89570016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:24.75, Z:6.90 [[ 7.95754740e-01 -6.00205312e-01 -8.07958987e-02 6.27176287e+01] [ 5.97012071e-01 7.99845384e-01 -6.18380779e-02 2.47545010e+01] [ 1.01739770e-01 9.71816760e-04 9.94810572e-01 6.89986477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.156875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:62.74, Y:24.77, Z:6.90 [[ 7.95307930e-01 -6.00799218e-01 -8.07811591e-02 6.27395054e+01] [ 5.97607077e-01 7.99399432e-01 -6.18573268e-02 2.47711639e+01] [ 1.01740246e-01 9.20230181e-04 9.94810573e-01 6.90277209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.186875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:62.76, Y:24.79, Z:6.91 [[ 7.94979331e-01 -6.01236227e-01 -8.07642481e-02 6.27621290e+01] [ 5.98044092e-01 7.99070838e-01 -6.18793989e-02 2.47882375e+01] [ 1.01740492e-01 8.92261687e-04 9.94810573e-01 6.90516133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.216875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:62.78, Y:24.81, Z:6.91 [[ 7.94815649e-01 -6.01454854e-01 -8.07473981e-02 6.27846715e+01] [ 5.98261612e-01 7.98906291e-01 -6.19013790e-02 2.48056441e+01] [ 1.01740489e-01 8.92116114e-04 9.94810573e-01 6.90805926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:24.82, Z:6.91 [[ 7.94576919e-01 -6.01772477e-01 -8.07304531e-02 6.28079392e+01] [ 5.98578626e-01 7.98667085e-01 -6.19234705e-02 2.48231690e+01] [ 1.01740596e-01 8.79436734e-04 9.94810574e-01 6.90973714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.83, Y:24.84, Z:6.91 [[ 7.94553933e-01 -6.01804809e-01 -8.07156740e-02 6.28300413e+01] [ 5.98609168e-01 7.98642700e-01 -6.19427288e-02 2.48403140e+01] [ 1.01740416e-01 8.99696276e-04 9.94810574e-01 6.91218085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:24.86, Z:6.92 [[ 7.94698483e-01 -6.01616154e-01 -8.06989777e-02 6.28519518e+01] [ 5.98417334e-01 7.98784764e-01 -6.19644731e-02 2.48570174e+01] [ 1.01739942e-01 9.51405654e-04 9.94810574e-01 6.91540572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:24.87, Z:6.92 [[ 7.94912173e-01 -6.01336023e-01 -8.06822428e-02 6.28743912e+01] [ 5.98133552e-01 7.98995593e-01 -6.19862556e-02 2.48743959e+01] [ 1.01739325e-01 1.01487262e-03 9.94810575e-01 6.91873596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.90, Y:24.89, Z:6.92 [[ 7.95637042e-01 -6.00378863e-01 -8.06654708e-02 6.28970281e+01] [ 5.97169268e-01 7.99714864e-01 -6.20080741e-02 2.48921656e+01] [ 1.01737713e-01 1.16498047e-03 9.94810575e-01 6.92199085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.396875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:62.92, Y:24.91, Z:6.92 [[ 7.95969659e-01 -5.99939810e-01 -8.06506396e-02 6.29184490e+01] [ 5.96726013e-01 8.00044169e-01 -6.20273583e-02 2.49090047e+01] [ 1.01736756e-01 1.24556066e-03 9.94810576e-01 6.92485620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:24.93, Z:6.93 [[ 7.96147848e-01 -5.99704640e-01 -8.06408619e-02 6.29406608e+01] [ 5.96488352e-01 8.00220392e-01 -6.20400676e-02 2.49259676e+01] [ 1.01736179e-01 1.29173149e-03 9.94810576e-01 6.92767784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:24.94, Z:6.93 [[ 7.96474751e-01 -5.99272668e-01 -8.06240635e-02 6.29625226e+01] [ 5.96051963e-01 8.00543802e-01 -6.20618903e-02 2.49424744e+01] [ 1.01735089e-01 1.37459735e-03 9.94810576e-01 6.93112241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.98, Y:24.96, Z:6.94 [[ 7.96732803e-01 -5.98930541e-01 -8.06166709e-02 6.29844965e+01] [ 5.95707117e-01 8.00799700e-01 -6.20714916e-02 2.49591381e+01] [ 1.01734318e-01 1.43046883e-03 9.94810576e-01 6.93523821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:24.98, Z:6.94 [[ 7.97021482e-01 -5.98548563e-01 -8.06000929e-02 6.30067625e+01] [ 5.95321014e-01 8.01085107e-01 -6.20930109e-02 2.49764771e+01] [ 1.01733216e-01 1.50653451e-03 9.94810576e-01 6.93873900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.546875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.03, Y:24.99, Z:6.94 [[ 7.97344830e-01 -5.98119971e-01 -8.05836344e-02 6.30284607e+01] [ 5.94888081e-01 8.01405002e-01 -6.21143633e-02 2.49935609e+01] [ 1.01731969e-01 1.58832287e-03 9.94810577e-01 6.94208789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:25.01, Z:6.94 [[ 7.97842436e-01 -5.97458350e-01 -8.05665421e-02 6.30505488e+01] [ 5.94220856e-01 8.01898140e-01 -6.21365252e-02 2.50112766e+01] [ 1.01730146e-01 1.70083698e-03 9.94810577e-01 6.94459334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:25.03, Z:6.95 [[ 7.97885175e-01 -5.97403573e-01 -8.05494803e-02 6.30725513e+01] [ 5.94163568e-01 8.01938874e-01 -6.21586352e-02 2.50287110e+01] [ 1.01729550e-01 1.73588694e-03 9.94810578e-01 6.94741398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:25.05, Z:6.95 [[ 7.97753462e-01 -5.97581772e-01 -8.05322221e-02 6.30942889e+01] [ 5.94340418e-01 8.01806082e-01 -6.21809868e-02 2.50457883e+01] [ 1.01729450e-01 1.74154300e-03 9.94810578e-01 6.94927268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:25.06, Z:6.95 [[ 7.97802734e-01 -5.97518302e-01 -8.05150708e-02 6.31151584e+01] [ 5.94274386e-01 8.01853302e-01 -6.22031873e-02 2.50624455e+01] [ 1.01728818e-01 1.77782861e-03 9.94810578e-01 6.95076334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:25.08, Z:6.95 [[ 7.97503474e-01 -5.97918908e-01 -8.05058203e-02 6.31369942e+01] [ 5.94675819e-01 8.01554705e-01 -6.22151573e-02 2.50796081e+01] [ 1.01729438e-01 1.74193949e-03 9.94810579e-01 6.95438294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.16, Y:25.10, Z:6.96 [[ 7.97341026e-01 -5.98137826e-01 -8.04886881e-02 6.31594488e+01] [ 5.94893613e-01 8.01391356e-01 -6.22373137e-02 2.50964107e+01] [ 1.01729430e-01 1.74215711e-03 9.94810579e-01 6.95811301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.18, Y:25.11, Z:6.96 [[ 7.97051711e-01 -5.98525576e-01 -8.04717612e-02 6.31809898e+01] [ 5.95281126e-01 8.01101850e-01 -6.22591923e-02 2.51133855e+01] [ 1.01729796e-01 1.72047518e-03 9.94810579e-01 6.96190116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.20, Y:25.13, Z:6.96 [[ 7.97288543e-01 -5.98212345e-01 -8.04547665e-02 6.32019015e+01] [ 5.94964088e-01 8.01335630e-01 -6.22811461e-02 2.51307340e+01] [ 1.01728621e-01 1.78834745e-03 9.94810580e-01 6.96338992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.22, Y:25.15, Z:6.97 [[ 7.97095985e-01 -5.98470174e-01 -8.04452717e-02 6.32240752e+01] [ 5.95221990e-01 8.01143130e-01 -6.22934076e-02 2.51486608e+01] [ 1.01728923e-01 1.77103041e-03 9.94810580e-01 6.96577819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.25, Y:25.17, Z:6.97 [[ 7.96984239e-01 -5.98621230e-01 -8.04285125e-02 6.32462711e+01] [ 5.95371631e-01 8.01030247e-01 -6.23150384e-02 2.51663378e+01] [ 1.01728776e-01 1.77924874e-03 9.94810580e-01 6.96852939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:25.18, Z:6.97 [[ 7.97097474e-01 -5.98472704e-01 -8.04116830e-02 6.32679932e+01] [ 5.95220162e-01 8.01141117e-01 -6.23367478e-02 2.51829552e+01] [ 1.01727948e-01 1.82580925e-03 9.94810581e-01 6.97182167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:25.20, Z:6.98 [[ 7.96766957e-01 -5.98913945e-01 -8.04021300e-02 6.32894665e+01] [ 5.95662400e-01 8.00811401e-01 -6.23490668e-02 2.51993683e+01] [ 1.01728668e-01 1.78515049e-03 9.94810581e-01 6.97528782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:25.22, Z:6.98 [[ 7.96557542e-01 -5.99193488e-01 -8.03943158e-02 6.33116949e+01] [ 5.95942345e-01 8.00602310e-01 -6.23591411e-02 2.52168730e+01] [ 1.01729066e-01 1.76226708e-03 9.94810581e-01 6.97955972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.33, Y:25.23, Z:6.98 [[ 7.96280453e-01 -5.99563659e-01 -8.03794649e-02 6.33333280e+01] [ 5.96312466e-01 8.00325180e-01 -6.23782777e-02 2.52343910e+01] [ 1.01729458e-01 1.73932633e-03 9.94810581e-01 6.98411436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:25.25, Z:6.99 [[ 7.96303510e-01 -5.99535336e-01 -8.03623042e-02 6.33547668e+01] [ 5.96281770e-01 8.00346327e-01 -6.24003782e-02 2.52512438e+01] [ 1.01728907e-01 1.77106323e-03 9.94810581e-01 6.98634266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:25.27, Z:6.99 [[ 7.96246819e-01 -5.99611901e-01 -8.03527926e-02 6.33768422e+01] [ 5.96357488e-01 8.00288955e-01 -6.24126238e-02 2.52686805e+01] [ 1.01728804e-01 1.77686366e-03 9.94810582e-01 6.99061984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05687499999999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:63.40, Y:25.29, Z:6.99 [[ 7.95135250e-01 -6.01087420e-01 -8.03358498e-02 6.33959494e+01] [ 5.97838306e-01 7.99181646e-01 -6.24344246e-02 2.52876407e+01] [ 1.01731484e-01 1.61596349e-03 9.94810582e-01 6.98920202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:25.30, Z:7.00 [[ 7.96766133e-01 -5.98956315e-01 -8.00940789e-02 6.34199438e+01] [ 5.95665106e-01 8.00778444e-01 -6.27452387e-02 2.53036742e+01] [ 1.01719269e-01 2.28403318e-03 9.94810521e-01 6.99747734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:25.32, Z:7.00 [[ 7.96749361e-01 -5.98951078e-01 -8.02998252e-02 6.34413359e+01] [ 5.95686440e-01 8.00783249e-01 -6.24808246e-02 2.53212639e+01] [ 1.01725712e-01 1.94804001e-03 9.94810577e-01 6.99998864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:25.34, Z:7.00 [[ 7.96602369e-01 -5.99148784e-01 -8.02832487e-02 6.34626617e+01] [ 5.95883003e-01 8.00635330e-01 -6.25021171e-02 2.53388424e+01] [ 1.01725673e-01 1.94991123e-03 9.94810578e-01 7.00195917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.48, Y:25.36, Z:7.00 [[ 7.96443801e-01 -5.99361765e-01 -8.02667234e-02 6.34843624e+01] [ 5.96094925e-01 8.00475904e-01 -6.25233321e-02 2.53564108e+01] [ 1.01725673e-01 1.94973374e-03 9.94810578e-01 7.00388240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:25.37, Z:7.01 [[ 7.96066940e-01 -5.99864409e-01 -8.02503420e-02 6.35056033e+01] [ 5.96597997e-01 8.00099390e-01 -6.25443510e-02 2.53734548e+01] [ 1.01726380e-01 1.91229683e-03 9.94810578e-01 7.00660263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:25.39, Z:7.01 [[ 7.95721373e-01 -6.00323909e-01 -8.02415229e-02 6.35271888e+01] [ 5.97058685e-01 7.99754785e-01 -6.25556635e-02 2.53903560e+01] [ 1.01727202e-01 1.86798031e-03 9.94810578e-01 7.00949216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.266875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:63.55, Y:25.41, Z:7.01 [[ 7.94721850e-01 -6.01647669e-01 -8.02325570e-02 6.35485228e+01] [ 5.98388004e-01 7.98759755e-01 -6.25671610e-02 2.54080888e+01] [ 1.01729924e-01 1.71329026e-03 9.94810579e-01 7.01216827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:25.42, Z:7.02 [[ 7.92681992e-01 -6.04334823e-01 -8.02164645e-02 6.35690925e+01] [ 6.01086760e-01 7.96729236e-01 -6.25877861e-02 2.54249462e+01] [ 1.01734781e-01 1.39515618e-03 9.94810579e-01 7.01550617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.59, Y:25.44, Z:7.02 [[ 7.91418205e-01 -6.05990091e-01 -8.02074468e-02 6.35912796e+01] [ 6.02749323e-01 7.95471292e-01 -6.25993403e-02 2.54421854e+01] [ 1.01737301e-01 1.19727332e-03 9.94810579e-01 7.01935547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:25.46, Z:7.02 [[ 7.89958127e-01 -6.07894266e-01 -8.01917710e-02 6.36131517e+01] [ 6.04661230e-01 7.94017384e-01 -6.26194152e-02 2.54596879e+01] [ 1.01739644e-01 9.77861065e-04 9.94810579e-01 7.02136069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:25.48, Z:7.02 [[ 7.88187924e-01 -6.10189778e-01 -8.01762446e-02 6.36348597e+01] [ 6.06966544e-01 7.92254968e-01 -6.26392885e-02 2.54770467e+01] [ 1.01741882e-01 7.07232692e-04 9.94810580e-01 7.02359958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:25.49, Z:7.03 [[ 7.84860763e-01 -6.14465485e-01 -8.01607762e-02 6.36553287e+01] [ 6.11262386e-01 7.88943684e-01 -6.26590776e-02 2.54945606e+01] [ 1.01744179e-01 1.79384166e-04 9.94810580e-01 7.02596362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.68, Y:25.51, Z:7.03 [[ 7.83413542e-01 -6.16311360e-01 -8.01469291e-02 6.36758705e+01] [ 6.13116069e-01 7.87502576e-01 -6.26767844e-02 2.55113395e+01] [ 1.01744327e-01 -3.75284411e-05 9.94810580e-01 7.02873987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.70, Y:25.53, Z:7.03 [[ 7.81871930e-01 -6.18267728e-01 -8.01330217e-02 6.36974106e+01] [ 6.15080847e-01 7.85967521e-01 -6.26945601e-02 2.55292035e+01] [ 1.01743976e-01 -2.69170073e-04 9.94810580e-01 7.03472752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:25.55, Z:7.04 [[ 7.80701508e-01 -6.19747210e-01 -8.01158596e-02 6.37193080e+01] [ 6.16565840e-01 7.84801381e-01 -6.27164835e-02 2.55475372e+01] [ 1.01743403e-01 -4.33849101e-04 9.94810581e-01 7.03847305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:25.57, Z:7.04 [[ 7.79160777e-01 -6.21685063e-01 -8.01009672e-02 6.37411346e+01] [ 6.18511935e-01 7.83267032e-01 -6.27354982e-02 2.55658672e+01] [ 1.01742169e-01 -6.62364663e-04 9.94810581e-01 7.04366128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:25.58, Z:7.04 [[ 7.78385744e-01 -6.22657080e-01 -8.00861670e-02 6.37617306e+01] [ 6.19487136e-01 7.82494457e-01 -6.27543861e-02 2.55830232e+01] [ 1.01741445e-01 -7.65230688e-04 9.94810581e-01 7.04444983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:25.60, Z:7.05 [[ 7.78112791e-01 -6.22999374e-01 -8.00766248e-02 6.37815240e+01] [ 6.19829984e-01 7.82221931e-01 -6.27665600e-02 2.56021147e+01] [ 1.01741220e-01 -7.94429934e-04 9.94810582e-01 7.04923690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.80, Y:25.62, Z:7.05 [[ 7.78617940e-01 -6.22370122e-01 -8.00595760e-02 6.38020622e+01] [ 6.19195176e-01 7.82722788e-01 -6.27882984e-02 2.56204035e+01] [ 1.01742015e-01 -6.84407741e-04 9.94810582e-01 7.05119221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:25.64, Z:7.05 [[ 7.79596224e-01 -6.21145488e-01 -8.00500460e-02 6.38237512e+01] [ 6.17962847e-01 7.83695109e-01 -6.28004461e-02 2.56386483e+01] [ 1.01743043e-01 -5.08963687e-04 9.94810582e-01 7.05429317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.85, Y:25.66, Z:7.06 [[ 7.82440806e-01 -6.17560538e-01 -8.00335380e-02 6.38450380e+01] [ 6.14356965e-01 7.86523351e-01 -6.28214771e-02 2.56583332e+01] [ 1.01744312e-01 -1.50743343e-05 9.94810582e-01 7.05816679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:25.68, Z:7.06 [[ 7.84155610e-01 -6.15383611e-01 -8.00186908e-02 6.38658670e+01] [ 6.12166775e-01 7.88227712e-01 -6.28403830e-02 2.56762588e+01] [ 1.01743891e-01 2.91854955e-04 9.94810583e-01 7.05588850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:25.69, Z:7.06 [[ 7.86097672e-01 -6.12901912e-01 -8.00105952e-02 6.38857770e+01] [ 6.09671172e-01 7.90158752e-01 -6.28506889e-02 2.56939274e+01] [ 1.01742379e-01 6.26626916e-04 9.94810583e-01 7.05775705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:25.71, Z:7.06 [[ 7.90002412e-01 -6.07861870e-01 -8.00008423e-02 6.39058840e+01] [ 6.04603967e-01 7.94041733e-01 -6.28631006e-02 2.57135502e+01] [ 1.01736089e-01 1.29317455e-03 9.94810583e-01 7.06384927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.93, Y:25.73, Z:7.06 [[ 7.91797858e-01 -6.05523560e-01 -7.99835627e-02 6.39262221e+01] [ 6.02251508e-01 7.95825727e-01 -6.28850787e-02 2.57317452e+01] [ 1.01731374e-01 1.62204942e-03 9.94810583e-01 7.06169451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83687499999999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:63.95, Y:25.75, Z:7.07 [[ 7.93781118e-01 -6.02922665e-01 -7.99737231e-02 6.39471215e+01] [ 5.99636157e-01 7.97797200e-01 -6.28975897e-02 2.57494954e+01] [ 1.01725195e-01 1.97178312e-03 9.94810583e-01 7.06988644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:25.77, Z:7.07 [[ 7.95585666e-01 -6.00541786e-01 -7.99563058e-02 6.39678611e+01] [ 5.97241038e-01 7.99590052e-01 -6.29197231e-02 2.57671159e+01] [ 1.01718190e-01 2.30484273e-03 9.94810584e-01 7.07294274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:25.79, Z:7.08 [[ 7.98640163e-01 -5.96475004e-01 -7.99466060e-02 6.39889666e+01] [ 5.93152637e-01 8.02626630e-01 -6.29320453e-02 2.57861527e+01] [ 1.01704667e-01 2.83951878e-03 9.94810584e-01 7.07653463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:25.80, Z:7.08 [[ 7.99934578e-01 -5.94740298e-01 -7.99290235e-02 6.40097240e+01] [ 5.91407060e-01 8.03911959e-01 -6.29543688e-02 2.58036574e+01] [ 1.01697398e-01 3.08878767e-03 9.94810584e-01 7.07878598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:25.82, Z:7.08 [[ 8.00984647e-01 -5.93326567e-01 -7.99198401e-02 6.40313765e+01] [ 5.89985148e-01 8.04955157e-01 -6.29660248e-02 2.58220702e+01] [ 1.01691303e-01 3.28330050e-03 9.94810584e-01 7.08098989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:25.84, Z:7.08 [[ 8.03046974e-01 -5.90534627e-01 -7.99025137e-02 6.40519648e+01] [ 5.87177224e-01 8.07003977e-01 -6.29880041e-02 2.58409213e+01] [ 1.01678244e-01 3.66538988e-03 9.94810585e-01 7.08197419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:25.86, Z:7.09 [[ 8.03900679e-01 -5.89374152e-01 -7.98862156e-02 6.40729815e+01] [ 5.86008988e-01 8.07851084e-01 -6.30086678e-02 2.58586203e+01] [ 1.01671846e-01 3.83867049e-03 9.94810585e-01 7.08503196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:25.88, Z:7.09 [[ 8.04325279e-01 -5.88796945e-01 -7.98686626e-02 6.40942257e+01] [ 5.85426743e-01 8.08271386e-01 -6.30309100e-02 2.58761904e+01] [ 1.01667962e-01 3.94010326e-03 9.94810586e-01 7.08779716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.11, Y:25.89, Z:7.09 [[ 8.05188446e-01 -5.87618382e-01 -7.98511308e-02 6.41142782e+01] [ 5.84240209e-01 8.09127730e-01 -6.30531125e-02 2.58936509e+01] [ 1.01660932e-01 4.11739641e-03 9.94810586e-01 7.09017080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.14, Y:25.91, Z:7.09 [[ 8.05028966e-01 -5.87838464e-01 -7.98392365e-02 6.41365537e+01] [ 5.84459878e-01 8.08967896e-01 -6.30681697e-02 2.59113808e+01] [ 1.01661275e-01 4.10887312e-03 9.94810586e-01 7.09307291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.16, Y:25.93, Z:7.10 [[ 8.05075236e-01 -5.87777431e-01 -7.98220211e-02 6.41582388e+01] [ 5.84396392e-01 8.09012061e-01 -6.30899509e-02 2.59292726e+01] [ 1.01659827e-01 4.14445595e-03 9.94810587e-01 7.09598365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:25.95, Z:7.10 [[ 8.04907288e-01 -5.88009725e-01 -7.98048986e-02 6.41803698e+01] [ 5.84627681e-01 8.08843248e-01 -6.31116025e-02 2.59473387e+01] [ 1.01659889e-01 4.14283598e-03 9.94810587e-01 7.09978282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.20, Y:25.96, Z:7.10 [[ 8.04373036e-01 -5.88742428e-01 -7.97895530e-02 6.42017554e+01] [ 5.85362050e-01 8.08310427e-01 -6.31309973e-02 2.59648254e+01] [ 1.01662624e-01 4.07509562e-03 9.94810587e-01 7.10341497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:25.98, Z:7.11 [[ 8.03449789e-01 -5.90004155e-01 -7.97717539e-02 6.42231609e+01] [ 5.86627735e-01 8.07390574e-01 -6.31534802e-02 2.59828005e+01] [ 1.01667778e-01 3.94432708e-03 9.94810588e-01 7.10598263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:26.00, Z:7.11 [[ 8.02621817e-01 -5.91132409e-01 -7.97539572e-02 6.42436862e+01] [ 5.87759300e-01 8.06565437e-01 -6.31759470e-02 2.59996187e+01] [ 1.01672135e-01 3.83026331e-03 9.94810588e-01 7.10796913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:26.02, Z:7.11 [[ 8.01628155e-01 -5.92480369e-01 -7.97452991e-02 6.42654568e+01] [ 5.89112808e-01 8.05576513e-01 -6.31868741e-02 2.60165385e+01] [ 1.01677922e-01 3.67340020e-03 9.94810588e-01 7.11108434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:26.03, Z:7.11 [[ 8.00561463e-01 -5.93923313e-01 -7.97273002e-02 6.42868295e+01] [ 5.90560612e-01 8.04513961e-01 -6.32095764e-02 2.60331425e+01] [ 1.01683367e-01 3.51934776e-03 9.94810589e-01 7.11368284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.31, Y:26.05, Z:7.12 [[ 7.98566746e-01 -5.96603682e-01 -7.97194956e-02 6.43089596e+01] [ 5.93253269e-01 8.02529665e-01 -6.32194180e-02 2.60505820e+01] [ 1.01694198e-01 3.19107355e-03 9.94810589e-01 7.11931249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.33, Y:26.07, Z:7.12 [[ 7.97343304e-01 -5.98239883e-01 -7.97038133e-02 6.43309999e+01] [ 5.94895630e-01 8.01311422e-01 -6.32391832e-02 2.60687267e+01] [ 1.01699778e-01 3.00788905e-03 9.94810589e-01 7.12253575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:26.09, Z:7.13 [[ 7.96195869e-01 -5.99768225e-01 -7.96882325e-02 6.43521858e+01] [ 5.96429628e-01 8.00168746e-01 -6.32588107e-02 2.60859713e+01] [ 1.01704658e-01 2.83798085e-03 9.94810589e-01 7.12528758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.37, Y:26.10, Z:7.13 [[ 7.94604515e-01 -6.01876288e-01 -7.96780894e-02 6.43727332e+01] [ 5.98546953e-01 7.98585157e-01 -6.32715840e-02 2.61025407e+01] [ 1.01711406e-01 2.58480875e-03 9.94810589e-01 7.12887332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.39, Y:26.12, Z:7.13 [[ 7.93887173e-01 -6.02823508e-01 -7.96679013e-02 6.43940091e+01] [ 5.99497636e-01 7.97870709e-01 -6.32844097e-02 2.61203181e+01] [ 1.01714015e-01 2.47996259e-03 9.94810590e-01 7.13139272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:26.14, Z:7.13 [[ 7.93179691e-01 -6.03756387e-01 -7.96505017e-02 6.44141952e+01] [ 6.00433004e-01 7.97165303e-01 -6.33063015e-02 2.61376042e+01] [ 1.01716200e-01 2.38848270e-03 9.94810590e-01 7.13332305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.44, Y:26.16, Z:7.14 [[ 7.92521011e-01 -6.04622008e-01 -7.96409109e-02 6.44350581e+01] [ 6.01301767e-01 7.96509240e-01 -6.33183647e-02 2.61557660e+01] [ 1.01718398e-01 2.29291389e-03 9.94810590e-01 7.13551396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:26.17, Z:7.14 [[ 7.91946503e-01 -6.05376607e-01 -7.96234979e-02 6.44568369e+01] [ 6.02057966e-01 7.95936064e-01 -6.33402543e-02 2.61738981e+01] [ 1.01719922e-01 2.22413168e-03 9.94810590e-01 7.13817479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.48, Y:26.19, Z:7.14 [[ 7.91389703e-01 -6.06106587e-01 -7.96061734e-02 6.44774940e+01] [ 6.02789439e-01 7.95380504e-01 -6.33620203e-02 2.61916243e+01] [ 1.01721336e-01 2.15828979e-03 9.94810591e-01 7.13910685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.50, Y:26.21, Z:7.14 [[ 7.90821739e-01 -6.06848620e-01 -7.95972915e-02 6.44992156e+01] [ 6.03534095e-01 7.94814719e-01 -6.33731761e-02 2.62098987e+01] [ 1.01723023e-01 2.07720606e-03 9.94810591e-01 7.14220174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.52, Y:26.23, Z:7.15 [[ 7.90667404e-01 -6.07051952e-01 -7.95800477e-02 6.45209930e+01] [ 6.03736276e-01 7.94659428e-01 -6.33948224e-02 2.62277132e+01] [ 1.01722986e-01 2.07885807e-03 9.94810591e-01 7.14579928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:26.24, Z:7.15 [[ 7.90807502e-01 -6.06871752e-01 -7.95623766e-02 6.45417819e+01] [ 6.03552937e-01 7.94796916e-01 -6.34169925e-02 2.62448683e+01] [ 1.01721913e-01 2.13052738e-03 9.94810592e-01 7.14909547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:26.26, Z:7.15 [[ 7.91025657e-01 -6.06588705e-01 -7.95522100e-02 6.45639422e+01] [ 6.03267181e-01 7.95012815e-01 -6.34297432e-02 2.62636455e+01] [ 1.01720792e-01 2.18331686e-03 9.94810592e-01 7.15272086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.58, Y:26.28, Z:7.16 [[ 7.92229736e-01 -6.05017288e-01 -7.95369483e-02 6.45847343e+01] [ 6.01685937e-01 7.96208688e-01 -6.34488747e-02 2.62820192e+01] [ 1.01715675e-01 2.40982208e-03 9.94810592e-01 7.15630645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:26.30, Z:7.16 [[ 7.93012110e-01 -6.03993782e-01 -7.95192108e-02 6.46063908e+01] [ 6.00655070e-01 7.96984885e-01 -6.34710970e-02 2.63001682e+01] [ 1.01711757e-01 2.56973141e-03 9.94810593e-01 7.15913993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.63, Y:26.32, Z:7.16 [[ 7.94982710e-01 -6.01400049e-01 -7.95013962e-02 6.46269822e+01] [ 5.98046148e-01 7.98942671e-01 -6.34934031e-02 2.63186236e+01] [ 1.01701994e-01 2.93065388e-03 9.94810593e-01 7.16145052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:26.34, Z:7.16 [[ 7.95911907e-01 -6.00172123e-01 -7.94837039e-02 6.46487795e+01] [ 5.96809905e-01 7.99864809e-01 -6.35155435e-02 2.63367897e+01] [ 1.01696476e-01 3.11611552e-03 9.94810593e-01 7.16412648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:26.35, Z:7.17 [[ 7.96736628e-01 -5.99079242e-01 -7.94657680e-02 6.46705568e+01] [ 5.95709368e-01 8.00683005e-01 -6.35379756e-02 2.63548367e+01] [ 1.01691172e-01 3.28452995e-03 9.94810594e-01 7.16591132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.69, Y:26.37, Z:7.17 [[ 7.97391552e-01 -5.98209627e-01 -7.94478149e-02 6.46927955e+01] [ 5.94833218e-01 8.01332338e-01 -6.35604162e-02 2.63726146e+01] [ 1.01686556e-01 3.42433953e-03 9.94810594e-01 7.16841662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.72, Y:26.39, Z:7.17 [[ 7.98508978e-01 -5.96719625e-01 -7.94298467e-02 6.47152068e+01] [ 5.93333635e-01 8.02441535e-01 -6.35828628e-02 2.63896615e+01] [ 1.01678950e-01 3.64308714e-03 9.94810595e-01 7.17062088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:26.41, Z:7.17 [[ 7.98515019e-01 -5.96712793e-01 -7.94204480e-02 6.47373564e+01] [ 5.93325604e-01 8.02446543e-01 -6.35946005e-02 2.64069663e+01] [ 1.01678376e-01 3.65905837e-03 9.94810595e-01 7.17399943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:26.42, Z:7.18 [[ 7.98546098e-01 -5.96673607e-01 -7.94023620e-02 6.47590003e+01] [ 5.93283986e-01 8.02475524e-01 -6.36171742e-02 2.64236653e+01] [ 1.01677141e-01 3.69309644e-03 9.94810595e-01 7.17571208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.78, Y:26.44, Z:7.18 [[ 7.97850088e-01 -5.97605008e-01 -7.93945345e-02 6.47815117e+01] [ 5.94219004e-01 8.01782631e-01 -6.36269414e-02 2.64398406e+01] [ 1.01680938e-01 3.58701956e-03 9.94810595e-01 7.17965352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.80, Y:26.46, Z:7.18 [[ 7.97456839e-01 -5.98132048e-01 -7.93765913e-02 6.48041682e+01] [ 5.94746420e-01 8.01389706e-01 -6.36493184e-02 2.64564459e+01] [ 1.01682280e-01 3.54864080e-03 9.94810596e-01 7.18222283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:26.47, Z:7.19 [[ 7.96776014e-01 -5.99039812e-01 -7.93680467e-02 6.48264167e+01] [ 5.95657606e-01 8.00711824e-01 -6.36599713e-02 2.64728374e+01] [ 1.01685791e-01 3.44655747e-03 9.94810596e-01 7.18623195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.096875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:64.85, Y:26.49, Z:7.19 [[ 7.95987561e-01 -6.00089454e-01 -7.93501748e-02 6.48491327e+01] [ 5.96710221e-01 7.99925924e-01 -6.36822404e-02 2.64897763e+01] [ 1.01689303e-01 3.34121092e-03 9.94810596e-01 7.18946214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.87, Y:26.50, Z:7.19 [[ 7.95432755e-01 -6.00827031e-01 -7.93322814e-02 6.48718767e+01] [ 5.97449232e-01 7.99372347e-01 -6.37045234e-02 2.65039453e+01] [ 1.01691432e-01 3.27565394e-03 9.94810596e-01 7.19376758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:26.52, Z:7.20 [[ 7.95205045e-01 -6.01129643e-01 -7.93226842e-02 6.48934662e+01] [ 5.97752153e-01 7.99144902e-01 -6.37164713e-02 2.65192825e+01] [ 1.01692178e-01 3.25235415e-03 9.94810597e-01 7.19765026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.186875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:64.92, Y:26.54, Z:7.20 [[ 7.95266063e-01 -6.01050498e-01 -7.93107074e-02 6.49173696e+01] [ 5.97671132e-01 7.99204310e-01 -6.37313758e-02 2.65351347e+01] [ 1.01691234e-01 3.28168001e-03 9.94810597e-01 7.20174339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.94, Y:26.55, Z:7.20 [[ 7.95348008e-01 -6.00944062e-01 -7.92955299e-02 6.49399073e+01] [ 5.97562290e-01 7.99284189e-01 -6.37502544e-02 2.65520862e+01] [ 1.01690000e-01 3.31961941e-03 9.94810597e-01 7.20469158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.96, Y:26.57, Z:7.21 [[ 7.95301120e-01 -6.01008431e-01 -7.92779606e-02 6.49624386e+01] [ 5.97624804e-01 7.99235706e-01 -6.37720957e-02 2.65686811e+01] [ 1.01689344e-01 3.33954340e-03 9.94810597e-01 7.20736177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:26.58, Z:7.21 [[ 7.95521043e-01 -6.00719686e-01 -7.92598840e-02 6.49861047e+01] [ 5.97332398e-01 7.99452476e-01 -6.37945545e-02 2.65839944e+01] [ 1.01687155e-01 3.40541397e-03 9.94810598e-01 7.20715813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30687499999999 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:65.01, Y:26.60, Z:7.21 [[ 7.95441615e-01 -6.00826089e-01 -7.92505433e-02 6.50087874e+01] [ 5.97438172e-01 7.99372507e-01 -6.38061562e-02 2.66003784e+01] [ 1.01687109e-01 3.40677218e-03 9.94810598e-01 7.20944548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:26.62, Z:7.21 [[ 7.95560551e-01 -6.00670971e-01 -7.92325298e-02 6.50317808e+01] [ 5.97280065e-01 7.99488865e-01 -6.38285170e-02 2.66170272e+01] [ 1.01685463e-01 3.45543964e-03 9.94810598e-01 7.21208432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:26.63, Z:7.21 [[ 7.95664580e-01 -6.00535554e-01 -7.92144218e-02 6.50532833e+01] [ 5.97141746e-01 7.99590387e-01 -6.38509821e-02 2.66328511e+01] [ 1.01683875e-01 3.50172672e-03 9.94810599e-01 7.21416678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:26.65, Z:7.22 [[ 7.96050631e-01 -6.00025015e-01 -7.92046358e-02 6.50763745e+01] [ 5.96627485e-01 7.99973216e-01 -6.38631189e-02 2.66485335e+01] [ 1.01681056e-01 3.58261348e-03 9.94810599e-01 7.21846201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:26.67, Z:7.22 [[ 7.95960401e-01 -6.00147098e-01 -7.91864980e-02 6.50991857e+01] [ 5.96747937e-01 7.99881572e-01 -6.38856009e-02 2.66656077e+01] [ 1.01680579e-01 3.59602917e-03 9.94810599e-01 7.22162486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.12, Y:26.68, Z:7.22 [[ 7.95596761e-01 -6.00631164e-01 -7.91707002e-02 6.51220595e+01] [ 5.97232445e-01 7.99518315e-01 -6.39051725e-02 2.66809036e+01] [ 1.01681863e-01 3.55943737e-03 9.94810600e-01 7.22499769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.14, Y:26.70, Z:7.23 [[ 7.95055860e-01 -6.01348143e-01 -7.91617949e-02 6.51442691e+01] [ 5.97951865e-01 7.98979528e-01 -6.39162020e-02 2.66973312e+01] [ 1.01684543e-01 3.48200806e-03 9.94810600e-01 7.22801399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.17, Y:26.71, Z:7.23 [[ 7.94668279e-01 -6.01862623e-01 -7.91436040e-02 6.51657391e+01] [ 5.98466646e-01 7.98592207e-01 -6.39387188e-02 2.67128828e+01] [ 1.01685790e-01 3.44526433e-03 9.94810600e-01 7.23086188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:26.73, Z:7.23 [[ 7.94370392e-01 -6.02257072e-01 -7.91334345e-02 6.51878535e+01] [ 5.98861792e-01 7.98294923e-01 -6.39513026e-02 2.67290473e+01] [ 1.01686943e-01 3.41103085e-03 9.94810600e-01 7.23435192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:26.74, Z:7.24 [[ 7.93474234e-01 -6.03438601e-01 -7.91232903e-02 6.52097762e+01] [ 6.00047917e-01 7.97402736e-01 -6.39638509e-02 2.67440498e+01] [ 1.01691385e-01 3.27590203e-03 9.94810600e-01 7.23692012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.23, Y:26.76, Z:7.24 [[ 7.92766144e-01 -6.04370152e-01 -7.91110650e-02 6.52319588e+01] [ 6.00982578e-01 7.96697328e-01 -6.39789678e-02 2.67605656e+01] [ 1.01694553e-01 3.17598784e-03 9.94810601e-01 7.24008633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.25, Y:26.78, Z:7.24 [[ 7.92220585e-01 -6.05087474e-01 -7.90929497e-02 6.52534553e+01] [ 6.01701228e-01 7.96152912e-01 -6.40013548e-02 2.67760561e+01] [ 1.01696500e-01 3.11286575e-03 9.94810601e-01 7.24266153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.28, Y:26.79, Z:7.25 [[ 7.91346304e-01 -6.06231718e-01 -7.90830710e-02 6.52765753e+01] [ 6.02849940e-01 7.95282474e-01 -6.40135590e-02 2.67927765e+01] [ 1.01700430e-01 2.98166870e-03 9.94810601e-01 7.24521779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.30, Y:26.81, Z:7.25 [[ 7.90178924e-01 -6.07754872e-01 -7.90650606e-02 6.53003938e+01] [ 6.04378460e-01 7.94119697e-01 -6.40357966e-02 2.68084376e+01] [ 1.01705189e-01 2.81451727e-03 9.94810602e-01 7.24524408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:26.83, Z:7.25 [[ 7.89572386e-01 -6.08544873e-01 -7.90479972e-02 6.53226583e+01] [ 6.05170298e-01 7.93514732e-01 -6.40568533e-02 2.68254256e+01] [ 1.01707220e-01 2.74002247e-03 9.94810602e-01 7.24672796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:26.84, Z:7.25 [[ 7.88898103e-01 -6.09421062e-01 -7.90300768e-02 6.53447000e+01] [ 6.06048654e-01 7.92842303e-01 -6.40789551e-02 2.68419371e+01] [ 1.01709453e-01 2.65569440e-03 9.94810602e-01 7.24955706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:26.86, Z:7.25 [[ 7.88532816e-01 -6.09896011e-01 -7.90117359e-02 6.53673241e+01] [ 6.06523716e-01 7.92477111e-01 -6.41015622e-02 2.68566852e+01] [ 1.01710279e-01 2.62369367e-03 9.94810603e-01 7.25328576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:26.87, Z:7.26 [[ 7.88226379e-01 -6.10293378e-01 -7.90010697e-02 6.53897182e+01] [ 6.06921755e-01 7.92171249e-01 -6.41147050e-02 2.68732016e+01] [ 1.01711156e-01 2.58943386e-03 9.94810603e-01 7.25726375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.41, Y:26.89, Z:7.26 [[ 7.88037746e-01 -6.10539217e-01 -7.89833915e-02 6.54121438e+01] [ 6.07166645e-01 7.91981804e-01 -6.41364755e-02 2.68896886e+01] [ 1.01711242e-01 2.58588276e-03 9.94810603e-01 7.26125493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.43, Y:26.90, Z:7.27 [[ 7.87718550e-01 -6.10953317e-01 -7.89653770e-02 6.54341318e+01] [ 6.07580598e-01 7.91662482e-01 -6.41586475e-02 2.69049979e+01] [ 1.01711865e-01 2.56112577e-03 9.94810604e-01 7.26549994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:26.92, Z:7.27 [[ 7.87694834e-01 -6.10985229e-01 -7.89550451e-02 6.54551979e+01] [ 6.07611396e-01 7.91637813e-01 -6.41713597e-02 2.69211544e+01] [ 1.01711552e-01 2.57346333e-03 9.94810604e-01 7.26789289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.48, Y:26.94, Z:7.27 [[ 7.87348071e-01 -6.11433298e-01 -7.89451485e-02 6.54782012e+01] [ 6.08060491e-01 7.91291927e-01 -6.41835325e-02 2.69378659e+01] [ 1.01712608e-01 2.53135480e-03 9.94810604e-01 7.26996283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:26.95, Z:7.27 [[ 7.87350961e-01 -6.11431870e-01 -7.89273858e-02 6.54999505e+01] [ 6.08056869e-01 7.91292939e-01 -6.42053681e-02 2.69542302e+01] [ 1.01711891e-01 2.55981922e-03 9.94810604e-01 7.27311372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:26.97, Z:7.28 [[ 7.86958200e-01 -6.11938577e-01 -7.89174859e-02 6.55221234e+01] [ 6.08564895e-01 7.90901307e-01 -6.42175342e-02 2.69714763e+01] [ 1.01713129e-01 2.51010360e-03 9.94810604e-01 7.27632503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.54, Y:26.99, Z:7.28 [[ 7.86788203e-01 -6.12159447e-01 -7.88995249e-02 6.55441478e+01] [ 6.08784662e-01 7.90730365e-01 -6.42395940e-02 2.69895462e+01] [ 1.01713125e-01 2.51013416e-03 9.94810605e-01 7.27922305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.57, Y:27.01, Z:7.28 [[ 7.86345602e-01 -6.12730194e-01 -7.88815773e-02 6.55667595e+01] [ 6.09356062e-01 7.90288323e-01 -6.42616250e-02 2.70054523e+01] [ 1.01714227e-01 2.46487887e-03 9.94810605e-01 7.28173907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.59, Y:27.02, Z:7.28 [[ 7.85711331e-01 -6.13545616e-01 -7.88636841e-02 6.55888090e+01] [ 6.10173374e-01 7.89655669e-01 -6.42835766e-02 2.70222338e+01] [ 1.01716062e-01 2.38781434e-03 9.94810606e-01 7.28405037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:27.04, Z:7.29 [[ 7.85179435e-01 -6.14228466e-01 -7.88457047e-02 6.56105642e+01] [ 6.10857443e-01 7.89124814e-01 -6.43056214e-02 2.70383138e+01] [ 1.01717445e-01 2.32796598e-03 9.94810606e-01 7.28632701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:27.05, Z:7.29 [[ 7.84428422e-01 -6.15188865e-01 -7.88334434e-02 6.56323455e+01] [ 6.11821163e-01 7.88376635e-01 -6.43206492e-02 2.70549399e+01] [ 1.01719792e-01 2.22297628e-03 9.94810606e-01 7.28956952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.65, Y:27.07, Z:7.29 [[ 7.83835532e-01 -6.15945373e-01 -7.88235756e-02 6.56547009e+01] [ 6.12580266e-01 7.87785958e-01 -6.43327397e-02 2.70718023e+01] [ 1.01721559e-01 2.14052031e-03 9.94810606e-01 7.29307081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:27.09, Z:7.29 [[ 7.82925462e-01 -6.17104019e-01 -7.88057803e-02 6.56764162e+01] [ 6.13742567e-01 7.86878997e-01 -6.43545311e-02 2.70882300e+01] [ 1.01724053e-01 2.01833911e-03 9.94810607e-01 7.29292434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:27.10, Z:7.30 [[ 7.82796151e-01 -6.17269262e-01 -7.87962194e-02 6.56985812e+01] [ 6.13907467e-01 7.86749395e-01 -6.43662355e-02 2.71049967e+01] [ 1.01724177e-01 2.01205392e-03 9.94810607e-01 7.29529587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.72, Y:27.12, Z:7.30 [[ 7.82512797e-01 -6.17630699e-01 -7.87784382e-02 6.57197648e+01] [ 6.14268540e-01 7.86465732e-01 -6.43879908e-02 2.71214457e+01] [ 1.01724542e-01 1.99331058e-03 9.94810607e-01 7.29768929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.74, Y:27.14, Z:7.30 [[ 7.82109655e-01 -6.18142342e-01 -7.87688568e-02 6.57425517e+01] [ 6.14781590e-01 7.86063785e-01 -6.43997101e-02 2.71374428e+01] [ 1.01725533e-01 1.94199200e-03 9.94810607e-01 7.30022448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.76, Y:27.15, Z:7.30 [[ 7.81968097e-01 -6.18323642e-01 -7.87513111e-02 6.57646533e+01] [ 6.14961648e-01 7.85921171e-01 -6.44211587e-02 2.71540998e+01] [ 1.01725448e-01 1.94625490e-03 9.94810608e-01 7.30292132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.79, Y:27.17, Z:7.31 [[ 7.81730629e-01 -6.18626122e-01 -7.87333841e-02 6.57870645e+01] [ 6.15263453e-01 7.85683127e-01 -6.44430611e-02 2.71709240e+01] [ 1.01725652e-01 1.93534091e-03 9.94810608e-01 7.30563226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:27.19, Z:7.31 [[ 7.81157545e-01 -6.19351889e-01 -7.87154877e-02 6.58101683e+01] [ 6.15990691e-01 7.85111294e-01 -6.44649137e-02 2.71870024e+01] [ 1.01726885e-01 1.86924603e-03 9.94810609e-01 7.31033528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:27.20, Z:7.31 [[ 7.79613020e-01 -6.21295971e-01 -7.87073990e-02 6.58318904e+01] [ 6.17943637e-01 7.83574287e-01 -6.44747880e-02 2.72039940e+01] [ 1.01731020e-01 1.62864788e-03 9.94810609e-01 7.31325594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.85, Y:27.22, Z:7.31 [[ 7.77592174e-01 -6.23825611e-01 -7.86893793e-02 6.58525293e+01] [ 6.20483940e-01 7.81562439e-01 -6.44967731e-02 2.72213516e+01] [ 1.01735402e-01 1.32668984e-03 9.94810609e-01 7.31417015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:27.24, Z:7.32 [[ 7.71451817e-01 -6.31404781e-01 -7.86771694e-02 6.58763184e+01] [ 6.28100601e-01 7.75453339e-01 -6.45116640e-02 2.72370071e+01] [ 1.01743447e-01 3.50463037e-04 9.94810609e-01 7.32304435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:27.25, Z:7.33 [[ 7.67911908e-01 -6.35707221e-01 -7.86614989e-02 6.58981870e+01] [ 6.32423504e-01 7.71930238e-01 -6.45307661e-02 2.72534017e+01] [ 1.01743864e-01 -1.93437029e-04 9.94810610e-01 7.32966992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.92, Y:27.27, Z:7.33 [[ 7.65364574e-01 -6.38774039e-01 -7.86434743e-02 6.59186814e+01] [ 6.35504167e-01 7.69394177e-01 -6.45527252e-02 2.72703756e+01] [ 1.01742436e-01 -5.71886609e-04 9.94810610e-01 7.33229142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:27.29, Z:7.33 [[ 7.62493904e-01 -6.42199186e-01 -7.86336566e-02 6.59391328e+01] [ 6.38946181e-01 7.66537135e-01 -6.45646823e-02 2.72902236e+01] [ 1.01739004e-01 -1.01249793e-03 9.94810610e-01 7.32905977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:27.31, Z:7.33 [[ 7.62397523e-01 -6.42315650e-01 -7.86169322e-02 6.59604426e+01] [ 6.39061163e-01 7.66439562e-01 -6.45850403e-02 2.73093104e+01] [ 1.01739109e-01 -1.00155342e-03 9.94810610e-01 7.33002054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.98, Y:27.33, Z:7.33 [[ 7.62952313e-01 -6.41658451e-01 -7.86015302e-02 6.59826088e+01] [ 6.38398552e-01 7.66989988e-01 -6.46037795e-02 2.73281179e+01] [ 1.01740148e-01 -8.89500001e-04 9.94810611e-01 7.33160942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:27.35, Z:7.34 [[ 7.65154625e-01 -6.39032572e-01 -7.85860837e-02 6.60043382e+01] [ 6.35756886e-01 7.69179502e-01 -6.46225637e-02 2.73471121e+01] [ 1.01742728e-01 -5.15390345e-04 9.94810611e-01 7.33513180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.03, Y:27.37, Z:7.34 [[ 7.66479548e-01 -6.37444697e-01 -7.85707370e-02 6.60253966e+01] [ 6.34158760e-01 7.70496061e-01 -6.46412175e-02 2.73652342e+01] [ 1.01743645e-01 -2.80149914e-04 9.94810611e-01 7.33914984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:27.38, Z:7.34 [[ 7.68024516e-01 -6.35584477e-01 -7.85539088e-02 6.60454178e+01] [ 6.32286720e-01 7.72031329e-01 -6.46616612e-02 2.73832638e+01] [ 1.01744027e-01 -6.85229478e-06 9.94810612e-01 7.34280238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:27.40, Z:7.35 [[ 7.70002286e-01 -6.33188283e-01 -7.85434746e-02 6.60667023e+01] [ 6.29876765e-01 7.73997733e-01 -6.46743330e-02 2.74025272e+01] [ 1.01743501e-01 3.26674594e-04 9.94810612e-01 7.34754949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:27.42, Z:7.35 [[ 7.74058155e-01 -6.28225521e-01 -7.85281307e-02 6.60869307e+01] [ 6.24886498e-01 7.78030645e-01 -6.46929584e-02 2.74228902e+01] [ 1.01739060e-01 1.00494338e-03 9.94810612e-01 7.35216028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:27.44, Z:7.35 [[ 7.75773193e-01 -6.26108399e-01 -7.85125836e-02 6.61069514e+01] [ 6.22756628e-01 7.79734931e-01 -6.47118212e-02 2.74412909e+01] [ 1.01735619e-01 1.30746437e-03 9.94810612e-01 7.35443588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:27.46, Z:7.36 [[ 7.79098642e-01 -6.21967033e-01 -7.85004198e-02 6.61271932e+01] [ 6.18592719e-01 7.83041198e-01 -6.47265735e-02 2.74612816e+01] [ 1.01726858e-01 1.86859734e-03 9.94810613e-01 7.35610285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:27.48, Z:7.36 [[ 7.80499990e-01 -6.20209832e-01 -7.84826745e-02 6.61481166e+01] [ 6.16824482e-01 7.84433072e-01 -6.47480830e-02 2.74806919e+01] [ 1.01721803e-01 2.12584309e-03 9.94810613e-01 7.35861065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:27.50, Z:7.36 [[ 7.82101225e-01 -6.18191733e-01 -7.84643506e-02 6.61678437e+01] [ 6.14794010e-01 7.86023623e-01 -6.47702811e-02 2.74986214e+01] [ 1.01715286e-01 2.41750347e-03 9.94810613e-01 7.36095068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:27.52, Z:7.36 [[ 7.83233578e-01 -6.16757732e-01 -7.84542062e-02 6.61876845e+01] [ 6.13351598e-01 7.87148675e-01 -6.47825664e-02 2.75166719e+01] [ 1.01710273e-01 2.61986847e-03 9.94810613e-01 7.36231038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:27.53, Z:7.36 [[ 7.84919584e-01 -6.14611767e-01 -7.84450275e-02 6.62081476e+01] [ 6.11193822e-01 7.88824373e-01 -6.47936789e-02 2.75349884e+01] [ 1.01702307e-01 2.91271135e-03 9.94810614e-01 7.36438619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:27.55, Z:7.37 [[ 7.85285974e-01 -6.14144733e-01 -7.84358666e-02 6.62294410e+01] [ 6.10723360e-01 7.89187760e-01 -6.48047669e-02 2.75531796e+01] [ 1.01700132e-01 2.98765854e-03 9.94810614e-01 7.36814063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:27.57, Z:7.37 [[ 7.85172321e-01 -6.14292380e-01 -7.84174569e-02 6.62501044e+01] [ 6.10869519e-01 7.89072802e-01 -6.48270360e-02 2.75711661e+01] [ 1.01699837e-01 2.99756016e-03 9.94810614e-01 7.37054783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.27, Y:27.59, Z:7.37 [[ 7.84962041e-01 -6.14562659e-01 -7.84049313e-02 6.62708899e+01] [ 6.11139630e-01 7.88862373e-01 -6.48421815e-02 2.75892785e+01] [ 1.01700284e-01 2.98229043e-03 9.94810614e-01 7.37349192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:27.61, Z:7.38 [[ 7.84682565e-01 -6.14921779e-01 -7.83867232e-02 6.62916344e+01] [ 6.11498340e-01 7.88582537e-01 -6.48641857e-02 2.76072379e+01] [ 1.01700801e-01 2.96444450e-03 9.94810615e-01 7.37591600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:27.62, Z:7.38 [[ 7.84101427e-01 -6.15663963e-01 -7.83762561e-02 6.63122900e+01] [ 6.12242953e-01 7.88003530e-01 -6.48768308e-02 2.76249781e+01] [ 1.01703093e-01 2.88470509e-03 9.94810615e-01 7.37872746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:27.64, Z:7.38 [[ 7.83739279e-01 -6.16126460e-01 -7.83640757e-02 6.63340002e+01] [ 6.12706284e-01 7.87642113e-01 -6.48915401e-02 2.76429523e+01] [ 1.01704241e-01 2.84388723e-03 9.94810615e-01 7.38246638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:27.66, Z:7.39 [[ 7.82821535e-01 -6.17294358e-01 -7.83461494e-02 6.63554058e+01] [ 6.13877843e-01 7.86727573e-01 -6.49131760e-02 2.76609321e+01] [ 1.01707613e-01 2.72046696e-03 9.94810615e-01 7.38550207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:27.68, Z:7.39 [[ 7.82321862e-01 -6.17929763e-01 -7.83282363e-02 6.63768461e+01] [ 6.14514259e-01 7.86228783e-01 -6.49347839e-02 2.76785159e+01] [ 1.01709050e-01 2.66608293e-03 9.94810616e-01 7.38886150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.40, Y:27.70, Z:7.39 [[ 7.81814251e-01 -6.18574165e-01 -7.83101470e-02 6.63971854e+01] [ 6.15159698e-01 7.85722080e-01 -6.49565920e-02 2.76956083e+01] [ 1.01710481e-01 2.61074296e-03 9.94810616e-01 7.39105640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:27.71, Z:7.39 [[ 7.81063505e-01 -6.19523105e-01 -7.83002150e-02 6.64185643e+01] [ 6.16112188e-01 7.84974431e-01 -6.49685622e-02 2.77135790e+01] [ 1.01713192e-01 2.50285608e-03 9.94810616e-01 7.39307309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:27.73, Z:7.40 [[ 7.80489325e-01 -6.20248511e-01 -7.82828113e-02 6.64402078e+01] [ 6.16839128e-01 7.84401589e-01 -6.49895257e-02 2.77321417e+01] [ 1.01714818e-01 2.43572998e-03 9.94810617e-01 7.39519502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.46, Y:27.75, Z:7.40 [[ 7.80107694e-01 -6.20730670e-01 -7.82650718e-02 6.64618369e+01] [ 6.17321564e-01 7.84020199e-01 -6.50108820e-02 2.77504704e+01] [ 1.01715645e-01 2.40077272e-03 9.94810617e-01 7.39735873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.48, Y:27.77, Z:7.40 [[ 7.79841723e-01 -6.21067077e-01 -7.82468693e-02 6.64830454e+01] [ 6.17657464e-01 7.83753784e-01 -6.50327831e-02 2.77683556e+01] [ 1.01716000e-01 2.38551474e-03 9.94810617e-01 7.40058533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.50, Y:27.79, Z:7.40 [[ 7.80052675e-01 -6.20804410e-01 -7.82285678e-02 6.65037693e+01] [ 6.17391274e-01 7.83961663e-01 -6.50547907e-02 2.77862179e+01] [ 1.01714499e-01 2.44852835e-03 9.94810618e-01 7.40295256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.52, Y:27.80, Z:7.41 [[ 7.80175817e-01 -6.20650886e-01 -7.82187390e-02 6.65249694e+01] [ 6.17235797e-01 7.84083100e-01 -6.50666063e-02 2.78041808e+01] [ 1.01713638e-01 2.48398702e-03 9.94810618e-01 7.40645945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:27.82, Z:7.41 [[ 7.80034053e-01 -6.20831309e-01 -7.82007793e-02 6.65461618e+01] [ 6.17414962e-01 7.83940235e-01 -6.50881842e-02 2.78223251e+01] [ 1.01713520e-01 2.48866890e-03 9.94810618e-01 7.40931687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:27.84, Z:7.41 [[ 7.79761957e-01 -6.21175282e-01 -7.81828607e-02 6.65678834e+01] [ 6.17758503e-01 7.83667761e-01 -6.51097007e-02 2.78410311e+01] [ 1.01713924e-01 2.47194072e-03 9.94810619e-01 7.41427088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:27.86, Z:7.42 [[ 7.79267061e-01 -6.21798012e-01 -7.81670066e-02 6.65880286e+01] [ 6.18382447e-01 7.83173926e-01 -6.51287287e-02 2.78583351e+01] [ 1.01715275e-01 2.41556816e-03 9.94810619e-01 7.41761706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.61, Y:27.88, Z:7.42 [[ 7.78810583e-01 -6.22370957e-01 -7.81566900e-02 6.66090527e+01] [ 6.18957025e-01 7.82718875e-01 -6.51411067e-02 2.78761346e+01] [ 1.01716649e-01 2.35695092e-03 9.94810619e-01 7.42070133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:27.89, Z:7.42 [[ 7.76110479e-01 -6.25737055e-01 -7.81387376e-02 6.66305688e+01] [ 6.22337910e-01 7.80031638e-01 -6.51626340e-02 2.78937275e+01] [ 1.01725362e-01 1.94470443e-03 9.94810620e-01 7.42303804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.65, Y:27.91, Z:7.42 [[ 7.71707943e-01 -6.31160846e-01 -7.81206566e-02 6.66513723e+01] [ 6.27787072e-01 7.75650951e-01 -6.51843034e-02 2.79106586e+01] [ 1.01736142e-01 1.26010641e-03 9.94810620e-01 7.42471168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:27.93, Z:7.43 [[ 7.68245270e-01 -6.35372543e-01 -7.81084902e-02 6.66732897e+01] [ 6.32018906e-01 7.72205419e-01 -6.51988788e-02 2.79278472e+01] [ 1.01741377e-01 7.22687751e-04 9.94810620e-01 7.42829034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.70, Y:27.94, Z:7.43 [[ 7.62929977e-01 -6.41747356e-01 -7.80908495e-02 6.66958620e+01] [ 6.38424647e-01 7.66916111e-01 -6.52200010e-02 2.79440810e+01] [ 1.01743894e-01 -9.68291808e-05 9.94810621e-01 7.43245155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.72, Y:27.96, Z:7.43 [[ 7.61201733e-01 -6.43798480e-01 -7.80732933e-02 6.67174965e+01] [ 6.40484356e-01 7.65195008e-01 -6.52410104e-02 2.79620983e+01] [ 1.01743358e-01 -3.43152816e-04 9.94810621e-01 7.43413588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:27.98, Z:7.44 [[ 7.60055337e-01 -6.45153604e-01 -7.80558249e-02 6.67391173e+01] [ 6.41844454e-01 7.64052734e-01 -6.52619033e-02 2.79807388e+01] [ 1.01742719e-01 -4.97040364e-04 9.94810621e-01 7.43618881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.76, Y:28.00, Z:7.44 [[ 7.60378480e-01 -6.44774857e-01 -7.80381318e-02 6.67600761e+01] [ 6.41461546e-01 7.64372428e-01 -6.52830533e-02 2.79989421e+01] [ 1.01743068e-01 -4.18631777e-04 9.94810622e-01 7.43836641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:28.02, Z:7.44 [[ 7.61416122e-01 -6.43551288e-01 -7.80206965e-02 6.67817300e+01] [ 6.40229424e-01 7.65402958e-01 -6.53038839e-02 2.80166469e+01] [ 1.01743670e-01 -2.27715503e-04 9.94810622e-01 7.44263658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:28.03, Z:7.45 [[ 7.62696311e-01 -6.42035707e-01 -7.80031320e-02 6.68029526e+01] [ 6.38703775e-01 7.66674736e-01 -6.53248575e-02 2.80344689e+01] [ 1.01743922e-01 2.13300702e-06 9.94810622e-01 7.44711673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:28.05, Z:7.45 [[ 7.64520055e-01 -6.39865121e-01 -7.79853386e-02 6.68240176e+01] [ 6.36519727e-01 7.68487167e-01 -6.53460925e-02 2.80525891e+01] [ 1.01743417e-01 3.19191760e-04 9.94810623e-01 7.45168243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.84, Y:28.07, Z:7.45 [[ 7.68377371e-01 -6.35230085e-01 -7.79676580e-02 6.68439829e+01] [ 6.31858622e-01 7.72322351e-01 -6.53671813e-02 2.80716987e+01] [ 1.01739365e-01 9.62125942e-04 9.94810623e-01 7.45473465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.86, Y:28.09, Z:7.46 [[ 7.70568187e-01 -6.32572892e-01 -7.79500130e-02 6.68637546e+01] [ 6.29185699e-01 7.74499669e-01 -6.53882162e-02 2.80896092e+01] [ 1.01735072e-01 1.34104585e-03 9.94810624e-01 7.45680770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:28.11, Z:7.46 [[ 7.70398838e-01 -6.32780615e-01 -7.79379500e-02 6.68854998e+01] [ 6.29393027e-01 7.74329980e-01 -6.54025913e-02 2.81080031e+01] [ 1.01735183e-01 1.33247808e-03 9.94810624e-01 7.45971032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.91, Y:28.13, Z:7.46 [[ 7.72596317e-01 -6.30097890e-01 -7.79203446e-02 6.69065597e+01] [ 6.26694540e-01 7.76513819e-01 -6.54235595e-02 2.81272354e+01] [ 1.01729471e-01 1.71374659e-03 9.94810624e-01 7.46208329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.93, Y:28.15, Z:7.46 [[ 7.74634610e-01 -6.27592550e-01 -7.79025788e-02 6.69271592e+01] [ 6.24174405e-01 7.78539211e-01 -6.54447073e-02 2.81453703e+01] [ 1.01722823e-01 2.07093957e-03 9.94810624e-01 7.46457028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:28.16, Z:7.47 [[ 7.77243307e-01 -6.24360119e-01 -7.78927734e-02 6.69473337e+01] [ 6.20924569e-01 7.81132602e-01 -6.54563758e-02 2.81643336e+01] [ 1.01712935e-01 2.50999318e-03 9.94810625e-01 7.46754558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:28.18, Z:7.47 [[ 7.77767711e-01 -6.23708994e-01 -7.78747577e-02 6.69685931e+01] [ 6.20268045e-01 7.81652230e-01 -6.54778024e-02 2.81832224e+01] [ 1.01710072e-01 2.62329674e-03 9.94810625e-01 7.47047558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.99, Y:28.20, Z:7.47 [[ 7.78370592e-01 -6.22958752e-01 -7.78563757e-02 6.69892608e+01] [ 6.19511876e-01 7.82249852e-01 -6.54996523e-02 2.82011842e+01] [ 1.01706720e-01 2.75005374e-03 9.94810625e-01 7.47295718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.01, Y:28.22, Z:7.48 [[ 7.78887131e-01 -6.22314050e-01 -7.78463876e-02 6.70103730e+01] [ 6.18862779e-01 7.82762481e-01 -6.55115210e-02 2.82194215e+01] [ 1.01703971e-01 2.84984893e-03 9.94810625e-01 7.47744769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.03, Y:28.24, Z:7.48 [[ 7.78857159e-01 -6.22353879e-01 -7.78278569e-02 6.70304244e+01] [ 6.18900610e-01 7.82730727e-01 -6.55335282e-02 2.82366576e+01] [ 1.01703301e-01 2.87354945e-03 9.94810626e-01 7.48038569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.156875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:67.05, Y:28.25, Z:7.48 [[ 7.78881866e-01 -6.22324233e-01 -7.78176636e-02 6.70516235e+01] [ 6.18869608e-01 7.82754226e-01 -6.55456300e-02 2.82548271e+01] [ 1.01702739e-01 2.89331560e-03 9.94810626e-01 7.48328380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:28.27, Z:7.49 [[ 7.78985771e-01 -6.22196472e-01 -7.77992224e-02 6.70711103e+01] [ 6.18739031e-01 7.82855615e-01 -6.55675115e-02 2.82728527e+01] [ 1.01701432e-01 2.93874305e-03 9.94810626e-01 7.48611293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:28.29, Z:7.49 [[ 7.79339384e-01 -6.21754810e-01 -7.77886870e-02 6.70923241e+01] [ 6.18293930e-01 7.83206153e-01 -6.55800082e-02 2.82911770e+01] [ 1.01699264e-01 3.01281021e-03 9.94810627e-01 7.48937690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:28.31, Z:7.49 [[ 7.79663227e-01 -6.21350987e-01 -7.77701933e-02 6.71125851e+01] [ 6.17885920e-01 7.83526245e-01 -6.56019323e-02 2.83084550e+01] [ 1.01696813e-01 3.09430684e-03 9.94810627e-01 7.49166799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:28.33, Z:7.49 [[ 7.79853081e-01 -6.21114264e-01 -7.77575945e-02 6.71337341e+01] [ 6.17646538e-01 7.83713712e-01 -6.56168622e-02 2.83264981e+01] [ 1.01695262e-01 3.14480313e-03 9.94810627e-01 7.49372994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.16, Y:28.34, Z:7.50 [[ 7.80691935e-01 -6.20061833e-01 -7.77394787e-02 6.71551527e+01] [ 6.16586770e-01 7.84545962e-01 -6.56383180e-02 2.83447530e+01] [ 1.01690010e-01 3.31017137e-03 9.94810628e-01 7.49503561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:28.36, Z:7.50 [[ 7.80785374e-01 -6.19946306e-01 -7.77224321e-02 6.71767264e+01] [ 6.16468668e-01 7.84637077e-01 -6.56584967e-02 2.83633457e+01] [ 1.01688644e-01 3.35174976e-03 9.94810628e-01 7.49736778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.20, Y:28.38, Z:7.50 [[ 7.80723620e-01 -6.20026373e-01 -7.77040972e-02 6.71984244e+01] [ 6.16546975e-01 7.84573732e-01 -6.56801882e-02 2.83818422e+01] [ 1.01688042e-01 3.36984825e-03 9.94810628e-01 7.49951717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.22, Y:28.40, Z:7.50 [[ 7.80352518e-01 -6.20495688e-01 -7.76855843e-02 6.72207589e+01] [ 6.17016430e-01 7.84202756e-01 -6.57020778e-02 2.83992064e+01] [ 1.01689105e-01 3.33749993e-03 9.94810629e-01 7.50306570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:28.42, Z:7.51 [[ 7.79605602e-01 -6.21436194e-01 -7.76669906e-02 6.72415210e+01] [ 6.17959396e-01 7.83458062e-01 -6.57240503e-02 2.84157426e+01] [ 1.01692134e-01 3.24379124e-03 9.94810629e-01 7.50566810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:28.43, Z:7.51 [[ 7.79033435e-01 -6.22154606e-01 -7.76566395e-02 6.72631057e+01] [ 6.18680143e-01 7.82888001e-01 -6.57362785e-02 2.84326095e+01] [ 1.01694580e-01 3.16613798e-03 9.94810629e-01 7.50979680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:28.45, Z:7.51 [[ 7.77649561e-01 -6.23885788e-01 -7.76381648e-02 6.72848624e+01] [ 6.20417732e-01 7.81509892e-01 -6.57580909e-02 2.84499145e+01] [ 1.01700532e-01 2.96865635e-03 9.94810630e-01 7.51291265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:28.47, Z:7.52 [[ 7.77317918e-01 -6.24301226e-01 -7.76197976e-02 6.73061848e+01] [ 6.20833073e-01 7.81178161e-01 -6.57797641e-02 2.84676923e+01] [ 1.01701278e-01 2.94285185e-03 9.94810630e-01 7.51522152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:28.49, Z:7.52 [[ 7.77004421e-01 -6.24693662e-01 -7.76012815e-02 6.73271843e+01] [ 6.21225280e-01 7.80864458e-01 -6.58016007e-02 2.84850990e+01] [ 1.01701925e-01 2.92025681e-03 9.94810630e-01 7.51675146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.576875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:67.35, Y:28.50, Z:7.52 [[ 7.77300862e-01 -6.24327043e-01 -7.75829399e-02 6.73490296e+01] [ 6.20854686e-01 7.81157323e-01 -6.58232192e-02 2.85023003e+01] [ 1.01699697e-01 2.99671323e-03 9.94810631e-01 7.51941337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:28.52, Z:7.52 [[ 7.77710650e-01 -6.23818813e-01 -7.75643822e-02 6.73707486e+01] [ 6.20341759e-01 7.81562875e-01 -6.58450799e-02 2.85199174e+01] [ 1.01696841e-01 3.09199465e-03 9.94810631e-01 7.52240531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:28.54, Z:7.53 [[ 7.77902919e-01 -6.23581362e-01 -7.75456932e-02 6.73918360e+01] [ 6.20100941e-01 7.81752103e-01 -6.58670826e-02 2.85379688e+01] [ 1.01694994e-01 3.15203851e-03 9.94810632e-01 7.52558220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.41, Y:28.56, Z:7.53 [[ 7.78802333e-01 -6.22460022e-01 -7.75270732e-02 6.74133184e+01] [ 6.18971883e-01 7.82644523e-01 -6.58889915e-02 2.85564891e+01] [ 1.01689402e-01 3.32742181e-03 9.94810632e-01 7.52822466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.43, Y:28.57, Z:7.53 [[ 7.78926814e-01 -6.22306561e-01 -7.75084675e-02 6.74342394e+01] [ 6.18815491e-01 7.82766341e-01 -6.59108712e-02 2.85746256e+01] [ 1.01687787e-01 3.37630454e-03 9.94810633e-01 7.53056953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.46, Y:28.59, Z:7.53 [[ 7.79052805e-01 -6.22151143e-01 -7.74898851e-02 6.74554298e+01] [ 6.18657139e-01 7.82889661e-01 -6.59327109e-02 2.85925643e+01] [ 1.01686141e-01 3.42539277e-03 9.94810633e-01 7.53313454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:28.61, Z:7.54 [[ 7.78811901e-01 -6.22454975e-01 -7.74714581e-02 6.74769323e+01] [ 6.18960318e-01 7.82648163e-01 -6.59543556e-02 2.86109300e+01] [ 1.01686511e-01 3.41427871e-03 9.94810633e-01 7.53575238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:28.63, Z:7.54 [[ 7.78285142e-01 -6.23115786e-01 -7.74529268e-02 6.74983150e+01] [ 6.19622225e-01 7.82122401e-01 -6.59761107e-02 2.86280392e+01] [ 1.01688425e-01 3.35667182e-03 9.94810634e-01 7.53893772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.52, Y:28.65, Z:7.54 [[ 7.77931188e-01 -6.23558902e-01 -7.74426432e-02 6.75204875e+01] [ 6.20066328e-01 7.81769345e-01 -6.59881794e-02 2.86458202e+01] [ 1.01689801e-01 3.31468736e-03 9.94810634e-01 7.54254266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:28.66, Z:7.55 [[ 7.77274672e-01 -6.24379338e-01 -7.74243288e-02 6.75418070e+01] [ 6.20888680e-01 7.81114570e-01 -6.60096608e-02 2.86629796e+01] [ 1.01692340e-01 3.23574815e-03 9.94810634e-01 7.54568096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.56, Y:28.68, Z:7.55 [[ 7.76023497e-01 -6.25935960e-01 -7.74061090e-02 6.75636810e+01] [ 6.22450878e-01 7.79868456e-01 -6.60310194e-02 2.86803639e+01] [ 1.01697772e-01 3.06012210e-03 9.94810635e-01 7.54870187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:28.70, Z:7.55 [[ 7.75369272e-01 -6.26748484e-01 -7.73875379e-02 6.75856678e+01] [ 6.23265262e-01 7.79215916e-01 -6.60527774e-02 2.86982543e+01] [ 1.01700079e-01 2.98232981e-03 9.94810635e-01 7.55173620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:28.72, Z:7.55 [[ 7.74512974e-01 -6.27808701e-01 -7.73685173e-02 6.76067063e+01] [ 6.24328523e-01 7.78362373e-01 -6.60750491e-02 2.87154358e+01] [ 1.01703233e-01 2.87261065e-03 9.94810635e-01 7.55263338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:28.73, Z:7.56 [[ 7.73349801e-01 -6.29242220e-01 -7.73583451e-02 6.76287921e+01] [ 6.25767988e-01 7.77204567e-01 -6.60869562e-02 2.87333125e+01] [ 1.01707962e-01 2.69995845e-03 9.94810636e-01 7.55535000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:28.75, Z:7.56 [[ 7.71100107e-01 -6.31999369e-01 -7.73396584e-02 6.76509459e+01] [ 6.28536731e-01 7.74965291e-01 -6.61088175e-02 2.87501393e+01] [ 1.01716282e-01 2.36570014e-03 9.94810636e-01 7.55841007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:28.77, Z:7.56 [[ 7.69475145e-01 -6.33979084e-01 -7.73209085e-02 6.76722005e+01] [ 6.30524191e-01 7.73347251e-01 -6.61307402e-02 2.87680975e+01] [ 1.01721418e-01 2.13325763e-03 9.94810636e-01 7.56211700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:28.79, Z:7.57 [[ 7.68154497e-01 -6.35580844e-01 -7.73023926e-02 6.76929595e+01] [ 6.32131849e-01 7.72031857e-01 -6.61523769e-02 2.87850606e+01] [ 1.01725093e-01 1.94994144e-03 9.94810637e-01 7.56587865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:28.80, Z:7.57 [[ 7.65969460e-01 -6.38213729e-01 -7.72917931e-02 6.77137404e+01] [ 6.34776815e-01 7.69857533e-01 -6.61647591e-02 2.88013138e+01] [ 1.01730927e-01 1.61714665e-03 9.94810637e-01 7.57089930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.73, Y:28.82, Z:7.57 [[ 7.64570957e-01 -6.39890426e-01 -7.72754430e-02 6.77346085e+01] [ 6.36460109e-01 7.68464851e-01 -6.61838493e-02 2.88195284e+01] [ 1.01733873e-01 1.41951209e-03 9.94810637e-01 7.57331136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:28.84, Z:7.58 [[ 7.63223032e-01 -6.41499694e-01 -7.72576605e-02 6.77557020e+01] [ 6.38075487e-01 7.67122300e-01 -6.62046007e-02 2.88373599e+01] [ 1.01736305e-01 1.23265676e-03 9.94810638e-01 7.57628447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:28.86, Z:7.58 [[ 7.61669354e-01 -6.43345812e-01 -7.72396276e-02 6.77770022e+01] [ 6.39928925e-01 7.65575037e-01 -6.62256327e-02 2.88553449e+01] [ 1.01738714e-01 1.01416306e-03 9.94810638e-01 7.57945860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:28.87, Z:7.58 [[ 7.59256917e-01 -6.46193326e-01 -7.72212365e-02 6.77985960e+01] [ 6.42788906e-01 7.63173472e-01 -6.62470705e-02 2.88734306e+01] [ 1.01741614e-01 6.61592378e-04 9.94810638e-01 7.58243240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:28.89, Z:7.58 [[ 7.58111422e-01 -6.47539002e-01 -7.72030596e-02 6.78191366e+01] [ 6.44139378e-01 7.62032140e-01 -6.62682468e-02 2.88912503e+01] [ 1.01742487e-01 5.09184072e-04 9.94810639e-01 7.58399738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:28.91, Z:7.59 [[ 7.57252492e-01 -6.48545191e-01 -7.71867763e-02 6.78401736e+01] [ 6.45148844e-01 7.61176048e-01 -6.62872076e-02 2.89091959e+01] [ 1.01742975e-01 3.99193626e-04 9.94810639e-01 7.58562150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:28.93, Z:7.59 [[ 7.56200259e-01 -6.49773864e-01 -7.71692508e-02 6.78617407e+01] [ 6.46381810e-01 7.60127527e-01 -6.63076039e-02 2.89280479e+01] [ 1.01743420e-01 2.61027215e-04 9.94810639e-01 7.58646635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:28.95, Z:7.59 [[ 7.55680881e-01 -6.50379882e-01 -7.71519001e-02 6.78827515e+01] [ 6.46988917e-01 7.59609088e-01 -6.63277862e-02 2.89470977e+01] [ 1.01743542e-01 2.06215618e-04 9.94810640e-01 7.58877860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:28.96, Z:7.59 [[ 7.55594363e-01 -6.50482520e-01 -7.71339729e-02 6.79026901e+01] [ 6.47089960e-01 7.59521193e-01 -6.63486276e-02 2.89649483e+01] [ 1.01743510e-01 2.20029557e-04 9.94810640e-01 7.59134368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:28.98, Z:7.60 [[ 7.56001566e-01 -6.50011148e-01 -7.71176974e-02 6.79236074e+01] [ 6.46614211e-01 7.59924610e-01 -6.63675393e-02 2.89834111e+01] [ 1.01743277e-01 3.08564636e-04 9.94810641e-01 7.59614399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:29.00, Z:7.60 [[ 7.56302389e-01 -6.49663235e-01 -7.70997909e-02 6.79442156e+01] [ 6.46262373e-01 7.60222030e-01 -6.63883351e-02 2.90016062e+01] [ 1.01743020e-01 3.82962590e-04 9.94810641e-01 7.59950471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:29.02, Z:7.60 [[ 7.56532992e-01 -6.49396849e-01 -7.70815428e-02 6.79651073e+01] [ 6.45992448e-01 7.60449560e-01 -6.64095157e-02 2.90204822e+01] [ 1.01742756e-01 4.46895132e-04 9.94810641e-01 7.60308167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.99, Y:29.04, Z:7.61 [[ 7.57354557e-01 -6.48440671e-01 -7.70634307e-02 6.79858015e+01] [ 6.45029187e-01 7.61264956e-01 -6.64305269e-02 2.90390420e+01] [ 1.01741945e-01 6.03300168e-04 9.94810642e-01 7.60641832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:29.06, Z:7.61 [[ 7.57971741e-01 -6.47721280e-01 -7.70453321e-02 6.80061947e+01] [ 6.44303952e-01 7.61877034e-01 -6.64515109e-02 2.90577874e+01] [ 1.01741127e-01 7.27755536e-04 9.94810642e-01 7.60895389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:29.08, Z:7.61 [[ 7.59954581e-01 -6.45395889e-01 -7.70271422e-02 6.80266076e+01] [ 6.41964476e-01 7.63847502e-01 -6.64725891e-02 2.90771443e+01] [ 1.01738126e-01 1.06745963e-03 9.94810642e-01 7.61036268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:29.10, Z:7.61 [[ 7.60732417e-01 -6.44481052e-01 -7.70088558e-02 6.80473939e+01] [ 6.41042813e-01 7.64619311e-01 -6.64937673e-02 2.90960979e+01] [ 1.01736431e-01 1.21799073e-03 9.94810643e-01 7.61309810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:29.12, Z:7.62 [[ 7.61240206e-01 -6.43883372e-01 -7.69905938e-02 6.80684217e+01] [ 6.40439944e-01 7.65122503e-01 -6.65149055e-02 2.91150434e+01] [ 1.01735077e-01 1.32596880e-03 9.94810643e-01 7.61598966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:29.13, Z:7.62 [[ 7.61981396e-01 -6.43008274e-01 -7.69721467e-02 6.80881119e+01] [ 6.39558233e-01 7.65857816e-01 -6.65362460e-02 2.91331209e+01] [ 1.01733077e-01 1.47121148e-03 9.94810644e-01 7.61638936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.11, Y:29.15, Z:7.62 [[ 7.61813947e-01 -6.43207724e-01 -7.69631924e-02 6.81088432e+01] [ 6.39757652e-01 7.65690340e-01 -6.65466019e-02 2.91521662e+01] [ 1.01733261e-01 1.45833824e-03 9.94810644e-01 7.61842045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:29.17, Z:7.62 [[ 7.62003746e-01 -6.42985019e-01 -7.69451555e-02 6.81299596e+01] [ 6.39531709e-01 7.65877254e-01 -6.65674508e-02 2.91705372e+01] [ 1.01732418e-01 1.51577998e-03 9.94810644e-01 7.62089781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:29.19, Z:7.62 [[ 7.62483930e-01 -6.42417732e-01 -7.69266805e-02 6.81506946e+01] [ 6.38959388e-01 7.66352943e-01 -6.65887941e-02 2.91891152e+01] [ 1.01730810e-01 1.61986076e-03 9.94810644e-01 7.62407076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.17, Y:29.21, Z:7.63 [[ 7.62807096e-01 -6.42036173e-01 -7.69083053e-02 6.81713146e+01] [ 6.38573754e-01 7.66672464e-01 -6.66100103e-02 2.92077749e+01] [ 1.01729516e-01 1.69896323e-03 9.94810645e-01 7.62742255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:29.23, Z:7.63 [[ 7.63744007e-01 -6.40923588e-01 -7.68898318e-02 6.81910534e+01] [ 6.37453395e-01 7.67602394e-01 -6.66313279e-02 2.92254802e+01] [ 1.01726409e-01 1.87559305e-03 9.94810645e-01 7.62976846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:29.24, Z:7.63 [[ 7.64740847e-01 -6.39735106e-01 -7.68793334e-02 6.82116727e+01] [ 6.36257699e-01 7.68592735e-01 -6.66434389e-02 2.92445368e+01] [ 1.01723045e-01 2.04989207e-03 9.94810645e-01 7.63346652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.23, Y:29.26, Z:7.64 [[ 7.64563159e-01 -6.39949676e-01 -7.68608373e-02 6.82331242e+01] [ 6.36471207e-01 7.68414088e-01 -6.66647639e-02 2.92632831e+01] [ 1.01723044e-01 2.04971262e-03 9.94810646e-01 7.63636460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.25, Y:29.28, Z:7.64 [[ 7.65703065e-01 -6.38587574e-01 -7.68422170e-02 6.82526223e+01] [ 6.35100104e-01 7.69545844e-01 -6.66862201e-02 2.92813279e+01] [ 1.01718600e-01 2.25934311e-03 9.94810646e-01 7.63906084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:29.30, Z:7.64 [[ 7.68179449e-01 -6.35607761e-01 -7.68316844e-02 6.82730605e+01] [ 6.32104175e-01 7.72007540e-01 -6.66983529e-02 2.93008455e+01] [ 1.01708630e-01 2.67067555e-03 9.94810646e-01 7.64148526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:29.32, Z:7.64 [[ 7.69244927e-01 -6.34320106e-01 -7.68130502e-02 6.82936933e+01] [ 6.30807973e-01 7.73065177e-01 -6.67198061e-02 2.93199253e+01] [ 1.01703209e-01 2.86958789e-03 9.94810647e-01 7.64329696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:29.34, Z:7.65 [[ 7.70195884e-01 -6.33167382e-01 -7.67943105e-02 6.83141653e+01] [ 6.29647385e-01 7.74008889e-01 -6.67413685e-02 2.93386303e+01] [ 1.01697937e-01 3.05059048e-03 9.94810647e-01 7.64519334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.33, Y:29.36, Z:7.65 [[ 7.70535713e-01 -6.32756085e-01 -7.67753302e-02 6.83343564e+01] [ 6.29231882e-01 7.74344829e-01 -6.67631953e-02 2.93562982e+01] [ 1.01695398e-01 3.13394084e-03 9.94810648e-01 7.64790852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:29.37, Z:7.65 [[ 7.68535524e-01 -6.35185260e-01 -7.67647922e-02 6.83549266e+01] [ 6.31671890e-01 7.72354635e-01 -6.67753098e-02 2.93737404e+01] [ 1.01704336e-01 2.82903641e-03 9.94810648e-01 7.65088826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.38, Y:29.39, Z:7.65 [[ 7.66389774e-01 -6.37774139e-01 -7.67519526e-02 6.83751851e+01] [ 6.34272195e-01 7.70219365e-01 -6.67900644e-02 2.93907364e+01] [ 1.01712816e-01 2.50559295e-03 9.94810648e-01 7.65411487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:29.41, Z:7.66 [[ 7.63700398e-01 -6.40994048e-01 -7.67354679e-02 6.83966834e+01] [ 6.37506352e-01 7.67542969e-01 -6.68089984e-02 2.94084763e+01] [ 1.01721939e-01 2.10271049e-03 9.94810648e-01 7.65792139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:29.43, Z:7.66 [[ 7.62762031e-01 -6.42112537e-01 -7.67174946e-02 6.84176840e+01] [ 6.38628402e-01 7.66607830e-01 -6.68296311e-02 2.94269186e+01] [ 1.01724376e-01 1.98113422e-03 9.94810649e-01 7.66032189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:29.45, Z:7.66 [[ 7.62084968e-01 -6.42918135e-01 -7.66992444e-02 6.84382273e+01] [ 6.39435959e-01 7.65932540e-01 -6.68505701e-02 2.94454489e+01] [ 1.01725891e-01 1.90155971e-03 9.94810649e-01 7.66155834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:29.46, Z:7.66 [[ 7.61482425e-01 -6.43633868e-01 -7.66808932e-02 6.84595662e+01] [ 6.40153191e-01 7.65331353e-01 -6.68716132e-02 2.94643782e+01] [ 1.01727127e-01 1.83403977e-03 9.94810649e-01 7.66383384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.48, Y:29.48, Z:7.67 [[ 7.61423328e-01 -6.43705966e-01 -7.66625450e-02 6.84812120e+01] [ 6.40223536e-01 7.65270670e-01 -6.68926413e-02 2.94822462e+01] [ 1.01726789e-01 1.85245183e-03 9.94810650e-01 7.66748980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.50, Y:29.50, Z:7.67 [[ 7.61563252e-01 -6.43542612e-01 -7.66441146e-02 6.85023638e+01] [ 6.40057234e-01 7.65407922e-01 -6.69137518e-02 2.94997158e+01] [ 1.01725863e-01 1.90243443e-03 9.94810650e-01 7.67165152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:29.52, Z:7.67 [[ 7.61816909e-01 -6.43244543e-01 -7.66254203e-02 6.85223157e+01] [ 6.39755510e-01 7.65658261e-01 -6.69351526e-02 2.95171044e+01] [ 1.01724558e-01 1.97079622e-03 9.94810650e-01 7.67493808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:29.54, Z:7.68 [[ 7.62371208e-01 -6.42588741e-01 -7.66149534e-02 6.85429928e+01] [ 6.39095200e-01 7.66208462e-01 -6.69471311e-02 2.95357287e+01] [ 1.01722498e-01 2.07431628e-03 9.94810651e-01 7.67729348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:29.55, Z:7.68 [[ 7.62215315e-01 -6.42775832e-01 -7.65966279e-02 6.85636210e+01] [ 6.39281128e-01 7.66051509e-01 -6.69680914e-02 2.95541501e+01] [ 1.01722433e-01 2.07732626e-03 9.94810651e-01 7.67951957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:29.57, Z:7.68 [[ 7.62008891e-01 -6.43022759e-01 -7.65779432e-02 6.85850091e+01] [ 6.39527153e-01 7.65844263e-01 -6.69894506e-02 2.95728565e+01] [ 1.01722520e-01 2.07288303e-03 9.94810651e-01 7.68153709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.376875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:68.61, Y:29.59, Z:7.68 [[ 7.60644814e-01 -6.44637984e-01 -7.65593600e-02 6.86061930e+01] [ 6.41148387e-01 7.64485654e-01 -6.70106818e-02 2.95910347e+01] [ 1.01726163e-01 1.88541745e-03 9.94810652e-01 7.68361592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:29.61, Z:7.69 [[ 7.59802653e-01 -6.45632574e-01 -7.65408838e-02 6.86279612e+01] [ 6.42145880e-01 7.63646128e-01 -6.70317791e-02 2.96092278e+01] [ 1.01728050e-01 1.78051039e-03 9.94810652e-01 7.68717401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:29.63, Z:7.69 [[ 7.58513412e-01 -6.47148933e-01 -7.65222935e-02 6.86493136e+01] [ 6.43667784e-01 7.62361909e-01 -6.70529949e-02 2.96273131e+01] [ 1.01730956e-01 1.60566090e-03 9.94810653e-01 7.69078608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:29.64, Z:7.69 [[ 7.55842080e-01 -6.50269121e-01 -7.65037327e-02 6.86699505e+01] [ 6.46801717e-01 7.59702965e-01 -6.70741651e-02 2.96449833e+01] [ 1.01736371e-01 1.21473076e-03 9.94810653e-01 7.69413673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.69, Y:29.66, Z:7.70 [[ 7.53867921e-01 -6.52558719e-01 -7.64871007e-02 6.86901633e+01] [ 6.49101118e-01 7.57737587e-01 -6.70931258e-02 2.96624787e+01] [ 1.01739355e-01 9.31492723e-04 9.94810653e-01 7.69770319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:29.68, Z:7.70 [[ 7.51926884e-01 -6.54796312e-01 -7.64705957e-02 6.87111285e+01] [ 6.51348314e-01 7.55805109e-01 -6.71119325e-02 2.96803959e+01] [ 1.01741513e-01 6.54272694e-04 9.94810654e-01 7.70125594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:29.70, Z:7.70 [[ 7.47751144e-01 -6.59562934e-01 -7.64523544e-02 6.87326563e+01] [ 6.56137535e-01 7.51649343e-01 -6.71327062e-02 2.96985855e+01] [ 1.01743607e-01 3.52984621e-05 9.94810654e-01 7.70445042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:29.72, Z:7.71 [[ 7.45656405e-01 -6.61932293e-01 -7.64340495e-02 6.87534152e+01] [ 6.58517145e-01 7.49563587e-01 -6.71535408e-02 2.97170643e+01] [ 1.01743278e-01 -2.59664249e-04 9.94810654e-01 7.70741904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:29.74, Z:7.71 [[ 7.43645796e-01 -6.64192400e-01 -7.64158716e-02 6.87743774e+01] [ 6.60787002e-01 7.47561478e-01 -6.71742196e-02 2.97361181e+01] [ 1.01742168e-01 -5.40788686e-04 9.94810655e-01 7.70970829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.80, Y:29.75, Z:7.71 [[ 7.42017023e-01 -6.66013607e-01 -7.63977305e-02 6.87951332e+01] [ 6.62615695e-01 7.45939202e-01 -6.71948454e-02 2.97543655e+01] [ 1.01740744e-01 -7.62616208e-04 9.94810655e-01 7.71277754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:29.77, Z:7.72 [[ 7.40031877e-01 -6.68220766e-01 -7.63795032e-02 6.88156218e+01] [ 6.64832414e-01 7.43962318e-01 -6.72155578e-02 2.97721251e+01] [ 1.01738304e-01 -1.03791406e-03 9.94810655e-01 7.71730292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:29.79, Z:7.72 [[ 7.39713116e-01 -6.68575021e-01 -7.63671888e-02 6.88367030e+01] [ 6.65187107e-01 7.43643934e-01 -6.72295459e-02 2.97908444e+01] [ 1.01737992e-01 -1.06789247e-03 9.94810656e-01 7.71929534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.86, Y:29.81, Z:7.72 [[ 7.39853346e-01 -6.68421896e-01 -7.63491611e-02 6.88575968e+01] [ 6.65031057e-01 7.43781641e-01 -6.72500129e-02 2.98102626e+01] [ 1.01738485e-01 -1.01941621e-03 9.94810656e-01 7.72077866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:29.83, Z:7.72 [[ 7.40461890e-01 -6.67749776e-01 -7.63310314e-02 6.88772023e+01] [ 6.64353250e-01 7.44385269e-01 -6.72705846e-02 2.98290085e+01] [ 1.01739613e-01 -8.99464514e-04 9.94810656e-01 7.72223665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.90, Y:29.85, Z:7.72 [[ 7.43512586e-01 -6.64353140e-01 -7.63147478e-02 6.88965810e+01] [ 6.60936793e-01 7.47418717e-01 -6.72890524e-02 2.98491333e+01] [ 1.01742764e-01 -4.08967331e-04 9.94810657e-01 7.72227888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:29.87, Z:7.72 [[ 7.45834315e-01 -6.61747678e-01 -7.62966915e-02 6.89166070e+01] [ 6.58315592e-01 7.49726623e-01 -6.73095196e-02 2.98681540e+01] [ 1.01743579e-01 -2.55521662e-05 9.94810657e-01 7.72359687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:29.89, Z:7.73 [[ 7.48317744e-01 -6.58939371e-01 -7.62853882e-02 6.89358729e+01] [ 6.55491372e-01 7.52195962e-01 -6.73223278e-02 2.98864838e+01] [ 1.01742893e-01 3.74078645e-04 9.94810657e-01 7.72599028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:29.91, Z:7.73 [[ 7.53471964e-01 -6.53040913e-01 -7.62729685e-02 6.89556625e+01] [ 6.49561132e-01 7.57321692e-01 -6.73363958e-02 2.99064495e+01] [ 1.01736595e-01 1.19213057e-03 9.94810657e-01 7.73023325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:29.93, Z:7.73 [[ 7.55829871e-01 -6.50312598e-01 -7.62543872e-02 6.89752602e+01] [ 6.46816801e-01 7.59665060e-01 -6.73574315e-02 2.99260512e+01] [ 1.01731180e-01 1.58814004e-03 9.94810658e-01 7.73321081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:29.95, Z:7.74 [[ 7.58054145e-01 -6.47720486e-01 -7.62370274e-02 6.89941938e+01] [ 6.44209602e-01 7.61875527e-01 -6.73770741e-02 2.99450067e+01] [ 1.01724637e-01 1.96284523e-03 9.94810658e-01 7.73587014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:29.97, Z:7.74 [[ 7.61243879e-01 -6.43970676e-01 -7.62202422e-02 6.90130025e+01] [ 6.40439072e-01 7.65046120e-01 -6.73960570e-02 2.99650230e+01] [ 1.01713085e-01 2.49041471e-03 9.94810658e-01 7.73618030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.03, Y:29.98, Z:7.74 [[ 7.62126452e-01 -6.42927891e-01 -7.62036631e-02 6.90328907e+01] [ 6.39389214e-01 7.65922110e-01 -6.74147977e-02 2.99831035e+01] [ 1.01708924e-01 2.65480033e-03 9.94810659e-01 7.73863334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:30.00, Z:7.74 [[ 7.62248973e-01 -6.42784111e-01 -7.61911393e-02 6.90538558e+01] [ 6.39243304e-01 7.66042646e-01 -6.74289489e-02 3.00019715e+01] [ 1.01707919e-01 2.69297142e-03 9.94810659e-01 7.74207399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.08, Y:30.02, Z:7.75 [[ 7.61905282e-01 -6.43193600e-01 -7.61730497e-02 6.90751544e+01] [ 6.39652792e-01 7.65698953e-01 -6.74493782e-02 3.00206387e+01] [ 1.01708633e-01 2.66573359e-03 9.94810659e-01 7.74577290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.096875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:69.10, Y:30.04, Z:7.75 [[ 7.60861359e-01 -6.44430350e-01 -7.61545539e-02 6.90952781e+01] [ 6.40893622e-01 7.64658833e-01 -6.74702546e-02 3.00383973e+01] [ 1.01712132e-01 2.52854175e-03 9.94810660e-01 7.74834735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:30.06, Z:7.75 [[ 7.59747164e-01 -6.45745511e-01 -7.61379117e-02 6.91166853e+01] [ 6.42213477e-01 7.63549004e-01 -6.74890297e-02 3.00566075e+01] [ 1.01715765e-01 2.37780586e-03 9.94810660e-01 7.75230589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.14, Y:30.07, Z:7.76 [[ 7.58602235e-01 -6.47092388e-01 -7.61189308e-02 6.91374251e+01] [ 6.43564958e-01 7.62408346e-01 -6.75104310e-02 3.00737082e+01] [ 1.01719194e-01 2.22608725e-03 9.94810660e-01 7.75512695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:30.09, Z:7.76 [[ 7.55527436e-01 -6.50681031e-01 -7.61084068e-02 6.91593931e+01] [ 6.47170488e-01 7.59349129e-01 -6.75222932e-02 3.00907589e+01] [ 1.01728328e-01 1.75983023e-03 9.94810661e-01 7.75658095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:30.11, Z:7.76 [[ 7.53697166e-01 -6.52802345e-01 -7.60899480e-02 6.91806013e+01] [ 6.49300461e-01 7.57526794e-01 -6.75430878e-02 3.01088787e+01] [ 1.01732460e-01 1.50179558e-03 9.94810661e-01 7.75790079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.246875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:69.20, Y:30.13, Z:7.76 [[ 7.51803309e-01 -6.54984676e-01 -7.60713980e-02 6.92010237e+01] [ 6.51491796e-01 7.55641151e-01 -6.75639737e-02 3.01264141e+01] [ 1.01736046e-01 1.23492726e-03 9.94810661e-01 7.75860276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27687499999999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:69.22, Y:30.15, Z:7.76 [[ 7.48126772e-01 -6.59182832e-01 -7.60547616e-02 6.92186293e+01] [ 6.55709587e-01 7.51982392e-01 -6.75826957e-02 3.01463508e+01] [ 1.01741194e-01 6.90587700e-04 9.94810662e-01 7.75657464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.24, Y:30.16, Z:7.76 [[ 7.46264313e-01 -6.61342899e-01 -7.55985702e-02 6.92439272e+01] [ 6.57828704e-01 7.50082922e-01 -6.80955769e-02 3.01610854e+01] [ 1.01739723e-01 1.08638947e-03 9.94810459e-01 7.76226536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33687499999999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:69.27, Y:30.18, Z:7.77 [[ 7.44374888e-01 -6.63420164e-01 -7.60244231e-02 6.92658210e+01] [ 6.59965383e-01 7.48247059e-01 -6.76168040e-02 3.01792004e+01] [ 1.01743402e-01 1.58763383e-04 9.94810663e-01 7.76567363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.29, Y:30.20, Z:7.77 [[ 7.42939724e-01 -6.65029064e-01 -7.60059863e-02 6.92865406e+01] [ 6.61580549e-01 7.46817476e-01 -6.76375219e-02 3.01961689e+01] [ 1.01743517e-01 -3.34803237e-05 9.94810663e-01 7.76931694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:30.21, Z:7.77 [[ 7.41387474e-01 -6.66760983e-01 -7.59895029e-02 6.93082721e+01] [ 6.63319629e-01 7.45271582e-01 -6.76560357e-02 3.02143988e+01] [ 1.01743222e-01 -2.45991436e-04 9.94810664e-01 7.77276676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:30.23, Z:7.78 [[ 7.39920099e-01 -6.68391043e-01 -7.59714487e-02 6.93297710e+01] [ 6.64956164e-01 7.43809934e-01 -6.76763029e-02 3.02326336e+01] [ 1.01742553e-01 -4.42626315e-04 9.94810664e-01 7.77789384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:30.25, Z:7.78 [[ 7.39710468e-01 -6.68625114e-01 -7.59531529e-02 6.93503388e+01] [ 6.65189358e-01 7.43599528e-01 -6.76968301e-02 3.02506406e+01] [ 1.01742529e-01 -4.47175100e-04 9.94810664e-01 7.78254770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:30.27, Z:7.79 [[ 7.39521765e-01 -6.68835975e-01 -7.59341643e-02 6.93711848e+01] [ 6.65399142e-01 7.43409872e-01 -6.77181226e-02 3.02694672e+01] [ 1.01742524e-01 -4.47502224e-04 9.94810665e-01 7.78627302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:30.29, Z:7.79 [[ 7.39476378e-01 -6.68887286e-01 -7.59242086e-02 6.93911746e+01] [ 6.65449576e-01 7.43363710e-01 -6.77292829e-02 3.02878270e+01] [ 1.01742558e-01 -4.39527632e-04 9.94810665e-01 7.79045214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.41, Y:30.31, Z:7.79 [[ 7.39549427e-01 -6.68808421e-01 -7.59074572e-02 6.94114405e+01] [ 6.65368370e-01 7.43434687e-01 -6.77480518e-02 3.03063939e+01] [ 1.01742704e-01 -4.03388189e-04 9.94810665e-01 7.79358722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.43, Y:30.33, Z:7.80 [[ 7.40019564e-01 -6.68290273e-01 -7.58891078e-02 6.94325491e+01] [ 6.64845394e-01 7.43900544e-01 -6.77686000e-02 3.03254218e+01] [ 1.01743045e-01 -3.04434011e-04 9.94810665e-01 7.79651306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:30.34, Z:7.80 [[ 7.41504156e-01 -6.66644751e-01 -7.58706969e-02 6.94525436e+01] [ 6.63189151e-01 7.45375592e-01 -6.77892059e-02 3.03446468e+01] [ 1.01743484e-01 -5.06451636e-05 9.94810666e-01 7.79730729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:30.36, Z:7.80 [[ 7.42383842e-01 -6.65667075e-01 -7.58523320e-02 6.94732266e+01] [ 6.62204277e-01 7.46248841e-01 -6.78097489e-02 3.03641316e+01] [ 1.01743432e-01 1.11123189e-04 9.94810666e-01 7.79902254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.49, Y:30.38, Z:7.80 [[ 7.43302329e-01 -6.64643403e-01 -7.58340002e-02 6.94927831e+01] [ 6.61173191e-01 7.47160672e-01 -6.78302439e-02 3.03826158e+01] [ 1.01743107e-01 2.78970362e-04 9.94810667e-01 7.80006156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.51, Y:30.40, Z:7.80 [[ 7.44475663e-01 -6.63330740e-01 -7.58176532e-02 6.95135426e+01] [ 6.59851865e-01 7.48326196e-01 -6.78485110e-02 3.04013080e+01] [ 1.01742339e-01 4.83145285e-04 9.94810667e-01 7.80249055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:30.42, Z:7.81 [[ 7.44296510e-01 -6.63533860e-01 -7.57992205e-02 6.95346973e+01] [ 6.60053939e-01 7.48146097e-01 -6.78690975e-02 3.04203815e+01] [ 1.01742335e-01 4.83158263e-04 9.94810667e-01 7.80538848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:30.44, Z:7.81 [[ 7.46256671e-01 -6.61330669e-01 -7.57807910e-02 6.95551463e+01] [ 6.57837294e-01 7.50094053e-01 -6.78896692e-02 3.04381952e+01] [ 1.01740241e-01 8.11688048e-04 9.94810668e-01 7.80784940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:30.46, Z:7.81 [[ 7.46883825e-01 -6.60623737e-01 -7.57682667e-02 6.95757754e+01] [ 6.57125312e-01 7.50716604e-01 -6.79036441e-02 3.04566214e+01] [ 1.01739255e-01 9.26887547e-04 9.94810668e-01 7.81153492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.60, Y:30.47, Z:7.81 [[ 7.47612397e-01 -6.59801253e-01 -7.57496553e-02 6.95960105e+01] [ 6.56296509e-01 7.51439397e-01 -6.79243997e-02 3.04748076e+01] [ 1.01737879e-01 1.06688888e-03 9.94810668e-01 7.81450649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:30.49, Z:7.82 [[ 7.49214820e-01 -6.57983059e-01 -7.57327419e-02 6.96163952e+01] [ 6.54467123e-01 7.53031540e-01 -6.79432522e-02 3.04936598e+01] [ 1.01734652e-01 1.33950176e-03 9.94810669e-01 7.81870767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:30.51, Z:7.82 [[ 7.49840879e-01 -6.57271425e-01 -7.57161137e-02 6.96372934e+01] [ 6.53749996e-01 7.53652532e-01 -6.79617777e-02 3.05124144e+01] [ 1.01732975e-01 1.46111011e-03 9.94810669e-01 7.82253785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:30.53, Z:7.83 [[ 7.50683584e-01 -6.56310947e-01 -7.56974044e-02 6.96573951e+01] [ 6.52782542e-01 7.54488779e-01 -6.79826102e-02 3.05304972e+01] [ 1.01730574e-01 1.61948547e-03 9.94810669e-01 7.82530261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:30.55, Z:7.83 [[ 7.51280942e-01 -6.55629005e-01 -7.56806029e-02 6.96781104e+01] [ 6.52095263e-01 7.55081181e-01 -6.80013091e-02 3.05495805e+01] [ 1.01728630e-01 1.73712489e-03 9.94810670e-01 7.82791718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.70, Y:30.57, Z:7.83 [[ 7.53217233e-01 -6.53405743e-01 -7.56619757e-02 6.96974067e+01] [ 6.49858705e-01 7.57005064e-01 -6.80220285e-02 3.05689555e+01] [ 1.01722483e-01 2.06577057e-03 9.94810670e-01 7.82935951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:30.59, Z:7.83 [[ 7.53856489e-01 -6.52669581e-01 -7.56492650e-02 6.97176475e+01] [ 6.49117427e-01 7.57639523e-01 -6.80361616e-02 3.05885480e+01] [ 1.01720006e-01 2.18424570e-03 9.94810670e-01 7.83118636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:30.61, Z:7.83 [[ 7.54555104e-01 -6.51863966e-01 -7.56304413e-02 6.97379102e+01] [ 6.48305678e-01 7.58332369e-01 -6.80570801e-02 3.06078051e+01] [ 1.01716970e-01 2.32117262e-03 9.94810671e-01 7.83338537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.76, Y:30.63, Z:7.84 [[ 7.55255134e-01 -6.51054950e-01 -7.56117392e-02 6.97577659e+01] [ 6.47490538e-01 7.59026620e-01 -6.80778519e-02 3.06266078e+01] [ 1.01713745e-01 2.45826148e-03 9.94810671e-01 7.83532423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.78, Y:30.64, Z:7.84 [[ 7.55089304e-01 -6.51249205e-01 -7.55950783e-02 6.97784084e+01] [ 6.47683913e-01 7.58859958e-01 -6.80963475e-02 3.06449957e+01] [ 1.01713770e-01 2.45710744e-03 9.94810671e-01 7.83809485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.80, Y:30.66, Z:7.84 [[ 7.54815834e-01 -6.51568307e-01 -7.55764340e-02 6.97989858e+01] [ 6.48002541e-01 7.58586038e-01 -6.81170336e-02 3.06632964e+01] [ 1.01714128e-01 2.44209426e-03 9.94810672e-01 7.84142585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:30.68, Z:7.84 [[ 7.54193397e-01 -6.52290875e-01 -7.55574884e-02 6.98185377e+01] [ 6.48726618e-01 7.57965027e-01 -6.81380423e-02 3.06812839e+01] [ 1.01715757e-01 2.37310767e-03 9.94810672e-01 7.84423238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:30.70, Z:7.85 [[ 7.53482064e-01 -6.53113613e-01 -7.55472584e-02 6.98389890e+01] [ 6.49552338e-01 7.57256510e-01 -6.81493827e-02 3.06997717e+01] [ 1.01717943e-01 2.27743917e-03 9.94810672e-01 7.84856412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.206875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:69.86, Y:30.72, Z:7.85 [[ 7.52760208e-01 -6.53947575e-01 -7.55290594e-02 6.98595150e+01] [ 6.50388460e-01 7.56536690e-01 -6.81695466e-02 3.07185689e+01] [ 1.01719814e-01 2.19209342e-03 9.94810672e-01 7.85217902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:30.74, Z:7.86 [[ 7.52266330e-01 -6.54517853e-01 -7.55099268e-02 6.98803026e+01] [ 6.50959475e-01 7.56043508e-01 -6.81907328e-02 3.07373197e+01] [ 1.01720842e-01 2.14368998e-03 9.94810673e-01 7.85623157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:30.76, Z:7.86 [[ 7.52187671e-01 -6.54610456e-01 -7.54907883e-02 6.99003367e+01] [ 6.51050420e-01 7.55963284e-01 -6.82119136e-02 3.07553709e+01] [ 1.01720496e-01 2.15985106e-03 9.94810673e-01 7.85926722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:30.77, Z:7.86 [[ 7.51790172e-01 -6.55068167e-01 -7.54800189e-02 6.99203851e+01] [ 6.51509234e-01 7.55566825e-01 -6.82238285e-02 3.07742180e+01] [ 1.01721456e-01 2.11407442e-03 9.94810673e-01 7.86191639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:30.79, Z:7.86 [[ 7.51368879e-01 -6.55553485e-01 -7.54614799e-02 6.99411862e+01] [ 6.51994934e-01 7.55145891e-01 -6.82443281e-02 3.07932502e+01] [ 1.01722234e-01 2.07616165e-03 9.94810674e-01 7.86376179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:30.81, Z:7.87 [[ 7.50220919e-01 -6.56869047e-01 -7.54428765e-02 6.99617890e+01] [ 6.53315053e-01 7.54002219e-01 -6.82648876e-02 3.08112848e+01] [ 1.01725188e-01 1.92577984e-03 9.94810674e-01 7.86536451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:69.98, Y:30.83, Z:7.87 [[ 7.49502052e-01 -6.57691017e-01 -7.54267871e-02 6.99828965e+01] [ 6.54139382e-01 7.53285568e-01 -6.82826605e-02 3.08297378e+01] [ 1.01726803e-01 1.83836228e-03 9.94810674e-01 7.86827357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:30.85, Z:7.87 [[ 7.48567271e-01 -6.58756864e-01 -7.54084495e-02 7.00038852e+01] [ 6.55208579e-01 7.52353927e-01 -6.83029058e-02 3.08487481e+01] [ 1.01728851e-01 1.72105679e-03 9.94810675e-01 7.87220854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:30.87, Z:7.88 [[ 7.47615117e-01 -6.59839408e-01 -7.53896061e-02 7.00238367e+01] [ 6.56294510e-01 7.51404943e-01 -6.83236980e-02 3.08666955e+01] [ 1.01730791e-01 1.60204488e-03 9.94810675e-01 7.87560367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.04, Y:30.89, Z:7.88 [[ 7.46422378e-01 -6.61189819e-01 -7.53767637e-02 7.00444694e+01] [ 6.57650347e-01 7.50217273e-01 -6.83378632e-02 3.08852240e+01] [ 1.01733250e-01 1.43735560e-03 9.94810675e-01 7.87893675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:30.90, Z:7.88 [[ 7.45999818e-01 -6.61668642e-01 -7.53583408e-02 7.00652412e+01] [ 6.58129555e-01 7.49795071e-01 -6.83581728e-02 3.09046091e+01] [ 1.01733772e-01 1.39963314e-03 9.94810676e-01 7.88142240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.08, Y:30.92, Z:7.88 [[ 7.45850207e-01 -6.61839433e-01 -7.53394619e-02 7.00849029e+01] [ 6.58299114e-01 7.49644311e-01 -6.83789734e-02 3.09229625e+01] [ 1.01733700e-01 1.40457042e-03 9.94810676e-01 7.88364789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:30.94, Z:7.89 [[ 7.45451853e-01 -6.62290013e-01 -7.53224654e-02 7.01055615e+01] [ 6.58750096e-01 7.49246332e-01 -6.83976907e-02 3.09424102e+01] [ 1.01734188e-01 1.36850396e-03 9.94810677e-01 7.88634691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:30.96, Z:7.89 [[ 7.44649707e-01 -6.63193915e-01 -7.53036808e-02 7.01260234e+01] [ 6.59656515e-01 7.48446531e-01 -6.84183658e-02 3.09621756e+01] [ 1.01735423e-01 1.27315244e-03 9.94810677e-01 7.88786293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.626875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:70.15, Y:30.98, Z:7.89 [[ 7.43820775e-01 -6.64125596e-01 -7.52851086e-02 7.01456741e+01] [ 6.60590884e-01 7.47620101e-01 -6.84387960e-02 3.09804663e+01] [ 1.01736617e-01 1.17354176e-03 9.94810677e-01 7.88998810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.17, Y:31.00, Z:7.89 [[ 7.43033912e-01 -6.65007733e-01 -7.52683293e-02 7.01665915e+01] [ 6.61475663e-01 7.46835694e-01 -6.84572447e-02 3.09993028e+01] [ 1.01737672e-01 1.07788632e-03 9.94810678e-01 7.89410323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.19, Y:31.02, Z:7.90 [[ 7.40947724e-01 -6.67333481e-01 -7.52495529e-02 7.01868050e+01] [ 6.63811249e-01 7.44758622e-01 -6.84778780e-02 3.10176880e+01] [ 1.01740334e-01 7.87028146e-04 9.94810678e-01 7.89768447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:31.04, Z:7.90 [[ 7.39727890e-01 -6.68687300e-01 -7.52325912e-02 7.02066133e+01] [ 6.65170148e-01 7.43543477e-01 -6.84965077e-02 3.10361246e+01] [ 1.01741447e-01 6.26303320e-04 9.94810678e-01 7.90039776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.23, Y:31.05, Z:7.90 [[ 7.38289030e-01 -6.70277469e-01 -7.52158374e-02 7.02270872e+01] [ 6.66766662e-01 7.42110455e-01 -6.85149002e-02 3.10549093e+01] [ 1.01742453e-01 4.32386453e-04 9.94810679e-01 7.90380899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:31.07, Z:7.91 [[ 7.35405642e-01 -6.73441819e-01 -7.51974609e-02 7.02479662e+01] [ 6.69945393e-01 7.39240228e-01 -6.85350632e-02 3.10730697e+01] [ 1.01743366e-01 2.28795886e-05 9.94810679e-01 7.90739673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:31.09, Z:7.91 [[ 7.33926598e-01 -6.75055456e-01 -7.51789849e-02 7.02683563e+01] [ 6.71565385e-01 7.37766969e-01 -6.85553244e-02 3.10915984e+01] [ 1.01743218e-01 -1.73027970e-04 9.94810679e-01 7.91059905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:31.11, Z:7.91 [[ 7.32874383e-01 -6.76199759e-01 -7.51599972e-02 7.02882697e+01] [ 6.72713549e-01 7.36718260e-01 -6.85761350e-02 3.11097280e+01] [ 1.01742908e-01 -3.03455853e-04 9.94810680e-01 7.91345764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.31, Y:31.13, Z:7.92 [[ 7.30912010e-01 -6.78321600e-01 -7.51494506e-02 7.03082894e+01] [ 6.74845361e-01 7.34764906e-01 -6.85876907e-02 3.11277588e+01] [ 1.01741691e-01 -5.82691245e-04 9.94810680e-01 7.91697816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:31.15, Z:7.92 [[ 7.30046214e-01 -6.79255206e-01 -7.51324861e-02 7.03287751e+01] [ 6.75781982e-01 7.33901828e-01 -6.86062690e-02 3.11462923e+01] [ 1.01741034e-01 -6.87433430e-04 9.94810680e-01 7.92015331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:31.17, Z:7.92 [[ 7.29207972e-01 -6.80157088e-01 -7.51137112e-02 7.03486484e+01] [ 6.76686516e-01 7.33065972e-01 -6.86268186e-02 3.11651283e+01] [ 1.01740323e-01 -7.85212295e-04 9.94810681e-01 7.92275814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:31.18, Z:7.92 [[ 7.28459513e-01 -6.80960497e-01 -7.50968709e-02 7.03684720e+01] [ 6.77492280e-01 7.32319630e-01 -6.86452417e-02 3.11847909e+01] [ 1.01739611e-01 -8.72271000e-04 9.94810681e-01 7.92372431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:31.20, Z:7.93 [[ 7.28210267e-01 -6.81229107e-01 -7.50780274e-02 7.03887534e+01] [ 6.77760190e-01 7.32069755e-01 -6.86658449e-02 3.12044723e+01] [ 1.01739525e-01 -8.81724819e-04 9.94810681e-01 7.92598218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.41, Y:31.22, Z:7.93 [[ 7.28177512e-01 -6.81266208e-01 -7.50590793e-02 7.04078242e+01] [ 6.77795353e-01 7.32035256e-01 -6.86865510e-02 3.12232809e+01] [ 1.01739718e-01 -8.58693430e-04 9.94810682e-01 7.92782473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.046875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:70.43, Y:31.24, Z:7.93 [[ 7.28277211e-01 -6.81161485e-01 -7.50422217e-02 7.04280802e+01] [ 6.77688178e-01 7.32132748e-01 -6.87049636e-02 3.12431040e+01] [ 1.01740043e-01 -8.18967195e-04 9.94810682e-01 7.93067086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:31.26, Z:7.93 [[ 7.28385163e-01 -6.81048108e-01 -7.50235235e-02 7.04474955e+01] [ 6.77572099e-01 7.32238263e-01 -6.87253754e-02 3.12633163e+01] [ 1.01740381e-01 -7.75302484e-04 9.94810682e-01 7.93434329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:31.28, Z:7.94 [[ 7.28221279e-01 -6.81225417e-01 -7.50046624e-02 7.04672146e+01] [ 6.77748227e-01 7.32073313e-01 -6.87459536e-02 3.12828667e+01] [ 1.01740403e-01 -7.72010654e-04 9.94810683e-01 7.93759167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.49, Y:31.30, Z:7.94 [[ 7.28499651e-01 -6.80929807e-01 -7.49857014e-02 7.04869228e+01] [ 6.77448926e-01 7.32348349e-01 -6.87666295e-02 3.13025212e+01] [ 1.01740902e-01 -7.02517271e-04 9.94810683e-01 7.94102043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:31.32, Z:7.94 [[ 7.30565934e-01 -6.78714520e-01 -7.49667707e-02 7.05055737e+01] [ 6.75219850e-01 7.34402115e-01 -6.87872609e-02 3.13240503e+01] [ 1.01742668e-01 -3.65422162e-04 9.94810684e-01 7.94425368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.52, Y:31.34, Z:7.95 [[ 7.31961819e-01 -6.77210984e-01 -7.49478388e-02 7.05247407e+01] [ 6.73706322e-01 7.35788874e-01 -6.88078822e-02 3.13446121e+01] [ 1.01743240e-01 -1.28090193e-04 9.94810684e-01 7.94654792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.54, Y:31.36, Z:7.95 [[ 7.34058814e-01 -6.74939470e-01 -7.49290973e-02 7.05435091e+01] [ 6.71420883e-01 7.37873069e-01 -6.88282850e-02 3.13646049e+01] [ 1.01743089e-01 2.15048635e-04 9.94810684e-01 7.94797748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:31.39, Z:7.95 [[ 7.38645598e-01 -6.69918529e-01 -7.49122451e-02 7.05615481e+01] [ 6.66372156e-01 7.42434032e-01 -6.88466220e-02 3.13856313e+01] [ 1.01739028e-01 9.33820101e-04 9.94810685e-01 7.95068193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:31.41, Z:7.95 [[ 7.41051837e-01 -6.67257950e-01 -7.48932766e-02 7.05810824e+01] [ 6.63695892e-01 7.44825526e-01 -6.88672503e-02 3.14053999e+01] [ 1.01734644e-01 1.32784234e-03 9.94810685e-01 7.95412294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.60, Y:31.43, Z:7.96 [[ 7.43133242e-01 -6.64941213e-01 -7.48743475e-02 7.06007796e+01] [ 6.61365319e-01 7.46893823e-01 -6.88878245e-02 3.14254326e+01] [ 1.01729541e-01 1.67353567e-03 9.94810685e-01 7.95715002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:31.45, Z:7.96 [[ 7.45290488e-01 -6.62524524e-01 -7.48554866e-02 7.06198916e+01] [ 6.58934381e-01 7.49037467e-01 -6.89083133e-02 3.14450301e+01] [ 1.01723011e-01 2.03185672e-03 9.94810686e-01 7.95904051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.64, Y:31.47, Z:7.96 [[ 7.48226292e-01 -6.59208613e-01 -7.48426404e-02 7.06390141e+01] [ 6.55600473e-01 7.51955944e-01 -6.89222629e-02 3.14662296e+01] [ 1.01712518e-01 2.50257873e-03 9.94810686e-01 7.96014321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:31.49, Z:7.96 [[ 7.49031567e-01 -6.58295611e-01 -7.48237901e-02 7.06593489e+01] [ 6.54680884e-01 7.52754835e-01 -6.89427213e-02 3.14859456e+01] [ 1.01708661e-01 2.65456955e-03 9.94810686e-01 7.96269846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.436875 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:70.68, Y:31.51, Z:7.97 [[ 7.49318192e-01 -6.57971534e-01 -7.48044664e-02 7.06794062e+01] [ 6.54353106e-01 7.53037863e-01 -6.89636816e-02 3.15050455e+01] [ 1.01706735e-01 2.72720625e-03 9.94810687e-01 7.96567837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:31.52, Z:7.97 [[ 7.49913843e-01 -6.57294765e-01 -7.47851578e-02 7.07007725e+01] [ 6.53670896e-01 7.53628213e-01 -6.89846138e-02 3.15234337e+01] [ 1.01703430e-01 2.84763574e-03 9.94810687e-01 7.97055567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:31.54, Z:7.97 [[ 7.49592133e-01 -6.57663827e-01 -7.47657966e-02 7.07217775e+01] [ 6.54039697e-01 7.53306248e-01 -6.90055913e-02 3.15420379e+01] [ 1.01704023e-01 2.82624934e-03 9.94810688e-01 7.97412066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52687499999999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:70.74, Y:31.56, Z:7.98 [[ 7.48496066e-01 -6.58913212e-01 -7.47463565e-02 7.07427828e+01] [ 6.55293183e-01 7.52214176e-01 -6.90266423e-02 3.15591399e+01] [ 1.01707836e-01 2.68539230e-03 9.94810688e-01 7.97695976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.76, Y:31.58, Z:7.98 [[ 7.47968230e-01 -6.59513553e-01 -7.47355398e-02 7.07641775e+01] [ 6.55895339e-01 7.51688107e-01 -6.90383517e-02 3.15771360e+01] [ 1.01709545e-01 2.61980151e-03 9.94810688e-01 7.97972419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.78, Y:31.59, Z:7.98 [[ 7.47317725e-01 -6.60252778e-01 -7.47160453e-02 7.07849964e+01] [ 6.56636137e-01 7.51039131e-01 -6.90594430e-02 3.15945701e+01] [ 1.01711363e-01 2.54809051e-03 9.94810688e-01 7.98143718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:31.61, Z:7.98 [[ 7.46870284e-01 -6.60760078e-01 -7.47054126e-02 7.08062549e+01] [ 6.57144816e-01 7.50593029e-01 -6.90709430e-02 3.16126240e+01] [ 1.01712684e-01 2.49476019e-03 9.94810689e-01 7.98340445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:31.63, Z:7.99 [[ 7.46687493e-01 -6.60968800e-01 -7.46862318e-02 7.08270968e+01] [ 6.57352507e-01 7.50409236e-01 -6.90916771e-02 3.16320368e+01] [ 1.01712681e-01 2.49470938e-03 9.94810689e-01 7.98630247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.85, Y:31.65, Z:7.98 [[ 7.46485571e-01 -6.61199010e-01 -7.46670105e-02 7.08483841e+01] [ 6.57581789e-01 7.50206412e-01 -6.91124432e-02 3.16491366e+01] [ 1.01712749e-01 2.49177519e-03 9.94810689e-01 7.98499224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:31.67, Z:7.99 [[ 7.46420038e-01 -6.61274088e-01 -7.46572670e-02 7.08694959e+01] [ 6.57656190e-01 7.50140221e-01 -6.91229668e-02 3.16672376e+01] [ 1.01712646e-01 2.49595374e-03 9.94810690e-01 7.98771123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:31.68, Z:7.99 [[ 7.46636250e-01 -6.61032147e-01 -7.46378623e-02 7.08905349e+01] [ 6.57410952e-01 7.50353223e-01 -6.91439135e-02 3.16847639e+01] [ 1.01711110e-01 2.55760418e-03 9.94810690e-01 7.99058201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:31.70, Z:7.99 [[ 7.47121091e-01 -6.60485316e-01 -7.46272178e-02 7.09130229e+01] [ 6.56860255e-01 7.50834293e-01 -6.91554002e-02 3.17019182e+01] [ 1.01708801e-01 2.64780481e-03 9.94810690e-01 7.99458996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:31.72, Z:8.00 [[ 7.47159176e-01 -6.60444388e-01 -7.46081506e-02 7.09341448e+01] [ 6.56817072e-01 7.50870175e-01 -6.91759648e-02 3.17201192e+01] [ 1.01707913e-01 2.68154987e-03 9.94810690e-01 7.99776385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:31.74, Z:8.00 [[ 7.47159111e-01 -6.60446610e-01 -7.45891321e-02 7.09547548e+01] [ 6.56817261e-01 7.50868121e-01 -6.91964655e-02 3.17384109e+01] [ 1.01707172e-01 2.70934019e-03 9.94810691e-01 8.00056662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:31.76, Z:8.00 [[ 7.47330364e-01 -6.60254961e-01 -7.45701867e-02 7.09756904e+01] [ 6.56622627e-01 7.51036450e-01 -6.92168762e-02 3.17568600e+01] [ 1.01705714e-01 2.76340139e-03 9.94810691e-01 8.00388849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:31.77, Z:8.01 [[ 7.47142263e-01 -6.60469949e-01 -7.45512312e-02 7.09969329e+01] [ 6.56836647e-01 7.50847400e-01 -6.92372865e-02 3.17746906e+01] [ 1.01705745e-01 2.76212220e-03 9.94810692e-01 8.00722829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:31.79, Z:8.01 [[ 7.46569374e-01 -6.61119642e-01 -7.45317944e-02 7.10175166e+01] [ 6.57487479e-01 7.50275627e-01 -6.92582034e-02 3.17928002e+01] [ 1.01707347e-01 2.70233194e-03 9.94810692e-01 8.01040480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:31.81, Z:8.01 [[ 7.45681312e-01 -6.62122616e-01 -7.45186050e-02 7.10386855e+01] [ 6.58494022e-01 7.49391059e-01 -6.92723917e-02 3.18116965e+01] [ 1.01710394e-01 2.58507194e-03 9.94810692e-01 8.01346243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.06, Y:31.83, Z:8.02 [[ 7.44558836e-01 -6.63386710e-01 -7.44997570e-02 7.10602825e+01] [ 6.59762389e-01 7.48272757e-01 -6.92926562e-02 3.18298497e+01] [ 1.01713966e-01 2.44032177e-03 9.94810693e-01 8.01604427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:31.85, Z:8.02 [[ 7.43683953e-01 -6.64369501e-01 -7.44804938e-02 7.10813394e+01] [ 6.60748017e-01 7.47400640e-01 -6.93133554e-02 3.18486036e+01] [ 1.01716448e-01 2.33439154e-03 9.94810693e-01 8.01838859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:31.87, Z:8.02 [[ 7.42925497e-01 -6.65219686e-01 -7.44612317e-02 7.11024855e+01] [ 6.61600384e-01 7.46644308e-01 -6.93340420e-02 3.18672288e+01] [ 1.01718424e-01 2.24644806e-03 9.94810693e-01 8.02101350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:31.89, Z:8.02 [[ 7.41316701e-01 -6.67014194e-01 -7.44420146e-02 7.11236535e+01] [ 6.63401825e-01 7.45042246e-01 -6.93546688e-02 3.18853409e+01] [ 1.01722994e-01 2.02880590e-03 9.94810694e-01 8.02221473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:31.90, Z:8.02 [[ 7.40277986e-01 -6.68168941e-01 -7.44229063e-02 7.11439127e+01] [ 6.64560324e-01 7.44007165e-01 -6.93751675e-02 3.19035899e+01] [ 1.01725508e-01 1.89839859e-03 9.94810694e-01 8.02434780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:31.92, Z:8.03 [[ 7.39361047e-01 -6.69184883e-01 -7.44099123e-02 7.11641273e+01] [ 6.65579988e-01 7.43093824e-01 -6.93891017e-02 3.19211444e+01] [ 1.01727684e-01 1.77785032e-03 9.94810694e-01 8.02658568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:31.94, Z:8.03 [[ 7.37774084e-01 -6.70935974e-01 -7.43930052e-02 7.11862635e+01] [ 6.67338113e-01 7.41513641e-01 -6.94072233e-02 3.19389716e+01] [ 1.01731231e-01 1.56156287e-03 9.94810695e-01 8.02934073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:31.96, Z:8.03 [[ 7.37009772e-01 -6.71777582e-01 -7.43738870e-02 7.12065861e+01] [ 6.68181926e-01 7.40751448e-01 -6.94277037e-02 3.19570617e+01] [ 1.01732539e-01 1.47360907e-03 9.94810695e-01 8.03194510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.23, Y:31.98, Z:8.03 [[ 7.36185511e-01 -6.72682679e-01 -7.43566177e-02 7.12278655e+01] [ 6.69089756e-01 7.39929811e-01 -6.94461941e-02 3.19751694e+01] [ 1.01733930e-01 1.37403070e-03 9.94810695e-01 8.03439235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:31.99, Z:8.04 [[ 7.35707428e-01 -6.73207631e-01 -7.43375137e-02 7.12479747e+01] [ 6.69615313e-01 7.39452310e-01 -6.94666376e-02 3.19931354e+01] [ 1.01734517e-01 1.32958380e-03 9.94810696e-01 8.03645230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:32.01, Z:8.04 [[ 7.35480131e-01 -6.73457378e-01 -7.43245331e-02 7.12695730e+01] [ 6.69864930e-01 7.39224887e-01 -6.94805232e-02 3.20115975e+01] [ 1.01734716e-01 1.31414619e-03 9.94810696e-01 8.03967560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:32.03, Z:8.04 [[ 7.35208669e-01 -6.73755838e-01 -7.43053353e-02 7.12896755e+01] [ 6.70162836e-01 7.38952892e-01 -6.95010482e-02 3.20289236e+01] [ 1.01734879e-01 1.30109895e-03 9.94810696e-01 8.04227742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:32.05, Z:8.05 [[ 7.35167192e-01 -6.73802539e-01 -7.42922561e-02 7.13106341e+01] [ 6.70208362e-01 7.38910287e-01 -6.95150262e-02 3.20468058e+01] [ 1.01734713e-01 1.31387532e-03 9.94810696e-01 8.04553428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:32.07, Z:8.05 [[ 7.35296711e-01 -6.73663279e-01 -7.42733620e-02 7.13311824e+01] [ 6.70066356e-01 7.39037167e-01 -6.95352078e-02 3.20655232e+01] [ 1.01734091e-01 1.36092861e-03 9.94810697e-01 8.04801736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:32.08, Z:8.05 [[ 7.35541642e-01 -6.73397925e-01 -7.42544758e-02 7.13518501e+01] [ 6.69797617e-01 7.39278840e-01 -6.95553700e-02 3.20849930e+01] [ 1.01733205e-01 1.42540008e-03 9.94810697e-01 8.04995679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:32.10, Z:8.05 [[ 7.36070107e-01 -6.72822334e-01 -7.42354615e-02 7.13714543e+01] [ 6.69217058e-01 7.39802512e-01 -6.95756578e-02 3.21031407e+01] [ 1.01731637e-01 1.53292474e-03 9.94810698e-01 8.05166413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:32.12, Z:8.05 [[ 7.37211558e-01 -6.71573340e-01 -7.42183795e-02 7.13923145e+01] [ 6.67959908e-01 7.40936066e-01 -6.95938750e-02 3.21214278e+01] [ 1.01728465e-01 1.73050710e-03 9.94810698e-01 8.05411476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:32.14, Z:8.06 [[ 7.37892131e-01 -6.70827554e-01 -7.41997094e-02 7.14129149e+01] [ 6.67208357e-01 7.41611037e-01 -6.96137751e-02 3.21399816e+01] [ 1.01726162e-01 1.86079058e-03 9.94810698e-01 8.05659228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:32.16, Z:8.06 [[ 7.38247668e-01 -6.70438332e-01 -7.41810233e-02 7.14335170e+01] [ 6.66815176e-01 7.41962716e-01 -6.96336815e-02 3.21588323e+01] [ 1.01724643e-01 1.94187086e-03 9.94810699e-01 8.05893570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.45, Y:32.18, Z:8.06 [[ 7.37658284e-01 -6.71088799e-01 -7.41625163e-02 7.14540868e+01] [ 6.67466939e-01 7.41374596e-01 -6.96533866e-02 3.21765826e+01] [ 1.01725813e-01 1.87936994e-03 9.94810699e-01 8.06111346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:32.20, Z:8.06 [[ 7.37126476e-01 -6.71674735e-01 -7.41458616e-02 7.14748669e+01] [ 6.68054047e-01 7.40843929e-01 -6.96711110e-02 3.21958087e+01] [ 1.01726837e-01 1.82297762e-03 9.94810699e-01 8.06430096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:32.21, Z:8.07 [[ 7.36392528e-01 -6.72481335e-01 -7.41275858e-02 7.14954379e+01] [ 6.68862763e-01 7.40112040e-01 -6.96905505e-02 3.22146018e+01] [ 1.01728313e-01 1.73841880e-03 9.94810700e-01 8.06688988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:32.23, Z:8.07 [[ 7.32012413e-01 -6.77248695e-01 -7.41082492e-02 7.15166162e+01] [ 6.73652270e-01 7.35753343e-01 -6.97111069e-02 3.22328572e+01] [ 1.01737148e-01 1.10620531e-03 9.94810700e-01 8.07109623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.54, Y:32.25, Z:8.07 [[ 7.30513189e-01 -6.78867679e-01 -7.40888347e-02 7.15365157e+01] [ 6.75277453e-01 7.34260068e-01 -6.97317345e-02 3.22510975e+01] [ 1.01739094e-01 9.09432141e-04 9.94810700e-01 8.07358665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:32.27, Z:8.07 [[ 7.27734323e-01 -6.81847149e-01 -7.40757740e-02 7.15573098e+01] [ 6.78270851e-01 7.31494499e-01 -6.97456061e-02 3.22703691e+01] [ 1.01741864e-01 5.12833229e-04 9.94810701e-01 8.07413839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:32.29, Z:8.08 [[ 7.25866249e-01 -6.83837555e-01 -7.40566443e-02 7.15775470e+01] [ 6.80269496e-01 7.29634244e-01 -6.97659123e-02 3.22898332e+01] [ 1.01742815e-01 2.62244998e-04 9.94810701e-01 8.07658730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.60, Y:32.31, Z:8.08 [[ 7.25113652e-01 -6.84637566e-01 -7.40377928e-02 7.15976126e+01] [ 6.81071622e-01 7.28883648e-01 -6.97859125e-02 3.23093690e+01] [ 1.01742994e-01 1.77678228e-04 9.94810701e-01 8.07852575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:32.33, Z:8.08 [[ 7.19997504e-01 -6.90017968e-01 -7.40189117e-02 7.16173758e+01] [ 6.86478137e-01 7.23792028e-01 -6.98059332e-02 3.23284970e+01] [ 1.01741646e-01 -5.52266894e-04 9.94810702e-01 8.08174180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:32.35, Z:8.09 [[ 7.18433029e-01 -6.91648802e-01 -7.39994451e-02 7.16366736e+01] [ 6.88115459e-01 7.22233595e-01 -6.98265632e-02 3.23470377e+01] [ 1.01740344e-01 -7.54452831e-04 9.94810702e-01 8.08522637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:32.37, Z:8.09 [[ 7.15964852e-01 -6.94205289e-01 -7.39820827e-02 7.16568293e+01] [ 6.90683616e-01 7.19776233e-01 -6.98449541e-02 3.23671765e+01] [ 1.01737281e-01 -1.09168013e-03 9.94810703e-01 8.08807212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.68, Y:32.39, Z:8.09 [[ 7.12793870e-01 -6.97462819e-01 -7.39629349e-02 7.16762960e+01] [ 6.93956459e-01 7.16619343e-01 -6.98652249e-02 3.23873168e+01] [ 1.01731667e-01 -1.52755241e-03 9.94810703e-01 8.09164959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:32.41, Z:8.09 [[ 7.11008828e-01 -6.99284451e-01 -7.39439212e-02 7.16948357e+01] [ 6.95785800e-01 7.14841352e-01 -6.98853430e-02 3.24073947e+01] [ 1.01727906e-01 -1.76003455e-03 9.94810703e-01 8.09407920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.71, Y:32.43, Z:8.10 [[ 7.09883971e-01 -7.00428136e-01 -7.39268149e-02 7.17129073e+01] [ 6.96933776e-01 7.13720409e-01 -6.99034339e-02 3.24298429e+01] [ 1.01725408e-01 -1.89876695e-03 9.94810704e-01 8.09595726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:32.45, Z:8.10 [[ 7.10474591e-01 -6.99831039e-01 -7.39078686e-02 7.17319735e+01] [ 6.96331373e-01 7.14306187e-01 -6.99234598e-02 3.24507649e+01] [ 1.01727455e-01 -1.78552618e-03 9.94810704e-01 8.09891934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:32.47, Z:8.10 [[ 7.13275957e-01 -6.96977665e-01 -7.38887335e-02 7.17491765e+01] [ 6.93460575e-01 7.17091565e-01 -6.99436743e-02 3.24726007e+01] [ 1.01734166e-01 -1.34978240e-03 9.94810704e-01 8.10313282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:32.49, Z:8.11 [[ 7.15104453e-01 -6.95103514e-01 -7.38696626e-02 7.17679733e+01] [ 6.91574344e-01 7.18908890e-01 -6.99638099e-02 3.24936174e+01] [ 1.01737647e-01 -1.05493142e-03 9.94810705e-01 8.10701903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:32.51, Z:8.11 [[ 7.17246277e-01 -6.92895279e-01 -7.38505973e-02 7.17859887e+01] [ 6.89352323e-01 7.21037880e-01 -6.99839286e-02 3.25139498e+01] [ 1.01740612e-01 -7.13368599e-04 9.94810705e-01 8.11063243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.80, Y:32.53, Z:8.11 [[ 7.19506038e-01 -6.90550277e-01 -7.38334365e-02 7.18044071e+01] [ 6.86993107e-01 7.23284306e-01 -7.00020287e-02 3.25347672e+01] [ 1.01742486e-01 -3.56179620e-04 9.94810705e-01 8.11416278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:32.56, Z:8.12 [[ 7.23918065e-01 -6.85925679e-01 -7.38146179e-02 7.18212617e+01] [ 6.82342348e-01 7.27671532e-01 -7.00218668e-02 3.25575063e+01] [ 1.01742593e-01 3.23254659e-04 9.94810706e-01 8.11738883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:32.58, Z:8.12 [[ 7.25419986e-01 -6.84339145e-01 -7.37955121e-02 7.18399727e+01] [ 6.80745557e-01 7.29163634e-01 -7.00419965e-02 3.25785463e+01] [ 1.01741484e-01 5.73897150e-04 9.94810706e-01 8.11962648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:32.60, Z:8.12 [[ 7.26653805e-01 -6.83030952e-01 -7.37764682e-02 7.18590969e+01] [ 6.79428588e-01 7.30389008e-01 -7.00620500e-02 3.25992516e+01] [ 1.01740070e-01 7.85013531e-04 9.94810707e-01 8.12153855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:32.62, Z:8.12 [[ 7.27756819e-01 -6.81857654e-01 -7.37573808e-02 7.18770136e+01] [ 6.78247233e-01 7.31484234e-01 -7.00821385e-02 3.26206036e+01] [ 1.01738404e-01 9.77014793e-04 9.94810707e-01 8.12155721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:32.64, Z:8.12 [[ 7.27682305e-01 -6.81939036e-01 -7.37401790e-02 7.18966348e+01] [ 6.78327198e-01 7.31408347e-01 -7.01002335e-02 3.26405083e+01] [ 1.01738268e-01 9.90730496e-04 9.94810707e-01 8.12386090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:32.66, Z:8.13 [[ 7.27327303e-01 -6.82319732e-01 -7.37209455e-02 7.19152892e+01] [ 6.78707794e-01 7.31053248e-01 -7.01204547e-02 3.26596983e+01] [ 1.01738506e-01 9.65540920e-04 9.94810708e-01 8.12642371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.296875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:71.94, Y:32.68, Z:8.13 [[ 7.27205544e-01 -6.82451358e-01 -7.37037298e-02 7.19355278e+01] [ 6.78838262e-01 7.30930365e-01 -7.01385455e-02 3.26794809e+01] [ 1.01738440e-01 9.72227347e-04 9.94810708e-01 8.12929009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:32.70, Z:8.13 [[ 7.27158973e-01 -6.82503068e-01 -7.36844009e-02 7.19543809e+01] [ 6.78888180e-01 7.30882053e-01 -7.01588457e-02 3.26985407e+01] [ 1.01738234e-01 9.93165378e-04 9.94810708e-01 8.13171299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:32.72, Z:8.13 [[ 7.27291330e-01 -6.82364093e-01 -7.36652217e-02 7.19744418e+01] [ 6.78746455e-01 7.31011738e-01 -7.01789777e-02 3.27183784e+01] [ 1.01737756e-01 1.04055400e-03 9.94810709e-01 8.13429944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:32.74, Z:8.14 [[ 7.28718595e-01 -6.80841751e-01 -7.36459070e-02 7.19941247e+01] [ 6.77214293e-01 7.32429429e-01 -7.01992408e-02 3.27374365e+01] [ 1.01735004e-01 1.28143129e-03 9.94810709e-01 8.13635164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:32.76, Z:8.14 [[ 7.29317696e-01 -6.80201816e-01 -7.36287178e-02 7.20139692e+01] [ 6.76569283e-01 7.33023561e-01 -7.02172652e-02 3.27571210e+01] [ 1.01733496e-01 1.39576527e-03 9.94810709e-01 8.13818981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:32.78, Z:8.14 [[ 7.30081526e-01 -6.79383956e-01 -7.36098171e-02 7.20338575e+01] [ 6.75745275e-01 7.33781355e-01 -7.02370735e-02 3.27765903e+01] [ 1.01731452e-01 1.53730366e-03 9.94810710e-01 8.14049721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:32.79, Z:8.15 [[ 7.32480986e-01 -6.76798345e-01 -7.35908005e-02 7.20546100e+01] [ 6.73144605e-01 7.36165943e-01 -7.02569925e-02 3.27949066e+01] [ 1.01724857e-01 1.92466081e-03 9.94810710e-01 8.14517556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:32.81, Z:8.15 [[ 7.33502586e-01 -6.75693126e-01 -7.35714344e-02 7.20748141e+01] [ 6.72031802e-01 7.37180008e-01 -7.02772665e-02 3.28135865e+01] [ 1.01721256e-01 2.10621308e-03 9.94810711e-01 8.14820466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:32.83, Z:8.15 [[ 7.33314957e-01 -6.75898879e-01 -7.35518835e-02 7.20953378e+01] [ 6.72236536e-01 7.36991363e-01 -7.02977225e-02 3.28333364e+01] [ 1.01721255e-01 2.10610788e-03 9.94810711e-01 8.15110272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:32.85, Z:8.15 [[ 7.34974762e-01 -6.74095770e-01 -7.35322539e-02 7.21163704e+01] [ 6.70422357e-01 7.38640106e-01 -7.03182494e-02 3.28521444e+01] [ 1.01715106e-01 2.38447159e-03 9.94810711e-01 8.15360385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:32.87, Z:8.16 [[ 7.35979972e-01 -6.73000294e-01 -7.35124777e-02 7.21363408e+01] [ 6.69319363e-01 7.39637767e-01 -7.03389179e-02 3.28703629e+01] [ 1.01710717e-01 2.56471004e-03 9.94810712e-01 8.15648496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:32.89, Z:8.16 [[ 7.37006869e-01 -6.71877527e-01 -7.34946482e-02 7.21574248e+01] [ 6.68189170e-01 7.40657174e-01 -7.03575425e-02 3.28893648e+01] [ 1.01705990e-01 2.74566413e-03 9.94810712e-01 8.15963755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:32.91, Z:8.16 [[ 7.38153072e-01 -6.70620166e-01 -7.34754101e-02 7.21785239e+01] [ 6.66923595e-01 7.41795058e-01 -7.03776274e-02 3.29082241e+01] [ 1.01700352e-01 2.94697721e-03 9.94810712e-01 8.16175642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:32.93, Z:8.16 [[ 7.40517105e-01 -6.68010933e-01 -7.34561757e-02 7.21999138e+01] [ 6.64299545e-01 7.44143991e-01 -7.03976975e-02 3.29269686e+01] [ 1.01688403e-01 3.33379506e-03 9.94810713e-01 8.16244393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.22, Y:32.95, Z:8.16 [[ 7.39431564e-01 -6.69214484e-01 -7.34366124e-02 7.22154988e+01] [ 6.65506977e-01 7.43062417e-01 -7.04180994e-02 3.29473577e+01] [ 1.01692799e-01 3.19678745e-03 9.94810713e-01 8.16049620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:32.97, Z:8.17 [[ 7.42593271e-01 -6.65795287e-01 -7.26076333e-02 7.22415017e+01] [ 6.61986425e-01 7.46118583e-01 -7.12813717e-02 3.29651691e+01] [ 1.01632706e-01 4.86779946e-03 9.94810081e-01 8.16580994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:32.98, Z:8.16 [[ 7.40810319e-01 -6.67692053e-01 -7.33988715e-02 7.22563572e+01] [ 6.63973220e-01 7.44429545e-01 -7.04571941e-02 3.29838145e+01] [ 1.01683997e-01 3.46053139e-03 9.94810730e-01 8.16342196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:33.00, Z:8.17 [[ 7.42140501e-01 -6.66333277e-01 -7.23010467e-02 7.22848123e+01] [ 6.62496044e-01 7.45635656e-01 -7.15993046e-02 3.30020980e+01] [ 1.01619238e-01 5.23758639e-03 9.94809579e-01 8.16980391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:72.31, Y:33.02, Z:8.17 [[ 7.40780410e-01 -6.67727126e-01 -7.33816659e-02 7.23067374e+01] [ 6.64006778e-01 7.44397995e-01 -7.04742837e-02 3.30202234e+01] [ 1.01682756e-01 3.48004530e-03 9.94810789e-01 8.17350977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:33.04, Z:8.17 [[ 7.35326618e-01 -6.73730491e-01 -7.33620554e-02 7.23203804e+01] [ 6.70037657e-01 7.38972284e-01 -7.04946919e-02 3.30371983e+01] [ 1.01706949e-01 2.68128361e-03 9.94810790e-01 8.17336478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:33.06, Z:8.18 [[ 7.34499001e-01 -6.74772033e-01 -7.20688676e-02 7.23422913e+01] [ 6.70951532e-01 7.38013042e-01 -7.18386487e-02 3.30563360e+01] [ 1.01662475e-01 4.41069855e-03 9.94809171e-01 8.17678028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.37, Y:33.07, Z:8.18 [[ 7.36025477e-01 -6.73104687e-01 -7.20872870e-02 7.23714875e+01] [ 6.69278097e-01 7.39532816e-01 -7.18195122e-02 3.30738952e+01] [ 1.01652965e-01 4.61454845e-03 9.94809218e-01 8.18371816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:33.09, Z:8.19 [[ 7.33554797e-01 -6.75661002e-01 -7.33455597e-02 7.23916983e+01] [ 6.71976147e-01 7.37208431e-01 -7.05108966e-02 3.30916456e+01] [ 1.01712428e-01 2.43713974e-03 9.94810858e-01 8.18605973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:33.11, Z:8.18 [[ 7.26915207e-01 -6.82801079e-01 -7.33278167e-02 7.24058388e+01] [ 6.79150264e-01 7.30602855e-01 -7.05293437e-02 3.31098108e+01] [ 1.01731024e-01 1.46824645e-03 9.94810858e-01 8.18347247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:33.13, Z:8.19 [[ 7.28672881e-01 -6.81051856e-01 -7.21401575e-02 7.24348747e+01] [ 6.77269243e-01 7.32227141e-01 -7.17620080e-02 3.31265890e+01] [ 1.01696630e-01 3.43271926e-03 9.94809535e-01 8.19090889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:33.14, Z:8.19 [[ 7.26655500e-01 -6.83080459e-01 -7.32998757e-02 7.24567812e+01] [ 6.79428231e-01 7.30341652e-01 -7.05574185e-02 3.31438258e+01] [ 1.01730346e-01 1.46893124e-03 9.94810926e-01 8.19496531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:33.16, Z:8.20 [[ 7.25032601e-01 -6.84804869e-01 -7.32804107e-02 7.24769891e+01] [ 6.81159367e-01 7.28725404e-01 -7.05776289e-02 3.31628862e+01] [ 1.01733201e-01 1.25544373e-03 9.94810927e-01 8.19772901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.49, Y:33.18, Z:8.20 [[ 7.21647935e-01 -6.88372797e-01 -7.32608328e-02 7.24907742e+01] [ 6.84743492e-01 7.25356657e-01 -7.05979454e-02 3.31839299e+01] [ 1.01737938e-01 7.81983074e-04 9.94810927e-01 8.19579058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.52, Y:33.20, Z:8.20 [[ 7.18937490e-01 -6.91299138e-01 -7.23490625e-02 7.25178874e+01] [ 6.87589263e-01 7.22566711e-01 -7.15426734e-02 3.32019023e+01] [ 1.01734413e-01 1.68827147e-03 9.94810162e-01 8.20440728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:33.22, Z:8.21 [[ 7.15515849e-01 -6.94748227e-01 -7.32254770e-02 7.25383776e+01] [ 6.91148255e-01 7.19253012e-01 -7.06342240e-02 3.32205669e+01] [ 1.01740647e-01 -6.97539151e-05 9.94810955e-01 8.21025495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:33.24, Z:8.21 [[ 7.09436088e-01 -7.00957402e-01 -7.32062677e-02 7.25497561e+01] [ 6.97388081e-01 7.13202537e-01 -7.06541272e-02 3.32416511e+01] [ 1.01736429e-01 -9.28590900e-04 9.94810955e-01 8.20745421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:33.26, Z:8.21 [[ 7.10465938e-01 -7.00029307e-01 -7.20910614e-02 7.25764739e+01] [ 6.96337075e-01 7.14113648e-01 -7.18079072e-02 3.32612008e+01] [ 1.01748850e-01 8.17393279e-04 9.94809782e-01 8.21113717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:33.28, Z:8.21 [[ 7.09936352e-01 -7.00453129e-01 -7.31832685e-02 7.25956896e+01] [ 6.96878758e-01 7.13697931e-01 -7.06771529e-02 3.32812241e+01] [ 1.01736780e-01 -8.23585179e-04 9.94811012e-01 8.21239312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:33.30, Z:8.21 [[ 7.06663913e-01 -7.03756463e-01 -7.31638882e-02 7.26068222e+01] [ 7.00197599e-01 7.10440165e-01 -7.06972095e-02 3.33027891e+01] [ 1.01732183e-01 -1.27001210e-03 9.94811012e-01 8.20620862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:33.32, Z:8.21 [[ 7.07837056e-01 -7.02693195e-01 -7.20345417e-02 7.26268533e+01] [ 6.99008983e-01 7.11492802e-01 -7.18639944e-02 3.33224526e+01] [ 1.01750398e-01 5.15206485e-04 9.94809827e-01 8.20798348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.65, Y:33.34, Z:8.22 [[ 7.13448743e-01 -6.96983428e-01 -7.21456368e-02 7.26530898e+01] [ 6.93281557e-01 7.17086276e-01 -7.17492523e-02 3.33404155e+01] [ 1.01742686e-01 1.17217439e-03 9.94810058e-01 8.22097133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:33.36, Z:8.22 [[ 7.11629234e-01 -6.98739795e-01 -7.31199935e-02 7.26641508e+01] [ 6.95149672e-01 7.15375749e-01 -7.07422904e-02 3.33626137e+01] [ 1.01738724e-01 -4.87057552e-04 9.94811035e-01 8.21678250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:33.38, Z:8.22 [[ 7.13460605e-01 -6.96962596e-01 -7.22295265e-02 7.26810180e+01] [ 6.93269218e-01 7.17106705e-01 -7.16642497e-02 3.33820162e+01] [ 1.01743579e-01 1.05511157e-03 9.94810098e-01 8.21959439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:33.40, Z:8.23 [[ 7.20530495e-01 -6.89680433e-01 -7.19493311e-02 7.27080914e+01] [ 6.85921221e-01 7.24109579e-01 -7.19541264e-02 3.34023732e+01] [ 1.01724553e-01 2.49356934e-03 9.94809478e-01 8.22802910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:33.42, Z:8.22 [[ 7.17784848e-01 -6.92407302e-01 -7.31918035e-02 7.27173047e+01] [ 6.88791747e-01 7.21506779e-01 -7.06675061e-02 3.34240014e+01] [ 1.01739080e-01 3.10154903e-04 9.94811069e-01 8.22351557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:33.44, Z:8.23 [[ 7.23048534e-01 -6.87056736e-01 -7.17903851e-02 7.27463951e+01] [ 6.83268437e-01 7.26597195e-01 -7.21162842e-02 3.34429618e+01] [ 1.01710671e-01 3.09146933e-03 9.94809219e-01 8.23349988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:33.46, Z:8.23 [[ 7.20940646e-01 -6.89123353e-01 -7.31682331e-02 7.27547618e+01] [ 6.85488520e-01 7.24643604e-01 -7.06904284e-02 3.34646947e+01] [ 1.01735317e-01 8.07619281e-04 9.94811175e-01 8.23028971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:33.49, Z:8.23 [[ 7.23027882e-01 -6.87080470e-01 -7.17712274e-02 7.27786100e+01] [ 6.83290574e-01 7.26574656e-01 -7.21336340e-02 3.34865719e+01] [ 1.01708766e-01 3.11402544e-03 9.94809343e-01 8.23453942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:33.51, Z:8.24 [[ 7.22214344e-01 -6.87868301e-01 -7.24129868e-02 7.27941989e+01] [ 6.84148441e-01 7.25832550e-01 -7.14704066e-02 3.35060148e+01] [ 1.01721930e-01 2.07572080e-03 9.94810706e-01 8.23626833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:33.53, Z:8.24 [[ 7.23373177e-01 -6.86717504e-01 -7.17657037e-02 7.28134607e+01] [ 6.82925234e-01 7.26917465e-01 -7.21396132e-02 3.35272053e+01] [ 1.01707278e-01 3.17325120e-03 9.94809308e-01 8.23890447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:33.55, Z:8.25 [[ 7.27984469e-01 -6.81833986e-01 -7.17009600e-02 7.28436375e+01] [ 6.78011367e-01 7.31496277e-01 -7.22065238e-02 3.35455332e+01] [ 1.01681847e-01 3.95116205e-03 9.94809123e-01 8.25005452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:33.57, Z:8.25 [[ 7.23909152e-01 -6.86004504e-01 -7.31666540e-02 7.28528751e+01] [ 6.82353785e-01 7.27596223e-01 -7.06898000e-02 3.35669679e+01] [ 1.01729302e-01 1.24744987e-03 9.94811335e-01 8.24529337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:33.59, Z:8.25 [[ 7.26017142e-01 -6.83935249e-01 -7.16357755e-02 7.28742424e+01] [ 6.80116418e-01 7.29533081e-01 -7.22713018e-02 3.35881435e+01] [ 1.01689559e-01 3.74953691e-03 9.94809115e-01 8.24727610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:33.61, Z:8.26 [[ 7.29606452e-01 -6.80059032e-01 -7.20703667e-02 7.29021533e+01] [ 6.76265638e-01 7.33148205e-01 -7.18226657e-02 3.36062245e+01] [ 1.01681912e-01 3.66356776e-03 9.94810217e-01 8.25787790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:33.62, Z:8.26 [[ 7.29849559e-01 -6.79686940e-01 -7.31114565e-02 7.29211287e+01] [ 6.75998592e-01 7.33498994e-01 -7.07469444e-02 3.36248120e+01] [ 1.01712954e-01 2.21138450e-03 9.94811331e-01 8.26087163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.796875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:72.94, Y:33.64, Z:8.26 [[ 7.30408719e-01 -6.79087865e-01 -7.30942836e-02 7.29405079e+01] [ 6.75394750e-01 7.34053330e-01 -7.07646826e-02 3.36445758e+01] [ 1.01710540e-01 2.31964577e-03 9.94811332e-01 8.26461555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:33.67, Z:8.26 [[ 7.27140491e-01 -6.82588315e-01 -7.30746067e-02 7.29531772e+01] [ 6.78910708e-01 7.30800749e-01 -7.07849960e-02 3.36660027e+01] [ 1.01719988e-01 1.85950376e-03 9.94811332e-01 8.25929460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:33.69, Z:8.26 [[ 7.27801206e-01 -6.81993796e-01 -7.20407300e-02 7.29746818e+01] [ 6.78207018e-01 7.31349892e-01 -7.18510651e-02 3.36858714e+01] [ 1.01688961e-01 3.43476313e-03 9.94810312e-01 8.26141841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.00, Y:33.70, Z:8.27 [[ 7.31470735e-01 -6.78050171e-01 -7.21008281e-02 7.30023425e+01] [ 6.74250359e-01 7.35005289e-01 -7.17891260e-02 3.37027997e+01] [ 1.01671119e-01 3.89763559e-03 9.94810430e-01 8.26994846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:33.72, Z:8.27 [[ 7.28840453e-01 -6.80775772e-01 -7.30475268e-02 7.30158734e+01] [ 6.77086291e-01 7.32488715e-01 -7.08126848e-02 3.37229733e+01] [ 1.01714049e-01 2.15167029e-03 9.94811350e-01 8.26625588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:33.74, Z:8.28 [[ 7.33590585e-01 -6.75752412e-01 -7.21355019e-02 7.30432062e+01] [ 6.71945118e-01 7.37116899e-01 -7.17525991e-02 3.37395273e+01] [ 1.01659289e-01 4.16593283e-03 9.94810552e-01 8.27683605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:33.76, Z:8.28 [[ 7.34328924e-01 -6.74852554e-01 -7.30415001e-02 7.30631091e+01] [ 6.71133102e-01 7.37946563e-01 -7.08182824e-02 3.37584276e+01] [ 1.01692623e-01 2.98334460e-03 9.94811394e-01 8.28017010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:33.78, Z:8.28 [[ 7.35097577e-01 -6.74017298e-01 -7.30221521e-02 7.30828664e+01] [ 6.70291758e-01 7.38708944e-01 -7.08382270e-02 3.37785557e+01] [ 1.01688307e-01 3.12686234e-03 9.94811395e-01 8.28188536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.10, Y:33.80, Z:8.29 [[ 7.36348468e-01 -6.72652636e-01 -7.30024971e-02 7.31036346e+01] [ 6.68918400e-01 7.39950843e-01 -7.08584767e-02 3.37984858e+01] [ 1.01681400e-01 3.34381717e-03 9.94811395e-01 8.28599307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:33.82, Z:8.29 [[ 7.36633513e-01 -6.72342400e-01 -7.29846851e-02 7.31234461e+01] [ 6.68604834e-01 7.40232432e-01 -7.08768186e-02 3.38171551e+01] [ 1.01679121e-01 3.41232664e-03 9.94811395e-01 8.28927184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:33.84, Z:8.29 [[ 7.33796989e-01 -6.75438304e-01 -7.29731292e-02 7.31371979e+01] [ 6.71714744e-01 7.37410397e-01 -7.08887143e-02 3.38371861e+01] [ 1.01692097e-01 3.00079829e-03 9.94811395e-01 8.28710128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.126875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.16, Y:33.85, Z:8.30 [[ 7.36008800e-01 -6.73121230e-01 -7.21030844e-02 7.31634548e+01] [ 6.69298340e-01 7.39518006e-01 -7.17833564e-02 3.38549349e+01] [ 1.01640430e-01 4.57470732e-03 9.94810683e-01 8.29591972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:33.87, Z:8.30 [[ 7.31407852e-01 -6.78026677e-01 -7.29546350e-02 7.31773808e+01] [ 6.74314054e-01 7.35032454e-01 -7.09073278e-02 3.38742188e+01] [ 1.01701084e-01 2.66784069e-03 9.94811425e-01 8.29606032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:33.89, Z:8.31 [[ 7.33277532e-01 -6.76108458e-01 -7.19820386e-02 7.32048304e+01] [ 6.72287793e-01 7.36789361e-01 -7.19066127e-02 3.38919801e+01] [ 1.01652269e-01 4.33485763e-03 9.94810547e-01 8.30503247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:33.91, Z:8.30 [[ 7.29103751e-01 -6.80506228e-01 -7.29314280e-02 7.32189578e+01] [ 6.76803611e-01 7.32738511e-01 -7.09305777e-02 3.39122998e+01] [ 1.01708366e-01 2.35549644e-03 9.94811470e-01 8.30190108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:33.93, Z:8.31 [[ 7.29860229e-01 -6.79790021e-01 -7.20386890e-02 7.32466373e+01] [ 6.75992916e-01 7.33397255e-01 -7.18473725e-02 3.39298219e+01] [ 1.01674104e-01 3.74089636e-03 9.94810727e-01 8.30807856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:33.95, Z:8.31 [[ 7.28616759e-01 -6.81029492e-01 -7.29139888e-02 7.32669814e+01] [ 6.77327751e-01 7.32252353e-01 -7.09479319e-02 3.39487114e+01] [ 1.01709074e-01 2.30718414e-03 9.94811510e-01 8.31072226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:33.97, Z:8.31 [[ 7.27158224e-01 -6.82588722e-01 -7.28941299e-02 7.32873123e+01] [ 6.78892735e-01 7.30799666e-01 -7.09683298e-02 3.39671150e+01] [ 1.01713187e-01 2.11790949e-03 9.94811511e-01 8.31328974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.30, Y:33.99, Z:8.31 [[ 7.23070787e-01 -6.86918969e-01 -7.28763784e-02 7.33002586e+01] [ 6.83242957e-01 7.26732393e-01 -7.09865539e-02 3.39883064e+01] [ 1.01723635e-01 1.53603104e-03 9.94811511e-01 8.30896202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:34.01, Z:8.32 [[ 7.25741388e-01 -6.84206871e-01 -7.18358973e-02 7.33280878e+01] [ 6.80410936e-01 7.29279989e-01 -7.20531502e-02 3.40060554e+01] [ 1.01687743e-01 3.41402309e-03 9.94810508e-01 8.31812943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:34.02, Z:8.32 [[ 7.25133473e-01 -6.84743223e-01 -7.28571505e-02 7.33485300e+01] [ 6.81054333e-01 7.28782016e-01 -7.10054201e-02 3.40247781e+01] [ 1.01717461e-01 1.86872885e-03 9.94811573e-01 8.32265523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:34.04, Z:8.33 [[ 7.24407274e-01 -6.85513544e-01 -7.28373759e-02 7.33675871e+01] [ 6.81826495e-01 7.28057677e-01 -7.10256992e-02 3.40432288e+01] [ 1.01718889e-01 1.78908045e-03 9.94811573e-01 8.32626494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:34.06, Z:8.33 [[ 7.24221499e-01 -6.85711718e-01 -7.28193698e-02 7.33879019e+01] [ 6.82023813e-01 7.27871037e-01 -7.10441553e-02 3.40631938e+01] [ 1.01718920e-01 1.78716041e-03 9.94811574e-01 8.32916371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:34.08, Z:8.33 [[ 7.23796690e-01 -6.86162160e-01 -7.28000103e-02 7.34073863e+01] [ 6.82474533e-01 7.27446508e-01 -7.10639877e-02 3.40830993e+01] [ 1.01719533e-01 1.75172612e-03 9.94811574e-01 8.33171223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:34.10, Z:8.33 [[ 7.23625224e-01 -6.86345063e-01 -7.27804219e-02 7.34264848e+01] [ 6.82656342e-01 7.27273936e-01 -7.10840437e-02 3.41021866e+01] [ 1.01719486e-01 1.75419047e-03 9.94811575e-01 8.33426993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:34.12, Z:8.34 [[ 7.23180496e-01 -6.86815059e-01 -7.27670608e-02 7.34461117e+01] [ 6.83127334e-01 7.26830214e-01 -7.10977185e-02 3.41222525e+01] [ 1.01720282e-01 1.70731505e-03 9.94811575e-01 8.33903096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.47, Y:34.14, Z:8.34 [[ 7.22727007e-01 -6.87294312e-01 -7.27475261e-02 7.34660730e+01] [ 6.83606997e-01 7.26377138e-01 -7.11177010e-02 3.41419605e+01] [ 1.01720931e-01 1.66796535e-03 9.94811575e-01 8.34278991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.49, Y:34.16, Z:8.35 [[ 7.22203730e-01 -6.87846224e-01 -7.27278808e-02 7.34858199e+01] [ 6.84159677e-01 7.25854636e-01 -7.11377854e-02 3.41615688e+01] [ 1.01721727e-01 1.61849049e-03 9.94811576e-01 8.34689052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:34.18, Z:8.35 [[ 7.21400969e-01 -6.88690176e-01 -7.27082090e-02 7.35056139e+01] [ 6.85005875e-01 7.25054141e-01 -7.11578859e-02 3.41814285e+01] [ 1.01723125e-01 1.52781753e-03 9.94811576e-01 8.34924638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:34.20, Z:8.35 [[ 7.20130549e-01 -6.90020548e-01 -7.26886203e-02 7.35248129e+01] [ 6.86340977e-01 7.23788485e-01 -7.11778904e-02 3.42001185e+01] [ 1.01725393e-01 1.36819457e-03 9.94811576e-01 8.34977591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:34.22, Z:8.35 [[ 7.19294461e-01 -6.90893471e-01 -7.26752416e-02 7.35451229e+01] [ 6.87216960e-01 7.22955472e-01 -7.11915480e-02 3.42198220e+01] [ 1.01726739e-01 1.26402754e-03 9.94811577e-01 8.35192598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:34.24, Z:8.35 [[ 7.15391946e-01 -6.94935588e-01 -7.26559849e-02 7.35582361e+01] [ 6.91277768e-01 7.19071633e-01 -7.12111954e-02 3.42413644e+01] [ 1.01732052e-01 7.18448619e-04 9.94811577e-01 8.34804404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:34.26, Z:8.36 [[ 7.17695674e-01 -6.92652839e-01 -7.17284063e-02 7.35851988e+01] [ 6.88888268e-01 7.21267226e-01 -7.21563745e-02 3.42583671e+01] [ 1.01714666e-01 2.37346021e-03 9.94810783e-01 8.35631848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:34.28, Z:8.36 [[ 7.17823886e-01 -6.92425811e-01 -7.26317133e-02 7.36056855e+01] [ 6.88752669e-01 7.21488230e-01 -7.12354834e-02 3.42775602e+01] [ 1.01728214e-01 1.10924513e-03 9.94811610e-01 8.36020513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:34.30, Z:8.36 [[ 7.18156462e-01 -6.92082906e-01 -7.26123155e-02 7.36258507e+01] [ 6.88406016e-01 7.21817045e-01 -7.12552507e-02 3.42976444e+01] [ 1.01727348e-01 1.18566386e-03 9.94811611e-01 8.36306362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:34.32, Z:8.37 [[ 7.18791614e-01 -6.91425241e-01 -7.25930572e-02 7.36451024e+01] [ 6.87743022e-01 7.22446835e-01 -7.12748651e-02 3.43174348e+01] [ 1.01725865e-01 1.30640684e-03 9.94811611e-01 8.36520397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.66, Y:34.34, Z:8.37 [[ 7.21069109e-01 -6.89051833e-01 -7.25734829e-02 7.36642413e+01] [ 6.85355579e-01 7.24710137e-01 -7.12947906e-02 3.43373157e+01] [ 1.01720545e-01 1.66982974e-03 9.94811612e-01 8.36631073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.906875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:73.68, Y:34.36, Z:8.37 [[ 7.22022755e-01 -6.88054344e-01 -7.25559184e-02 7.36841392e+01] [ 6.84351265e-01 7.25656841e-01 -7.13126614e-02 3.43567156e+01] [ 1.01717685e-01 1.83562976e-03 9.94811612e-01 8.36914652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:34.38, Z:8.37 [[ 7.24670348e-01 -6.85267320e-01 -7.25368009e-02 7.37043572e+01] [ 6.81548322e-01 7.28288141e-01 -7.13321018e-02 3.43756158e+01] [ 1.01709250e-01 2.25492412e-03 9.94811612e-01 8.37364737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:34.39, Z:8.38 [[ 7.25644950e-01 -6.84237128e-01 -7.25186899e-02 7.37238947e+01] [ 6.80511156e-01 7.29255559e-01 -7.13505094e-02 3.43948887e+01] [ 1.01705325e-01 2.42535929e-03 9.94811613e-01 8.37758984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:34.41, Z:8.38 [[ 7.26303330e-01 -6.83540373e-01 -7.24984936e-02 7.37428999e+01] [ 6.79808892e-01 7.29908245e-01 -7.13710247e-02 3.44139183e+01] [ 1.01702225e-01 2.55189228e-03 9.94811613e-01 8.37996129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:34.43, Z:8.38 [[ 7.27503293e-01 -6.82264541e-01 -7.24848531e-02 7.37638376e+01] [ 6.78525361e-01 7.31100221e-01 -7.13848754e-02 3.44328886e+01] [ 1.01697061e-01 2.74992081e-03 9.94811613e-01 8.38204725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:34.45, Z:8.38 [[ 7.27180976e-01 -6.82610143e-01 -7.24653136e-02 7.37844941e+01] [ 6.78870699e-01 7.30777629e-01 -7.14047053e-02 3.44521826e+01] [ 1.01697606e-01 2.72956516e-03 9.94811614e-01 8.38440261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:34.47, Z:8.38 [[ 7.25307808e-01 -6.84602255e-01 -7.24454015e-02 7.38037135e+01] [ 6.80870675e-01 7.28912619e-01 -7.14249020e-02 3.44722152e+01] [ 1.01704016e-01 2.47908966e-03 9.94811614e-01 8.38331478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:34.49, Z:8.39 [[ 7.25843317e-01 -6.84052657e-01 -7.22733812e-02 7.38255222e+01] [ 6.80300985e-01 7.29427248e-01 -7.15993018e-02 3.44898438e+01] [ 1.01695866e-01 2.80222231e-03 9.94811589e-01 8.38803767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:34.51, Z:8.39 [[ 7.25024772e-01 -6.84904478e-01 -7.24219318e-02 7.38460322e+01] [ 6.81172023e-01 7.28628680e-01 -7.14487311e-02 3.45087626e+01] [ 1.01704252e-01 2.47030612e-03 9.94811612e-01 8.39042984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:34.53, Z:8.39 [[ 7.24174359e-01 -6.85805730e-01 -7.24016482e-02 7.38669302e+01] [ 6.82075708e-01 7.27780784e-01 -7.14692793e-02 3.45279576e+01] [ 1.01706570e-01 2.37281401e-03 9.94811612e-01 8.39321848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:34.55, Z:8.40 [[ 7.22586426e-01 -6.87480745e-01 -7.23815046e-02 7.38876616e+01] [ 6.83757042e-01 7.26199376e-01 -7.14896743e-02 3.45455894e+01] [ 1.01711178e-01 2.16610478e-03 9.94811612e-01 8.39619495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:34.56, Z:8.40 [[ 7.21440889e-01 -6.88684208e-01 -7.23678415e-02 7.39083968e+01] [ 6.84965147e-01 7.25058616e-01 -7.15035026e-02 3.45644656e+01] [ 1.01714260e-01 2.01610136e-03 9.94811613e-01 8.40013866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:34.58, Z:8.40 [[ 7.20026505e-01 -6.90164931e-01 -7.23477786e-02 7.39286170e+01] [ 6.86451271e-01 7.23649776e-01 -7.15237967e-02 3.45828536e+01] [ 1.01717670e-01 1.83580469e-03 9.94811613e-01 8.40397260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:34.60, Z:8.41 [[ 7.17919342e-01 -6.92358450e-01 -7.23297635e-02 7.39497806e+01] [ 6.88654029e-01 7.21552056e-01 -7.15420102e-02 3.46004974e+01] [ 1.01722405e-01 1.55120993e-03 9.94811613e-01 8.40782358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:34.62, Z:8.41 [[ 7.17151822e-01 -6.93155490e-01 -7.23099656e-02 7.39700264e+01] [ 6.89453089e-01 7.20786596e-01 -7.15620151e-02 3.46193760e+01] [ 1.01723658e-01 1.46650043e-03 9.94811614e-01 8.41160394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:34.64, Z:8.42 [[ 7.16276570e-01 -6.94061964e-01 -7.22901504e-02 7.39904963e+01] [ 6.90362144e-01 7.19913970e-01 -7.15820263e-02 3.46389199e+01] [ 1.01725051e-01 1.36614504e-03 9.94811614e-01 8.41532070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:34.66, Z:8.42 [[ 7.15944836e-01 -6.94406194e-01 -7.22705361e-02 7.40108124e+01] [ 6.90706124e-01 7.19581982e-01 -7.16018239e-02 3.46581333e+01] [ 1.01725326e-01 1.34525409e-03 9.94811615e-01 8.41955365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:34.68, Z:8.42 [[ 7.15875738e-01 -6.94479493e-01 -7.22506909e-02 7.40304680e+01] [ 6.90777776e-01 7.19511206e-01 -7.16218434e-02 3.46779956e+01] [ 1.01725083e-01 1.36316851e-03 9.94811615e-01 8.42107666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:34.70, Z:8.42 [[ 7.15162530e-01 -6.95215991e-01 -7.22307543e-02 7.40502248e+01] [ 6.91515988e-01 7.18799743e-01 -7.16419439e-02 3.46978573e+01] [ 1.01726073e-01 1.28691249e-03 9.94811615e-01 8.42262745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.07, Y:34.72, Z:8.42 [[ 7.14103055e-01 -6.96306258e-01 -7.22109548e-02 7.40694689e+01] [ 6.92609792e-01 7.17743860e-01 -7.16618952e-02 3.47165285e+01] [ 1.01727596e-01 1.15996392e-03 9.94811616e-01 8.42322197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:34.74, Z:8.43 [[ 7.13388104e-01 -6.97040535e-01 -7.21935279e-02 7.40893237e+01] [ 6.93346040e-01 7.17030910e-01 -7.16794471e-02 3.47364136e+01] [ 1.01728471e-01 1.08016814e-03 9.94811616e-01 8.42615815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.11, Y:34.76, Z:8.43 [[ 7.11725955e-01 -6.98739671e-01 -7.21736611e-02 7.41093671e+01] [ 6.95051845e-01 7.15375512e-01 -7.16994453e-02 3.47560604e+01] [ 1.01730517e-01 8.65919898e-04 9.94811616e-01 8.42942216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.13, Y:34.78, Z:8.43 [[ 7.10670152e-01 -6.99815585e-01 -7.21531784e-02 7.41286574e+01] [ 6.96131193e-01 7.14323174e-01 -7.17200518e-02 3.47753803e+01] [ 1.01731497e-01 7.41221943e-04 9.94811617e-01 8.43130478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:34.80, Z:8.43 [[ 7.09585132e-01 -7.00917634e-01 -7.21346634e-02 7.41481494e+01] [ 6.97237022e-01 7.13241963e-01 -7.17386691e-02 3.47953626e+01] [ 1.01732367e-01 6.09735086e-04 9.94811617e-01 8.43412407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.17, Y:34.82, Z:8.44 [[ 7.07769891e-01 -7.02752591e-01 -7.21150224e-02 7.41684260e+01] [ 6.99079449e-01 7.11434224e-01 -7.17584077e-02 3.48150414e+01] [ 1.01733502e-01 3.74310343e-04 9.94811618e-01 8.43850548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:34.83, Z:8.44 [[ 7.06783478e-01 -7.03746679e-01 -7.20952638e-02 7.41879524e+01] [ 7.00076666e-01 7.10450944e-01 -7.17782537e-02 3.48346048e+01] [ 1.01733856e-01 2.59471867e-04 9.94811618e-01 8.44143672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.21, Y:34.85, Z:8.44 [[ 7.06128729e-01 -7.04405657e-01 -7.20755817e-02 7.42067183e+01] [ 7.00737049e-01 7.09797601e-01 -7.17980119e-02 3.48536742e+01] [ 1.01734001e-01 1.92608460e-04 9.94811618e-01 8.44465603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:34.87, Z:8.45 [[ 7.05902808e-01 -7.04633872e-01 -7.20578330e-02 7.42259666e+01] [ 7.00964633e-01 7.09571048e-01 -7.18158204e-02 3.48743118e+01] [ 1.01734012e-01 1.84996847e-04 9.94811619e-01 8.44714633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:34.89, Z:8.45 [[ 7.05878221e-01 -7.04660504e-01 -7.20382566e-02 7.42451408e+01] [ 7.00989399e-01 7.09544593e-01 -7.18354521e-02 3.48944085e+01] [ 1.01733961e-01 2.09026957e-04 9.94811619e-01 8.44938582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:34.91, Z:8.45 [[ 7.05912648e-01 -7.04628065e-01 -7.20182147e-02 7.42631334e+01] [ 7.00954742e-01 7.09576797e-01 -7.18555395e-02 3.49140656e+01] [ 1.01733884e-01 2.42225052e-04 9.94811619e-01 8.45089763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:34.93, Z:8.45 [[ 7.06256800e-01 -7.04284944e-01 -7.20003480e-02 7.42821216e+01] [ 7.00608016e-01 7.09917331e-01 -7.18734378e-02 3.49347242e+01] [ 1.01733675e-01 3.17083115e-04 9.94811620e-01 8.45297168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.30, Y:34.96, Z:8.46 [[ 7.06774027e-01 -7.03767908e-01 -7.19805931e-02 7.43004686e+01] [ 7.00086288e-01 7.10429838e-01 -7.18932168e-02 3.49564526e+01] [ 1.01733300e-01 4.19632165e-04 9.94811620e-01 8.45508722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:34.98, Z:8.46 [[ 7.06988568e-01 -7.03554445e-01 -7.19604550e-02 7.43184897e+01] [ 6.99869670e-01 7.10641198e-01 -7.19133681e-02 3.49761918e+01] [ 1.01733034e-01 4.78989294e-04 9.94811621e-01 8.45735042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.896875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:74.33, Y:35.00, Z:8.46 [[ 7.06833444e-01 -7.03712148e-01 -7.19423049e-02 7.43337804e+01] [ 7.00026340e-01 7.10485032e-01 -7.19315210e-02 3.49984356e+01] [ 1.01733016e-01 4.82096416e-04 9.94811621e-01 8.45736280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:35.02, Z:8.46 [[ 7.08981873e-01 -7.01607762e-01 -7.13530168e-02 7.43559818e+01] [ 6.97851631e-01 7.12561519e-01 -7.25202231e-02 3.50179151e+01] [ 1.01724165e-01 1.62170449e-03 9.94811321e-01 8.46415469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:35.04, Z:8.47 [[ 7.09999149e-01 -7.00521184e-01 -7.19116100e-02 7.43743894e+01] [ 6.96815871e-01 7.13630929e-01 -7.19620664e-02 3.50377134e+01] [ 1.01729301e-01 9.83854705e-04 9.94811631e-01 8.46722682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:35.06, Z:8.47 [[ 7.12995711e-01 -6.97472859e-01 -7.18938637e-02 7.43916696e+01] [ 6.93750233e-01 7.16609743e-01 -7.19797916e-02 3.50596342e+01] [ 1.01723794e-01 1.44489798e-03 9.94811631e-01 8.46943925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:35.08, Z:8.47 [[ 7.14496161e-01 -6.95937751e-01 -7.18740795e-02 7.44096607e+01] [ 6.92205375e-01 7.18100122e-01 -7.19995413e-02 3.50800841e+01] [ 1.01719984e-01 1.69177167e-03 9.94811632e-01 8.47113836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.43, Y:35.10, Z:8.47 [[ 7.15695410e-01 -6.94706222e-01 -7.18564210e-02 7.44283206e+01] [ 6.90965877e-01 7.19291099e-01 -7.20171605e-02 3.51008985e+01] [ 1.01716454e-01 1.89201626e-03 9.94811632e-01 8.47353441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:35.12, Z:8.47 [[ 7.17984646e-01 -6.92342057e-01 -7.18367897e-02 7.44467883e+01] [ 6.88587917e-01 7.21565929e-01 -7.20367373e-02 3.51219347e+01] [ 1.01709043e-01 2.25532592e-03 9.94811632e-01 8.47487557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:35.14, Z:8.48 [[ 7.18682163e-01 -6.91620000e-01 -7.18172953e-02 7.44662927e+01] [ 6.87860322e-01 7.22257632e-01 -7.20561671e-02 3.51419171e+01] [ 1.01706076e-01 2.38521417e-03 9.94811633e-01 8.47734444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.49, Y:35.16, Z:8.48 [[ 7.18950608e-01 -6.91342976e-01 -7.17977202e-02 7.44852521e+01] [ 6.87579975e-01 7.22522579e-01 -7.20756668e-02 3.51614498e+01] [ 1.01704480e-01 2.45216982e-03 9.94811633e-01 8.47977130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:35.18, Z:8.48 [[ 7.19273141e-01 -6.91008788e-01 -7.17844240e-02 7.45034735e+01] [ 6.87242807e-01 7.22841970e-01 -7.20889069e-02 3.51808341e+01] [ 1.01702863e-01 2.51828545e-03 9.94811633e-01 8.48310922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:35.20, Z:8.49 [[ 7.19346221e-01 -6.90934515e-01 -7.17670605e-02 7.45225452e+01] [ 6.87166444e-01 7.22912841e-01 -7.21061888e-02 3.52007378e+01] [ 1.01701984e-01 2.55339867e-03 9.94811634e-01 8.48755091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:35.22, Z:8.49 [[ 7.19611264e-01 -6.90660558e-01 -7.17469261e-02 7.45413889e+01] [ 6.86889135e-01 7.23174340e-01 -7.21262173e-02 3.52203192e+01] [ 1.01700269e-01 2.62065441e-03 9.94811634e-01 8.48979962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.56, Y:35.24, Z:8.49 [[ 7.19488220e-01 -6.90790611e-01 -7.17288886e-02 7.45610715e+01] [ 6.87018045e-01 7.23050086e-01 -7.21441511e-02 3.52408643e+01] [ 1.01700081e-01 2.62782604e-03 9.94811634e-01 8.49297356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:35.26, Z:8.50 [[ 7.18974695e-01 -6.91327182e-01 -7.17085449e-02 7.45801819e+01] [ 6.87555261e-01 7.22537243e-01 -7.21643664e-02 3.52606446e+01] [ 1.01701282e-01 2.58076607e-03 9.94811635e-01 8.49517024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:35.28, Z:8.50 [[ 7.18646995e-01 -6.91669718e-01 -7.16902896e-02 7.45998867e+01] [ 6.87897688e-01 7.22209428e-01 -7.21824972e-02 3.52810593e+01] [ 1.01701850e-01 2.55815020e-03 9.94811635e-01 8.49816486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:35.30, Z:8.50 [[ 7.18458594e-01 -6.91867463e-01 -7.16705062e-02 7.46198743e+01] [ 6.88094458e-01 7.22019992e-01 -7.22021350e-02 3.53013506e+01] [ 1.01701846e-01 2.55816633e-03 9.94811636e-01 8.50106251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:35.32, Z:8.50 [[ 7.18168341e-01 -6.92170794e-01 -7.16507289e-02 7.46391372e+01] [ 6.88397337e-01 7.21729260e-01 -7.22217559e-02 3.53215750e+01] [ 1.01702218e-01 2.54320764e-03 9.94811636e-01 8.50419200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:35.34, Z:8.51 [[ 7.17458685e-01 -6.92908438e-01 -7.16305306e-02 7.46572122e+01] [ 6.89136645e-01 7.21021366e-01 -7.22417834e-02 3.53419998e+01] [ 1.01704084e-01 2.46727134e-03 9.94811636e-01 8.50525484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:35.36, Z:8.51 [[ 7.16826571e-01 -6.93564222e-01 -7.16124085e-02 7.46767876e+01] [ 6.89793896e-01 7.20390804e-01 -7.22597432e-02 3.53625796e+01] [ 1.01705693e-01 2.39990166e-03 9.94811637e-01 8.50766027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:35.38, Z:8.51 [[ 7.16042172e-01 -6.94376075e-01 -7.15924218e-02 7.46965507e+01] [ 6.90607813e-01 7.19608586e-01 -7.22795400e-02 3.53828062e+01] [ 1.01707705e-01 2.31291302e-03 9.94811637e-01 8.51089708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:35.40, Z:8.51 [[ 7.14187760e-01 -6.96285318e-01 -7.15723358e-02 7.47154781e+01] [ 6.92524599e-01 7.17762128e-01 -7.22994240e-02 3.54020582e+01] [ 1.01712939e-01 2.06976048e-03 9.94811637e-01 8.51472270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:35.42, Z:8.51 [[ 7.07265839e-01 -7.03316701e-01 -7.15587303e-02 7.47202857e+01] [ 6.99590165e-01 7.10875831e-01 -7.23128877e-02 3.54231951e+01] [ 1.01728233e-01 1.08265117e-03 9.94811638e-01 8.50767150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:74.75, Y:35.44, Z:8.52 [[ 7.10991444e-01 -6.99768298e-01 -6.93937749e-02 7.47537774e+01] [ 6.95812056e-01 7.14354758e-01 -7.44504040e-02 3.54434286e+01] [ 1.01669806e-01 4.64857499e-03 9.94807339e-01 8.51978590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:35.46, Z:8.52 [[ 7.10038781e-01 -7.00517979e-01 -7.15506145e-02 7.47730142e+01] [ 6.96776799e-01 7.13633191e-01 -7.23170827e-02 3.54625554e+01] [ 1.01720310e-01 1.49312510e-03 9.94811916e-01 8.52465593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:35.48, Z:8.53 [[ 7.09189077e-01 -7.01380005e-01 -7.15327987e-02 7.47926430e+01] [ 6.97641418e-01 7.12786184e-01 -7.23347010e-02 3.54829460e+01] [ 1.01721704e-01 1.39473673e-03 9.94811917e-01 8.52884430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:35.50, Z:8.53 [[ 7.08801115e-01 -7.01774059e-01 -7.15132832e-02 7.48122562e+01] [ 6.98035525e-01 7.12398277e-01 -7.23539899e-02 3.55033431e+01] [ 1.01722093e-01 1.36577653e-03 9.94811917e-01 8.53171633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:35.52, Z:8.53 [[ 7.09223459e-01 -7.01349216e-01 -7.14937873e-02 7.48312981e+01] [ 6.97606588e-01 7.12816359e-01 -7.23732488e-02 3.55242041e+01] [ 1.01720863e-01 1.45426884e-03 9.94811918e-01 8.53372054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.85, Y:35.54, Z:8.54 [[ 7.09790709e-01 -7.00777114e-01 -7.14743676e-02 7.48502414e+01] [ 6.97029659e-01 7.13378575e-01 -7.23924224e-02 3.55446357e+01] [ 1.01719235e-01 1.56371478e-03 9.94811918e-01 8.53547504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:35.57, Z:8.53 [[ 7.05483811e-01 -7.05114722e-01 -7.14550301e-02 7.48550357e+01] [ 7.01387397e-01 7.09092584e-01 -7.24115045e-02 3.55664217e+01] [ 1.01726650e-01 9.67486506e-04 9.94811918e-01 8.52950733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.766875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:74.89, Y:35.59, Z:8.54 [[ 7.12392317e-01 -6.98335242e-01 -6.94627638e-02 7.48870619e+01] [ 6.94379792e-01 7.15755079e-01 -7.43731871e-02 3.55864839e+01] [ 1.01655744e-01 4.74934760e-03 9.94808300e-01 8.53858374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:35.61, Z:8.54 [[ 7.12976426e-01 -6.97539018e-01 -7.14418260e-02 7.49058082e+01] [ 6.93772370e-01 7.16543811e-01 -7.24214469e-02 3.56053707e+01] [ 1.01707983e-01 2.07041946e-03 9.94812143e-01 8.54296483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.826875 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:74.92, Y:35.63, Z:8.55 [[ 7.13018605e-01 -6.97497744e-01 -7.14238446e-02 7.49245182e+01] [ 6.93729116e-01 7.16583896e-01 -7.24391763e-02 3.56258646e+01] [ 1.01707339e-01 2.10167989e-03 9.94812143e-01 8.54547211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.94, Y:35.65, Z:8.55 [[ 7.13315288e-01 -6.97196378e-01 -7.14038560e-02 7.49429658e+01] [ 6.93424273e-01 7.16876899e-01 -7.24588740e-02 3.56453509e+01] [ 1.01705839e-01 2.17285558e-03 9.94812144e-01 8.54769098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:35.67, Z:8.55 [[ 7.13360281e-01 -6.97152178e-01 -7.13859281e-02 7.49614239e+01] [ 6.93378086e-01 7.16919787e-01 -7.24765322e-02 3.56662094e+01] [ 1.01705157e-01 2.20444115e-03 9.94812144e-01 8.54835415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.98, Y:35.69, Z:8.55 [[ 7.13179490e-01 -6.97339176e-01 -7.13658814e-02 7.49795499e+01] [ 6.93564045e-01 7.16737893e-01 -7.24962663e-02 3.56858005e+01] [ 1.01705118e-01 2.20604090e-03 9.94812144e-01 8.55035684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:35.71, Z:8.55 [[ 7.12856885e-01 -6.97670799e-01 -7.13478669e-02 7.49985293e+01] [ 6.93895551e-01 7.16415163e-01 -7.25139912e-02 3.57069059e+01] [ 1.01705588e-01 2.18413054e-03 9.94812145e-01 8.55432428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:35.73, Z:8.56 [[ 7.12276653e-01 -6.98265208e-01 -7.13279003e-02 7.50176380e+01] [ 6.94490964e-01 7.15835996e-01 -7.25336259e-02 3.57272272e+01] [ 1.01706786e-01 2.12742597e-03 9.94812145e-01 8.55749967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.04, Y:35.75, Z:8.56 [[ 7.11719825e-01 -6.98834803e-01 -7.13078427e-02 7.50363360e+01] [ 6.95061435e-01 7.15280096e-01 -7.25533393e-02 3.57465055e+01] [ 1.01707879e-01 2.07431849e-03 9.94812145e-01 8.56052788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.036875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.06, Y:35.77, Z:8.56 [[ 7.09729653e-01 -7.00857751e-01 -7.12897799e-02 7.50552625e+01] [ 6.97092750e-01 7.13298770e-01 -7.25710832e-02 3.57664987e+01] [ 1.01712919e-01 1.81026101e-03 9.94812146e-01 8.56309680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:35.79, Z:8.57 [[ 7.08526485e-01 -7.02076070e-01 -7.12699883e-02 7.50745880e+01] [ 6.98315253e-01 7.12100010e-01 -7.25905148e-02 3.57869586e+01] [ 1.01715423e-01 1.66338242e-03 9.94812146e-01 8.56597281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:35.81, Z:8.57 [[ 7.07712484e-01 -7.02898607e-01 -7.12501752e-02 7.50938184e+01] [ 6.99139987e-01 7.11288319e-01 -7.26099569e-02 3.58070495e+01] [ 1.01716855e-01 1.57312645e-03 9.94812146e-01 8.56821384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:35.83, Z:8.57 [[ 7.06570534e-01 -7.04048501e-01 -7.12305258e-02 7.51132390e+01] [ 7.00293758e-01 7.10150440e-01 -7.26292280e-02 3.58274215e+01] [ 1.01718888e-01 1.43537979e-03 9.94812147e-01 8.57070682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.13, Y:35.85, Z:8.57 [[ 7.04057095e-01 -7.06563966e-01 -7.12107347e-02 7.51324641e+01] [ 7.02820053e-01 7.07648324e-01 -7.26486275e-02 3.58481561e+01] [ 1.01723059e-01 1.10044932e-03 9.94812147e-01 8.57226497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:35.87, Z:8.57 [[ 7.02588801e-01 -7.08026007e-01 -7.11909429e-02 7.51520744e+01] [ 7.04287602e-01 7.06185764e-01 -7.26680169e-02 3.58682364e+01] [ 1.01724876e-01 9.16836421e-04 9.94812148e-01 8.57475954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:35.89, Z:8.58 [[ 6.99516770e-01 -7.11063261e-01 -7.11711155e-02 7.51712566e+01] [ 7.07338499e-01 7.03127859e-01 -7.26874308e-02 3.58885494e+01] [ 1.01727756e-01 5.04006770e-04 9.94812148e-01 8.57667085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:35.91, Z:8.58 [[ 6.97891489e-01 -7.12660479e-01 -7.11513273e-02 7.51902895e+01] [ 7.08942007e-01 7.01509054e-01 -7.27067957e-02 3.59084493e+01] [ 1.01728560e-01 2.99289114e-04 9.94812148e-01 8.57956177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:35.93, Z:8.58 [[ 6.96357412e-01 -7.14161505e-01 -7.11315594e-02 7.52099476e+01] [ 7.10448856e-01 6.99980951e-01 -7.27261303e-02 3.59290311e+01] [ 1.01728939e-01 1.08044827e-04 9.94812149e-01 8.58251107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:35.95, Z:8.59 [[ 6.94893985e-01 -7.15587554e-01 -7.11111931e-02 7.52284559e+01] [ 7.11880303e-01 6.98523047e-01 -7.27460389e-02 3.59486355e+01] [ 1.01728967e-01 -7.18727874e-05 9.94812149e-01 8.58631670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:35.97, Z:8.59 [[ 6.93081263e-01 -7.17344775e-01 -7.10973729e-02 7.52464505e+01] [ 7.13645340e-01 6.96718291e-01 -7.27595434e-02 3.59702001e+01] [ 1.01728518e-01 -3.10032588e-04 9.94812149e-01 8.58902113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:35.99, Z:8.59 [[ 6.92601414e-01 -7.17810046e-01 -7.10775557e-02 7.52645459e+01] [ 7.14111068e-01 6.96238906e-01 -7.27788975e-02 3.59906605e+01] [ 1.01728383e-01 -3.50501874e-04 9.94812150e-01 8.59212823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:36.01, Z:8.60 [[ 6.93445705e-01 -7.16995778e-01 -7.10641142e-02 7.52832198e+01] [ 7.13291184e-01 6.97077477e-01 -7.27920199e-02 3.60116780e+01] [ 1.01728764e-01 -2.12092594e-04 9.94812150e-01 8.59625236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:36.03, Z:8.60 [[ 6.94233752e-01 -7.16234728e-01 -7.10444362e-02 7.53021672e+01] [ 7.12524187e-01 6.97859448e-01 -7.28112205e-02 3.60325643e+01] [ 1.01728956e-01 -7.28723764e-05 9.94812150e-01 8.59923139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:36.05, Z:8.60 [[ 6.95087958e-01 -7.15407726e-01 -7.10247576e-02 7.53207137e+01] [ 7.11690910e-01 6.98707220e-01 -7.28304112e-02 3.60538769e+01] [ 1.01728950e-01 7.58673282e-05 9.94812151e-01 8.60115452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:36.08, Z:8.60 [[ 6.97998704e-01 -7.12570058e-01 -7.10050785e-02 7.53381691e+01] [ 7.08836577e-01 7.01600772e-01 -7.28495921e-02 3.60766919e+01] [ 1.01727656e-01 5.17924023e-04 9.94812151e-01 8.60244865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:36.10, Z:8.60 [[ 6.99692936e-01 -7.10908486e-01 -7.09853550e-02 7.53562736e+01] [ 7.07164502e-01 7.03284085e-01 -7.28688058e-02 3.60980714e+01] [ 1.01725923e-01 7.87465473e-04 9.94812151e-01 8.60453206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.546875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:75.37, Y:36.12, Z:8.61 [[ 7.01528290e-01 -7.09099404e-01 -7.09654402e-02 7.53744997e+01] [ 7.05344199e-01 7.05107703e-01 -7.28881954e-02 3.61190580e+01] [ 1.01723254e-01 1.07806950e-03 9.94812152e-01 8.60664116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:36.14, Z:8.61 [[ 7.04865224e-01 -7.05784498e-01 -7.09454682e-02 7.53931839e+01] [ 7.02010505e-01 7.08424822e-01 -7.29076299e-02 3.61406039e+01] [ 1.01716606e-01 1.58558892e-03 9.94812152e-01 8.60903888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:36.16, Z:8.61 [[ 7.06158671e-01 -7.04492378e-01 -7.09254649e-02 7.54122917e+01] [ 7.00709919e-01 7.09709272e-01 -7.29270843e-02 3.61606554e+01] [ 1.01713035e-01 1.79991617e-03 9.94812153e-01 8.61149234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:36.18, Z:8.61 [[ 7.08621054e-01 -7.02017528e-01 -7.09055151e-02 7.54310370e+01] [ 6.98220732e-01 7.12156318e-01 -7.29464759e-02 3.61807606e+01] [ 1.01705515e-01 2.18370800e-03 9.94812153e-01 8.61456676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:36.20, Z:8.62 [[ 7.09372890e-01 -7.01259821e-01 -7.08855907e-02 7.54495792e+01] [ 6.97457316e-01 7.12902013e-01 -7.29658323e-02 3.62004549e+01] [ 1.01702487e-01 2.32030948e-03 9.94812153e-01 8.61748896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:36.22, Z:8.62 [[ 7.10288590e-01 -7.00334325e-01 -7.08657336e-02 7.54689205e+01] [ 6.96525300e-01 7.13810675e-01 -7.29851129e-02 3.62206314e+01] [ 1.01698697e-01 2.48071653e-03 9.94812154e-01 8.62059459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.49, Y:36.24, Z:8.62 [[ 7.11249165e-01 -6.99360804e-01 -7.08455415e-02 7.54886531e+01] [ 6.95545010e-01 7.14763913e-01 -7.30047079e-02 3.62405066e+01] [ 1.01694468e-01 2.64827467e-03 9.94812154e-01 8.62391193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.51, Y:36.26, Z:8.63 [[ 7.13257755e-01 -6.97314245e-01 -7.08252738e-02 7.55092032e+01] [ 6.93486418e-01 7.16759395e-01 -7.30243653e-02 3.62592739e+01] [ 1.01685610e-01 2.96882943e-03 9.94812154e-01 8.62714417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:36.28, Z:8.63 [[ 7.13990657e-01 -6.96565510e-01 -7.08084168e-02 7.55285821e+01] [ 6.92732394e-01 7.17486506e-01 -7.30407055e-02 3.62780772e+01] [ 1.01681720e-01 3.09909723e-03 9.94812155e-01 8.62957727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:36.30, Z:8.63 [[ 7.14536016e-01 -6.96008459e-01 -7.07849343e-02 7.55474378e+01] [ 6.92170368e-01 7.18026402e-01 -7.30634558e-02 3.62968267e+01] [ 1.01678235e-01 3.21123666e-03 9.94812155e-01 8.63152054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:36.32, Z:8.63 [[ 7.16363812e-01 -6.94128898e-01 -7.07669510e-02 7.55673139e+01] [ 6.90279935e-01 7.19842204e-01 -7.30808697e-02 3.63167345e+01] [ 1.01668582e-01 3.50348415e-03 9.94812156e-01 8.63337856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:36.34, Z:8.64 [[ 7.17321225e-01 -6.93141517e-01 -7.07467226e-02 7.55867560e+01] [ 6.89285840e-01 7.20792173e-01 -7.31004468e-02 3.63368773e+01] [ 1.01662638e-01 3.67178792e-03 9.94812156e-01 8.63634328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.61, Y:36.36, Z:8.64 [[ 7.18260543e-01 -6.92170170e-01 -7.07265732e-02 7.56062861e+01] [ 6.88307886e-01 7.21724136e-01 -7.31199368e-02 3.63561403e+01] [ 1.01656514e-01 3.83750740e-03 9.94812156e-01 8.63967823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.63, Y:36.37, Z:8.64 [[ 7.19199220e-01 -6.91196840e-01 -7.07065069e-02 7.56264318e+01] [ 6.87327967e-01 7.22655452e-01 -7.31393357e-02 3.63747249e+01] [ 1.01650120e-01 4.00319359e-03 9.94812157e-01 8.64184363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:36.39, Z:8.64 [[ 7.19103449e-01 -6.91298294e-01 -7.06887443e-02 7.56461157e+01] [ 6.87428227e-01 7.22558344e-01 -7.31564992e-02 3.63947179e+01] [ 1.01649705e-01 4.01365276e-03 9.94812157e-01 8.64356244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.67, Y:36.41, Z:8.65 [[ 7.18944590e-01 -6.91465539e-01 -7.06688353e-02 7.56657688e+01] [ 6.87594392e-01 7.22398273e-01 -7.31757262e-02 3.64147894e+01] [ 1.01649538e-01 4.01779760e-03 9.94812158e-01 8.64518164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:36.43, Z:8.65 [[ 7.18462216e-01 -6.91968765e-01 -7.06489468e-02 7.56843882e+01] [ 6.88098154e-01 7.21916500e-01 -7.31949229e-02 3.64337537e+01] [ 1.01651241e-01 3.97437659e-03 9.94812158e-01 8.64759312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:36.45, Z:8.65 [[ 7.16723453e-01 -6.93771383e-01 -7.06311552e-02 7.57053234e+01] [ 6.89907775e-01 7.20185568e-01 -7.32120874e-02 3.64523947e+01] [ 1.01659990e-01 3.74383700e-03 9.94812158e-01 8.65135347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.73, Y:36.47, Z:8.65 [[ 7.15604561e-01 -6.94927497e-01 -7.06108103e-02 7.57251938e+01] [ 6.91067552e-01 7.19070759e-01 -7.32317042e-02 3.64707391e+01] [ 1.01664894e-01 3.60810176e-03 9.94812159e-01 8.65462597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:36.49, Z:8.66 [[ 7.14180922e-01 -6.96392354e-01 -7.05924880e-02 7.57456694e+01] [ 6.92537779e-01 7.17653089e-01 -7.32493619e-02 3.64899602e+01] [ 1.01671213e-01 3.42533197e-03 9.94812159e-01 8.65880509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:36.51, Z:8.66 [[ 7.11482182e-01 -6.99151357e-01 -7.05725469e-02 7.57672766e+01] [ 6.95308348e-01 7.14967145e-01 -7.32685693e-02 3.65081200e+01] [ 1.01682872e-01 3.05960059e-03 9.94812159e-01 8.66374443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:36.53, Z:8.67 [[ 7.09906079e-01 -7.00753719e-01 -7.05520015e-02 7.57875441e+01] [ 6.96916614e-01 7.13397541e-01 -7.32883477e-02 3.65270900e+01] [ 1.01688707e-01 2.85898162e-03 9.94812160e-01 8.66691291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:36.54, Z:8.67 [[ 7.06310767e-01 -7.04379440e-01 -7.05315914e-02 7.58082587e+01] [ 7.00558303e-01 7.09819698e-01 -7.33079849e-02 3.65443945e+01] [ 1.01701350e-01 2.36672703e-03 9.94812160e-01 8.67029126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.236875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.83, Y:36.56, Z:8.67 [[ 7.04374154e-01 -7.06317889e-01 -7.05130577e-02 7.58280962e+01] [ 7.02504627e-01 7.07891640e-01 -7.33258077e-02 3.65620370e+01] [ 1.01706934e-01 2.11305440e-03 9.94812160e-01 8.67417156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.266875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.85, Y:36.58, Z:8.68 [[ 7.04182882e-01 -7.06510405e-01 -7.04947987e-02 7.58477605e+01] [ 7.02696349e-01 7.07699507e-01 -7.33433575e-02 3.65826360e+01] [ 1.01706980e-01 2.11069917e-03 9.94812161e-01 8.67707033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:36.60, Z:8.68 [[ 7.02106283e-01 -7.08576083e-01 -7.04748273e-02 7.58684813e+01] [ 7.04770451e-01 7.05632021e-01 -7.33625429e-02 3.66011357e+01] [ 1.01712238e-01 1.83972653e-03 9.94812161e-01 8.68078454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.89, Y:36.62, Z:8.68 [[ 7.00076805e-01 -7.10583273e-01 -7.04548036e-02 7.58891462e+01] [ 7.06785816e-01 7.03611346e-01 -7.33817680e-02 3.66195557e+01] [ 1.01716656e-01 1.57641783e-03 9.94812162e-01 8.68454518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:36.64, Z:8.69 [[ 6.96203777e-01 -7.14380329e-01 -7.04347034e-02 7.59108856e+01] [ 7.10600200e-01 6.99756844e-01 -7.34010559e-02 3.66372030e+01] [ 1.01723436e-01 1.05117800e-03 9.94812162e-01 8.68775956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:36.66, Z:8.69 [[ 6.94086787e-01 -7.16439334e-01 -7.04145862e-02 7.59300607e+01] [ 7.12667788e-01 6.97648963e-01 -7.34203496e-02 3.66558063e+01] [ 1.01725889e-01 7.77887137e-04 9.94812162e-01 8.68949000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:36.68, Z:8.69 [[ 6.92504509e-01 -7.17970625e-01 -7.03966435e-02 7.59505880e+01] [ 7.14205208e-01 6.96073163e-01 -7.34375494e-02 3.66753587e+01] [ 1.01727217e-01 5.78184711e-04 9.94812163e-01 8.69192400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:36.69, Z:8.69 [[ 6.90083447e-01 -7.20299892e-01 -7.03768512e-02 7.59713856e+01] [ 7.16544587e-01 6.93662740e-01 -7.34565119e-02 3.66940634e+01] [ 1.01728517e-01 2.62971212e-04 9.94812163e-01 8.69335451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:36.71, Z:8.70 [[ 6.89224303e-01 -7.21123952e-01 -7.03569937e-02 7.59912104e+01] [ 7.17370985e-01 6.92806046e-01 -7.34755267e-02 3.67135053e+01] [ 1.01728713e-01 1.69052787e-04 9.94812163e-01 8.69590347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:36.73, Z:8.70 [[ 6.88677411e-01 -7.21648200e-01 -7.03370426e-02 7.60105424e+01] [ 7.17896008e-01 6.92259967e-01 -7.34946206e-02 3.67319434e+01] [ 1.01728779e-01 1.19402897e-04 9.94812164e-01 8.69924108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:36.75, Z:8.70 [[ 6.88825067e-01 -7.21509015e-01 -7.03190506e-02 7.60299540e+01] [ 7.17754342e-01 6.92405022e-01 -7.35118312e-02 3.67520310e+01] [ 1.01728713e-01 1.64988161e-04 9.94812164e-01 8.70261095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:36.77, Z:8.70 [[ 6.90705791e-01 -7.19710729e-01 -7.02992036e-02 7.60484411e+01] [ 7.15944804e-01 6.94273907e-01 -7.35308060e-02 3.67719936e+01] [ 1.01727813e-01 4.57803915e-04 9.94812164e-01 8.70285150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:36.79, Z:8.70 [[ 6.91985341e-01 -7.18482052e-01 -7.02839140e-02 7.60676469e+01] [ 7.14708308e-01 6.95545186e-01 -7.35454176e-02 3.67928880e+01] [ 1.01726701e-01 6.59853603e-04 9.94812165e-01 8.70417758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:36.81, Z:8.71 [[ 6.93552720e-01 -7.16971118e-01 -7.02640788e-02 7.60864759e+01] [ 7.13187700e-01 6.97102280e-01 -7.35643631e-02 3.68132820e+01] [ 1.01724773e-01 9.09287397e-04 9.94812165e-01 8.70711275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:36.83, Z:8.71 [[ 6.95409497e-01 -7.15172354e-01 -7.02434054e-02 7.61044357e+01] [ 7.11377762e-01 6.98947109e-01 -7.35840979e-02 3.68330416e+01] [ 1.01721738e-01 1.20148399e-03 9.94812165e-01 8.70887157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:36.85, Z:8.71 [[ 6.97267345e-01 -7.13362974e-01 -7.02247546e-02 7.61229885e+01] [ 7.09557411e-01 7.00793152e-01 -7.36018930e-02 3.68533663e+01] [ 1.01717892e-01 1.49170148e-03 9.94812166e-01 8.71182644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:36.87, Z:8.71 [[ 7.01290092e-01 -7.09410676e-01 -7.02046916e-02 7.61409642e+01] [ 7.05583332e-01 7.04792243e-01 -7.36210250e-02 3.68748255e+01] [ 1.01707263e-01 2.09443519e-03 9.94812166e-01 8.71450980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:36.90, Z:8.72 [[ 7.02852487e-01 -7.07864745e-01 -7.01846446e-02 7.61598853e+01] [ 7.04027793e-01 7.06344107e-01 -7.36401314e-02 3.68954664e+01] [ 1.01701763e-01 2.34620904e-03 9.94812167e-01 8.71758245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:36.92, Z:8.72 [[ 7.04127054e-01 -7.06598919e-01 -7.01645143e-02 7.61789439e+01] [ 7.02753782e-01 7.07609658e-01 -7.36593067e-02 3.69153535e+01] [ 1.01696674e-01 2.55713279e-03 9.94812167e-01 8.72197575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:36.94, Z:8.73 [[ 7.06683713e-01 -7.04044001e-01 -7.01439515e-02 7.61975061e+01] [ 7.00184335e-01 7.10150209e-01 -7.36788829e-02 3.69351771e+01] [ 1.01685917e-01 2.95397050e-03 9.94812167e-01 8.72589412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.22, Y:36.96, Z:8.73 [[ 7.07251609e-01 -7.03475382e-01 -7.01252406e-02 7.62165503e+01] [ 6.99611167e-01 7.10713032e-01 -7.36966872e-02 3.69559030e+01] [ 1.01682727e-01 3.06169920e-03 9.94812168e-01 8.72715592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:36.98, Z:8.73 [[ 7.07596981e-01 -7.03130007e-01 -7.01049583e-02 7.62358270e+01] [ 6.99262195e-01 7.11054384e-01 -7.37159760e-02 3.69765075e+01] [ 1.01680353e-01 3.13945503e-03 9.94812168e-01 8.72938978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:37.00, Z:8.73 [[ 7.05533118e-01 -7.05202922e-01 -7.00846539e-02 7.62553487e+01] [ 7.01343356e-01 7.08999722e-01 -7.37352752e-02 3.69970750e+01] [ 1.01688332e-01 2.86927221e-03 9.94812168e-01 8.73038393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:37.02, Z:8.73 [[ 7.04611295e-01 -7.06126019e-01 -7.00640326e-02 7.62745362e+01] [ 7.02269050e-01 7.08080788e-01 -7.37548646e-02 3.70157771e+01] [ 1.01691224e-01 2.76470906e-03 9.94812169e-01 8.73332827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:37.04, Z:8.74 [[ 7.03226349e-01 -7.07507124e-01 -7.00454942e-02 7.62947886e+01] [ 7.03655219e-01 7.06701462e-01 -7.37724665e-02 3.70355719e+01] [ 1.01695799e-01 2.59086474e-03 9.94812169e-01 8.73702415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:37.05, Z:8.74 [[ 7.00563735e-01 -7.10145694e-01 -7.00253325e-02 7.63156423e+01] [ 7.06304968e-01 7.04051200e-01 -7.37915992e-02 3.70540836e+01] [ 1.01704206e-01 2.23647806e-03 9.94812170e-01 8.73997167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:37.07, Z:8.74 [[ 6.99090569e-01 -7.11597978e-01 -7.00049606e-02 7.63351794e+01] [ 7.07762565e-01 7.02583874e-01 -7.38109207e-02 3.70736641e+01] [ 1.01708058e-01 2.05362808e-03 9.94812170e-01 8.74216695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:37.09, Z:8.74 [[ 6.97722153e-01 -7.12941759e-01 -6.99846034e-02 7.63539460e+01] [ 7.09111140e-01 7.01220715e-01 -7.38302176e-02 3.70926930e+01] [ 1.01711299e-01 1.88611651e-03 9.94812170e-01 8.74389295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:37.11, Z:8.75 [[ 6.95974554e-01 -7.14649220e-01 -6.99707916e-02 7.63753556e+01] [ 7.10825869e-01 6.99481057e-01 -7.38433051e-02 3.71105344e+01] [ 1.01715304e-01 1.65601261e-03 9.94812171e-01 8.74868485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:37.13, Z:8.75 [[ 6.95238571e-01 -7.15367209e-01 -6.99506010e-02 7.63960587e+01] [ 7.11545556e-01 6.98746924e-01 -7.38624265e-02 3.71295337e+01] [ 1.01716525e-01 1.57896856e-03 9.94812171e-01 8.75215349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:37.15, Z:8.75 [[ 6.94762560e-01 -7.15831508e-01 -6.99302296e-02 7.64153356e+01] [ 7.12010260e-01 6.98271353e-01 -7.38817084e-02 3.71481663e+01] [ 1.01717131e-01 1.53920385e-03 9.94812171e-01 8.75494423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:37.17, Z:8.76 [[ 6.93028645e-01 -7.17512090e-01 -6.99120790e-02 7.64359295e+01] [ 7.13697619e-01 6.96544804e-01 -7.38988798e-02 3.71666574e+01] [ 1.01720235e-01 1.31795628e-03 9.94812172e-01 8.75726379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:37.19, Z:8.76 [[ 6.92414382e-01 -7.18106835e-01 -6.98920457e-02 7.64558240e+01] [ 7.14293473e-01 6.95931743e-01 -7.39178220e-02 3.71861344e+01] [ 1.01720986e-01 1.25833100e-03 9.94812172e-01 8.76017453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:37.20, Z:8.76 [[ 6.90852323e-01 -7.19611683e-01 -6.98719747e-02 7.64759304e+01] [ 7.15804065e-01 6.94375901e-01 -7.39367897e-02 3.72048828e+01] [ 1.01723193e-01 1.06475944e-03 9.94812172e-01 8.76394090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.50, Y:37.22, Z:8.77 [[ 6.90464425e-01 -7.19985847e-01 -6.98516843e-02 7.64959440e+01] [ 7.16178200e-01 6.93987970e-01 -7.39559542e-02 3.72249224e+01] [ 1.01723469e-01 1.03770187e-03 9.94812173e-01 8.76698373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:37.24, Z:8.77 [[ 6.90607090e-01 -7.19850964e-01 -6.98314891e-02 7.65158876e+01] [ 7.16040701e-01 6.94127807e-01 -7.39750182e-02 3.72449606e+01] [ 1.01722966e-01 1.08548371e-03 9.94812173e-01 8.76782629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:37.26, Z:8.77 [[ 6.89868578e-01 -7.20561709e-01 -6.98009157e-02 7.65345476e+01] [ 7.16752154e-01 6.93390061e-01 -7.40038683e-02 3.72649907e+01] [ 1.01723615e-01 1.02298670e-03 9.94812173e-01 8.77246195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:37.29, Z:8.78 [[ 6.89664276e-01 -7.20757892e-01 -6.97943240e-02 7.65534264e+01] [ 7.16948710e-01 6.93186162e-01 -7.40100846e-02 3.72850822e+01] [ 1.01723812e-01 1.00316087e-03 9.94812173e-01 8.77578971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.57, Y:37.30, Z:8.78 [[ 6.89168310e-01 -7.21234094e-01 -6.97740781e-02 7.65727210e+01] [ 7.17425414e-01 6.92690738e-01 -7.40291668e-02 3.73047913e+01] [ 1.01724217e-01 9.60858917e-04 9.94812173e-01 8.77984740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.59, Y:37.32, Z:8.78 [[ 6.88599306e-01 -7.21779321e-01 -6.97539105e-02 7.65919435e+01] [ 7.17971505e-01 6.92122668e-01 -7.40481649e-02 3.73247218e+01] [ 1.01724697e-01 9.08194852e-04 9.94812174e-01 8.78358107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:37.34, Z:8.79 [[ 6.86910231e-01 -7.23388947e-01 -6.97335413e-02 7.66110323e+01] [ 7.19587440e-01 6.90440399e-01 -7.40673423e-02 3.73447521e+01] [ 1.01726351e-01 6.98234708e-04 9.94812174e-01 8.78709281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:37.37, Z:8.79 [[ 6.85967524e-01 -7.24284913e-01 -6.97131304e-02 7.66301836e+01] [ 7.20486066e-01 6.89500553e-01 -7.40865484e-02 3.73654298e+01] [ 1.01727011e-01 5.93627088e-04 9.94812175e-01 8.79027425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:37.39, Z:8.79 [[ 6.85765127e-01 -7.24478552e-01 -6.96923104e-02 7.66496303e+01] [ 7.20678713e-01 6.89297088e-01 -7.41061284e-02 3.73862520e+01] [ 1.01727007e-01 5.93634018e-04 9.94812175e-01 8.79317170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:37.41, Z:8.80 [[ 6.84869712e-01 -7.25327072e-01 -6.96714900e-02 7.66680752e+01] [ 7.21529617e-01 6.88404236e-01 -7.41256978e-02 3.74064803e+01] [ 1.01727524e-01 4.96401793e-04 9.94812175e-01 8.79692207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:37.43, Z:8.80 [[ 6.84617491e-01 -7.25566480e-01 -6.96575463e-02 7.66872489e+01] [ 7.21768929e-01 6.88151911e-01 -7.41387987e-02 3.74267931e+01] [ 1.01727601e-01 4.80065840e-04 9.94812176e-01 8.80057608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:37.45, Z:8.80 [[ 6.84110976e-01 -7.26046072e-01 -6.96367292e-02 7.67056978e+01] [ 7.22249008e-01 6.87645919e-01 -7.41583466e-02 3.74470103e+01] [ 1.01727789e-01 4.37480258e-04 9.94812176e-01 8.80248841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:37.47, Z:8.81 [[ 6.83574456e-01 -7.26552973e-01 -6.96185373e-02 7.67239116e+01] [ 7.22756791e-01 6.87110346e-01 -7.41754209e-02 3.74683022e+01] [ 1.01727990e-01 3.87152343e-04 9.94812176e-01 8.80604822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:37.49, Z:8.81 [[ 6.83594533e-01 -7.26536071e-01 -6.95977930e-02 7.67417413e+01] [ 7.22737820e-01 6.87128200e-01 -7.41948800e-02 3.74887325e+01] [ 1.01727863e-01 4.18257105e-04 9.94812177e-01 8.80926336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:37.51, Z:8.81 [[ 6.83885014e-01 -7.26264456e-01 -6.95789314e-02 7.67595292e+01] [ 7.22463003e-01 6.87415235e-01 -7.42125640e-02 3.75094681e+01] [ 1.01727565e-01 4.84656662e-04 9.94812177e-01 8.81097997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:37.53, Z:8.81 [[ 6.84089609e-01 -7.26073471e-01 -6.95609130e-02 7.67774997e+01] [ 7.22269315e-01 6.87616917e-01 -7.42294492e-02 3.75305980e+01] [ 1.01727294e-01 5.37881864e-04 9.94812177e-01 8.81442544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:37.55, Z:8.82 [[ 6.85677683e-01 -7.24575880e-01 -6.95407052e-02 7.67949487e+01] [ 7.20762101e-01 6.89194583e-01 -7.42483757e-02 3.75532388e+01] [ 1.01725660e-01 7.88149425e-04 9.94812178e-01 8.81756164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:37.57, Z:8.82 [[ 6.86490267e-01 -7.23808024e-01 -6.95201957e-02 7.68126397e+01] [ 7.19988367e-01 6.90000782e-01 -7.42675743e-02 3.75741659e+01] [ 1.01724456e-01 9.30234793e-04 9.94812178e-01 8.81973535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:37.60, Z:8.82 [[ 6.87037185e-01 -7.23290689e-01 -6.95016996e-02 7.68298229e+01] [ 7.19466638e-01 6.90542913e-01 -7.42848794e-02 3.75953044e+01] [ 1.01723468e-01 1.03232029e-03 9.94812178e-01 8.82206760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:37.62, Z:8.82 [[ 6.89149162e-01 -7.21280443e-01 -6.94834928e-02 7.68468069e+01] [ 7.17444450e-01 6.92641818e-01 -7.43019057e-02 3.76166580e+01] [ 1.01719684e-01 1.35454973e-03 9.94812179e-01 8.82478432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:37.64, Z:8.83 [[ 6.89788644e-01 -7.20670207e-01 -6.94699847e-02 7.68643815e+01] [ 7.16829853e-01 6.93276504e-01 -7.43145332e-02 3.76374293e+01] [ 1.01718178e-01 1.46316216e-03 9.94812179e-01 8.82673204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:37.66, Z:8.83 [[ 6.90309155e-01 -7.20173324e-01 -6.94525248e-02 7.68826098e+01] [ 7.16328819e-01 6.93792439e-01 -7.43308472e-02 3.76589826e+01] [ 1.01716730e-01 1.56041924e-03 9.94812179e-01 8.83028153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:37.68, Z:8.83 [[ 6.89121464e-01 -7.21311802e-01 -6.94326493e-02 7.68961929e+01] [ 7.17471182e-01 6.92609030e-01 -7.43494084e-02 3.76818442e+01] [ 1.01718786e-01 1.41984822e-03 9.94812180e-01 8.82764463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:37.70, Z:8.84 [[ 6.90626820e-01 -7.19925272e-01 -6.88636265e-02 7.69189746e+01] [ 7.16024529e-01 6.94047414e-01 -7.48803163e-02 3.77021785e+01] [ 1.01702854e-01 2.40630895e-03 9.94811911e-01 8.83583108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:76.94, Y:37.72, Z:8.84 [[ 6.90015327e-01 -7.20460053e-01 -6.93985648e-02 7.69374736e+01] [ 7.16611927e-01 6.93494611e-01 -7.43812500e-02 3.77231342e+01] [ 1.01716250e-01 1.59236330e-03 9.94812178e-01 8.83971495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:37.74, Z:8.84 [[ 6.88807594e-01 -7.21616789e-01 -6.93780136e-02 7.69556590e+01] [ 7.17772576e-01 6.92291202e-01 -7.44004139e-02 3.77434561e+01] [ 1.01718376e-01 1.44993455e-03 9.94812178e-01 8.84336693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:37.76, Z:8.85 [[ 6.88084428e-01 -7.22307637e-01 -6.93649522e-02 7.69748631e+01] [ 7.18465695e-01 6.91570540e-01 -7.44125893e-02 3.77637250e+01] [ 1.01719539e-01 1.36580535e-03 9.94812178e-01 8.84695008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:37.78, Z:8.85 [[ 6.87256756e-01 -7.23097141e-01 -6.93446227e-02 7.69943065e+01] [ 7.19257292e-01 6.90745174e-01 -7.44315294e-02 3.77845218e+01] [ 1.01720690e-01 1.27694587e-03 9.94812179e-01 8.84941472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:37.80, Z:8.85 [[ 6.86012738e-01 -7.24279435e-01 -6.93240478e-02 7.70129347e+01] [ 7.20443664e-01 6.89505637e-01 -7.44506877e-02 3.78038551e+01] [ 1.01722424e-01 1.13004912e-03 9.94812179e-01 8.85109984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:37.82, Z:8.85 [[ 6.85402641e-01 -7.24858567e-01 -6.93056891e-02 7.70324887e+01] [ 7.21024019e-01 6.88896883e-01 -7.44677738e-02 3.78245226e+01] [ 1.01723077e-01 1.06934232e-03 9.94812179e-01 8.85404383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:37.85, Z:8.86 [[ 6.85207547e-01 -7.25044918e-01 -6.92855277e-02 7.70518140e+01] [ 7.21209425e-01 6.88700750e-01 -7.44865275e-02 3.78454441e+01] [ 1.01723073e-01 1.06935519e-03 9.94812180e-01 8.85694134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:37.87, Z:8.86 [[ 6.84893731e-01 -7.25343288e-01 -6.92653707e-02 7.70706193e+01] [ 7.21507421e-01 6.88386524e-01 -7.45052669e-02 3.78658029e+01] [ 1.01723243e-01 1.05271118e-03 9.94812180e-01 8.85873809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.09, Y:37.89, Z:8.86 [[ 6.85094564e-01 -7.25155531e-01 -6.92451732e-02 7.70893476e+01] [ 7.21316811e-01 6.88584219e-01 -7.45240337e-02 3.78853253e+01] [ 1.01722649e-01 1.10830290e-03 9.94812180e-01 8.86094598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:37.91, Z:8.86 [[ 6.85287900e-01 -7.24974146e-01 -6.92313615e-02 7.71086923e+01] [ 7.21133206e-01 6.88775113e-01 -7.45368624e-02 3.79060406e+01] [ 1.01722137e-01 1.15417627e-03 9.94812181e-01 8.86423862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:37.93, Z:8.87 [[ 6.85704095e-01 -7.24582415e-01 -6.92113916e-02 7.71274393e+01] [ 7.20737612e-01 6.89187047e-01 -7.45554009e-02 3.79257648e+01] [ 1.01721127e-01 1.23969064e-03 9.94812181e-01 8.86702360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:37.95, Z:8.87 [[ 6.85982778e-01 -7.24320486e-01 -6.91914813e-02 7.71465283e+01] [ 7.20472490e-01 6.89462202e-01 -7.45738742e-02 3.79463842e+01] [ 1.01720296e-01 1.30583455e-03 9.94812181e-01 8.86922565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:37.97, Z:8.87 [[ 6.87004414e-01 -7.23353499e-01 -6.91711702e-02 7.71657173e+01] [ 7.19498710e-01 6.90476310e-01 -7.45927092e-02 3.79666420e+01] [ 1.01717951e-01 1.47695275e-03 9.94812182e-01 8.87140869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:37.99, Z:8.87 [[ 6.87269199e-01 -7.23103890e-01 -6.91506464e-02 7.71847749e+01] [ 7.19245927e-01 6.90737567e-01 -7.46117308e-02 3.79865530e+01] [ 1.01716982e-01 1.54202372e-03 9.94812182e-01 8.87489689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:38.01, Z:8.88 [[ 6.87616286e-01 -7.22775858e-01 -6.91296073e-02 7.72031429e+01] [ 7.18914281e-01 6.91080630e-01 -7.46312191e-02 3.80056854e+01] [ 1.01715776e-01 1.61937974e-03 9.94812183e-01 8.87920563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:38.03, Z:8.89 [[ 6.88595410e-01 -7.21844899e-01 -6.91107986e-02 7.72224694e+01] [ 7.17976893e-01 6.92052573e-01 -7.46486325e-02 3.80257857e+01] [ 1.01713041e-01 1.78274931e-03 9.94812183e-01 8.88544617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:38.05, Z:8.89 [[ 6.88855318e-01 -7.21597753e-01 -6.91016162e-02 7.72413607e+01] [ 7.17727655e-01 6.92310138e-01 -7.46571316e-02 3.80460526e+01] [ 1.01712168e-01 1.83182120e-03 9.94812183e-01 8.88910716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:38.07, Z:8.89 [[ 6.89021703e-01 -7.21440852e-01 -6.90810379e-02 7.72595048e+01] [ 7.17568059e-01 6.92473502e-01 -7.46761681e-02 3.80658146e+01] [ 1.01711227e-01 1.88315423e-03 9.94812183e-01 8.89180188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:38.09, Z:8.89 [[ 6.89298800e-01 -7.21177872e-01 -6.90625814e-02 7.72788123e+01] [ 7.17302054e-01 6.92747201e-01 -7.46932333e-02 3.80864464e+01] [ 1.01710017e-01 1.94722458e-03 9.94812184e-01 8.89443514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:38.11, Z:8.90 [[ 6.88562869e-01 -7.21882531e-01 -6.90419269e-02 7.72970704e+01] [ 7.18008329e-01 6.92013085e-01 -7.47123202e-02 3.81066548e+01] [ 1.01711436e-01 1.87145094e-03 9.94812184e-01 8.89651382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:38.13, Z:8.89 [[ 6.86895125e-01 -7.23471405e-01 -6.90232789e-02 7.73142838e+01] [ 7.19603454e-01 6.90352348e-01 -7.47295444e-02 3.81304189e+01] [ 1.01715071e-01 1.66196989e-03 9.94812184e-01 8.89449085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:38.15, Z:8.89 [[ 6.84992917e-01 -7.25274482e-01 -6.90045578e-02 7.73315491e+01] [ 7.21413892e-01 6.88458356e-01 -7.47468273e-02 3.81518088e+01] [ 1.01718731e-01 1.42020064e-03 9.94812185e-01 8.89435051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:38.17, Z:8.90 [[ 6.83050616e-01 -7.27105700e-01 -6.89866364e-02 7.73514226e+01] [ 7.23252731e-01 6.86524527e-01 -7.47633640e-02 3.81712048e+01] [ 1.01721886e-01 1.17238868e-03 9.94812185e-01 8.90127191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:38.19, Z:8.91 [[ 6.78976682e-01 -7.30913335e-01 -6.89663809e-02 7.73697235e+01] [ 7.27077952e-01 6.82469998e-01 -7.47820443e-02 3.81897294e+01] [ 1.01726679e-01 6.31329281e-04 9.94812185e-01 8.90851285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:38.21, Z:8.91 [[ 6.76767634e-01 -7.32960946e-01 -6.89479592e-02 7.73875107e+01] [ 7.29134402e-01 6.80270630e-01 -7.47990251e-02 3.82112302e+01] [ 1.01728036e-01 3.49230228e-04 9.94812186e-01 8.91022429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:38.23, Z:8.91 [[ 6.74618800e-01 -7.34941124e-01 -6.89276394e-02 7.74052724e+01] [ 7.31122949e-01 6.78130915e-01 -7.48177452e-02 3.82328621e+01] [ 1.01728601e-01 7.88785367e-05 9.94812186e-01 8.91223500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.42, Y:38.25, Z:8.92 [[ 6.72832845e-01 -7.36578400e-01 -6.89073620e-02 7.74227491e+01] [ 7.32766859e-01 6.76352158e-01 -7.48364162e-02 3.82542913e+01] [ 1.01728531e-01 -1.40632420e-04 9.94812186e-01 8.91567809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:38.27, Z:8.92 [[ 6.72508960e-01 -7.36876022e-01 -6.88870534e-02 7.74406542e+01] [ 7.33064124e-01 6.76027886e-01 -7.48551056e-02 3.82748668e+01] [ 1.01728502e-01 -1.57898223e-04 9.94812187e-01 8.91719965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:38.30, Z:8.92 [[ 6.72326060e-01 -7.37044607e-01 -6.88688375e-02 7.74590680e+01] [ 7.33231875e-01 6.75844081e-01 -7.48718611e-02 3.82953838e+01] [ 1.01728498e-01 -1.58523428e-04 9.94812187e-01 8.92036124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:38.32, Z:8.93 [[ 6.72887465e-01 -7.36533971e-01 -6.88488794e-02 7.74778929e+01] [ 7.32716692e-01 6.76400552e-01 -7.48902092e-02 3.83159796e+01] [ 1.01728603e-01 -5.40401401e-05 9.94812187e-01 8.92618117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:38.34, Z:8.93 [[ 6.73149781e-01 -7.36296093e-01 -6.88290375e-02 7.74951582e+01] [ 7.32475707e-01 6.76659489e-01 -7.49084408e-02 3.83365096e+01] [ 1.01728614e-01 9.00255479e-06 9.94812188e-01 8.92790228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:38.36, Z:8.93 [[ 6.73398379e-01 -7.36070347e-01 -6.88118236e-02 7.75096134e+01] [ 7.32247170e-01 6.76905045e-01 -7.49242504e-02 3.83589097e+01] [ 1.01728590e-01 6.66057282e-05 9.94812188e-01 8.93032850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:38.38, Z:8.93 [[ 6.73998405e-01 -7.35566634e-01 -6.83218579e-02 7.75277377e+01] [ 7.31695095e-01 6.77451894e-01 -7.53738646e-02 3.83798206e+01] [ 1.01727272e-01 8.11096301e-04 9.94811994e-01 8.93351281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:38.40, Z:8.94 [[ 6.76075599e-01 -7.33663301e-01 -6.82637837e-02 7.75494602e+01] [ 7.29776660e-01 6.79512159e-01 -7.54271275e-02 3.83997301e+01] [ 1.01724186e-01 1.17712433e-03 9.94811944e-01 8.93893658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:38.42, Z:8.94 [[ 6.76572773e-01 -7.33157394e-01 -6.87714964e-02 7.75684318e+01] [ 7.29315345e-01 6.80058763e-01 -7.49613715e-02 3.84209164e+01] [ 1.01727143e-01 5.60715390e-04 9.94812180e-01 8.94182705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:38.44, Z:8.94 [[ 6.75975023e-01 -7.33710418e-01 -6.87516652e-02 7.75854760e+01] [ 7.29869370e-01 6.79462117e-01 -7.49795556e-02 3.84429668e+01] [ 1.01727433e-01 5.04572227e-04 9.94812181e-01 8.94096424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:38.46, Z:8.94 [[ 6.74070136e-01 -7.35462440e-01 -6.87346439e-02 7.75998473e+01] [ 7.31628866e-01 6.77565443e-01 -7.49951559e-02 3.84642156e+01] [ 1.01728340e-01 2.63745373e-04 9.94812181e-01 8.94391799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:38.48, Z:8.95 [[ 6.75253153e-01 -7.34427881e-01 -6.81826012e-02 7.76225106e+01] [ 7.30537675e-01 6.78685726e-01 -7.55009348e-02 3.84846201e+01] [ 1.01724550e-01 1.17228536e-03 9.94811913e-01 8.94804868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:38.50, Z:8.95 [[ 6.73608133e-01 -7.35886260e-01 -6.87276886e-02 7.76409708e+01] [ 7.32054240e-01 6.77105138e-01 -7.50014810e-02 3.85037875e+01] [ 1.01728430e-01 2.09211791e-04 9.94812185e-01 8.95106023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:38.52, Z:8.95 [[ 6.69600510e-01 -7.39536091e-01 -6.87133717e-02 7.76534629e+01] [ 7.35721785e-01 6.73116829e-01 -7.50145953e-02 3.85244546e+01] [ 1.01728127e-01 -3.24113199e-04 9.94812185e-01 8.95224719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:38.55, Z:8.95 [[ 6.68315353e-01 -7.40781149e-01 -6.78076500e-02 7.76731555e+01] [ 7.36888663e-01 6.71746060e-01 -7.58441153e-02 3.85457168e+01] [ 1.01733413e-01 7.21098109e-04 9.94811436e-01 8.95412651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:38.57, Z:8.96 [[ 6.66619512e-01 -7.42304270e-01 -6.78439221e-02 7.76930651e+01] [ 7.38422994e-01 6.70062816e-01 -7.58109734e-02 3.85681313e+01] [ 1.01734499e-01 4.39562044e-04 9.94811489e-01 8.95781702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:38.59, Z:8.96 [[ 6.63858737e-01 -7.44747060e-01 -6.81424518e-02 7.77143422e+01] [ 7.40906380e-01 6.67346762e-01 -7.55383071e-02 3.85885953e+01] [ 1.01731577e-01 -3.40412124e-04 9.94811827e-01 8.96135414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:38.61, Z:8.96 [[ 6.61621094e-01 -7.46692001e-01 -6.86191172e-02 7.77332757e+01] [ 7.42906569e-01 6.65168698e-01 -7.51028214e-02 3.86097868e+01] [ 1.01721965e-01 -1.28798211e-03 9.94812034e-01 8.96488241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:38.63, Z:8.97 [[ 6.58514785e-01 -7.49434806e-01 -6.85984653e-02 7.77511005e+01] [ 7.45662184e-01 6.62076008e-01 -7.51216800e-02 3.86291331e+01] [ 1.01716200e-01 -1.68254449e-03 9.94812034e-01 8.96913856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:38.65, Z:8.97 [[ 6.56630603e-01 -7.51087497e-01 -6.85844284e-02 7.77691816e+01] [ 7.47322500e-01 6.60199886e-01 -7.51344932e-02 3.86501141e+01] [ 1.01712010e-01 -1.91907894e-03 9.94812035e-01 8.97356435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:38.67, Z:8.98 [[ 6.55286732e-01 -7.52262117e-01 -6.85638850e-02 7.77873218e+01] [ 7.48501558e-01 6.58860691e-01 -7.51532355e-02 3.86716003e+01] [ 1.01708981e-01 -2.07325656e-03 9.94812035e-01 8.97763273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:38.69, Z:8.98 [[ 6.54236106e-01 -7.53177872e-01 -6.85434949e-02 7.78047603e+01] [ 7.49420369e-01 6.57813276e-01 -7.51718277e-02 3.86931137e+01] [ 1.01706578e-01 -2.18776743e-03 9.94812035e-01 8.98150242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:38.72, Z:8.99 [[ 6.53433278e-01 -7.53876383e-01 -6.85226209e-02 7.78201442e+01] [ 7.50120711e-01 6.57012370e-01 -7.51908506e-02 3.87155118e+01] [ 1.01704816e-01 -2.26803305e-03 9.94812036e-01 8.98506199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:38.74, Z:8.99 [[ 6.53235643e-01 -7.54049332e-01 -6.85040152e-02 7.78379029e+01] [ 7.50292832e-01 6.56813866e-01 -7.52077978e-02 3.87377487e+01] [ 1.01704777e-01 -2.26965737e-03 9.94812036e-01 8.98791771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:38.76, Z:8.99 [[ 6.53833201e-01 -7.53533101e-01 -6.84836536e-02 7.78536969e+01] [ 7.49771836e-01 6.57406414e-01 -7.52263345e-02 3.87607673e+01] [ 1.01707126e-01 -2.16163959e-03 9.94812036e-01 8.98947988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:38.78, Z:8.99 [[ 6.54238700e-01 -7.53182933e-01 -6.84630752e-02 7.78702058e+01] [ 7.49417798e-01 6.57807834e-01 -7.52450581e-02 3.87822720e+01] [ 1.01708841e-01 -2.07921804e-03 9.94812037e-01 8.99140872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:38.80, Z:8.99 [[ 6.54597190e-01 -7.52873058e-01 -6.84447069e-02 7.78872534e+01] [ 7.49104487e-01 6.58162696e-01 -7.52617627e-02 3.88040147e+01] [ 1.01710306e-01 -2.00609872e-03 9.94812037e-01 8.99401960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:38.83, Z:9.00 [[ 6.55584452e-01 -7.52015406e-01 -6.84240800e-02 7.79028879e+01] [ 7.48240215e-01 6.59142947e-01 -7.52805110e-02 3.88273625e+01] [ 1.01713354e-01 -1.84491573e-03 9.94812037e-01 8.99765833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:38.85, Z:9.00 [[ 6.55521301e-01 -7.52072331e-01 -6.84034528e-02 7.79203705e+01] [ 7.48295495e-01 6.59078050e-01 -7.52992492e-02 3.88497686e+01] [ 1.01713696e-01 -1.82573374e-03 9.94812038e-01 9.00081293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:38.87, Z:9.00 [[ 6.55039601e-01 -7.52493801e-01 -6.83827469e-02 7.79370114e+01] [ 7.48717292e-01 6.58596696e-01 -7.53180486e-02 3.88710298e+01] [ 1.01713016e-01 -1.86304057e-03 9.94812038e-01 9.00340142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:38.89, Z:9.01 [[ 6.54040985e-01 -7.53363201e-01 -6.83686899e-02 7.79543648e+01] [ 7.49590087e-01 6.57601681e-01 -7.53308065e-02 3.88934249e+01] [ 1.01710823e-01 -1.97905734e-03 9.94812038e-01 9.00651844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:38.91, Z:9.01 [[ 6.52846762e-01 -7.54400231e-01 -6.83476100e-02 7.79712247e+01] [ 7.50630773e-01 6.56411327e-01 -7.53499275e-02 3.89149303e+01] [ 1.01708148e-01 -2.11186312e-03 9.94812039e-01 9.00906673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:38.94, Z:9.01 [[ 6.50053245e-01 -7.56810406e-01 -6.83285354e-02 7.79863657e+01] [ 7.53052345e-01 6.53629824e-01 -7.53672207e-02 3.89374559e+01] [ 1.01700265e-01 -2.46225749e-03 9.94812039e-01 9.01134582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:38.96, Z:9.01 [[ 6.48621624e-01 -7.58039420e-01 -6.83097775e-02 7.80038164e+01] [ 7.54286349e-01 6.52203437e-01 -7.53842183e-02 3.89599413e+01] [ 1.01696081e-01 -2.62929848e-03 9.94812040e-01 9.01444991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:38.98, Z:9.02 [[ 6.47080600e-01 -7.59357162e-01 -6.82890680e-02 7.80205410e+01] [ 7.55609407e-01 6.50667976e-01 -7.54029740e-02 3.89818768e+01] [ 1.01691298e-01 -2.80806051e-03 9.94812040e-01 9.01815319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:39.01, Z:9.02 [[ 6.45084429e-01 -7.61055563e-01 -6.82679244e-02 7.80356357e+01] [ 7.57315230e-01 6.48679542e-01 -7.54221121e-02 3.90050301e+01] [ 1.01684424e-01 -3.04670867e-03 9.94812040e-01 9.02166186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:39.03, Z:9.02 [[ 6.44462928e-01 -7.61583209e-01 -6.82535788e-02 7.80520929e+01] [ 7.57844447e-01 6.48059674e-01 -7.54350920e-02 3.90261507e+01] [ 1.01682491e-01 -3.11047545e-03 9.94812040e-01 9.02422145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:39.05, Z:9.03 [[ 6.43833212e-01 -7.62117300e-01 -6.82350079e-02 7.80690325e+01] [ 7.58379746e-01 6.47431212e-01 -7.54518866e-02 3.90485738e+01] [ 1.01680662e-01 -3.16961746e-03 9.94812041e-01 9.02643794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:39.07, Z:9.03 [[ 6.44124770e-01 -7.61872760e-01 -6.82142107e-02 7.80831907e+01] [ 7.58131852e-01 6.47719284e-01 -7.54706843e-02 3.90734145e+01] [ 1.01682718e-01 -3.10282877e-03 9.94812041e-01 9.02544333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:39.10, Z:9.03 [[ 6.44569311e-01 -7.61498160e-01 -6.81979196e-02 7.80995877e+01] [ 7.57753609e-01 6.48160028e-01 -7.54854026e-02 3.90967913e+01] [ 1.01685161e-01 -3.02164583e-03 9.94812041e-01 9.02652028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:39.12, Z:9.03 [[ 6.44890523e-01 -7.61227998e-01 -6.81773240e-02 7.81160561e+01] [ 7.57479980e-01 6.48477621e-01 -7.55039998e-02 3.91203969e+01] [ 1.01687228e-01 -2.95114407e-03 9.94812042e-01 9.02797700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:39.15, Z:9.03 [[ 6.45871370e-01 -7.60397818e-01 -6.81566795e-02 7.81305417e+01] [ 7.56643225e-01 6.49451585e-01 -7.55226308e-02 3.91453831e+01] [ 1.01691707e-01 -2.79238484e-03 9.94812042e-01 9.03235447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:39.17, Z:9.04 [[ 6.45914934e-01 -7.60362653e-01 -6.81361446e-02 7.81462675e+01] [ 7.56605915e-01 6.49492897e-01 -7.55411528e-02 3.91673519e+01] [ 1.01692613e-01 -2.75905135e-03 9.94812043e-01 9.03521582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:39.19, Z:9.04 [[ 6.45874215e-01 -7.60398958e-01 -6.81169732e-02 7.81628069e+01] [ 7.56640601e-01 6.49450478e-01 -7.55584361e-02 3.91899376e+01] [ 1.01693157e-01 -2.73882193e-03 9.94812043e-01 9.03898627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:39.21, Z:9.04 [[ 6.45664740e-01 -7.60578707e-01 -6.80960645e-02 7.81817985e+01] [ 7.56819362e-01 6.49239962e-01 -7.55772752e-02 3.92111363e+01] [ 1.01693153e-01 -2.73883839e-03 9.94812043e-01 9.04188382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:39.24, Z:9.04 [[ 6.46132685e-01 -7.60183089e-01 -6.80751382e-02 7.81950607e+01] [ 7.56419572e-01 6.49703515e-01 -7.55961196e-02 3.92355629e+01] [ 1.01695548e-01 -2.64824317e-03 9.94812044e-01 9.04453758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:39.26, Z:9.05 [[ 6.47089553e-01 -7.59370015e-01 -6.80609294e-02 7.82110116e+01] [ 7.55600668e-01 6.50654228e-01 -7.56089100e-02 3.92583033e+01] [ 1.01699271e-01 -2.50114790e-03 9.94812044e-01 9.04775284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:39.28, Z:9.05 [[ 6.48656182e-01 -7.58034125e-01 -6.80398557e-02 7.82273033e+01] [ 7.54255448e-01 6.52210966e-01 -7.56278693e-02 3.92811394e+01] [ 1.01704846e-01 -2.26294693e-03 9.94812044e-01 9.05052099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:39.30, Z:9.05 [[ 6.50132441e-01 -7.56770297e-01 -6.80185796e-02 7.82433076e+01] [ 7.52982709e-01 6.53677727e-01 -7.56469999e-02 3.93039795e+01] [ 1.01709633e-01 -2.03624566e-03 9.94812045e-01 9.05381917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:39.33, Z:9.06 [[ 6.54802544e-01 -7.52735003e-01 -6.79973728e-02 7.82564427e+01] [ 7.48923583e-01 6.58322196e-01 -7.56660575e-02 3.93285746e+01] [ 1.01720670e-01 -1.37850908e-03 9.94812045e-01 9.05677850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.256875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:78.27, Y:39.35, Z:9.06 [[ 6.57204678e-01 -7.50640376e-01 -6.79782105e-02 7.82720558e+01] [ 7.46815956e-01 6.60710201e-01 -7.56832690e-02 3.93507645e+01] [ 1.01724815e-01 -1.02781377e-03 9.94812045e-01 9.05937338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:39.37, Z:9.06 [[ 6.58875628e-01 -7.49175833e-01 -6.79593810e-02 7.82884078e+01] [ 7.45341878e-01 6.62370719e-01 -7.57001731e-02 3.93735673e+01] [ 1.01727044e-01 -7.75973511e-04 9.94812046e-01 9.06236124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:39.40, Z:9.06 [[ 6.60648659e-01 -7.47614703e-01 -6.79382488e-02 7.83046678e+01] [ 7.43770538e-01 6.64132516e-01 -7.57191338e-02 3.93954213e+01] [ 1.01728738e-01 -5.06723714e-04 9.94812046e-01 9.06489756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.32, Y:39.42, Z:9.07 [[ 6.64545588e-01 -7.44154223e-01 -6.79238812e-02 7.83197501e+01] [ 7.40290599e-01 6.68007852e-01 -7.57320202e-02 3.94190824e+01] [ 1.01729989e-01 4.39692417e-05 9.94812046e-01 9.06829186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:39.44, Z:9.07 [[ 6.66857240e-01 -7.42085397e-01 -6.79020207e-02 7.83359954e+01] [ 7.38209036e-01 6.70305238e-01 -7.57516154e-02 3.94401951e+01] [ 1.01729248e-01 3.89627931e-04 9.94812047e-01 9.07078577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.406875 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.35, Y:39.46, Z:9.07 [[ 6.72222409e-01 -7.37229947e-01 -6.78898969e-02 7.83501429e+01] [ 7.33327586e-01 6.75640953e-01 -7.57624795e-02 3.94632269e+01] [ 1.01723563e-01 1.14370229e-03 9.94812047e-01 9.07227827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:39.49, Z:9.07 [[ 6.74798452e-01 -7.34873845e-01 -6.78784303e-02 7.83667588e+01] [ 7.30958517e-01 6.78202136e-01 -7.57727515e-02 3.94858574e+01] [ 1.01718710e-01 1.51501873e-03 9.94812047e-01 9.07408056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:39.51, Z:9.08 [[ 6.76974129e-01 -7.32871973e-01 -6.78579421e-02 7.83838819e+01] [ 7.28944743e-01 6.80364073e-01 -7.57910952e-02 3.95082934e+01] [ 1.01713275e-01 1.84392049e-03 9.94812047e-01 9.07577509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49687499999999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:78.40, Y:39.53, Z:9.08 [[ 6.81706686e-01 -7.28473890e-01 -6.78364661e-02 7.84003567e+01] [ 7.24522886e-01 6.85068890e-01 -7.58103124e-02 3.95302061e+01] [ 1.01698486e-01 2.53132458e-03 9.94812048e-01 9.07789831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:39.55, Z:9.08 [[ 6.83395849e-01 -7.26890553e-01 -6.78250543e-02 7.84186658e+01] [ 7.22930749e-01 6.86747684e-01 -7.58205208e-02 3.95517374e+01] [ 1.01691919e-01 2.78261192e-03 9.94812048e-01 9.08168079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55687499999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.44, Y:39.57, Z:9.09 [[ 6.84927804e-01 -7.25449229e-01 -6.78035356e-02 7.84359347e+01] [ 7.21480471e-01 6.88269032e-01 -7.58397593e-02 3.95718044e+01] [ 1.01684969e-01 3.02583296e-03 9.94812048e-01 9.08512834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:39.59, Z:9.09 [[ 6.87237924e-01 -7.23262318e-01 -6.77912629e-02 7.84539336e+01] [ 7.19281851e-01 6.90565193e-01 -7.58507280e-02 3.95926304e+01] [ 1.01674260e-01 3.36647177e-03 9.94812048e-01 9.08908658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:39.61, Z:9.09 [[ 6.88237518e-01 -7.22313222e-01 -6.77696722e-02 7.84725666e+01] [ 7.18326272e-01 6.91557017e-01 -7.58700136e-02 3.96133529e+01] [ 1.01668506e-01 3.53585390e-03 9.94812049e-01 9.09155961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:39.63, Z:9.09 [[ 6.88943534e-01 -7.21641878e-01 -6.77481104e-02 7.84915256e+01] [ 7.17649807e-01 6.92256870e-01 -7.58892624e-02 3.96345160e+01] [ 1.01663965e-01 3.66399826e-03 9.94812049e-01 9.09415661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:39.65, Z:9.10 [[ 6.89637703e-01 -7.20980549e-01 -6.77265592e-02 7.85108999e+01] [ 7.16983418e-01 6.92944932e-01 -7.59084907e-02 3.96549359e+01] [ 1.01659321e-01 3.79053720e-03 9.94812050e-01 9.09656199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:39.67, Z:9.10 [[ 6.91331808e-01 -7.19358305e-01 -6.77049520e-02 7.85305385e+01] [ 7.15351534e-01 6.94627352e-01 -7.59277579e-02 3.96732466e+01] [ 1.01648975e-01 4.05843284e-03 9.94812050e-01 9.09865848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.736875 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.55, Y:39.69, Z:9.10 [[ 6.91634079e-01 -7.19068791e-01 -6.76932444e-02 7.85499077e+01] [ 7.15059623e-01 6.94926706e-01 -7.59381945e-02 3.96930542e+01] [ 1.01646629e-01 4.11673737e-03 9.94812050e-01 9.10267150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.766875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:78.57, Y:39.71, Z:9.11 [[ 6.92064012e-01 -7.18657014e-01 -6.76720073e-02 7.85702047e+01] [ 7.14644043e-01 6.95352003e-01 -7.59571151e-02 3.97115788e+01] [ 1.01642979e-01 4.20578888e-03 9.94812051e-01 9.10808514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.796875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:78.59, Y:39.73, Z:9.11 [[ 6.92302466e-01 -7.18429313e-01 -6.76507032e-02 7.85898636e+01] [ 7.14413414e-01 6.95586880e-01 -7.59760848e-02 3.97312560e+01] [ 1.01640388e-01 4.26786107e-03 9.94812051e-01 9.11241827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.826875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.61, Y:39.75, Z:9.12 [[ 6.92081860e-01 -7.18643871e-01 -6.76290396e-02 7.86097874e+01] [ 7.14627114e-01 6.95365223e-01 -7.59953635e-02 3.97513086e+01] [ 1.01640484e-01 4.26546706e-03 9.94812051e-01 9.11590755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.856875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.63, Y:39.77, Z:9.12 [[ 6.91703098e-01 -7.19010472e-01 -6.76074423e-02 7.86305906e+01] [ 7.14993585e-01 6.94986301e-01 -7.60145722e-02 3.97701729e+01] [ 1.01641520e-01 4.24062756e-03 9.94812052e-01 9.11874708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:39.79, Z:9.12 [[ 6.91428591e-01 -7.19276500e-01 -6.75856443e-02 7.86506415e+01] [ 7.15258990e-01 6.94711031e-01 -7.60339482e-02 3.97902025e+01] [ 1.01641925e-01 4.23080607e-03 9.94812052e-01 9.12102569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:39.81, Z:9.12 [[ 6.90771650e-01 -7.19909491e-01 -6.75636913e-02 7.86706046e+01] [ 7.15893088e-01 6.94055444e-01 -7.60534508e-02 3.98096598e+01] [ 1.01644549e-01 4.16718809e-03 9.94812053e-01 9.12332726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:39.83, Z:9.13 [[ 6.90022100e-01 -7.20630024e-01 -6.75416170e-02 7.86916603e+01] [ 7.16615139e-01 6.93307748e-01 -7.60730495e-02 3.98266158e+01] [ 1.01647650e-01 4.09074007e-03 9.94812053e-01 9.12512019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.71, Y:39.85, Z:9.13 [[ 6.89272911e-01 -7.21347761e-01 -6.75297042e-02 7.87120074e+01] [ 7.17335265e-01 6.92561477e-01 -7.60836230e-02 3.98461273e+01] [ 1.01651223e-01 4.00094210e-03 9.94812053e-01 9.12806500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:39.87, Z:9.13 [[ 6.88730622e-01 -7.21867576e-01 -6.75080232e-02 7.87321826e+01] [ 7.17855683e-01 6.92019923e-01 -7.61028554e-02 3.98654638e+01] [ 1.01653081e-01 3.95334889e-03 9.94812054e-01 9.13107635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:39.88, Z:9.13 [[ 6.88347202e-01 -7.22235247e-01 -6.74861293e-02 7.87535347e+01] [ 7.18223214e-01 6.91636332e-01 -7.61222655e-02 3.98823261e+01] [ 1.01654042e-01 3.92844371e-03 9.94812054e-01 9.13458106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:39.90, Z:9.14 [[ 6.88294034e-01 -7.22287304e-01 -6.74712781e-02 7.87727325e+01] [ 7.18274234e-01 6.91581898e-01 -7.61354267e-02 3.99008028e+01] [ 1.01653567e-01 3.94067940e-03 9.94812054e-01 9.13722797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:39.92, Z:9.14 [[ 6.88150632e-01 -7.22425052e-01 -6.74592570e-02 7.87939222e+01] [ 7.18411600e-01 6.91438029e-01 -7.61460764e-02 3.99188051e+01] [ 1.01653729e-01 3.93645789e-03 9.94812054e-01 9.14030760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:39.94, Z:9.14 [[ 6.88302387e-01 -7.22282526e-01 -6.74372111e-02 7.88131631e+01] [ 7.18266487e-01 6.91586622e-01 -7.61655960e-02 3.99374546e+01] [ 1.01651752e-01 3.98707278e-03 9.94812055e-01 9.14304841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:39.96, Z:9.15 [[ 6.88524148e-01 -7.22072291e-01 -6.74247972e-02 7.88329941e+01] [ 7.18054177e-01 6.91805845e-01 -7.61765837e-02 3.99566530e+01] [ 1.01649869e-01 4.03476012e-03 9.94812055e-01 9.14660022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:39.98, Z:9.15 [[ 6.88342437e-01 -7.22247539e-01 -6.74031352e-02 7.88533017e+01] [ 7.18228390e-01 6.91622865e-01 -7.61957460e-02 3.99761400e+01] [ 1.01649740e-01 4.03792016e-03 9.94812055e-01 9.15005503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:39.99, Z:9.15 [[ 6.87829796e-01 -7.22737786e-01 -6.73814864e-02 7.88761563e+01] [ 7.18719107e-01 6.91110799e-01 -7.62148859e-02 3.99936089e+01] [ 1.01651451e-01 3.99450767e-03 9.94812056e-01 9.15427155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:40.01, Z:9.16 [[ 6.87345662e-01 -7.23200243e-01 -6.73598559e-02 7.88971270e+01] [ 7.19181904e-01 6.90627082e-01 -7.62339985e-02 4.00121967e+01] [ 1.01652987e-01 3.95511873e-03 9.94812056e-01 9.15798225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:40.03, Z:9.16 [[ 6.86485145e-01 -7.24019124e-01 -6.73383466e-02 7.89170008e+01] [ 7.20002843e-01 6.89769082e-01 -7.62529932e-02 4.00301709e+01] [ 1.01656535e-01 3.86274614e-03 9.94812057e-01 9.16134765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:40.05, Z:9.16 [[ 6.85749850e-01 -7.24716699e-01 -6.73264321e-02 7.89366923e+01] [ 7.20702730e-01 6.89036612e-01 -7.62635115e-02 4.00487899e+01] [ 1.01659817e-01 3.77534821e-03 9.94812057e-01 9.16398450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.96, Y:40.07, Z:9.17 [[ 6.84552882e-01 -7.25849222e-01 -6.73071934e-02 7.89587312e+01] [ 7.21839026e-01 6.87844246e-01 -7.62804870e-02 4.00659480e+01] [ 1.01664998e-01 3.63306824e-03 9.94812057e-01 9.16912886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:40.09, Z:9.17 [[ 6.83784231e-01 -7.26575362e-01 -6.72857233e-02 7.89793720e+01] [ 7.22566803e-01 6.87077589e-01 -7.62994208e-02 4.00854138e+01] [ 1.01667792e-01 3.55391080e-03 9.94812058e-01 9.17226856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:40.10, Z:9.17 [[ 6.83193973e-01 -7.27132402e-01 -6.72641508e-02 7.89991213e+01] [ 7.23124661e-01 6.86488325e-01 -7.63184341e-02 4.01038723e+01] [ 1.01669660e-01 3.49992792e-03 9.94812058e-01 9.17406786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:40.12, Z:9.18 [[ 6.81844689e-01 -7.28399585e-01 -6.72448188e-02 7.90220689e+01] [ 7.24396292e-01 6.85144444e-01 -7.63354639e-02 4.01211075e+01] [ 1.01675134e-01 3.33703325e-03 9.94812058e-01 9.17679724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:40.14, Z:9.18 [[ 6.80466480e-01 -7.29689192e-01 -6.72238978e-02 7.90425340e+01] [ 7.25690338e-01 6.83771613e-01 -7.63538834e-02 4.01400988e+01] [ 1.01680396e-01 3.17252519e-03 9.94812059e-01 9.18019604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:40.16, Z:9.18 [[ 6.79409343e-01 -7.30675563e-01 -6.72024304e-02 7.90623712e+01] [ 7.26679643e-01 6.82718021e-01 -7.63727731e-02 4.01591934e+01] [ 1.01684029e-01 3.05373740e-03 9.94812059e-01 9.18236412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:40.18, Z:9.19 [[ 6.78526337e-01 -7.31497383e-01 -6.71832515e-02 7.90827898e+01] [ 7.27503803e-01 6.81837839e-01 -7.63896406e-02 4.01791226e+01] [ 1.01686905e-01 2.95631205e-03 9.94812059e-01 9.18519046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:40.20, Z:9.19 [[ 6.77439661e-01 -7.32505813e-01 -6.71620446e-02 7.91046260e+01] [ 7.28515318e-01 6.80754879e-01 -7.64082813e-02 4.01966640e+01] [ 1.01690400e-01 2.83342189e-03 9.94812060e-01 9.18747752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.576875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:79.13, Y:40.22, Z:9.19 [[ 6.76920058e-01 -7.32987987e-01 -6.71404992e-02 7.91254440e+01] [ 7.28997979e-01 6.80235862e-01 -7.64272088e-02 4.02162185e+01] [ 1.01691601e-01 2.78982239e-03 9.94812060e-01 9.18997277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:40.23, Z:9.19 [[ 6.76500038e-01 -7.33377610e-01 -6.71191486e-02 7.91451700e+01] [ 7.29387655e-01 6.79815905e-01 -7.64459546e-02 4.02347807e+01] [ 1.01692416e-01 2.75981280e-03 9.94812061e-01 9.19185940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:40.25, Z:9.19 [[ 6.75705985e-01 -7.34111037e-01 -6.70999796e-02 7.91675476e+01] [ 7.30123013e-01 6.79024175e-01 -7.64627764e-02 4.02526477e+01] [ 1.01694676e-01 2.67511635e-03 9.94812061e-01 9.19357887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.19, Y:40.27, Z:9.20 [[ 6.75014854e-01 -7.34748499e-01 -6.70789914e-02 7.91877627e+01] [ 7.30761782e-01 6.78334612e-01 -7.64811845e-02 4.02719731e+01] [ 1.01696437e-01 2.60717228e-03 9.94812061e-01 9.19583703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:40.29, Z:9.20 [[ 6.74588619e-01 -7.35141769e-01 -6.70579931e-02 7.92080932e+01] [ 7.31155160e-01 6.77908507e-01 -7.64995912e-02 4.02906151e+01] [ 1.01697229e-01 2.57595593e-03 9.94812062e-01 9.19937840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:40.31, Z:9.20 [[ 6.74059392e-01 -7.35628959e-01 -6.70370815e-02 7.92284031e+01] [ 7.31642930e-01 6.77379976e-01 -7.65179118e-02 4.03094936e+01] [ 1.01698368e-01 2.53041034e-03 9.94812062e-01 9.20321385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:40.33, Z:9.21 [[ 6.73909469e-01 -7.35768242e-01 -6.70158391e-02 7.92503287e+01] [ 7.31781052e-01 6.77228657e-01 -7.65365119e-02 4.03265278e+01] [ 1.01698181e-01 2.53775886e-03 9.94812062e-01 9.20681126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.27, Y:40.35, Z:9.21 [[ 6.74006338e-01 -7.35681237e-01 -6.69968193e-02 7.92707765e+01] [ 7.31691966e-01 6.77323025e-01 -7.65531574e-02 4.03459067e+01] [ 1.01697210e-01 2.57627883e-03 9.94812063e-01 9.20991962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:40.36, Z:9.21 [[ 6.73972921e-01 -7.35713737e-01 -6.69761083e-02 7.92924527e+01] [ 7.31722829e-01 6.77287636e-01 -7.65712732e-02 4.03637808e+01] [ 1.01696628e-01 2.59901722e-03 9.94812063e-01 9.21284040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:40.38, Z:9.22 [[ 6.73687441e-01 -7.35977084e-01 -6.69549347e-02 7.93128238e+01] [ 7.31985634e-01 6.77001504e-01 -7.65897832e-02 4.03836395e+01] [ 1.01696917e-01 2.58752469e-03 9.94812064e-01 9.21527325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:40.40, Z:9.22 [[ 6.73200812e-01 -7.36424152e-01 -6.69338065e-02 7.93326682e+01] [ 7.32433070e-01 6.76515317e-01 -7.66082433e-02 4.04027102e+01] [ 1.01697906e-01 2.54819817e-03 9.94812064e-01 9.21749907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.35, Y:40.42, Z:9.22 [[ 6.72356858e-01 -7.37196486e-01 -6.69148456e-02 7.93549292e+01] [ 7.33207565e-01 6.75673964e-01 -7.66248015e-02 4.04206141e+01] [ 1.01700153e-01 2.45673975e-03 9.94812064e-01 9.21889582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:40.44, Z:9.22 [[ 6.71777742e-01 -7.37726192e-01 -6.68934323e-02 7.93754937e+01] [ 7.33738028e-01 6.75095757e-01 -7.66434908e-02 4.04402171e+01] [ 1.01701383e-01 2.40513609e-03 9.94812065e-01 9.22052336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:40.46, Z:9.22 [[ 6.71572395e-01 -7.37915076e-01 -6.68719515e-02 7.93941416e+01] [ 7.33925982e-01 6.74889291e-01 -7.66622284e-02 4.04617509e+01] [ 1.01701378e-01 2.40517368e-03 9.94812065e-01 9.22342083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:40.48, Z:9.23 [[ 6.70966208e-01 -7.38468252e-01 -6.68504940e-02 7.94134657e+01] [ 7.34480031e-01 6.74284152e-01 -7.66809351e-02 4.04802801e+01] [ 1.01702665e-01 2.34996335e-03 9.94812065e-01 9.22539780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.44, Y:40.50, Z:9.23 [[ 6.70474099e-01 -7.38916811e-01 -6.68313460e-02 7.94358384e+01] [ 7.34929148e-01 6.73792715e-01 -7.66976200e-02 4.04986164e+01] [ 1.01703635e-01 2.30746348e-03 9.94812066e-01 9.22794599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:40.52, Z:9.23 [[ 6.70630626e-01 -7.38776551e-01 -6.68114616e-02 7.94550026e+01] [ 7.34786471e-01 6.73946333e-01 -7.67149375e-02 4.05175352e+01] [ 1.01702537e-01 2.35522842e-03 9.94812066e-01 9.23053964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:40.54, Z:9.23 [[ 6.70816106e-01 -7.38609844e-01 -6.67925925e-02 7.94747856e+01] [ 7.34617306e-01 6.74128854e-01 -7.67313626e-02 4.05373744e+01] [ 1.01701354e-01 2.40563951e-03 9.94812066e-01 9.23317478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:40.56, Z:9.24 [[ 6.71067850e-01 -7.38383046e-01 -6.67713873e-02 7.94945805e+01] [ 7.34387556e-01 6.74377035e-01 -7.67498109e-02 4.05572620e+01] [ 1.01699849e-01 2.46825468e-03 9.94812067e-01 9.23556748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:40.58, Z:9.24 [[ 6.69243596e-01 -7.40038800e-01 -6.67501644e-02 7.95160515e+01] [ 7.36049658e-01 6.72560431e-01 -7.67682643e-02 4.05754368e+01] [ 1.01705014e-01 2.24523352e-03 9.94812067e-01 9.23851809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:40.60, Z:9.24 [[ 6.67675871e-01 -7.41455423e-01 -6.67291992e-02 7.95357883e+01] [ 7.37471501e-01 6.70998973e-01 -7.67864836e-02 4.05959298e+01] [ 1.01708979e-01 2.05759968e-03 9.94812068e-01 9.24147983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:40.62, Z:9.24 [[ 6.66348953e-01 -7.42650074e-01 -6.67078718e-02 7.95542753e+01] [ 7.38670257e-01 6.69676969e-01 -7.68050072e-02 4.06150654e+01] [ 1.01711970e-01 1.90381528e-03 9.94812068e-01 9.24405840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:40.63, Z:9.25 [[ 6.64835746e-01 -7.44006761e-01 -6.66886072e-02 7.95732719e+01] [ 7.40032059e-01 6.68169869e-01 -7.68217308e-02 4.06349419e+01] [ 1.01715205e-01 1.72212540e-03 9.94812068e-01 9.24812675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:40.65, Z:9.25 [[ 6.63058126e-01 -7.45593311e-01 -6.66673542e-02 7.95922440e+01] [ 7.41624734e-01 6.66399536e-01 -7.68401702e-02 4.06540778e+01] [ 1.01718611e-01 1.50734038e-03 9.94812069e-01 9.25257986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:40.68, Z:9.26 [[ 6.61904162e-01 -7.46619617e-01 -6.66485375e-02 7.96111186e+01] [ 7.42654578e-01 6.65249771e-01 -7.68564877e-02 4.06751920e+01] [ 1.01720486e-01 1.37478759e-03 9.94812069e-01 9.25721174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:40.70, Z:9.26 [[ 6.57127892e-01 -7.50828680e-01 -6.66275261e-02 7.96294606e+01] [ 7.46883227e-01 6.60496575e-01 -7.68746984e-02 4.06950147e+01] [ 1.01726981e-01 7.53526803e-04 9.94812069e-01 9.26052736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.65, Y:40.72, Z:9.26 [[ 6.55908100e-01 -7.51896206e-01 -6.66082581e-02 7.96483751e+01] [ 7.47954541e-01 6.59281214e-01 -7.68913896e-02 4.07161199e+01] [ 1.01727917e-01 6.13736116e-04 9.94812070e-01 9.26426928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38687499999999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:79.67, Y:40.74, Z:9.27 [[ 6.55002970e-01 -7.52686692e-01 -6.65871848e-02 7.96669409e+01] [ 7.48747243e-01 6.58378671e-01 -7.69096346e-02 4.07374187e+01] [ 1.01728441e-01 5.19068060e-04 9.94812070e-01 9.26647226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.68, Y:40.76, Z:9.27 [[ 6.54965004e-01 -7.52721592e-01 -6.65661115e-02 7.96843632e+01] [ 7.48780470e-01 6.58338751e-01 -7.69278695e-02 4.07583291e+01] [ 1.01728319e-01 5.41658123e-04 9.94812071e-01 9.26700401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.70, Y:40.78, Z:9.27 [[ 6.55251712e-01 -7.52473930e-01 -6.65445554e-02 7.97021051e+01] [ 7.48529639e-01 6.58621753e-01 -7.69465116e-02 4.07794541e+01] [ 1.01727936e-01 6.08761434e-04 9.94812071e-01 9.26863826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:40.80, Z:9.27 [[ 6.56008122e-01 -7.51816408e-01 -6.65239236e-02 7.97206873e+01] [ 7.47866931e-01 6.59372082e-01 -7.69643447e-02 4.08008657e+01] [ 1.01727075e-01 7.38192611e-04 9.94812071e-01 9.27217942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:40.82, Z:9.27 [[ 6.56618537e-01 -7.51285174e-01 -6.65032653e-02 7.97383621e+01] [ 7.47331167e-01 6.59977173e-01 -7.69821911e-02 4.08224526e+01] [ 1.01726216e-01 8.47970844e-04 9.94812072e-01 9.27480273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:40.84, Z:9.28 [[ 6.56962511e-01 -7.50986269e-01 -6.64822068e-02 7.97560717e+01] [ 7.47028894e-01 6.60317177e-01 -7.70003730e-02 4.08440601e+01] [ 1.01725566e-01 9.22228890e-04 9.94812072e-01 9.27774536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:40.87, Z:9.28 [[ 6.56977685e-01 -7.50974850e-01 -6.64612349e-02 7.97734223e+01] [ 7.47015587e-01 6.60330121e-01 -7.70184703e-02 4.08653066e+01] [ 1.01725289e-01 9.51837941e-04 9.94812072e-01 9.27979123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:40.89, Z:9.28 [[ 6.57562508e-01 -7.50464175e-01 -6.64459897e-02 7.97914056e+01] [ 7.46500979e-01 6.60910294e-01 -7.70316205e-02 4.08872361e+01] [ 1.01724310e-01 1.05110927e-03 9.94812073e-01 9.28250338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:40.91, Z:9.28 [[ 6.57289611e-01 -7.50705028e-01 -6.64253611e-02 7.98085822e+01] [ 7.46741262e-01 6.60636721e-01 -7.70494048e-02 4.09080081e+01] [ 1.01724408e-01 1.04121536e-03 9.94812073e-01 9.28452043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:40.93, Z:9.29 [[ 6.57523568e-01 -7.50502044e-01 -6.64036087e-02 7.98265102e+01] [ 7.46535352e-01 6.60867210e-01 -7.70681471e-02 4.09290245e+01] [ 1.01723770e-01 1.10148166e-03 9.94812073e-01 9.29020516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.84, Y:40.95, Z:9.30 [[ 6.57639784e-01 -7.50402043e-01 -6.63829010e-02 7.98448510e+01] [ 7.46433043e-01 6.60980684e-01 -7.70859797e-02 4.09503724e+01] [ 1.01723292e-01 1.14441628e-03 9.94812074e-01 9.29537619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:40.97, Z:9.30 [[ 6.57407395e-01 -7.50607452e-01 -6.63624102e-02 7.98626941e+01] [ 7.46637716e-01 6.60747420e-01 -7.71036160e-02 4.09718350e+01] [ 1.01723340e-01 1.13980893e-03 9.94812074e-01 9.29911108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:40.99, Z:9.30 [[ 6.57587962e-01 -7.50451077e-01 -6.63419327e-02 7.98799164e+01] [ 7.46478770e-01 6.60924929e-01 -7.71212314e-02 4.09920615e+01] [ 1.01722748e-01 1.19114905e-03 9.94812075e-01 9.30177329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:41.01, Z:9.30 [[ 6.57489671e-01 -7.50539162e-01 -6.63196718e-02 7.98970548e+01] [ 7.46565371e-01 6.60824871e-01 -7.71403698e-02 4.10138571e+01] [ 1.01722557e-01 1.20702590e-03 9.94812075e-01 9.30476265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:41.04, Z:9.31 [[ 6.56748573e-01 -7.51189501e-01 -6.62996644e-02 7.99148255e+01] [ 7.47217278e-01 6.60085639e-01 -7.71575617e-02 4.10356783e+01] [ 1.01723407e-01 1.13286390e-03 9.94812075e-01 9.30758321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:41.06, Z:9.31 [[ 6.55733287e-01 -7.52077757e-01 -6.62789854e-02 7.99324453e+01] [ 7.48108259e-01 6.59073594e-01 -7.71753211e-02 4.10566107e+01] [ 1.01724571e-01 1.02257067e-03 9.94812076e-01 9.30940905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:41.08, Z:9.31 [[ 6.52950889e-01 -7.54496601e-01 -6.62571975e-02 7.99506627e+01] [ 7.50537580e-01 6.56303606e-01 -7.71940221e-02 4.10772948e+01] [ 1.01727465e-01 6.75388629e-04 9.94812076e-01 9.31358427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.97, Y:41.10, Z:9.32 [[ 6.51543161e-01 -7.55714472e-01 -6.62355390e-02 7.99688703e+01] [ 7.51759830e-01 6.54901040e-01 -7.72126016e-02 4.10978141e+01] [ 1.01728404e-01 5.14125030e-04 9.94812076e-01 9.31751285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:41.12, Z:9.32 [[ 6.50159582e-01 -7.56907019e-01 -6.62139223e-02 7.99864983e+01] [ 7.52956648e-01 6.53522485e-01 -7.72311347e-02 4.11184011e+01] [ 1.01729075e-01 3.56349298e-04 9.94812077e-01 9.31954184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.00, Y:41.14, Z:9.32 [[ 6.47896614e-01 -7.58846662e-01 -6.61945648e-02 8.00046232e+01] [ 7.54904664e-01 6.51269328e-01 -7.72477224e-02 4.11403727e+01] [ 1.01729666e-01 7.79520817e-05 9.94812077e-01 9.32240469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:41.16, Z:9.33 [[ 6.46900116e-01 -7.59698170e-01 -6.61734813e-02 8.00225714e+01] [ 7.55758765e-01 6.50275856e-01 -7.72657792e-02 4.11612889e+01] [ 1.01729688e-01 -2.79468906e-05 9.94812078e-01 9.32572049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:41.18, Z:9.33 [[ 6.46102703e-01 -7.60378311e-01 -6.61522552e-02 8.00399072e+01] [ 7.56440599e-01 6.49480417e-01 -7.72839480e-02 4.11818224e+01] [ 1.01729632e-01 -1.06883799e-04 9.94812078e-01 9.32865202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:41.20, Z:9.33 [[ 6.45480617e-01 -7.60908138e-01 -6.61330429e-02 8.00575807e+01] [ 7.56971513e-01 6.48859599e-01 -7.73003848e-02 4.12038071e+01] [ 1.01729552e-01 -1.64929456e-04 9.94812078e-01 9.33190451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:41.22, Z:9.33 [[ 6.45279601e-01 -7.61080479e-01 -6.61115833e-02 8.00748379e+01] [ 7.57142877e-01 6.48657442e-01 -7.73187340e-02 4.12246652e+01] [ 1.01729550e-01 -1.63712617e-04 9.94812079e-01 9.33438816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:41.25, Z:9.34 [[ 6.45481873e-01 -7.60910614e-01 -6.60922792e-02 8.00920021e+01] [ 7.56970433e-01 6.48856707e-01 -7.73352317e-02 4.12450275e+01] [ 1.01729617e-01 -1.11410913e-04 9.94812079e-01 9.33653266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:41.27, Z:9.34 [[ 6.46300250e-01 -7.60217286e-01 -6.60731879e-02 8.01093359e+01] [ 7.56271817e-01 6.49668899e-01 -7.73515394e-02 4.12671321e+01] [ 1.01729673e-01 2.30292947e-05 9.94812079e-01 9.34112878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:41.29, Z:9.34 [[ 6.46606487e-01 -7.59958653e-01 -6.60522242e-02 8.01269085e+01] [ 7.56010009e-01 6.49971413e-01 -7.73694367e-02 4.12888674e+01] [ 1.01729630e-01 9.14370724e-05 9.94812080e-01 9.34373248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:41.31, Z:9.35 [[ 6.46895211e-01 -7.59714741e-01 -6.60310425e-02 8.01445958e+01] [ 7.55762982e-01 6.50256478e-01 -7.73875101e-02 4.13106973e+01] [ 1.01729545e-01 1.57792054e-04 9.94812080e-01 9.34661450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.16, Y:41.33, Z:9.35 [[ 6.47594250e-01 -7.59120798e-01 -6.60098558e-02 8.01616863e+01] [ 7.55164115e-01 6.50949719e-01 -7.74055777e-02 4.13334123e+01] [ 1.01729281e-01 2.79132691e-04 9.94812080e-01 9.34748443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.18, Y:41.35, Z:9.35 [[ 6.48175896e-01 -7.58626035e-01 -6.59889949e-02 8.01786559e+01] [ 7.54664980e-01 6.51526202e-01 -7.74233578e-02 4.13546983e+01] [ 1.01728934e-01 3.84370759e-04 9.94812081e-01 9.34892196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:41.38, Z:9.35 [[ 6.48964253e-01 -7.57953595e-01 -6.59677708e-02 8.01955012e+01] [ 7.53987231e-01 6.52308270e-01 -7.74414374e-02 4.13754284e+01] [ 1.01728338e-01 5.17867705e-04 9.94812081e-01 9.35150207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:41.40, Z:9.36 [[ 6.49522503e-01 -7.57477209e-01 -6.59453996e-02 8.02128659e+01] [ 7.53506459e-01 6.52861310e-01 -7.74604830e-02 4.13970469e+01] [ 1.01727750e-01 6.22042234e-04 9.94812082e-01 9.35544752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:41.42, Z:9.36 [[ 6.50621162e-01 -7.56535589e-01 -6.59242430e-02 8.02295142e+01] [ 7.52558183e-01 6.53952037e-01 -7.74784846e-02 4.14190918e+01] [ 1.01726524e-01 7.97313186e-04 9.94812082e-01 9.35870782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.25, Y:41.44, Z:9.36 [[ 6.51131118e-01 -7.56098549e-01 -6.59033524e-02 8.02469949e+01] [ 7.52117108e-01 6.54457169e-01 -7.74962501e-02 4.14409503e+01] [ 1.01725724e-01 8.93181094e-04 9.94812082e-01 9.36206166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.406875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.26, Y:41.46, Z:9.36 [[ 6.51582034e-01 -7.55711849e-01 -6.58821259e-02 8.02637401e+01] [ 7.51726611e-01 6.54903533e-01 -7.75142914e-02 4.14620415e+01] [ 1.01724905e-01 9.81572403e-04 9.94812083e-01 9.36410206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:41.48, Z:9.37 [[ 6.52216250e-01 -7.55166221e-01 -6.58630586e-02 8.02810627e+01] [ 7.51176568e-01 6.55532445e-01 -7.75304893e-02 4.14833998e+01] [ 1.01723778e-01 1.09185860e-03 9.94812083e-01 9.36709142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.30, Y:41.51, Z:9.37 [[ 6.53550230e-01 -7.54013887e-01 -6.58418929e-02 8.02989678e+01] [ 7.50016578e-01 6.56857191e-01 -7.75484599e-02 4.15052559e+01] [ 1.01721337e-01 1.29930261e-03 9.94812084e-01 9.36948253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49687499999999 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:80.32, Y:41.53, Z:9.37 [[ 6.54151572e-01 -7.53494085e-01 -6.58208488e-02 8.03161356e+01] [ 7.49492352e-01 6.57453178e-01 -7.75663175e-02 4.15262513e+01] [ 1.01719888e-01 1.40790578e-03 9.94812084e-01 9.37150854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.33, Y:41.55, Z:9.37 [[ 6.54892247e-01 -7.52852053e-01 -6.58022165e-02 8.03335550e+01] [ 7.48845495e-01 6.58187997e-01 -7.75821207e-02 4.15479325e+01] [ 1.01718088e-01 1.53223596e-03 9.94812084e-01 9.37431874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:41.57, Z:9.38 [[ 6.56706249e-01 -7.51272077e-01 -6.57812124e-02 8.03513526e+01] [ 7.47255809e-01 6.59990158e-01 -7.75999259e-02 4.15699126e+01] [ 1.01713610e-01 1.80496319e-03 9.94812085e-01 9.37901416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:41.59, Z:9.38 [[ 6.57256847e-01 -7.50792315e-01 -6.57596929e-02 8.03695370e+01] [ 7.46771826e-01 6.60535587e-01 -7.76181577e-02 4.15911964e+01] [ 1.01711734e-01 1.90757967e-03 9.94812085e-01 9.38236192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:41.61, Z:9.39 [[ 6.57323819e-01 -7.50735553e-01 -6.57383143e-02 8.03871027e+01] [ 7.46712972e-01 6.60599991e-01 -7.76362600e-02 4.16121617e+01] [ 1.01711030e-01 1.94451087e-03 9.94812085e-01 9.38534851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:41.63, Z:9.39 [[ 6.57584886e-01 -7.50508586e-01 -6.57189431e-02 8.04053774e+01] [ 7.46483237e-01 6.60857656e-01 -7.76526543e-02 4.16337327e+01] [ 1.01709850e-01 2.00512246e-03 9.94812086e-01 9.38952068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:41.65, Z:9.39 [[ 6.57993341e-01 -7.50152390e-01 -6.56974500e-02 8.04223624e+01] [ 7.46123456e-01 6.61261696e-01 -7.76708342e-02 4.16542367e+01] [ 1.01708169e-01 2.08848323e-03 9.94812086e-01 9.39251506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:41.68, Z:9.39 [[ 6.58095276e-01 -7.50064659e-01 -6.56781157e-02 8.04404475e+01] [ 7.46033660e-01 6.61361082e-01 -7.76871797e-02 4.16760816e+01] [ 1.01707358e-01 2.12748098e-03 9.94812086e-01 9.39433909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.46, Y:41.70, Z:9.40 [[ 6.58023509e-01 -7.50129468e-01 -6.56570017e-02 8.04585803e+01] [ 7.46097012e-01 6.61287516e-01 -7.77050201e-02 4.16979023e+01] [ 1.01706981e-01 2.14523724e-03 9.94812087e-01 9.39707524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.48, Y:41.72, Z:9.40 [[ 6.58047883e-01 -7.50109946e-01 -6.56357558e-02 8.04762282e+01] [ 7.46075605e-01 6.61309559e-01 -7.77229620e-02 4.17188128e+01] [ 1.01706320e-01 2.17619443e-03 9.94812087e-01 9.40107350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.796875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:80.49, Y:41.74, Z:9.41 [[ 6.51694570e-01 -7.55637968e-01 -6.56159169e-02 8.04945164e+01] [ 7.51629617e-01 6.54988134e-01 -7.77397070e-02 4.17387950e+01] [ 1.01720721e-01 1.34367840e-03 9.94812087e-01 9.40652994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:41.76, Z:9.41 [[ 6.49108558e-01 -7.57861387e-01 -6.56063780e-02 8.05120567e+01] [ 7.53863506e-01 6.52414822e-01 -7.77477562e-02 4.17597355e+01] [ 1.01724596e-01 1.00847979e-03 9.94812088e-01 9.40880639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.53, Y:41.78, Z:9.41 [[ 6.45553062e-01 -7.60893902e-01 -6.55874470e-02 8.05298277e+01] [ 7.56909931e-01 6.48876074e-01 -7.77637231e-02 4.17815375e+01] [ 1.01728068e-01 5.56819596e-04 9.94812088e-01 9.40846207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:41.80, Z:9.41 [[ 6.45349781e-01 -7.61068081e-01 -6.55670426e-02 8.05481053e+01] [ 7.57083259e-01 6.48671772e-01 -7.77809235e-02 4.18033810e+01] [ 1.01728068e-01 5.56191629e-04 9.94812088e-01 9.41135982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.57, Y:41.82, Z:9.41 [[ 6.44192026e-01 -7.62050088e-01 -6.55461508e-02 8.05655508e+01] [ 7.58068539e-01 6.47517938e-01 -7.77985251e-02 4.18247290e+01] [ 1.01728681e-01 4.28714693e-04 9.94812089e-01 9.41382949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:41.85, Z:9.42 [[ 6.43459049e-01 -7.62670966e-01 -6.55244279e-02 8.05827663e+01] [ 7.58690763e-01 6.46786572e-01 -7.78168165e-02 4.18451140e+01] [ 1.01728947e-01 3.59156505e-04 9.94812089e-01 9.41554205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:41.87, Z:9.42 [[ 6.43169652e-01 -7.62916699e-01 -6.55050275e-02 8.06004265e+01] [ 7.58936105e-01 6.46496706e-01 -7.78331441e-02 4.18665701e+01] [ 1.01728990e-01 3.45785866e-04 9.94812089e-01 9.41903994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.62, Y:41.89, Z:9.42 [[ 6.43938864e-01 -7.62269347e-01 -6.54842060e-02 8.06182192e+01] [ 7.58283627e-01 6.47259775e-01 -7.78506582e-02 4.18884962e+01] [ 1.01728463e-01 4.75463227e-04 9.94812090e-01 9.42391794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.036875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:80.64, Y:41.91, Z:9.43 [[ 6.44438843e-01 -7.61848443e-01 -6.54639423e-02 8.06361240e+01] [ 7.57858823e-01 6.47755067e-01 -7.78676941e-02 4.19101149e+01] [ 1.01727982e-01 5.68540500e-04 9.94812090e-01 9.42733148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:41.93, Z:9.43 [[ 6.45154295e-01 -7.61244480e-01 -6.54429347e-02 8.06536488e+01] [ 7.57249965e-01 6.48464620e-01 -7.78853457e-02 4.19313260e+01] [ 1.01727217e-01 6.91405245e-04 9.94812090e-01 9.43101657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:41.95, Z:9.43 [[ 6.45583306e-01 -7.60882487e-01 -6.54219762e-02 8.06713044e+01] [ 7.56884332e-01 6.48889234e-01 -7.79029465e-02 4.19528661e+01] [ 1.01726604e-01 7.75973033e-04 9.94812091e-01 9.43305264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.69, Y:41.97, Z:9.44 [[ 6.46610497e-01 -7.60011572e-01 -6.54008853e-02 8.06895141e+01] [ 7.56007174e-01 6.49908859e-01 -7.79206487e-02 4.19746516e+01] [ 1.01725209e-01 9.40770973e-04 9.94812091e-01 9.43515307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:42.00, Z:9.44 [[ 6.46609114e-01 -7.60014530e-01 -6.53801869e-02 8.07069313e+01] [ 7.56008391e-01 6.49905361e-01 -7.79380121e-02 4.19952755e+01] [ 1.01724956e-01 9.67458996e-04 9.94812092e-01 9.43678034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:42.02, Z:9.44 [[ 6.46277636e-01 -7.60297961e-01 -6.53622837e-02 8.07250672e+01] [ 7.56291750e-01 6.49573795e-01 -7.79530237e-02 4.20167100e+01] [ 1.01725152e-01 9.46340028e-04 9.94812092e-01 9.44056327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.74, Y:42.04, Z:9.44 [[ 6.45108552e-01 -7.61291997e-01 -6.53410353e-02 8.07432024e+01] [ 7.57289062e-01 6.48408688e-01 -7.79708303e-02 4.20388243e+01] [ 1.01726264e-01 8.17598124e-04 9.94812092e-01 9.44476215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:42.06, Z:9.45 [[ 6.44132976e-01 -7.62119346e-01 -6.53208398e-02 8.07610811e+01] [ 7.58118934e-01 6.47436169e-01 -7.79877456e-02 4.20605809e+01] [ 1.01727044e-01 7.13513247e-04 9.94812093e-01 9.44864584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:42.08, Z:9.45 [[ 6.42969400e-01 -7.63102988e-01 -6.53006904e-02 8.07787111e+01] [ 7.59105916e-01 6.46276635e-01 -7.80046135e-02 4.20817785e+01] [ 1.01727864e-01 5.84439197e-04 9.94812093e-01 9.45335502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:42.10, Z:9.46 [[ 6.41877392e-01 -7.64023484e-01 -6.52803968e-02 8.07966975e+01] [ 7.60029428e-01 6.45188267e-01 -7.80215932e-02 4.21029935e+01] [ 1.01728475e-01 4.65274113e-04 9.94812093e-01 9.45720375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:42.12, Z:9.46 [[ 6.40255483e-01 -7.65384841e-01 -6.52607201e-02 8.08147637e+01] [ 7.61396147e-01 6.43572816e-01 -7.80380482e-02 4.21248854e+01] [ 1.01729165e-01 2.75027378e-04 9.94812094e-01 9.46057689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:42.15, Z:9.46 [[ 6.39730013e-01 -7.65825223e-01 -6.52475148e-02 8.08324356e+01] [ 7.61837687e-01 6.43048737e-01 -7.80490876e-02 4.21468583e+01] [ 1.01729292e-01 2.22328116e-04 9.94812094e-01 9.46321095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:42.17, Z:9.46 [[ 6.39261616e-01 -7.66218131e-01 -6.52254641e-02 8.08493779e+01] [ 7.62230755e-01 6.42580532e-01 -7.80675110e-02 4.21681950e+01] [ 1.01729356e-01 1.88708509e-04 9.94812094e-01 9.46480823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.87, Y:42.19, Z:9.47 [[ 6.38977693e-01 -7.66456196e-01 -6.52104904e-02 8.08667332e+01] [ 7.62468780e-01 6.42296560e-01 -7.80800167e-02 4.21902817e+01] [ 1.01729386e-01 1.70425939e-04 9.94812094e-01 9.46786363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:42.21, Z:9.47 [[ 6.39251795e-01 -7.66229471e-01 -6.51884900e-02 8.08834572e+01] [ 7.62239005e-01 6.42566994e-01 -7.80983804e-02 4.22111269e+01] [ 1.01729253e-01 2.35320080e-04 9.94812095e-01 9.46954812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.90, Y:42.23, Z:9.47 [[ 6.39798886e-01 -7.65774367e-01 -6.51690439e-02 8.09005025e+01] [ 7.61779890e-01 6.43109250e-01 -7.81146039e-02 4.22338191e+01] [ 1.01728976e-01 3.33169380e-04 9.94812095e-01 9.46973779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.92, Y:42.26, Z:9.47 [[ 6.40355620e-01 -7.65310596e-01 -6.51488415e-02 8.09178671e+01] [ 7.61312007e-01 6.43661017e-01 -7.81314494e-02 4.22560142e+01] [ 1.01728596e-01 4.33317485e-04 9.94812095e-01 9.47257040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:42.28, Z:9.47 [[ 6.40849903e-01 -7.64898568e-01 -6.51274299e-02 8.09346865e+01] [ 7.60896041e-01 6.44150528e-01 -7.81492933e-02 4.22778878e+01] [ 1.01728151e-01 5.26763485e-04 9.94812096e-01 9.47403071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.95, Y:42.30, Z:9.48 [[ 6.41361549e-01 -7.64471185e-01 -6.51089179e-02 8.09508243e+01] [ 7.60464893e-01 6.44657602e-01 -7.81647133e-02 4.22990856e+01] [ 1.01727630e-01 6.18795335e-04 9.94812096e-01 9.47626935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.97, Y:42.32, Z:9.48 [[ 6.42567821e-01 -7.63459211e-01 -6.50893895e-02 8.09669372e+01] [ 7.59446081e-01 6.45855546e-01 -7.81809716e-02 4.23223701e+01] [ 1.01726326e-01 8.04694826e-04 9.94812096e-01 9.48128706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:42.34, Z:9.48 [[ 6.43043257e-01 -7.63060516e-01 -6.50693347e-02 8.09832474e+01] [ 7.59043659e-01 6.46326427e-01 -7.81976596e-02 4.23443870e+01] [ 1.01725577e-01 8.94011872e-04 9.94812097e-01 9.48491159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:42.37, Z:9.49 [[ 6.42035002e-01 -7.63910671e-01 -6.50503069e-02 8.09957237e+01] [ 7.59896558e-01 6.45321526e-01 -7.82134850e-02 4.23676701e+01] [ 1.01726479e-01 7.84290688e-04 9.94812097e-01 9.48509668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:42.39, Z:9.49 [[ 6.45595270e-01 -7.60946988e-01 -6.45478796e-02 8.10160142e+01] [ 7.56875902e-01 6.48811249e-01 -7.86309897e-02 4.23890702e+01] [ 1.01713405e-01 1.90906040e-03 9.94811911e-01 9.49235676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.03, Y:42.41, Z:9.50 [[ 6.46421967e-01 -7.60204753e-01 -6.50182596e-02 8.10332785e+01] [ 7.56169122e-01 6.49682031e-01 -7.82401243e-02 4.24110939e+01] [ 1.01719709e-01 1.41133481e-03 9.94812097e-01 9.49519436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:42.43, Z:9.50 [[ 6.47347843e-01 -7.59418322e-01 -6.49967838e-02 8.10499604e+01] [ 7.55376941e-01 6.50600775e-01 -7.82579610e-02 4.24329232e+01] [ 1.01717487e-01 1.56305058e-03 9.94812098e-01 9.49744912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.07, Y:42.46, Z:9.50 [[ 6.48086796e-01 -7.58789438e-01 -6.49776430e-02 8.10667618e+01] [ 7.54743308e-01 6.51333819e-01 -7.82738504e-02 4.24556470e+01] [ 1.01715507e-01 1.68680769e-03 9.94812098e-01 9.50061435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:42.48, Z:9.50 [[ 6.49367138e-01 -7.57695822e-01 -6.49566140e-02 8.10827924e+01] [ 7.53642480e-01 6.52605153e-01 -7.82912978e-02 4.24797508e+01] [ 1.01712010e-01 1.88573231e-03 9.94812098e-01 9.50096845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.10, Y:42.50, Z:9.50 [[ 6.49322759e-01 -7.57734949e-01 -6.49438311e-02 8.10997389e+01] [ 7.53680742e-01 6.52559692e-01 -7.83019000e-02 4.25025182e+01] [ 1.01711813e-01 1.89629096e-03 9.94812098e-01 9.50380518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.876875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:81.12, Y:42.52, Z:9.51 [[ 6.48678337e-01 -7.58288517e-01 -6.49225776e-02 8.11168674e+01] [ 7.54235310e-01 6.51916521e-01 -7.83195181e-02 4.25248767e+01] [ 1.01712892e-01 1.83727429e-03 9.94812099e-01 9.50647146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:42.55, Z:9.51 [[ 6.47380366e-01 -7.59398758e-01 -6.49013667e-02 8.11343909e+01] [ 7.55349345e-01 6.50623291e-01 -7.83370911e-02 4.25466530e+01] [ 1.01715431e-01 1.69068992e-03 9.94812099e-01 9.51070037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:42.57, Z:9.51 [[ 6.45319769e-01 -7.61152425e-01 -6.48797515e-02 8.11510653e+01] [ 7.57110026e-01 6.48571433e-01 -7.83549890e-02 4.25673090e+01] [ 1.01719243e-01 1.44291302e-03 9.94812100e-01 9.51420202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:42.59, Z:9.52 [[ 6.39280975e-01 -7.66232976e-01 -6.48603302e-02 8.11678207e+01] [ 7.62214793e-01 6.42562516e-01 -7.83710623e-02 4.25900414e+01] [ 1.01727309e-01 6.63625953e-04 9.94812100e-01 9.51912087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:42.61, Z:9.52 [[ 6.36488389e-01 -7.68555848e-01 -6.48416479e-02 8.11852658e+01] [ 7.64548067e-01 6.39782626e-01 -7.83865163e-02 4.26123868e+01] [ 1.01728975e-01 3.17550954e-04 9.94812100e-01 9.52241442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:42.63, Z:9.53 [[ 6.32786432e-01 -7.71608488e-01 -6.48203150e-02 8.12024957e+01] [ 7.67614792e-01 6.36097729e-01 -7.84041533e-02 4.26342758e+01] [ 1.01729365e-01 -1.43948144e-04 9.94812101e-01 9.52758462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.22, Y:42.66, Z:9.53 [[ 6.26949464e-01 -7.76360568e-01 -6.47969075e-02 8.12195356e+01] [ 7.72389968e-01 6.30288421e-01 -7.84234936e-02 4.26568236e+01] [ 1.01725649e-01 -8.80914015e-04 9.94812101e-01 9.53192092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:42.68, Z:9.53 [[ 6.24460847e-01 -7.78365487e-01 -6.47751484e-02 8.12358082e+01] [ 7.74403743e-01 6.27810306e-01 -7.84414618e-02 4.26785904e+01] [ 1.01722632e-01 -1.17849570e-03 9.94812101e-01 9.53434797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.25, Y:42.70, Z:9.54 [[ 6.22243344e-01 -7.80140979e-01 -6.47554913e-02 8.12525007e+01] [ 7.76187103e-01 6.25602088e-01 -7.84576860e-02 4.27006885e+01] [ 1.01719226e-01 -1.44260435e-03 9.94812102e-01 9.53732814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:42.72, Z:9.54 [[ 6.19954962e-01 -7.81962550e-01 -6.47334196e-02 8.12673441e+01] [ 7.78016642e-01 6.23323061e-01 -7.84758926e-02 4.27230130e+01] [ 1.01715042e-01 -1.71215875e-03 9.94812102e-01 9.53995394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.28, Y:42.75, Z:9.54 [[ 6.20034200e-01 -7.81901372e-01 -6.47134874e-02 8.12837453e+01] [ 7.77953418e-01 6.23399900e-01 -7.84923259e-02 4.27457401e+01] [ 1.01715639e-01 -1.67615226e-03 9.94812103e-01 9.54372400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:42.77, Z:9.55 [[ 6.20713300e-01 -7.81364208e-01 -6.46913655e-02 8.12992915e+01] [ 7.77411442e-01 6.24073347e-01 -7.85105540e-02 4.27677742e+01] [ 1.01717494e-01 -1.55926271e-03 9.94812103e-01 9.54663051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:42.79, Z:9.55 [[ 6.21797482e-01 -7.80503359e-01 -6.46714640e-02 8.13150713e+01] [ 7.76544236e-01 6.25150037e-01 -7.85269441e-02 4.27907979e+01] [ 1.01719912e-01 -1.39239655e-03 9.94812103e-01 9.54957805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:42.81, Z:9.55 [[ 6.25230143e-01 -7.77758125e-01 -6.46495775e-02 8.13294315e+01] [ 7.73782417e-01 6.28563012e-01 -7.85449587e-02 4.28149859e+01] [ 1.01725313e-01 -9.16030662e-04 9.94812104e-01 9.55283471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:42.84, Z:9.56 [[ 6.26754286e-01 -7.76532245e-01 -6.46276860e-02 8.13448676e+01] [ 7.72548161e-01 6.30077137e-01 -7.85629672e-02 4.28370134e+01] [ 1.01727105e-01 -6.88323647e-04 9.94812104e-01 9.55525214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.326875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:81.36, Y:42.86, Z:9.56 [[ 6.27888047e-01 -7.75617435e-01 -6.46080093e-02 8.13606587e+01] [ 7.71626845e-01 6.31203081e-01 -7.85791455e-02 4.28603332e+01] [ 1.01728130e-01 -5.14368201e-04 9.94812104e-01 9.55639790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.37, Y:42.89, Z:9.56 [[ 6.30119890e-01 -7.73807138e-01 -6.45866631e-02 8.13746701e+01] [ 7.69805226e-01 6.33421246e-01 -7.85966867e-02 4.28857453e+01] [ 1.01729242e-01 -1.93815179e-04 9.94812105e-01 9.55594163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:42.91, Z:9.56 [[ 6.31059228e-01 -7.73043053e-01 -6.45653845e-02 8.13904670e+01] [ 7.69035355e-01 6.34353558e-01 -7.86141628e-02 4.29085909e+01] [ 1.01729414e-01 -4.28705040e-05 9.94812105e-01 9.55863494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.41, Y:42.93, Z:9.56 [[ 6.31525155e-01 -7.72664317e-01 -6.45432525e-02 8.14060573e+01] [ 7.68652786e-01 6.34814816e-01 -7.86323293e-02 4.29313634e+01] [ 1.01729408e-01 4.69431188e-05 9.94812106e-01 9.56063157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:42.95, Z:9.56 [[ 6.32124073e-01 -7.72176068e-01 -6.45234598e-02 8.14224626e+01] [ 7.68160339e-01 6.35408606e-01 -7.86485673e-02 4.29542293e+01] [ 1.01729303e-01 1.51289916e-04 9.94812106e-01 9.56390454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:42.98, Z:9.57 [[ 6.32708671e-01 -7.71698967e-01 -6.45014890e-02 8.14373896e+01] [ 7.67678924e-01 6.35987924e-01 -7.86665820e-02 4.29775804e+01] [ 1.01729088e-01 2.56594868e-04 9.94812106e-01 9.56538894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:43.00, Z:9.57 [[ 6.32686765e-01 -7.71718562e-01 -6.44819172e-02 8.14538610e+01] [ 7.67696986e-01 6.35964136e-01 -7.86826215e-02 4.30007948e+01] [ 1.01729026e-01 2.78879806e-04 9.94812107e-01 9.56802855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:43.02, Z:9.56 [[ 6.28438433e-01 -7.75183831e-01 -6.44605654e-02 8.14612530e+01] [ 7.71178532e-01 6.31735676e-01 -7.87001101e-02 4.30240769e+01] [ 1.01729092e-01 -2.52430372e-04 9.94812107e-01 9.56272477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:43.05, Z:9.57 [[ 6.33380873e-01 -7.71274975e-01 -6.29569860e-02 8.14847881e+01] [ 7.67125697e-01 6.36497828e-01 -7.99292189e-02 4.30482582e+01] [ 1.01719391e-01 2.32971677e-03 9.94810403e-01 9.57120808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:43.07, Z:9.58 [[ 6.33620973e-01 -7.70956087e-01 -6.44296069e-02 8.15016535e+01] [ 7.66926335e-01 6.36888131e-01 -7.87242323e-02 4.30704587e+01] [ 1.01727378e-01 4.68562368e-04 9.94812204e-01 9.57595933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.52, Y:43.09, Z:9.58 [[ 6.33752711e-01 -7.70849591e-01 -6.44081484e-02 8.15181934e+01] [ 7.66817505e-01 6.37016990e-01 -7.87417846e-02 4.30925784e+01] [ 1.01727157e-01 5.13523856e-04 9.94812204e-01 9.58017202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:43.11, Z:9.58 [[ 6.34192398e-01 -7.70489684e-01 -6.43867129e-02 8.15345644e+01] [ 7.66453967e-01 6.37452185e-01 -7.87593085e-02 4.31145631e+01] [ 1.01726685e-01 5.99103219e-04 9.94812205e-01 9.58391178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.55, Y:43.14, Z:9.59 [[ 6.35679266e-01 -7.69265239e-01 -6.43650716e-02 8.15497717e+01] [ 7.65221453e-01 6.38929036e-01 -7.87769906e-02 4.31385100e+01] [ 1.01725114e-01 8.23365987e-04 9.94812205e-01 9.58701140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.57, Y:43.16, Z:9.59 [[ 6.36692133e-01 -7.68428952e-01 -6.43434023e-02 8.15660442e+01] [ 7.64379109e-01 6.39934352e-01 -7.87946857e-02 4.31608397e+01] [ 1.01723671e-01 9.85204002e-04 9.94812205e-01 9.58899537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:43.18, Z:9.59 [[ 6.37737718e-01 -7.67563232e-01 -6.43217513e-02 8.15831027e+01] [ 7.63507206e-01 6.40972198e-01 -7.88123560e-02 4.31831246e+01] [ 1.01721921e-01 1.15149139e-03 9.94812206e-01 9.59158627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:43.21, Z:9.59 [[ 6.37527846e-01 -7.67739373e-01 -6.43000851e-02 8.16010253e+01] [ 7.63682459e-01 6.40761211e-01 -7.88300287e-02 4.32052383e+01] [ 1.01721917e-01 1.15149134e-03 9.94812206e-01 9.59448375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:43.23, Z:9.60 [[ 6.38535976e-01 -7.66902923e-01 -6.42784140e-02 8.16172567e+01] [ 7.62839995e-01 6.41761781e-01 -7.88476955e-02 4.32286037e+01] [ 1.01719958e-01 1.31294520e-03 9.94812207e-01 9.59665279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:43.25, Z:9.60 [[ 6.39009331e-01 -7.66510425e-01 -6.42560724e-02 8.16338610e+01] [ 7.62443686e-01 6.42230330e-01 -7.88658985e-02 4.32503787e+01] [ 1.01718732e-01 1.40440840e-03 9.94812207e-01 9.59909724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:43.27, Z:9.60 [[ 6.38851950e-01 -7.66643272e-01 -6.42361196e-02 8.16507065e+01] [ 7.62575570e-01 6.42071731e-01 -7.88821467e-02 4.32727345e+01] [ 1.01718664e-01 1.40911774e-03 9.94812207e-01 9.60230595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:43.29, Z:9.61 [[ 6.38510687e-01 -7.66929388e-01 -6.42138392e-02 8.16676898e+01] [ 7.62861305e-01 6.41729986e-01 -7.89002799e-02 4.32946140e+01] [ 1.01718889e-01 1.39241871e-03 9.94812208e-01 9.60575608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:43.32, Z:9.61 [[ 6.37582310e-01 -7.67703237e-01 -6.41914112e-02 8.16845547e+01] [ 7.63637226e-01 6.40804225e-01 -7.89185226e-02 4.33159304e+01] [ 1.01720133e-01 1.29810276e-03 9.94812208e-01 9.60851960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:43.34, Z:9.61 [[ 6.37167603e-01 -7.68049161e-01 -6.41711180e-02 8.17023756e+01] [ 7.63983237e-01 6.40389628e-01 -7.89350202e-02 4.33375964e+01] [ 1.01720494e-01 1.26917919e-03 9.94812209e-01 9.61204534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.72, Y:43.36, Z:9.62 [[ 6.36935993e-01 -7.68243069e-01 -6.41492701e-02 8.17197867e+01] [ 7.64176338e-01 6.40156999e-01 -7.89527717e-02 4.33591439e+01] [ 1.01720524e-01 1.26650765e-03 9.94812209e-01 9.61609644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.74, Y:43.38, Z:9.62 [[ 6.36823373e-01 -7.68338292e-01 -6.41269098e-02 8.17370125e+01] [ 7.64270215e-01 6.40042678e-01 -7.89709291e-02 4.33803920e+01] [ 1.01720348e-01 1.28024627e-03 9.94812209e-01 9.61907313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.046875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.75, Y:43.40, Z:9.62 [[ 6.37454963e-01 -7.67816067e-01 -6.41066097e-02 8.17544344e+01] [ 7.63743697e-01 6.40668835e-01 -7.89874048e-02 4.34023125e+01] [ 1.01718905e-01 1.38989413e-03 9.94812210e-01 9.62197182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.77, Y:43.42, Z:9.62 [[ 6.37881643e-01 -7.67463470e-01 -6.40845658e-02 8.17721346e+01] [ 7.63387528e-01 6.41090982e-01 -7.90052856e-02 4.34245898e+01] [ 1.01717708e-01 1.47466313e-03 9.94812210e-01 9.62468961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:43.45, Z:9.63 [[ 6.38697429e-01 -7.66786527e-01 -6.40625935e-02 8.17899336e+01] [ 7.62705398e-01 6.41900168e-01 -7.90230981e-02 4.34466466e+01] [ 1.01715637e-01 1.61096370e-03 9.94812210e-01 9.62711408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:43.47, Z:9.63 [[ 6.39928359e-01 -7.65761431e-01 -6.40400256e-02 8.18067956e+01] [ 7.61673343e-01 6.43122211e-01 -7.90413830e-02 4.34673135e+01] [ 1.01712405e-01 1.80324217e-03 9.94812211e-01 9.62918858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:43.49, Z:9.63 [[ 6.42503929e-01 -7.63603412e-01 -6.40197670e-02 8.18249950e+01] [ 7.59502965e-01 6.45681897e-01 -7.90577881e-02 4.34887754e+01] [ 1.01705201e-01 2.17173655e-03 9.94812211e-01 9.63246094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19687499999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:81.84, Y:43.51, Z:9.63 [[ 6.43427372e-01 -7.62827291e-01 -6.39979817e-02 8.18417906e+01] [ 7.58721259e-01 6.46598121e-01 -7.90754196e-02 4.35095299e+01] [ 1.01701863e-01 2.32266018e-03 9.94812212e-01 9.63437150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:43.53, Z:9.64 [[ 6.44610142e-01 -7.61829325e-01 -6.39831541e-02 8.18594671e+01] [ 7.57717196e-01 6.47772979e-01 -7.90874154e-02 4.35309399e+01] [ 1.01697671e-01 2.49941394e-03 9.94812212e-01 9.63742532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:43.55, Z:9.64 [[ 6.45506019e-01 -7.61072264e-01 -6.39608457e-02 8.18768223e+01] [ 7.56954640e-01 6.48661699e-01 -7.91054529e-02 4.35517103e+01] [ 1.01693917e-01 2.64758702e-03 9.94812212e-01 9.63906199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.90, Y:43.57, Z:9.64 [[ 6.46665791e-01 -7.60088752e-01 -6.39409454e-02 8.18953627e+01] [ 7.55964742e-01 6.49813120e-01 -7.91215351e-02 4.35723517e+01] [ 1.01689054e-01 2.82808974e-03 9.94812213e-01 9.64124022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:43.59, Z:9.64 [[ 6.46755120e-01 -7.60014572e-01 -6.39192099e-02 8.19136164e+01] [ 7.55888469e-01 6.49899705e-01 -7.91390906e-02 4.35934915e+01] [ 1.01687938e-01 2.86781838e-03 9.94812213e-01 9.64399106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:43.61, Z:9.65 [[ 6.47047522e-01 -7.59767477e-01 -6.38974643e-02 8.19316060e+01] [ 7.55638444e-01 6.50188256e-01 -7.91566443e-02 4.36145149e+01] [ 1.01686025e-01 2.93473006e-03 9.94812213e-01 9.64621732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:43.64, Z:9.65 [[ 6.47156673e-01 -7.59676327e-01 -6.38758039e-02 8.19498326e+01] [ 7.55545130e-01 6.50294561e-01 -7.91741195e-02 4.36360169e+01] [ 1.01684792e-01 2.97700724e-03 9.94812214e-01 9.64856301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.97, Y:43.66, Z:9.65 [[ 6.47765441e-01 -7.59159132e-01 -6.38540949e-02 8.19690165e+01] [ 7.55023708e-01 6.50897755e-01 -7.91916239e-02 4.36569002e+01] [ 1.01681532e-01 3.08624167e-03 9.94812214e-01 9.65097702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:43.68, Z:9.65 [[ 6.48186477e-01 -7.58801529e-01 -6.38320471e-02 8.19874479e+01] [ 7.54662631e-01 6.51314199e-01 -7.92093915e-02 4.36779868e+01] [ 1.01678926e-01 3.17079585e-03 9.94812214e-01 9.65292413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:43.70, Z:9.66 [[ 6.48751321e-01 -7.58320510e-01 -6.38100868e-02 8.20054893e+01] [ 7.54177558e-01 6.51873670e-01 -7.92270786e-02 4.36984877e+01] [ 1.01675634e-01 3.27453640e-03 9.94812215e-01 9.65513513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:43.72, Z:9.66 [[ 6.49128358e-01 -7.57999045e-01 -6.37951605e-02 8.20238089e+01] [ 7.53853369e-01 6.52247089e-01 -7.92390957e-02 4.37196413e+01] [ 1.01673367e-01 3.34414745e-03 9.94812215e-01 9.65828652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.04, Y:43.74, Z:9.66 [[ 6.51125517e-01 -7.56286008e-01 -6.37733200e-02 8.20422748e+01] [ 7.52130412e-01 6.54231017e-01 -7.92566696e-02 4.37391159e+01] [ 1.01663194e-01 3.64018650e-03 9.94812215e-01 9.66192221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.06, Y:43.76, Z:9.67 [[ 6.52268710e-01 -7.55301478e-01 -6.37589737e-02 8.20607104e+01] [ 7.51140071e-01 6.55366420e-01 -7.92682090e-02 4.37606440e+01] [ 1.01656886e-01 3.81225237e-03 9.94812216e-01 9.66506413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58687499999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:82.08, Y:43.78, Z:9.67 [[ 6.53239575e-01 -7.54463795e-01 -6.37372724e-02 8.20784834e+01] [ 7.50296721e-01 6.56329655e-01 -7.92856545e-02 4.37815904e+01] [ 1.01650818e-01 3.97066073e-03 9.94812216e-01 9.66810055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:43.80, Z:9.67 [[ 6.55960280e-01 -7.52101445e-01 -6.37144265e-02 8.20970072e+01] [ 7.47921471e-01 6.59032888e-01 -7.93040095e-02 4.38012194e+01] [ 1.01634563e-01 4.36689264e-03 9.94812216e-01 9.66900662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:43.82, Z:9.67 [[ 6.57002191e-01 -7.51193081e-01 -6.36951798e-02 8.21153463e+01] [ 7.47007369e-01 6.60066976e-01 -7.93194650e-02 4.38226095e+01] [ 1.01627318e-01 4.53229356e-03 9.94812217e-01 9.67271255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:43.84, Z:9.67 [[ 6.58113617e-01 -7.50221490e-01 -6.36724656e-02 8.21330796e+01] [ 7.46029500e-01 6.61169808e-01 -7.93376944e-02 4.38428213e+01] [ 1.01619155e-01 4.71167930e-03 9.94812217e-01 9.67495817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:43.86, Z:9.68 [[ 6.58759382e-01 -7.49656252e-01 -6.36520192e-02 8.21513582e+01] [ 7.45460064e-01 6.61809807e-01 -7.93540950e-02 4.38642514e+01] [ 1.01613824e-01 4.82521635e-03 9.94812217e-01 9.67930790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:43.88, Z:9.68 [[ 6.59127032e-01 -7.49334926e-01 -6.36295945e-02 8.21700923e+01] [ 7.45135525e-01 6.62173032e-01 -7.93720721e-02 4.38841122e+01] [ 1.01610067e-01 4.90360702e-03 9.94812218e-01 9.68300157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.19, Y:43.91, Z:9.69 [[ 6.58196451e-01 -7.50154338e-01 -6.36073962e-02 8.21886399e+01] [ 7.45957021e-01 6.61245320e-01 -7.93898575e-02 4.39054562e+01] [ 1.01614739e-01 4.80573860e-03 9.94812218e-01 9.68668769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:43.93, Z:9.69 [[ 6.57213543e-01 -7.51017574e-01 -6.35842990e-02 8.22068476e+01] [ 7.46822482e-01 6.60265473e-01 -7.94083521e-02 4.39256226e+01] [ 1.01619585e-01 4.70206041e-03 9.94812219e-01 9.68964730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.826875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:82.23, Y:43.95, Z:9.70 [[ 6.53547036e-01 -7.54212132e-01 -6.35636104e-02 8.22271957e+01] [ 7.50030362e-01 6.56617194e-01 -7.94249092e-02 4.39453096e+01] [ 1.01640190e-01 4.23327627e-03 9.94812219e-01 9.69508657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:43.97, Z:9.70 [[ 6.51748293e-01 -7.55768886e-01 -6.35417422e-02 8.22453464e+01] [ 7.51592753e-01 6.54826113e-01 -7.94424004e-02 4.39654528e+01] [ 1.01648887e-01 4.01893595e-03 9.94812219e-01 9.69855585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88687499999999 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:82.26, Y:43.99, Z:9.70 [[ 6.49696620e-01 -7.57535048e-01 -6.35212783e-02 8.22636987e+01] [ 7.53365690e-01 6.52783611e-01 -7.94587598e-02 4.39864862e+01] [ 1.01658445e-01 3.76933610e-03 9.94812220e-01 9.70163440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:44.01, Z:9.70 [[ 6.48191470e-01 -7.58825251e-01 -6.34984818e-02 8.22814691e+01] [ 7.54660259e-01 6.51284350e-01 -7.94769732e-02 4.40061956e+01] [ 1.01664702e-01 3.59651533e-03 9.94812220e-01 9.70468081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:44.03, Z:9.71 [[ 6.45576461e-01 -7.61052932e-01 -6.34780851e-02 8.23011039e+01] [ 7.56897019e-01 6.48681528e-01 -7.94932607e-02 4.40261573e+01] [ 1.01675640e-01 3.27260457e-03 9.94812221e-01 9.70704481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.31, Y:44.05, Z:9.70 [[ 6.40311144e-01 -7.65490059e-01 -6.34555607e-02 8.23092105e+01] [ 7.61353895e-01 6.43442469e-01 -7.95112369e-02 4.40467006e+01] [ 1.01695064e-01 2.59979280e-03 9.94812221e-01 9.70046916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:44.07, Z:9.71 [[ 6.44002752e-01 -7.62520186e-01 -6.18338271e-02 8.23376442e+01] [ 7.58244291e-01 6.46943907e-01 -8.08033212e-02 4.40688029e+01] [ 1.01617181e-01 5.15241483e-03 9.94810234e-01 9.70939075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:44.09, Z:9.71 [[ 6.43611126e-01 -7.62719073e-01 -6.34376395e-02 8.23572155e+01] [ 7.58568160e-01 6.46722697e-01 -7.95242101e-02 4.40893308e+01] [ 1.01681193e-01 3.06089294e-03 9.94812327e-01 9.71210307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:44.11, Z:9.72 [[ 6.43453872e-01 -7.62853615e-01 -6.34151119e-02 8.23752756e+01] [ 7.58701586e-01 6.46563954e-01 -7.95421704e-02 4.41109732e+01] [ 1.01680958e-01 3.06857156e-03 9.94812327e-01 9.71521226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:44.13, Z:9.72 [[ 6.43615776e-01 -7.62718906e-01 -6.33924516e-02 8.23935032e+01] [ 7.58564452e-01 6.46722617e-01 -7.95602258e-02 4.41325174e+01] [ 1.01679421e-01 3.11895621e-03 9.94812328e-01 9.71926532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:44.15, Z:9.72 [[ 6.43681907e-01 -7.62664975e-01 -6.33698585e-02 8.24105966e+01] [ 7.58508494e-01 6.46786033e-01 -7.95782172e-02 4.41530951e+01] [ 1.01678258e-01 3.15648266e-03 9.94812328e-01 9.72195059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:44.17, Z:9.73 [[ 6.44597399e-01 -7.61893069e-01 -6.33493896e-02 8.24290096e+01] [ 7.57731273e-01 6.47694397e-01 -7.95945085e-02 4.41740565e+01] [ 1.01673549e-01 3.30459953e-03 9.94812329e-01 9.72553765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:44.20, Z:9.73 [[ 6.45136795e-01 -7.61438242e-01 -6.33270767e-02 8.24467068e+01] [ 7.57272526e-01 6.48228517e-01 -7.96122572e-02 4.41956530e+01] [ 1.01670234e-01 3.40494112e-03 9.94812329e-01 9.72859981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:44.22, Z:9.73 [[ 6.45715778e-01 -7.60949174e-01 -6.33047237e-02 8.24639278e+01] [ 7.56779380e-01 6.48801996e-01 -7.96300276e-02 4.42169712e+01] [ 1.01666635e-01 3.51065571e-03 9.94812329e-01 9.73103271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.48, Y:44.24, Z:9.73 [[ 6.46347588e-01 -7.60414434e-01 -6.32825725e-02 8.24814233e+01] [ 7.56240369e-01 6.49428025e-01 -7.96476275e-02 4.42385791e+01] [ 1.01662682e-01 3.62321594e-03 9.94812330e-01 9.73343376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:44.26, Z:9.73 [[ 6.47866133e-01 -7.59122897e-01 -6.32605853e-02 8.24989535e+01] [ 7.54940992e-01 6.50935920e-01 -7.96650871e-02 4.42604822e+01] [ 1.01654179e-01 3.85430283e-03 9.94812330e-01 9.73489091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:44.28, Z:9.74 [[ 6.48144538e-01 -7.58887052e-01 -6.32384405e-02 8.25155130e+01] [ 7.54702322e-01 6.51210472e-01 -7.96826620e-02 4.42812431e+01] [ 1.01651675e-01 3.91968426e-03 9.94812331e-01 9.73695156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.53, Y:44.30, Z:9.74 [[ 6.47845986e-01 -7.59143591e-01 -6.32185611e-02 8.25330519e+01] [ 7.54958542e-01 6.50911484e-01 -7.96984308e-02 4.43025715e+01] [ 1.01652240e-01 3.90491575e-03 9.94812331e-01 9.74020074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:44.32, Z:9.74 [[ 6.46431803e-01 -7.60349990e-01 -6.31966514e-02 8.25513661e+01] [ 7.56168970e-01 6.49502794e-01 -7.97158003e-02 4.43219655e+01] [ 1.01658310e-01 3.74348170e-03 9.94812331e-01 9.74290836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:44.34, Z:9.75 [[ 6.45328367e-01 -7.61288351e-01 -6.31770922e-02 8.25692960e+01] [ 7.57110285e-01 6.48403375e-01 -7.97312985e-02 4.43430418e+01] [ 1.01662749e-01 3.62084247e-03 9.94812332e-01 9.74558300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:44.36, Z:9.75 [[ 6.44244977e-01 -7.62207183e-01 -6.31555215e-02 8.25876523e+01] [ 7.58031834e-01 6.47323671e-01 -7.97483812e-02 4.43643798e+01] [ 1.01666853e-01 3.50359819e-03 9.94812332e-01 9.74939986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.61, Y:44.38, Z:9.75 [[ 6.41942003e-01 -7.64149676e-01 -6.31327042e-02 8.26056655e+01] [ 7.59981873e-01 6.45030905e-01 -7.97664404e-02 4.43841001e+01] [ 1.01676045e-01 3.22571773e-03 9.94812332e-01 9.75079957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:44.41, Z:9.75 [[ 6.40776381e-01 -7.65128652e-01 -6.31171613e-02 8.26235112e+01] [ 7.60964360e-01 6.43870015e-01 -7.97787372e-02 4.44053881e+01] [ 1.01680245e-01 3.09042023e-03 9.94812333e-01 9.75317544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.64, Y:44.43, Z:9.76 [[ 6.40005984e-01 -7.65775026e-01 -6.30947670e-02 8.26415443e+01] [ 7.61612118e-01 6.43101477e-01 -7.97964444e-02 4.44271351e+01] [ 1.01682462e-01 3.01646276e-03 9.94812333e-01 9.75605262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.66, Y:44.45, Z:9.76 [[ 6.39060916e-01 -7.66565788e-01 -6.30716908e-02 8.26584447e+01] [ 7.62404914e-01 6.42159142e-01 -7.98146798e-02 4.44477787e+01] [ 1.01685266e-01 2.92027536e-03 9.94812333e-01 9.75810124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:44.47, Z:9.76 [[ 6.38714945e-01 -7.66855793e-01 -6.30508618e-02 8.26768143e+01] [ 7.62694705e-01 6.41812884e-01 -7.98311307e-02 4.44691005e+01] [ 1.01685821e-01 2.90077785e-03 9.94812334e-01 9.76157488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:44.49, Z:9.76 [[ 6.38581558e-01 -7.66968743e-01 -6.30280941e-02 8.26951129e+01] [ 7.62806433e-01 6.41677853e-01 -7.98491023e-02 4.44884947e+01] [ 1.01685498e-01 2.91192854e-03 9.94812334e-01 9.76388254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:44.51, Z:9.77 [[ 6.38563920e-01 -7.66985082e-01 -6.30079702e-02 8.27133549e+01] [ 7.62821287e-01 6.41658219e-01 -7.98649787e-02 4.45103254e+01] [ 1.01684829e-01 2.93507299e-03 9.94812335e-01 9.76679060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.73, Y:44.53, Z:9.77 [[ 6.38251361e-01 -7.67247045e-01 -6.29854862e-02 8.27313503e+01] [ 7.63082774e-01 6.41345019e-01 -7.98827067e-02 4.45312642e+01] [ 1.01685199e-01 2.92210674e-03 9.94812335e-01 9.77051677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:44.55, Z:9.77 [[ 6.38038087e-01 -7.67426232e-01 -6.29633076e-02 8.27488993e+01] [ 7.63261108e-01 6.41130596e-01 -7.99001841e-02 4.45536990e+01] [ 1.01685200e-01 2.92191671e-03 9.94812335e-01 9.77341433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.77, Y:44.57, Z:9.78 [[ 6.37901143e-01 -7.67541898e-01 -6.29409740e-02 8.27660615e+01] [ 7.63375603e-01 6.40992073e-01 -7.99177734e-02 4.45746966e+01] [ 1.01684905e-01 2.93203505e-03 9.94812336e-01 9.77758793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:44.60, Z:9.78 [[ 6.37898985e-01 -7.67545357e-01 -6.29206584e-02 8.27831231e+01] [ 7.63377505e-01 6.40987814e-01 -7.99337652e-02 4.45956338e+01] [ 1.01684166e-01 2.95745247e-03 9.94812336e-01 9.78182973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.80, Y:44.62, Z:9.79 [[ 6.37690086e-01 -7.67720566e-01 -6.29006136e-02 8.28002338e+01] [ 7.63552010e-01 6.40777965e-01 -7.99495355e-02 4.46178042e+01] [ 1.01684230e-01 2.95513626e-03 9.94812336e-01 9.78540043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:44.64, Z:9.79 [[ 6.35075565e-01 -7.69886598e-01 -6.28780868e-02 8.28169913e+01] [ 7.65726825e-01 6.38175265e-01 -7.99672484e-02 4.46387997e+01] [ 1.01692952e-01 2.63780769e-03 9.94812337e-01 9.78753903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:44.66, Z:9.79 [[ 6.29495103e-01 -7.74457352e-01 -6.28627488e-02 8.28342223e+01] [ 7.70318893e-01 6.32623201e-01 -7.99793038e-02 4.46595248e+01] [ 1.01708993e-01 1.92221701e-03 9.94812337e-01 9.79086752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:44.68, Z:9.79 [[ 6.27560308e-01 -7.76027597e-01 -6.28428847e-02 8.28519049e+01] [ 7.71895403e-01 6.30696679e-01 -7.99949088e-02 4.46816100e+01] [ 1.01713056e-01 1.69349581e-03 9.94812337e-01 9.79301257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:44.70, Z:9.79 [[ 6.26002891e-01 -7.77286251e-01 -6.28208936e-02 8.28686847e+01] [ 7.73158632e-01 6.29145279e-01 -8.00121750e-02 4.47023775e+01] [ 1.01715832e-01 1.51733676e-03 9.94812338e-01 9.79450938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.89, Y:44.72, Z:9.80 [[ 6.24620709e-01 -7.78398958e-01 -6.28015239e-02 8.28857664e+01] [ 7.74275410e-01 6.27768436e-01 -8.00273755e-02 4.47245887e+01] [ 1.01718040e-01 1.36108040e-03 9.94812338e-01 9.79629876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.90, Y:44.75, Z:9.80 [[ 6.23243801e-01 -7.79503593e-01 -6.27798884e-02 8.29034433e+01] [ 7.75383914e-01 6.26396590e-01 -8.00443445e-02 4.47462236e+01] [ 1.01719962e-01 1.20862588e-03 9.94812338e-01 9.79694594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:44.77, Z:9.80 [[ 6.23032254e-01 -7.79674458e-01 -6.27578707e-02 8.29201399e+01] [ 7.75553906e-01 6.26183901e-01 -8.00616035e-02 4.47672261e+01] [ 1.01719956e-01 1.20884946e-03 9.94812339e-01 9.79874774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:44.79, Z:9.80 [[ 6.24353136e-01 -7.78618705e-01 -6.27381403e-02 8.29377395e+01] [ 7.74491271e-01 6.27495765e-01 -8.00770618e-02 4.47886980e+01] [ 1.01717416e-01 1.40622267e-03 9.94812339e-01 9.80252983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.96, Y:44.81, Z:9.81 [[ 6.25050728e-01 -7.78060546e-01 -6.27166195e-02 8.29551403e+01] [ 7.73928616e-01 6.28187442e-01 -8.00939135e-02 4.48111391e+01] [ 1.01715707e-01 1.52457238e-03 9.94812339e-01 9.80597981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08687499999999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:82.97, Y:44.83, Z:9.81 [[ 6.25197502e-01 -7.77944396e-01 -6.26944962e-02 8.29716627e+01] [ 7.73810148e-01 6.28331160e-01 -8.01112271e-02 4.48343712e+01] [ 1.01714986e-01 1.57170176e-03 9.94812340e-01 9.80657503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.99, Y:44.86, Z:9.81 [[ 6.27176818e-01 -7.76357347e-01 -6.25979980e-02 8.29894639e+01] [ 7.72207637e-01 6.30289979e-01 -8.01867107e-02 4.48553809e+01] [ 1.01708433e-01 1.95259395e-03 9.94812335e-01 9.81200487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.146875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:83.01, Y:44.88, Z:9.82 [[ 6.30101923e-01 -7.73980105e-01 -6.26607080e-02 8.30061349e+01] [ 7.69823519e-01 6.33205893e-01 -8.01376772e-02 4.48778510e+01] [ 1.01702097e-01 2.25721774e-03 9.94812338e-01 9.81554764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:44.90, Z:9.82 [[ 6.31436289e-01 -7.72893682e-01 -6.26384024e-02 8.30228138e+01] [ 7.68730029e-01 6.34530772e-01 -8.01551083e-02 4.48997165e+01] [ 1.01697371e-01 2.46082321e-03 9.94812339e-01 9.81916939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:44.92, Z:9.82 [[ 6.32416962e-01 -7.72093266e-01 -6.26160919e-02 8.30398586e+01] [ 7.67923975e-01 6.35503843e-01 -8.01725333e-02 4.49224871e+01] [ 1.01693440e-01 2.61807169e-03 9.94812339e-01 9.82175854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:44.95, Z:9.82 [[ 6.34359416e-01 -7.70499945e-01 -6.25936659e-02 8.30554779e+01] [ 7.66321177e-01 6.37433456e-01 -8.01900383e-02 4.49451011e+01] [ 1.01685717e-01 2.90245407e-03 9.94812339e-01 9.82433291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:44.97, Z:9.83 [[ 6.34897532e-01 -7.70057816e-01 -6.25786239e-02 8.30716841e+01] [ 7.65875753e-01 6.37967088e-01 -8.02017751e-02 4.49669823e+01] [ 1.01683106e-01 2.99245831e-03 9.94812340e-01 9.82675361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.09, Y:44.99, Z:9.83 [[ 6.35251932e-01 -7.69766799e-01 -6.25624269e-02 8.30887106e+01] [ 7.65582089e-01 6.38317878e-01 -8.02144078e-02 4.49896336e+01] [ 1.01681104e-01 3.05968411e-03 9.94812340e-01 9.82998507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:45.01, Z:9.83 [[ 6.35277344e-01 -7.69747640e-01 -6.25401186e-02 8.31046050e+01] [ 7.65561130e-01 6.38340830e-01 -8.02317970e-02 4.50109782e+01] [ 1.01680148e-01 3.09115914e-03 9.94812340e-01 9.83222068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:83.12, Y:45.03, Z:9.83 [[ 6.34666107e-01 -7.70252917e-01 -6.25250030e-02 8.31207430e+01] [ 7.66067688e-01 6.37731343e-01 -8.02435749e-02 4.50335658e+01] [ 1.01682002e-01 3.02949278e-03 9.94812340e-01 9.83464151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:45.06, Z:9.84 [[ 6.33717727e-01 -7.71035174e-01 -6.25028278e-02 8.31371909e+01] [ 7.66852029e-01 6.36785806e-01 -8.02608439e-02 4.50558815e+01] [ 1.01684847e-01 2.93229926e-03 9.94812341e-01 9.83704588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.15, Y:45.08, Z:9.84 [[ 6.32877972e-01 -7.71726407e-01 -6.24805947e-02 8.31539287e+01] [ 7.67544909e-01 6.35948294e-01 -8.02781480e-02 4.50782305e+01] [ 1.01687194e-01 2.84960921e-03 9.94812341e-01 9.83967537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.17, Y:45.10, Z:9.84 [[ 6.31625632e-01 -7.72753557e-01 -6.24580000e-02 8.31703728e+01] [ 7.68575317e-01 6.34700385e-01 -8.02957233e-02 4.51002397e+01] [ 1.01690922e-01 2.71315979e-03 9.94812342e-01 9.84065732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:45.12, Z:9.84 [[ 6.28176837e-01 -7.75561333e-01 -6.24378114e-02 8.31873696e+01] [ 7.71395282e-01 6.31268085e-01 -8.03114189e-02 4.51219680e+01] [ 1.01701429e-01 2.28554001e-03 9.94812342e-01 9.84343367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.20, Y:45.14, Z:9.85 [[ 6.26011147e-01 -7.77312265e-01 -6.24154412e-02 8.32042586e+01] [ 7.73153129e-01 6.29111693e-01 -8.03288006e-02 4.51430044e+01] [ 1.01706846e-01 2.03003090e-03 9.94812342e-01 9.84568017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.22, Y:45.16, Z:9.85 [[ 6.23472627e-01 -7.79351070e-01 -6.24002715e-02 8.32212186e+01] [ 7.75200897e-01 6.26585158e-01 -8.03405829e-02 4.51646020e+01] [ 1.01712603e-01 1.71740783e-03 9.94812343e-01 9.84924068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.24, Y:45.19, Z:9.85 [[ 6.18927045e-01 -7.82967527e-01 -6.23792008e-02 8.32390423e+01] [ 7.78833896e-01 6.22061511e-01 -8.03569396e-02 4.51864205e+01] [ 1.01720574e-01 1.15204709e-03 9.94812343e-01 9.85415060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.26, Y:45.21, Z:9.86 [[ 6.17609306e-01 -7.84009107e-01 -6.23575530e-02 8.32558958e+01] [ 7.79879067e-01 6.20748502e-01 -8.03737350e-02 4.52073195e+01] [ 1.01722098e-01 1.00821640e-03 9.94812343e-01 9.85633782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:45.23, Z:9.86 [[ 6.16490742e-01 -7.84890553e-01 -6.23376653e-02 8.32731245e+01] [ 7.80763442e-01 6.19633788e-01 -8.03891569e-02 4.52294886e+01] [ 1.01723214e-01 8.88200830e-04 9.94812344e-01 9.86053918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.29, Y:45.25, Z:9.86 [[ 6.15844809e-01 -7.85399195e-01 -6.23159348e-02 8.32896821e+01] [ 7.81272976e-01 6.18989025e-01 -8.04059985e-02 4.52513843e+01] [ 1.01723686e-01 8.31861015e-04 9.94812344e-01 9.86223974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:45.27, Z:9.87 [[ 6.16048574e-01 -7.85241203e-01 -6.22929214e-02 8.33058524e+01] [ 7.81112375e-01 6.19189362e-01 -8.04238237e-02 4.52737264e+01] [ 1.01723214e-01 8.87210094e-04 9.94812344e-01 9.86643672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.32, Y:45.30, Z:9.87 [[ 6.16745613e-01 -7.84695575e-01 -6.22712171e-02 8.33227528e+01] [ 7.80562272e-01 6.19880509e-01 -8.04406257e-02 4.52961679e+01] [ 1.01722117e-01 1.00484031e-03 9.94812345e-01 9.86969818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:45.32, Z:9.87 [[ 6.17801753e-01 -7.83866078e-01 -6.22492236e-02 8.33388562e+01] [ 7.79726852e-01 6.20928824e-01 -8.04576418e-02 4.53180683e+01] [ 1.01720353e-01 1.16948103e-03 9.94812345e-01 9.87292855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:45.34, Z:9.88 [[ 6.20228080e-01 -7.81949256e-01 -6.22293379e-02 8.33551504e+01] [ 7.77798824e-01 6.23340262e-01 -8.04730193e-02 4.53410338e+01] [ 1.01715869e-01 1.50972040e-03 9.94812345e-01 9.87615710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.37, Y:45.36, Z:9.88 [[ 6.21406355e-01 -7.81014943e-01 -6.22077333e-02 8.33719000e+01] [ 7.76858161e-01 6.24510050e-01 -8.04897169e-02 4.53635740e+01] [ 1.01713026e-01 1.69023623e-03 9.94812346e-01 9.87913781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:45.39, Z:9.88 [[ 6.22627953e-01 -7.80043190e-01 -6.21856351e-02 8.33879318e+01] [ 7.75879862e-01 6.25722860e-01 -8.05067862e-02 4.53854342e+01] [ 1.01709744e-01 1.87719357e-03 9.94812346e-01 9.88107684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.40, Y:45.41, Z:9.88 [[ 6.25424204e-01 -7.77804592e-01 -6.21657542e-02 8.34044594e+01] [ 7.73628664e-01 6.28502089e-01 -8.05221349e-02 4.54085577e+01] [ 1.01701793e-01 2.26728276e-03 9.94812347e-01 9.88234409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:45.43, Z:9.88 [[ 6.26428088e-01 -7.76998059e-01 -6.21439190e-02 8.34208917e+01] [ 7.72816499e-01 6.29498317e-01 -8.05389830e-02 4.54313234e+01] [ 1.01698126e-01 2.42603523e-03 9.94812347e-01 9.88351098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:45.45, Z:9.88 [[ 6.27412078e-01 -7.76205469e-01 -6.21220971e-02 8.34375603e+01] [ 7.72018367e-01 6.30474743e-01 -8.05558115e-02 4.54533817e+01] [ 1.01694275e-01 2.58228909e-03 9.94812347e-01 9.88464039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:45.48, Z:9.89 [[ 6.27870100e-01 -7.75836759e-01 -6.21004101e-02 8.34542751e+01] [ 7.71646209e-01 6.30928044e-01 -8.05725265e-02 4.54759732e+01] [ 1.01692018e-01 2.66953418e-03 9.94812348e-01 9.88683455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.47, Y:45.50, Z:9.89 [[ 6.28631863e-01 -7.75221458e-01 -6.20779539e-02 8.34712338e+01] [ 7.71026209e-01 6.31683358e-01 -8.05898245e-02 4.54980836e+01] [ 1.01688572e-01 2.79760209e-03 9.94812348e-01 9.88883694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:45.52, Z:9.89 [[ 6.28334070e-01 -7.75464662e-01 -6.20552604e-02 8.34882959e+01] [ 7.71268872e-01 6.31384820e-01 -8.06072950e-02 4.55197312e+01] [ 1.01688858e-01 2.78701901e-03 9.94812348e-01 9.89243067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:45.54, Z:9.90 [[ 6.27912317e-01 -7.75808007e-01 -6.20327183e-02 8.35047915e+01] [ 7.71612176e-01 6.30963008e-01 -8.06246390e-02 4.55405152e+01] [ 1.01689591e-01 2.76000307e-03 9.94812349e-01 9.89640964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:45.56, Z:9.90 [[ 6.27183104e-01 -7.76399276e-01 -6.20122429e-02 8.35225511e+01] [ 7.72204766e-01 6.30235613e-01 -8.06403846e-02 4.55623655e+01] [ 1.01691460e-01 2.69013714e-03 9.94812349e-01 9.90161280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:45.58, Z:9.91 [[ 6.25666364e-01 -7.77623873e-01 -6.19896180e-02 8.35395441e+01] [ 7.73433618e-01 6.28724711e-01 -8.06577730e-02 4.55833213e+01] [ 1.01695814e-01 2.52000107e-03 9.94812350e-01 9.90545516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.56, Y:45.61, Z:9.91 [[ 6.24820432e-01 -7.78305375e-01 -6.19691175e-02 8.35569214e+01] [ 7.74116896e-01 6.27881210e-01 -8.06735205e-02 4.56054221e+01] [ 1.01697879e-01 2.43512303e-03 9.94812350e-01 9.90776023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:45.63, Z:9.91 [[ 6.23846595e-01 -7.79087953e-01 -6.19466519e-02 8.35743010e+01] [ 7.74901604e-01 6.26910284e-01 -8.06907675e-02 4.56279129e+01] [ 1.01700198e-01 2.33610063e-03 9.94812350e-01 9.90950108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.59, Y:45.65, Z:9.91 [[ 6.22204962e-01 -7.80401438e-01 -6.19240017e-02 8.35927091e+01] [ 7.76219829e-01 6.25275117e-01 -8.07081460e-02 4.56495055e+01] [ 1.01704291e-01 2.15037083e-03 9.94812351e-01 9.91200012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:45.67, Z:9.91 [[ 6.21511423e-01 -7.80955667e-01 -6.19015156e-02 8.36099577e+01] [ 7.76775080e-01 6.24582970e-01 -8.07253888e-02 4.56701054e+01] [ 1.01705582e-01 2.08819651e-03 9.94812351e-01 9.91465269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:45.69, Z:9.92 [[ 6.20619807e-01 -7.81666007e-01 -6.18814086e-02 8.36274019e+01] [ 7.77487402e-01 6.23694047e-01 -8.07407993e-02 4.56915299e+01] [ 1.01707404e-01 1.99732362e-03 9.94812351e-01 9.91655529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:45.71, Z:9.92 [[ 6.20139148e-01 -7.82049162e-01 -6.18590828e-02 8.36447779e+01] [ 7.77870751e-01 6.23213652e-01 -8.07579005e-02 4.57116027e+01] [ 1.01708073e-01 1.96276439e-03 9.94812352e-01 9.91941261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.316875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:83.66, Y:45.73, Z:9.92 [[ 6.19930988e-01 -7.82215760e-01 -6.18391029e-02 8.36623481e+01] [ 7.78036651e-01 6.23004543e-01 -8.07731969e-02 4.57336761e+01] [ 1.01708110e-01 1.96071930e-03 9.94812352e-01 9.92222708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:45.76, Z:9.92 [[ 6.16583297e-01 -7.84859002e-01 -6.18173497e-02 8.36723641e+01] [ 7.80691404e-01 6.19672441e-01 -8.07898417e-02 4.57558613e+01] [ 1.01715143e-01 1.55339343e-03 9.94812353e-01 9.91897194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:45.78, Z:9.93 [[ 6.21035064e-01 -7.81427248e-01 -6.07198971e-02 8.36974088e+01] [ 7.77159992e-01 6.23986516e-01 -8.16282773e-02 4.57765924e+01] [ 1.01674957e-01 3.50494768e-03 9.94811499e-01 9.92611646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:45.80, Z:9.93 [[ 6.21460413e-01 -7.81005227e-01 -6.17882653e-02 8.37142527e+01] [ 7.76816326e-01 6.24520530e-01 -8.08115217e-02 4.57975783e+01] [ 1.01702261e-01 2.22302833e-03 9.94812399e-01 9.92862710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:45.82, Z:9.93 [[ 6.22527576e-01 -7.80156081e-01 -6.17730226e-02 8.37310823e+01] [ 7.75961852e-01 6.25580386e-01 -8.08231717e-02 4.58183563e+01] [ 1.01698680e-01 2.38114416e-03 9.94812399e-01 9.93143459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.75, Y:45.84, Z:9.93 [[ 6.24964190e-01 -7.78207408e-01 -6.17494255e-02 8.37488038e+01] [ 7.74001884e-01 6.28001421e-01 -8.08411961e-02 4.58399051e+01] [ 1.01689945e-01 2.72868090e-03 9.94812399e-01 9.93361520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:45.86, Z:9.94 [[ 6.26497580e-01 -7.76975230e-01 -6.17274185e-02 8.37660721e+01] [ 7.72762082e-01 6.29524224e-01 -8.08579964e-02 4.58618662e+01] [ 1.01683566e-01 2.95673058e-03 9.94812400e-01 9.93618759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.78, Y:45.88, Z:9.94 [[ 6.27805385e-01 -7.75923812e-01 -6.16655179e-02 8.37832227e+01] [ 7.71700966e-01 6.30818487e-01 -8.09052255e-02 4.58830077e+01] [ 1.01676040e-01 3.20539650e-03 9.94812399e-01 9.93932905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:45.90, Z:9.94 [[ 6.29974357e-01 -7.74161634e-01 -6.16933911e-02 8.38012178e+01] [ 7.69932436e-01 6.32978536e-01 -8.08839656e-02 4.59043615e+01] [ 1.01667855e-01 3.45508134e-03 9.94812399e-01 9.94157596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.82, Y:45.93, Z:9.94 [[ 6.29757678e-01 -7.74339705e-01 -6.16708017e-02 8.38184013e+01] [ 7.70109676e-01 6.32760685e-01 -8.09011855e-02 4.59270827e+01] [ 1.01667859e-01 3.45486163e-03 9.94812400e-01 9.94447353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:45.95, Z:9.95 [[ 6.28291492e-01 -7.75531638e-01 -6.16480318e-02 8.38360853e+01] [ 7.71305609e-01 6.31300126e-01 -8.09185329e-02 4.59488357e+01] [ 1.01673293e-01 3.29095309e-03 9.94812400e-01 9.94677732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.85, Y:45.97, Z:9.95 [[ 6.22521217e-01 -7.80172843e-01 -6.16252377e-02 8.38538078e+01] [ 7.75967542e-01 6.25558755e-01 -8.09358885e-02 4.59689859e+01] [ 1.01694189e-01 2.56512360e-03 9.94812400e-01 9.95131641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:45.99, Z:9.96 [[ 6.17994967e-01 -7.83764683e-01 -6.16047259e-02 8.38712912e+01] [ 7.79575488e-01 6.21054678e-01 -8.09514982e-02 4.59893975e+01] [ 1.01706829e-01 2.00208417e-03 9.94812401e-01 9.95616426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:46.01, Z:9.96 [[ 6.11784164e-01 -7.88624050e-01 -6.15812083e-02 8.38900823e+01] [ 7.84457365e-01 6.14874459e-01 -8.09693845e-02 4.60102990e+01] [ 1.01719116e-01 1.22795479e-03 9.94812401e-01 9.96052325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.91, Y:46.03, Z:9.96 [[ 6.09576761e-01 -7.90333260e-01 -6.15590047e-02 8.39074566e+01] [ 7.86173537e-01 6.12676420e-01 -8.09862619e-02 4.60328849e+01] [ 1.01721887e-01 9.71282842e-04 9.94812402e-01 9.96205527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:46.06, Z:9.96 [[ 6.08197883e-01 -7.91396578e-01 -6.15369192e-02 8.39249403e+01] [ 7.87240577e-01 6.11302529e-01 -8.10030400e-02 4.60554341e+01] [ 1.01723203e-01 8.21517708e-04 9.94812402e-01 9.96221724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.94, Y:46.08, Z:9.96 [[ 6.07181731e-01 -7.92178157e-01 -6.15151448e-02 8.39418872e+01] [ 7.88024478e-01 6.10289481e-01 -8.10195725e-02 4.60762121e+01] [ 1.01723982e-01 7.18164340e-04 9.94812402e-01 9.96217605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.96, Y:46.10, Z:9.97 [[ 6.07647340e-01 -7.91822299e-01 -6.14992474e-02 8.39595120e+01] [ 7.87665578e-01 6.10751022e-01 -8.10316379e-02 4.60982847e+01] [ 1.01723386e-01 7.97818926e-04 9.94812403e-01 9.96557615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:46.12, Z:9.97 [[ 6.08891115e-01 -7.90867944e-01 -6.14776904e-02 8.39771554e+01] [ 7.86704708e-01 6.11986051e-01 -8.10479898e-02 4.61197632e+01] [ 1.01721746e-01 9.84612384e-04 9.94812403e-01 9.96947178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:46.14, Z:9.97 [[ 6.10054669e-01 -7.89972427e-01 -6.14562054e-02 8.39940616e+01] [ 7.85803008e-01 6.13141269e-01 -8.10642779e-02 4.61414861e+01] [ 1.01719880e-01 1.16117014e-03 9.94812403e-01 9.97334667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91687499999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.01, Y:46.16, Z:9.98 [[ 6.12753170e-01 -7.87882857e-01 -6.14341662e-02 8.40101545e+01] [ 7.83701239e-01 6.15823224e-01 -8.10809768e-02 4.61636676e+01] [ 1.01714898e-01 1.53659337e-03 9.94812404e-01 9.97731089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.03, Y:46.19, Z:9.98 [[ 6.14151089e-01 -7.86795422e-01 -6.14117569e-02 8.40268084e+01] [ 7.82606673e-01 6.17211405e-01 -8.10979464e-02 4.61863603e+01] [ 1.01711530e-01 1.74514133e-03 9.94812404e-01 9.98050297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.04, Y:46.21, Z:9.98 [[ 6.15362864e-01 -7.85849773e-01 -6.13895758e-02 8.40434267e+01] [ 7.81654648e-01 6.18414434e-01 -8.11147337e-02 4.62091654e+01] [ 1.01708195e-01 1.92954762e-03 9.94812404e-01 9.98313882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:46.23, Z:9.99 [[ 6.16479097e-01 -7.84976184e-01 -6.13670467e-02 8.40596788e+01] [ 7.80775040e-01 6.19522374e-01 -8.11317744e-02 4.62312231e+01] [ 1.01704769e-01 2.10218464e-03 9.94812405e-01 9.98568545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:46.25, Z:9.99 [[ 6.18393875e-01 -7.83470499e-01 -6.13432412e-02 8.40761640e+01] [ 7.79260164e-01 6.21424422e-01 -8.11497697e-02 4.62532376e+01] [ 1.01698639e-01 2.38017634e-03 9.94812405e-01 9.98688896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:46.28, Z:9.99 [[ 6.18837190e-01 -7.83122230e-01 -6.13196966e-02 8.40931547e+01] [ 7.78908429e-01 6.21862916e-01 -8.11675570e-02 4.62752685e+01] [ 1.01696564e-01 2.46707428e-03 9.94812406e-01 9.98953667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.096875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:84.11, Y:46.30, Z:9.99 [[ 6.20313757e-01 -7.81954905e-01 -6.12973805e-02 8.41098612e+01] [ 7.77733749e-01 6.23329213e-01 -8.11844065e-02 4.62965906e+01] [ 1.01690993e-01 2.68676268e-03 9.94812406e-01 9.99300252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:46.32, Z:10.00 [[ 6.20881382e-01 -7.81506123e-01 -6.12738869e-02 8.41268885e+01] [ 7.77281041e-01 6.23891334e-01 -8.12021346e-02 4.63192707e+01] [ 1.01688212e-01 2.78986291e-03 9.94812407e-01 9.99620301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:46.34, Z:10.00 [[ 6.21332056e-01 -7.81149659e-01 -6.12510211e-02 8.41433944e+01] [ 7.76921154e-01 6.24337196e-01 -8.12193787e-02 4.63413418e+01] [ 1.01685781e-01 2.87698951e-03 9.94812407e-01 9.99874566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:46.36, Z:10.00 [[ 6.21358884e-01 -7.81130114e-01 -6.12281199e-02 8.41601067e+01] [ 7.76899817e-01 6.24361500e-01 -8.12366394e-02 4.63631812e+01] [ 1.01684866e-01 2.90899247e-03 9.94812407e-01 1.00009044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:46.38, Z:10.00 [[ 6.20023539e-01 -7.82192365e-01 -6.12038901e-02 8.41775530e+01] [ 7.77965414e-01 6.23030864e-01 -8.12548901e-02 4.63847511e+01] [ 1.01688867e-01 2.76543479e-03 9.94812408e-01 1.00038810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:46.41, Z:10.01 [[ 6.18777400e-01 -7.83180301e-01 -6.11812489e-02 8.41946681e+01] [ 7.78956470e-01 6.21789104e-01 -8.12719344e-02 4.64065249e+01] [ 1.01692412e-01 2.63170654e-03 9.94812408e-01 1.00063995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:46.43, Z:10.01 [[ 6.17178280e-01 -7.84442877e-01 -6.11583497e-02 8.42113871e+01] [ 7.80223503e-01 6.20196225e-01 -8.12891628e-02 4.64277494e+01] [ 1.01696882e-01 2.45272385e-03 9.94812409e-01 1.00092393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:46.45, Z:10.01 [[ 6.15484552e-01 -7.85774381e-01 -6.11341749e-02 8.42288925e+01] [ 7.81559734e-01 6.18509093e-01 -8.13073396e-02 4.64501240e+01] [ 1.01701268e-01 2.26340208e-03 9.94812409e-01 1.00127237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:46.47, Z:10.02 [[ 6.13233743e-01 -7.87533999e-01 -6.11111929e-02 8.42464057e+01] [ 7.83326312e-01 6.16267959e-01 -8.13246094e-02 4.64706740e+01] [ 1.01706765e-01 2.00098921e-03 9.94812409e-01 1.00160433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.26, Y:46.49, Z:10.02 [[ 6.12381976e-01 -7.88198389e-01 -6.10869554e-02 8.42642210e+01] [ 7.83992180e-01 6.15418239e-01 -8.13428114e-02 4.64927142e+01] [ 1.01708299e-01 1.92117625e-03 9.94812410e-01 1.00190870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.28, Y:46.51, Z:10.02 [[ 6.11482944e-01 -7.88897799e-01 -6.10644870e-02 8.42812798e+01] [ 7.84693380e-01 6.14521686e-01 -8.13596751e-02 4.65145471e+01] [ 1.01709920e-01 1.83315494e-03 9.94812410e-01 1.00222113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:46.54, Z:10.02 [[ 6.10354511e-01 -7.89772922e-01 -6.10418111e-02 8.42983674e+01] [ 7.85571160e-01 6.13396925e-01 -8.13766847e-02 4.65357040e+01] [ 1.01711961e-01 1.71594023e-03 9.94812411e-01 1.00239064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:46.56, Z:10.03 [[ 6.10141652e-01 -7.89939226e-01 -6.10178905e-02 8.43154163e+01] [ 7.85736502e-01 6.13182735e-01 -8.13946170e-02 4.65579862e+01] [ 1.01711918e-01 1.71826223e-03 9.94812411e-01 1.00260068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:46.58, Z:10.03 [[ 6.10161984e-01 -7.89925234e-01 -6.09957277e-02 8.43325615e+01] [ 7.85720780e-01 6.13200675e-01 -8.14112221e-02 4.65806416e+01] [ 1.01711400e-01 1.74842200e-03 9.94812412e-01 1.00287987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.35, Y:46.60, Z:10.03 [[ 6.08702757e-01 -7.91051983e-01 -6.09730565e-02 8.43498422e+01] [ 7.86851456e-01 6.11746872e-01 -8.14281982e-02 4.66025692e+01] [ 1.01714014e-01 1.58883050e-03 9.94812412e-01 1.00320498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:46.62, Z:10.04 [[ 6.08361158e-01 -7.91316478e-01 -6.09502518e-02 8.43659743e+01] [ 7.87115565e-01 6.11404741e-01 -8.14452643e-02 4.66240881e+01] [ 1.01714253e-01 1.57324350e-03 9.94812412e-01 1.00354072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:46.65, Z:10.04 [[ 6.08675593e-01 -7.91075916e-01 -6.09337191e-02 8.43827322e+01] [ 7.86872563e-01 6.11715804e-01 -8.14576315e-02 4.66461729e+01] [ 1.01713289e-01 1.63420037e-03 9.94812413e-01 1.00391000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:46.67, Z:10.04 [[ 6.09108021e-01 -7.90744735e-01 -6.09112726e-02 8.43995916e+01] [ 7.86538051e-01 6.12143622e-01 -8.14744129e-02 4.66690902e+01] [ 1.01711910e-01 1.71768479e-03 9.94812413e-01 1.00412153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:46.69, Z:10.04 [[ 6.09236363e-01 -7.90647607e-01 -6.08885485e-02 8.44162347e+01] [ 7.86438744e-01 6.12268940e-01 -8.14913918e-02 4.66911451e+01] [ 1.01711141e-01 1.76240556e-03 9.94812413e-01 1.00439451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.43, Y:46.71, Z:10.05 [[ 6.09261741e-01 -7.90629801e-01 -6.08658253e-02 8.44326524e+01] [ 7.86419155e-01 6.12291842e-01 -8.15083603e-02 4.67138864e+01] [ 1.01710587e-01 1.79387467e-03 9.94812414e-01 1.00464212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:46.74, Z:10.05 [[ 6.09571856e-01 -7.90392489e-01 -6.08429566e-02 8.44487523e+01] [ 7.86178961e-01 6.12597948e-01 -8.15254274e-02 4.67358723e+01] [ 1.01709356e-01 1.86215368e-03 9.94812414e-01 1.00480359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:46.76, Z:10.05 [[ 6.10284414e-01 -7.89844270e-01 -6.08191008e-02 8.44655616e+01] [ 7.85626253e-01 6.13304243e-01 -8.15432203e-02 4.67587960e+01] [ 1.01707058e-01 1.98347417e-03 9.94812415e-01 1.00510534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.48, Y:46.78, Z:10.05 [[ 6.10239153e-01 -7.89880975e-01 -6.07965665e-02 8.44822439e+01] [ 7.85661467e-01 6.13256898e-01 -8.15600179e-02 4.67817847e+01] [ 1.01706620e-01 2.00559658e-03 9.94812415e-01 1.00544555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:46.80, Z:10.06 [[ 6.10674799e-01 -7.89545974e-01 -6.07737250e-02 8.44960060e+01] [ 7.85323118e-01 6.13687858e-01 -8.15770346e-02 4.68029220e+01] [ 1.01704916e-01 2.09002800e-03 9.94812415e-01 1.00570023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:46.83, Z:10.06 [[ 6.10151971e-01 -7.90000255e-01 -6.01179733e-02 8.45142739e+01] [ 7.85731369e-01 6.13099957e-01 -8.20649677e-02 4.68264088e+01] [ 1.01689672e-01 2.83552436e-03 9.94812128e-01 1.00621809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.53, Y:46.85, Z:10.07 [[ 6.09633959e-01 -7.90353266e-01 -6.07301482e-02 8.45297587e+01] [ 7.86131174e-01 6.12648084e-01 -8.16094511e-02 4.68477625e+01] [ 1.01706505e-01 2.01003005e-03 9.94812418e-01 1.00656114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:46.87, Z:10.07 [[ 6.07869106e-01 -7.91712566e-01 -6.07154178e-02 8.45457280e+01] [ 7.87496122e-01 6.10891126e-01 -8.16204087e-02 4.68697197e+01] [ 1.01710413e-01 1.80136888e-03 9.94812418e-01 1.00682135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:46.89, Z:10.07 [[ 6.03346192e-01 -7.95166577e-01 -6.06917367e-02 8.45617157e+01] [ 7.90965666e-01 6.06389767e-01 -8.16380138e-02 4.68927857e+01] [ 1.01718668e-01 1.25090475e-03 9.94812418e-01 1.00717816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.936875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:84.58, Y:46.92, Z:10.07 [[ 6.01507449e-01 -7.96560119e-01 -6.06693153e-02 8.45782015e+01] [ 7.92364579e-01 6.04558424e-01 -8.16546730e-02 4.69154336e+01] [ 1.01721002e-01 1.04367755e-03 9.94812419e-01 1.00740711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:46.94, Z:10.08 [[ 6.00073404e-01 -7.97642684e-01 -6.06470004e-02 8.45948178e+01] [ 7.93450974e-01 6.03129638e-01 -8.16712435e-02 4.69384181e+01] [ 1.01722473e-01 8.88319551e-04 9.94812419e-01 1.00761804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:46.96, Z:10.08 [[ 5.98871245e-01 -7.98547363e-01 -6.06245887e-02 8.46100251e+01] [ 7.94358587e-01 6.01931497e-01 -8.16878764e-02 4.69609494e+01] [ 1.01723488e-01 7.62857638e-04 9.94812420e-01 1.00762858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:46.98, Z:10.08 [[ 5.98511949e-01 -7.98817929e-01 -6.06082793e-02 8.46259369e+01] [ 7.94629311e-01 6.01572417e-01 -8.16999753e-02 4.69842711e+01] [ 1.01723674e-01 7.37296209e-04 9.94812420e-01 1.00785089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:47.01, Z:10.08 [[ 5.98887987e-01 -7.98537730e-01 -6.05860754e-02 8.46419324e+01] [ 7.94346015e-01 6.01944211e-01 -8.17164378e-02 4.70073059e+01] [ 1.01723096e-01 8.12685421e-04 9.94812420e-01 1.00818205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:47.03, Z:10.08 [[ 5.99876228e-01 -7.97797345e-01 -6.05632481e-02 8.46573030e+01] [ 7.93600150e-01 6.02924921e-01 -8.17333526e-02 4.70291812e+01] [ 1.01721743e-01 9.66892477e-04 9.94812421e-01 1.00840427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:47.05, Z:10.09 [[ 6.02468801e-01 -7.95843143e-01 -6.05395420e-02 8.46720682e+01] [ 7.91634296e-01 6.05501388e-01 -8.17509078e-02 4.70519785e+01] [ 1.01717676e-01 1.32719371e-03 9.94812421e-01 1.00875675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:47.07, Z:10.09 [[ 6.03873332e-01 -7.94779732e-01 -6.05159151e-02 8.46875225e+01] [ 7.90563794e-01 6.06896052e-01 -8.17683939e-02 4.70748195e+01] [ 1.01714732e-01 1.53606105e-03 9.94812421e-01 1.00918679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:47.10, Z:10.10 [[ 6.05422785e-01 -7.93601797e-01 -6.04932941e-02 8.47027380e+01] [ 7.89378307e-01 6.08434944e-01 -8.17851259e-02 4.70979711e+01] [ 1.01711057e-01 1.76248460e-03 9.94812422e-01 1.00951342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:47.12, Z:10.10 [[ 6.09007421e-01 -7.90856017e-01 -6.04708376e-02 8.47165683e+01] [ 7.86617303e-01 6.11998118e-01 -8.18017265e-02 4.71218527e+01] [ 1.01701426e-01 2.25045129e-03 9.94812422e-01 1.00995082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:47.14, Z:10.10 [[ 6.10641592e-01 -7.89596630e-01 -6.04483952e-02 8.47309242e+01] [ 7.85350110e-01 6.13621194e-01 -8.18183074e-02 4.71442446e+01] [ 1.01695876e-01 2.48850768e-03 9.94812423e-01 1.01026840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:47.17, Z:10.11 [[ 6.11416996e-01 -7.88998170e-01 -6.04247050e-02 8.47461185e+01] [ 7.84747008e-01 6.14389971e-01 -8.18357994e-02 4.71682140e+01] [ 1.01692629e-01 2.61769221e-03 9.94812423e-01 1.01071656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:47.19, Z:10.11 [[ 6.08445294e-01 -7.91293847e-01 -6.04017639e-02 8.47601001e+01] [ 7.87052226e-01 6.11431864e-01 -8.18527284e-02 4.71928173e+01] [ 1.01701123e-01 2.26356464e-03 9.94812423e-01 1.01061073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:47.22, Z:10.11 [[ 6.05589713e-01 -7.93483095e-01 -6.03794435e-02 8.47738041e+01] [ 7.89250634e-01 6.08589248e-01 -8.18691900e-02 4.72160007e+01] [ 1.01708098e-01 1.92462519e-03 9.94812424e-01 1.01122312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:47.24, Z:10.12 [[ 6.03882166e-01 -7.94784937e-01 -6.03591961e-02 8.47892483e+01] [ 7.90557452e-01 6.06888711e-01 -8.18841150e-02 4.72396778e+01] [ 1.01711576e-01 1.73094451e-03 9.94812424e-01 1.01165491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:47.26, Z:10.12 [[ 6.02412152e-01 -7.95901400e-01 -6.03370590e-02 8.48039733e+01] [ 7.91677854e-01 6.05424228e-01 -8.19004238e-02 4.72638632e+01] [ 1.01714179e-01 1.57029723e-03 9.94812424e-01 1.01194284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:47.29, Z:10.12 [[ 6.01257173e-01 -7.96775982e-01 -6.03145551e-02 8.48184977e+01] [ 7.92555157e-01 6.04273059e-01 -8.19169932e-02 4.72877846e+01] [ 1.01715953e-01 1.45056813e-03 9.94812425e-01 1.01208645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:47.31, Z:10.12 [[ 5.99367729e-01 -7.98199972e-01 -6.02920466e-02 8.48328928e+01] [ 7.93984646e-01 6.02391296e-01 -8.19335564e-02 4.73124579e+01] [ 1.01718767e-01 1.23737032e-03 9.94812425e-01 1.01222294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47687499999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:84.85, Y:47.34, Z:10.13 [[ 5.99181552e-01 -7.98341429e-01 -6.02696399e-02 8.48487872e+01] [ 7.94125161e-01 6.02203804e-01 -8.19500354e-02 4.73360404e+01] [ 1.01718715e-01 1.24131197e-03 9.94812426e-01 1.01250857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.506875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:84.87, Y:47.36, Z:10.13 [[ 5.98965397e-01 -7.98505308e-01 -6.02472045e-02 8.48655775e+01] [ 7.94288208e-01 6.01986488e-01 -8.19665259e-02 4.73590418e+01] [ 1.01718709e-01 1.24146867e-03 9.94812426e-01 1.01279830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:47.38, Z:10.13 [[ 5.99384503e-01 -7.98192446e-01 -6.02248917e-02 8.48811679e+01] [ 7.93972122e-01 6.02401088e-01 -8.19829171e-02 4.73826207e+01] [ 1.01717685e-01 1.32240496e-03 9.94812426e-01 1.01302484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:47.41, Z:10.13 [[ 6.00149321e-01 -7.97619236e-01 -6.02025454e-02 8.48968004e+01] [ 7.93394386e-01 6.03159563e-01 -8.19993233e-02 4.74059922e+01] [ 1.01715979e-01 1.44747659e-03 9.94812427e-01 1.01333444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:47.43, Z:10.14 [[ 6.01953399e-01 -7.96260291e-01 -6.01801895e-02 8.49112415e+01] [ 7.92027006e-01 6.04951768e-01 -8.20157274e-02 4.74300305e+01] [ 1.01711979e-01 1.70531055e-03 9.94812427e-01 1.01361952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:47.45, Z:10.14 [[ 6.02728997e-01 -7.95675058e-01 -6.01577735e-02 8.49264485e+01] [ 7.91437224e-01 6.05720930e-01 -8.20321660e-02 4.74538241e+01] [ 1.01709771e-01 1.83206393e-03 9.94812428e-01 1.01380161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:47.48, Z:10.14 [[ 6.05046095e-01 -7.93916227e-01 -6.01352466e-02 8.49415983e+01] [ 7.89668056e-01 6.08023334e-01 -8.20486765e-02 4.74778390e+01] [ 1.01703409e-01 2.15634800e-03 9.94812428e-01 1.01432168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:47.50, Z:10.15 [[ 6.06130449e-01 -7.93090300e-01 -6.01136783e-02 8.49574917e+01] [ 7.88836509e-01 6.09099651e-01 -8.20644757e-02 4.74999200e+01] [ 1.01699760e-01 2.32191345e-03 9.94812428e-01 1.01478562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:47.52, Z:10.15 [[ 6.07047153e-01 -7.92390384e-01 -6.00935423e-02 8.49739698e+01] [ 7.88131712e-01 6.10009350e-01 -8.20792182e-02 4.75228587e+01] [ 1.01696406e-01 2.46432933e-03 9.94812429e-01 1.01520823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.99, Y:47.55, Z:10.16 [[ 6.07696765e-01 -7.91893989e-01 -6.00712220e-02 8.49900147e+01] [ 7.87631286e-01 6.10653157e-01 -8.20955505e-02 4.75456803e+01] [ 1.01693654e-01 2.57522665e-03 9.94812429e-01 1.01551374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:47.57, Z:10.16 [[ 6.08748052e-01 -7.91087862e-01 -6.00483415e-02 8.50042721e+01] [ 7.86819597e-01 6.11696408e-01 -8.21122829e-02 4.75687220e+01] [ 1.01689385e-01 2.73848044e-03 9.94812429e-01 1.01572459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:47.59, Z:10.16 [[ 6.09210367e-01 -7.90733467e-01 -6.00276101e-02 8.50201148e+01] [ 7.86461996e-01 6.12154076e-01 -8.21274357e-02 4.75917807e+01] [ 1.01687058e-01 2.82345113e-03 9.94812430e-01 1.01599215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:47.61, Z:10.16 [[ 6.10084628e-01 -7.90060852e-01 -6.00049740e-02 8.50355665e+01] [ 7.85784514e-01 6.13021260e-01 -8.21439712e-02 4.76135434e+01] [ 1.01683061e-01 2.96379475e-03 9.94812430e-01 1.01629000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:47.64, Z:10.17 [[ 6.12010677e-01 -7.88571519e-01 -5.99824164e-02 8.50517068e+01] [ 7.84286426e-01 6.14934520e-01 -8.21604397e-02 4.76356670e+01] [ 1.01674641e-01 3.23967132e-03 9.94812431e-01 1.01676004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:47.66, Z:10.17 [[ 6.13250614e-01 -7.87609380e-01 -5.99595533e-02 8.50678102e+01] [ 7.83318075e-01 6.16165330e-01 -8.21771215e-02 4.76579153e+01] [ 1.01668470e-01 3.42776836e-03 9.94812431e-01 1.01709053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:47.68, Z:10.17 [[ 6.14712741e-01 -7.86470536e-01 -5.99361544e-02 8.50836807e+01] [ 7.82172173e-01 6.17617039e-01 -8.21941841e-02 4.76809711e+01] [ 1.01660894e-01 3.64541997e-03 9.94812431e-01 1.01727913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:47.70, Z:10.17 [[ 6.18250226e-01 -7.83694540e-01 -5.99126553e-02 8.50986751e+01] [ 7.79381491e-01 6.21132668e-01 -8.22113094e-02 4.77040832e+01] [ 1.01642262e-01 4.13234591e-03 9.94812432e-01 1.01717805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:47.73, Z:10.17 [[ 6.20069325e-01 -7.82257505e-01 -5.98934739e-02 8.51143033e+01] [ 7.77936435e-01 6.22939729e-01 -8.22252813e-02 4.77257737e+01] [ 1.01631368e-01 4.39205914e-03 9.94812432e-01 1.01729646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:47.75, Z:10.18 [[ 6.21424420e-01 -7.81183020e-01 -5.98730227e-02 8.51310380e+01] [ 7.76855562e-01 6.24285183e-01 -8.22401704e-02 4.77485803e+01] [ 1.01622466e-01 4.59335954e-03 9.94812432e-01 1.01763867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:47.77, Z:10.18 [[ 6.23869255e-01 -7.79233715e-01 -5.98495625e-02 8.51475283e+01] [ 7.74895695e-01 6.26713976e-01 -8.22572399e-02 4.77696115e+01] [ 1.01606172e-01 4.94059460e-03 9.94812433e-01 1.01797257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:47.79, Z:10.18 [[ 6.24305938e-01 -7.78885520e-01 -5.98284447e-02 8.51637216e+01] [ 7.74544452e-01 6.27146005e-01 -8.22725967e-02 4.77912219e+01] [ 1.01602104e-01 5.02348072e-03 9.94812433e-01 1.01814546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:47.81, Z:10.18 [[ 6.24561626e-01 -7.78682123e-01 -5.98074128e-02 8.51803821e+01] [ 7.74338677e-01 6.27398053e-01 -8.22878829e-02 4.78134187e+01] [ 1.01599158e-01 5.08266097e-03 9.94812433e-01 1.01841950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.20, Y:47.83, Z:10.19 [[ 6.24180515e-01 -7.78989429e-01 -5.97842332e-02 8.51973268e+01] [ 7.74645778e-01 6.27016628e-01 -8.23047201e-02 4.78338988e+01] [ 1.01600215e-01 5.06139873e-03 9.94812434e-01 1.01868872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:47.86, Z:10.19 [[ 6.23327835e-01 -7.79673494e-01 -5.97633055e-02 8.52148146e+01] [ 7.75331509e-01 6.26166498e-01 -8.23199134e-02 4.78557846e+01] [ 1.01604434e-01 4.97591954e-03 9.94812434e-01 1.01911341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.23, Y:47.88, Z:10.19 [[ 6.22576824e-01 -7.80275058e-01 -5.97405484e-02 8.52322809e+01] [ 7.75934242e-01 6.25417273e-01 -8.23364252e-02 4.78774060e+01] [ 1.01607830e-01 4.90601293e-03 9.94812435e-01 1.01944291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22687499999999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:85.25, Y:47.90, Z:10.20 [[ 6.21171470e-01 -7.81396103e-01 -5.97171359e-02 8.52495132e+01] [ 7.77058792e-01 6.24017268e-01 -8.23534025e-02 4.78989634e+01] [ 1.01615152e-01 4.75185855e-03 9.94812435e-01 1.01978380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:47.92, Z:10.20 [[ 6.18519212e-01 -7.83499005e-01 -5.96933327e-02 8.52682531e+01] [ 7.79169718e-01 6.21377201e-01 -8.23706525e-02 4.79196206e+01] [ 1.01629400e-01 4.43659388e-03 9.94812435e-01 1.02004904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:47.94, Z:10.20 [[ 6.17147431e-01 -7.84581776e-01 -5.96698034e-02 8.52862126e+01] [ 7.80255865e-01 6.20010527e-01 -8.23876938e-02 4.79418457e+01] [ 1.01635789e-01 4.28763954e-03 9.94812436e-01 1.02026650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.30, Y:47.96, Z:10.20 [[ 6.15710578e-01 -7.85711645e-01 -5.96464163e-02 8.53028304e+01] [ 7.81389357e-01 6.18579139e-01 -8.24046220e-02 4.79629165e+01] [ 1.01642300e-01 4.13032251e-03 9.94812436e-01 1.02043735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:47.98, Z:10.21 [[ 6.13264946e-01 -7.87623197e-01 -5.96305729e-02 8.53216271e+01] [ 7.83308743e-01 6.16145277e-01 -8.24160852e-02 4.79838030e+01] [ 1.01653916e-01 3.83374694e-03 9.94812436e-01 1.02061625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.34, Y:48.01, Z:10.21 [[ 6.12174779e-01 -7.88472562e-01 -5.96075309e-02 8.53398051e+01] [ 7.84160489e-01 6.15058672e-01 -8.24327470e-02 4.80054937e+01] [ 1.01658088e-01 3.72137815e-03 9.94812437e-01 1.02091550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.36, Y:48.03, Z:10.21 [[ 6.10842501e-01 -7.89506883e-01 -5.95845701e-02 8.53578955e+01] [ 7.85198080e-01 6.13731277e-01 -8.24493404e-02 4.80275458e+01] [ 1.01663236e-01 3.57787118e-03 9.94812437e-01 1.02119655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:48.05, Z:10.21 [[ 6.09391010e-01 -7.90629507e-01 -5.95615603e-02 8.53771058e+01] [ 7.86324408e-01 6.12285302e-01 -8.24659594e-02 4.80481841e+01] [ 1.01668689e-01 3.41930569e-03 9.94812438e-01 1.02141112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:48.07, Z:10.22 [[ 6.08784939e-01 -7.91097996e-01 -5.95387219e-02 8.53949305e+01] [ 7.86793517e-01 6.11680152e-01 -8.24824450e-02 4.80697505e+01] [ 1.01670351e-01 3.36938990e-03 9.94812438e-01 1.02173907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:48.09, Z:10.22 [[ 6.08211809e-01 -7.91540460e-01 -5.95155015e-02 8.54126052e+01] [ 7.87236453e-01 6.11107723e-01 -8.24991964e-02 4.80908142e+01] [ 1.01671835e-01 3.32421318e-03 9.94812438e-01 1.02203348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.43, Y:48.11, Z:10.22 [[ 6.06499664e-01 -7.92854968e-01 -5.94908155e-02 8.54313217e+01] [ 7.88555498e-01 6.09402308e-01 -8.25169940e-02 4.81101182e+01] [ 1.01677849e-01 3.13471950e-03 9.94812439e-01 1.02234648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.45, Y:48.13, Z:10.23 [[ 6.05380051e-01 -7.93712002e-01 -5.94663994e-02 8.54487420e+01] [ 7.89414917e-01 6.08286225e-01 -8.25345859e-02 4.81318920e+01] [ 1.01681283e-01 3.02112905e-03 9.94812439e-01 1.02268029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.47, Y:48.15, Z:10.23 [[ 6.04491301e-01 -7.94390814e-01 -5.94432625e-02 8.54665335e+01] [ 7.90095358e-01 6.07399882e-01 -8.25512462e-02 4.81536733e+01] [ 1.01683782e-01 2.93566446e-03 9.94812440e-01 1.02303760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:48.17, Z:10.23 [[ 5.99489641e-01 -7.98173791e-01 -5.94202852e-02 8.54839461e+01] [ 7.93895061e-01 6.02422770e-01 -8.25677821e-02 4.81740080e+01] [ 1.01699572e-01 2.32505912e-03 9.94812440e-01 1.02326678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:48.20, Z:10.24 [[ 5.96737205e-01 -8.00235489e-01 -5.93958725e-02 8.55011144e+01] [ 7.95965149e-01 5.99682535e-01 -8.25853398e-02 4.81961590e+01] [ 1.01706387e-01 2.00470031e-03 9.94812441e-01 1.02354387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.52, Y:48.22, Z:10.24 [[ 5.94832372e-01 -8.01654078e-01 -5.93732981e-02 8.55179190e+01] [ 7.97389145e-01 5.97785524e-01 -8.26015662e-02 4.82185419e+01] [ 1.01710381e-01 1.79046215e-03 9.94812441e-01 1.02387279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.706875 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:85.53, Y:48.24, Z:10.24 [[ 5.93930391e-01 -8.02324247e-01 -5.93505959e-02 8.55336649e+01] [ 7.98061018e-01 5.96886002e-01 -8.26178749e-02 4.82394725e+01] [ 1.01711864e-01 1.70386979e-03 9.94812441e-01 1.02376490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:48.26, Z:10.24 [[ 5.92991715e-01 -8.03041095e-01 -5.90408807e-02 8.55494032e+01] [ 7.98759266e-01 5.95920416e-01 -8.28401717e-02 4.82631689e+01] [ 1.01707728e-01 1.96408496e-03 9.94812385e-01 1.02432827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:48.29, Z:10.25 [[ 5.93310284e-01 -8.02786465e-01 -5.93026026e-02 8.55651436e+01] [ 7.98522089e-01 5.96264249e-01 -8.26523943e-02 4.82853909e+01] [ 1.01712245e-01 1.68407739e-03 9.94812436e-01 1.02463998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:48.31, Z:10.25 [[ 5.94362683e-01 -8.02009384e-01 -5.92785778e-02 8.55811933e+01] [ 7.97739429e-01 5.97308578e-01 -8.26696214e-02 4.83084481e+01] [ 1.01709415e-01 1.84687920e-03 9.94812437e-01 1.02503195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.60, Y:48.33, Z:10.25 [[ 5.96895548e-01 -8.00133138e-01 -5.91833236e-02 8.55961676e+01] [ 7.95847159e-01 5.99818089e-01 -8.27378986e-02 4.83314532e+01] [ 1.01700563e-01 2.28500337e-03 9.94812432e-01 1.02524014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:48.35, Z:10.26 [[ 5.97388546e-01 -7.99760307e-01 -5.92484379e-02 8.56118537e+01] [ 7.95477121e-01 6.00315174e-01 -8.26912445e-02 4.83541573e+01] [ 1.01700911e-01 2.26802550e-03 9.94812435e-01 1.02554970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:48.38, Z:10.26 [[ 5.97664400e-01 -7.99555901e-01 -5.92252179e-02 8.56270926e+01] [ 7.95270069e-01 6.00587150e-01 -8.27078718e-02 4.83763127e+01] [ 1.01699472e-01 2.33150745e-03 9.94812435e-01 1.02574820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91687499999999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:85.64, Y:48.40, Z:10.26 [[ 5.98594921e-01 -7.98860750e-01 -5.92082986e-02 8.56431142e+01] [ 7.94570328e-01 6.01510929e-01 -8.27199822e-02 4.83993662e+01] [ 1.01696186e-01 2.47060393e-03 9.94812436e-01 1.02595660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:48.42, Z:10.26 [[ 5.99942302e-01 -7.97851058e-01 -5.91855043e-02 8.56585269e+01] [ 7.93554123e-01 6.02848704e-01 -8.27362881e-02 4.84230131e+01] [ 1.01691140e-01 2.67009816e-03 9.94812436e-01 1.02614055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.67, Y:48.45, Z:10.26 [[ 6.00275969e-01 -7.97601768e-01 -5.91623222e-02 8.56748026e+01] [ 7.93301996e-01 6.03178172e-01 -8.27528617e-02 4.84463369e+01] [ 1.01689250e-01 2.74096594e-03 9.94812436e-01 1.02644288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.69, Y:48.47, Z:10.27 [[ 6.00735813e-01 -7.97257212e-01 -5.91389916e-02 8.56910636e+01] [ 7.92954138e-01 6.03633117e-01 -8.27695315e-02 4.84692038e+01] [ 1.01686860e-01 2.82811371e-03 9.94812437e-01 1.02675587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.71, Y:48.49, Z:10.27 [[ 6.01171182e-01 -7.96930703e-01 -5.91156818e-02 8.57061727e+01] [ 7.92624422e-01 6.04063717e-01 -8.27861765e-02 4.84910904e+01] [ 1.01684484e-01 2.91213050e-03 9.94812437e-01 1.02694378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:48.51, Z:10.27 [[ 6.01460000e-01 -7.96714010e-01 -5.90986804e-02 8.57219747e+01] [ 7.92405498e-01 6.04349209e-01 -8.27983116e-02 4.85136839e+01] [ 1.01682816e-01 2.96975325e-03 9.94812437e-01 1.02716774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:48.54, Z:10.28 [[ 6.01387984e-01 -7.96770115e-01 -5.90751738e-02 8.57381727e+01] [ 7.92460229e-01 6.04275142e-01 -8.28150798e-02 4.85367481e+01] [ 1.01682240e-01 2.98926809e-03 9.94812438e-01 1.02751903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:48.56, Z:10.28 [[ 5.97990269e-01 -7.99325066e-01 -5.90514766e-02 8.57541277e+01] [ 7.95025854e-01 6.00893298e-01 -8.28319738e-02 4.85586729e+01] [ 1.01693309e-01 2.58526374e-03 9.94812438e-01 1.02781070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:48.58, Z:10.29 [[ 5.87790338e-01 -8.06857113e-01 -5.90264100e-02 8.57690432e+01] [ 8.02593334e-01 5.90745161e-01 -8.28498326e-02 4.85812659e+01] [ 1.01717543e-01 1.32412792e-03 9.94812439e-01 1.02851341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.78, Y:48.60, Z:10.29 [[ 5.84087831e-01 -8.09542892e-01 -5.90060295e-02 8.57848399e+01] [ 8.05291236e-01 5.87060070e-01 -8.28643451e-02 4.86045564e+01] [ 1.01722325e-01 8.83017184e-04 9.94812439e-01 1.02898601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:48.63, Z:10.29 [[ 5.81262038e-01 -8.11575888e-01 -5.89832174e-02 8.58000714e+01] [ 8.07332981e-01 5.84246753e-01 -8.28805798e-02 4.86278222e+01] [ 1.01724633e-01 5.56238079e-04 9.94812439e-01 1.02923434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:48.65, Z:10.29 [[ 5.78906247e-01 -8.13259638e-01 -5.89603109e-02 8.58150638e+01] [ 8.09023752e-01 5.81900917e-01 -8.28968720e-02 4.86522804e+01] [ 1.01725739e-01 2.89225120e-04 9.94812440e-01 1.02937676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:48.68, Z:10.29 [[ 5.76250537e-01 -8.15145076e-01 -5.89391516e-02 8.58278784e+01] [ 8.10917449e-01 5.79256856e-01 -8.29119134e-02 4.86773117e+01] [ 1.01726146e-01 -1.67518301e-05 9.94812440e-01 1.02933357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.84, Y:48.70, Z:10.30 [[ 5.75904148e-01 -8.15391463e-01 -5.89166765e-02 8.58429383e+01] [ 8.11163488e-01 5.78909977e-01 -8.29278811e-02 4.87004437e+01] [ 1.01726138e-01 -3.25461378e-05 9.94812441e-01 1.02968433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.86, Y:48.72, Z:10.30 [[ 5.76541300e-01 -8.14942698e-01 -5.88942127e-02 8.58577444e+01] [ 8.10710755e-01 5.79541537e-01 -8.29438316e-02 4.87238984e+01] [ 1.01726112e-01 7.43728956e-05 9.94812441e-01 1.03023863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:48.75, Z:10.31 [[ 5.76652184e-01 -8.14865860e-01 -5.88718022e-02 8.58726168e+01] [ 8.10631893e-01 5.79649564e-01 -8.29597351e-02 4.87469867e+01] [ 1.01726070e-01 1.15551994e-04 9.94812441e-01 1.03066413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:48.77, Z:10.31 [[ 5.76432387e-01 -8.15022989e-01 -5.88492295e-02 8.58890129e+01] [ 8.10788204e-01 5.79428611e-01 -8.29757445e-02 4.87702749e+01] [ 1.01726066e-01 1.15645370e-04 9.94812442e-01 1.03095387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:48.79, Z:10.31 [[ 5.76715706e-01 -8.14824159e-01 -5.88267290e-02 8.59041565e+01] [ 8.10586714e-01 5.79708167e-01 -8.29916934e-02 4.87941919e+01] [ 1.01725972e-01 1.78448180e-04 9.94812442e-01 1.03128644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:48.82, Z:10.31 [[ 5.77488564e-01 -8.14278219e-01 -5.88042585e-02 8.59185655e+01] [ 8.10036324e-01 5.80474712e-01 -8.30076121e-02 4.88178151e+01] [ 1.01725675e-01 3.02361367e-04 9.94812442e-01 1.03145639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:48.84, Z:10.32 [[ 5.79617779e-01 -8.12765616e-01 -5.87816620e-02 8.59325956e+01] [ 8.08514305e-01 5.82590507e-01 -8.30236106e-02 4.88426144e+01] [ 1.01724374e-01 5.96146218e-04 9.94812443e-01 1.03158554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:48.87, Z:10.32 [[ 5.80632477e-01 -8.12042703e-01 -5.87586198e-02 8.59470851e+01] [ 8.07786041e-01 5.83597536e-01 -8.30399153e-02 4.88650324e+01] [ 1.01723343e-01 7.51278876e-04 9.94812443e-01 1.03183603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:48.89, Z:10.32 [[ 5.81725783e-01 -8.11261601e-01 -5.87343879e-02 8.59625126e+01] [ 8.06999228e-01 5.84682626e-01 -8.30570510e-02 4.88887794e+01] [ 1.01721972e-01 9.17822391e-04 9.94812444e-01 1.03219855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:48.91, Z:10.33 [[ 5.82761054e-01 -8.10519876e-01 -5.87118708e-02 8.59776360e+01] [ 8.06252137e-01 5.85710145e-01 -8.30729651e-02 4.89120649e+01] [ 1.01720428e-01 1.07511748e-03 9.94812444e-01 1.03253449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:48.94, Z:10.33 [[ 5.84789178e-01 -8.09059447e-01 -5.86892619e-02 8.59919259e+01] [ 8.04782741e-01 5.87725250e-01 -8.30889348e-02 4.89360585e+01] [ 1.01717049e-01 1.35740479e-03 9.94812444e-01 1.03289186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:48.96, Z:10.33 [[ 5.86109969e-01 -8.08104802e-01 -5.86662817e-02 8.60066805e+01] [ 8.03821691e-01 5.89036689e-01 -8.31051572e-02 4.89585718e+01] [ 1.01714269e-01 1.55153141e-03 9.94812445e-01 1.03310055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:48.98, Z:10.33 [[ 5.87161308e-01 -8.07342455e-01 -5.86494555e-02 8.60217965e+01] [ 8.03054359e-01 5.90080719e-01 -8.31170302e-02 4.89826652e+01] [ 1.01711820e-01 1.70440334e-03 9.94812445e-01 1.03335042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69687499999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:86.04, Y:49.01, Z:10.33 [[ 5.89867297e-01 -8.05369158e-01 -5.86267170e-02 8.60358832e+01] [ 8.01069705e-01 5.92769956e-01 -8.31330658e-02 4.90054361e+01] [ 1.01704964e-01 2.07338983e-03 9.94812445e-01 1.03346886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:49.03, Z:10.34 [[ 5.91215584e-01 -8.04381659e-01 -5.86027219e-02 8.60512673e+01] [ 8.00075685e-01 5.94108559e-01 -8.31499772e-02 4.90277115e+01] [ 1.01700695e-01 2.27294949e-03 9.94812446e-01 1.03367991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.756875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:86.07, Y:49.05, Z:10.34 [[ 5.91886887e-01 -8.03889551e-01 -5.85790327e-02 8.60668910e+01] [ 7.99579522e-01 5.94773817e-01 -8.31666629e-02 4.90516155e+01] [ 1.01698086e-01 2.38666216e-03 9.94812446e-01 1.03389788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:49.07, Z:10.34 [[ 5.92804155e-01 -8.03215063e-01 -5.85559232e-02 8.60824309e+01] [ 7.98900146e-01 5.95683773e-01 -8.31829307e-02 4.90748534e+01] [ 1.01694596e-01 2.53085131e-03 9.94812447e-01 1.03410439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:49.10, Z:10.34 [[ 5.94063043e-01 -8.02286114e-01 -5.85328315e-02 8.60983453e+01] [ 7.97965097e-01 5.96933498e-01 -8.31991763e-02 4.90970550e+01] [ 1.01689752e-01 2.71839923e-03 9.94812447e-01 1.03433653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:49.12, Z:10.35 [[ 5.94534147e-01 -8.01938851e-01 -5.85083556e-02 8.61147826e+01] [ 7.97614467e-01 5.97399527e-01 -8.32163851e-02 4.91190257e+01] [ 1.01687316e-01 2.80787166e-03 9.94812447e-01 1.03473069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:49.14, Z:10.35 [[ 5.94564006e-01 -8.01918283e-01 -5.84868316e-02 8.61304335e+01] [ 7.97592316e-01 5.97426994e-01 -8.32315101e-02 4.91405011e+01] [ 1.01686482e-01 2.83781263e-03 9.94812448e-01 1.03507345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.15, Y:49.16, Z:10.35 [[ 5.94660406e-01 -8.01848582e-01 -5.84624043e-02 8.61467812e+01] [ 7.97520596e-01 5.97520342e-01 -8.32486645e-02 4.91631083e+01] [ 1.01685299e-01 2.87971317e-03 9.94812448e-01 1.03541889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:49.18, Z:10.36 [[ 5.94697419e-01 -8.01822813e-01 -5.84393300e-02 8.61628743e+01] [ 7.97493116e-01 5.97554762e-01 -8.32648592e-02 4.91847088e+01] [ 1.01684364e-01 2.91243354e-03 9.94812449e-01 1.03561786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:49.21, Z:10.36 [[ 5.94654459e-01 -8.01856441e-01 -5.84150898e-02 8.61795882e+01] [ 7.97525238e-01 5.97509520e-01 -8.32818617e-02 4.92076616e+01] [ 1.01683669e-01 2.93642205e-03 9.94812449e-01 1.03589859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:49.23, Z:10.36 [[ 5.94478578e-01 -8.01988539e-01 -5.83918112e-02 8.61962115e+01] [ 7.97656372e-01 5.97332174e-01 -8.32981800e-02 4.92298325e+01] [ 1.01683493e-01 2.94238331e-03 9.94812449e-01 1.03620753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:49.25, Z:10.36 [[ 5.94538891e-01 -8.01945574e-01 -5.83678339e-02 8.62140291e+01] [ 7.97611555e-01 5.97389673e-01 -8.33149778e-02 4.92509007e+01] [ 1.01682419e-01 2.97913577e-03 9.94812450e-01 1.03643052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:49.27, Z:10.37 [[ 5.94544881e-01 -8.01942698e-01 -5.83463279e-02 8.62303600e+01] [ 7.97607192e-01 5.97393399e-01 -8.33300360e-02 4.92724428e+01] [ 1.01681625e-01 3.00599558e-03 9.94812450e-01 1.03663321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:49.29, Z:10.37 [[ 5.94479947e-01 -8.01992637e-01 -5.83215465e-02 8.62467531e+01] [ 7.97655673e-01 5.97326245e-01 -8.33473766e-02 4.92946905e+01] [ 1.01680973e-01 3.02783158e-03 9.94812451e-01 1.03695041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:49.32, Z:10.37 [[ 5.90914825e-01 -8.04624756e-01 -5.82981310e-02 8.62582662e+01] [ 8.00298862e-01 5.93777918e-01 -8.33637516e-02 4.93178924e+01] [ 1.01692681e-01 2.60494881e-03 9.94812451e-01 1.03654551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:49.34, Z:10.38 [[ 5.93222438e-01 -8.02981814e-01 -5.75095199e-02 8.62814424e+01] [ 7.98594344e-01 5.95991071e-01 -8.39149382e-02 4.93398032e+01] [ 1.01657330e-01 3.85344692e-03 9.94812012e-01 1.03756109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:49.36, Z:10.38 [[ 5.92201215e-01 -8.03678965e-01 -5.82910128e-02 8.62980181e+01] [ 7.99348026e-01 5.95056647e-01 -8.33685776e-02 4.93605688e+01] [ 1.01688027e-01 2.77616687e-03 9.94812464e-01 1.03784602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:49.38, Z:10.38 [[ 5.90939305e-01 -8.04608478e-01 -5.82746481e-02 8.63148715e+01] [ 8.00280905e-01 5.93799836e-01 -8.33800149e-02 4.93826390e+01] [ 1.01691743e-01 2.63643987e-03 9.94812464e-01 1.03817560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:49.40, Z:10.38 [[ 5.89512464e-01 -8.05656160e-01 -5.82512349e-02 8.63315493e+01] [ 8.01332058e-01 5.92378239e-01 -8.33963688e-02 4.94048290e+01] [ 1.01695562e-01 2.48461694e-03 9.94812464e-01 1.03847227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.35, Y:49.43, Z:10.39 [[ 5.87238808e-01 -8.07316605e-01 -5.82278425e-02 8.63487047e+01] [ 8.02998990e-01 5.90114348e-01 -8.34126984e-02 4.94256266e+01] [ 1.01701542e-01 2.22627482e-03 9.94812465e-01 1.03859675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:49.45, Z:10.39 [[ 5.85687332e-01 -8.08444643e-01 -5.82031616e-02 8.63656265e+01] [ 8.04130858e-01 5.88568613e-01 -8.34299166e-02 4.94483073e+01] [ 1.01705023e-01 2.06088699e-03 9.94812465e-01 1.03888781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:49.47, Z:10.39 [[ 5.84382281e-01 -8.09390161e-01 -5.81800371e-02 8.63826387e+01] [ 8.05079435e-01 5.87268135e-01 -8.34460394e-02 4.94704436e+01] [ 1.01707685e-01 1.92483547e-03 9.94812466e-01 1.03916570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:49.49, Z:10.39 [[ 5.81812031e-01 -8.11241348e-01 -5.81569937e-02 8.64009354e+01] [ 8.06938202e-01 5.84709173e-01 -8.34620963e-02 4.94917366e+01] [ 1.01712831e-01 1.63015186e-03 9.94812466e-01 1.03947184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:49.51, Z:10.40 [[ 5.80739890e-01 -8.12010866e-01 -5.81337517e-02 8.64176422e+01] [ 8.07709939e-01 5.83640327e-01 -8.34782819e-02 4.95129533e+01] [ 1.01714474e-01 1.52395928e-03 9.94812466e-01 1.03981394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:49.53, Z:10.40 [[ 5.79356323e-01 -8.13000348e-01 -5.81092581e-02 8.64341348e+01] [ 8.08702665e-01 5.82261564e-01 -8.34953285e-02 4.95348935e+01] [ 1.01716519e-01 1.38043462e-03 9.94812467e-01 1.04016838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:49.56, Z:10.41 [[ 5.78051192e-01 -8.13930451e-01 -5.80864887e-02 8.64521637e+01] [ 8.09635853e-01 5.80960990e-01 -8.35111658e-02 4.95567461e+01] [ 1.01718265e-01 1.24482514e-03 9.94812467e-01 1.04055078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:49.58, Z:10.41 [[ 5.77398510e-01 -8.14395235e-01 -5.80634273e-02 8.64684909e+01] [ 8.10101368e-01 5.80309384e-01 -8.35271969e-02 4.95790201e+01] [ 1.01718903e-01 1.19121713e-03 9.94812468e-01 1.04083774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:49.60, Z:10.41 [[ 5.77487394e-01 -8.14333857e-01 -5.80403256e-02 8.64853085e+01] [ 8.10038067e-01 5.80395430e-01 -8.35432465e-02 4.96017091e+01] [ 1.01718434e-01 1.23029850e-03 9.94812468e-01 1.04104433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.536875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.50, Y:49.63, Z:10.41 [[ 5.76575605e-01 -8.14981340e-01 -5.80171280e-02 8.65003777e+01] [ 8.10687196e-01 5.79486070e-01 -8.35593532e-02 4.96261402e+01] [ 1.01719431e-01 1.14454179e-03 9.94812468e-01 1.04095089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:49.65, Z:10.41 [[ 5.75045063e-01 -8.16068449e-01 -5.79263602e-02 8.65182811e+01] [ 8.11773458e-01 5.77954285e-01 -8.36223433e-02 4.96462417e+01] [ 1.01720344e-01 1.06353389e-03 9.94812465e-01 1.04146629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:49.67, Z:10.42 [[ 5.71539126e-01 -8.18523944e-01 -5.79791422e-02 8.65348649e+01] [ 8.14245166e-01 5.74472137e-01 -8.35857313e-02 4.96683053e+01] [ 1.01724324e-01 5.63279573e-04 9.94812467e-01 1.04189915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:49.69, Z:10.42 [[ 5.68868544e-01 -8.20383850e-01 -5.79561752e-02 8.65505769e+01] [ 8.16113039e-01 5.71813143e-01 -8.36016531e-02 4.96908076e+01] [ 1.01725549e-01 2.59560373e-04 9.94812467e-01 1.04215403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:49.71, Z:10.42 [[ 5.67212315e-01 -8.21531543e-01 -5.79319824e-02 8.65665056e+01] [ 8.17264977e-01 5.70163062e-01 -8.36184142e-02 4.97142483e+01] [ 1.01725841e-01 8.36139798e-05 9.94812468e-01 1.04246813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:49.74, Z:10.42 [[ 5.66221595e-01 -8.22216340e-01 -5.79085106e-02 8.65805513e+01] [ 8.17951681e-01 5.69175097e-01 -8.36346661e-02 4.97376045e+01] [ 1.01725871e-01 -1.06095357e-05 9.94812468e-01 1.04236235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:49.76, Z:10.43 [[ 5.66247642e-01 -8.22199612e-01 -5.78913351e-02 8.65956449e+01] [ 8.17933650e-01 5.69199261e-01 -8.36465532e-02 4.97616853e+01] [ 1.01725869e-01 1.33925536e-05 9.94812468e-01 1.04252220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:49.78, Z:10.43 [[ 5.68021953e-01 -8.20976417e-01 -5.78686766e-02 8.66101236e+01] [ 8.16702502e-01 5.70962043e-01 -8.36622260e-02 4.97845229e+01] [ 1.01725532e-01 2.60487967e-04 9.94812469e-01 1.04272954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:49.81, Z:10.43 [[ 5.69188763e-01 -8.20169577e-01 -5.78447745e-02 8.66256144e+01] [ 8.15889815e-01 5.72120335e-01 -8.36787489e-02 4.98071553e+01] [ 1.01724936e-01 4.34041162e-04 9.94812469e-01 1.04319159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80687499999999 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:86.64, Y:49.83, Z:10.43 [[ 5.69250796e-01 -8.20128152e-01 -5.78216724e-02 8.66412792e+01] [ 8.15846556e-01 5.72179686e-01 -8.36947094e-02 4.98319738e+01] [ 1.01724774e-01 4.69667642e-04 9.94812470e-01 1.04336620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:49.85, Z:10.44 [[ 5.69911540e-01 -8.19651640e-01 -5.80691432e-02 8.66549975e+01] [ 8.15384973e-01 5.72862222e-01 -8.35237769e-02 4.98544882e+01] [ 1.01726019e-01 2.52457614e-04 9.94812421e-01 1.04361480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:49.88, Z:10.44 [[ 5.73366193e-01 -8.17258409e-01 -5.77918807e-02 8.66701296e+01] [ 8.12960095e-01 5.76270473e-01 -8.37151459e-02 4.98758026e+01] [ 1.01720661e-01 1.01694173e-03 9.94812481e-01 1.04438335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:49.90, Z:10.45 [[ 5.74391070e-01 -8.16540788e-01 -5.77584685e-02 8.66849971e+01] [ 8.12236528e-01 5.77286530e-01 -8.37381921e-02 4.98992049e+01] [ 1.01718835e-01 1.18493188e-03 9.94812482e-01 1.04467547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:49.92, Z:10.45 [[ 5.75594937e-01 -8.15694223e-01 -5.77356384e-02 8.66997616e+01] [ 8.11384126e-01 5.78481701e-01 -8.37539301e-02 4.99226592e+01] [ 1.01716607e-01 1.36255757e-03 9.94812482e-01 1.04491300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:49.95, Z:10.45 [[ 5.76872122e-01 -8.14793111e-01 -5.77125705e-02 8.67143980e+01] [ 8.10476917e-01 5.79749760e-01 -8.37698226e-02 4.99455143e+01] [ 1.01713923e-01 1.54976916e-03 9.94812483e-01 1.04513315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:49.97, Z:10.45 [[ 5.77812886e-01 -8.14127965e-01 -5.76881773e-02 8.67298240e+01] [ 8.09806782e-01 5.80683027e-01 -8.37866176e-02 4.99692751e+01] [ 1.01711574e-01 1.69671010e-03 9.94812483e-01 1.04540437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:49.99, Z:10.46 [[ 5.80282144e-01 -8.12371463e-01 -5.76648871e-02 8.67447141e+01] [ 8.08040004e-01 5.83136750e-01 -8.38026438e-02 4.99932324e+01] [ 1.01705391e-01 2.03364221e-03 9.94812484e-01 1.04581610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:50.02, Z:10.46 [[ 5.81367648e-01 -8.11596638e-01 -5.76416119e-02 8.67595626e+01] [ 8.07259789e-01 5.84214060e-01 -8.38186500e-02 5.00170193e+01] [ 1.01701975e-01 2.19769602e-03 9.94812484e-01 1.04604167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:50.04, Z:10.46 [[ 5.84032071e-01 -8.09683085e-01 -5.76180698e-02 8.67729332e+01] [ 8.05335318e-01 5.86861778e-01 -8.38348301e-02 5.00406139e+01] [ 1.01693487e-01 2.56036296e-03 9.94812484e-01 1.04625318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:50.06, Z:10.47 [[ 5.85093667e-01 -8.08918055e-01 -5.75932312e-02 8.67880036e+01] [ 8.04564913e-01 5.87915097e-01 -8.38518905e-02 5.00644296e+01] [ 1.01689238e-01 2.72371708e-03 9.94812485e-01 1.04660515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:50.09, Z:10.47 [[ 5.85017709e-01 -8.08974706e-01 -5.75691275e-02 8.68027488e+01] [ 8.04620213e-01 5.87837051e-01 -8.38684358e-02 5.00892182e+01] [ 1.01688709e-01 2.74323658e-03 9.94812485e-01 1.04661982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:50.11, Z:10.47 [[ 5.86619185e-01 -8.07814836e-01 -5.75597251e-02 8.68180360e+01] [ 8.03454137e-01 5.89428921e-01 -8.38748855e-02 5.01104717e+01] [ 1.01682744e-01 2.95601772e-03 9.94812486e-01 1.04726618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:50.13, Z:10.48 [[ 5.87207278e-01 -8.07390639e-01 -5.75149392e-02 8.68325143e+01] [ 8.03024911e-01 5.90009190e-01 -8.39055852e-02 5.01334080e+01] [ 1.01678927e-01 3.08404139e-03 9.94812487e-01 1.04757880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:50.16, Z:10.48 [[ 5.86919715e-01 -8.07601493e-01 -5.74897990e-02 8.68482088e+01] [ 8.03235089e-01 5.89720573e-01 -8.39228072e-02 5.01568103e+01] [ 1.01679102e-01 3.07812623e-03 9.94812488e-01 1.04797757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:50.18, Z:10.48 [[ 5.85767041e-01 -8.08439619e-01 -5.74661329e-02 8.68632298e+01] [ 8.04075638e-01 5.88571671e-01 -8.39390094e-02 5.01788302e+01] [ 1.01682559e-01 2.96158772e-03 9.94812488e-01 1.04824682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:50.20, Z:10.48 [[ 5.82659059e-01 -8.10683695e-01 -5.74488273e-02 8.68779617e+01] [ 8.06329354e-01 5.85478631e-01 -8.39508519e-02 5.02015393e+01] [ 1.01692648e-01 2.59204851e-03 9.94812488e-01 1.04844230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:50.23, Z:10.49 [[ 5.82446988e-01 -8.10837812e-01 -5.74242856e-02 8.68939325e+01] [ 8.06482565e-01 5.85265160e-01 -8.39676357e-02 5.02251165e+01] [ 1.01692568e-01 2.59501124e-03 9.94812489e-01 1.04873189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.346875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.91, Y:50.25, Z:10.49 [[ 5.77236300e-01 -8.14557083e-01 -5.74021991e-02 8.69096982e+01] [ 8.10218503e-01 5.80080063e-01 -8.39827318e-02 5.02476669e+01] [ 1.01706600e-01 1.96955752e-03 9.94812489e-01 1.04918589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:50.27, Z:10.49 [[ 5.75138545e-01 -8.16041274e-01 -5.73785104e-02 8.69258313e+01] [ 8.11708420e-01 5.77991024e-01 -8.39989134e-02 5.02708359e+01] [ 1.01710844e-01 1.73639280e-03 9.94812489e-01 1.04939847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:50.29, Z:10.50 [[ 5.73301958e-01 -8.17334255e-01 -5.73548603e-02 8.69406517e+01] [ 8.13006221e-01 5.76161744e-01 -8.40150587e-02 5.02929648e+01] [ 1.01714062e-01 1.53613939e-03 9.94812490e-01 1.04957831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:50.32, Z:10.50 [[ 5.71087937e-01 -8.18884508e-01 -5.73300138e-02 8.69565296e+01] [ 8.14562536e-01 5.73956876e-01 -8.40320100e-02 5.03162333e+01] [ 1.01717467e-01 1.29078577e-03 9.94812490e-01 1.04971932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:50.34, Z:10.50 [[ 5.70325440e-01 -8.19417354e-01 -5.73069982e-02 8.69721279e+01] [ 8.15096486e-01 5.73196041e-01 -8.40477030e-02 5.03392374e+01] [ 1.01718291e-01 1.22381038e-03 9.94812491e-01 1.04999535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:50.36, Z:10.50 [[ 5.70327644e-01 -8.19417468e-01 -5.72834374e-02 8.69873940e+01] [ 8.15094988e-01 5.73195817e-01 -8.40637581e-02 5.03611523e+01] [ 1.01717938e-01 1.25244237e-03 9.94812491e-01 1.05023332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:50.38, Z:10.51 [[ 5.70851169e-01 -8.19054578e-01 -5.72585372e-02 8.70031560e+01] [ 8.14728575e-01 5.73714025e-01 -8.40807150e-02 5.03838008e+01] [ 1.01716720e-01 1.34740800e-03 9.94812492e-01 1.05059867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:50.41, Z:10.51 [[ 5.73022582e-01 -8.17538531e-01 -5.72352156e-02 8.70186239e+01] [ 8.13203370e-01 5.75871550e-01 -8.40965875e-02 5.04076068e+01] [ 1.01712333e-01 1.64537346e-03 9.94812492e-01 1.05097183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:50.43, Z:10.51 [[ 5.74451478e-01 -8.16536759e-01 -5.72120589e-02 8.70332465e+01] [ 8.12195063e-01 5.77290476e-01 -8.41123384e-02 5.04299838e+01] [ 1.01708793e-01 1.85110534e-03 9.94812492e-01 1.05122444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:50.45, Z:10.51 [[ 5.76029357e-01 -8.15426126e-01 -5.71875281e-02 8.70486571e+01] [ 8.11077303e-01 5.78857425e-01 -8.41290135e-02 5.04538805e+01] [ 1.01704421e-01 2.07727556e-03 9.94812493e-01 1.05148754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:50.48, Z:10.52 [[ 5.79680381e-01 -8.12836320e-01 -5.71644365e-02 8.70629256e+01] [ 8.08473322e-01 5.82486530e-01 -8.41447011e-02 5.04774931e+01] [ 1.01693383e-01 2.56111049e-03 9.94812493e-01 1.05170280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:50.50, Z:10.52 [[ 5.81379736e-01 -8.11623350e-01 -5.71414116e-02 8.70781234e+01] [ 8.07252964e-01 5.84174366e-01 -8.41603341e-02 5.05008114e+01] [ 1.01687040e-01 2.80153887e-03 9.94812494e-01 1.05198692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.706875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:87.09, Y:50.52, Z:10.52 [[ 5.82726074e-01 -8.10658914e-01 -5.71178422e-02 8.70935369e+01] [ 8.06282341e-01 5.85511002e-01 -8.41763271e-02 5.05245195e+01] [ 1.01681415e-01 2.99863304e-03 9.94812494e-01 1.05231394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:50.55, Z:10.53 [[ 5.85064010e-01 -8.08974880e-01 -5.70941940e-02 8.71082023e+01] [ 8.04588733e-01 5.87833834e-01 -8.41923640e-02 5.05482132e+01] [ 1.01671407e-01 3.32057693e-03 9.94812494e-01 1.05253895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:50.57, Z:10.53 [[ 5.85875680e-01 -8.08388947e-01 -5.70701179e-02 8.71228476e+01] [ 8.03998445e-01 5.88638597e-01 -8.42086809e-02 5.05704626e+01] [ 1.01667041e-01 3.45153211e-03 9.94812495e-01 1.05275009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.14, Y:50.59, Z:10.53 [[ 5.86400819e-01 -8.08009899e-01 -5.70445725e-02 8.71382957e+01] [ 8.03615935e-01 5.89158225e-01 -8.42259824e-02 5.05932407e+01] [ 1.01663707e-01 3.54825767e-03 9.94812495e-01 1.05300627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:50.62, Z:10.53 [[ 5.87076846e-01 -8.07520543e-01 -5.70206021e-02 8.71540181e+01] [ 8.03122711e-01 5.89828078e-01 -8.42422072e-02 5.06164599e+01] [ 1.01659665e-01 3.66210880e-03 9.94812496e-01 1.05326437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:50.64, Z:10.53 [[ 5.88125397e-01 -8.06758875e-01 -5.69968024e-02 8.71693638e+01] [ 8.02355927e-01 5.90868432e-01 -8.42583066e-02 5.06398345e+01] [ 1.01653748e-01 3.82272773e-03 9.94812496e-01 1.05345322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.18, Y:50.66, Z:10.54 [[ 5.88728722e-01 -8.06320423e-01 -5.69725092e-02 8.71848133e+01] [ 8.01913850e-01 5.91465930e-01 -8.42747296e-02 5.06626777e+01] [ 1.01649734e-01 3.92790963e-03 9.94812496e-01 1.05371623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:50.69, Z:10.54 [[ 5.88974227e-01 -8.06142822e-01 -5.69483107e-02 8.71997876e+01] [ 8.01733851e-01 5.91707569e-01 -8.42910786e-02 5.06850063e+01] [ 1.01647394e-01 3.98788440e-03 9.94812497e-01 1.05392472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:87.22, Y:50.71, Z:10.54 [[ 5.89430963e-01 -8.05810171e-01 -5.69307260e-02 8.72156806e+01] [ 8.01398516e-01 5.92159971e-01 -8.43029537e-02 5.07072883e+01] [ 1.01644275e-01 4.06657191e-03 9.94812497e-01 1.05407244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:50.73, Z:10.54 [[ 5.89592752e-01 -8.05693570e-01 -5.69057014e-02 8.72316202e+01] [ 8.01279752e-01 5.92318261e-01 -8.43198424e-02 5.07301138e+01] [ 1.01642241e-01 4.11698155e-03 9.94812498e-01 1.05438872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:50.75, Z:10.55 [[ 5.89457592e-01 -8.05794134e-01 -5.68819928e-02 8.72472688e+01] [ 8.01379247e-01 5.92181366e-01 -8.43358332e-02 5.07529113e+01] [ 1.01641776e-01 4.12834860e-03 9.94812498e-01 1.05461604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:50.78, Z:10.55 [[ 5.89160065e-01 -8.06013384e-01 -5.68580967e-02 8.72638713e+01] [ 8.01597964e-01 5.91882974e-01 -8.43519406e-02 5.07757248e+01] [ 1.01642132e-01 4.11946022e-03 9.94812498e-01 1.05483047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:50.80, Z:10.55 [[ 5.88470192e-01 -8.06518895e-01 -5.68340075e-02 8.72797022e+01] [ 8.02104254e-01 5.91194365e-01 -8.43681682e-02 5.07981094e+01] [ 1.01644467e-01 4.06135296e-03 9.94812499e-01 1.05511836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:50.82, Z:10.55 [[ 5.87697815e-01 -8.07083676e-01 -5.68086072e-02 8.72955111e+01] [ 8.02670009e-01 5.90423563e-01 -8.43852678e-02 5.08209938e+01] [ 1.01647112e-01 3.99447223e-03 9.94812499e-01 1.05549981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.31, Y:50.84, Z:10.56 [[ 5.86912207e-01 -8.07656817e-01 -5.67849261e-02 8.73116334e+01] [ 8.03244277e-01 5.89639779e-01 -8.44012005e-02 5.08439655e+01] [ 1.01649856e-01 3.92392791e-03 9.94812500e-01 1.05587319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:50.87, Z:10.56 [[ 5.86713045e-01 -8.07803162e-01 -5.67613775e-02 8.73273574e+01] [ 8.03389778e-01 5.89439250e-01 -8.44170344e-02 5.08670170e+01] [ 1.01649731e-01 3.92706478e-03 9.94812500e-01 1.05624705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:50.89, Z:10.56 [[ 5.86289208e-01 -8.08112524e-01 -5.67372222e-02 8.73424983e+01] [ 8.03699015e-01 5.89015210e-01 -8.44332663e-02 5.08897755e+01] [ 1.01650667e-01 3.90266326e-03 9.94812501e-01 1.05645488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:50.91, Z:10.57 [[ 5.85836047e-01 -8.08442889e-01 -5.67117337e-02 8.73581743e+01] [ 8.04029267e-01 5.88561866e-01 -8.44503828e-02 5.09130525e+01] [ 1.01651675e-01 3.87618478e-03 9.94812501e-01 1.05677723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:50.94, Z:10.57 [[ 5.85017155e-01 -8.09037353e-01 -5.66876550e-02 8.73746249e+01] [ 8.04624942e-01 5.87744933e-01 -8.44665427e-02 5.09361187e+01] [ 1.01654470e-01 3.80207541e-03 9.94812501e-01 1.05696998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:50.96, Z:10.57 [[ 5.84036838e-01 -8.09746997e-01 -5.66636810e-02 8.73906965e+01] [ 8.05336347e-01 5.86767462e-01 -8.44826225e-02 5.09596535e+01] [ 1.01657954e-01 3.70764174e-03 9.94812502e-01 1.05718896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:50.98, Z:10.57 [[ 5.83384538e-01 -8.10218738e-01 -5.66398949e-02 8.74066959e+01] [ 8.05808755e-01 5.86116237e-01 -8.44985665e-02 5.09823229e+01] [ 1.01659884e-01 3.65423397e-03 9.94812502e-01 1.05743396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:51.00, Z:10.58 [[ 5.82274307e-01 -8.11018650e-01 -5.66160926e-02 8.74239563e+01] [ 8.06610875e-01 5.85009567e-01 -8.45145116e-02 5.10048841e+01] [ 1.01663801e-01 3.54347268e-03 9.94812503e-01 1.05770656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:51.03, Z:10.58 [[ 5.81570529e-01 -8.11525141e-01 -5.65921050e-02 8.74397300e+01] [ 8.07118191e-01 5.84307118e-01 -8.45305711e-02 5.10271422e+01] [ 1.01665853e-01 3.48397147e-03 9.94812503e-01 1.05796667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:51.05, Z:10.58 [[ 5.81124043e-01 -8.11846685e-01 -5.65668324e-02 8.74559099e+01] [ 8.07439610e-01 5.83860428e-01 -8.45474799e-02 5.10503157e+01] [ 1.01666726e-01 3.45827215e-03 9.94812504e-01 1.05830303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:51.07, Z:10.59 [[ 5.76309388e-01 -8.15273201e-01 -5.65428764e-02 8.74716341e+01] [ 8.10880837e-01 5.79069325e-01 -8.45634979e-02 5.10715882e+01] [ 1.01684599e-01 2.88520285e-03 9.94812504e-01 1.05867987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:51.09, Z:10.59 [[ 5.67212019e-01 -8.21630258e-01 -5.65176550e-02 8.74884720e+01] [ 8.17267172e-01 5.70018012e-01 -8.45803513e-02 5.10931413e+01] [ 1.01709857e-01 1.78496771e-03 9.94812504e-01 1.05947475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:51.12, Z:10.60 [[ 5.64243988e-01 -8.23672961e-01 -5.64940195e-02 8.75042537e+01] [ 8.19318456e-01 5.67063278e-01 -8.45961353e-02 5.11168667e+01] [ 1.01715233e-01 1.44626798e-03 9.94812505e-01 1.05965803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:51.14, Z:10.60 [[ 5.61847803e-01 -8.25310934e-01 -5.64704223e-02 8.75192189e+01] [ 8.20963066e-01 5.64677318e-01 -8.46118843e-02 5.11396101e+01] [ 1.01718680e-01 1.17887028e-03 9.94812505e-01 1.05952068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:51.16, Z:10.59 [[ 5.58109080e-01 -8.27845484e-01 -5.64456387e-02 8.75346804e+01] [ 8.23508796e-01 5.60955698e-01 -8.46284145e-02 5.11638588e+01] [ 1.01722753e-01 7.48406565e-04 9.94812506e-01 1.05935642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.55, Y:51.19, Z:10.60 [[ 5.56288294e-01 -8.29071670e-01 -5.64225120e-02 8.75504508e+01] [ 8.24739693e-01 5.59142075e-01 -8.46438306e-02 5.11868032e+01] [ 1.01724002e-01 5.52486888e-04 9.94812506e-01 1.05955032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.57, Y:51.21, Z:10.60 [[ 5.55095582e-01 -8.29872294e-01 -5.63991994e-02 8.75669121e+01] [ 8.25542855e-01 5.57953212e-01 -8.46593612e-02 5.12093147e+01] [ 1.01724573e-01 4.34081278e-04 9.94812506e-01 1.05992578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.58, Y:51.23, Z:10.61 [[ 5.55060387e-01 -8.29897405e-01 -5.63760994e-02 8.75838883e+01] [ 8.25566533e-01 5.57915844e-01 -8.46747412e-02 5.12305829e+01] [ 1.01724467e-01 4.57373727e-04 9.94812507e-01 1.06073285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:51.25, Z:10.61 [[ 5.55944947e-01 -8.29306494e-01 -5.63556209e-02 8.75992688e+01] [ 8.24971205e-01 5.58793693e-01 -8.46883685e-02 5.12537665e+01] [ 1.01723779e-01 5.90306038e-04 9.94812507e-01 1.06123736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:51.28, Z:10.62 [[ 5.57386693e-01 -8.28339633e-01 -5.63340604e-02 8.76143360e+01] [ 8.23997954e-01 5.60225690e-01 -8.47027080e-02 5.12775602e+01] [ 1.01722398e-01 7.93011854e-04 9.94812507e-01 1.06158951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:51.30, Z:10.62 [[ 5.59212134e-01 -8.27109965e-01 -5.63107007e-02 8.76293320e+01] [ 8.22760480e-01 5.62039157e-01 -8.47182348e-02 5.13018980e+01] [ 1.01720115e-01 1.04524575e-03 9.94812508e-01 1.06177442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.64, Y:51.33, Z:10.62 [[ 5.63454406e-01 -8.24227430e-01 -5.62874394e-02 8.76437396e+01] [ 8.19861942e-01 5.66256654e-01 -8.47336871e-02 5.13263994e+01] [ 1.01712966e-01 1.59563994e-03 9.94812508e-01 1.06184217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:51.35, Z:10.62 [[ 5.65753442e-01 -8.22652666e-01 -5.62639677e-02 8.76589734e+01] [ 8.18277831e-01 5.68541074e-01 -8.47492697e-02 5.13496900e+01] [ 1.01707589e-01 1.90763361e-03 9.94812509e-01 1.06221593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:51.37, Z:10.63 [[ 5.67544454e-01 -8.21419704e-01 -5.62402219e-02 8.76740072e+01] [ 8.17037255e-01 5.70320098e-01 -8.47650247e-02 5.13732654e+01] [ 1.01702590e-01 2.15756307e-03 9.94812509e-01 1.06258772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:51.40, Z:10.63 [[ 5.69363428e-01 -8.20161587e-01 -5.62161719e-02 8.76885526e+01] [ 8.15771433e-01 5.72126870e-01 -8.47809717e-02 5.13957559e+01] [ 1.01696879e-01 2.41163752e-03 9.94812509e-01 1.06290700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:51.42, Z:10.63 [[ 5.72306623e-01 -8.18112296e-01 -5.61907501e-02 8.77027419e+01] [ 8.13710600e-01 5.75051642e-01 -8.47978173e-02 5.14197374e+01] [ 1.01686720e-01 2.80734353e-03 9.94812510e-01 1.06329470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:51.44, Z:10.64 [[ 5.72312497e-01 -8.18109803e-01 -5.61672158e-02 8.77177220e+01] [ 8.13706569e-01 5.75055047e-01 -8.48134029e-02 5.14439120e+01] [ 1.01685917e-01 2.83613798e-03 9.94812510e-01 1.06357659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.936875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:87.73, Y:51.47, Z:10.64 [[ 5.70622968e-01 -8.19290732e-01 -5.61437837e-02 8.77328433e+01] [ 8.14891652e-01 5.73372175e-01 -8.48289114e-02 5.14674824e+01] [ 1.01690824e-01 2.65422456e-03 9.94812511e-01 1.06392792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:51.49, Z:10.64 [[ 5.68254069e-01 -8.20937183e-01 -5.61200040e-02 8.77481331e+01] [ 8.16544519e-01 5.71013515e-01 -8.48446404e-02 5.14911855e+01] [ 1.01697401e-01 2.38883038e-03 9.94812511e-01 1.06425545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:51.51, Z:10.64 [[ 5.67119572e-01 -8.21722954e-01 -5.60961479e-02 8.77631034e+01] [ 8.17332556e-01 5.69882622e-01 -8.48604103e-02 5.15148058e+01] [ 1.01699967e-01 2.27679157e-03 9.94812511e-01 1.06445691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:51.54, Z:10.65 [[ 5.66043464e-01 -8.22466233e-01 -5.60722117e-02 8.77779694e+01] [ 8.18077899e-01 5.68809791e-01 -8.48762234e-02 5.15384705e+01] [ 1.01702251e-01 2.17219434e-03 9.94812512e-01 1.06463313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:51.56, Z:10.65 [[ 5.64992171e-01 -8.23190385e-01 -5.60485307e-02 8.77928823e+01] [ 8.18804048e-01 5.67761661e-01 -8.48918585e-02 5.15622974e+01] [ 1.01704369e-01 2.07047156e-03 9.94812512e-01 1.06481961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:51.59, Z:10.65 [[ 5.64740214e-01 -8.23364870e-01 -5.60248281e-02 8.78067922e+01] [ 8.18977839e-01 5.67508604e-01 -8.49074983e-02 5.15850957e+01] [ 1.01704423e-01 2.06758603e-03 9.94812513e-01 1.06496769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:51.61, Z:10.65 [[ 5.65031458e-01 -8.23166720e-01 -5.60000193e-02 8.78214706e+01] [ 8.18777099e-01 5.67795739e-01 -8.49238576e-02 5.16083168e+01] [ 1.01703066e-01 2.13311779e-03 9.94812513e-01 1.06529046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:51.63, Z:10.66 [[ 5.65610580e-01 -8.22770523e-01 -5.59762304e-02 8.78362166e+01] [ 8.18377416e-01 5.68369317e-01 -8.49395348e-02 5.16313536e+01] [ 1.01700917e-01 2.23301675e-03 9.94812514e-01 1.06552137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:51.66, Z:10.66 [[ 5.67228582e-01 -8.21657596e-01 -5.59511502e-02 8.78513390e+01] [ 8.17257451e-01 5.69976077e-01 -8.49560525e-02 5.16550689e+01] [ 1.01695603e-01 2.46300685e-03 9.94812514e-01 1.06577099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:51.68, Z:10.66 [[ 5.67000279e-01 -8.21816764e-01 -5.59275494e-02 8.78669108e+01] [ 8.17415860e-01 5.69746559e-01 -8.49715863e-02 5.16789221e+01] [ 1.01695603e-01 2.46284726e-03 9.94812514e-01 1.06606073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:51.70, Z:10.66 [[ 5.67741630e-01 -8.21306402e-01 -5.59038104e-02 8.78817535e+01] [ 8.16901495e-01 5.70481484e-01 -8.49872017e-02 5.17023609e+01] [ 1.01692622e-01 2.58286618e-03 9.94812515e-01 1.06628765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:51.73, Z:10.67 [[ 5.68847185e-01 -8.20542681e-01 -5.58801356e-02 8.78969310e+01] [ 8.16132570e-01 5.71578654e-01 -8.50027654e-02 5.17258274e+01] [ 1.01688290e-01 2.74798514e-03 9.94812515e-01 1.06655967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:51.75, Z:10.67 [[ 5.71204309e-01 -8.18905172e-01 -5.58565784e-02 8.79116107e+01] [ 8.14485723e-01 5.73920643e-01 -8.50182424e-02 5.17488156e+01] [ 1.01679122e-01 3.06840080e-03 9.94812516e-01 1.06675458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.93, Y:51.77, Z:10.67 [[ 5.71977123e-01 -8.18366743e-01 -5.58394498e-02 8.79263790e+01] [ 8.13943644e-01 5.74687507e-01 -8.50294909e-02 5.17723905e+01] [ 1.01675542e-01 3.18475834e-03 9.94812516e-01 1.06714673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:51.80, Z:10.68 [[ 5.73129359e-01 -8.17561815e-01 -5.58159075e-02 8.79416694e+01] [ 8.13133410e-01 5.75831065e-01 -8.50449420e-02 5.17961236e+01] [ 1.01670031e-01 3.35597390e-03 9.94812516e-01 1.06753526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:51.82, Z:10.68 [[ 5.73845968e-01 -8.17060592e-01 -5.57924172e-02 8.79566087e+01] [ 8.12628335e-01 5.76541349e-01 -8.50603497e-02 5.18199588e+01] [ 1.01666095e-01 3.47303970e-03 9.94812517e-01 1.06796593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:51.84, Z:10.68 [[ 5.74776335e-01 -8.16408028e-01 -5.57682362e-02 8.79703074e+01] [ 8.11971179e-01 5.77464150e-01 -8.50762007e-02 5.18439472e+01] [ 1.01661050e-01 3.61758632e-03 9.94812517e-01 1.06827103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.98, Y:51.87, Z:10.69 [[ 5.75447012e-01 -8.15937101e-01 -5.57439133e-02 8.79847795e+01] [ 8.11496516e-01 5.78128648e-01 -8.50921347e-02 5.18679824e+01] [ 1.01656983e-01 3.73002322e-03 9.94812517e-01 1.06853369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:51.89, Z:10.69 [[ 5.77190504e-01 -8.14706363e-01 -5.57195135e-02 8.79979307e+01] [ 8.10258527e-01 5.79860095e-01 -8.51081090e-02 5.18921129e+01] [ 1.01647640e-01 3.97638141e-03 9.94812518e-01 1.06864055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:51.91, Z:10.69 [[ 5.77657731e-01 -8.14376913e-01 -5.56937170e-02 8.80119462e+01] [ 8.09925934e-01 5.80322081e-01 -8.51249867e-02 5.19147124e+01] [ 1.01644118e-01 4.06532089e-03 9.94812518e-01 1.06886086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:51.94, Z:10.69 [[ 5.77914944e-01 -8.14196144e-01 -5.56682733e-02 8.80262603e+01] [ 8.09742738e-01 5.80575234e-01 -8.51416226e-02 5.19374416e+01] [ 1.01641602e-01 4.12763601e-03 9.94812519e-01 1.06905962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:51.96, Z:10.69 [[ 5.78216740e-01 -8.13983471e-01 -5.56445010e-02 8.80406629e+01] [ 8.09527600e-01 5.80872898e-01 -8.51571563e-02 5.19609217e+01] [ 1.01638900e-01 4.19353394e-03 9.94812519e-01 1.06932538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.06, Y:51.99, Z:10.70 [[ 5.77032846e-01 -8.14824825e-01 -5.56201218e-02 8.80551650e+01] [ 8.10371302e-01 5.79692936e-01 -8.51730765e-02 5.19852424e+01] [ 1.01643729e-01 4.07471223e-03 9.94812520e-01 1.06962095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:52.01, Z:10.70 [[ 5.77062927e-01 -8.14805171e-01 -5.55959681e-02 8.80652353e+01] [ 8.10350046e-01 5.79720333e-01 -8.51888398e-02 5.20109903e+01] [ 1.01642420e-01 4.10712591e-03 9.94812520e-01 1.07037630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:52.04, Z:10.71 [[ 5.85866431e-01 -8.08500036e-01 -5.55717238e-02 8.80688659e+01] [ 8.04014871e-01 5.88472816e-01 -8.52046523e-02 5.20411312e+01] [ 1.01590413e-01 5.23805322e-03 9.94812520e-01 1.07056164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.686875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:88.06, Y:52.08, Z:10.71 [[ 6.05587411e-01 -7.93837828e-01 -5.55462903e-02 8.80629420e+01] [ 7.89288391e-01 6.08079911e-01 -8.52212296e-02 5.20787773e+01] [ 1.01428419e-01 7.76686171e-03 9.94812521e-01 1.07055221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.716875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:88.07, Y:52.11, Z:10.71 [[ 6.16421175e-01 -7.85456672e-01 -5.55225273e-02 8.80670659e+01] [ 7.80872118e-01 6.18848478e-01 -8.52367087e-02 5.21099232e+01] [ 1.01309773e-01 9.18571861e-03 9.94812521e-01 1.07069296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:52.14, Z:10.71 [[ 6.28608869e-01 -7.75738925e-01 -5.54978387e-02 8.80691530e+01] [ 7.71115675e-01 6.30961630e-01 -8.52527805e-02 5.21414336e+01] [ 1.01150907e-01 1.07954005e-02 9.94812522e-01 1.07069808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:52.18, Z:10.71 [[ 6.56715297e-01 -7.52095331e-01 -5.54764078e-02 8.80546835e+01] [ 7.47387582e-01 6.58894064e-01 -8.52667240e-02 5.21843655e+01] [ 1.00681781e-01 1.45335836e-02 9.94812522e-01 1.07094644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:52.22, Z:10.71 [[ 6.72019809e-01 -7.38453396e-01 -5.54613213e-02 8.80533749e+01] [ 7.33701169e-01 6.74099775e-01 -8.52765358e-02 5.22189484e+01] [ 1.00359212e-01 1.66154851e-02 9.94812522e-01 1.07121688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:52.25, Z:10.71 [[ 6.87466858e-01 -7.24096781e-01 -5.54361855e-02 8.80499643e+01] [ 7.19300521e-01 6.89443171e-01 -8.52928729e-02 5.22530093e+01] [ 9.99803943e-02 1.87607463e-02 9.94812523e-01 1.07133206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:52.29, Z:10.72 [[ 7.02442014e-01 -7.09580498e-01 -5.54141940e-02 8.80468593e+01] [ 7.04743040e-01 7.04315225e-01 -8.53071583e-02 5.22893745e+01] [ 9.95613564e-02 2.08705645e-02 9.94812523e-01 1.07154216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.896875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:88.02, Y:52.34, Z:10.71 [[ 7.28020608e-01 -6.83313790e-01 -5.53918602e-02 8.80245469e+01] [ 6.78409936e-01 7.29712391e-01 -8.53216577e-02 5.23385638e+01] [ 9.87215921e-02 2.45375368e-02 9.94812523e-01 1.07135680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.926875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:88.02, Y:52.37, Z:10.71 [[ 7.36158050e-01 -6.74540991e-01 -5.53694536e-02 8.80226995e+01] [ 6.69616359e-01 7.37788361e-01 -8.53361960e-02 5.23733940e+01] [ 9.84137007e-02 2.57446357e-02 9.94812524e-01 1.07141282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.956875 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:88.02, Y:52.41, Z:10.72 [[ 7.39434561e-01 -6.70949769e-01 -5.53438192e-02 8.80194808e+01] [ 6.66016295e-01 7.41037915e-01 -8.53528178e-02 5.24071582e+01] [ 9.82793217e-02 2.62529378e-02 9.94812524e-01 1.07167188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.986875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:88.01, Y:52.45, Z:10.72 [[ 7.40475007e-01 -6.69846061e-01 -5.47998056e-02 8.80126687e+01] [ 6.64890051e-01 7.42007954e-01 -8.57054099e-02 5.24479304e+01] [ 9.80713228e-02 2.70268685e-02 9.94812326e-01 1.07172702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.016875 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:88.02, Y:52.48, Z:10.72 [[ 7.36170513e-01 -6.74530502e-01 -5.53315328e-02 8.80170353e+01] [ 6.69604401e-01 7.37796372e-01 -8.53607644e-02 5.24775164e+01] [ 9.84018434e-02 2.57898398e-02 9.94812526e-01 1.07205416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.046875 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:88.02, Y:52.51, Z:10.73 [[ 7.29744577e-01 -6.81478169e-01 -5.53204896e-02 8.80228866e+01] [ 6.76567268e-01 7.31415785e-01 -8.53679207e-02 5.25079248e+01] [ 9.86386536e-02 2.48687447e-02 9.94812526e-01 1.07269322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:52.54, Z:10.73 [[ 7.19339322e-01 -6.92454346e-01 -5.52984479e-02 8.80239889e+01] [ 6.87568422e-01 7.21082204e-01 -8.53821962e-02 5.25379639e+01] [ 9.89979995e-02 2.33973045e-02 9.94812526e-01 1.07316619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:52.57, Z:10.74 [[ 7.01108789e-01 -7.10974963e-01 -5.44156897e-02 8.80284022e+01] [ 7.06098002e-01 7.02878098e-01 -8.59534258e-02 5.25714317e+01] [ 9.93583303e-02 2.18398925e-02 9.94812013e-01 1.07395301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13687499999999 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:88.04, Y:52.60, Z:10.74 [[ 6.88743864e-01 -7.22893683e-01 -5.52866491e-02 8.80380038e+01] [ 7.18087128e-01 6.90694937e-01 -8.53895765e-02 5.25988465e+01] [ 9.99137940e-02 1.91109157e-02 9.94812549e-01 1.07439568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:52.63, Z:10.74 [[ 6.73011136e-01 -7.37564811e-01 -5.52644618e-02 8.80424863e+01] [ 7.32800340e-01 6.75062834e-01 -8.54039338e-02 5.26256664e+01] [ 1.00297921e-01 1.69799821e-02 9.94812549e-01 1.07428686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19687499999999 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:88.06, Y:52.65, Z:10.75 [[ 6.47217221e-01 -7.60357847e-01 -5.44592766e-02 8.80563931e+01] [ 7.55625688e-01 6.49343381e-01 -8.59243395e-02 5.26526381e+01] [ 1.00696017e-01 1.44608839e-02 9.94812141e-01 1.07509719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:52.68, Z:10.75 [[ 6.32039895e-01 -7.72964892e-01 -5.52344709e-02 8.80695161e+01] [ 7.68317048e-01 6.34343596e-01 -8.54231517e-02 5.26774594e+01] [ 1.01066730e-01 1.15532542e-02 9.94812564e-01 1.07535745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:52.70, Z:10.76 [[ 6.16859008e-01 -7.85134925e-01 -5.52097346e-02 8.80831851e+01] [ 7.80531469e-01 6.19250175e-01 -8.54391361e-02 5.27021485e+01] [ 1.01269887e-01 9.61096542e-03 9.94812565e-01 1.07557358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:52.73, Z:10.76 [[ 6.02173604e-01 -7.96455608e-01 -5.51852691e-02 8.80964719e+01] [ 7.91895935e-01 6.04647237e-01 -8.54549355e-02 5.27251261e+01] [ 1.01428683e-01 7.75771629e-03 9.94812565e-01 1.07579357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:52.75, Z:10.76 [[ 5.75477164e-01 -8.15954929e-01 -5.51687195e-02 8.81099627e+01] [ 8.11478631e-01 5.78098658e-01 -8.54656184e-02 5.27491742e+01] [ 1.01629055e-01 4.41527471e-03 9.94812565e-01 1.07604488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:52.77, Z:10.76 [[ 5.64032290e-01 -8.23909361e-01 -5.51447298e-02 8.81238693e+01] [ 8.19468588e-01 5.66713522e-01 -8.54810945e-02 5.27718962e+01] [ 1.01679938e-01 3.02472357e-03 9.94812566e-01 1.07635735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:52.80, Z:10.77 [[ 5.53790194e-01 -8.30829263e-01 -5.51285492e-02 8.81386746e+01] [ 8.26420988e-01 5.56524528e-01 -8.54915284e-02 5.27958139e+01] [ 1.01709253e-01 1.78498008e-03 9.94812566e-01 1.07669963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:52.82, Z:10.77 [[ 5.37264314e-01 -8.41611868e-01 -5.51046362e-02 8.81530101e+01] [ 8.37256913e-01 5.40082795e-01 -8.55069391e-02 5.28192869e+01] [ 1.01724721e-01 -1.96910628e-04 9.94812566e-01 1.07706896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:52.84, Z:10.77 [[ 5.30823105e-01 -8.45690816e-01 -5.50806147e-02 8.81675440e+01] [ 8.41355910e-01 5.33672325e-01 -8.55224102e-02 5.28421462e+01] [ 1.01720517e-01 -9.45129370e-04 9.94812567e-01 1.07737253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:52.86, Z:10.78 [[ 5.25477336e-01 -8.49023650e-01 -5.50673389e-02 8.81820288e+01] [ 8.44705914e-01 5.28352509e-01 -8.55309575e-02 5.28642455e+01] [ 1.01712772e-01 -1.57112721e-03 9.94812567e-01 1.07761821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:52.89, Z:10.78 [[ 5.18916169e-01 -8.53050428e-01 -5.50543123e-02 8.81976056e+01] [ 8.48754104e-01 5.21823239e-01 -8.55393417e-02 5.28868034e+01] [ 1.01697992e-01 -2.33982599e-03 9.94812567e-01 1.07774457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:52.91, Z:10.78 [[ 5.17651475e-01 -8.53819294e-01 -5.50414712e-02 8.82125169e+01] [ 8.49526410e-01 5.20563623e-01 -8.55476037e-02 5.29089979e+01] [ 1.01694782e-01 -2.47534026e-03 9.94812567e-01 1.07795191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:52.93, Z:10.78 [[ 5.17564920e-01 -8.53872581e-01 -5.50288035e-02 8.82271163e+01] [ 8.49579132e-01 5.20476235e-01 -8.55557515e-02 5.29316689e+01] [ 1.01694895e-01 -2.47066746e-03 9.94812567e-01 1.07807983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:52.95, Z:10.78 [[ 5.19016600e-01 -8.52992290e-01 -5.50083838e-02 8.82423401e+01] [ 8.48692514e-01 5.21918561e-01 -8.55688784e-02 5.29549973e+01] [ 1.01699490e-01 -2.27353518e-03 9.94812568e-01 1.07823521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:52.98, Z:10.78 [[ 5.25939880e-01 -8.48742472e-01 -5.49859886e-02 8.82567581e+01] [ 8.44417731e-01 5.28804502e-01 -8.55832670e-02 5.29786683e+01] [ 1.01714992e-01 -1.41949051e-03 9.94812568e-01 1.07843862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:53.00, Z:10.79 [[ 5.31137870e-01 -8.45500925e-01 -5.49613415e-02 8.82709573e+01] [ 8.41157058e-01 5.33973407e-01 -8.55990924e-02 5.30009912e+01] [ 1.01722007e-01 -7.66200664e-04 9.94812568e-01 1.07865150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:53.02, Z:10.79 [[ 5.36807418e-01 -8.41913623e-01 -5.49476746e-02 8.82861223e+01] [ 8.37549907e-01 5.39612312e-01 -8.56078646e-02 5.30247557e+01] [ 1.01724869e-01 -6.64830003e-05 9.94812569e-01 1.07901901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:53.05, Z:10.79 [[ 5.49075530e-01 -8.33965952e-01 -5.49258824e-02 8.83016897e+01] [ 8.29560250e-01 5.51814001e-01 -8.56218442e-02 5.30465692e+01] [ 1.01714574e-01 1.44853074e-03 9.94812569e-01 1.07944771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:53.07, Z:10.80 [[ 5.54969038e-01 -8.30057038e-01 -5.49061114e-02 8.83178506e+01] [ 8.25630802e-01 5.57674195e-01 -8.56345207e-02 5.30692373e+01] [ 1.01701258e-01 2.19233080e-03 9.94812569e-01 1.07985538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.766875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.33, Y:53.09, Z:10.80 [[ 5.60368897e-01 -8.26422807e-01 -5.48820803e-02 8.83344279e+01] [ 8.21977532e-01 5.63042652e-01 -8.56499193e-02 5.30914758e+01] [ 1.01683999e-01 2.88371386e-03 9.94812570e-01 1.08016982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.796875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:88.35, Y:53.11, Z:10.80 [[ 5.68917456e-01 -8.20562994e-01 -5.48570939e-02 8.83539289e+01] [ 8.16088676e-01 5.71542320e-01 -8.56659196e-02 5.31105985e+01] [ 1.01647434e-01 3.96858396e-03 9.94812570e-01 1.08029894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:53.13, Z:10.81 [[ 5.71549159e-01 -8.18733243e-01 -5.48400898e-02 8.83725239e+01] [ 8.14249488e-01 5.74157868e-01 -8.56768037e-02 5.31313601e+01] [ 1.01633316e-01 4.31499005e-03 9.94812570e-01 1.08051259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:53.15, Z:10.81 [[ 5.72846245e-01 -8.17827854e-01 -5.48158735e-02 8.83916018e+01] [ 8.13338504e-01 5.75445314e-01 -8.56922945e-02 5.31521632e+01] [ 1.01625083e-01 4.50464856e-03 9.94812571e-01 1.08066196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:53.17, Z:10.81 [[ 5.73384522e-01 -8.17452203e-01 -5.47912960e-02 8.84114072e+01] [ 8.12959658e-01 5.75978065e-01 -8.57080064e-02 5.31731364e+01] [ 1.01620783e-01 4.60053103e-03 9.94812571e-01 1.08086916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:53.19, Z:10.81 [[ 5.72709011e-01 -8.17927247e-01 -5.47668350e-02 8.84359524e+01] [ 8.13435370e-01 5.75303709e-01 -8.57236340e-02 5.31890635e+01] [ 1.01623259e-01 4.54541698e-03 9.94812571e-01 1.08115246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.46, Y:53.21, Z:10.82 [[ 5.71763988e-01 -8.18589047e-01 -5.47532030e-02 8.84566322e+01] [ 8.14099346e-01 5.74362448e-01 -8.57323401e-02 5.32091183e+01] [ 1.01627738e-01 4.44411795e-03 9.94812572e-01 1.08152172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:53.23, Z:10.82 [[ 5.70543350e-01 -8.19441917e-01 -5.47287080e-02 8.84769259e+01] [ 8.14954609e-01 5.73145941e-01 -8.57479741e-02 5.32287558e+01] [ 1.01633021e-01 4.32152355e-03 9.94812572e-01 1.08191796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:53.24, Z:10.82 [[ 5.68504077e-01 -8.20859655e-01 -5.47041268e-02 8.85017668e+01] [ 8.16377339e-01 5.71115256e-01 -8.57636533e-02 5.32445424e+01] [ 1.01642284e-01 4.09777709e-03 9.94812572e-01 1.08235837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:53.26, Z:10.83 [[ 5.67760713e-01 -8.21375101e-01 -5.46874362e-02 8.85221249e+01] [ 8.16894137e-01 5.70374210e-01 -8.57742947e-02 5.32648880e+01] [ 1.01645173e-01 4.02542874e-03 9.94812573e-01 1.08270385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:53.28, Z:10.83 [[ 5.66901231e-01 -8.21970169e-01 -5.46629292e-02 8.85423022e+01] [ 8.17490451e-01 5.69516861e-01 -8.57899100e-02 5.32849199e+01] [ 1.01648207e-01 3.94798292e-03 9.94812573e-01 1.08300473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.096875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:88.57, Y:53.30, Z:10.83 [[ 5.65881479e-01 -8.22674181e-01 -5.46382963e-02 8.85675132e+01] [ 8.18196210e-01 5.68500099e-01 -8.58055955e-02 5.33005646e+01] [ 1.01651925e-01 3.85095039e-03 9.94812573e-01 1.08308327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.126875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:88.58, Y:53.32, Z:10.83 [[ 5.65652781e-01 -8.22832347e-01 -5.46247225e-02 8.85826930e+01] [ 8.18354277e-01 5.68271232e-01 -8.58142359e-02 5.33245759e+01] [ 1.01652387e-01 3.83868587e-03 9.94812574e-01 1.08337333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.156875 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:88.60, Y:53.34, Z:10.83 [[ 5.65204522e-01 -8.23141912e-01 -5.46007368e-02 8.86028217e+01] [ 8.18663810e-01 5.67822917e-01 -8.58294945e-02 5.33444086e+01] [ 1.01653404e-01 3.81157118e-03 9.94812574e-01 1.08349283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.186875 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:88.62, Y:53.36, Z:10.84 [[ 5.64875613e-01 -8.23369081e-01 -5.45792898e-02 8.86226951e+01] [ 8.18890720e-01 5.67493565e-01 -8.58431306e-02 5.33646742e+01] [ 1.01653975e-01 3.79621713e-03 9.94812574e-01 1.08362837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21687499999999 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:88.64, Y:53.38, Z:10.84 [[ 5.64478386e-01 -8.23643081e-01 -5.45548085e-02 8.86422514e+01] [ 8.19164494e-01 5.67095951e-01 -8.58586861e-02 5.33849747e+01] [ 1.01654724e-01 3.77601044e-03 9.94812575e-01 1.08374688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24687499999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:88.67, Y:53.40, Z:10.84 [[ 5.64332721e-01 -8.23744505e-01 -5.45304548e-02 8.86672589e+01] [ 8.19264902e-01 5.66948544e-01 -8.58741509e-02 5.34023601e+01] [ 1.01654322e-01 3.78670551e-03 9.94812575e-01 1.08386615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27687499999999 meters Centerline goodness : 0.999919 Centerline is valid? [True, True] Translation: X:88.69, Y:53.42, Z:10.84 [[ 5.64018356e-01 -8.23961361e-01 -5.45065945e-02 8.86865796e+01] [ 8.19481307e-01 5.66633406e-01 -8.58892930e-02 5.34219946e+01] [ 1.01654716e-01 3.77600262e-03 9.94812576e-01 1.08404805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30687499999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:88.71, Y:53.44, Z:10.84 [[ 5.63719496e-01 -8.24166772e-01 -5.44927758e-02 8.87066393e+01] [ 8.19686827e-01 5.66334733e-01 -8.58980594e-02 5.34424489e+01] [ 1.01655478e-01 3.75540025e-03 9.94812576e-01 1.08439864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33687499999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:88.73, Y:53.46, Z:10.85 [[ 5.63795150e-01 -8.24116601e-01 -5.44688562e-02 8.87310216e+01] [ 8.19634965e-01 5.66407487e-01 -8.59132245e-02 5.34596399e+01] [ 1.01654083e-01 3.79288016e-03 9.94812576e-01 1.08478487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.366875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:88.75, Y:53.48, Z:10.85 [[ 5.64307043e-01 -8.23767792e-01 -5.44443428e-02 8.87498446e+01] [ 8.19283050e-01 5.66914044e-01 -8.59287562e-02 5.34793766e+01] [ 1.01650604e-01 3.88487504e-03 9.94812577e-01 1.08506404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.396875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:88.77, Y:53.50, Z:10.85 [[ 5.64907392e-01 -8.23357682e-01 -5.44221044e-02 8.87699826e+01] [ 8.18869698e-01 5.67508807e-01 -8.59428384e-02 5.35000420e+01] [ 1.01646720e-01 3.98513247e-03 9.94812577e-01 1.08540347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.426875 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:88.79, Y:53.52, Z:10.86 [[ 5.65754542e-01 -8.22777413e-01 -5.43978515e-02 8.87899492e+01] [ 8.18285294e-01 5.68348809e-01 -8.59581867e-02 5.35204789e+01] [ 1.01641409e-01 4.11827262e-03 9.94812577e-01 1.08570902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.456875 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:88.81, Y:53.54, Z:10.86 [[ 5.67614748e-01 -8.21496831e-01 -5.43732859e-02 8.88141249e+01] [ 8.16997382e-01 5.70196279e-01 -8.59737230e-02 5.35366982e+01] [ 1.01630586e-01 4.37712085e-03 9.94812578e-01 1.08592362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.486875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:88.83, Y:53.56, Z:10.86 [[ 5.68230503e-01 -8.21072138e-01 -5.43565953e-02 8.88342426e+01] [ 8.16569757e-01 5.70806917e-01 -8.59842743e-02 5.35574549e+01] [ 1.01626413e-01 4.47293562e-03 9.94812578e-01 1.08622458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.516875 meters Centerline goodness : 0.999919 Centerline is valid? [True, True] Translation: X:88.85, Y:53.58, Z:10.86 [[ 5.68652259e-01 -8.20781736e-01 -5.43318453e-02 8.88536910e+01] [ 8.16276556e-01 5.71223774e-01 -8.59999106e-02 5.35772216e+01] [ 1.01622798e-01 4.55423194e-03 9.94812578e-01 1.08649438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.87, Y:53.60, Z:10.87 [[ 5.69370974e-01 -8.20284817e-01 -5.43094113e-02 8.88739576e+01] [ 8.15776051e-01 5.71936197e-01 -8.60140755e-02 5.35973008e+01] [ 1.01617558e-01 4.66960082e-03 9.94812579e-01 1.08688328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.90, Y:53.61, Z:10.87 [[ 5.70294796e-01 -8.19644416e-01 -5.42851444e-02 8.88996136e+01] [ 8.15131323e-01 5.72852399e-01 -8.60293881e-02 5.36137511e+01] [ 1.01610883e-01 4.81259084e-03 9.94812579e-01 1.08720749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:53.63, Z:10.87 [[ 5.70169621e-01 -8.19733143e-01 -5.42602731e-02 8.89200351e+01] [ 8.15218968e-01 5.72725310e-01 -8.60450721e-02 5.36345129e+01] [ 1.01610229e-01 4.82628232e-03 9.94812580e-01 1.08739853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63687499999999 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:88.94, Y:53.66, Z:10.88 [[ 5.70012760e-01 -8.19843873e-01 -5.42353910e-02 8.89404447e+01] [ 8.15328713e-01 5.72566710e-01 -8.60607528e-02 5.36551198e+01] [ 1.01609760e-01 4.83605569e-03 9.94812580e-01 1.08763533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66687499999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.97, Y:53.67, Z:10.88 [[ 5.69744068e-01 -8.20032257e-01 -5.42106528e-02 8.89650002e+01] [ 8.15516470e-01 5.72296908e-01 -8.60763329e-02 5.36717595e+01] [ 1.01609959e-01 4.83179982e-03 9.94812580e-01 1.08791109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:53.69, Z:10.88 [[ 5.69490317e-01 -8.20209973e-01 -5.41883693e-02 8.89849020e+01] [ 8.15693659e-01 5.72042224e-01 -8.60903590e-02 5.36928369e+01] [ 1.01610206e-01 4.82651668e-03 9.94812581e-01 1.08819628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:53.71, Z:10.88 [[ 5.69294278e-01 -8.20347622e-01 -5.41646047e-02 8.90041645e+01] [ 8.15830514e-01 5.71844777e-01 -8.61053082e-02 5.37133825e+01] [ 1.01610031e-01 4.83012196e-03 9.94812581e-01 1.08843120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:53.73, Z:10.88 [[ 5.69639629e-01 -8.20109458e-01 -5.41402794e-02 8.90286813e+01] [ 8.15589842e-01 5.72185680e-01 -8.61206005e-02 5.37317784e+01] [ 1.01606612e-01 4.90144502e-03 9.94812582e-01 1.08848498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:53.75, Z:10.89 [[ 5.69761795e-01 -8.20026231e-01 -5.41154096e-02 8.90477672e+01] [ 8.15504770e-01 5.72304570e-01 -8.61362251e-02 5.37523315e+01] [ 1.01604460e-01 4.94575551e-03 9.94812582e-01 1.08856106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:53.77, Z:10.89 [[ 5.69667546e-01 -8.20092822e-01 -5.40985227e-02 8.90669767e+01] [ 8.15570660e-01 5.72209072e-01 -8.61468297e-02 5.37730034e+01] [ 1.01604062e-01 4.95388516e-03 9.94812582e-01 1.08868474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:53.79, Z:10.89 [[ 5.69443246e-01 -8.20250175e-01 -5.40744004e-02 8.90864452e+01] [ 8.15727289e-01 5.71983483e-01 -8.61619687e-02 5.37939237e+01] [ 1.01604034e-01 4.95438701e-03 9.94812583e-01 1.08885429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.876875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.11, Y:53.81, Z:10.89 [[ 5.68736288e-01 -8.20742148e-01 -5.40496145e-02 8.91101523e+01] [ 8.16219995e-01 5.71277828e-01 -8.61775142e-02 5.38111422e+01] [ 1.01606865e-01 4.89590348e-03 9.94812583e-01 1.08898849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.13, Y:53.83, Z:10.89 [[ 5.67946172e-01 -8.21290207e-01 -5.40327818e-02 8.91292122e+01] [ 8.16769510e-01 5.70490302e-01 -8.61880670e-02 5.38311284e+01] [ 1.01610593e-01 4.81785403e-03 9.94812583e-01 1.08928089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:53.85, Z:10.90 [[ 5.67206884e-01 -8.21802354e-01 -5.40115027e-02 8.91487766e+01] [ 8.17282694e-01 5.69752855e-01 -8.62013999e-02 5.38512324e+01] [ 1.01613721e-01 4.75136099e-03 9.94812583e-01 1.08972826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:53.87, Z:10.90 [[ 5.66196815e-01 -8.22500201e-01 -5.39869071e-02 8.91725627e+01] [ 8.17982222e-01 5.68745767e-01 -8.62168011e-02 5.38685081e+01] [ 1.01618161e-01 4.65534798e-03 9.94812584e-01 1.09022772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:53.89, Z:10.91 [[ 5.66192575e-01 -8.22504555e-01 -5.39650348e-02 8.91916992e+01] [ 8.17985301e-01 5.68739264e-01 -8.62304894e-02 5.38897078e+01] [ 1.01617004e-01 4.68045757e-03 9.94812584e-01 1.09064618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:53.91, Z:10.91 [[ 5.66633418e-01 -8.22202499e-01 -5.39409009e-02 8.92096904e+01] [ 8.17680461e-01 5.69175160e-01 -8.62455836e-02 5.39097980e+01] [ 1.01613155e-01 4.76320906e-03 9.94812585e-01 1.09093950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:53.93, Z:10.91 [[ 5.66947548e-01 -8.21986994e-01 -5.39245756e-02 8.92283859e+01] [ 8.17463027e-01 5.69485854e-01 -8.62557897e-02 5.39316609e+01] [ 1.01610420e-01 4.82116167e-03 9.94812585e-01 1.09121491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:53.95, Z:10.91 [[ 5.68593422e-01 -8.20850886e-01 -5.39012408e-02 8.92505430e+01] [ 8.16320479e-01 5.71120215e-01 -8.62703692e-02 5.39507702e+01] [ 1.01599197e-01 5.05207771e-03 9.94812585e-01 1.09149935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:53.97, Z:10.92 [[ 5.69135647e-01 -8.20476033e-01 -5.38859343e-02 8.92688702e+01] [ 8.15943065e-01 5.71657843e-01 -8.62799289e-02 5.39720663e+01] [ 1.01594931e-01 5.13712879e-03 9.94812585e-01 1.09174437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:53.99, Z:10.92 [[ 5.69324924e-01 -8.20346320e-01 -5.38613557e-02 8.92867333e+01] [ 8.15811339e-01 5.71843498e-01 -8.62952697e-02 5.39929335e+01] [ 1.01592273e-01 5.18934314e-03 9.94812586e-01 1.09199358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:54.01, Z:10.92 [[ 5.69240038e-01 -8.20406931e-01 -5.38353757e-02 8.93046749e+01] [ 8.15870699e-01 5.71756357e-01 -8.63114744e-02 5.40138779e+01] [ 1.01591250e-01 5.20924134e-03 9.94812586e-01 1.09224763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.33, Y:54.03, Z:10.92 [[ 5.65801385e-01 -8.22783885e-01 -5.38095841e-02 8.93260089e+01] [ 8.18256715e-01 5.68333971e-01 -8.63275508e-02 5.40341575e+01] [ 1.01610732e-01 4.81419424e-03 9.94812587e-01 1.09231906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:54.06, Z:10.92 [[ 5.61620232e-01 -8.25645106e-01 -5.37854403e-02 8.93439744e+01] [ 8.21129418e-01 5.64173233e-01 -8.63425907e-02 5.40566164e+01] [ 1.01632643e-01 4.32693858e-03 9.94812587e-01 1.09247533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:54.08, Z:10.93 [[ 5.58438705e-01 -8.27801885e-01 -5.37610656e-02 8.93623501e+01] [ 8.23294609e-01 5.61006528e-01 -8.63577650e-02 5.40784446e+01] [ 1.01647429e-01 3.96432296e-03 9.94812588e-01 1.09282150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.38, Y:54.10, Z:10.93 [[ 5.53458998e-01 -8.31141072e-01 -5.37369134e-02 8.93834413e+01] [ 8.26647847e-01 5.56051327e-01 -8.63727914e-02 5.40981584e+01] [ 1.01668456e-01 3.38229479e-03 9.94812588e-01 1.09328607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.40, Y:54.12, Z:10.94 [[ 5.51242413e-01 -8.32614397e-01 -5.37128353e-02 8.94006875e+01] [ 8.28126648e-01 5.53844211e-01 -8.63877623e-02 5.41198467e+01] [ 1.01676237e-01 3.13956827e-03 9.94812588e-01 1.09354065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.42, Y:54.14, Z:10.94 [[ 5.47789950e-01 -8.34891441e-01 -5.36884686e-02 8.94173006e+01] [ 8.30413032e-01 5.50407790e-01 -8.64029032e-02 5.41414958e+01] [ 1.01687596e-01 2.74703806e-03 9.94812589e-01 1.09373435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:54.16, Z:10.94 [[ 5.40337041e-01 -8.39735280e-01 -5.36706785e-02 8.94347892e+01] [ 8.35279258e-01 5.42992809e-01 -8.64139524e-02 5.41626262e+01] [ 1.01707637e-01 1.86265480e-03 9.94812589e-01 1.09419390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:54.18, Z:10.95 [[ 5.31161392e-01 -8.45570656e-01 -5.36455159e-02 8.94535953e+01] [ 8.41142247e-01 5.33862950e-01 -8.64295705e-02 5.41835251e+01] [ 1.01721662e-01 7.84541156e-04 9.94812589e-01 1.09451460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:54.21, Z:10.95 [[ 5.28849787e-01 -8.47019830e-01 -5.36219275e-02 8.94698660e+01] [ 8.42597340e-01 5.31561025e-01 -8.64442026e-02 5.42066942e+01] [ 1.01723280e-01 5.34304647e-04 9.94812590e-01 1.09463796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:54.23, Z:10.95 [[ 5.27255402e-01 -8.48014709e-01 -5.35984568e-02 8.94853589e+01] [ 8.43595855e-01 5.29972562e-01 -8.64587528e-02 5.42292919e+01] [ 1.01724006e-01 3.70408464e-04 9.94812590e-01 1.09467373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:54.25, Z:10.95 [[ 5.26364804e-01 -8.48568872e-01 -5.35813652e-02 8.95013201e+01] [ 8.44151801e-01 5.29084860e-01 -8.64693438e-02 5.42522016e+01] [ 1.01724283e-01 2.83613179e-04 9.94812590e-01 1.09490113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:54.27, Z:10.95 [[ 5.27333791e-01 -8.47968562e-01 -5.35573557e-02 8.95180735e+01] [ 8.43546884e-01 5.30046352e-01 -8.64842123e-02 5.42730859e+01] [ 1.01723774e-01 4.27907101e-04 9.94812591e-01 1.09515627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:54.30, Z:10.96 [[ 5.28718173e-01 -8.47107180e-01 -5.35398904e-02 8.95340482e+01] [ 8.42679988e-01 5.31421724e-01 -8.64950233e-02 5.42959451e+01] [ 1.01722816e-01 6.14496424e-04 9.94812591e-01 1.09558068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:54.32, Z:10.96 [[ 5.28370370e-01 -8.47325649e-01 -5.35163259e-02 8.95502772e+01] [ 8.42898099e-01 5.31073332e-01 -8.65096007e-02 5.43184251e+01] [ 1.01722897e-01 6.00300380e-04 9.94812591e-01 1.09616303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:54.34, Z:10.97 [[ 5.28305679e-01 -8.47367503e-01 -5.34922792e-02 8.95652977e+01] [ 8.42938662e-01 5.31006525e-01 -8.65244672e-02 5.43409566e+01] [ 1.01722771e-01 6.20657133e-04 9.94812592e-01 1.09666454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.58, Y:54.36, Z:10.97 [[ 5.29416501e-01 -8.46675537e-01 -5.34668464e-02 8.95789877e+01] [ 8.42241578e-01 5.32108937e-01 -8.65401804e-02 5.43645353e+01] [ 1.01721640e-01 7.83798406e-04 9.94812592e-01 1.09684216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:54.39, Z:10.97 [[ 5.30304738e-01 -8.46121059e-01 -5.34419129e-02 8.95925307e+01] [ 8.41682734e-01 5.32989969e-01 -8.65555751e-02 5.43892520e+01] [ 1.01720498e-01 9.19696195e-04 9.94812593e-01 1.09693915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:54.41, Z:10.97 [[ 5.31385244e-01 -8.45444363e-01 -5.34186465e-02 8.96062130e+01] [ 8.41001176e-01 5.34062421e-01 -8.65699318e-02 5.44137904e+01] [ 1.01718953e-01 1.07683975e-03 9.94812593e-01 1.09695671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:54.44, Z:10.97 [[ 5.33625511e-01 -8.44033644e-01 -5.33949585e-02 8.96189647e+01] [ 8.39581919e-01 5.36288466e-01 -8.65845398e-02 5.44379931e+01] [ 1.01715365e-01 1.37427758e-03 9.94812593e-01 1.09703390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:54.46, Z:10.97 [[ 5.34762067e-01 -8.43315592e-01 -5.33698892e-02 8.96328435e+01] [ 8.38858750e-01 5.37416449e-01 -8.65999896e-02 5.44627233e+01] [ 1.01712978e-01 1.54059091e-03 9.94812594e-01 1.09729273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:54.49, Z:10.98 [[ 5.35998301e-01 -8.42531909e-01 -5.33460747e-02 8.96464402e+01] [ 8.38069728e-01 5.38643697e-01 -8.66146570e-02 5.44868261e+01] [ 1.01710139e-01 1.71757861e-03 9.94812594e-01 1.09755547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:54.51, Z:10.98 [[ 5.37434703e-01 -8.41617893e-01 -5.33222391e-02 8.96604089e+01] [ 8.37149760e-01 5.40070032e-01 -8.66293283e-02 5.45108652e+01] [ 1.01706536e-01 1.91890770e-03 9.94812595e-01 1.09787249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:54.54, Z:10.98 [[ 5.40923066e-01 -8.39381640e-01 -5.32982025e-02 8.96739994e+01] [ 8.34901161e-01 5.43537349e-01 -8.66441142e-02 5.45357357e+01] [ 1.01697042e-01 2.36906877e-03 9.94812595e-01 1.09820118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:54.56, Z:10.98 [[ 5.42680368e-01 -8.38248118e-01 -5.32739203e-02 8.96872949e+01] [ 8.33760717e-01 5.45282751e-01 -8.66590419e-02 5.45589933e+01] [ 1.01691129e-01 2.61045880e-03 9.94812595e-01 1.09846869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.70, Y:54.58, Z:10.99 [[ 5.44083241e-01 -8.37339868e-01 -5.32482179e-02 8.97008819e+01] [ 8.32846581e-01 5.46675449e-01 -8.66748320e-02 5.45831383e+01] [ 1.01685786e-01 2.81072735e-03 9.94812596e-01 1.09874174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:54.61, Z:11.00 [[ 5.43442828e-01 -8.37757167e-01 -5.32242577e-02 8.97127750e+01] [ 8.33264434e-01 5.46035993e-01 -8.66895428e-02 5.46081360e+01] [ 1.01687146e-01 2.76092931e-03 9.94812596e-01 1.09952541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:54.63, Z:11.00 [[ 5.40710963e-01 -8.39524492e-01 -5.32003931e-02 8.97252185e+01] [ 8.35038800e-01 5.43316287e-01 -8.67041858e-02 5.46325735e+01] [ 1.01694928e-01 2.45751132e-03 9.94812597e-01 1.10039838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:54.66, Z:11.01 [[ 5.40477891e-01 -8.39676103e-01 -5.31760411e-02 8.97400252e+01] [ 8.35189675e-01 5.43081947e-01 -8.67191185e-02 5.46569089e+01] [ 1.01694919e-01 2.45768575e-03 9.94812597e-01 1.10068811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:54.68, Z:11.01 [[ 5.38184056e-01 -8.41149692e-01 -5.31518345e-02 8.97518839e+01] [ 8.36668933e-01 5.40797854e-01 -8.67339527e-02 5.46808176e+01] [ 1.01700636e-01 2.20834182e-03 9.94812597e-01 1.10114125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.76, Y:54.71, Z:11.01 [[ 5.34751109e-01 -8.43337919e-01 -5.31263129e-02 8.97607356e+01] [ 8.38866307e-01 5.37380525e-01 -8.67495824e-02 5.47075437e+01] [ 1.01708258e-01 1.82356143e-03 9.94812598e-01 1.10054100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:54.73, Z:11.00 [[ 5.32976546e-01 -8.44462117e-01 -5.31011773e-02 8.97723358e+01] [ 8.39994520e-01 5.35612777e-01 -8.67649657e-02 5.47335509e+01] [ 1.01711396e-01 1.63899379e-03 9.94812598e-01 1.10021099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:54.76, Z:11.00 [[ 5.31021429e-01 -8.45694386e-01 -5.30777408e-02 8.97843358e+01] [ 8.41231476e-01 5.33665586e-01 -8.67793005e-02 5.47594108e+01] [ 1.01714531e-01 1.43100191e-03 9.94812599e-01 1.09995427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:54.78, Z:11.00 [[ 5.28697738e-01 -8.47150473e-01 -5.30544796e-02 8.97976996e+01] [ 8.42693419e-01 5.31351754e-01 -8.67935195e-02 5.47844777e+01] [ 1.01717762e-01 1.17887663e-03 9.94812599e-01 1.10002170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:54.81, Z:11.01 [[ 5.24110321e-01 -8.49997707e-01 -5.30308423e-02 8.98130564e+01] [ 8.45553612e-01 5.26785979e-01 -8.68079595e-02 5.48079529e+01] [ 1.01722471e-01 6.56527259e-04 9.94812599e-01 1.10058687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.83, Y:54.83, Z:11.01 [[ 5.21807999e-01 -8.51414489e-01 -5.30073638e-02 8.98280868e+01] [ 8.46976203e-01 5.24493280e-01 -8.68222938e-02 5.48316768e+01] [ 1.01723765e-01 4.08591657e-04 9.94812600e-01 1.10118877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:54.86, Z:11.02 [[ 5.19375626e-01 -8.52901915e-01 -5.29837961e-02 8.98412234e+01] [ 8.48469852e-01 5.22071166e-01 -8.68366738e-02 5.48564187e+01] [ 1.01724478e-01 1.45698163e-04 9.94812600e-01 1.10189839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:54.88, Z:11.02 [[ 5.19850240e-01 -8.52614197e-01 -5.29599731e-02 8.98535669e+01] [ 8.48179162e-01 5.22540887e-01 -8.68512006e-02 5.48800966e+01] [ 1.01724318e-01 2.30071850e-04 9.94812601e-01 1.10216102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:54.91, Z:11.02 [[ 5.21112347e-01 -8.51844471e-01 -5.29426084e-02 8.98664706e+01] [ 8.47404386e-01 5.23794652e-01 -8.68617845e-02 5.49050724e+01] [ 1.01723786e-01 4.00949850e-04 9.94812601e-01 1.10236145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:54.93, Z:11.03 [[ 5.22843653e-01 -8.50784389e-01 -5.29191564e-02 8.98799754e+01] [ 8.46337420e-01 5.25514528e-01 -8.68760699e-02 5.49301023e+01] [ 1.01722590e-01 6.35139409e-04 9.94812601e-01 1.10256797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:54.95, Z:11.03 [[ 5.26748869e-01 -8.48373558e-01 -5.28955132e-02 8.98937957e+01] [ 8.43912921e-01 5.29396854e-01 -8.68904630e-02 5.49549323e+01] [ 1.01718290e-01 1.13024610e-03 9.94812602e-01 1.10289169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:54.98, Z:11.03 [[ 5.28037254e-01 -8.47573730e-01 -5.28718242e-02 8.99083709e+01] [ 8.43107640e-01 5.30676031e-01 -8.69048752e-02 5.49790688e+01] [ 1.01716099e-01 1.31237278e-03 9.94812602e-01 1.10333338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:55.00, Z:11.04 [[ 5.28979579e-01 -8.46987412e-01 -5.28481675e-02 8.99227984e+01] [ 8.42516961e-01 5.31610960e-01 -8.69192588e-02 5.50033914e+01] [ 1.01714183e-01 1.45303553e-03 9.94812602e-01 1.10370208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:55.03, Z:11.04 [[ 5.29541148e-01 -8.46637922e-01 -5.28242653e-02 8.99363358e+01] [ 8.42164286e-01 5.32167110e-01 -8.69337828e-02 5.50276024e+01] [ 1.01712774e-01 1.54830544e-03 9.94812603e-01 1.10392859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:55.05, Z:11.04 [[ 5.29751838e-01 -8.46507586e-01 -5.28005337e-02 8.99491448e+01] [ 8.42031869e-01 5.32374250e-01 -8.69481941e-02 5.50511153e+01] [ 1.01711951e-01 1.60123356e-03 9.94812603e-01 1.10405719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:89.96, Y:55.07, Z:11.04 [[ 5.29225050e-01 -8.46838595e-01 -5.27753856e-02 8.99636113e+01] [ 8.42362997e-01 5.31847664e-01 -8.69634558e-02 5.50745569e+01] [ 1.01712476e-01 1.56720725e-03 9.94812603e-01 1.10433164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:55.10, Z:11.05 [[ 5.27948234e-01 -8.47636659e-01 -5.27518458e-02 8.99785150e+01] [ 8.43163600e-01 5.30575176e-01 -8.69777327e-02 5.50983109e+01] [ 1.01714335e-01 1.44130407e-03 9.94812604e-01 1.10463710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58687499999999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:89.99, Y:55.12, Z:11.05 [[ 5.26594703e-01 -8.48479661e-01 -5.27283927e-02 8.99937247e+01] [ 8.44009385e-01 5.29226377e-01 -8.69919483e-02 5.51220564e+01] [ 1.01716155e-01 1.30624086e-03 9.94812604e-01 1.10492997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.616875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:90.01, Y:55.15, Z:11.05 [[ 5.22727858e-01 -8.50868826e-01 -5.27050930e-02 9.00093681e+01] [ 8.46409158e-01 5.25377467e-01 -8.70060625e-02 5.51455215e+01] [ 1.01720815e-01 8.70419377e-04 9.94812605e-01 1.10519224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:55.17, Z:11.06 [[ 5.20848922e-01 -8.52021753e-01 -5.26814393e-02 9.00244091e+01] [ 8.47566501e-01 5.23505950e-01 -8.70203823e-02 5.51686853e+01] [ 1.01722306e-01 6.73449081e-04 9.94812605e-01 1.10555139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.676875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:90.04, Y:55.19, Z:11.06 [[ 5.18977984e-01 -8.53164119e-01 -5.26577456e-02 9.00395985e+01] [ 8.48713262e-01 5.21642365e-01 -8.70347175e-02 5.51913178e+01] [ 1.01723409e-01 4.77775188e-04 9.94812605e-01 1.10589311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.706875 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:90.05, Y:55.21, Z:11.06 [[ 5.16814792e-01 -8.54477772e-01 -5.26327601e-02 9.00547431e+01] [ 8.50032148e-01 5.19487897e-01 -8.70498245e-02 5.52141729e+01] [ 1.01724222e-01 2.49098804e-04 9.94812606e-01 1.10629200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.736875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:90.07, Y:55.24, Z:11.07 [[ 5.14618406e-01 -8.55803816e-01 -5.26091667e-02 9.00701634e+01] [ 8.51363623e-01 5.17300520e-01 -8.70640810e-02 5.52374000e+01] [ 1.01724522e-01 1.52478454e-05 9.94812606e-01 1.10659046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.09, Y:55.26, Z:11.07 [[ 5.10349238e-01 -8.58357959e-01 -5.25858397e-02 9.00865004e+01] [ 8.53929736e-01 5.13051069e-01 -8.70781681e-02 5.52604393e+01] [ 1.01723460e-01 -4.64335465e-04 9.94812607e-01 1.10697358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.796875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:90.10, Y:55.28, Z:11.07 [[ 5.08011769e-01 -8.59744877e-01 -5.25622386e-02 9.01014233e+01] [ 8.55322556e-01 5.10723249e-01 -8.70924119e-02 5.52837915e+01] [ 1.01722012e-01 -7.13698041e-04 9.94812607e-01 1.10722326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:55.31, Z:11.08 [[ 5.06134067e-01 -8.60853052e-01 -5.25388390e-02 9.01166171e+01] [ 8.56435202e-01 5.08852826e-01 -8.71065256e-02 5.53075582e+01] [ 1.01720455e-01 -9.08531104e-04 9.94812607e-01 1.10750024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85687499999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:90.13, Y:55.33, Z:11.08 [[ 5.04414485e-01 -8.61863198e-01 -5.25152742e-02 9.01306690e+01] [ 8.57449314e-01 5.07139677e-01 -8.71207302e-02 5.53300427e+01] [ 1.01718730e-01 -1.08422757e-03 9.94812608e-01 1.10777297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88687499999999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:90.15, Y:55.35, Z:11.08 [[ 5.02975416e-01 -8.62705336e-01 -5.24903220e-02 9.01457875e+01] [ 8.58294446e-01 5.05705450e-01 -8.71357614e-02 5.53532874e+01] [ 1.01717128e-01 -1.22500605e-03 9.94812608e-01 1.10818113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:55.38, Z:11.09 [[ 5.03030090e-01 -8.62674890e-01 -5.24667851e-02 9.01601401e+01] [ 8.58262357e-01 5.05757467e-01 -8.71499313e-02 5.53767579e+01] [ 1.01717526e-01 -1.19122889e-03 9.94812608e-01 1.10860410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:55.40, Z:11.09 [[ 5.03761213e-01 -8.62249595e-01 -5.24430812e-02 9.01750345e+01] [ 8.57833275e-01 5.06482453e-01 -8.71641930e-02 5.54008607e+01] [ 1.01718791e-01 -1.07748047e-03 9.94812609e-01 1.10900946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97687499999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:90.19, Y:55.42, Z:11.09 [[ 5.05059859e-01 -8.61491018e-01 -5.24191258e-02 9.01887823e+01] [ 8.57069116e-01 5.07772018e-01 -8.71785971e-02 5.54236133e+01] [ 1.01720544e-01 -8.96403860e-04 9.94812609e-01 1.10929563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.006875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:90.20, Y:55.45, Z:11.09 [[ 5.08823917e-01 -8.59274758e-01 -5.23938128e-02 9.02029050e+01] [ 8.54839475e-01 5.11514137e-01 -8.71938074e-02 5.54484480e+01] [ 1.01723614e-01 -4.22004779e-04 9.94812610e-01 1.10943189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:55.47, Z:11.10 [[ 5.11000241e-01 -8.57983739e-01 -5.23703888e-02 9.02166419e+01] [ 8.53540217e-01 5.13676829e-01 -8.72078741e-02 5.54723777e+01] [ 1.01724393e-01 -1.36988343e-04 9.94812610e-01 1.10961961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.066875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.22, Y:55.49, Z:11.09 [[ 5.09855131e-01 -8.58666135e-01 -5.23470476e-02 9.02221441e+01] [ 8.54224757e-01 5.12535275e-01 -8.72218826e-02 5.54945566e+01] [ 1.01724185e-01 -2.45619572e-04 9.94812610e-01 1.10924554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.096875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:90.25, Y:55.52, Z:11.10 [[ 5.16754037e-01 -8.54618872e-01 -5.09102093e-02 9.02451568e+01] [ 8.50070468e-01 5.19250967e-01 -8.80830992e-02 5.55207767e+01] [ 1.01712654e-01 2.24003167e-03 9.94811298e-01 1.10979045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.126875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.26, Y:55.54, Z:11.10 [[ 5.17481116e-01 -8.54092783e-01 -5.23336700e-02 9.02604662e+01] [ 8.49626975e-01 5.20120238e-01 -8.72292495e-02 5.55443570e+01] [ 1.01721673e-01 6.75391628e-04 9.94812668e-01 1.11011520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:55.57, Z:11.10 [[ 5.17447799e-01 -8.54114408e-01 -5.23101630e-02 9.02756014e+01] [ 8.49647285e-01 5.20084695e-01 -8.72433441e-02 5.55682085e+01] [ 1.01721512e-01 6.98688419e-04 9.94812669e-01 1.11039388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.186875 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:90.29, Y:55.59, Z:11.11 [[ 5.17010390e-01 -8.54380697e-01 -5.22865256e-02 9.02921708e+01] [ 8.49913500e-01 5.19647159e-01 -8.72575082e-02 5.55913566e+01] [ 1.01721675e-01 6.74014316e-04 9.94812669e-01 1.11067501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.31, Y:55.61, Z:11.11 [[ 5.16323842e-01 -8.54797211e-01 -5.22629698e-02 9.03078991e+01] [ 8.50330713e-01 5.18961794e-01 -8.72716147e-02 5.56148203e+01] [ 1.01722017e-01 6.19606956e-04 9.94812669e-01 1.11102934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:55.64, Z:11.11 [[ 5.15746391e-01 -8.55147178e-01 -5.22394867e-02 9.03235251e+01] [ 8.50681046e-01 5.18384962e-01 -8.72856692e-02 5.56382318e+01] [ 1.01722258e-01 5.78127672e-04 9.94812670e-01 1.11131056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:55.66, Z:11.11 [[ 5.09782657e-01 -8.58717144e-01 -5.22159887e-02 9.03247470e+01] [ 8.54268050e-01 5.12449858e-01 -8.72997239e-02 5.56588692e+01] [ 1.01723846e-01 -1.02565626e-04 9.94812670e-01 1.11058541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30687499999999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:90.35, Y:55.68, Z:11.12 [[ 5.15104939e-01 -8.55665904e-01 -5.00276297e-02 9.03538237e+01] [ 8.51071394e-01 5.17519538e-01 -8.86059261e-02 5.56834460e+01] [ 1.01707346e-01 3.06426552e-03 9.94809643e-01 1.11186630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33687499999999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:90.37, Y:55.71, Z:11.12 [[ 5.15326997e-01 -8.55402038e-01 -5.22057344e-02 9.03690991e+01] [ 8.50935371e-01 5.17964315e-01 -8.73038502e-02 5.57065217e+01] [ 1.01720599e-01 5.66324936e-04 9.94812846e-01 1.11231294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:55.73, Z:11.13 [[ 5.16329627e-01 -8.54798655e-01 -5.21821466e-02 9.03836633e+01] [ 8.50327481e-01 5.18959297e-01 -8.73179465e-02 5.57292857e+01] [ 1.01719673e-01 7.12929461e-04 9.94812847e-01 1.11257399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:55.75, Z:11.13 [[ 5.17190584e-01 -8.54279062e-01 -5.21649712e-02 9.03982440e+01] [ 8.49804211e-01 5.19813993e-01 -8.73282062e-02 5.57529670e+01] [ 1.01718740e-01 8.35313734e-04 9.94812847e-01 1.11291338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.426875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.41, Y:55.78, Z:11.13 [[ 5.19729183e-01 -8.52738441e-01 -5.21414181e-02 9.04135109e+01] [ 8.48254405e-01 5.22336858e-01 -8.73422669e-02 5.57765398e+01] [ 1.01715493e-01 1.16513737e-03 9.94812847e-01 1.11312052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:55.80, Z:11.13 [[ 5.21089543e-01 -8.51909283e-01 -5.21177592e-02 9.04274148e+01] [ 8.47419687e-01 5.23687633e-01 -8.73563821e-02 5.57993788e+01] [ 1.01713139e-01 1.35488206e-03 9.94812848e-01 1.11333193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:55.82, Z:11.14 [[ 5.22669092e-01 -8.50942637e-01 -5.20926937e-02 9.04419945e+01] [ 8.46446747e-01 5.25256276e-01 -8.73713268e-02 5.58229285e+01] [ 1.01710002e-01 1.57260090e-03 9.94812848e-01 1.11353754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.516875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.46, Y:55.85, Z:11.14 [[ 5.25901846e-01 -8.48949978e-01 -5.20690214e-02 9.04583242e+01] [ 8.44442893e-01 5.28469476e-01 -8.73854321e-02 5.58464328e+01] [ 1.01702749e-01 1.98684500e-03 9.94812848e-01 1.11372096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.546875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.47, Y:55.87, Z:11.14 [[ 5.26934407e-01 -8.48310291e-01 -5.20555616e-02 9.04732876e+01] [ 8.43799298e-01 5.29495165e-01 -8.73934494e-02 5.58692173e+01] [ 1.01699931e-01 2.12616909e-03 9.94812848e-01 1.11386775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:55.89, Z:11.14 [[ 5.27787525e-01 -8.47780860e-01 -5.20378902e-02 9.04886477e+01] [ 8.43266263e-01 5.30341923e-01 -8.74039705e-02 5.58922398e+01] [ 1.01697288e-01 2.24892800e-03 9.94812849e-01 1.11414680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:55.92, Z:11.14 [[ 5.28384530e-01 -8.47410348e-01 -5.20143417e-02 9.05043937e+01] [ 8.42892583e-01 5.30933320e-01 -8.74179820e-02 5.59153702e+01] [ 1.01695050e-01 2.34780653e-03 9.94812849e-01 1.11448671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:55.94, Z:11.15 [[ 5.29468807e-01 -8.46734776e-01 -5.19904020e-02 9.05149997e+01] [ 8.42212364e-01 5.32009343e-01 -8.74322175e-02 5.59405279e+01] [ 1.01691279e-01 2.50567260e-03 9.94812849e-01 1.11485507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66687499999999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:90.52, Y:55.97, Z:11.15 [[ 5.35186500e-01 -8.43134061e-01 -5.19650421e-02 9.05204907e+01] [ 8.38593111e-01 5.37693748e-01 -8.74472875e-02 5.59701505e+01] [ 1.01671065e-01 3.22308147e-03 9.94812850e-01 1.11529776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:56.00, Z:11.15 [[ 5.42902206e-01 -8.38188044e-01 -5.19422531e-02 9.05254274e+01] [ 8.33622993e-01 5.45365300e-01 -8.74608218e-02 5.60001546e+01] [ 1.01636118e-01 4.18241655e-03 9.94812850e-01 1.11542369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:56.03, Z:11.15 [[ 5.51146688e-01 -8.32791623e-01 -5.19176438e-02 9.05297712e+01] [ 8.28201134e-01 5.53562040e-01 -8.74754277e-02 5.60288892e+01] [ 1.01588440e-01 5.21354078e-03 9.94812851e-01 1.11544643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:56.07, Z:11.16 [[ 5.71957431e-01 -8.18640308e-01 -5.18916436e-02 9.05211266e+01] [ 8.13989050e-01 5.74253583e-01 -8.74908487e-02 5.60667780e+01] [ 1.01422498e-01 7.80181137e-03 9.94812851e-01 1.11557665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:56.10, Z:11.16 [[ 5.84218800e-01 -8.09937144e-01 -5.18673012e-02 9.05206687e+01] [ 8.05250607e-01 5.86442058e-01 -8.75052773e-02 5.60981851e+01] [ 1.01290941e-01 9.35605234e-03 9.94812852e-01 1.11572723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:56.14, Z:11.16 [[ 6.08402106e-01 -7.91933403e-01 -5.18494241e-02 9.05066040e+01] [ 7.87181041e-01 6.10480943e-01 -8.75158688e-02 5.61399011e+01] [ 1.00959825e-01 1.24299552e-02 9.94812852e-01 1.11600862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.846875 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:90.51, Y:56.17, Z:11.16 [[ 6.15997001e-01 -7.86041662e-01 -5.18285761e-02 9.05076979e+01] [ 7.81268544e-01 6.18027729e-01 -8.75282136e-02 5.61703463e+01] [ 1.00832320e-01 1.34250808e-02 9.94812852e-01 1.11618140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.876875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.51, Y:56.20, Z:11.17 [[ 6.20539618e-01 -7.82461768e-01 -5.18089231e-02 9.05109008e+01] [ 7.77676072e-01 6.22540523e-01 -8.75398450e-02 5.62004526e+01] [ 1.00749736e-01 1.40313822e-02 9.94812852e-01 1.11655878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.906875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.51, Y:56.23, Z:11.17 [[ 6.21899507e-01 -7.81382974e-01 -5.17846698e-02 9.05144168e+01] [ 7.76592706e-01 6.23889440e-01 -8.75541898e-02 5.62293102e+01] [ 1.00721262e-01 1.42343106e-02 9.94812853e-01 1.11682647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.936875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.53, Y:56.25, Z:11.17 [[ 6.21687077e-01 -7.81553424e-01 -5.17631558e-02 9.05287909e+01] [ 7.76762723e-01 6.23675965e-01 -8.75669074e-02 5.62538509e+01] [ 1.00721652e-01 1.42315249e-02 9.94812853e-01 1.11711628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96687499999999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:90.52, Y:56.29, Z:11.17 [[ 6.17812213e-01 -7.84621644e-01 -5.17392037e-02 9.05240032e+01] [ 7.79839746e-01 6.19822175e-01 -8.75810573e-02 5.62894195e+01] [ 1.00787099e-01 1.37603594e-02 9.94812853e-01 1.11744601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99687499999999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:90.53, Y:56.32, Z:11.17 [[ 6.13225954e-01 -7.88212900e-01 -5.17141531e-02 9.05295207e+01] [ 7.83441645e-01 6.15261048e-01 -8.75958466e-02 5.63181272e+01] [ 1.00861880e-01 1.32010254e-02 9.94812854e-01 1.11749611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02687499999999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:90.54, Y:56.35, Z:11.18 [[ 6.06916025e-01 -7.93083124e-01 -5.16923315e-02 9.05362111e+01] [ 7.88327233e-01 6.08986769e-01 -8.76087221e-02 5.63465102e+01] [ 1.00960945e-01 1.24206647e-02 9.94812854e-01 1.11773419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05687499999999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:90.54, Y:56.37, Z:11.18 [[ 5.99664813e-01 -7.98581566e-01 -5.16681261e-02 9.05445572e+01] [ 7.93843576e-01 6.01776194e-01 -8.76229952e-02 5.63737705e+01] [ 1.01066757e-01 1.15280170e-02 9.94812854e-01 1.11805868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08687499999999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:90.55, Y:56.40, Z:11.19 [[ 5.82232175e-01 -8.11380705e-01 -5.16434535e-02 9.05511694e+01] [ 8.06688303e-01 5.84443020e-01 -8.76375345e-02 5.64029062e+01] [ 1.01290060e-01 9.36522243e-03 9.94812855e-01 1.11878349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.116875 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:90.56, Y:56.43, Z:11.19 [[ 5.72542618e-01 -8.18248207e-01 -5.16219179e-02 9.05622688e+01] [ 8.13581317e-01 5.74806819e-01 -8.76502180e-02 5.64287486e+01] [ 1.01392264e-01 8.18485730e-03 9.94812855e-01 1.11929628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.146875 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:90.57, Y:56.45, Z:11.20 [[ 5.62754109e-01 -8.25012465e-01 -5.15969492e-02 9.05724615e+01] [ 8.20371564e-01 5.65071111e-01 -8.76649138e-02 5.64540560e+01] [ 1.01480592e-01 7.00512055e-03 9.94812856e-01 1.11962750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.176875 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:90.58, Y:56.48, Z:11.20 [[ 5.44718887e-01 -8.37031313e-01 -5.15743685e-02 9.05800046e+01] [ 8.32440542e-01 5.47133693e-01 -8.76781964e-02 5.64820418e+01] [ 1.01607471e-01 4.82737429e-03 9.94812856e-01 1.12017403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.206875 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:90.59, Y:56.51, Z:11.21 [[ 5.36603031e-01 -8.42258044e-01 -5.15613630e-02 9.05907474e+01] [ 8.37690101e-01 5.39060746e-01 -8.76858439e-02 5.65074149e+01] [ 1.01648814e-01 3.86004627e-03 9.94812856e-01 1.12053129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.236875 meters Centerline goodness : 0.996788 Centerline is valid? [True, True] Translation: X:90.60, Y:56.53, Z:11.21 [[ 5.28754750e-01 -8.47207778e-01 -5.15499305e-02 9.06025094e+01] [ 8.42662216e-01 5.31253615e-01 -8.76925645e-02 5.65331691e+01] [ 1.01679910e-01 2.92868126e-03 9.94812856e-01 1.12099884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.266875 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:90.61, Y:56.56, Z:11.21 [[ 5.21622311e-01 -8.51619047e-01 -5.15282852e-02 9.06147284e+01] [ 8.47093379e-01 5.24157028e-01 -8.77052815e-02 5.65581400e+01] [ 1.01700401e-01 2.09976235e-03 9.94812856e-01 1.12146178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.296875 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:90.63, Y:56.58, Z:11.22 [[ 5.10698237e-01 -8.58215964e-01 -5.15040699e-02 9.06258513e+01] [ 8.53721627e-01 5.13288100e-01 -8.77194995e-02 5.65825615e+01] [ 1.01718701e-01 8.28055413e-04 9.94812857e-01 1.12187275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.326875 meters Centerline goodness : 0.996000 Centerline is valid? [True, True] Translation: X:90.63, Y:56.61, Z:11.21 [[ 5.03464784e-01 -8.62480618e-01 -5.14819861e-02 9.06303009e+01] [ 8.58006895e-01 5.06090094e-01 -8.77324584e-02 5.66058756e+01] [ 1.01722068e-01 -1.69583173e-06 9.94812857e-01 1.12095418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35687499999999 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:90.65, Y:56.63, Z:11.22 [[ 5.04112967e-01 -8.62195556e-01 -4.98892775e-02 9.06509391e+01] [ 8.57626537e-01 5.06571981e-01 -8.86653940e-02 5.66324163e+01] [ 1.01719419e-01 1.91100658e-03 9.94811293e-01 1.12234396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38687499999999 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:90.66, Y:56.66, Z:11.22 [[ 5.03863029e-01 -8.62249041e-01 -5.14649352e-02 9.06647521e+01] [ 8.57773200e-01 5.06484538e-01 -8.77413846e-02 5.66565208e+01] [ 1.01721119e-01 6.43976323e-05 9.94812952e-01 1.12248360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41687499999999 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:90.68, Y:56.68, Z:11.23 [[ 5.02444464e-01 -8.63081748e-01 -5.13756429e-02 9.06774512e+01] [ 8.58604894e-01 5.05064249e-01 -8.77937346e-02 5.66818015e+01] [ 1.01721170e-01 9.75036703e-08 9.94812949e-01 1.12272559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44687499999999 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:90.69, Y:56.71, Z:11.23 [[ 5.02835698e-01 -8.62863068e-01 -5.12209560e-02 9.06920781e+01] [ 8.58375827e-01 5.05437707e-01 -8.78843822e-02 5.67062744e+01] [ 1.01721190e-01 2.24574264e-04 9.94812922e-01 1.12295583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47687499999999 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:90.71, Y:56.73, Z:11.23 [[ 5.02377416e-01 -8.63123351e-01 -5.13323775e-02 9.07063304e+01] [ 8.58644119e-01 5.04993147e-01 -8.78191179e-02 5.67303242e+01] [ 1.01721230e-01 4.20973927e-05 9.94812942e-01 1.12322229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.506875 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:90.72, Y:56.75, Z:11.24 [[ 5.03500792e-01 -8.62464590e-01 -5.13982806e-02 9.07229688e+01] [ 8.57985872e-01 5.06117399e-01 -8.77805299e-02 5.67549282e+01] [ 1.01721163e-01 9.85676936e-05 9.94812945e-01 1.12362624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.536875 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:90.74, Y:56.78, Z:11.24 [[ 5.05170069e-01 -8.61473893e-01 -5.16326785e-02 9.07384843e+01] [ 8.57004037e-01 5.07801863e-01 -8.76433056e-02 5.67779077e+01] [ 1.01721590e-01 2.53608571e-05 9.94812906e-01 1.12388832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.566875 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:90.75, Y:56.80, Z:11.24 [[ 5.04719347e-01 -8.61740767e-01 -5.15871255e-02 9.07531898e+01] [ 8.57269577e-01 5.07348845e-01 -8.76699638e-02 5.68025411e+01] [ 1.01721450e-01 2.46536124e-05 9.94812920e-01 1.12417931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.596875 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:90.77, Y:56.83, Z:11.24 [[ 5.06569921e-01 -8.60645495e-01 -5.17324527e-02 9.07660300e+01] [ 8.56177286e-01 5.09204601e-01 -8.75849865e-02 5.68253213e+01] [ 1.01722027e-01 7.57687758e-05 9.94812859e-01 1.12421122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.626875 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:90.78, Y:56.85, Z:11.25 [[ 5.07634087e-01 -8.60043250e-01 -5.13151268e-02 9.07800168e+01] [ 8.55547167e-01 5.10220680e-01 -8.78288283e-02 5.68494778e+01] [ 1.01718630e-01 6.82395667e-04 9.94812975e-01 1.12451251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.656875 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:90.80, Y:56.87, Z:11.25 [[ 5.09375509e-01 -8.59014479e-01 -5.12904951e-02 9.07962395e+01] [ 8.54511724e-01 5.11950470e-01 -8.78432105e-02 5.68741513e+01] [ 1.01716783e-01 9.16850703e-04 9.94812975e-01 1.12486104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.686875 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:90.81, Y:56.90, Z:11.25 [[ 5.14064467e-01 -8.56190994e-01 -5.17175619e-02 9.08084532e+01] [ 8.51699061e-01 5.16658514e-01 -8.75938911e-02 5.68971815e+01] [ 1.01717419e-01 9.81108017e-04 9.94812849e-01 1.12523997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71687499999999 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:90.82, Y:56.92, Z:11.26 [[ 5.16789258e-01 -8.54576948e-01 -5.12552635e-02 9.08214881e+01] [ 8.50050073e-01 5.19321541e-01 -8.78635899e-02 5.69208181e+01] [ 1.01704161e-01 1.83741901e-03 9.94812991e-01 1.12550255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74687499999999 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:90.84, Y:56.95, Z:11.26 [[ 5.19753900e-01 -8.52778437e-01 -5.12330151e-02 9.08352523e+01] [ 8.48241524e-01 5.22268156e-01 -8.78765611e-02 5.69455829e+01] [ 1.01696609e-01 2.21621450e-03 9.94812992e-01 1.12584306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77687499999999 meters Centerline goodness : 0.995773 Centerline is valid? [True, True] Translation: X:90.85, Y:56.97, Z:11.26 [[ 5.25602751e-01 -8.49187496e-01 -5.12088270e-02 9.08490790e+01] [ 8.44632049e-01 5.28083265e-01 -8.78906541e-02 5.69699182e+01] [ 1.01678169e-01 2.94295319e-03 9.94812992e-01 1.12615647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80687499999999 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:90.86, Y:56.99, Z:11.26 [[ 5.28007078e-01 -8.47696064e-01 -5.11850467e-02 9.08636467e+01] [ 8.43132275e-01 5.30472210e-01 -8.79045009e-02 5.69942086e+01] [ 1.01668544e-01 3.25843378e-03 9.94812992e-01 1.12638645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83687499999999 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:90.88, Y:57.02, Z:11.27 [[ 5.29888377e-01 -8.46522846e-01 -5.11603340e-02 9.08780253e+01] [ 8.41952218e-01 5.32340805e-01 -8.79188814e-02 5.70170421e+01] [ 1.01660075e-01 3.51263673e-03 9.94812993e-01 1.12651380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.866875 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:90.89, Y:57.04, Z:11.27 [[ 5.31164560e-01 -8.45724003e-01 -5.11382456e-02 9.08934511e+01] [ 8.41148457e-01 5.33607800e-01 -8.79317273e-02 5.70403115e+01] [ 1.01653739e-01 3.69136092e-03 9.94812993e-01 1.12669621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.896875 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:90.91, Y:57.06, Z:11.27 [[ 5.32764850e-01 -8.44718302e-01 -5.11136565e-02 9.09124693e+01] [ 8.40136781e-01 5.35196867e-01 -8.79460184e-02 5.70620483e+01] [ 1.01645480e-01 3.91208437e-03 9.94812993e-01 1.12673154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.926875 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:90.93, Y:57.08, Z:11.27 [[ 5.33039147e-01 -8.44546683e-01 -5.10898024e-02 9.09291802e+01] [ 8.39963060e-01 5.35467197e-01 -8.79598737e-02 5.70847184e+01] [ 1.01643133e-01 3.97250927e-03 9.94812994e-01 1.12695454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.956875 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:90.95, Y:57.11, Z:11.27 [[ 5.33053631e-01 -8.44539025e-01 -5.10652647e-02 9.09459348e+01] [ 8.39954011e-01 5.35479052e-01 -8.79741168e-02 5.71073995e+01] [ 1.01641954e-01 4.00244852e-03 9.94812994e-01 1.12715824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.986875 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:90.96, Y:57.13, Z:11.28 [[ 5.33090140e-01 -8.44517465e-01 -5.10407143e-02 9.09632549e+01] [ 8.39930997e-01 5.35512810e-01 -8.79883582e-02 5.71299496e+01] [ 1.01640662e-01 4.03504813e-03 9.94812995e-01 1.12753861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.016875 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:90.98, Y:57.15, Z:11.28 [[ 5.33344117e-01 -8.44358575e-01 -5.10161686e-02 9.09841525e+01] [ 8.39770032e-01 5.35762855e-01 -8.80025876e-02 5.71511637e+01] [ 1.01638308e-01 4.09381279e-03 9.94812995e-01 1.12815847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.046875 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:91.00, Y:57.17, Z:11.29 [[ 5.33426939e-01 -8.44307553e-01 -5.09946676e-02 9.10011478e+01] [ 8.39717596e-01 5.35842991e-01 -8.80150450e-02 5.71733097e+01] [ 1.01636903e-01 4.12847640e-03 9.94812995e-01 1.12867346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.076875 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:91.02, Y:57.19, Z:11.29 [[ 5.33552547e-01 -8.44229628e-01 -5.09707339e-02 9.10172328e+01] [ 8.39638002e-01 5.35965426e-01 -8.80289032e-02 5.71947570e+01] [ 1.01635159e-01 4.17108029e-03 9.94812996e-01 1.12912343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10687499999999 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:91.04, Y:57.22, Z:11.30 [[ 5.34924891e-01 -8.43362062e-01 -5.09489315e-02 9.10369804e+01] [ 8.38765331e-01 5.37328029e-01 -8.80415202e-02 5.72158260e+01] [ 1.01627167e-01 4.36140318e-03 9.94812996e-01 1.12965253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13687499999999 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:91.05, Y:57.24, Z:11.30 [[ 5.35253711e-01 -8.43154892e-01 -5.09243848e-02 9.10533675e+01] [ 8.38555890e-01 5.37652499e-01 -8.80557161e-02 5.72381229e+01] [ 1.01624231e-01 4.42920599e-03 9.94812996e-01 1.12996140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16687499999999 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:91.07, Y:57.26, Z:11.30 [[ 5.35810547e-01 -8.42802647e-01 -5.08994570e-02 9.10697313e+01] [ 8.38200711e-01 5.38203700e-01 -8.80701230e-02 5.72599614e+01] [ 1.01620009e-01 4.52493980e-03 9.94812997e-01 1.13023267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19687499999999 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:91.09, Y:57.28, Z:11.30 [[ 5.37044558e-01 -8.42018212e-01 -5.08770453e-02 9.10898783e+01] [ 8.37411564e-01 5.39428629e-01 -8.80830681e-02 5.72812621e+01] [ 1.01612082e-01 4.69950636e-03 9.94812997e-01 1.13031878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22687499999999 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:91.11, Y:57.30, Z:11.30 [[ 5.37645080e-01 -8.41636428e-01 -5.08516568e-02 9.11062625e+01] [ 8.37026714e-01 5.40023214e-01 -8.80977228e-02 5.73025273e+01] [ 1.01607328e-01 4.80111204e-03 9.94812998e-01 1.13043651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.256875 meters Centerline goodness : 0.996941 Centerline is valid? [True, True] Translation: X:91.12, Y:57.33, Z:11.31 [[ 5.37977244e-01 -8.41425187e-01 -5.08344280e-02 9.11237169e+01] [ 8.36813608e-01 5.40351761e-01 -8.81076631e-02 5.73250328e+01] [ 1.01604480e-01 4.86097667e-03 9.94812998e-01 1.13065423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.286875 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:91.14, Y:57.35, Z:11.31 [[ 5.38286560e-01 -8.41228811e-01 -5.08101069e-02 9.11412011e+01] [ 8.36615054e-01 5.40656841e-01 -8.81216865e-02 5.73473157e+01] [ 1.01601333e-01 4.92621909e-03 9.94812998e-01 1.13088472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.316875 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:91.16, Y:57.37, Z:11.31 [[ 5.38529554e-01 -8.41074778e-01 -5.07852124e-02 9.11583808e+01] [ 8.36459003e-01 5.40895902e-01 -8.81360311e-02 5.73688641e+01] [ 1.01598506e-01 4.98410940e-03 9.94812999e-01 1.13108514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.346875 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:91.18, Y:57.39, Z:11.31 [[ 5.38940749e-01 -8.40812690e-01 -5.07630763e-02 9.11798089e+01] [ 8.36194575e-01 5.41302527e-01 -8.81487788e-02 5.73883074e+01] [ 1.01594793e-01 5.05915980e-03 9.94812999e-01 1.13143802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.376875 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:91.20, Y:57.41, Z:11.32 [[ 5.38839911e-01 -8.40878799e-01 -5.07385098e-02 9.11970050e+01] [ 8.36259655e-01 5.41199675e-01 -8.81629171e-02 5.74093370e+01] [ 1.01593993e-01 5.07512963e-03 9.94812999e-01 1.13171876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.406875 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:91.22, Y:57.43, Z:11.32 [[ 5.38932024e-01 -8.40821097e-01 -5.07164380e-02 9.12193966e+01] [ 8.36200518e-01 5.41288976e-01 -8.81756124e-02 5.74277399e+01] [ 1.01592164e-01 5.11154956e-03 9.94813000e-01 1.13193959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.436875 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:91.24, Y:57.45, Z:11.32 [[ 5.39037382e-01 -8.40754870e-01 -5.06946669e-02 9.12378775e+01] [ 8.36132836e-01 5.41391480e-01 -8.81881274e-02 5.74497625e+01] [ 1.01590258e-01 5.14922177e-03 9.94813000e-01 1.13225821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46687499999999 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:91.26, Y:57.47, Z:11.33 [[ 5.39169546e-01 -8.40671564e-01 -5.06707230e-02 9.12558210e+01] [ 8.36047887e-01 5.41520414e-01 -8.82018829e-02 5.74715574e+01] [ 1.01588046e-01 5.19261829e-03 9.94813000e-01 1.13252450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49687499999999 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:91.27, Y:57.49, Z:11.33 [[ 5.39175691e-01 -8.40669059e-01 -5.06468927e-02 9.12738713e+01] [ 8.36044099e-01 5.41524033e-01 -8.82155645e-02 5.74930646e+01] [ 1.01586605e-01 5.22065219e-03 9.94813001e-01 1.13285205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52687499999999 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:91.30, Y:57.51, Z:11.33 [[ 5.39177079e-01 -8.40669594e-01 -5.06232273e-02 9.12956333e+01] [ 8.36043376e-01 5.41522938e-01 -8.82291431e-02 5.75118351e+01] [ 1.01585197e-01 5.24791780e-03 9.94813001e-01 1.13335498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55687499999999 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:91.31, Y:57.53, Z:11.34 [[ 5.39087757e-01 -8.40728378e-01 -5.05982638e-02 9.13135917e+01] [ 8.36101086e-01 5.41431498e-01 -8.82434571e-02 5.75339054e+01] [ 1.01584272e-01 5.26570408e-03 9.94813002e-01 1.13379679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58687499999999 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:91.33, Y:57.56, Z:11.34 [[ 5.39091848e-01 -8.40727156e-01 -5.05749713e-02 9.13315809e+01] [ 8.36098620e-01 5.41433130e-01 -8.82568047e-02 5.75562622e+01] [ 1.01582857e-01 5.29286026e-03 9.94813002e-01 1.13418169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.616875 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:91.35, Y:57.58, Z:11.35 [[ 5.39490991e-01 -8.40472478e-01 -5.05518046e-02 9.13489462e+01] [ 8.35841606e-01 5.41827651e-01 -8.82700722e-02 5.75778202e+01] [ 1.01578932e-01 5.36760721e-03 9.94813002e-01 1.13455086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.646875 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:91.37, Y:57.60, Z:11.35 [[ 5.40406816e-01 -8.39884934e-01 -5.05348434e-02 9.13689217e+01] [ 8.35250626e-01 5.42736651e-01 -8.82797815e-02 5.75979774e+01] [ 1.01571970e-01 5.49773612e-03 9.94813002e-01 1.13471155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.676875 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:91.39, Y:57.62, Z:11.35 [[ 5.41107820e-01 -8.39434487e-01 -5.05180032e-02 9.13853716e+01] [ 8.34797351e-01 5.43432021e-01 -8.82894172e-02 5.76210005e+01] [ 1.01566282e-01 5.60179879e-03 9.94813003e-01 1.13485453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.706875 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:91.40, Y:57.64, Z:11.35 [[ 5.41831177e-01 -8.38969126e-01 -5.04953693e-02 9.14020067e+01] [ 8.34328803e-01 5.44149008e-01 -8.83023604e-02 5.76439481e+01] [ 1.01559959e-01 5.71523079e-03 9.94813003e-01 1.13489491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.736875 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:91.42, Y:57.66, Z:11.35 [[ 5.43182588e-01 -8.38096160e-01 -5.04727874e-02 9.14217757e+01] [ 8.33450931e-01 5.45490568e-01 -8.83152661e-02 5.76642990e+01] [ 1.01549115e-01 5.90472316e-03 9.94813003e-01 1.13493933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.766875 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:91.44, Y:57.69, Z:11.35 [[ 5.43166665e-01 -8.38107890e-01 -5.04493614e-02 9.14381848e+01] [ 8.33461484e-01 5.45472277e-01 -8.83286461e-02 5.76867714e+01] [ 1.01547663e-01 5.92957651e-03 9.94813004e-01 1.13513066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.796875 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:91.45, Y:57.71, Z:11.35 [[ 5.43178470e-01 -8.38101579e-01 -5.04271093e-02 9.14547986e+01] [ 8.33453983e-01 5.45481681e-01 -8.83413481e-02 5.77091272e+01] [ 1.01546088e-01 5.95644318e-03 9.94813004e-01 1.13529671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.826875 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:91.47, Y:57.73, Z:11.36 [[ 5.42968743e-01 -8.38238804e-01 -5.04048735e-02 9.14687852e+01] [ 8.33590629e-01 5.45270784e-01 -8.83540333e-02 5.77339050e+01] [ 1.01546084e-01 5.95644821e-03 9.94813004e-01 1.13558643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85687499999999 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:91.48, Y:57.76, Z:11.36 [[ 5.42122355e-01 -8.38787781e-01 -5.03826391e-02 9.14844335e+01] [ 8.34140775e-01 5.44426755e-01 -8.83667104e-02 5.77552882e+01] [ 1.01550574e-01 5.87935549e-03 9.94813005e-01 1.13575869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88687499999999 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:91.50, Y:57.78, Z:11.36 [[ 5.39909519e-01 -8.40215414e-01 -5.03564251e-02 9.15041879e+01] [ 8.35573129e-01 5.42223414e-01 -8.83816462e-02 5.77757046e+01] [ 1.01564054e-01 5.64161638e-03 9.94813005e-01 1.13601194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91687499999999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:91.52, Y:57.80, Z:11.36 [[ 5.37981792e-01 -8.41452500e-01 -5.03317104e-02 9.15202928e+01] [ 8.36814238e-01 5.40303738e-01 -8.83957186e-02 5.77969785e+01] [ 1.01575210e-01 5.43699527e-03 9.94813005e-01 1.13630443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94687499999999 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:91.54, Y:57.82, Z:11.37 [[ 5.35816015e-01 -8.42834403e-01 -5.03126935e-02 9.15365296e+01] [ 8.38201126e-01 5.38147893e-01 -8.84065412e-02 5.78188132e+01] [ 1.01587744e-01 5.19748421e-03 9.94813006e-01 1.13661857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97687499999999 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:91.55, Y:57.84, Z:11.37 [[ 5.33798064e-01 -8.44115347e-01 -5.02882490e-02 9.15531139e+01] [ 8.39486371e-01 5.36138469e-01 -8.84204438e-02 5.78409121e+01] [ 1.01598518e-01 4.98236205e-03 9.94813006e-01 1.13697841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.006875 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:91.57, Y:57.86, Z:11.38 [[ 5.28412102e-01 -8.47498784e-01 -5.02639255e-02 9.15729534e+01] [ 8.42883507e-01 5.30779403e-01 -8.84342688e-02 5.78616170e+01] [ 1.01626992e-01 4.36310404e-03 9.94813007e-01 1.13774941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.036875 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:91.59, Y:57.88, Z:11.38 [[ 5.25201036e-01 -8.49493883e-01 -5.02395693e-02 9.15893856e+01] [ 8.44886289e-01 5.27583256e-01 -8.84481034e-02 5.78829749e+01] [ 1.01641678e-01 4.00631229e-03 9.94813007e-01 1.13814667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.066875 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:91.61, Y:57.90, Z:11.38 [[ 5.21247036e-01 -8.51927278e-01 -5.02139482e-02 9.16055226e+01] [ 8.47329418e-01 5.23647990e-01 -8.84626468e-02 5.79046972e+01] [ 1.01658175e-01 3.56313689e-03 9.94813007e-01 1.13825311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.096875 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:91.63, Y:57.93, Z:11.39 [[ 5.13008957e-01 -8.56914763e-01 -5.01886443e-02 9.16255340e+01] [ 8.52338872e-01 5.15451519e-01 -8.84770005e-02 5.79254383e+01] [ 1.01687061e-01 2.61176125e-03 9.94813008e-01 1.13882860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.126875 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:91.64, Y:57.95, Z:11.39 [[ 5.08284288e-01 -8.59727022e-01 -5.01650372e-02 9.16418628e+01] [ 8.55163333e-01 5.10749573e-01 -8.84903833e-02 5.79472530e+01] [ 1.01699345e-01 2.07897108e-03 9.94813008e-01 1.13890870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.156875 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:91.66, Y:57.97, Z:11.39 [[ 5.03590761e-01 -8.62486117e-01 -5.01402329e-02 9.16577376e+01] [ 8.57934542e-01 5.06078340e-01 -8.85044357e-02 5.79690743e+01] [ 1.01708733e-01 1.55297842e-03 9.94813009e-01 1.13914275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.186875 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:91.68, Y:57.99, Z:11.40 [[ 4.95030733e-01 -8.67428864e-01 -5.01172532e-02 9.16767272e+01] [ 8.62900819e-01 4.97560888e-01 -8.85174465e-02 5.79908464e+01] [ 1.01718973e-01 5.72637589e-04 9.94813009e-01 1.13951646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21687499999999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:91.69, Y:58.01, Z:11.40 [[ 4.90819103e-01 -8.69820225e-01 -5.00937547e-02 9.16924850e+01] [ 8.65303151e-01 4.93368792e-01 -8.85307428e-02 5.80139800e+01] [ 1.01720526e-01 1.06295969e-04 9.94813009e-01 1.13970693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24687499999999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:91.71, Y:58.04, Z:11.40 [[ 4.86816121e-01 -8.72068249e-01 -5.00702820e-02 9.17081623e+01] [ 8.67561583e-01 4.89384161e-01 -8.85440163e-02 5.80369400e+01] [ 1.01720028e-01 -3.34398565e-04 9.94813010e-01 1.13986320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27687499999999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:91.72, Y:58.06, Z:11.40 [[ 4.82935835e-01 -8.74224393e-01 -5.00468809e-02 9.17234468e+01] [ 8.69727820e-01 4.85521507e-01 -8.85572412e-02 5.80595139e+01] [ 1.01717737e-01 -7.59699414e-04 9.94813010e-01 1.14004521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30687499999999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:91.74, Y:58.08, Z:11.40 [[ 4.76367004e-01 -8.77822459e-01 -5.00220638e-02 9.17399189e+01] [ 8.73343938e-01 4.78983818e-01 -8.85712571e-02 5.80802511e+01] [ 1.01709598e-01 -1.49404176e-03 9.94813010e-01 1.14028794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33687499999999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:91.75, Y:58.10, Z:11.41 [[ 4.73824568e-01 -8.79198924e-01 -4.99953130e-02 9.17549357e+01] [ 8.74726412e-01 4.76451637e-01 -8.85863544e-02 5.81034260e+01] [ 1.01705376e-01 -1.75782965e-03 9.94813011e-01 1.14059249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.366875 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:91.77, Y:58.13, Z:11.41 [[ 4.71367248e-01 -8.80520244e-01 -4.99701612e-02 9.17694126e+01] [ 8.76053593e-01 4.74004269e-01 -8.86005399e-02 5.81267401e+01] [ 1.01700639e-01 -2.01314656e-03 9.94813011e-01 1.14103222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.396875 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:91.78, Y:58.15, Z:11.41 [[ 4.69275166e-01 -8.81638352e-01 -4.99463151e-02 9.17841065e+01] [ 8.77176555e-01 4.71920390e-01 -8.86139806e-02 5.81503596e+01] [ 1.01696168e-01 -2.22739617e-03 9.94813012e-01 1.14139856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.426875 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:91.80, Y:58.17, Z:11.42 [[ 4.66041975e-01 -8.83353071e-01 -4.99222360e-02 9.17983630e+01] [ 8.78899553e-01 4.68701114e-01 -8.86275439e-02 5.81734434e+01] [ 1.01688021e-01 -2.57247531e-03 9.94813012e-01 1.14171714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.456875 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:91.81, Y:58.20, Z:11.42 [[ 4.64926129e-01 -8.83942302e-01 -4.98969035e-02 9.18116667e+01] [ 8.79490627e-01 4.67588352e-01 -8.86418038e-02 5.81969160e+01] [ 1.01685451e-01 -2.67196823e-03 9.94813012e-01 1.14191083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.486875 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:91.83, Y:58.22, Z:11.42 [[ 4.64230890e-01 -8.84309044e-01 -4.98717855e-02 9.18252082e+01] [ 8.79857958e-01 4.66894098e-01 -8.86559335e-02 5.82215109e+01] [ 1.01684086e-01 -2.72326442e-03 9.94813013e-01 1.14220198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.516875 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:91.84, Y:58.25, Z:11.42 [[ 4.64009250e-01 -8.84426694e-01 -4.98481606e-02 9.18374111e+01] [ 8.79974861e-01 4.66671206e-01 -8.86692150e-02 5.82458034e+01] [ 1.01684122e-01 -2.72179226e-03 9.94813013e-01 1.14247363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.546875 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:91.85, Y:58.27, Z:11.43 [[ 4.63742998e-01 -8.84567729e-01 -4.98233240e-02 9.18503100e+01] [ 8.80115211e-01 4.66403807e-01 -8.86831686e-02 5.82711151e+01] [ 1.01684057e-01 -2.72406680e-03 9.94813014e-01 1.14280695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.576875 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:91.86, Y:58.30, Z:11.43 [[ 4.64025166e-01 -8.84421048e-01 -4.98001480e-02 9.18621448e+01] [ 8.79966295e-01 4.66682233e-01 -8.86961812e-02 5.82950975e+01] [ 1.01685614e-01 -2.66519147e-03 9.94813014e-01 1.14306035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60687499999999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:91.87, Y:58.32, Z:11.43 [[ 4.64577610e-01 -8.84132357e-01 -4.97756961e-02 9.18722913e+01] [ 8.79674487e-01 4.67229442e-01 -8.87099014e-02 5.83205588e+01] [ 1.01687965e-01 -2.57377594e-03 9.94813014e-01 1.14335691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63687499999999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:91.88, Y:58.35, Z:11.44 [[ 4.64874636e-01 -8.83977656e-01 -4.97501477e-02 9.18839280e+01] [ 8.79517373e-01 4.67522407e-01 -8.87242271e-02 5.83456186e+01] [ 1.01689543e-01 -2.51047654e-03 9.94813015e-01 1.14357284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66687499999999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:91.89, Y:58.37, Z:11.44 [[ 4.65034141e-01 -8.83895191e-01 -4.97246385e-02 9.18948482e+01] [ 8.79432913e-01 4.67678550e-01 -8.87385212e-02 5.83697280e+01] [ 1.01690699e-01 -2.46304173e-03 9.94813015e-01 1.14378509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69687499999999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:91.91, Y:58.39, Z:11.44 [[ 4.65134835e-01 -8.83843709e-01 -4.96979275e-02 9.19062387e+01] [ 8.79379544e-01 4.67776055e-01 -8.87534782e-02 5.83944991e+01] [ 1.01691704e-01 -2.42100637e-03 9.94813016e-01 1.14404377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72687499999999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:91.92, Y:58.42, Z:11.44 [[ 4.64918359e-01 -8.83959011e-01 -4.96728005e-02 9.19177018e+01] [ 8.79494002e-01 4.67558151e-01 -8.87675390e-02 5.84198306e+01] [ 1.01691789e-01 -2.41727155e-03 9.94813016e-01 1.14438999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.756875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:91.93, Y:58.45, Z:11.45 [[ 4.64660079e-01 -8.84096135e-01 -4.96491268e-02 9.19275560e+01] [ 8.79630494e-01 4.67298800e-01 -8.87807781e-02 5.84458167e+01] [ 1.01691720e-01 -2.42000261e-03 9.94813016e-01 1.14467364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.786875 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:91.94, Y:58.47, Z:11.45 [[ 4.63945524e-01 -8.84472652e-01 -4.96253840e-02 9.19395332e+01] [ 8.80007736e-01 4.66585471e-01 -8.87940476e-02 5.84716127e+01] [ 1.01690390e-01 -2.47512093e-03 9.94813017e-01 1.14503797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.816875 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:91.95, Y:58.50, Z:11.45 [[ 4.63503585e-01 -8.84705668e-01 -4.96014802e-02 9.19509912e+01] [ 8.80240654e-01 4.66143365e-01 -8.88073985e-02 5.84968237e+01] [ 1.01689810e-01 -2.49869180e-03 9.94813017e-01 1.14513917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.846875 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:91.96, Y:58.52, Z:11.46 [[ 4.62803934e-01 -8.85072846e-01 -4.95840337e-02 9.19629603e+01] [ 8.80608885e-01 4.65445495e-01 -8.88171384e-02 5.85222954e+01] [ 1.01688303e-01 -2.55921955e-03 9.94813017e-01 1.14574239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.876875 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:91.97, Y:58.55, Z:11.46 [[ 4.61373130e-01 -8.85820891e-01 -4.95598995e-02 9.19731074e+01] [ 8.81359770e-01 4.64019482e-01 -8.88306033e-02 5.85484435e+01] [ 1.01684763e-01 -2.69604815e-03 9.94813018e-01 1.14618135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.906875 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:91.98, Y:58.57, Z:11.47 [[ 4.60846366e-01 -8.86096395e-01 -4.95358994e-02 9.19849731e+01] [ 8.81635422e-01 4.63492966e-01 -8.88439849e-02 5.85742485e+01] [ 1.01683876e-01 -2.72917606e-03 9.94813018e-01 1.14652157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.936875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:92.00, Y:58.60, Z:11.47 [[ 4.60456743e-01 -8.86300270e-01 -4.95118087e-02 9.19964870e+01] [ 8.81839029e-01 4.63102892e-01 -8.88574084e-02 5.86001547e+01] [ 1.01683407e-01 -2.74645244e-03 9.94813019e-01 1.14683534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96687499999999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:92.01, Y:58.63, Z:11.47 [[ 4.60815457e-01 -8.86115153e-01 -4.94878879e-02 9.20076620e+01] [ 8.81651422e-01 4.63457403e-01 -8.88707288e-02 5.86257167e+01] [ 1.01685227e-01 -2.67806125e-03 9.94813019e-01 1.14705703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99687499999999 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:92.02, Y:58.65, Z:11.47 [[ 4.62878642e-01 -8.85040487e-01 -4.94641321e-02 9.20171504e+01] [ 8.80569210e-01 4.65507797e-01 -8.88839490e-02 5.86523017e+01] [ 1.01691833e-01 -2.41411013e-03 9.94813019e-01 1.14724899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02687499999999 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:92.03, Y:58.68, Z:11.47 [[ 4.64669931e-01 -8.84102646e-01 -4.94405469e-02 9.20293024e+01] [ 8.79624669e-01 4.67287656e-01 -8.88970660e-02 5.86779391e+01] [ 1.01697089e-01 -2.18133120e-03 9.94813020e-01 1.14747181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05687499999999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:92.04, Y:58.70, Z:11.48 [[ 4.67141430e-01 -8.82800568e-01 -4.94170176e-02 9.20411685e+01] [ 8.78313911e-01 4.69744250e-01 -8.89101439e-02 5.87033187e+01] [ 1.01703285e-01 -1.87004221e-03 9.94813020e-01 1.14767653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08687499999999 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:92.05, Y:58.73, Z:11.48 [[ 4.70014178e-01 -8.81275757e-01 -4.93934447e-02 9.20526579e+01] [ 8.76779279e-01 4.72599994e-01 -8.89232378e-02 5.87283375e+01] [ 1.01709235e-01 -1.51196628e-03 9.94813020e-01 1.14793464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.116875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:92.06, Y:58.75, Z:11.48 [[ 4.76771341e-01 -8.77639923e-01 -4.93685622e-02 9.20623343e+01] [ 8.73122287e-01 4.79320012e-01 -8.89370500e-02 5.87536469e+01] [ 1.01718045e-01 -7.02155357e-04 9.94813021e-01 1.14825588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.146875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:92.07, Y:58.78, Z:11.49 [[ 4.81389809e-01 -8.75116584e-01 -4.93438613e-02 9.20719227e+01] [ 8.70584182e-01 4.83912126e-01 -8.89507524e-02 5.87764919e+01] [ 1.01720371e-01 -1.37999395e-04 9.94813021e-01 1.14856699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.176875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:92.09, Y:58.80, Z:11.49 [[ 4.83780037e-01 -8.73828863e-01 -4.87851874e-02 9.20850088e+01] [ 8.69258348e-01 4.86232986e-01 -8.92603390e-02 5.88025380e+01] [ 1.01719228e-01 7.75438732e-04 9.94812845e-01 1.14881375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:58.83, Z:11.49 [[ 4.86431104e-01 -8.72326537e-01 -4.93071378e-02 9.20972470e+01] [ 8.67777605e-01 4.88923483e-01 -8.89710986e-02 5.88265859e+01] [ 1.01719268e-01 4.90679786e-04 9.94813023e-01 1.14922421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:58.85, Z:11.50 [[ 4.89537816e-01 -8.70588333e-01 -4.92816444e-02 9.21092241e+01] [ 8.66029131e-01 4.92011357e-01 -8.89852174e-02 5.88499971e+01] [ 1.01716621e-01 8.82289305e-04 9.94813023e-01 1.14956498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.266875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:92.12, Y:58.87, Z:11.50 [[ 4.90422840e-01 -8.70091599e-01 -4.92549300e-02 9.21225518e+01] [ 8.65528406e-01 4.92889012e-01 -8.90000018e-02 5.88736053e+01] [ 1.01715368e-01 1.01609258e-03 9.94813023e-01 1.14982583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:58.90, Z:11.50 [[ 4.91144534e-01 -8.69685856e-01 -4.92296545e-02 9.21358966e+01] [ 8.65119226e-01 4.93604332e-01 -8.90139807e-02 5.88973103e+01] [ 1.01714171e-01 1.12920945e-03 9.94813024e-01 1.15007694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.326875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:92.15, Y:58.92, Z:11.50 [[ 4.91523359e-01 -8.69473233e-01 -4.92045256e-02 9.21494571e+01] [ 8.64904148e-01 4.93978596e-01 -8.90278691e-02 5.89200025e+01] [ 1.01713332e-01 1.20207894e-03 9.94813024e-01 1.15026173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:58.94, Z:11.51 [[ 4.90693074e-01 -8.69943572e-01 -4.91781406e-02 9.21634130e+01] [ 8.65375381e-01 4.93149971e-01 -8.90424416e-02 5.89444636e+01] [ 1.01714098e-01 1.13495727e-03 9.94813025e-01 1.15051659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:58.97, Z:11.51 [[ 4.89947276e-01 -8.70365124e-01 -4.91550428e-02 9.21781979e+01] [ 8.65797768e-01 4.92405725e-01 -8.90551907e-02 5.89687432e+01] [ 1.01714757e-01 1.07402182e-03 9.94813025e-01 1.15073494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:58.99, Z:11.51 [[ 4.88229243e-01 -8.71331306e-01 -4.91320780e-02 9.21928183e+01] [ 8.66767542e-01 4.90694350e-01 -8.90678587e-02 5.89927496e+01] [ 1.01716447e-01 8.99442787e-04 9.94813025e-01 1.15093966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:59.01, Z:11.51 [[ 4.83209547e-01 -8.74126316e-01 -4.91092348e-02 9.22095750e+01] [ 8.69575532e-01 4.85698536e-01 -8.90804520e-02 5.90149604e+01] [ 1.01719851e-01 3.40335948e-04 9.94813026e-01 1.15133453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:59.04, Z:11.51 [[ 4.79823448e-01 -8.75990972e-01 -4.90843815e-02 9.22239912e+01] [ 8.71448459e-01 4.82327500e-01 -8.90941444e-02 5.90374634e+01] [ 1.01720413e-01 -2.50490880e-05 9.94813026e-01 1.15143484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:59.06, Z:11.52 [[ 4.76323521e-01 -8.77900003e-01 -4.90661564e-02 9.22381802e+01] [ 8.73366492e-01 4.78843832e-01 -8.91041803e-02 5.90601766e+01] [ 1.01719587e-01 -4.10320006e-04 9.94813026e-01 1.15167151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:59.08, Z:11.52 [[ 4.72718394e-01 -8.79847880e-01 -4.90410859e-02 9.22517757e+01] [ 8.75323321e-01 4.75254742e-01 -8.91179765e-02 5.90823355e+01] [ 1.01717271e-01 -7.99099436e-04 9.94813027e-01 1.15183532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:59.10, Z:11.52 [[ 4.65836986e-01 -8.83511994e-01 -4.90148790e-02 9.22667563e+01] [ 8.79005862e-01 4.68405927e-01 -8.91323880e-02 5.91040877e+01] [ 1.01708394e-01 -1.56320296e-03 9.94813027e-01 1.15204922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:59.13, Z:11.53 [[ 4.62824240e-01 -8.85095373e-01 -4.89888093e-02 9.22817037e+01] [ 8.80596512e-01 4.65405894e-01 -8.91467142e-02 5.91278321e+01] [ 1.01703025e-01 -1.88011432e-03 9.94813028e-01 1.15259390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:59.15, Z:11.53 [[ 4.59816178e-01 -8.86663166e-01 -4.89643964e-02 9.22956004e+01] [ 8.82171680e-01 4.62410639e-01 -8.91601211e-02 5.91509030e+01] [ 1.01696653e-01 -2.19773780e-03 9.94813028e-01 1.15272989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:59.17, Z:11.53 [[ 4.57305525e-01 -8.87962084e-01 -4.89386755e-02 9.23097017e+01] [ 8.83476458e-01 4.59910104e-01 -8.91742368e-02 5.91744343e+01] [ 1.01690732e-01 -2.45629646e-03 9.94813028e-01 1.15322021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:59.20, Z:11.53 [[ 4.53189658e-01 -8.90071068e-01 -4.89144895e-02 9.23242036e+01] [ 8.85596129e-01 4.55812555e-01 -8.91875015e-02 5.91987165e+01] [ 1.01679053e-01 -2.89962926e-03 9.94813029e-01 1.15346354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:59.22, Z:11.54 [[ 4.51613793e-01 -8.90873000e-01 -4.88904799e-02 9.23374028e+01] [ 8.86401298e-01 4.54242204e-01 -8.92006611e-02 5.92232155e+01] [ 1.01674580e-01 -3.05233596e-03 9.94813029e-01 1.15367743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:59.25, Z:11.54 [[ 4.51377171e-01 -8.90994219e-01 -4.88666662e-02 9.23509976e+01] [ 8.86521816e-01 4.54004388e-01 -8.92137051e-02 5.92482307e+01] [ 1.01674576e-01 -3.05233585e-03 9.94813030e-01 1.15396715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:59.27, Z:11.54 [[ 4.50481345e-01 -8.91448784e-01 -4.88428490e-02 9.23638803e+01] [ 8.86977623e-01 4.53110676e-01 -8.92267427e-02 5.92727398e+01] [ 1.01672288e-01 -3.12753110e-03 9.94813030e-01 1.15423902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:59.30, Z:11.55 [[ 4.49961895e-01 -8.91712420e-01 -4.88185664e-02 9.23762465e+01] [ 8.87241364e-01 4.52591404e-01 -8.92400264e-02 5.92976837e+01] [ 1.01671303e-01 -3.15924004e-03 9.94813030e-01 1.15451034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:59.32, Z:11.55 [[ 4.50982601e-01 -8.91197955e-01 -4.87944615e-02 9.23871347e+01] [ 8.86722478e-01 4.53604577e-01 -8.92532046e-02 5.93236306e+01] [ 1.01675664e-01 -3.01550348e-03 9.94813031e-01 1.15483004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.866875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:92.40, Y:59.35, Z:11.55 [[ 4.52216105e-01 -8.90574004e-01 -4.87702598e-02 9.23986830e+01] [ 8.86093487e-01 4.54829459e-01 -8.92664271e-02 5.93480584e+01] [ 1.01680510e-01 -2.84729364e-03 9.94813031e-01 1.15517759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.896875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:92.41, Y:59.37, Z:11.56 [[ 4.53829654e-01 -8.89754234e-01 -4.87447262e-02 9.24098696e+01] [ 8.85267503e-01 4.56432322e-01 -8.92803678e-02 5.93732124e+01] [ 1.01686254e-01 -2.63404365e-03 9.94813031e-01 1.15550047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:59.40, Z:11.56 [[ 4.56297089e-01 -8.88492776e-01 -4.87191294e-02 9.24211398e+01] [ 8.83997359e-01 4.58884725e-01 -8.92943335e-02 5.93990745e+01] [ 1.01693835e-01 -2.32283729e-03 9.94813032e-01 1.15580777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:59.43, Z:11.56 [[ 4.62996862e-01 -8.85021301e-01 -4.86949984e-02 9.24293171e+01] [ 8.80505086e-01 4.65548026e-01 -8.93074910e-02 5.94253062e+01] [ 1.01708892e-01 -1.52710576e-03 9.94813032e-01 1.15611923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:59.45, Z:11.56 [[ 4.66230077e-01 -8.83323286e-01 -4.86773880e-02 9.24398271e+01] [ 8.78796776e-01 4.68762929e-01 -8.93170886e-02 5.94511164e+01] [ 1.01714019e-01 -1.13521861e-03 9.94813032e-01 1.15632107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:59.48, Z:11.57 [[ 4.69385562e-01 -8.81651879e-01 -4.86534578e-02 9.24509346e+01] [ 8.77114997e-01 4.71899789e-01 -8.93301222e-02 5.94775422e+01] [ 1.01717627e-01 -7.44407874e-04 9.94813033e-01 1.15655094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.046875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:92.46, Y:59.50, Z:11.57 [[ 4.73568752e-01 -8.79413389e-01 -4.86284687e-02 9.24597290e+01] [ 8.74863225e-01 4.76058858e-01 -8.93437234e-02 5.95032805e+01] [ 1.01720080e-01 -2.32863354e-04 9.94813033e-01 1.15672986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:59.53, Z:11.57 [[ 4.74669757e-01 -8.78821062e-01 -4.86020756e-02 9.24713176e+01] [ 8.74266321e-01 4.77151480e-01 -8.93580788e-02 5.95284461e+01] [ 1.01720314e-01 -7.55802612e-05 9.94813034e-01 1.15700790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:59.55, Z:11.57 [[ 4.75037049e-01 -8.78623913e-01 -4.85779949e-02 9.24827066e+01] [ 8.74066802e-01 4.77514418e-01 -8.93711679e-02 5.95524241e+01] [ 1.01720338e-01 -5.79686169e-06 9.94813034e-01 1.15726887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:59.58, Z:11.58 [[ 4.74708221e-01 -8.78803023e-01 -4.85525676e-02 9.24943980e+01] [ 8.74245434e-01 4.77184709e-01 -8.93849797e-02 5.95766456e+01] [ 1.01720333e-01 -1.50758421e-05 9.94813034e-01 1.15750941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:59.60, Z:11.58 [[ 4.73508771e-01 -8.79451270e-01 -4.85273865e-02 9.25051457e+01] [ 8.74895670e-01 4.75988916e-01 -8.93986486e-02 5.96020480e+01] [ 1.01720253e-01 -1.25356139e-04 9.94813035e-01 1.15797136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:59.63, Z:11.58 [[ 4.72878208e-01 -8.79791867e-01 -4.85022933e-02 9.25165674e+01] [ 8.75236657e-01 4.75359067e-01 -8.94122606e-02 5.96262019e+01] [ 1.01720185e-01 -1.69875493e-04 9.94813035e-01 1.15823443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:59.65, Z:11.58 [[ 4.72032886e-01 -8.80247151e-01 -4.84758384e-02 9.25280788e+01] [ 8.75692861e-01 4.74515433e-01 -8.94266012e-02 5.96502091e+01] [ 1.01720044e-01 -2.37648977e-04 9.94813036e-01 1.15841059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.256875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:92.54, Y:59.68, Z:11.59 [[ 4.71515631e-01 -8.80525767e-01 -4.84498056e-02 9.25404290e+01] [ 8.75971494e-01 4.73998209e-01 -8.94407031e-02 5.96757856e+01] [ 1.01719965e-01 -2.67958969e-04 9.94813036e-01 1.15866113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:59.70, Z:11.59 [[ 4.71159474e-01 -8.80717727e-01 -4.84255588e-02 9.25520239e+01] [ 8.76163117e-01 4.73641431e-01 -8.94538291e-02 5.97017429e+01] [ 1.01719924e-01 -2.81669504e-04 9.94813037e-01 1.15887986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:59.73, Z:11.59 [[ 4.71151552e-01 -8.80723306e-01 -4.84011830e-02 9.25647882e+01] [ 8.76167369e-01 4.73631074e-01 -8.94670163e-02 5.97271454e+01] [ 1.01719991e-01 -2.55013614e-04 9.94813037e-01 1.15916383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.58, Y:59.75, Z:11.59 [[ 4.71363294e-01 -8.80611330e-01 -4.83769660e-02 9.25772703e+01] [ 8.76053461e-01 4.73839260e-01 -8.94801092e-02 5.97520606e+01] [ 1.01720104e-01 -2.03169529e-04 9.94813037e-01 1.15947939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:59.78, Z:11.60 [[ 4.72394303e-01 -8.80060074e-01 -4.83517215e-02 9.25876258e+01] [ 8.75497918e-01 4.74862363e-01 -8.94937483e-02 5.97772697e+01] [ 1.01720287e-01 -5.54945977e-05 9.94813038e-01 1.15966440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:59.80, Z:11.60 [[ 4.73588376e-01 -8.79419543e-01 -4.83251218e-02 9.25997709e+01] [ 8.74852584e-01 4.76047534e-01 -8.95081095e-02 5.98019174e+01] [ 1.01720236e-01 1.12642519e-04 9.94813038e-01 1.15996998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:59.83, Z:11.60 [[ 4.74639784e-01 -8.78853854e-01 -4.83009078e-02 9.26121858e+01] [ 8.74282635e-01 4.77091012e-01 -8.95211741e-02 5.98264857e+01] [ 1.01719958e-01 2.61665867e-04 9.94813039e-01 1.16025384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:59.85, Z:11.61 [[ 4.75863839e-01 -8.78193023e-01 -4.82765136e-02 9.26243792e+01] [ 8.73617064e-01 4.78306209e-01 -8.95343274e-02 5.98501153e+01] [ 1.01719378e-01 4.30962688e-04 9.94813039e-01 1.16055314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:59.88, Z:11.61 [[ 4.78896912e-01 -8.76544126e-01 -4.82508236e-02 9.26369410e+01] [ 8.71958365e-01 4.81320824e-01 -8.95481699e-02 5.98753367e+01] [ 1.01717049e-01 8.11632799e-04 9.94813039e-01 1.16090719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:59.90, Z:11.61 [[ 4.80521396e-01 -8.75656002e-01 -4.82260636e-02 9.26494731e+01] [ 8.71064423e-01 4.82934269e-01 -8.95615024e-02 5.98994279e+01] [ 1.01715086e-01 1.02820988e-03 9.94813040e-01 1.16115038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:59.92, Z:11.61 [[ 4.82170349e-01 -8.74750105e-01 -4.82079772e-02 9.26623029e+01] [ 8.70153019e-01 4.84572715e-01 -8.95712367e-02 5.99238109e+01] [ 1.01712719e-01 1.24027749e-03 9.94813040e-01 1.16141951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:59.95, Z:11.62 [[ 4.84104640e-01 -8.73682475e-01 -4.81833022e-02 9.26748828e+01] [ 8.69078772e-01 4.86494299e-01 -8.95845082e-02 5.99477580e+01] [ 1.01709317e-01 1.49319096e-03 9.94813040e-01 1.16168715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.69, Y:59.97, Z:11.62 [[ 4.88127559e-01 -8.71442692e-01 -4.81572509e-02 9.26879771e+01] [ 8.66826648e-01 4.90493291e-01 -8.95985103e-02 5.99723172e+01] [ 1.01700775e-01 1.99151372e-03 9.94813041e-01 1.16180766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:60.00, Z:11.62 [[ 4.89596896e-01 -8.70619391e-01 -4.81326910e-02 9.27010346e+01] [ 8.65998075e-01 4.91952312e-01 -8.96117021e-02 5.99955874e+01] [ 1.01696674e-01 2.19079339e-03 9.94813041e-01 1.16201383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:60.02, Z:11.62 [[ 4.90510580e-01 -8.70106379e-01 -4.81067603e-02 9.27150246e+01] [ 8.65481238e-01 4.92858474e-01 -8.96256205e-02 6.00204423e+01] [ 1.01693649e-01 2.32681669e-03 9.94813042e-01 1.16224481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:60.04, Z:11.62 [[ 4.92118230e-01 -8.69199417e-01 -4.80834934e-02 9.27299319e+01] [ 8.64568733e-01 4.94455172e-01 -8.96381013e-02 6.00445599e+01] [ 1.01688517e-01 2.54105882e-03 9.94813042e-01 1.16249563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.74, Y:60.07, Z:11.63 [[ 4.92060774e-01 -8.69233327e-01 -4.80584907e-02 9.27436570e+01] [ 8.64601498e-01 4.94395446e-01 -8.96515043e-02 6.00685754e+01] [ 1.01687974e-01 2.56254553e-03 9.94813042e-01 1.16280260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:60.09, Z:11.63 [[ 4.91859878e-01 -8.69348430e-01 -4.80329869e-02 9.27573877e+01] [ 8.64715817e-01 4.94192992e-01 -8.96651666e-02 6.00915928e+01] [ 1.01687837e-01 2.56781437e-03 9.94813043e-01 1.16306476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.77, Y:60.12, Z:11.63 [[ 4.91215624e-01 -8.69713889e-01 -4.80100260e-02 9.27719908e+01] [ 8.65081813e-01 4.93549804e-01 -8.96774590e-02 6.01153234e+01] [ 1.01689071e-01 2.51836862e-03 9.94813043e-01 1.16338014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:60.14, Z:11.64 [[ 4.88506381e-01 -8.71239899e-01 -4.79849337e-02 9.27883184e+01] [ 8.66613802e-01 4.90852386e-01 -8.96908835e-02 6.01383004e+01] [ 1.01695795e-01 2.23016310e-03 9.94813044e-01 1.16378532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:60.16, Z:11.64 [[ 4.86190761e-01 -8.72535624e-01 -4.79596483e-02 9.28031948e+01] [ 8.67914449e-01 4.88546446e-01 -8.97044022e-02 6.01614432e+01] [ 1.01700802e-01 1.98857983e-03 9.94813044e-01 1.16409294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88687499999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:92.82, Y:60.18, Z:11.64 [[ 4.83268010e-01 -8.74159285e-01 -4.79330148e-02 9.28180506e+01] [ 8.69544617e-01 4.85636415e-01 -8.97186314e-02 6.01847228e+01] [ 1.01706392e-01 1.67824956e-03 9.94813044e-01 1.16441999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:60.21, Z:11.65 [[ 4.77698401e-01 -8.77216638e-01 -4.79083169e-02 9.28357155e+01] [ 8.72615811e-01 4.80093582e-01 -8.97318178e-02 6.02064656e+01] [ 1.01714719e-01 1.05919108e-03 9.94813045e-01 1.16511043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:60.23, Z:11.66 [[ 4.74443878e-01 -8.78982457e-01 -4.78836884e-02 9.28506595e+01] [ 8.74389218e-01 4.76853580e-01 -8.97449584e-02 6.02301261e+01] [ 1.01717752e-01 7.09965212e-04 9.94813045e-01 1.16553099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:60.25, Z:11.66 [[ 4.71236132e-01 -8.80707670e-01 -4.78592591e-02 9.28658042e+01] [ 8.76121931e-01 4.73660075e-01 -8.97579843e-02 6.02540079e+01] [ 1.01719565e-01 3.66658768e-04 9.94813046e-01 1.16586989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:60.28, Z:11.66 [[ 4.67976668e-01 -8.82445297e-01 -4.78344678e-02 9.28801581e+01] [ 8.77867208e-01 4.70415027e-01 -8.97711943e-02 6.02765370e+01] [ 1.01720221e-01 1.85137197e-05 9.94813046e-01 1.16618003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.90, Y:60.30, Z:11.66 [[ 4.61710614e-01 -8.85741313e-01 -4.78083283e-02 9.28962356e+01] [ 8.81179187e-01 4.64178710e-01 -8.97851130e-02 6.02997639e+01] [ 1.01717992e-01 -6.72964178e-04 9.94813046e-01 1.16624883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:60.32, Z:11.66 [[ 4.58969956e-01 -8.87165915e-01 -4.77830378e-02 9.29101459e+01] [ 8.82610048e-01 4.61449585e-01 -8.97985705e-02 6.03231011e+01] [ 1.01715694e-01 -9.58943355e-04 9.94813047e-01 1.16642024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:60.35, Z:11.67 [[ 4.56892235e-01 -8.88239163e-01 -4.77564050e-02 9.29248555e+01] [ 8.83687641e-01 4.59379829e-01 -8.98127321e-02 6.03472917e+01] [ 1.01713515e-01 -1.16700491e-03 9.94813047e-01 1.16668201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:60.37, Z:11.67 [[ 4.53603488e-01 -8.89924419e-01 -4.77326335e-02 9.29395026e+01] [ 8.85380808e-01 4.56105502e-01 -8.98253642e-02 6.03717324e+01] [ 1.01708902e-01 -1.51645910e-03 9.94813048e-01 1.16693848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:60.40, Z:11.67 [[ 4.52459661e-01 -8.90507830e-01 -4.77080610e-02 9.29526202e+01] [ 8.85966070e-01 4.54965033e-01 -8.98384133e-02 6.03964939e+01] [ 1.01707310e-01 -1.61946530e-03 9.94813048e-01 1.16716100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:60.42, Z:11.67 [[ 4.51694152e-01 -8.90897681e-01 -4.76834850e-02 9.29653381e+01] [ 8.86356708e-01 4.54200949e-01 -8.98514556e-02 6.04207063e+01] [ 1.01706338e-01 -1.67919975e-03 9.94813048e-01 1.16741382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:60.45, Z:11.68 [[ 4.51070778e-01 -8.91214849e-01 -4.76575981e-02 9.29784642e+01] [ 8.86674189e-01 4.53578142e-01 -8.98651841e-02 6.04457842e+01] [ 1.01705631e-01 -1.72120364e-03 9.94813049e-01 1.16770240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:60.47, Z:11.68 [[ 4.50380173e-01 -8.91565359e-01 -4.76330843e-02 9.29913455e+01] [ 8.87025278e-01 4.52888584e-01 -8.98781758e-02 6.04711013e+01] [ 1.01704748e-01 -1.77240149e-03 9.94813049e-01 1.16789606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:60.50, Z:11.68 [[ 4.50363103e-01 -8.91575322e-01 -4.76079904e-02 9.30038174e+01] [ 8.87033894e-01 4.52869072e-01 -8.98914660e-02 6.04954886e+01] [ 1.01705199e-01 -1.74610159e-03 9.94813050e-01 1.16805993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.01, Y:60.52, Z:11.67 [[ 4.44682448e-01 -8.94423567e-01 -4.75815338e-02 9.30074275e+01] [ 8.89896685e-01 4.47214599e-01 -8.99054679e-02 6.05200087e+01] [ 1.01692726e-01 -2.36326561e-03 9.94813050e-01 1.16739154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:60.55, Z:11.68 [[ 4.49993376e-01 -8.91843242e-01 -4.60607690e-02 9.30278946e+01] [ 8.87218277e-01 4.52344592e-01 -9.07088634e-02 6.05455539e+01] [ 1.01733427e-01 -4.75685354e-05 9.94811695e-01 1.16828271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.04, Y:60.57, Z:11.69 [[ 4.50520489e-01 -8.91498552e-01 -4.75564962e-02 9.30397564e+01] [ 8.86953900e-01 4.53020464e-01 -8.99179564e-02 6.05706459e+01] [ 1.01705794e-01 -1.67053805e-03 9.94813119e-01 1.16863172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.05, Y:60.60, Z:11.69 [[ 4.51430089e-01 -8.91039604e-01 -4.75320830e-02 9.30522023e+01] [ 8.86491052e-01 4.53922962e-01 -8.99308598e-02 6.05954184e+01] [ 1.01707862e-01 -1.53927017e-03 9.94813119e-01 1.16894147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:60.62, Z:11.69 [[ 4.53699946e-01 -8.89887286e-01 -4.75076547e-02 9.30628133e+01] [ 8.85331051e-01 4.56178747e-01 -8.99437627e-02 6.06213644e+01] [ 1.01711793e-01 -1.25252166e-03 9.94813119e-01 1.16909832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:60.65, Z:11.69 [[ 4.54862215e-01 -8.89295064e-01 -4.74831976e-02 9.30748825e+01] [ 8.84734255e-01 4.57332588e-01 -8.99566724e-02 6.06471857e+01] [ 1.01713638e-01 -1.09212015e-03 9.94813120e-01 1.16937858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:60.67, Z:11.69 [[ 4.57171307e-01 -8.88111473e-01 -4.74595390e-02 9.30859603e+01] [ 8.83542971e-01 4.59627425e-01 -8.99691525e-02 6.06705201e+01] [ 1.01716342e-01 -8.01227084e-04 9.94813120e-01 1.16937242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:60.70, Z:11.70 [[ 4.58414011e-01 -8.87484402e-01 -4.72020170e-02 9.30980157e+01] [ 8.82898526e-01 4.60837607e-01 -9.01049044e-02 6.06962498e+01] [ 1.01719162e-01 -3.69240570e-04 9.94813086e-01 1.16976522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.11, Y:60.72, Z:11.70 [[ 4.62952425e-01 -8.85113566e-01 -4.74239190e-02 9.31091790e+01] [ 8.80527228e-01 4.65375082e-01 -8.99879650e-02 6.07203366e+01] [ 1.01719479e-01 -9.79053350e-05 9.94813117e-01 1.17003439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:60.75, Z:11.70 [[ 4.65251517e-01 -8.83908643e-01 -4.73976546e-02 9.31219804e+01] [ 8.79314621e-01 4.67659570e-01 -9.00017967e-02 6.07451924e+01] [ 1.01719333e-01 1.96021780e-04 9.94813118e-01 1.17035861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:60.77, Z:11.71 [[ 4.67385685e-01 -8.82783318e-01 -4.73733554e-02 9.31346333e+01] [ 8.78182203e-01 4.69780154e-01 -9.00145850e-02 6.07696177e+01] [ 1.01718436e-01 4.69090832e-04 9.94813118e-01 1.17069825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:60.79, Z:11.71 [[ 4.67147884e-01 -8.82910486e-01 -4.73490044e-02 9.31477997e+01] [ 8.78308724e-01 4.69541109e-01 -9.00273922e-02 6.07948565e+01] [ 1.01718433e-01 4.69062058e-04 9.94813118e-01 1.17098797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.16, Y:60.82, Z:11.71 [[ 4.69495354e-01 -8.81665749e-01 -4.73246244e-02 9.31609999e+01] [ 8.77056351e-01 4.71873838e-01 -9.00402063e-02 6.08195806e+01] [ 1.01716618e-01 7.67096093e-04 9.94813119e-01 1.17133041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.17, Y:60.84, Z:11.72 [[ 4.74267731e-01 -8.79109107e-01 -4.73000831e-02 9.31742899e+01] [ 8.74485605e-01 4.76618680e-01 -9.00530966e-02 6.08432715e+01] [ 1.01710600e-01 1.34603599e-03 9.94813119e-01 1.17157264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.19, Y:60.87, Z:11.72 [[ 4.76164805e-01 -8.78084408e-01 -4.72742048e-02 9.31876245e+01] [ 8.73454500e-01 4.78503113e-01 -9.00666796e-02 6.08677313e+01] [ 1.01707001e-01 1.59471600e-03 9.94813120e-01 1.17184235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.20, Y:60.89, Z:11.72 [[ 4.78088185e-01 -8.77040010e-01 -4.72494258e-02 9.32014237e+01] [ 8.72403712e-01 4.80413796e-01 -9.00796770e-02 6.08922753e+01] [ 1.01702757e-01 1.84545479e-03 9.94813120e-01 1.17207430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:60.92, Z:11.72 [[ 4.81324845e-01 -8.75269217e-01 -4.72249055e-02 9.32169863e+01] [ 8.70623107e-01 4.83630790e-01 -9.00925301e-02 6.09158162e+01] [ 1.01694637e-01 2.24867916e-03 9.94813120e-01 1.17238617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:60.94, Z:11.73 [[ 4.82006630e-01 -8.74895290e-01 -4.72000071e-02 9.32312483e+01] [ 8.70246117e-01 4.84306392e-01 -9.01055727e-02 6.09397403e+01] [ 1.01692206e-01 2.35586055e-03 9.94813121e-01 1.17270604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:60.96, Z:11.72 [[ 4.77766833e-01 -8.77219109e-01 -4.71750724e-02 9.32377504e+01] [ 8.72579840e-01 4.80086509e-01 -9.01186255e-02 6.09629844e+01] [ 1.01701896e-01 1.89167325e-03 9.94813121e-01 1.17230807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:60.99, Z:11.73 [[ 4.78187911e-01 -8.77059675e-01 -4.58546476e-02 9.32516292e+01] [ 8.72352614e-01 4.80369247e-01 -9.08091593e-02 6.09865637e+01] [ 1.01672214e-01 3.42242044e-03 9.94812067e-01 1.17261284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.28, Y:61.01, Z:11.74 [[ 4.84111804e-01 -8.73808553e-01 -4.57643226e-02 9.32753516e+01] [ 8.69082418e-01 4.86251862e-01 -9.08563567e-02 6.10093975e+01] [ 1.01644049e-01 4.21166666e-03 9.94811917e-01 1.17371077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:61.03, Z:11.74 [[ 4.84939368e-01 -8.73275939e-01 -4.71481162e-02 9.32901072e+01] [ 8.68616465e-01 4.87218169e-01 -9.01326383e-02 6.10325764e+01] [ 1.01682083e-01 2.75523455e-03 9.94813130e-01 1.17406089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:61.06, Z:11.74 [[ 4.85966250e-01 -8.72705908e-01 -4.71296309e-02 9.33045004e+01] [ 8.68042828e-01 4.88237661e-01 -9.01423031e-02 6.10561793e+01] [ 1.01678181e-01 2.89557887e-03 9.94813130e-01 1.17424658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:61.08, Z:11.74 [[ 4.88044496e-01 -8.71546750e-01 -4.71044816e-02 9.33203825e+01] [ 8.66877014e-01 4.90302191e-01 -9.01554432e-02 6.10796769e+01] [ 1.01670114e-01 3.16607547e-03 9.94813130e-01 1.17422585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:61.10, Z:11.74 [[ 4.88523445e-01 -8.71279736e-01 -4.70793501e-02 9.33346231e+01] [ 8.66607507e-01 4.90775976e-01 -9.01685650e-02 6.11034726e+01] [ 1.01667458e-01 3.25013976e-03 9.94813131e-01 1.17438236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:61.13, Z:11.75 [[ 4.89096904e-01 -8.70959311e-01 -4.70541935e-02 9.33496004e+01] [ 8.66284350e-01 4.91343757e-01 -9.01816911e-02 6.11271485e+01] [ 1.01664368e-01 3.34527442e-03 9.94813131e-01 1.17460581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:61.15, Z:11.75 [[ 4.90586233e-01 -8.70122568e-01 -4.70304703e-02 9.33665640e+01] [ 8.65442596e-01 4.92822630e-01 -9.01940613e-02 6.11503752e+01] [ 1.01657568e-01 3.54579245e-03 9.94813131e-01 1.17492800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:61.17, Z:11.75 [[ 4.91228600e-01 -8.69761454e-01 -4.70050585e-02 9.33811777e+01] [ 8.65078579e-01 4.93458909e-01 -9.02073028e-02 6.11746549e+01] [ 1.01653900e-01 3.64933780e-03 9.94813132e-01 1.17520883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:61.20, Z:11.75 [[ 4.91434045e-01 -8.69646761e-01 -4.69796894e-02 9.33950551e+01] [ 8.64962109e-01 4.93660621e-01 -9.02205131e-02 6.11983681e+01] [ 1.01652000e-01 3.70178048e-03 9.94813132e-01 1.17549328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.176875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:93.41, Y:61.22, Z:11.76 [[ 4.91580503e-01 -8.69564981e-01 -4.69611861e-02 9.34097423e+01] [ 8.64879045e-01 4.93804373e-01 -9.02301434e-02 6.12211110e+01] [ 1.01650612e-01 3.73963353e-03 9.94813132e-01 1.17560589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:61.25, Z:11.76 [[ 4.90886423e-01 -8.69958401e-01 -4.69350620e-02 9.34238718e+01] [ 8.65272956e-01 4.93111327e-01 -9.02437304e-02 6.12454046e+01] [ 1.01652502e-01 3.68778218e-03 9.94813133e-01 1.17601231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.236875 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:93.44, Y:61.27, Z:11.76 [[ 4.90585399e-01 -8.70129547e-01 -4.69098844e-02 9.34369399e+01] [ 8.65443634e-01 4.92809317e-01 -9.02568161e-02 6.12679961e+01] [ 1.01652751e-01 3.68081534e-03 9.94813133e-01 1.17614609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:61.29, Z:11.77 [[ 4.88148127e-01 -8.71517687e-01 -4.65653169e-02 9.34506362e+01] [ 8.66821072e-01 4.90349485e-01 -9.04356834e-02 6.12927285e+01] [ 1.01649577e-01 3.78221157e-03 9.94813077e-01 1.17672773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.47, Y:61.32, Z:11.77 [[ 4.83564697e-01 -8.74054103e-01 -4.68466480e-02 9.34661841e+01] [ 8.69383083e-01 4.85819741e-01 -9.02897211e-02 6.13159991e+01] [ 1.01677128e-01 2.93323836e-03 9.94813127e-01 1.17719690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.47, Y:61.34, Z:11.77 [[ 4.77688981e-01 -8.77280431e-01 -4.68218136e-02 9.34737924e+01] [ 8.72623394e-01 4.79972762e-01 -9.03025977e-02 6.13402953e+01] [ 1.01693897e-01 2.27874600e-03 9.94813127e-01 1.17695706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:61.36, Z:11.78 [[ 4.79743275e-01 -8.76210164e-01 -4.58490977e-02 9.34932021e+01] [ 8.71499550e-01 4.81915702e-01 -9.08063380e-02 6.13649520e+01] [ 1.01660836e-01 3.60626198e-03 9.94812580e-01 1.17781363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.50, Y:61.39, Z:11.78 [[ 4.73085705e-01 -8.79772765e-01 -4.67952734e-02 9.35023218e+01] [ 8.75126426e-01 4.75391133e-01 -9.03161635e-02 6.13886778e+01] [ 1.01703759e-01 1.77550556e-03 9.94813145e-01 1.17751964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:61.41, Z:11.78 [[ 4.71383032e-01 -8.80725625e-01 -4.60479081e-02 9.35155277e+01] [ 8.76045855e-01 4.73620667e-01 -9.07034910e-02 6.14129793e+01] [ 1.01694130e-01 2.41600756e-03 9.94812780e-01 1.17781693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.53, Y:61.44, Z:11.78 [[ 4.69496477e-01 -8.81742692e-01 -4.58571972e-02 9.35282942e+01] [ 8.77058119e-01 4.71724503e-01 -9.08022482e-02 6.14372494e+01] [ 1.01696182e-01 2.41190848e-03 9.94812580e-01 1.17811675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.55, Y:61.46, Z:11.79 [[ 4.71263713e-01 -8.80811242e-01 -4.56296845e-02 9.35484128e+01] [ 8.76110873e-01 4.73458884e-01 -9.09198759e-02 6.14614955e+01] [ 1.01687028e-01 2.87057561e-03 9.94812298e-01 1.17911085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:61.48, Z:11.79 [[ 4.70278793e-01 -8.81279024e-01 -4.67454688e-02 9.35615018e+01] [ 8.76637439e-01 4.72593917e-01 -9.03426324e-02 6.14846252e+01] [ 1.01708691e-01 1.50739609e-03 9.94813083e-01 1.17944155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:61.51, Z:11.80 [[ 4.69247118e-01 -8.81830154e-01 -4.67196071e-02 9.35747654e+01] [ 8.77189958e-01 4.71565023e-01 -9.03560045e-02 6.15090823e+01] [ 1.01709982e-01 1.41732458e-03 9.94813083e-01 1.17980155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:61.53, Z:11.80 [[ 4.68261711e-01 -8.82355120e-01 -4.66948778e-02 9.35879778e+01] [ 8.77716249e-01 4.70582266e-01 -9.03687826e-02 6.15335563e+01] [ 1.01711139e-01 1.33138776e-03 9.94813084e-01 1.18012776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:61.56, Z:11.81 [[ 4.65460813e-01 -8.83837175e-01 -4.66699031e-02 9.36012972e+01] [ 8.79204401e-01 4.67793516e-01 -9.03816787e-02 6.15571691e+01] [ 1.01714566e-01 1.03674536e-03 9.94813084e-01 1.18052303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.61, Y:61.58, Z:11.81 [[ 4.63627197e-01 -8.84801784e-01 -4.66435925e-02 9.36147135e+01] [ 8.80172498e-01 4.65966814e-01 -9.03952549e-02 6.15817358e+01] [ 1.01716249e-01 8.55291341e-04 9.94813085e-01 1.18092551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:61.60, Z:11.81 [[ 4.61938838e-01 -8.85685722e-01 -4.66187939e-02 9.36277977e+01] [ 8.81059623e-01 4.64284748e-01 -9.04080423e-02 6.16048396e+01] [ 1.01717507e-01 6.89049026e-04 9.94813085e-01 1.18128670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:61.63, Z:11.82 [[ 4.58172158e-01 -8.87641483e-01 -4.65926184e-02 9.36416630e+01] [ 8.83024026e-01 4.60535033e-01 -9.04215301e-02 6.16290259e+01] [ 1.01719434e-01 2.86226142e-04 9.94813085e-01 1.18166164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:61.65, Z:11.82 [[ 4.56137108e-01 -8.88690269e-01 -4.65676439e-02 9.36543871e+01] [ 8.84076932e-01 4.58508015e-01 -9.04343904e-02 6.16530674e+01] [ 1.01719801e-01 8.11015566e-05 9.94813086e-01 1.18190979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.67, Y:61.68, Z:11.82 [[ 4.54417909e-01 -8.89571955e-01 -4.65413927e-02 9.36678737e+01] [ 8.84961834e-01 4.56795063e-01 -9.04478984e-02 6.16781267e+01] [ 1.01719792e-01 -8.62114366e-05 9.94813086e-01 1.18219529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:61.70, Z:11.82 [[ 4.53003729e-01 -8.90294246e-01 -4.65164170e-02 9.36806467e+01] [ 8.85686596e-01 4.55385669e-01 -9.04607413e-02 6.17024715e+01] [ 1.01719587e-01 -2.19913881e-04 9.94813087e-01 1.18237238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.69, Y:61.73, Z:11.82 [[ 4.51757861e-01 -8.90928029e-01 -4.64981957e-02 9.36927783e+01] [ 8.86322757e-01 4.54144394e-01 -9.04701064e-02 6.17263767e+01] [ 1.01719248e-01 -3.41827206e-04 9.94813087e-01 1.18247188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:61.75, Z:11.83 [[ 4.52047443e-01 -8.90782481e-01 -4.64723636e-02 9.37054767e+01] [ 8.86175076e-01 4.54429855e-01 -9.04833739e-02 6.17509549e+01] [ 1.01719434e-01 -2.79872565e-04 9.94813087e-01 1.18273778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:61.78, Z:11.83 [[ 4.52785487e-01 -8.90408860e-01 -4.64474434e-02 9.37175619e+01] [ 8.85798177e-01 4.55161547e-01 -9.04961643e-02 6.17751048e+01] [ 1.01719677e-01 -1.67710967e-04 9.94813088e-01 1.18288344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:61.80, Z:11.83 [[ 4.54287039e-01 -8.89644654e-01 -4.64292614e-02 9.37300930e+01] [ 8.85029020e-01 4.56653468e-01 -9.05054917e-02 6.18005427e+01] [ 1.01719810e-01 2.42281129e-05 9.94813088e-01 1.18309471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:61.83, Z:11.83 [[ 4.58243966e-01 -8.87614256e-01 -4.64047520e-02 9.37415402e+01] [ 8.82986865e-01 4.60587319e-01 -9.05180567e-02 6.18263020e+01] [ 1.01718558e-01 5.04566811e-04 9.94813088e-01 1.18302619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:61.85, Z:11.83 [[ 4.60583113e-01 -8.86404011e-01 -4.63802337e-02 9.37536852e+01] [ 8.81769197e-01 4.62911751e-01 -9.05306178e-02 6.18520146e+01] [ 1.01716658e-01 8.00212292e-04 9.94813089e-01 1.18317687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:61.88, Z:11.83 [[ 4.65704356e-01 -8.83725409e-01 -4.63557263e-02 9.37654561e+01] [ 8.79075958e-01 4.68003627e-01 -9.05431650e-02 6.18775051e+01] [ 1.01709944e-01 1.41614189e-03 9.94813089e-01 1.18340039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:61.90, Z:11.84 [[ 4.67848197e-01 -8.82593622e-01 -4.63310045e-02 9.37775756e+01] [ 8.77937358e-01 4.70133640e-01 -9.05558134e-02 6.19025127e+01] [ 1.01705747e-01 1.69065433e-03 9.94813089e-01 1.18364515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:61.93, Z:11.84 [[ 4.69913631e-01 -8.81496992e-01 -4.63058671e-02 9.37897134e+01] [ 8.76834131e-01 4.72185583e-01 -9.05686657e-02 6.19267270e+01] [ 1.01700969e-01 1.95688580e-03 9.94813090e-01 1.18388929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:61.95, Z:11.84 [[ 4.71772632e-01 -8.80504865e-01 -4.62792247e-02 9.38019860e+01] [ 8.75835894e-01 4.74032001e-01 -9.05822776e-02 6.19514025e+01] [ 1.01695970e-01 2.20123340e-03 9.94813090e-01 1.18418202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:61.98, Z:11.84 [[ 4.71921126e-01 -8.80426610e-01 -4.62540256e-02 9.38139825e+01] [ 8.75756007e-01 4.74177115e-01 -9.05951432e-02 6.19767803e+01] [ 1.01694975e-01 2.24652115e-03 9.94813091e-01 1.18446807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:62.00, Z:11.85 [[ 4.71341187e-01 -8.80738538e-01 -4.62289225e-02 9.38266958e+01] [ 8.76068174e-01 4.73597672e-01 -9.06079510e-02 6.20018482e+01] [ 1.01695824e-01 2.20757146e-03 9.94813091e-01 1.18487036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:62.03, Z:11.85 [[ 4.70802229e-01 -8.81028089e-01 -4.62035425e-02 9.38394701e+01] [ 8.76357845e-01 4.73058961e-01 -9.06208912e-02 6.20259187e+01] [ 1.01696550e-01 2.17368057e-03 9.94813091e-01 1.18524814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:62.05, Z:11.86 [[ 4.70942963e-01 -8.80953839e-01 -4.61850498e-02 9.38525573e+01] [ 8.76282317e-01 4.73197048e-01 -9.06303151e-02 6.20506363e+01] [ 1.01695753e-01 2.21056663e-03 9.94813092e-01 1.18572746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:62.07, Z:11.86 [[ 4.71308963e-01 -8.80759409e-01 -4.61597706e-02 9.38646697e+01] [ 8.76085699e-01 4.73558507e-01 -9.06431885e-02 6.20743922e+01] [ 1.01694193e-01 2.28103225e-03 9.94813092e-01 1.18595988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.88, Y:62.10, Z:11.86 [[ 4.71569529e-01 -8.80621314e-01 -4.61332871e-02 9.38770116e+01] [ 8.75945630e-01 4.73814966e-01 -9.06566655e-02 6.20991608e+01] [ 1.01692834e-01 2.34066980e-03 9.94813092e-01 1.18616524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:62.12, Z:11.86 [[ 4.72079513e-01 -8.80349332e-01 -4.61084287e-02 9.38901303e+01] [ 8.75671123e-01 4.74319683e-01 -9.06693068e-02 6.21239898e+01] [ 1.01690799e-01 2.42730269e-03 9.94813093e-01 1.18647591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:62.15, Z:11.87 [[ 4.72650990e-01 -8.80043943e-01 -4.60836137e-02 9.39036997e+01] [ 8.75363061e-01 4.74885567e-01 -9.06819176e-02 6.21484061e+01] [ 1.01688515e-01 2.52100497e-03 9.94813093e-01 1.18683568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:62.17, Z:11.87 [[ 4.73076174e-01 -8.79816771e-01 -4.60584805e-02 9.39172428e+01] [ 8.75133576e-01 4.75305901e-01 -9.06946813e-02 6.21729446e+01] [ 1.01686569e-01 2.59817005e-03 9.94813094e-01 1.18719496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:62.20, Z:11.88 [[ 4.73457910e-01 -8.79612717e-01 -4.60334246e-02 9.39308976e+01] [ 8.74927328e-01 4.75683023e-01 -9.07073970e-02 6.21977187e+01] [ 1.01684699e-01 2.67023344e-03 9.94813094e-01 1.18752709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:62.22, Z:11.88 [[ 4.73550326e-01 -8.79564292e-01 -4.60080904e-02 9.39442926e+01] [ 8.74877432e-01 4.75772337e-01 -9.07202452e-02 6.22226276e+01] [ 1.01683665e-01 2.70916177e-03 9.94813094e-01 1.18780277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:62.25, Z:11.88 [[ 4.74008533e-01 -8.79318761e-01 -4.59829073e-02 9.39575854e+01] [ 8.74629516e-01 4.76225505e-01 -9.07330078e-02 6.22471873e+01] [ 1.01681469e-01 2.79021195e-03 9.94813095e-01 1.18799440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:62.27, Z:11.88 [[ 4.72233805e-01 -8.80274460e-01 -4.59576696e-02 9.39705052e+01] [ 8.75588463e-01 4.74457633e-01 -9.07457894e-02 6.22718742e+01] [ 1.01686168e-01 2.61322420e-03 9.94813095e-01 1.18817760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:62.30, Z:11.88 [[ 4.70896654e-01 -8.80991800e-01 -4.59324465e-02 9.39837487e+01] [ 8.76307949e-01 4.73124998e-01 -9.07585547e-02 6.22960378e+01] [ 1.01689331e-01 2.48693175e-03 9.94813096e-01 1.18845423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:62.32, Z:11.89 [[ 4.69487746e-01 -8.81744770e-01 -4.59066152e-02 9.39969442e+01] [ 8.77063219e-01 4.71720917e-01 -9.07716186e-02 6.23195162e+01] [ 1.01692511e-01 2.35315896e-03 9.94813096e-01 1.18864866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:62.34, Z:11.89 [[ 4.69245260e-01 -8.81875263e-01 -4.58792586e-02 9.40096911e+01] [ 8.77192984e-01 4.71476904e-01 -9.07854435e-02 6.23449907e+01] [ 1.01692448e-01 2.35567527e-03 9.94813096e-01 1.18893824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:62.37, Z:11.89 [[ 4.67921087e-01 -8.82579884e-01 -4.58541568e-02 9.40239777e+01] [ 8.77899727e-01 4.70157176e-01 -9.07981203e-02 6.23691255e+01] [ 1.01695255e-01 2.23100344e-03 9.94813097e-01 1.18924322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:62.39, Z:11.89 [[ 4.67228410e-01 -8.82948109e-01 -4.58284877e-02 9.40368128e+01] [ 8.78268446e-01 4.69465532e-01 -9.08110745e-02 6.23929951e+01] [ 1.01696362e-01 2.17979929e-03 9.94813097e-01 1.18935881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:62.42, Z:11.90 [[ 4.66421257e-01 -8.83376154e-01 -4.58015480e-02 9.40509198e+01] [ 8.78697213e-01 4.68659887e-01 -9.08246598e-02 6.24172855e+01] [ 1.01697687e-01 2.11685943e-03 9.94813098e-01 1.18972464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:62.44, Z:11.90 [[ 4.64921195e-01 -8.84167855e-01 -4.57764951e-02 9.40641147e+01] [ 8.79491485e-01 4.67165191e-01 -9.08372850e-02 6.24417442e+01] [ 1.01700592e-01 1.97214144e-03 9.94813098e-01 1.19005579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:62.47, Z:11.90 [[ 4.63907316e-01 -8.84701537e-01 -4.57514239e-02 9.40771175e+01] [ 8.80026506e-01 4.66154098e-01 -9.08499107e-02 6.24659118e+01] [ 1.01702269e-01 1.88347252e-03 9.94813098e-01 1.19041593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:62.49, Z:11.91 [[ 4.62477342e-01 -8.85451185e-01 -4.57264416e-02 9.40904973e+01] [ 8.80778554e-01 4.64729112e-01 -9.08624831e-02 6.24907563e+01] [ 1.01704702e-01 1.74697062e-03 9.94813099e-01 1.19081670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:62.51, Z:11.91 [[ 4.60500162e-01 -8.86482348e-01 -4.57017200e-02 9.41045546e+01] [ 8.81813528e-01 4.62759821e-01 -9.08749159e-02 6.25143561e+01] [ 1.01707929e-01 1.54751859e-03 9.94813099e-01 1.19122341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:62.54, Z:11.91 [[ 4.59439165e-01 -8.87033985e-01 -4.56767188e-02 9.41177341e+01] [ 8.82366630e-01 4.61701847e-01 -9.08874806e-02 6.25393232e+01] [ 1.01709310e-01 1.45365574e-03 9.94813100e-01 1.19142981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:62.56, Z:11.92 [[ 4.57101068e-01 -8.88242387e-01 -4.56516814e-02 9.41310761e+01] [ 8.83579759e-01 4.59373475e-01 -9.09000549e-02 6.25641751e+01] [ 1.01712453e-01 1.21361055e-03 9.94813100e-01 1.19159726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:62.59, Z:11.92 [[ 4.54861081e-01 -8.89392826e-01 -4.56267209e-02 9.41444837e+01] [ 8.84734690e-01 4.57142680e-01 -9.09125819e-02 6.25890406e+01] [ 1.01714920e-01 9.85052456e-04 9.94813100e-01 1.19190542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:62.61, Z:11.92 [[ 4.53390016e-01 -8.90144940e-01 -4.56012989e-02 9.41575426e+01] [ 8.85489307e-01 4.55676718e-01 -9.09253318e-02 6.26124250e+01] [ 1.01716174e-01 8.45175125e-04 9.94813101e-01 1.19210534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.17, Y:62.64, Z:11.92 [[ 4.51605693e-01 -8.91052476e-01 -4.55826993e-02 9.41708922e+01] [ 8.86400498e-01 4.53899820e-01 -9.09346552e-02 6.26373021e+01] [ 1.01717529e-01 6.62080634e-04 9.94813101e-01 1.19239971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:62.66, Z:11.93 [[ 4.51504969e-01 -8.91104788e-01 -4.55578763e-02 9.41832110e+01] [ 8.86451821e-01 4.53797088e-01 -9.09470897e-02 6.26620723e+01] [ 1.01717419e-01 6.78200473e-04 9.94813101e-01 1.19272175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.19, Y:62.69, Z:11.93 [[ 4.52317567e-01 -8.90693861e-01 -4.55331142e-02 9.41949993e+01] [ 8.86037563e-01 4.54602913e-01 -9.09594854e-02 6.26858041e+01] [ 1.01716542e-01 7.98523634e-04 9.94813102e-01 1.19311940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:62.71, Z:11.94 [[ 4.52753981e-01 -8.90473442e-01 -4.55069484e-02 9.42070716e+01] [ 8.85814716e-01 4.55034372e-01 -9.09725743e-02 6.27107774e+01] [ 1.01715887e-01 8.77470528e-04 9.94813102e-01 1.19351683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:62.74, Z:11.94 [[ 4.52899333e-01 -8.90400794e-01 -4.54820947e-02 9.42191502e+01] [ 8.85740455e-01 4.55176424e-01 -9.09849983e-02 6.27362822e+01] [ 1.01715492e-01 9.21713838e-04 9.94813103e-01 1.19387788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.23, Y:62.76, Z:11.94 [[ 4.53323734e-01 -8.90186057e-01 -4.54574036e-02 9.42304507e+01] [ 8.85523403e-01 4.55596080e-01 -9.09973327e-02 6.27599304e+01] [ 1.01714772e-01 9.97655983e-04 9.94813103e-01 1.19417458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:62.78, Z:11.95 [[ 4.53392866e-01 -8.90151946e-01 -4.54359205e-02 9.42415248e+01] [ 8.85488046e-01 4.55662654e-01 -9.10080582e-02 6.27842490e+01] [ 1.01714452e-01 1.02943986e-03 9.94813103e-01 1.19459467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:62.81, Z:11.95 [[ 4.53721343e-01 -8.89985977e-01 -4.54082006e-02 9.42536963e+01] [ 8.85319863e-01 4.55986575e-01 -9.10218869e-02 6.28092367e+01] [ 1.01713733e-01 1.09779082e-03 9.94813104e-01 1.19485352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.156875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:94.27, Y:62.83, Z:11.95 [[ 4.52225406e-01 -8.90748294e-01 -4.53834618e-02 9.42658108e+01] [ 8.86084762e-01 4.54495947e-01 -9.10342201e-02 6.28349448e+01] [ 1.01715176e-01 9.54393253e-04 9.94813104e-01 1.19515987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:62.86, Z:11.96 [[ 4.50040324e-01 -8.91855564e-01 -4.53581310e-02 9.42779190e+01] [ 8.87196347e-01 4.52319705e-01 -9.10468395e-02 6.28601325e+01] [ 1.01717007e-01 7.33181050e-04 9.94813105e-01 1.19550962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21687499999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:94.29, Y:62.89, Z:11.96 [[ 4.47873391e-01 -8.92947022e-01 -4.53325538e-02 9.42896146e+01] [ 8.88292071e-01 4.50161471e-01 -9.10595728e-02 6.28860981e+01] [ 1.01718343e-01 5.14611554e-04 9.94813105e-01 1.19577495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:62.91, Z:11.96 [[ 4.47336506e-01 -8.93217391e-01 -4.53072098e-02 9.43006986e+01] [ 8.88562546e-01 4.49624800e-01 -9.10721811e-02 6.29106061e+01] [ 1.01718501e-01 4.81621584e-04 9.94813105e-01 1.19587821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:62.94, Z:11.96 [[ 4.46647402e-01 -8.93563515e-01 -4.52807223e-02 9.43120900e+01] [ 8.88909107e-01 4.48936586e-01 -9.10853487e-02 6.29362429e+01] [ 1.01718717e-01 4.32587943e-04 9.94813106e-01 1.19600416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:62.96, Z:11.96 [[ 4.45423987e-01 -8.94175243e-01 -4.52560012e-02 9.43225465e+01] [ 8.89522732e-01 4.47717021e-01 -9.10976299e-02 6.29626842e+01] [ 1.01719127e-01 3.20827707e-04 9.94813106e-01 1.19605133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:62.99, Z:11.96 [[ 4.44653382e-01 -8.94559956e-01 -4.52311223e-02 9.43344200e+01] [ 8.89908172e-01 4.46947890e-01 -9.11099809e-02 6.29884509e+01] [ 1.01719295e-01 2.60815789e-04 9.94813107e-01 1.19632909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:63.01, Z:11.97 [[ 4.44228700e-01 -8.94772203e-01 -4.52058404e-02 9.43466559e+01] [ 8.90120238e-01 4.46522841e-01 -9.11225233e-02 6.30139560e+01] [ 1.01719341e-01 2.40606631e-04 9.94813107e-01 1.19666321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:63.04, Z:11.97 [[ 4.43932084e-01 -8.94920681e-01 -4.51805335e-02 9.43579704e+01] [ 8.90268206e-01 4.46225190e-01 -9.11350693e-02 6.30386971e+01] [ 1.01719350e-01 2.34988670e-04 9.94813107e-01 1.19693920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:63.06, Z:11.97 [[ 4.43848965e-01 -8.94963247e-01 -4.51539906e-02 9.43693732e+01] [ 8.90309655e-01 4.46139800e-01 -9.11482185e-02 6.30636378e+01] [ 1.01719298e-01 2.55008668e-04 9.94813108e-01 1.19731809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:63.09, Z:11.98 [[ 4.44053254e-01 -8.94863168e-01 -4.51289082e-02 9.43812065e+01] [ 8.90207797e-01 4.46340472e-01 -9.11606355e-02 6.30894466e+01] [ 1.01719153e-01 3.06070818e-04 9.94813108e-01 1.19768996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:63.11, Z:11.98 [[ 4.44601580e-01 -8.94592143e-01 -4.51035757e-02 9.43923798e+01] [ 8.89934106e-01 4.46883363e-01 -9.11731676e-02 6.31139442e+01] [ 1.01718837e-01 3.96524029e-04 9.94813109e-01 1.19792738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:63.14, Z:11.98 [[ 4.46077309e-01 -8.93858136e-01 -4.50851168e-02 9.44024474e+01] [ 8.89195422e-01 4.48349519e-01 -9.11822946e-02 6.31387954e+01] [ 1.01717926e-01 5.84873176e-04 9.94813109e-01 1.19813738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:63.16, Z:11.98 [[ 4.46962631e-01 -8.93417099e-01 -4.50587725e-02 9.44142631e+01] [ 8.88750831e-01 4.49227532e-01 -9.11953112e-02 6.31646240e+01] [ 1.01717092e-01 7.14874727e-04 9.94813109e-01 1.19837897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:63.19, Z:11.99 [[ 4.47885428e-01 -8.92956082e-01 -4.50341913e-02 9.44261013e+01] [ 8.88286262e-01 4.50142997e-01 -9.12074483e-02 6.31903050e+01] [ 1.01716072e-01 8.47233633e-04 9.94813110e-01 1.19880966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60687499999999 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:94.44, Y:63.22, Z:11.99 [[ 4.48841885e-01 -8.92476974e-01 -4.50090389e-02 9.44377966e+01] [ 8.87803500e-01 4.51091878e-01 -9.12198589e-02 6.32161299e+01] [ 1.01714836e-01 9.84111119e-04 9.94813110e-01 1.19911500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:63.24, Z:11.99 [[ 4.51186918e-01 -8.91295009e-01 -4.49841236e-02 9.44488569e+01] [ 8.86614418e-01 4.53422066e-01 -9.12321440e-02 6.32415635e+01] [ 1.01711549e-01 1.27917733e-03 9.94813110e-01 1.19934302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:63.27, Z:12.00 [[ 4.52145927e-01 -8.90810148e-01 -4.49593159e-02 9.44599701e+01] [ 8.86125945e-01 4.54373497e-01 -9.12443677e-02 6.32660542e+01] [ 1.01709730e-01 1.41615291e-03 9.94813111e-01 1.19956210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:63.29, Z:12.00 [[ 4.53030290e-01 -8.90362051e-01 -4.49330006e-02 9.44718940e+01] [ 8.85674361e-01 4.55250510e-01 -9.12573248e-02 6.32913191e+01] [ 1.01707830e-01 1.54632574e-03 9.94813111e-01 1.19985406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:63.32, Z:12.00 [[ 4.55882735e-01 -8.88906197e-01 -4.49077352e-02 9.44830461e+01] [ 8.84210196e-01 4.58085321e-01 -9.12697562e-02 6.33157334e+01] [ 1.01701826e-01 1.90042875e-03 9.94813112e-01 1.20001958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:63.34, Z:12.00 [[ 4.56982029e-01 -8.88342493e-01 -4.48892092e-02 9.44941706e+01] [ 8.83642882e-01 4.59176901e-01 -9.12788670e-02 6.33399772e+01] [ 1.01698984e-01 2.04677158e-03 9.94813112e-01 1.20024104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:63.37, Z:12.00 [[ 4.58170948e-01 -8.87731206e-01 -4.48629998e-02 9.45062391e+01] [ 8.83027408e-01 4.60356832e-01 -9.12917470e-02 6.33657799e+01] [ 1.01695521e-01 2.21196774e-03 9.94813112e-01 1.20048533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:63.39, Z:12.01 [[ 4.58681791e-01 -8.87468631e-01 -4.48379615e-02 9.45181137e+01] [ 8.82762383e-01 4.60862394e-01 -9.13040430e-02 6.33909520e+01] [ 1.01693604e-01 2.29823625e-03 9.94813113e-01 1.20074775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:63.42, Z:12.01 [[ 4.57869405e-01 -8.87889321e-01 -4.48125220e-02 9.45306225e+01] [ 8.83183857e-01 4.60051699e-01 -9.13165271e-02 6.34161664e+01] [ 1.01695046e-01 2.23334787e-03 9.94813113e-01 1.20105878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.876875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:94.54, Y:63.44, Z:12.01 [[ 4.56715540e-01 -8.88484667e-01 -4.47874114e-02 9.45431966e+01] [ 8.83780843e-01 4.58901366e-01 -9.13288413e-02 6.34408530e+01] [ 1.01697279e-01 2.12904491e-03 9.94813113e-01 1.20139640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:63.47, Z:12.02 [[ 4.55113462e-01 -8.89307633e-01 -4.47623895e-02 9.45557835e+01] [ 8.84606558e-01 4.57305194e-01 -9.13411036e-02 6.34652972e+01] [ 1.01700414e-01 1.97346257e-03 9.94813114e-01 1.20175588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:63.49, Z:12.02 [[ 4.51421235e-01 -8.91188784e-01 -4.47372453e-02 9.45694540e+01] [ 8.86495627e-01 4.53629868e-01 -9.13534171e-02 6.34898418e+01] [ 1.01707291e-01 1.57950005e-03 9.94813114e-01 1.20221940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:63.51, Z:12.03 [[ 4.48907166e-01 -8.92459087e-01 -4.47116719e-02 9.45820416e+01] [ 8.87770936e-01 4.51126404e-01 -9.13659320e-02 6.35141039e+01] [ 1.01710972e-01 1.32109881e-03 9.94813115e-01 1.20251844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:63.54, Z:12.03 [[ 4.45919038e-01 -8.93956789e-01 -4.46930754e-02 9.45950277e+01] [ 8.89275181e-01 4.48152046e-01 -9.13750279e-02 6.35389091e+01] [ 1.01714620e-01 1.00142183e-03 9.94813115e-01 1.20285290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:63.56, Z:12.03 [[ 4.38437070e-01 -8.97651202e-01 -4.46682871e-02 9.46095013e+01] [ 8.92987179e-01 4.40706578e-01 -9.13871440e-02 6.35628629e+01] [ 1.01719388e-01 1.79303979e-04 9.94813115e-01 1.20332607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:63.59, Z:12.04 [[ 4.34072901e-01 -8.99770908e-01 -4.46433584e-02 9.46226420e+01] [ 8.95116715e-01 4.36362499e-01 -9.13993203e-02 6.35870129e+01] [ 1.01719137e-01 -2.87048183e-04 9.94813116e-01 1.20379218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:63.61, Z:12.04 [[ 4.29537851e-01 -9.01945926e-01 -4.46181741e-02 9.46353859e+01] [ 8.97302048e-01 4.31848298e-01 -9.14116128e-02 6.36113324e+01] [ 1.01716614e-01 -7.71231219e-04 9.94813116e-01 1.20419238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.65, Y:63.64, Z:12.05 [[ 4.25052215e-01 -9.04069719e-01 -4.45932592e-02 9.46480354e+01] [ 8.99436107e-01 4.27383182e-01 -9.14237655e-02 6.36363272e+01] [ 1.01711867e-01 -1.24891346e-03 9.94813116e-01 1.20456876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:63.66, Z:12.05 [[ 4.16172772e-01 -9.08192648e-01 -4.45683528e-02 9.46596048e+01] [ 9.03580810e-01 4.18546527e-01 -9.14359056e-02 6.36605843e+01] [ 1.01695346e-01 -2.21797403e-03 9.94813117e-01 1.20485579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:63.69, Z:12.05 [[ 4.11745861e-01 -9.10209508e-01 -4.45420839e-02 9.46717546e+01] [ 9.05607911e-01 4.14139405e-01 -9.14487004e-02 6.36863175e+01] [ 1.01684109e-01 -2.68403966e-03 9.94813117e-01 1.20510278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:63.71, Z:12.05 [[ 4.07682294e-01 -9.12038011e-01 -4.45175600e-02 9.46837345e+01] [ 9.07445844e-01 4.10093881e-01 -9.14606372e-02 6.37111549e+01] [ 1.01671957e-01 -3.11039244e-03 9.94813117e-01 1.20542809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:63.74, Z:12.06 [[ 4.03449463e-01 -9.13919549e-01 -4.44925671e-02 9.46951591e+01] [ 9.09337287e-01 4.05879817e-01 -9.14727939e-02 6.37356136e+01] [ 1.01657410e-01 -3.55410069e-03 9.94813118e-01 1.20569007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:63.76, Z:12.06 [[ 3.96641308e-01 -9.16895691e-01 -4.44743249e-02 9.47059433e+01] [ 9.12330651e-01 3.99103858e-01 -9.14816625e-02 6.37615819e+01] [ 1.01629017e-01 -4.28988355e-03 9.94813118e-01 1.20602212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:63.79, Z:12.06 [[ 3.93788229e-01 -9.18125833e-01 -4.44498094e-02 9.47162634e+01] [ 9.13567150e-01 3.96262526e-01 -9.14935727e-02 6.37869609e+01] [ 1.01616406e-01 -4.57879372e-03 9.94813118e-01 1.20632229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:63.81, Z:12.07 [[ 3.91032015e-01 -9.19304339e-01 -4.44240347e-02 9.47260681e+01] [ 9.14751702e-01 3.93517420e-01 -9.15060858e-02 6.38135776e+01] [ 1.01603573e-01 -4.85515219e-03 9.94813119e-01 1.20661240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:63.84, Z:12.07 [[ 3.88442074e-01 -9.20402876e-01 -4.43993239e-02 9.47334216e+01] [ 9.15855911e-01 3.90937838e-01 -9.15180741e-02 6.38408336e+01] [ 1.01590874e-01 -5.11391265e-03 9.94813119e-01 1.20690529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:63.87, Z:12.07 [[ 3.87686565e-01 -9.20722547e-01 -4.43747616e-02 9.47422859e+01] [ 9.16176294e-01 3.90183625e-01 -9.15299822e-02 6.38679079e+01] [ 1.01588024e-01 -5.17016024e-03 9.94813120e-01 1.20719022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:63.89, Z:12.07 [[ 3.87893103e-01 -9.20636743e-01 -4.43500760e-02 9.47506390e+01] [ 9.16088588e-01 3.90386696e-01 -9.15419419e-02 6.38943338e+01] [ 1.01590555e-01 -5.12011064e-03 9.94813120e-01 1.20743242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:63.92, Z:12.08 [[ 3.88775072e-01 -9.20265511e-01 -4.43320702e-02 9.47591272e+01] [ 9.15713993e-01 3.91262521e-01 -9.15506610e-02 6.39214397e+01] [ 1.01596393e-01 -5.00288220e-03 9.94813120e-01 1.20770217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:63.95, Z:12.08 [[ 3.88528180e-01 -9.20370963e-01 -4.43073848e-02 9.47714524e+01] [ 9.15818774e-01 3.91014402e-01 -9.15626063e-02 6.39471116e+01] [ 1.01596390e-01 -5.00288202e-03 9.94813121e-01 1.20799189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:63.98, Z:12.08 [[ 3.91762204e-01 -9.19000228e-01 -4.42826962e-02 9.47739574e+01] [ 9.14437997e-01 3.94229949e-01 -9.15745450e-02 6.39758539e+01] [ 1.01614593e-01 -4.61833440e-03 9.94813121e-01 1.20817569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.78, Y:64.00, Z:12.08 [[ 3.94256805e-01 -9.17933663e-01 -4.42646840e-02 9.47808392e+01] [ 9.13363783e-01 3.96710357e-01 -9.15832509e-02 6.40027652e+01] [ 1.01627607e-01 -4.32243930e-03 9.94813121e-01 1.20840206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:64.03, Z:12.09 [[ 3.96567514e-01 -9.16938997e-01 -4.42389165e-02 9.47880727e+01] [ 9.12361583e-01 3.99006979e-01 -9.15956961e-02 6.40304904e+01] [ 1.01639302e-01 -4.03801036e-03 9.94813122e-01 1.20866112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:64.06, Z:12.09 [[ 3.98683208e-01 -9.16022252e-01 -4.42146316e-02 9.47955448e+01] [ 9.11437935e-01 4.01109675e-01 -9.16074173e-02 6.40579611e+01] [ 1.01649349e-01 -3.77655356e-03 9.94813122e-01 1.20898810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:64.09, Z:12.09 [[ 4.02829449e-01 -9.14207684e-01 -4.41898819e-02 9.47987606e+01] [ 9.09611125e-01 4.05232644e-01 -9.16193547e-02 6.40875081e+01] [ 1.01666301e-01 -3.28863396e-03 9.94813122e-01 1.20927546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:64.11, Z:12.10 [[ 4.04328396e-01 -9.13546930e-01 -4.41650912e-02 9.48062390e+01] [ 9.08945143e-01 4.06721565e-01 -9.16313035e-02 6.41149305e+01] [ 1.01672391e-01 -3.09450719e-03 9.94813123e-01 1.20956818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:64.14, Z:12.10 [[ 4.05770599e-01 -9.12908464e-01 -4.41402073e-02 9.48139049e+01] [ 9.08301612e-01 4.08154002e-01 -9.16432889e-02 6.41421720e+01] [ 1.01677936e-01 -2.90646915e-03 9.94813123e-01 1.20981993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:64.17, Z:12.10 [[ 4.07867789e-01 -9.11974615e-01 -4.41153958e-02 9.48171512e+01] [ 9.07361017e-01 4.10238106e-01 -9.16552312e-02 6.41702787e+01] [ 1.01685061e-01 -2.64537385e-03 9.94813123e-01 1.20995076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:64.20, Z:12.10 [[ 4.08121779e-01 -9.11862245e-01 -4.40892256e-02 9.48255587e+01] [ 9.07246639e-01 4.10488182e-01 -9.16678183e-02 6.41976238e+01] [ 1.01686529e-01 -2.58816863e-03 9.94813124e-01 1.21020802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:64.22, Z:12.10 [[ 4.07946632e-01 -9.11941822e-01 -4.40642614e-02 9.48339942e+01] [ 9.07325385e-01 4.10311414e-01 -9.16798169e-02 6.42241708e+01] [ 1.01686729e-01 -2.58015038e-03 9.94813124e-01 1.21047079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:64.25, Z:12.11 [[ 4.07178412e-01 -9.12286296e-01 -4.40392529e-02 9.48427023e+01] [ 9.07670565e-01 4.09544570e-01 -9.16918284e-02 6.42507378e+01] [ 1.01685235e-01 -2.63820048e-03 9.94813125e-01 1.21075392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:64.28, Z:12.11 [[ 4.03787771e-01 -9.13793312e-01 -4.40138461e-02 9.48489687e+01] [ 9.09185084e-01 4.06168507e-01 -9.17040226e-02 6.42792484e+01] [ 1.01675561e-01 -2.98776953e-03 9.94813125e-01 1.21103494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:64.31, Z:12.11 [[ 4.01275183e-01 -9.14896247e-01 -4.40804329e-02 9.48577317e+01] [ 9.10298047e-01 4.03675237e-01 -9.16720740e-02 6.43062796e+01] [ 1.01664616e-01 -3.34060370e-03 9.94813121e-01 1.21140284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:64.33, Z:12.12 [[ 3.98533326e-01 -9.16098615e-01 -4.39831158e-02 9.48664218e+01] [ 9.11502529e-01 4.00937415e-01 -9.17187424e-02 6.43325649e+01] [ 1.01657890e-01 -3.53774579e-03 9.94813127e-01 1.21170788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.88, Y:64.36, Z:12.12 [[ 3.96168592e-01 -9.17124925e-01 -4.39581496e-02 9.48753629e+01] [ 9.12533746e-01 3.98582038e-01 -9.17307065e-02 6.43586435e+01] [ 1.01649446e-01 -3.77247006e-03 9.94813127e-01 1.21210021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.88, Y:64.39, Z:12.12 [[ 3.92334010e-01 -9.18773077e-01 -4.39324148e-02 9.48806848e+01] [ 9.14190659e-01 3.94764050e-01 -9.17430300e-02 6.43853719e+01] [ 1.01633964e-01 -4.16869235e-03 9.94813128e-01 1.21244507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:64.41, Z:12.13 [[ 3.91006290e-01 -9.19339802e-01 -4.39136690e-02 9.48893754e+01] [ 9.14759907e-01 3.93441080e-01 -9.17520020e-02 6.44110512e+01] [ 1.01628709e-01 -4.29485389e-03 9.94813128e-01 1.21273966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:64.44, Z:12.13 [[ 3.90439038e-01 -9.19581742e-01 -4.38950691e-02 9.48986763e+01] [ 9.15002365e-01 3.92874801e-01 -9.17608995e-02 6.44379643e+01] [ 1.01626914e-01 -4.33705474e-03 9.94813128e-01 1.21299263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.046875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.90, Y:64.47, Z:12.13 [[ 3.90347518e-01 -9.19621786e-01 -4.38701119e-02 9.49040941e+01] [ 9.15041330e-01 3.92781252e-01 -9.17728299e-02 6.44653918e+01] [ 1.01627651e-01 -4.31966920e-03 9.94813129e-01 1.21303795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.076875 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:94.91, Y:64.49, Z:12.13 [[ 3.90497169e-01 -9.19559504e-01 -4.38438196e-02 9.49125694e+01] [ 9.14977263e-01 3.92927539e-01 -9.17853892e-02 6.44921274e+01] [ 1.01629571e-01 -4.27416343e-03 9.94813129e-01 1.21319374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.106875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.92, Y:64.52, Z:12.13 [[ 3.90938510e-01 -9.19373181e-01 -4.38182122e-02 9.49215682e+01] [ 9.14788424e-01 3.93364129e-01 -9.17976125e-02 6.45193660e+01] [ 1.01632776e-01 -4.19717142e-03 9.94813130e-01 1.21337207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.136875 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:94.93, Y:64.55, Z:12.14 [[ 3.92456947e-01 -9.18727249e-01 -4.37925396e-02 9.49274827e+01] [ 9.14137143e-01 3.94872427e-01 -9.18098582e-02 6.45462547e+01] [ 1.01640685e-01 -4.00097038e-03 9.94813130e-01 1.21350999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.166875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:94.94, Y:64.57, Z:12.14 [[ 3.93873019e-01 -9.18122336e-01 -4.37655305e-02 9.49363115e+01] [ 9.13527099e-01 3.96278723e-01 -9.18227316e-02 6.45719326e+01] [ 1.01647849e-01 -3.81450158e-03 9.94813130e-01 1.21375765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.196875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.95, Y:64.60, Z:12.14 [[ 3.95639584e-01 -9.17363749e-01 -4.37386825e-02 9.49453899e+01] [ 9.12762492e-01 3.98033755e-01 -9.18355186e-02 6.45990162e+01] [ 1.01656048e-01 -3.58926248e-03 9.94813131e-01 1.21411091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.226875 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:94.95, Y:64.62, Z:12.14 [[ 3.97860595e-01 -9.16403923e-01 -4.37126761e-02 9.49537577e+01] [ 9.11795535e-01 4.00241010e-01 -9.18478957e-02 6.46249686e+01] [ 1.01665378e-01 -3.31436450e-03 9.94813131e-01 1.21442202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.256875 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:94.96, Y:64.65, Z:12.15 [[ 4.02710187e-01 -9.14284287e-01 -4.36892330e-02 9.49593790e+01] [ 9.09662154e-01 4.05063799e-01 -9.18590456e-02 6.46522522e+01] [ 1.01682209e-01 -2.74986839e-03 9.94813132e-01 1.21479701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28687499999998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:94.97, Y:64.68, Z:12.15 [[ 4.04485081e-01 -9.13501751e-01 -4.36619894e-02 9.49686225e+01] [ 9.08873671e-01 4.06826975e-01 -9.18719931e-02 6.46792345e+01] [ 1.01688102e-01 -2.52238204e-03 9.94813132e-01 1.21511865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31687499999998 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:94.98, Y:64.70, Z:12.15 [[ 4.05726092e-01 -9.12952455e-01 -4.36365996e-02 9.49772926e+01] [ 9.08319910e-01 4.08059141e-01 -9.18840510e-02 6.47048348e+01] [ 1.01692083e-01 -2.35623530e-03 9.94813132e-01 1.21538242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34687499999998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:94.99, Y:64.73, Z:12.16 [[ 4.06642764e-01 -9.12545805e-01 -4.36098104e-02 9.49867697e+01] [ 9.07909566e-01 4.08968464e-01 -9.18967639e-02 6.47316032e+01] [ 1.01695044e-01 -2.22460998e-03 9.94813133e-01 1.21569983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37687499999998 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:94.99, Y:64.76, Z:12.16 [[ 4.08615060e-01 -9.11665632e-01 -4.35833531e-02 9.49934972e+01] [ 9.07023046e-01 4.10928063e-01 -9.19093100e-02 6.47578580e+01] [ 1.01700182e-01 -1.97557747e-03 9.94813133e-01 1.21585450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40687499999999 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:95.00, Y:64.78, Z:12.16 [[ 4.09391588e-01 -9.11318319e-01 -4.35597265e-02 9.50032711e+01] [ 9.06672581e-01 4.11698253e-01 -9.19205063e-02 6.47846562e+01] [ 1.01702305e-01 -1.86292756e-03 9.94813134e-01 1.21606348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.436875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:95.01, Y:64.81, Z:12.16 [[ 4.09862165e-01 -9.11107992e-01 -4.35342837e-02 9.50126998e+01] [ 9.06459792e-01 4.12163864e-01 -9.19325547e-02 6.48107874e+01] [ 1.01703744e-01 -1.78240192e-03 9.94813134e-01 1.21626801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.466875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:95.02, Y:64.84, Z:12.16 [[ 4.10922232e-01 -9.10631598e-01 -4.35087644e-02 9.50205675e+01] [ 9.05979452e-01 4.13215945e-01 -9.19446306e-02 6.48377879e+01] [ 1.01706201e-01 -1.63595373e-03 9.94813134e-01 1.21646647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.496875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:95.03, Y:64.86, Z:12.17 [[ 4.11316210e-01 -9.10454952e-01 -4.34828190e-02 9.50303063e+01] [ 9.05800526e-01 4.13605290e-01 -9.19568992e-02 6.48629332e+01] [ 1.01707338e-01 -1.56339708e-03 9.94813135e-01 1.21661793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.526875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:95.04, Y:64.89, Z:12.17 [[ 4.11559781e-01 -9.10345979e-01 -4.34596900e-02 9.50405967e+01] [ 9.05689794e-01 4.13845280e-01 -9.19678289e-02 6.48888877e+01] [ 1.01708131e-01 -1.51073818e-03 9.94813135e-01 1.21687121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.556875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:95.05, Y:64.91, Z:12.17 [[ 4.11679339e-01 -9.10293115e-01 -4.34346237e-02 9.50509817e+01] [ 9.05635388e-01 4.13961694e-01 -9.19796658e-02 6.49147782e+01] [ 1.01708727e-01 -1.46980424e-03 9.94813135e-01 1.21714097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.586875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:95.06, Y:64.94, Z:12.17 [[ 4.12675674e-01 -9.09843064e-01 -4.34095335e-02 9.50604040e+01] [ 9.05181603e-01 4.14950392e-01 -9.19915056e-02 6.49414943e+01] [ 1.01710636e-01 -1.33085458e-03 9.94813136e-01 1.21746563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.616875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:95.07, Y:64.97, Z:12.18 [[ 4.13431794e-01 -9.09500964e-01 -4.33837259e-02 9.50712664e+01] [ 9.04836345e-01 4.15700027e-01 -9.20036750e-02 6.49674361e+01] [ 1.01712047e-01 -1.21792758e-03 9.94813136e-01 1.21782334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.646875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:95.08, Y:64.99, Z:12.18 [[ 4.14718596e-01 -9.08916153e-01 -4.33579711e-02 9.50818494e+01] [ 9.04247066e-01 4.16977618e-01 -9.20158108e-02 6.49933993e+01] [ 1.01713960e-01 -1.04565025e-03 9.94813137e-01 1.21817297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.676875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.09, Y:65.02, Z:12.19 [[ 4.16540525e-01 -9.08083886e-01 -4.33318239e-02 9.50925542e+01] [ 9.03409005e-01 4.18787530e-01 -9.20281223e-02 6.50194237e+01] [ 1.01716082e-01 -8.12917573e-04 9.94813137e-01 1.21851218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.706875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:95.10, Y:65.04, Z:12.19 [[ 4.21456730e-01 -9.05813917e-01 -4.33055670e-02 9.51016611e+01] [ 9.01125661e-01 4.23675694e-01 -9.20404764e-02 6.50443925e+01] [ 1.01719061e-01 -2.32679473e-04 9.94813138e-01 1.21884270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.736875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:95.11, Y:65.07, Z:12.19 [[ 4.24203429e-01 -9.04531703e-01 -4.32879737e-02 9.51125091e+01] [ 8.99835896e-01 4.26406366e-01 -9.20487501e-02 6.50701289e+01] [ 1.01719280e-01 9.53228692e-05 9.94813138e-01 1.21916196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.766875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:95.12, Y:65.10, Z:12.19 [[ 4.27273127e-01 -9.03086962e-01 -4.32621656e-02 9.51232386e+01] [ 8.98382477e-01 4.29457471e-01 -9.20608781e-02 6.50953853e+01] [ 1.01718239e-01 4.69167769e-04 9.94813138e-01 1.21938629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.796875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:95.13, Y:65.12, Z:12.20 [[ 4.33654406e-01 -9.00041244e-01 -4.32390453e-02 9.51342450e+01] [ 8.95320340e-01 4.35803033e-01 -9.20717360e-02 6.51214542e+01] [ 1.01712067e-01 1.21451723e-03 9.94813138e-01 1.21964877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.826875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:95.15, Y:65.15, Z:12.20 [[ 4.36892356e-01 -8.98475199e-01 -4.32132713e-02 9.51460586e+01] [ 8.93745400e-01 4.39021331e-01 -9.20838313e-02 6.51468647e+01] [ 1.01706586e-01 1.60905954e-03 9.94813139e-01 1.21995973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.856875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:95.16, Y:65.17, Z:12.20 [[ 4.39653797e-01 -8.97128418e-01 -4.31872739e-02 9.51569973e+01] [ 8.92390904e-01 4.41765546e-01 -9.20960225e-02 6.51710346e+01] [ 1.01700609e-01 1.95043553e-03 9.94813139e-01 1.22014322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.886875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:95.17, Y:65.20, Z:12.20 [[ 4.42414853e-01 -8.95771162e-01 -4.31639181e-02 9.51688690e+01] [ 8.91026106e-01 4.44509600e-01 -9.21069677e-02 6.51962682e+01] [ 1.01693541e-01 2.28931274e-03 9.94813140e-01 1.22035056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.916875 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:95.18, Y:65.22, Z:12.21 [[ 4.47745430e-01 -8.93119898e-01 -4.31378920e-02 9.51815042e+01] [ 8.88361279e-01 4.49809181e-01 -9.21191553e-02 6.52216943e+01] [ 1.01677270e-01 2.92389792e-03 9.94813140e-01 1.22056067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.946875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:95.19, Y:65.25, Z:12.21 [[ 4.49757398e-01 -8.92109667e-01 -4.31117638e-02 9.51938946e+01] [ 8.87345249e-01 4.51807722e-01 -9.21313818e-02 6.52465408e+01] [ 1.01669524e-01 3.18175184e-03 9.94813140e-01 1.22081931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.976875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:95.21, Y:65.27, Z:12.21 [[ 4.51474440e-01 -8.91243214e-01 -4.30855420e-02 9.52066867e+01] [ 8.86473699e-01 4.53512878e-01 -9.21436429e-02 6.52713899e+01] [ 1.01662245e-01 3.40629983e-03 9.94813141e-01 1.22102601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.006875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:95.22, Y:65.30, Z:12.21 [[ 4.52885770e-01 -8.90528139e-01 -4.30594132e-02 9.52208403e+01] [ 8.85754253e-01 4.54913950e-01 -9.21558515e-02 6.52955528e+01] [ 1.01655707e-01 3.59601533e-03 9.94813141e-01 1.22131654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03687499999998 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:95.23, Y:65.32, Z:12.22 [[ 4.52857648e-01 -8.90543705e-01 -4.30332552e-02 9.52338143e+01] [ 8.85768736e-01 4.54883276e-01 -9.21680647e-02 6.53188488e+01] [ 1.01654798e-01 3.62150098e-03 9.94813142e-01 1.22160743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06687499999998 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:95.25, Y:65.34, Z:12.22 [[ 4.52107503e-01 -8.90925912e-01 -4.30095981e-02 9.52476853e+01] [ 8.86151612e-01 4.54134708e-01 -9.21791029e-02 6.53433251e+01] [ 1.01656903e-01 3.56183935e-03 9.94813142e-01 1.22198889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09687499999998 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:95.26, Y:65.37, Z:12.23 [[ 4.49293254e-01 -8.92349705e-01 -4.29834399e-02 9.52631929e+01] [ 8.87580673e-01 4.51332819e-01 -9.21912990e-02 6.53654562e+01] [ 1.01666716e-01 3.26965821e-03 9.94813142e-01 1.22250325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12687499999998 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:95.28, Y:65.39, Z:12.23 [[ 4.47265242e-01 -8.93369036e-01 -4.29600813e-02 9.52773529e+01] [ 8.88603614e-01 4.49313226e-01 -9.22021826e-02 6.53897482e+01] [ 1.01673108e-01 3.06434804e-03 9.94813143e-01 1.22288625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15687499999999 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:95.29, Y:65.41, Z:12.23 [[ 4.44743385e-01 -8.94628420e-01 -4.29338103e-02 9.52909907e+01] [ 8.89867623e-01 4.46802098e-01 -9.22144140e-02 6.54126101e+01] [ 1.01680552e-01 2.80634290e-03 9.94813143e-01 1.22311767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.186875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:95.31, Y:65.44, Z:12.23 [[ 4.41892575e-01 -8.96040831e-01 -4.29159740e-02 9.53052528e+01] [ 8.91285814e-01 4.43964602e-01 -9.22227142e-02 6.54364656e+01] [ 1.01688491e-01 2.50213383e-03 9.94813143e-01 1.22343295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.216875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:95.32, Y:65.46, Z:12.24 [[ 4.35435667e-01 -8.99197549e-01 -4.28899566e-02 9.53231794e+01] [ 8.94456376e-01 4.37539177e-01 -9.22348126e-02 6.54584179e+01] [ 1.01703354e-01 1.79913200e-03 9.94813144e-01 1.22385150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:65.48, Z:12.24 [[ 4.31352383e-01 -9.01164697e-01 -4.28638659e-02 9.53379149e+01] [ 8.96431916e-01 4.33474708e-01 -9.22469360e-02 6.54825901e+01] [ 1.01710084e-01 1.36639830e-03 9.94813144e-01 1.22417668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.276875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.35, Y:65.51, Z:12.24 [[ 4.27503248e-01 -9.02998289e-01 -4.28376466e-02 9.53531031e+01] [ 8.98273394e-01 4.29643069e-01 -9.22591102e-02 6.55067194e+01] [ 1.01714717e-01 9.61151014e-04 9.94813145e-01 1.22447621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.306875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:95.37, Y:65.53, Z:12.25 [[ 4.19694027e-01 -9.06655446e-01 -4.28115204e-02 9.53703894e+01] [ 9.01947964e-01 4.21871888e-01 -9.22712321e-02 6.55287150e+01] [ 1.01719192e-01 1.11921327e-04 9.94813145e-01 1.22465609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.336875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.39, Y:65.55, Z:12.25 [[ 4.15927902e-01 -9.08390414e-01 -4.27882745e-02 9.53851528e+01] [ 9.03690907e-01 4.18122919e-01 -9.22820106e-02 6.55524588e+01] [ 1.01718852e-01 -2.84711521e-04 9.94813145e-01 1.22495701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.366875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.40, Y:65.58, Z:12.25 [[ 4.15681931e-01 -9.08504181e-01 -4.27631432e-02 9.53970278e+01] [ 9.03804076e-01 4.17875667e-01 -9.22936549e-02 6.55783059e+01] [ 1.01718848e-01 -2.84698463e-04 9.94813146e-01 1.22524673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:65.60, Z:12.26 [[ 4.11975199e-01 -9.10192231e-01 -4.27380206e-02 9.54117457e+01] [ 9.05499907e-01 4.14185528e-01 -9.23052869e-02 6.56024044e+01] [ 1.01717025e-01 -6.71784747e-04 9.94813146e-01 1.22555620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.426875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.43, Y:65.63, Z:12.26 [[ 4.09178146e-01 -9.11454263e-01 -4.27126593e-02 9.54261549e+01] [ 9.06767531e-01 4.11400306e-01 -9.23170209e-02 6.56263229e+01] [ 1.01714743e-01 -9.56345172e-04 9.94813146e-01 1.22583980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.456875 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:95.44, Y:65.65, Z:12.26 [[ 4.05234628e-01 -9.13215598e-01 -4.26868507e-02 9.54423105e+01] [ 9.08537266e-01 4.07474417e-01 -9.23289532e-02 6.56498469e+01] [ 1.01710040e-01 -1.36770560e-03 9.94813147e-01 1.22612247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:65.67, Z:12.26 [[ 4.03517814e-01 -9.13976719e-01 -4.26606436e-02 9.54549877e+01] [ 9.09301332e-01 4.05763744e-01 -9.23410607e-02 6.56736475e+01] [ 1.01707722e-01 -1.53011707e-03 9.94813147e-01 1.22631784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.516875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.47, Y:65.70, Z:12.27 [[ 4.02175268e-01 -9.14569560e-01 -4.26330147e-02 9.54679477e+01] [ 9.09896133e-01 4.04425272e-01 -9.23538149e-02 6.56985404e+01] [ 1.01705856e-01 -1.64919490e-03 9.94813148e-01 1.22661744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.546875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.48, Y:65.72, Z:12.27 [[ 4.01036927e-01 -9.15070479e-01 -4.26075403e-02 9.54806670e+01] [ 9.10398615e-01 4.03290174e-01 -9.23655661e-02 6.57238345e+01] [ 1.01704205e-01 -1.74784294e-03 9.94813148e-01 1.22693650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.576875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.49, Y:65.75, Z:12.27 [[ 3.99994178e-01 -9.15527955e-01 -4.25819285e-02 9.54937301e+01] [ 9.10857414e-01 4.02250162e-01 -9.23773721e-02 6.57481937e+01] [ 1.01702654e-01 -1.83565428e-03 9.94813149e-01 1.22727204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:65.77, Z:12.28 [[ 3.99351629e-01 -9.15809629e-01 -4.25558514e-02 9.55055660e+01] [ 9.11139400e-01 4.01608261e-01 -9.23893836e-02 6.57731550e+01] [ 1.01701869e-01 -1.87846201e-03 9.94813149e-01 1.22755531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:65.80, Z:12.28 [[ 3.99222153e-01 -9.15867283e-01 -4.25298910e-02 9.55171092e+01] [ 9.11196110e-01 4.01476828e-01 -9.24013326e-02 6.57981392e+01] [ 1.01702123e-01 -1.86441227e-03 9.94813149e-01 1.22777664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.666875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.53, Y:65.82, Z:12.28 [[ 4.00316770e-01 -9.15390579e-01 -4.25037879e-02 9.55273217e+01] [ 9.10715447e-01 4.02563224e-01 -9.24133382e-02 6.58231180e+01] [ 1.01704761e-01 -1.71424713e-03 9.94813150e-01 1.22781479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:65.85, Z:12.28 [[ 4.01168389e-01 -9.15018952e-01 -4.24763632e-02 9.55382671e+01] [ 9.10340406e-01 4.03407723e-01 -9.24259419e-02 6.58486346e+01] [ 1.01706781e-01 -1.58958345e-03 9.94813150e-01 1.22793474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:65.87, Z:12.28 [[ 4.02219648e-01 -9.14558536e-01 -4.24504339e-02 9.55493284e+01] [ 9.09876171e-01 4.04450984e-01 -9.24378495e-02 6.58746501e+01] [ 1.01708944e-01 -1.44431895e-03 9.94813151e-01 1.22801629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:65.90, Z:12.28 [[ 4.04858393e-01 -9.13394676e-01 -4.24246045e-02 9.55598916e+01] [ 9.08704653e-01 4.07073587e-01 -9.24497025e-02 6.58999664e+01] [ 1.01713002e-01 -1.12239752e-03 9.94813151e-01 1.22795082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78687499999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.57, Y:65.93, Z:12.28 [[ 4.05805524e-01 -9.12975496e-01 -4.23983525e-02 9.55712534e+01] [ 9.08281927e-01 4.08013195e-01 -9.24617404e-02 6.59260783e+01] [ 1.01714391e-01 -9.88172314e-04 9.94813151e-01 1.22816256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81687499999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.58, Y:65.95, Z:12.28 [[ 4.06839338e-01 -9.12516448e-01 -4.23731666e-02 9.55824464e+01] [ 9.07819186e-01 4.09039139e-01 -9.24732811e-02 6.59512338e+01] [ 1.01715674e-01 -8.45405185e-04 9.94813152e-01 1.22829952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:65.98, Z:12.29 [[ 4.07589624e-01 -9.12182795e-01 -4.23467401e-02 9.55935005e+01] [ 9.07482475e-01 4.09782883e-01 -9.24853813e-02 6.59764008e+01] [ 1.01716543e-01 -7.32842687e-04 9.94813152e-01 1.22856389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:66.00, Z:12.29 [[ 4.08606132e-01 -9.11729065e-01 -4.23218666e-02 9.56053685e+01] [ 9.07025131e-01 4.10791627e-01 -9.24967622e-02 6.60016851e+01] [ 1.01717455e-01 -5.92252329e-04 9.94813153e-01 1.22896982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90687499999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.62, Y:66.03, Z:12.29 [[ 4.08940515e-01 -9.11580299e-01 -4.22967212e-02 9.56170749e+01] [ 9.06874381e-01 4.11121733e-01 -9.25082592e-02 6.60256176e+01] [ 1.01717808e-01 -5.27437701e-04 9.94813153e-01 1.22928773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.936875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.63, Y:66.05, Z:12.30 [[ 4.09009158e-01 -9.11550733e-01 -4.22701996e-02 9.56291549e+01] [ 9.06843404e-01 4.11187329e-01 -9.25203763e-02 6.60507731e+01] [ 1.01717987e-01 -4.90770558e-04 9.94813153e-01 1.22985052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.966875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.64, Y:66.08, Z:12.30 [[ 4.09263560e-01 -9.11437750e-01 -4.22441392e-02 9.56408441e+01] [ 9.06728591e-01 4.11437772e-01 -9.25322738e-02 6.60751512e+01] [ 1.01718242e-01 -4.33881124e-04 9.94813154e-01 1.23028594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.996875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.65, Y:66.10, Z:12.31 [[ 4.09331100e-01 -9.11408490e-01 -4.22210246e-02 9.56517893e+01] [ 9.06698088e-01 4.11502617e-01 -9.25428194e-02 6.61001416e+01] [ 1.01718373e-01 -4.01068223e-04 9.94813154e-01 1.23059377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:66.13, Z:12.31 [[ 4.09890155e-01 -9.11158463e-01 -4.21937883e-02 9.56627740e+01] [ 9.06445458e-01 4.12056015e-01 -9.25552359e-02 6.61252352e+01] [ 1.01718691e-01 -3.08887728e-04 9.94813155e-01 1.23087742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.056875 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:95.67, Y:66.15, Z:12.31 [[ 4.10658567e-01 -9.10813647e-01 -4.21668454e-02 9.56741876e+01] [ 9.06097562e-01 4.12817712e-01 -9.25675091e-02 6.61505984e+01] [ 1.01718971e-01 -1.93635194e-04 9.94813155e-01 1.23119522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:66.18, Z:12.32 [[ 4.12102233e-01 -9.10162541e-01 -4.21414242e-02 9.56859678e+01] [ 9.05441861e-01 4.14251312e-01 -9.25790807e-02 6.61755234e+01] [ 1.01719152e-01 -4.56371768e-06 9.94813155e-01 1.23157579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:66.20, Z:12.32 [[ 4.15247315e-01 -9.08733157e-01 -4.21155143e-02 9.56967482e+01] [ 9.04003885e-01 4.17377416e-01 -9.25908660e-02 6.62001141e+01] [ 1.01718455e-01 3.75519911e-04 9.94813156e-01 1.23194546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.146875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.71, Y:66.23, Z:12.32 [[ 4.16809699e-01 -9.08018474e-01 -4.20966199e-02 9.57081510e+01] [ 9.03284682e-01 4.18929737e-01 -9.25994557e-02 6.62259365e+01] [ 1.01717542e-01 5.71119416e-04 9.94813156e-01 1.23222777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:66.25, Z:12.32 [[ 4.18758736e-01 -9.07122481e-01 -4.20704737e-02 9.57200027e+01] [ 9.02382960e-01 4.20865934e-01 -9.26113331e-02 6.62515132e+01] [ 1.01715852e-01 8.18126259e-04 9.94813156e-01 1.23249329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:66.28, Z:12.33 [[ 4.22434168e-01 -9.05417943e-01 -4.20442955e-02 9.57323762e+01] [ 9.00668739e-01 4.24519450e-01 -9.26232162e-02 6.62761788e+01] [ 1.01711343e-01 1.25922871e-03 9.94813157e-01 1.23265771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:66.30, Z:12.33 [[ 4.23853974e-01 -9.04755365e-01 -4.20183168e-02 9.57442039e+01] [ 9.00001734e-01 4.25929144e-01 -9.26349999e-02 6.63018666e+01] [ 1.01708839e-01 1.44715485e-03 9.94813157e-01 1.23284995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:66.33, Z:12.33 [[ 4.25804155e-01 -9.03840381e-01 -4.19927101e-02 9.57561174e+01] [ 8.99081148e-01 4.27866446e-01 -9.26466064e-02 6.63269520e+01] [ 1.01705016e-01 1.69445597e-03 9.94813158e-01 1.23299099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:66.35, Z:12.33 [[ 4.29755756e-01 -9.01969373e-01 -4.19671276e-02 9.57695168e+01] [ 8.97200038e-01 4.31794571e-01 -9.26581933e-02 6.63522413e+01] [ 1.01696030e-01 2.16748340e-03 9.94813158e-01 1.23309090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.326875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.78, Y:66.38, Z:12.33 [[ 4.31701332e-01 -9.01041019e-01 -4.19409331e-02 9.57822818e+01] [ 8.96266152e-01 4.33727158e-01 -9.26700486e-02 6.63777438e+01] [ 1.01690437e-01 2.41554474e-03 9.94813158e-01 1.23326711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:66.40, Z:12.34 [[ 4.33331321e-01 -9.00259467e-01 -4.19149066e-02 9.57948988e+01] [ 8.95479812e-01 4.35345824e-01 -9.26818190e-02 6.64032567e+01] [ 1.01685164e-01 2.62798232e-03 9.94813159e-01 1.23350827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:66.43, Z:12.34 [[ 4.34941436e-01 -8.99483905e-01 -4.18885605e-02 9.58076733e+01] [ 8.94699518e-01 4.36944672e-01 -9.26937249e-02 6.64281782e+01] [ 1.01679497e-01 2.83866698e-03 9.94813159e-01 1.23380996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.416875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.82, Y:66.45, Z:12.34 [[ 4.37250765e-01 -8.98364800e-01 -4.18623332e-02 9.58228370e+01] [ 8.93574159e-01 4.39239000e-01 -9.27055682e-02 6.64518899e+01] [ 1.01670989e-01 3.12848143e-03 9.94813160e-01 1.23418848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:66.48, Z:12.35 [[ 4.37764142e-01 -8.98115971e-01 -4.18361026e-02 9.58361445e+01] [ 8.93323076e-01 4.39746934e-01 -9.27174041e-02 6.64764573e+01] [ 1.01668279e-01 3.21519895e-03 9.94813160e-01 1.23452069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:66.50, Z:12.35 [[ 4.37703213e-01 -8.98146889e-01 -4.18098592e-02 9.58491235e+01] [ 8.93353010e-01 4.39683624e-01 -9.27292368e-02 6.65008828e+01] [ 1.01667586e-01 3.23692129e-03 9.94813161e-01 1.23475091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:66.52, Z:12.35 [[ 4.37174750e-01 -8.98405460e-01 -4.17835771e-02 9.58637934e+01] [ 8.93611627e-01 4.39155271e-01 -9.27410780e-02 6.65234531e+01] [ 1.01668569e-01 3.20576724e-03 9.94813161e-01 1.23497766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:66.55, Z:12.35 [[ 4.36380958e-01 -8.98792578e-01 -4.17559693e-02 9.58772395e+01] [ 8.93999319e-01 4.38362868e-01 -9.27535066e-02 6.65482376e+01] [ 1.01670430e-01 3.14605592e-03 9.94813161e-01 1.23531638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:66.57, Z:12.36 [[ 4.35665616e-01 -8.99140725e-01 -4.17304122e-02 9.58909070e+01] [ 8.94347955e-01 4.37648706e-01 -9.27650035e-02 6.65731253e+01] [ 1.01672053e-01 3.09301365e-03 9.94813162e-01 1.23570213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:66.60, Z:12.36 [[ 4.35073968e-01 -8.99428384e-01 -4.17040229e-02 9.59039790e+01] [ 8.94635793e-01 4.37057491e-01 -9.27768658e-02 6.65962621e+01] [ 1.01673202e-01 3.05488753e-03 9.94813162e-01 1.23602568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:66.62, Z:12.36 [[ 4.33450279e-01 -9.00213281e-01 -4.16761821e-02 9.59196499e+01] [ 8.95423087e-01 4.35439581e-01 -9.27893705e-02 6.66195414e+01] [ 1.01677683e-01 2.90176291e-03 9.94813163e-01 1.23638112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:66.64, Z:12.37 [[ 4.32495751e-01 -9.00673453e-01 -4.16504189e-02 9.59332211e+01] [ 8.95884266e-01 4.34487477e-01 -9.28009334e-02 6.66442377e+01] [ 1.01679923e-01 2.82205438e-03 9.94813163e-01 1.23668799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:66.67, Z:12.37 [[ 4.30949742e-01 -9.01415424e-01 -4.16239479e-02 9.59461245e+01] [ 8.96628526e-01 4.32946960e-01 -9.28128050e-02 6.66679553e+01] [ 1.01683856e-01 2.67643537e-03 9.94813163e-01 1.23688875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:66.69, Z:12.37 [[ 4.27682192e-01 -9.02971600e-01 -4.15960661e-02 9.59623679e+01] [ 8.98190761e-01 4.29693869e-01 -9.28252992e-02 6.66900323e+01] [ 1.01692183e-01 2.33852519e-03 9.94813164e-01 1.23721814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:66.71, Z:12.38 [[ 4.25550430e-01 -9.03979462e-01 -4.15687894e-02 9.59768037e+01] [ 8.99202198e-01 4.27570583e-01 -9.28375126e-02 6.67144536e+01] [ 1.01696796e-01 2.12829663e-03 9.94813164e-01 1.23752540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:66.74, Z:12.38 [[ 4.23297661e-01 -9.05037698e-01 -4.15434144e-02 9.59911360e+01] [ 9.00264374e-01 4.25327103e-01 -9.28488662e-02 6.67383717e+01] [ 1.01701264e-01 1.90265186e-03 9.94813165e-01 1.23781368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:66.76, Z:12.38 [[ 4.20756151e-01 -9.06223210e-01 -4.15181288e-02 9.60053225e+01] [ 9.01454491e-01 4.22796391e-01 -9.28601715e-02 6.67619798e+01] [ 1.01705758e-01 1.64478466e-03 9.94813165e-01 1.23805939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:66.79, Z:12.38 [[ 4.15159262e-01 -9.08802093e-01 -4.14914853e-02 9.60244431e+01] [ 9.04044864e-01 4.17226151e-01 -9.28720748e-02 6.67855337e+01] [ 1.01713669e-01 1.04653793e-03 9.94813166e-01 1.23829957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.866875 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:96.04, Y:66.81, Z:12.38 [[ 4.13014052e-01 -9.09768718e-01 -4.17165630e-02 9.60404130e+01] [ 9.05026457e-01 4.15115121e-01 -9.27714798e-02 6.68095824e+01] [ 1.01717766e-01 5.61331535e-04 9.94813139e-01 1.23840447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:66.83, Z:12.39 [[ 4.10042171e-01 -9.11099947e-01 -4.19798046e-02 9.60526452e+01] [ 9.06376510e-01 4.12185496e-01 -9.26538653e-02 6.68309092e+01] [ 1.01720398e-01 -5.75166417e-05 9.94813026e-01 1.23880530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:66.86, Z:12.39 [[ 4.08308576e-01 -9.11902362e-01 -4.14510396e-02 9.60670469e+01] [ 9.07159028e-01 4.10407086e-01 -9.28898394e-02 6.68555596e+01] [ 1.01718264e-01 3.25033275e-04 9.94813193e-01 1.23905607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:66.88, Z:12.39 [[ 4.06365786e-01 -9.12770913e-01 -4.14259377e-02 9.60835259e+01] [ 9.08030923e-01 4.08471837e-01 -9.29010327e-02 6.68779889e+01] [ 1.01718689e-01 1.35768713e-04 9.94813193e-01 1.23926093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:66.90, Z:12.40 [[ 4.05889627e-01 -9.12983949e-01 -4.13994981e-02 9.60971184e+01] [ 9.08243862e-01 4.07995460e-01 -9.29128136e-02 6.69025639e+01] [ 1.01718715e-01 1.11507222e-04 9.94813194e-01 1.23958197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:66.93, Z:12.40 [[ 4.06370347e-01 -9.12771234e-01 -4.13741026e-02 9.61118194e+01] [ 9.08028893e-01 4.08471098e-01 -9.29241209e-02 6.69253515e+01] [ 1.01718590e-01 1.92726664e-04 9.94813194e-01 1.23977538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:66.95, Z:12.40 [[ 4.07006468e-01 -9.12488967e-01 -4.13475530e-02 9.61245741e+01] [ 9.07743969e-01 4.09101210e-01 -9.29359329e-02 6.69497921e+01] [ 1.01718347e-01 2.92534023e-04 9.94813195e-01 1.24004153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:66.98, Z:12.40 [[ 4.07490877e-01 -9.12273882e-01 -4.13224943e-02 9.61374175e+01] [ 9.07526648e-01 4.09580546e-01 -9.29470736e-02 6.69750048e+01] [ 1.01718077e-01 3.73819765e-04 9.94813195e-01 1.24030532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:67.00, Z:12.41 [[ 4.08116407e-01 -9.11995355e-01 -4.12973447e-02 9.61497690e+01] [ 9.07245564e-01 4.10200257e-01 -9.29582465e-02 6.69986296e+01] [ 1.01717670e-01 4.70952814e-04 9.94813195e-01 1.24058675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:67.02, Z:12.41 [[ 4.08431950e-01 -9.11855288e-01 -4.12707558e-02 9.61620352e+01] [ 9.07103590e-01 4.10511446e-01 -9.29700497e-02 6.70228023e+01] [ 1.01717349e-01 5.35087962e-04 9.94813196e-01 1.24088137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:67.05, Z:12.41 [[ 4.09666165e-01 -9.11302289e-01 -4.12525373e-02 9.61754868e+01] [ 9.06546970e-01 4.11737366e-01 -9.29781330e-02 6.70470116e+01] [ 1.01716396e-01 6.92632470e-04 9.94813196e-01 1.24117504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:67.07, Z:12.41 [[ 4.10226533e-01 -9.11051294e-01 -4.12278099e-02 9.61880208e+01] [ 9.06293605e-01 4.12292286e-01 -9.29890962e-02 6.70720816e+01] [ 1.01715744e-01 7.82094018e-04 9.94813196e-01 1.24142321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:67.10, Z:12.42 [[ 4.10543331e-01 -9.10909715e-01 -4.12027311e-02 9.62007105e+01] [ 9.06150199e-01 4.12604869e-01 -9.30002071e-02 6.70973908e+01] [ 1.01715240e-01 8.44751882e-04 9.94813197e-01 1.24165194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:67.12, Z:12.42 [[ 4.11629641e-01 -9.10420402e-01 -4.11792377e-02 9.62143364e+01] [ 9.05657396e-01 4.13683101e-01 -9.30106086e-02 6.71218206e+01] [ 1.01713910e-01 9.91642279e-04 9.94813197e-01 1.24190891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:67.15, Z:12.42 [[ 4.11379786e-01 -9.10534495e-01 -4.11534350e-02 9.62257736e+01] [ 9.05770917e-01 4.13431917e-01 -9.30220239e-02 6.71478990e+01] [ 1.01713905e-01 9.91795710e-04 9.94813197e-01 1.24219861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:67.17, Z:12.42 [[ 4.11972368e-01 -9.10267694e-01 -4.11277703e-02 9.62380886e+01] [ 9.05501654e-01 4.14018776e-01 -9.30333696e-02 6.71724789e+01] [ 1.01712940e-01 1.08591361e-03 9.94813198e-01 1.24246692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:67.20, Z:12.43 [[ 4.12716997e-01 -9.09931543e-01 -4.11007101e-02 9.62504413e+01] [ 9.05162647e-01 4.14756737e-01 -9.30453229e-02 6.71978412e+01] [ 1.01711671e-01 1.19855868e-03 9.94813198e-01 1.24278012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.26, Y:67.22, Z:12.43 [[ 4.14611869e-01 -9.09070858e-01 -4.10752061e-02 9.62627178e+01] [ 9.04296614e-01 4.16639060e-01 -9.30565804e-02 6.72224512e+01] [ 1.01708561e-01 1.43819292e-03 9.94813199e-01 1.24288905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:67.25, Z:12.43 [[ 4.15315742e-01 -9.08750715e-01 -4.10484179e-02 9.62752651e+01] [ 9.03973742e-01 4.17336492e-01 -9.30683956e-02 6.72478194e+01] [ 1.01706974e-01 1.54607789e-03 9.94813199e-01 1.24326082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:67.27, Z:12.44 [[ 4.15794763e-01 -9.08532796e-01 -4.10228320e-02 9.62877358e+01] [ 9.03753653e-01 4.17810374e-01 -9.30796721e-02 6.72728502e+01] [ 1.01705700e-01 1.62750593e-03 9.94813200e-01 1.24358619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:67.30, Z:12.44 [[ 4.16352672e-01 -9.08278411e-01 -4.09973368e-02 9.62996896e+01] [ 9.03496932e-01 4.18362735e-01 -9.30909002e-02 6.72965672e+01] [ 1.01704213e-01 1.71767698e-03 9.94813200e-01 1.24390091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:67.32, Z:12.44 [[ 4.17331162e-01 -9.07830073e-01 -4.09787721e-02 9.63125969e+01] [ 9.03045634e-01 4.19334170e-01 -9.30990717e-02 6.73218795e+01] [ 1.01701936e-01 1.84744259e-03 9.94813200e-01 1.24417920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:67.35, Z:12.45 [[ 4.17760599e-01 -9.07633671e-01 -4.09536578e-02 9.63246024e+01] [ 9.02847209e-01 4.19758767e-01 -9.31101181e-02 6.73467011e+01] [ 1.01700535e-01 1.92284307e-03 9.94813200e-01 1.24450714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:67.37, Z:12.45 [[ 4.18335544e-01 -9.07369976e-01 -4.09279749e-02 9.63366654e+01] [ 9.02581153e-01 4.20328045e-01 -9.31214061e-02 6.73710398e+01] [ 1.01698744e-01 2.01517528e-03 9.94813201e-01 1.24480796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.586875 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:96.35, Y:67.39, Z:12.45 [[ 4.19720378e-01 -9.06731450e-01 -4.09008741e-02 9.63494788e+01] [ 9.01938440e-01 4.21702783e-01 -9.31333079e-02 6.73941300e+01] [ 1.01694912e-01 2.19987659e-03 9.94813201e-01 1.24485367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:67.42, Z:12.45 [[ 4.20082040e-01 -9.06556591e-01 -4.10636925e-02 9.63604037e+01] [ 9.01769704e-01 4.22079244e-01 -9.30618760e-02 6.74172617e+01] [ 1.01697989e-01 2.06362894e-03 9.94813179e-01 1.24542287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:67.44, Z:12.46 [[ 4.20918148e-01 -9.06179361e-01 -4.08274146e-02 9.63726259e+01] [ 9.01380644e-01 4.22886673e-01 -9.31654226e-02 6.74420080e+01] [ 1.01689953e-01 2.41397593e-03 9.94813212e-01 1.24565399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:67.47, Z:12.46 [[ 4.22191590e-01 -9.05587921e-01 -4.08016951e-02 9.63859541e+01] [ 9.00785363e-01 4.24150723e-01 -9.31766851e-02 6.74658931e+01] [ 1.01685749e-01 2.58484308e-03 9.94813212e-01 1.24575237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:67.49, Z:12.46 [[ 4.23232338e-01 -9.05103210e-01 -4.07745933e-02 9.63981638e+01] [ 9.00297270e-01 4.25183161e-01 -9.31885435e-02 6.74899813e+01] [ 1.01681920e-01 2.73115009e-03 9.94813213e-01 1.24596930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:67.51, Z:12.46 [[ 4.24020408e-01 -9.04735543e-01 -4.07466695e-02 9.64111892e+01] [ 8.99926744e-01 4.25964171e-01 -9.32007516e-02 6.75149397e+01] [ 1.01678654e-01 2.85000311e-03 9.94813213e-01 1.24633461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.766875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:96.43, Y:67.54, Z:12.47 [[ 4.22396046e-01 -9.05496219e-01 -4.07207300e-02 9.64252187e+01] [ 9.00689834e-01 4.24345768e-01 -9.32120836e-02 6.75400025e+01] [ 1.01682859e-01 2.69566798e-03 9.94813213e-01 1.24650210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:67.56, Z:12.47 [[ 4.20775586e-01 -9.06251456e-01 -4.06964952e-02 9.64371396e+01] [ 9.01447552e-01 4.22731412e-01 -9.32226634e-02 6.75648737e+01] [ 1.01686861e-01 2.54006481e-03 9.94813214e-01 1.24672503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:67.59, Z:12.47 [[ 4.19672521e-01 -9.06763955e-01 -4.06706799e-02 9.64488301e+01] [ 9.01961352e-01 4.21631539e-01 -9.32339247e-02 6.75888272e+01] [ 1.01689204e-01 2.44433476e-03 9.94813214e-01 1.24686061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:67.61, Z:12.47 [[ 4.13909642e-01 -9.09410340e-01 -4.06403843e-02 9.64549296e+01] [ 9.04618978e-01 4.15895993e-01 -9.32471286e-02 6.76122082e+01] [ 1.01702076e-01 1.83182273e-03 9.94813215e-01 1.24658613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:67.64, Z:12.47 [[ 4.16140344e-01 -9.08444127e-01 -3.94522796e-02 9.64732898e+01] [ 9.03598579e-01 4.17992717e-01 -9.37640451e-02 6.76381440e+01] [ 1.01670162e-01 3.36997816e-03 9.94812455e-01 1.24732884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:67.66, Z:12.48 [[ 4.14894284e-01 -9.08963072e-01 -4.06062449e-02 9.64854652e+01] [ 9.04168147e-01 4.16871944e-01 -9.32616952e-02 6.76631316e+01] [ 1.01699041e-01 1.97887105e-03 9.94813243e-01 1.24772340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:67.69, Z:12.47 [[ 4.09349405e-01 -9.11474789e-01 -4.05804527e-02 9.64892543e+01] [ 9.06690895e-01 4.11353600e-01 -9.32729167e-02 6.76867129e+01] [ 1.01708827e-01 1.38728605e-03 9.94813244e-01 1.24737113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.976875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:96.51, Y:67.71, Z:12.48 [[ 4.08189887e-01 -9.12057308e-01 -3.91469544e-02 9.65094455e+01] [ 9.07215573e-01 4.10053116e-01 -9.38954010e-02 6.77131817e+01] [ 1.01690317e-01 2.81242640e-03 9.94812128e-01 1.24819859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:67.74, Z:12.49 [[ 4.04973714e-01 -9.13428524e-01 -4.05539489e-02 9.65212266e+01] [ 9.08653207e-01 4.06998121e-01 -9.32838589e-02 6.77384995e+01] [ 1.01713519e-01 9.28035108e-04 9.94813299e-01 1.24854368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:67.76, Z:12.49 [[ 4.02048000e-01 -9.14721205e-01 -4.05280422e-02 9.65325758e+01] [ 9.09951264e-01 4.04085039e-01 -9.32951130e-02 6.77636878e+01] [ 1.01715794e-01 6.30570346e-04 9.94813299e-01 1.24885241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:67.79, Z:12.49 [[ 3.93996662e-01 -9.18219047e-01 -4.05020013e-02 9.65445456e+01] [ 9.13466029e-01 3.96072880e-01 -9.33064167e-02 6.77894956e+01] [ 1.01717473e-01 -2.34785610e-04 9.94813299e-01 1.24910140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:67.81, Z:12.50 [[ 3.90206698e-01 -9.19837164e-01 -4.04762306e-02 9.65554565e+01] [ 9.15091595e-01 3.92299886e-01 -9.33175947e-02 6.78139513e+01] [ 1.01715812e-01 -6.26307926e-04 9.94813300e-01 1.24952921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:67.84, Z:12.50 [[ 3.87668249e-01 -9.20911074e-01 -4.04490171e-02 9.65668987e+01] [ 9.16170072e-01 3.89771760e-01 -9.33293891e-02 6.78384277e+01] [ 1.01713953e-01 -8.77338003e-04 9.94813300e-01 1.25007226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:67.86, Z:12.50 [[ 3.85359670e-01 -9.21880753e-01 -4.04203099e-02 9.65776227e+01] [ 9.17143740e-01 3.87472147e-01 -9.33418204e-02 6.78636097e+01] [ 1.01711772e-01 -1.10106104e-03 9.94813301e-01 1.25049910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:67.89, Z:12.51 [[ 3.82790652e-01 -9.22951546e-01 -4.03950535e-02 9.65876449e+01] [ 9.18219288e-01 3.84913760e-01 -9.33527493e-02 6.78899223e+01] [ 1.01708676e-01 -1.35695746e-03 9.94813301e-01 1.25085178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:67.92, Z:12.51 [[ 3.82139285e-01 -9.23222536e-01 -4.03697350e-02 9.65979821e+01] [ 9.18490629e-01 3.84263172e-01 -9.33636968e-02 6.79164446e+01] [ 1.01708071e-01 -1.40128691e-03 9.94813301e-01 1.25106139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:67.94, Z:12.51 [[ 3.82398591e-01 -9.23116266e-01 -4.03444846e-02 9.66073939e+01] [ 9.18382618e-01 3.84518594e-01 -9.33746068e-02 6.79409800e+01] [ 1.01708823e-01 -1.34535538e-03 9.94813302e-01 1.25119831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:67.97, Z:12.51 [[ 3.84325051e-01 -9.22317184e-01 -4.03146016e-02 9.66149393e+01] [ 9.17577775e-01 3.86432142e-01 -9.33875072e-02 6.79658723e+01] [ 1.01711760e-01 -1.10062400e-03 9.94813302e-01 1.25132992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:67.99, Z:12.52 [[ 3.84886819e-01 -9.22096183e-01 -4.00095726e-02 9.66261969e+01] [ 9.17341848e-01 3.86960111e-01 -9.35190205e-02 6.79921852e+01] [ 1.01715640e-01 -7.08216959e-04 9.94813262e-01 1.25163205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.336875 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:96.64, Y:68.02, Z:12.52 [[ 3.86583052e-01 -9.21375596e-01 -4.02561227e-02 9.66372588e+01] [ 9.16628421e-01 3.88672601e-01 -9.34127740e-02 6.80171533e+01] [ 1.01714702e-01 -7.88110892e-04 9.94813298e-01 1.25183464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:68.04, Z:12.52 [[ 3.85703274e-01 -9.21747520e-01 -4.01807708e-02 9.66462881e+01] [ 9.16998979e-01 3.87789716e-01 -9.34452193e-02 6.80419757e+01] [ 1.01714589e-01 -8.03598836e-04 9.94813297e-01 1.25225337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:68.07, Z:12.53 [[ 3.84705375e-01 -9.22163549e-01 -4.02015291e-02 9.66555409e+01] [ 9.17418197e-01 3.86799059e-01 -9.34362879e-02 6.80680213e+01] [ 1.01713453e-01 -9.36172161e-04 9.94813298e-01 1.25255417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:68.09, Z:12.52 [[ 3.78371298e-01 -9.24781616e-01 -4.01761493e-02 9.66570290e+01] [ 9.20049585e-01 3.80494917e-01 -9.34471996e-02 6.80921264e+01] [ 1.01705073e-01 -1.60631133e-03 9.94813298e-01 1.25210318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:68.12, Z:12.53 [[ 3.82294125e-01 -9.23234339e-01 -3.85947912e-02 9.66763167e+01] [ 9.18423791e-01 3.84236993e-01 -9.41258325e-02 6.81191218e+01] [ 1.01729747e-01 5.37378372e-04 9.94811927e-01 1.25322281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:68.14, Z:12.54 [[ 3.79563618e-01 -9.24293698e-01 -4.01574289e-02 9.66854032e+01] [ 9.19558160e-01 3.81679239e-01 -9.34545269e-02 6.81434434e+01] [ 1.01706687e-01 -1.45515316e-03 9.94813366e-01 1.25384412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.516875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:96.69, Y:68.17, Z:12.54 [[ 3.73523401e-01 -9.26752407e-01 -4.01278610e-02 9.66862623e+01] [ 9.22029423e-01 3.75666902e-01 -9.34672212e-02 6.81672736e+01] [ 1.01695681e-01 -2.08687420e-03 9.94813366e-01 1.25356429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:68.20, Z:12.54 [[ 3.77523271e-01 -9.25198952e-01 -3.85107633e-02 9.67041943e+01] [ 9.20395023e-01 3.79482396e-01 -9.41600410e-02 6.81962039e+01] [ 1.01730928e-01 1.02491806e-04 9.94811946e-01 1.25430885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:68.22, Z:12.55 [[ 3.76291791e-01 -9.25633077e-01 -4.00985667e-02 9.67135988e+01] [ 9.20902447e-01 3.78418207e-01 -9.34791059e-02 6.82226455e+01] [ 1.01701380e-01 -1.75144804e-03 9.94813431e-01 1.25464784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:68.25, Z:12.55 [[ 3.74818326e-01 -9.26231801e-01 -4.00733559e-02 9.67213982e+01] [ 9.21503414e-01 3.76949724e-01 -9.34899123e-02 6.82505503e+01] [ 1.01698970e-01 -1.88600180e-03 9.94813431e-01 1.25464733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:68.28, Z:12.55 [[ 3.73809112e-01 -9.26640647e-01 -4.00482065e-02 9.67310889e+01] [ 9.21913440e-01 3.75943123e-01 -9.35006843e-02 6.82765991e+01] [ 1.01697382e-01 -1.96957208e-03 9.94813431e-01 1.25482473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:68.30, Z:12.55 [[ 3.72626575e-01 -9.27117897e-01 -4.00230162e-02 9.67409804e+01] [ 9.22392266e-01 3.74764076e-01 -9.35114659e-02 6.83030567e+01] [ 1.01695342e-01 -2.07206338e-03 9.94813432e-01 1.25497757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:68.33, Z:12.55 [[ 3.70670617e-01 -9.27902722e-01 -3.99979079e-02 9.67485575e+01] [ 9.23180461e-01 3.72815549e-01 -9.35222043e-02 6.83305373e+01] [ 1.01691350e-01 -2.25935394e-03 9.94813432e-01 1.25504278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:68.36, Z:12.55 [[ 3.69784563e-01 -9.28257270e-01 -3.99727062e-02 9.67577302e+01] [ 9.23535905e-01 3.71931466e-01 -9.35329746e-02 6.83575876e+01] [ 1.01689771e-01 -2.32917926e-03 9.94813432e-01 1.25523798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:68.38, Z:12.56 [[ 3.69604877e-01 -9.28329908e-01 -3.99476791e-02 9.67670297e+01] [ 9.23607813e-01 3.71750174e-01 -9.35436625e-02 6.83841707e+01] [ 1.01689936e-01 -2.32179462e-03 9.94813433e-01 1.25556027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:68.41, Z:12.56 [[ 3.71488669e-01 -9.27578766e-01 -3.99224390e-02 9.67742572e+01] [ 9.22851177e-01 3.73621831e-01 -9.35544332e-02 6.84117861e+01] [ 1.01695000e-01 -2.08805788e-03 9.94813433e-01 1.25597924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:68.44, Z:12.56 [[ 3.72928648e-01 -9.27001851e-01 -3.98972546e-02 9.67831049e+01] [ 9.22269815e-01 3.75051925e-01 -9.35651722e-02 6.84390294e+01] [ 1.01698630e-01 -1.90290046e-03 9.94813434e-01 1.25616238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:68.47, Z:12.56 [[ 3.75060814e-01 -9.26142331e-01 -3.98719172e-02 9.67915792e+01] [ 9.21404281e-01 3.77170637e-01 -9.35759683e-02 6.84654159e+01] [ 1.01703182e-01 -1.64147641e-03 9.94813434e-01 1.25640745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:68.49, Z:12.57 [[ 3.80475477e-01 -9.23932173e-01 -3.98465975e-02 9.67970704e+01] [ 9.19180732e-01 3.82554966e-01 -9.35867487e-02 6.84928106e+01] [ 1.01711322e-01 -1.01876188e-03 9.94813434e-01 1.25664608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:68.52, Z:12.57 [[ 3.83267655e-01 -9.22778209e-01 -3.98281437e-02 9.68052962e+01] [ 9.18019690e-01 3.85330895e-01 -9.35946015e-02 6.85199481e+01] [ 1.01714073e-01 -6.91236689e-04 9.94813435e-01 1.25698874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:68.55, Z:12.57 [[ 3.86235384e-01 -9.21541100e-01 -3.98023887e-02 9.68130186e+01] [ 9.16774842e-01 3.88280683e-01 -9.36055530e-02 6.85454820e+01] [ 1.01715863e-01 -3.36051930e-04 9.94813435e-01 1.25723997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:68.57, Z:12.58 [[ 3.89321168e-01 -9.20242882e-01 -3.97752043e-02 9.68213274e+01] [ 9.15468624e-01 3.91347719e-01 -9.36171029e-02 6.85726068e+01] [ 1.01716408e-01 3.41682903e-05 9.94813435e-01 1.25757999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:68.60, Z:12.58 [[ 3.95950049e-01 -9.17411308e-01 -3.97498528e-02 9.68268434e+01] [ 9.12621479e-01 3.97939518e-01 -9.36278659e-02 6.86003457e+01] [ 1.01713300e-01 7.95388656e-04 9.94813436e-01 1.25786207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:68.63, Z:12.58 [[ 3.98262831e-01 -9.16410761e-01 -3.97244865e-02 9.68357176e+01] [ 9.11614861e-01 4.00237620e-01 -9.36386272e-02 6.86274847e+01] [ 1.01710680e-01 1.07935250e-03 9.94813436e-01 1.25809022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:68.65, Z:12.58 [[ 4.01671893e-01 -9.14922782e-01 -3.96987927e-02 9.68432343e+01] [ 9.10118493e-01 4.03626184e-01 -9.36495190e-02 6.86544003e+01] [ 1.01705551e-01 1.48577421e-03 9.94813437e-01 1.25839270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.086875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.85, Y:68.68, Z:12.59 [[ 4.02784273e-01 -9.14434722e-01 -3.96732744e-02 9.68530607e+01] [ 9.09627003e-01 4.04730107e-01 -9.36603283e-02 6.86811732e+01] [ 1.01703225e-01 1.63702559e-03 9.94813437e-01 1.25864225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:68.71, Z:12.59 [[ 4.03469312e-01 -9.14133790e-01 -3.96475533e-02 9.68626074e+01] [ 9.09323551e-01 4.05408908e-01 -9.36712151e-02 6.87074169e+01] [ 1.01701494e-01 1.74100669e-03 9.94813437e-01 1.25886770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:68.73, Z:12.58 [[ 3.99643112e-01 -9.15814114e-01 -3.96218444e-02 9.68637215e+01] [ 9.11010957e-01 4.01600178e-01 -9.36820885e-02 6.87304243e+01] [ 1.01707519e-01 1.34346703e-03 9.94813438e-01 1.25843012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:68.76, Z:12.59 [[ 3.99626251e-01 -9.15892558e-01 -3.79431309e-02 9.68740577e+01] [ 9.11021111e-01 4.01411103e-01 -9.43910088e-02 6.87558460e+01] [ 1.01682817e-01 3.15413174e-03 9.94811870e-01 1.25862329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:68.78, Z:12.59 [[ 4.00999273e-01 -9.15294332e-01 -3.78928664e-02 9.68856826e+01] [ 9.10418223e-01 4.02771636e-01 -9.44122242e-02 6.87820057e+01] [ 1.01677145e-01 3.36087713e-03 9.94811772e-01 1.25874927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:68.81, Z:12.60 [[ 4.06291562e-01 -9.12953087e-01 -3.79977267e-02 9.69065570e+01] [ 9.08070893e-01 4.08046496e-01 -9.43679470e-02 6.88107990e+01] [ 1.01658348e-01 3.83627093e-03 9.94811974e-01 1.25957118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:68.84, Z:12.60 [[ 4.06645024e-01 -9.12726961e-01 -3.96146424e-02 9.69179026e+01] [ 9.07908736e-01 4.08564511e-01 -9.36844010e-02 6.88354116e+01] [ 1.01693416e-01 2.12981559e-03 9.94813507e-01 1.25974942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:68.86, Z:12.60 [[ 4.07372234e-01 -9.12403786e-01 -3.95878141e-02 9.69298213e+01] [ 9.07582940e-01 4.09285127e-01 -9.36957364e-02 6.88607104e+01] [ 1.01691048e-01 2.23981667e-03 9.94813507e-01 1.25995457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:68.88, Z:12.59 [[ 4.04241971e-01 -9.13796100e-01 -3.95615507e-02 9.69345276e+01] [ 9.08980763e-01 4.06168688e-01 -9.37068244e-02 6.88831306e+01] [ 1.01697594e-01 1.91954288e-03 9.94813508e-01 1.25940312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:68.91, Z:12.60 [[ 4.09931684e-01 -9.11325106e-01 -3.79811244e-02 9.69543207e+01] [ 9.06435555e-01 4.11665415e-01 -9.43725136e-02 6.89097672e+01] [ 1.01639556e-01 4.25884186e-03 9.94812175e-01 1.26025623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:68.93, Z:12.61 [[ 4.10824832e-01 -9.10856916e-01 -3.95301895e-02 9.69671987e+01] [ 9.06026620e-01 4.12713532e-01 -9.37192839e-02 6.89348492e+01] [ 1.01679502e-01 2.68680507e-03 9.94813581e-01 1.26070097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:68.96, Z:12.61 [[ 4.13359698e-01 -9.09710497e-01 -3.95040776e-02 9.69813906e+01] [ 9.04873919e-01 4.15232252e-01 -9.37302892e-02 6.89579107e+01] [ 1.01670795e-01 2.99811453e-03 9.94813581e-01 1.26114640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:68.98, Z:12.61 [[ 4.14983686e-01 -9.08972026e-01 -3.94765352e-02 9.69939922e+01] [ 9.04131021e-01 4.16844763e-01 -9.37418879e-02 6.89832196e+01] [ 1.01664341e-01 3.20939411e-03 9.94813581e-01 1.26149815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:69.01, Z:12.62 [[ 4.16502582e-01 -9.08278174e-01 -3.94507059e-02 9.70061303e+01] [ 9.03433047e-01 4.18352902e-01 -9.37527568e-02 6.90079926e+01] [ 1.01657900e-01 3.40719390e-03 9.94813582e-01 1.26179459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:69.03, Z:12.62 [[ 4.18094072e-01 -9.07547809e-01 -3.94248921e-02 9.70184111e+01] [ 9.02698435e-01 4.19933233e-01 -9.37636108e-02 6.90330320e+01] [ 1.01650782e-01 3.61322140e-03 9.94813582e-01 1.26209409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:69.06, Z:12.62 [[ 4.21122328e-01 -9.06147729e-01 -3.93989612e-02 9.70322393e+01] [ 9.01291237e-01 4.22942606e-01 -9.37745055e-02 6.90579388e+01] [ 1.01637055e-01 3.98059953e-03 9.94813583e-01 1.26238820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:69.08, Z:12.63 [[ 4.22245751e-01 -9.05625940e-01 -3.93723700e-02 9.70441642e+01] [ 9.00766169e-01 4.24057256e-01 -9.37856689e-02 6.90822620e+01] [ 1.01630874e-01 4.13530125e-03 9.94813583e-01 1.26269636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:69.11, Z:12.63 [[ 4.23079802e-01 -9.05237821e-01 -3.93442340e-02 9.70566082e+01] [ 9.00375304e-01 4.24883921e-01 -9.37974709e-02 6.91074056e+01] [ 1.01625751e-01 4.25923872e-03 9.94813583e-01 1.26303072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:69.13, Z:12.63 [[ 4.21079251e-01 -9.06171262e-01 -3.93180373e-02 9.70649055e+01] [ 9.01311732e-01 4.22891400e-01 -9.38084508e-02 6.91318232e+01] [ 1.01633782e-01 4.06298382e-03 9.94813584e-01 1.26276552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:69.16, Z:12.63 [[ 4.24735144e-01 -9.04500536e-01 -3.84556504e-02 9.70825919e+01] [ 8.99601324e-01 4.26438267e-01 -9.41693268e-02 6.91570366e+01] [ 1.01575167e-01 5.40226862e-03 9.94813199e-01 1.26341572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:69.18, Z:12.64 [[ 4.24665182e-01 -9.04497858e-01 -3.92824226e-02 9.70952596e+01] [ 8.99629848e-01 4.26454384e-01 -9.38232135e-02 6.91819926e+01] [ 1.01615057e-01 4.50381216e-03 9.94813599e-01 1.26370554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:69.21, Z:12.64 [[ 4.23687944e-01 -9.04957238e-01 -3.92545872e-02 9.71094100e+01] [ 9.00090104e-01 4.25479523e-01 -9.38348581e-02 6.92056312e+01] [ 1.01618557e-01 4.42403274e-03 9.94813599e-01 1.26358755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:69.23, Z:12.64 [[ 4.22558627e-01 -9.05486360e-01 -3.92257451e-02 9.71226310e+01] [ 9.00620363e-01 4.24353294e-01 -9.38469134e-02 6.92308594e+01] [ 1.01622674e-01 4.32831811e-03 9.94813600e-01 1.26377803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:69.26, Z:12.64 [[ 4.20645577e-01 -9.06377797e-01 -3.91993243e-02 9.71359664e+01] [ 9.01514589e-01 4.22447785e-01 -9.38579480e-02 6.92559181e+01] [ 1.01630428e-01 4.14216790e-03 9.94813600e-01 1.26414063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:69.28, Z:12.65 [[ 4.13210448e-01 -9.09792620e-01 -3.91728811e-02 9.71513815e+01] [ 9.04943297e-01 4.15049688e-01 -9.38689832e-02 6.92797153e+01] [ 1.01660000e-01 3.33840845e-03 9.94813600e-01 1.26455500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:69.30, Z:12.65 [[ 4.09683599e-01 -9.11387383e-01 -3.91457073e-02 9.71643184e+01] [ 9.06544149e-01 4.11538812e-01 -9.38803140e-02 6.93035477e+01] [ 1.01671312e-01 2.97391299e-03 9.94813601e-01 1.26496686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:69.33, Z:12.65 [[ 4.05668023e-01 -9.13183059e-01 -3.91172154e-02 9.71770782e+01] [ 9.08346902e-01 4.07541609e-01 -9.38921843e-02 6.93275868e+01] [ 1.01682645e-01 2.55705532e-03 9.94813601e-01 1.26546344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:69.35, Z:12.66 [[ 3.96359642e-01 -9.17262857e-01 -3.90881844e-02 9.71903459e+01] [ 9.12444821e-01 3.98279345e-01 -9.39042687e-02 6.93516493e+01] [ 1.01702914e-01 1.55405088e-03 9.94813602e-01 1.26582457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:69.38, Z:12.66 [[ 3.94363802e-01 -9.18137593e-01 -3.87369488e-02 9.72061158e+01] [ 9.13309426e-01 3.96258036e-01 -9.40503118e-02 6.93760796e+01] [ 1.01700954e-01 1.71121808e-03 9.94813544e-01 1.26645857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:69.40, Z:12.67 [[ 3.91058168e-01 -9.19537248e-01 -3.90481575e-02 9.72190360e+01] [ 9.14728719e-01 3.93001564e-01 -9.39209313e-02 6.94014631e+01] [ 1.01709782e-01 1.01007629e-03 9.94813601e-01 1.26680864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:69.42, Z:12.67 [[ 3.86216809e-01 -9.21582245e-01 -3.90223312e-02 9.72326339e+01] [ 9.16782924e-01 3.88182834e-01 -9.39316604e-02 6.94249816e+01] [ 1.01713550e-01 5.02979202e-04 9.94813601e-01 1.26706768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:69.45, Z:12.67 [[ 3.84567728e-01 -9.22272405e-01 -3.90035039e-02 9.72442733e+01] [ 9.17475820e-01 3.86540417e-01 -9.39394775e-02 6.94491690e+01] [ 1.01714219e-01 3.41319674e-04 9.94813601e-01 1.26728597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:69.47, Z:12.68 [[ 3.83442531e-01 -9.22742003e-01 -3.89746171e-02 9.72564434e+01] [ 9.17946616e-01 3.85418128e-01 -9.39514609e-02 6.94745592e+01] [ 1.01714483e-01 2.48368021e-04 9.94813602e-01 1.26752398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:69.50, Z:12.68 [[ 3.82472041e-01 -9.23145700e-01 -3.89506690e-02 9.72680911e+01] [ 9.18351387e-01 3.84450242e-01 -9.39613884e-02 6.94999784e+01] [ 1.01714646e-01 1.67203045e-04 9.94813602e-01 1.26775977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:69.52, Z:12.68 [[ 3.82124245e-01 -9.23290817e-01 -3.89246681e-02 9.72802760e+01] [ 9.18496157e-01 3.84101606e-01 -9.39721584e-02 6.95247732e+01] [ 1.01714658e-01 1.56882002e-04 9.94813602e-01 1.26799396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:69.55, Z:12.68 [[ 3.81743418e-01 -9.23449430e-01 -3.88987539e-02 9.72906897e+01] [ 9.18654498e-01 3.83720119e-01 -9.39828841e-02 6.95501112e+01] [ 1.01714675e-01 1.42832199e-04 9.94813603e-01 1.26822430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:69.58, Z:12.68 [[ 3.82133711e-01 -9.23289146e-01 -3.88713311e-02 9.73007324e+01] [ 9.18492231e-01 3.84105593e-01 -9.39942248e-02 6.95750712e+01] [ 1.01714543e-01 2.15346227e-04 9.94813603e-01 1.26848629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:69.60, Z:12.69 [[ 3.82354879e-01 -9.23198791e-01 -3.88424798e-02 9.73110094e+01] [ 9.18400199e-01 3.84322675e-01 -9.40061460e-02 6.96014531e+01] [ 1.01714406e-01 2.70767424e-04 9.94813604e-01 1.26877463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:69.63, Z:12.69 [[ 3.83340562e-01 -9.22791047e-01 -3.88162057e-02 9.73203375e+01] [ 9.17989263e-01 3.85300555e-01 -9.40169936e-02 6.96266312e+01] [ 1.01713946e-01 4.07667030e-04 9.94813604e-01 1.26886693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:69.65, Z:12.69 [[ 3.83318114e-01 -9.22801530e-01 -3.87886653e-02 9.73301208e+01] [ 9.17998650e-01 3.85275418e-01 -9.40283547e-02 6.96525903e+01] [ 1.01713829e-01 4.34829203e-04 9.94813605e-01 1.26922599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:69.68, Z:12.70 [[ 3.82770273e-01 -9.23030003e-01 -3.87625020e-02 9.73393359e+01] [ 9.18227199e-01 3.84727762e-01 -9.40391391e-02 6.96793138e+01] [ 1.01713958e-01 4.02603315e-04 9.94813605e-01 1.26956276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:69.70, Z:12.70 [[ 3.81710386e-01 -9.23469915e-01 -3.87362536e-02 9.73489217e+01] [ 9.18668270e-01 3.83670715e-01 -9.40499501e-02 6.97048707e+01] [ 1.01714266e-01 3.14075714e-04 9.94813605e-01 1.26986852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:69.73, Z:12.70 [[ 3.79995388e-01 -9.24178079e-01 -3.87089470e-02 9.73588795e+01] [ 9.19378942e-01 3.81961848e-01 -9.40611876e-02 6.97310388e+01] [ 1.01714629e-01 1.54626745e-04 9.94813606e-01 1.27022725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37687499999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.37, Y:69.76, Z:12.71 [[ 3.71884131e-01 -9.27472801e-01 -3.86832894e-02 9.73667268e+01] [ 9.22689984e-01 3.73889958e-01 -9.40717383e-02 6.97568406e+01] [ 1.01712272e-01 -7.08897123e-04 9.94813606e-01 1.27051716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:69.78, Z:12.71 [[ 3.67672552e-01 -9.29151191e-01 -3.86646936e-02 9.73761911e+01] [ 9.24376725e-01 3.69698175e-01 -9.40793808e-02 6.97830992e+01] [ 1.01708235e-01 -1.15033689e-03 9.94813606e-01 1.27097198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:69.81, Z:12.71 [[ 3.59060266e-01 -9.32514205e-01 -3.86391245e-02 9.73837252e+01] [ 9.27757564e-01 3.61127398e-01 -9.40898811e-02 6.98100795e+01] [ 1.01693797e-01 -2.06380220e-03 9.94813607e-01 1.27140645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:69.84, Z:12.72 [[ 3.54801125e-01 -9.34144073e-01 -3.86136391e-02 9.73918048e+01] [ 9.29395786e-01 3.56887376e-01 -9.41003390e-02 6.98355047e+01] [ 1.01683994e-01 -2.50044728e-03 9.94813607e-01 1.27167434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:69.86, Z:12.71 [[ 3.47024578e-01 -9.37061557e-01 -3.85950841e-02 9.73921476e+01] [ 9.32329939e-01 3.49148362e-01 -9.41079487e-02 6.98598094e+01] [ 1.01660351e-01 -3.32558120e-03 9.94813607e-01 1.27134343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:69.89, Z:12.72 [[ 3.46761869e-01 -9.37215957e-01 -3.71814026e-02 9.74079640e+01] [ 9.32422425e-01 3.48744724e-01 -9.46865299e-02 6.98891294e+01] [ 1.01708545e-01 -1.83509552e-03 9.94812547e-01 1.27212262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:69.92, Z:12.73 [[ 3.41499473e-01 -9.39090582e-01 -3.85614918e-02 9.74142836e+01] [ 9.34370074e-01 3.43647726e-01 -9.41212292e-02 6.99162720e+01] [ 1.01639929e-01 -3.88835380e-03 9.94813654e-01 1.27253159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:69.94, Z:12.73 [[ 3.40322795e-01 -9.39518739e-01 -3.85348360e-02 9.74217591e+01] [ 9.34799710e-01 3.42474294e-01 -9.41321414e-02 6.99426668e+01] [ 1.01636102e-01 -3.98704000e-03 9.94813654e-01 1.27285518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:69.97, Z:12.73 [[ 3.40445902e-01 -9.39475288e-01 -3.85067717e-02 9.74290391e+01] [ 9.34754699e-01 3.42593975e-01 -9.41436203e-02 6.99689958e+01] [ 1.01637793e-01 -3.94357610e-03 9.94813655e-01 1.27323263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:70.00, Z:12.73 [[ 3.42399444e-01 -9.38766216e-01 -3.84787249e-02 9.74316675e+01] [ 9.34039900e-01 3.44534884e-01 -9.41550823e-02 6.99987175e+01] [ 1.01646873e-01 -3.70201654e-03 9.94813655e-01 1.27348270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:70.03, Z:12.74 [[ 3.44726860e-01 -9.37915110e-01 -3.84530689e-02 9.74379300e+01] [ 9.33182358e-01 3.46847998e-01 -9.41655592e-02 7.00262237e+01] [ 1.01656671e-01 -3.42232803e-03 9.94813655e-01 1.27371791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:70.06, Z:12.74 [[ 3.50056554e-01 -9.35940036e-01 -3.84273039e-02 9.74400145e+01] [ 9.31194153e-01 3.52148146e-01 -9.41760723e-02 7.00550427e+01] [ 1.01675260e-01 -2.81632946e-03 9.94813656e-01 1.27389612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:70.08, Z:12.74 [[ 3.52840397e-01 -9.34895226e-01 -3.84001371e-02 9.74470919e+01] [ 9.30141945e-01 3.54915121e-01 -9.41871482e-02 7.00823571e+01] [ 1.01683905e-01 -2.48454746e-03 9.94813656e-01 1.27427276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:70.11, Z:12.75 [[ 3.54869750e-01 -9.34127850e-01 -3.83747414e-02 9.74534500e+01] [ 9.29368965e-01 3.56931588e-01 -9.41974941e-02 7.01094872e+01] [ 1.01689660e-01 -2.23645250e-03 9.94813657e-01 1.27454071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:70.14, Z:12.75 [[ 3.57085898e-01 -9.33283983e-01 -3.83492983e-02 9.74602303e+01] [ 9.28519114e-01 3.59133868e-01 -9.42078513e-02 7.01368727e+01] [ 1.01695211e-01 -1.96776132e-03 9.94813657e-01 1.27478727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:70.17, Z:12.75 [[ 3.61780071e-01 -9.31475440e-01 -3.83234209e-02 9.74632315e+01] [ 9.26699213e-01 3.63801410e-01 -9.42183770e-02 7.01665244e+01] [ 1.01704219e-01 -1.42795281e-03 9.94813657e-01 1.27493795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:70.19, Z:12.75 [[ 3.63771025e-01 -9.30700776e-01 -3.82976140e-02 9.74696130e+01] [ 9.25919140e-01 3.65779533e-01 -9.42288658e-02 7.01931148e+01] [ 1.01707362e-01 -1.18276277e-03 9.94813658e-01 1.27517571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:70.22, Z:12.75 [[ 3.65906488e-01 -9.29864409e-01 -3.82704036e-02 9.74765396e+01] [ 9.25077025e-01 3.67901257e-01 -9.42399159e-02 7.02206968e+01] [ 1.01710073e-01 -9.20074439e-04 9.94813658e-01 1.27542680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:70.25, Z:12.76 [[ 3.70818728e-01 -9.27917462e-01 -3.82446729e-02 9.74807557e+01] [ 9.23118525e-01 3.72785539e-01 -9.42503569e-02 7.02493380e+01] [ 1.01713613e-01 -3.54568609e-04 9.94813659e-01 1.27563638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:70.28, Z:12.76 [[ 3.73324108e-01 -9.26913390e-01 -3.82188175e-02 9.74887320e+01] [ 9.22108090e-01 3.75275319e-01 -9.42608402e-02 7.02766363e+01] [ 1.01714214e-01 -5.20367207e-05 9.94813659e-01 1.27589401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:70.30, Z:12.76 [[ 3.75962830e-01 -9.25847313e-01 -3.81929716e-02 9.74964115e+01] [ 9.21035416e-01 3.77897714e-01 -9.42713114e-02 7.03025396e+01] [ 1.01713877e-01 2.65429547e-04 9.94813659e-01 1.27607253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:70.33, Z:12.76 [[ 3.81476263e-01 -9.23590407e-01 -3.81657002e-02 9.75026556e+01] [ 9.18765961e-01 3.83379639e-01 -9.42823510e-02 7.03300324e+01] [ 1.01710227e-01 9.01132609e-04 9.94813660e-01 1.27631999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:70.36, Z:12.77 [[ 3.83740698e-01 -9.22652922e-01 -3.81400489e-02 9.75109127e+01] [ 9.17822795e-01 3.85629613e-01 -9.42927266e-02 7.03564377e+01] [ 1.01707392e-01 1.17815040e-03 9.94813660e-01 1.27659668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:70.38, Z:12.77 [[ 3.83487940e-01 -9.22759078e-01 -3.81140928e-02 9.75214941e+01] [ 9.17928433e-01 3.85375526e-01 -9.43032172e-02 7.03828585e+01] [ 1.01707388e-01 1.17813702e-03 9.94813661e-01 1.27688639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:70.41, Z:12.77 [[ 3.85939185e-01 -9.21737620e-01 -3.80881214e-02 9.75302863e+01] [ 9.16900946e-01 3.87811269e-01 -9.43137057e-02 7.04092879e+01] [ 1.01703493e-01 1.47632016e-03 9.94813661e-01 1.27720249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:70.44, Z:12.78 [[ 3.89656433e-01 -9.20173434e-01 -3.80619887e-02 9.75384487e+01] [ 9.15328221e-01 3.91506302e-01 -9.43242508e-02 7.04363198e+01] [ 1.01696178e-01 1.91483878e-03 9.94813661e-01 1.27766124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:70.46, Z:12.78 [[ 3.90960173e-01 -9.19621352e-01 -3.80356608e-02 9.75476745e+01] [ 9.14772497e-01 3.92800473e-01 -9.43348663e-02 7.04617355e+01] [ 1.01692783e-01 2.08719921e-03 9.94813662e-01 1.27804035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:70.49, Z:12.78 [[ 3.91773650e-01 -9.19276240e-01 -3.80079044e-02 9.75569524e+01] [ 9.14424682e-01 3.93606813e-01 -9.43460482e-02 7.04873868e+01] [ 1.01690251e-01 2.20692976e-03 9.94813662e-01 1.27836000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:70.51, Z:12.79 [[ 3.92811987e-01 -9.18834170e-01 -3.79803980e-02 9.75656263e+01] [ 9.13979483e-01 3.94636845e-01 -9.43571200e-02 7.05142002e+01] [ 1.01687010e-01 2.35130328e-03 9.94813663e-01 1.27869750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:70.54, Z:12.79 [[ 3.92921991e-01 -9.18788218e-01 -3.79541716e-02 9.75748694e+01] [ 9.13932302e-01 3.94743575e-01 -9.43676682e-02 7.05395332e+01] [ 1.01686067e-01 2.39158858e-03 9.94813663e-01 1.27892904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:70.57, Z:12.79 [[ 3.92937906e-01 -9.18782202e-01 -3.79350418e-02 9.75850380e+01] [ 9.13925519e-01 3.94757442e-01 -9.43753576e-02 7.05658471e+01] [ 1.01685539e-01 2.41385263e-03 9.94813663e-01 1.27919857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:70.59, Z:12.79 [[ 3.93063709e-01 -9.18729478e-01 -3.79086774e-02 9.75952902e+01] [ 9.13871533e-01 3.94879874e-01 -9.43859465e-02 7.05921069e+01] [ 1.01684525e-01 2.45602903e-03 9.94813664e-01 1.27942574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:70.62, Z:12.80 [[ 3.94778350e-01 -9.17995110e-01 -3.78818340e-02 9.76057366e+01] [ 9.13132758e-01 3.96582684e-01 -9.43967189e-02 7.06171781e+01] [ 1.01679006e-01 2.67463731e-03 9.94813664e-01 1.27952812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:70.64, Z:12.80 [[ 3.95596139e-01 -9.17644147e-01 -3.78538413e-02 9.76163881e+01] [ 9.12779127e-01 3.97393263e-01 -9.44079429e-02 7.06436053e+01] [ 1.01675758e-01 2.79522156e-03 9.94813664e-01 1.27976913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:70.67, Z:12.80 [[ 3.96423313e-01 -9.17288207e-01 -3.78272722e-02 9.76272405e+01] [ 9.12420563e-01 3.98213317e-01 -9.44185875e-02 7.06696666e+01] [ 1.01672380e-01 2.91534824e-03 9.94813665e-01 1.27998332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:70.69, Z:12.80 [[ 3.97264169e-01 -9.16925447e-01 -3.78008641e-02 9.76386215e+01] [ 9.12055169e-01 3.99046993e-01 -9.44291589e-02 7.06944129e+01] [ 1.01668820e-01 3.03684791e-03 9.94813665e-01 1.28011846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.456875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.65, Y:70.72, Z:12.80 [[ 3.96937869e-01 -9.17067544e-01 -3.77815732e-02 9.76504853e+01] [ 9.12197175e-01 3.98720442e-01 -9.44368767e-02 7.07201957e+01] [ 1.01669280e-01 3.02132827e-03 9.94813666e-01 1.28047160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:70.74, Z:12.81 [[ 3.96348819e-01 -9.17323378e-01 -3.77549152e-02 9.76620322e+01] [ 9.12453150e-01 3.98131777e-01 -9.44475331e-02 7.07446854e+01] [ 1.01670362e-01 2.98457692e-03 9.94813666e-01 1.28070938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:70.77, Z:12.81 [[ 3.94361627e-01 -9.18180587e-01 -3.77268674e-02 9.76758123e+01] [ 9.13313170e-01 3.96152244e-01 -9.44587355e-02 7.07689517e+01] [ 1.01675760e-01 2.79445571e-03 9.94813666e-01 1.28123686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:70.79, Z:12.82 [[ 3.92737048e-01 -9.18877751e-01 -3.77000100e-02 9.76880839e+01] [ 9.14012489e-01 3.94533512e-01 -9.44694535e-02 7.07940153e+01] [ 1.01679796e-01 2.64337436e-03 9.94813667e-01 1.28155600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:70.82, Z:12.82 [[ 3.90260481e-01 -9.19933448e-01 -3.76723831e-02 9.77017779e+01] [ 9.15071989e-01 3.92067208e-01 -9.44804693e-02 7.08179625e+01] [ 1.01685850e-01 2.39905085e-03 9.94813667e-01 1.28169470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:70.84, Z:12.82 [[ 3.89249895e-01 -9.20362702e-01 -3.76432748e-02 9.77133789e+01] [ 9.15502118e-01 3.91058974e-01 -9.44920654e-02 7.08429687e+01] [ 1.01687713e-01 2.31852873e-03 9.94813668e-01 1.28200711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:70.87, Z:12.82 [[ 3.88936444e-01 -9.20496307e-01 -3.76163582e-02 9.77250106e+01] [ 9.15635312e-01 3.90744417e-01 -9.45027795e-02 7.08685197e+01] [ 1.01687841e-01 2.31270911e-03 9.94813668e-01 1.28227172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:70.89, Z:12.83 [[ 3.89850600e-01 -9.20110623e-01 -3.75892385e-02 9.77380531e+01] [ 9.15246804e-01 3.91650960e-01 -9.45135653e-02 7.08923954e+01] [ 1.01684797e-01 2.44273972e-03 9.94813669e-01 1.28253031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:70.92, Z:12.83 [[ 3.90087598e-01 -9.20010979e-01 -3.75694702e-02 9.77497463e+01] [ 9.15145946e-01 3.91884675e-01 -9.45214227e-02 7.09168105e+01] [ 1.01683646e-01 2.49008645e-03 9.94813669e-01 1.28280424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:70.94, Z:12.83 [[ 3.90481247e-01 -9.19845120e-01 -3.75413257e-02 9.77615131e+01] [ 9.14978254e-01 3.92273352e-01 -9.45325996e-02 7.09420194e+01] [ 1.01681812e-01 2.56371070e-03 9.94813669e-01 1.28306651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:70.97, Z:12.83 [[ 3.91391013e-01 -9.19459461e-01 -3.75149874e-02 9.77748797e+01] [ 9.14589833e-01 3.93175596e-01 -9.45430508e-02 7.09672606e+01] [ 1.01678480e-01 2.69247432e-03 9.94813670e-01 1.28325795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:70.99, Z:12.84 [[ 3.91458849e-01 -9.19431650e-01 -3.74888004e-02 9.77866750e+01] [ 9.14560905e-01 3.93240383e-01 -9.45534335e-02 7.09927504e+01] [ 1.01677530e-01 2.72798703e-03 9.94813670e-01 1.28353090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:71.02, Z:12.84 [[ 3.91593664e-01 -9.19375305e-01 -3.74626639e-02 9.77987743e+01] [ 9.14503318e-01 3.93371798e-01 -9.45637879e-02 7.10183451e+01] [ 1.01676367e-01 2.77084975e-03 9.94813670e-01 1.28382321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:71.04, Z:12.84 [[ 3.91458607e-01 -9.19433877e-01 -3.74366825e-02 9.78110380e+01] [ 9.14561178e-01 3.93234787e-01 -9.45740725e-02 7.10433265e+01] [ 1.01676012e-01 2.78369827e-03 9.94813671e-01 1.28409514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87687499999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.83, Y:71.07, Z:12.84 [[ 3.90038203e-01 -9.20038393e-01 -3.74106366e-02 9.78255267e+01] [ 9.15167464e-01 3.91819230e-01 -9.45843744e-02 7.10678818e+01] [ 1.01679463e-01 2.65452207e-03 9.94813671e-01 1.28438761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:71.09, Z:12.85 [[ 3.89133631e-01 -9.20422406e-01 -3.73846558e-02 9.78381018e+01] [ 9.15552253e-01 3.90916777e-01 -9.45946423e-02 7.10925628e+01] [ 1.01681317e-01 2.58235080e-03 9.94813672e-01 1.28472348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:71.12, Z:12.85 [[ 3.87286482e-01 -9.21202214e-01 -3.73585484e-02 9.78539757e+01] [ 9.16334662e-01 3.89076715e-01 -9.46049519e-02 7.11164928e+01] [ 1.01685632e-01 2.40628620e-03 9.94813672e-01 1.28504643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:71.14, Z:12.85 [[ 3.86068522e-01 -9.21714418e-01 -3.73313356e-02 9.78666424e+01] [ 9.16848206e-01 3.87862395e-01 -9.46156890e-02 7.11410486e+01] [ 1.01688066e-01 2.30097114e-03 9.94813672e-01 1.28523516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.996875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.88, Y:71.17, Z:12.85 [[ 3.84804069e-01 -9.22244183e-01 -3.73027518e-02 9.78790954e+01] [ 9.17379353e-01 3.86601684e-01 -9.46269570e-02 7.11662438e+01] [ 1.01690467e-01 2.19206381e-03 9.94813673e-01 1.28543171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:71.19, Z:12.86 [[ 3.84064144e-01 -9.22553620e-01 -3.72766913e-02 9.78917729e+01] [ 9.17689245e-01 3.85862988e-01 -9.46372220e-02 7.11915787e+01] [ 1.01691607e-01 2.13834493e-03 9.94813673e-01 1.28571351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:71.21, Z:12.86 [[ 3.83299222e-01 -9.22872736e-01 -3.72507637e-02 9.79063368e+01] [ 9.18008870e-01 3.85099440e-01 -9.46474265e-02 7.12141826e+01] [ 1.01692778e-01 2.08175345e-03 9.94813674e-01 1.28612788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:71.24, Z:12.86 [[ 3.82834729e-01 -9.23066627e-01 -3.72232770e-02 9.79181437e+01] [ 9.18202624e-01 3.84634579e-01 -9.46582354e-02 7.12381048e+01] [ 1.01693218e-01 2.05994935e-03 9.94813674e-01 1.28640356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:71.26, Z:12.87 [[ 3.83195162e-01 -9.22918277e-01 -3.71930222e-02 9.79322064e+01] [ 9.18052428e-01 3.84990010e-01 -9.46701216e-02 7.12623439e+01] [ 1.01691728e-01 2.13198828e-03 9.94813675e-01 1.28675232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:71.29, Z:12.87 [[ 3.83434878e-01 -9.22819735e-01 -3.71676087e-02 9.79442060e+01] [ 9.17952460e-01 3.85225856e-01 -9.46800980e-02 7.12875453e+01] [ 1.01690587e-01 2.18555398e-03 9.94813675e-01 1.28703464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:71.31, Z:12.87 [[ 3.83684235e-01 -9.22717135e-01 -3.71415892e-02 9.79561186e+01] [ 9.17848396e-01 3.85471229e-01 -9.46903040e-02 7.13124596e+01] [ 1.01689380e-01 2.24082876e-03 9.94813675e-01 1.28729935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:71.34, Z:12.88 [[ 3.84297718e-01 -9.22462443e-01 -3.71255259e-02 9.79699608e+01] [ 9.17591914e-01 3.86079827e-01 -9.46966016e-02 7.13376532e+01] [ 1.01687475e-01 2.32560550e-03 9.94813676e-01 1.28752896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:71.36, Z:12.88 [[ 3.84345682e-01 -9.22443540e-01 -3.70986835e-02 9.79812458e+01] [ 9.17571912e-01 3.86124783e-01 -9.47071163e-02 7.13622611e+01] [ 1.01686689e-01 2.35956131e-03 9.94813676e-01 1.28767548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:71.39, Z:12.88 [[ 3.84205536e-01 -9.22503060e-01 -3.70703401e-02 9.79928046e+01] [ 9.17630642e-01 3.85982469e-01 -9.47182093e-02 7.13876320e+01] [ 1.01686339e-01 2.37438046e-03 9.94813676e-01 1.28784855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:71.41, Z:12.88 [[ 3.85170170e-01 -9.22101764e-01 -3.70442670e-02 9.80060994e+01] [ 9.17226518e-01 3.86939329e-01 -9.47284054e-02 7.14119237e+01] [ 1.01683114e-01 2.50857201e-03 9.94813677e-01 1.28807683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:71.44, Z:12.88 [[ 3.85512685e-01 -9.21959794e-01 -3.70149777e-02 9.80177661e+01] [ 9.17082802e-01 3.87277026e-01 -9.47398489e-02 7.14378272e+01] [ 1.01681382e-01 2.57761412e-03 9.94813677e-01 1.28838419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:71.46, Z:12.89 [[ 3.85828564e-01 -9.21828719e-01 -3.69882634e-02 9.80288905e+01] [ 9.16950134e-01 3.87588490e-01 -9.47502775e-02 7.14624164e+01] [ 1.01679752e-01 2.64097038e-03 9.94813678e-01 1.28859532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:71.49, Z:12.89 [[ 3.83143618e-01 -9.22949036e-01 -3.69600581e-02 9.80420908e+01] [ 9.18074541e-01 3.84914844e-01 -9.47612786e-02 7.14868481e+01] [ 1.01686306e-01 2.37509075e-03 9.94813678e-01 1.28869546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:71.51, Z:12.89 [[ 3.81255742e-01 -9.23731666e-01 -3.69305819e-02 9.80538647e+01] [ 9.18859700e-01 3.83033908e-01 -9.47727647e-02 7.15114022e+01] [ 1.01690269e-01 2.19863726e-03 9.94813679e-01 1.28900881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:71.54, Z:12.89 [[ 3.78732811e-01 -9.24770115e-01 -3.69011175e-02 9.80650735e+01] [ 9.19901911e-01 3.80521251e-01 -9.47842358e-02 7.15356929e+01] [ 1.01695288e-01 1.95249162e-03 9.94813679e-01 1.28924606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:71.56, Z:12.90 [[ 3.76909954e-01 -9.25515782e-01 -3.68703667e-02 9.80763711e+01] [ 9.20649950e-01 3.78704834e-01 -9.47961962e-02 7.15602553e+01] [ 1.01698362e-01 1.78492870e-03 9.94813680e-01 1.28963127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:71.58, Z:12.90 [[ 3.73254029e-01 -9.26997395e-01 -3.68410030e-02 9.80886548e+01] [ 9.22137565e-01 3.75065099e-01 -9.48076066e-02 7.15838453e+01] [ 1.01704179e-01 1.41484842e-03 9.94813680e-01 1.29009246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:71.61, Z:12.90 [[ 3.71394598e-01 -9.27745020e-01 -3.68134630e-02 9.80999974e+01] [ 9.22887777e-01 3.73212594e-01 -9.48182991e-02 7.16085507e+01] [ 1.01706453e-01 1.24030910e-03 9.94813681e-01 1.29048287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56687499999998 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:98.11, Y:71.63, Z:12.91 [[ 3.68149785e-01 -9.29038554e-01 -3.67845164e-02 9.81125542e+01] [ 9.24186580e-01 3.69981792e-01 -9.48295276e-02 7.16338397e+01] [ 1.01709889e-01 9.15713902e-04 9.94813681e-01 1.29099040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:71.66, Z:12.91 [[ 3.66830928e-01 -9.29561135e-01 -3.67582062e-02 9.81232014e+01] [ 9.24710749e-01 3.68667135e-01 -9.48397250e-02 7.16592624e+01] [ 1.01710865e-01 7.99435973e-04 9.94813681e-01 1.29132714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:71.68, Z:12.92 [[ 3.64871139e-01 -9.30333303e-01 -3.67286981e-02 9.81336080e+01] [ 9.25485653e-01 3.66714555e-01 -9.48511514e-02 7.16831144e+01] [ 1.01712133e-01 6.16564526e-04 9.94813682e-01 1.29157144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:71.71, Z:12.92 [[ 3.63830847e-01 -9.30741841e-01 -3.66979493e-02 9.81438800e+01] [ 9.25895061e-01 3.65676548e-01 -9.48630466e-02 7.17079665e+01] [ 1.01712586e-01 5.35652638e-04 9.94813683e-01 1.29180301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:71.73, Z:12.92 [[ 3.63035741e-01 -9.31053351e-01 -3.66702639e-02 9.81540943e+01] [ 9.26207074e-01 3.64882761e-01 -9.48737475e-02 7.17330312e+01] [ 1.01712868e-01 4.78303476e-04 9.94813683e-01 1.29206328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:71.76, Z:12.92 [[ 3.62475691e-01 -9.31272691e-01 -3.66408143e-02 9.81647961e+01] [ 9.26426381e-01 3.64322624e-01 -9.48851198e-02 7.17594573e+01] [ 1.01712998e-01 4.48532353e-04 9.94813683e-01 1.29230435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:71.79, Z:12.93 [[ 3.62036991e-01 -9.31444363e-01 -3.66144192e-02 9.81748608e+01] [ 9.26597899e-01 3.63883518e-01 -9.48953042e-02 7.17857074e+01] [ 1.01713080e-01 4.28766424e-04 9.94813684e-01 1.29258910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:71.81, Z:12.93 [[ 3.62132537e-01 -9.31408261e-01 -3.65879256e-02 9.81844396e+01] [ 9.26560581e-01 3.63975868e-01 -9.49055180e-02 7.18107556e+01] [ 1.01712905e-01 4.67446426e-04 9.94813684e-01 1.29278049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:71.84, Z:12.93 [[ 3.63166313e-01 -9.31006423e-01 -3.65686868e-02 9.81931343e+01] [ 9.26155957e-01 3.65002300e-01 -9.49129305e-02 7.18374050e+01] [ 1.01712203e-01 6.00871906e-04 9.94813684e-01 1.29302736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:71.86, Z:12.93 [[ 3.63646448e-01 -9.30820029e-01 -3.65422362e-02 9.82017596e+01] [ 9.25967598e-01 3.65477236e-01 -9.49231132e-02 7.18624030e+01] [ 1.01711690e-01 6.81526280e-04 9.94813685e-01 1.29322807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:71.89, Z:12.93 [[ 3.64951272e-01 -9.30310115e-01 -3.65192978e-02 9.82104439e+01] [ 9.25454244e-01 3.66772914e-01 -9.49319373e-02 7.18874524e+01] [ 1.01710431e-01 8.48592212e-04 9.94813685e-01 1.29342510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:71.91, Z:12.94 [[ 3.65336447e-01 -9.30159814e-01 -3.64965955e-02 9.82198780e+01] [ 9.25302322e-01 3.67153760e-01 -9.49406645e-02 7.19137795e+01] [ 1.01709853e-01 9.14900451e-04 9.94813685e-01 1.29378160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:71.94, Z:12.94 [[ 3.65477564e-01 -9.30105414e-01 -3.64701149e-02 9.82288811e+01] [ 9.25246637e-01 3.67291438e-01 -9.49508356e-02 7.19392656e+01] [ 1.01709447e-01 9.58548867e-04 9.94813686e-01 1.29406540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:71.96, Z:12.94 [[ 3.65501241e-01 -9.30097275e-01 -3.64403847e-02 9.82378008e+01] [ 9.25237320e-01 3.67311957e-01 -9.49622442e-02 7.19648619e+01] [ 1.01709114e-01 9.92814290e-04 9.94813686e-01 1.29435629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:71.99, Z:12.95 [[ 3.65245776e-01 -9.30198785e-01 -3.64107683e-02 9.82479027e+01] [ 9.25338202e-01 3.67054802e-01 -9.49735985e-02 7.19914980e+01] [ 1.01709073e-01 9.96430817e-04 9.94813687e-01 1.29464580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:72.02, Z:12.95 [[ 3.65286516e-01 -9.30183813e-01 -3.63845438e-02 9.82565505e+01] [ 9.25322156e-01 3.67092653e-01 -9.49836441e-02 7.20183948e+01] [ 1.01708747e-01 1.02882001e-03 9.94813687e-01 1.29495695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:72.04, Z:12.95 [[ 3.65544360e-01 -9.30083546e-01 -3.63581909e-02 9.82651337e+01] [ 9.25220391e-01 3.67346457e-01 -9.49937305e-02 7.20435952e+01] [ 1.01708158e-01 1.08508284e-03 9.94813688e-01 1.29520221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:72.07, Z:12.96 [[ 3.65867239e-01 -9.29957800e-01 -3.63270323e-02 9.82739821e+01] [ 9.25092843e-01 3.67664465e-01 -9.50056446e-02 7.20694695e+01] [ 1.01707399e-01 1.15357528e-03 9.94813688e-01 1.29552618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:72.10, Z:12.96 [[ 3.66884461e-01 -9.29558097e-01 -3.62978856e-02 9.82818012e+01] [ 9.24690082e-01 3.68673385e-01 -9.50167792e-02 7.20955154e+01] [ 1.01705681e-01 1.29588494e-03 9.94813689e-01 1.29587465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:72.12, Z:12.96 [[ 3.66879322e-01 -9.29561264e-01 -3.62687207e-02 9.82906558e+01] [ 9.24692164e-01 3.68665292e-01 -9.50279104e-02 7.21210621e+01] [ 1.01705283e-01 1.32637349e-03 9.94813689e-01 1.29614996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:72.15, Z:12.96 [[ 3.66913749e-01 -9.29548815e-01 -3.62394915e-02 9.82996556e+01] [ 9.24678556e-01 3.68696551e-01 -9.50390559e-02 7.21468728e+01] [ 1.01704817e-01 1.36125561e-03 9.94813690e-01 1.29635221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:72.17, Z:12.97 [[ 3.66577243e-01 -9.29682363e-01 -3.62191907e-02 9.83073668e+01] [ 9.24811989e-01 3.68359733e-01 -9.50467919e-02 7.21719472e+01] [ 1.01705017e-01 1.34604916e-03 9.94813690e-01 1.29660200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:72.20, Z:12.97 [[ 3.66384505e-01 -9.29759218e-01 -3.61965491e-02 9.83163180e+01] [ 9.24888368e-01 3.68165691e-01 -9.50554137e-02 7.21977908e+01] [ 1.01704975e-01 1.34906349e-03 9.94813690e-01 1.29683222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:72.22, Z:12.97 [[ 3.66293626e-01 -9.29796142e-01 -3.61678413e-02 9.83251883e+01] [ 9.24924394e-01 3.68072354e-01 -9.50663356e-02 7.22230495e+01] [ 1.01704695e-01 1.36967408e-03 9.94813691e-01 1.29705838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:72.25, Z:12.97 [[ 3.66465851e-01 -9.29729388e-01 -3.61392397e-02 9.83339838e+01] [ 9.24856245e-01 3.68240752e-01 -9.50772072e-02 7.22489308e+01] [ 1.01704015e-01 1.41894820e-03 9.94813691e-01 1.29724284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.34, Y:72.27, Z:12.97 [[ 3.66799310e-01 -9.29599015e-01 -3.61100711e-02 9.83409921e+01] [ 9.24724152e-01 3.68569480e-01 -9.50882842e-02 7.22741355e+01] [ 1.01703045e-01 1.48646214e-03 9.94813692e-01 1.29722735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:72.30, Z:12.97 [[ 3.66618298e-01 -9.29671604e-01 -3.60795228e-02 9.83500723e+01] [ 9.24795952e-01 3.68386293e-01 -9.50998738e-02 7.23001875e+01] [ 1.01702854e-01 1.49915725e-03 9.94813692e-01 1.29747628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:72.33, Z:12.98 [[ 3.65148534e-01 -9.30250945e-01 -3.60517368e-02 9.83588913e+01] [ 9.25377060e-01 3.66921392e-01 -9.51104062e-02 7.23263408e+01] [ 1.01704699e-01 1.36797512e-03 9.94813693e-01 1.29809580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:72.35, Z:12.98 [[ 3.64188618e-01 -9.30628204e-01 -3.60249475e-02 9.83675582e+01] [ 9.25755152e-01 3.65963767e-01 -9.51205521e-02 7.23515786e+01] [ 1.01705694e-01 1.29154164e-03 9.94813693e-01 1.29844001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:72.38, Z:12.99 [[ 3.63209266e-01 -9.31011956e-01 -3.59967749e-02 9.83766677e+01] [ 9.26139724e-01 3.64986662e-01 -9.51312124e-02 7.23776826e+01] [ 1.01706639e-01 1.21449463e-03 9.94813693e-01 1.29881685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.466875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.39, Y:72.40, Z:12.99 [[ 3.62167607e-01 -9.31418701e-01 -3.59698223e-02 9.83858256e+01] [ 9.26547454e-01 3.63947700e-01 -9.51414024e-02 7.24033025e+01] [ 1.01707615e-01 1.12938678e-03 9.94813694e-01 1.29910184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:72.43, Z:12.99 [[ 3.60187870e-01 -9.32187166e-01 -3.59414106e-02 9.83956294e+01] [ 9.27318648e-01 3.61975409e-01 -9.51521342e-02 7.24296805e+01] [ 1.01709505e-01 9.43504303e-04 9.94813694e-01 1.29938591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:72.46, Z:13.00 [[ 3.59423670e-01 -9.32483105e-01 -3.59149506e-02 9.84055095e+01] [ 9.27615061e-01 3.61212498e-01 -9.51621205e-02 7.24558456e+01] [ 1.01709999e-01 8.88269474e-04 9.94813695e-01 1.29965470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:72.48, Z:13.00 [[ 3.58911276e-01 -9.32681453e-01 -3.58887708e-02 9.84151575e+01] [ 9.27813410e-01 3.60700108e-01 -9.51719928e-02 7.24815771e+01] [ 1.01710236e-01 8.60218522e-04 9.94813695e-01 1.29990670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:72.51, Z:13.00 [[ 3.58802183e-01 -9.32724491e-01 -3.58610737e-02 9.84249318e+01] [ 9.27855620e-01 3.60588759e-01 -9.51824280e-02 7.25068157e+01] [ 1.01710082e-01 8.77764226e-04 9.94813696e-01 1.30025586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:72.53, Z:13.00 [[ 3.59270842e-01 -9.32545182e-01 -3.58321875e-02 9.84339488e+01] [ 9.27674335e-01 3.61052023e-01 -9.51933013e-02 7.25319867e+01] [ 1.01709338e-01 9.59576799e-04 9.94813696e-01 1.30048550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:72.56, Z:13.01 [[ 3.59728779e-01 -9.32369740e-01 -3.58032458e-02 9.84433740e+01] [ 9.27496942e-01 3.61504613e-01 -9.52041854e-02 7.25585448e+01] [ 1.01708540e-01 1.04028443e-03 9.94813696e-01 1.30069223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:72.58, Z:13.01 [[ 3.61102303e-01 -9.31839656e-01 -3.57768287e-02 9.84531248e+01] [ 9.26963269e-01 3.62868255e-01 -9.52141117e-02 7.25843691e+01] [ 1.01706561e-01 1.21822893e-03 9.94813697e-01 1.30066654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:72.61, Z:13.01 [[ 3.61154951e-01 -9.31820286e-01 -3.57499028e-02 9.84626673e+01] [ 9.26942804e-01 3.62917877e-01 -9.52242205e-02 7.26098505e+01] [ 1.01706139e-01 1.25258354e-03 9.94813697e-01 1.30092892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:72.63, Z:13.01 [[ 3.61348470e-01 -9.31746376e-01 -3.57207875e-02 9.84724193e+01] [ 9.26867455e-01 3.63107407e-01 -9.52351411e-02 7.26348070e+01] [ 1.01705480e-01 1.30463714e-03 9.94813698e-01 1.30109372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:72.66, Z:13.01 [[ 3.60590753e-01 -9.32040986e-01 -3.56918628e-02 9.84822289e+01] [ 9.27162430e-01 3.62350702e-01 -9.52459802e-02 7.26598031e+01] [ 1.01706129e-01 1.25266543e-03 9.94813698e-01 1.30145163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:72.68, Z:13.02 [[ 3.59364977e-01 -9.32515405e-01 -3.56627784e-02 9.84920964e+01] [ 9.27638093e-01 3.61128368e-01 -9.52568690e-02 7.26849532e+01] [ 1.01707339e-01 1.14983083e-03 9.94813699e-01 1.30180233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:72.71, Z:13.02 [[ 3.57830089e-01 -9.33106560e-01 -3.56338993e-02 9.85022895e+01] [ 9.28231087e-01 3.59598555e-01 -9.52676710e-02 7.27103855e+01] [ 1.01708787e-01 1.01314606e-03 9.94813699e-01 1.30225970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.856875 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:98.51, Y:72.74, Z:13.03 [[ 3.53909157e-01 -9.34601825e-01 -3.56053021e-02 9.85131176e+01] [ 9.29732750e-01 3.55695163e-01 -9.52783578e-02 7.27356335e+01] [ 1.01711961e-01 6.16467832e-04 9.94813700e-01 1.30282015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:72.76, Z:13.03 [[ 3.51244045e-01 -9.35607682e-01 -3.55792943e-02 9.85234404e+01] [ 9.30742738e-01 3.53041272e-01 -9.52880688e-02 7.27605785e+01] [ 1.01713208e-01 3.54196885e-04 9.94813700e-01 1.30325213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:72.79, Z:13.04 [[ 3.47875235e-01 -9.36866587e-01 -3.55502345e-02 9.85332982e+01] [ 9.32007039e-01 3.49687000e-01 -9.52989093e-02 7.27853954e+01] [ 1.01713819e-01 1.90617131e-05 9.94813701e-01 1.30357830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:72.81, Z:13.04 [[ 3.41243772e-01 -9.39303433e-01 -3.55211111e-02 9.85442182e+01] [ 9.34455690e-01 3.43086889e-01 -9.53097633e-02 7.28105608e+01] [ 1.01711615e-01 -6.69041282e-04 9.94813701e-01 1.30395670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:72.84, Z:13.04 [[ 3.37878449e-01 -9.40520255e-01 -3.54937168e-02 9.85541630e+01] [ 9.35678076e-01 3.39736136e-01 -9.53199641e-02 7.28354802e+01] [ 1.01708855e-01 -1.00413101e-03 9.94813701e-01 1.30427713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:72.86, Z:13.05 [[ 3.34933444e-01 -9.41574134e-01 -3.54646024e-02 9.85633742e+01] [ 9.36736653e-01 3.36803328e-01 -9.53307951e-02 7.28595799e+01] [ 1.01705607e-01 -1.29152140e-03 9.94813702e-01 1.30452857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:72.89, Z:13.05 [[ 3.30605501e-01 -9.43103612e-01 -3.54341718e-02 9.85729913e+01] [ 9.38273567e-01 3.32494507e-01 -9.53421048e-02 7.28857873e+01] [ 1.01699151e-01 -1.72632244e-03 9.94813702e-01 1.30471934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:72.91, Z:13.05 [[ 3.29406863e-01 -9.43523918e-01 -3.54081194e-02 9.85822185e+01] [ 9.38695245e-01 3.31299374e-01 -9.53517792e-02 7.29104623e+01] [ 1.01697372e-01 -1.82790283e-03 9.94813703e-01 1.30491959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:72.94, Z:13.05 [[ 3.28556262e-01 -9.43821301e-01 -3.53855221e-02 9.85906799e+01] [ 9.38993440e-01 3.30450843e-01 -9.53601645e-02 7.29365852e+01] [ 1.01696130e-01 -1.89559393e-03 9.94813703e-01 1.30523960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:72.96, Z:13.05 [[ 3.29087852e-01 -9.43637165e-01 -3.53565522e-02 9.85990593e+01] [ 9.38807093e-01 3.30976786e-01 -9.53709044e-02 7.29623853e+01] [ 1.01697728e-01 -1.80757590e-03 9.94813704e-01 1.30544977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:72.99, Z:13.06 [[ 3.30088633e-01 -9.43288635e-01 -3.53276902e-02 9.86072409e+01] [ 9.38455426e-01 3.31969525e-01 -9.53815945e-02 7.29880665e+01] [ 1.01700091e-01 -1.66908234e-03 9.94813704e-01 1.30563490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:73.01, Z:13.06 [[ 3.30955043e-01 -9.42986083e-01 -3.52988249e-02 9.86153344e+01] [ 9.38150017e-01 3.32828575e-01 -9.53922758e-02 7.30136914e+01] [ 1.01702046e-01 -1.54503842e-03 9.94813705e-01 1.30576043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:73.04, Z:13.06 [[ 3.32519457e-01 -9.42436652e-01 -3.52699267e-02 9.86229435e+01] [ 9.37596357e-01 3.34382037e-01 -9.54029594e-02 7.30386884e+01] [ 1.01704876e-01 -1.34561448e-03 9.94813705e-01 1.30592197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:73.06, Z:13.06 [[ 3.32856822e-01 -9.42318688e-01 -3.52395585e-02 9.86314106e+01] [ 9.37476547e-01 3.34714594e-01 -9.54141754e-02 7.30649263e+01] [ 1.01705755e-01 -1.27700043e-03 9.94813706e-01 1.30628993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:73.09, Z:13.07 [[ 3.33227105e-01 -9.42188781e-01 -3.52135872e-02 9.86399659e+01] [ 9.37344904e-01 3.35080345e-01 -9.54237594e-02 7.30916174e+01] [ 1.01706577e-01 -1.20949333e-03 9.94813706e-01 1.30663642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:73.12, Z:13.07 [[ 3.34881545e-01 -9.41602992e-01 -3.51874380e-02 9.86474268e+01] [ 9.36754860e-01 3.36723624e-01 -9.54334010e-02 7.31180170e+01] [ 1.01708818e-01 -1.00311872e-03 9.94813706e-01 1.30696797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:73.14, Z:13.07 [[ 3.36133471e-01 -9.41157838e-01 -3.51598239e-02 9.86558214e+01] [ 9.36306202e-01 3.37966300e-01 -9.54435736e-02 7.31442278e+01] [ 1.01710303e-01 -8.38581560e-04 9.94813707e-01 1.30724863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:73.17, Z:13.07 [[ 3.37743333e-01 -9.40582296e-01 -3.51338233e-02 9.86639813e+01] [ 9.35726540e-01 3.39565220e-01 -9.54531438e-02 7.31706773e+01] [ 1.01711762e-01 -6.36987985e-04 9.94813707e-01 1.30744856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:73.20, Z:13.08 [[ 3.41694931e-01 -9.39154950e-01 -3.51077464e-02 9.86717130e+01] [ 9.34290597e-01 3.43493736e-01 -9.54627340e-02 7.31975690e+01] [ 1.01713590e-01 -1.81705020e-04 9.94813707e-01 1.30763987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:73.22, Z:13.08 [[ 3.43318132e-01 -9.38563766e-01 -3.50815744e-02 9.86806391e+01] [ 9.33695332e-01 3.45105863e-01 -9.54723510e-02 7.32243662e+01] [ 1.01713746e-01 2.18869144e-05 9.94813708e-01 1.30786971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:73.25, Z:13.08 [[ 3.45451174e-01 -9.37781741e-01 -3.50555478e-02 9.86898389e+01] [ 9.32908291e-01 3.47225181e-01 -9.54819065e-02 7.32508961e+01] [ 1.01713358e-01 2.80725526e-04 9.94813708e-01 1.30819734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:73.28, Z:13.09 [[ 3.47280225e-01 -9.37106921e-01 -3.50294849e-02 9.86985801e+01] [ 9.32229058e-01 3.49042064e-01 -9.54914673e-02 7.32776092e+01] [ 1.01712479e-01 5.06794499e-04 9.94813709e-01 1.30851377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:73.30, Z:13.09 [[ 3.51504899e-01 -9.35531445e-01 -3.50031584e-02 9.87070367e+01] [ 9.30644728e-01 3.53242024e-01 -9.55011166e-02 7.33038604e+01] [ 1.01708884e-01 9.93605550e-04 9.94813709e-01 1.30890154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:73.33, Z:13.09 [[ 3.53375094e-01 -9.34827617e-01 -3.49767126e-02 9.87161549e+01] [ 9.29936482e-01 3.55099742e-01 -9.55108013e-02 7.33295898e+01] [ 1.01706356e-01 1.22501725e-03 9.94813709e-01 1.30925611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:73.36, Z:13.10 [[ 3.54931209e-01 -9.34238954e-01 -3.49487280e-02 9.87251806e+01] [ 9.29343953e-01 3.56644850e-01 -9.55210402e-02 7.33555163e+01] [ 1.01703761e-01 1.42400924e-03 9.94813710e-01 1.30962916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:73.38, Z:13.10 [[ 3.55388001e-01 -9.34066379e-01 -3.49194613e-02 9.87333939e+01] [ 9.29169496e-01 3.57096255e-01 -9.55317380e-02 7.33821084e+01] [ 1.01702593e-01 1.50473515e-03 9.94813710e-01 1.30996138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:73.41, Z:13.10 [[ 3.55223798e-01 -9.34129833e-01 -3.48928160e-02 9.87422982e+01] [ 9.29232300e-01 3.56930189e-01 -9.55414692e-02 7.34074023e+01] [ 1.01702436e-01 1.51507183e-03 9.94813711e-01 1.31032349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:73.43, Z:13.11 [[ 3.54923089e-01 -9.34244854e-01 -3.48733951e-02 9.87511603e+01] [ 9.29347179e-01 3.56629071e-01 -9.55485575e-02 7.34330721e+01] [ 1.01702615e-01 1.50289786e-03 9.94813711e-01 1.31077344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:73.46, Z:13.11 [[ 3.55805014e-01 -9.33910427e-01 -3.48440365e-02 9.87595165e+01] [ 9.29010102e-01 3.57503368e-01 -9.55592626e-02 7.34587990e+01] [ 1.01700652e-01 1.63000289e-03 9.94813711e-01 1.31129999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:73.48, Z:13.12 [[ 3.56469744e-01 -9.33658003e-01 -3.48145675e-02 9.87684330e+01] [ 9.28755430e-01 3.58161594e-01 -9.55699978e-02 7.34849552e+01] [ 1.01698934e-01 1.73359407e-03 9.94813712e-01 1.31158587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:73.51, Z:13.12 [[ 3.58507836e-01 -9.32878285e-01 -3.47884525e-02 9.87764956e+01] [ 9.27971114e-01 3.60186300e-01 -9.55795030e-02 7.35114080e+01] [ 1.01694367e-01 1.98332176e-03 9.94813712e-01 1.31174873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:73.54, Z:13.12 [[ 3.59570273e-01 -9.32470391e-01 -3.47590080e-02 9.87849751e+01] [ 9.27560284e-01 3.61240130e-01 -9.55902098e-02 7.35377339e+01] [ 1.01691389e-01 2.13032248e-03 9.94813713e-01 1.31189564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:73.56, Z:13.12 [[ 3.59512514e-01 -9.32493657e-01 -3.47322981e-02 9.87923474e+01] [ 9.27582723e-01 3.61179939e-01 -9.55999138e-02 7.35642061e+01] [ 1.01690922e-01 2.15228575e-03 9.94813713e-01 1.31159891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:73.59, Z:13.12 [[ 3.60292409e-01 -9.32195285e-01 -3.46602323e-02 9.88010679e+01] [ 9.27280462e-01 3.61948337e-01 -9.56260782e-02 7.35908129e+01] [ 1.01687393e-01 2.31359389e-03 9.94813712e-01 1.31181721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:73.62, Z:13.12 [[ 3.60052977e-01 -9.32289527e-01 -3.46134574e-02 9.88106990e+01] [ 9.27373512e-01 3.61705372e-01 -9.56430468e-02 7.36176064e+01] [ 1.01686884e-01 2.33696020e-03 9.94813709e-01 1.31210573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.82, Y:73.65, Z:13.13 [[ 3.62828226e-01 -9.31213896e-01 -3.45884077e-02 9.88204906e+01] [ 9.26292125e-01 3.64463401e-01 -9.56521259e-02 7.36450364e+01] [ 1.01678798e-01 2.66632155e-03 9.94813708e-01 1.31250137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:73.67, Z:13.13 [[ 3.64975843e-01 -9.30365460e-01 -3.48244848e-02 9.88302421e+01] [ 9.25447971e-01 3.66623896e-01 -9.55665826e-02 7.36695555e+01] [ 1.01679336e-01 2.65124521e-03 9.94813693e-01 1.31250830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:73.69, Z:13.12 [[ 3.63784273e-01 -9.30839865e-01 -3.46142729e-02 9.88367851e+01] [ 9.25917308e-01 3.65417049e-01 -9.56426636e-02 7.36948386e+01] [ 1.01676650e-01 2.74334250e-03 9.94813718e-01 1.31245811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:73.72, Z:13.13 [[ 3.64770360e-01 -9.30465660e-01 -3.42963498e-02 9.88470805e+01] [ 9.25530635e-01 3.66365250e-01 -9.57577507e-02 7.37214591e+01] [ 1.01664289e-01 3.18726683e-03 9.94813658e-01 1.31301524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:73.75, Z:13.13 [[ 3.67122241e-01 -9.29536745e-01 -3.43904092e-02 9.88588424e+01] [ 9.24600842e-01 3.68714323e-01 -9.57237216e-02 7.37469377e+01] [ 1.01658953e-01 3.34490593e-03 9.94813686e-01 1.31318614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:73.77, Z:13.14 [[ 3.66910286e-01 -9.29612821e-01 -3.45954381e-02 9.88688997e+01] [ 9.24684162e-01 3.68524574e-01 -9.56495674e-02 7.37734462e+01] [ 1.01666333e-01 3.10495642e-03 9.94813709e-01 1.31355173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:73.80, Z:13.14 [[ 3.66869402e-01 -9.29629927e-01 -3.45693629e-02 9.88797049e+01] [ 9.24700461e-01 3.68481226e-01 -9.56589905e-02 7.37991949e+01] [ 1.01665622e-01 3.12805084e-03 9.94813710e-01 1.31408578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:73.83, Z:13.15 [[ 3.66717086e-01 -9.29690992e-01 -3.45432789e-02 9.88894873e+01] [ 9.24760915e-01 3.68327037e-01 -9.56684088e-02 7.38251606e+01] [ 1.01665281e-01 3.13896586e-03 9.94813710e-01 1.31456550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:73.85, Z:13.15 [[ 3.67670676e-01 -9.29315274e-01 -3.45165826e-02 9.88991415e+01] [ 9.24382656e-01 3.69272824e-01 -9.56780397e-02 7.38515106e+01] [ 1.01661100e-01 3.27147932e-03 9.94813710e-01 1.31518677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:73.88, Z:13.16 [[ 3.67953759e-01 -9.29204218e-01 -3.44898965e-02 9.89090347e+01] [ 9.24270222e-01 3.69551659e-01 -9.56876586e-02 7.38775684e+01] [ 1.01659174e-01 3.33064933e-03 9.94813711e-01 1.31566414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:73.90, Z:13.16 [[ 3.67948858e-01 -9.29207153e-01 -3.44630948e-02 9.89184079e+01] [ 9.24272274e-01 3.69544027e-01 -9.56973106e-02 7.39034039e+01] [ 1.01658256e-01 3.35843314e-03 9.94813711e-01 1.31608067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:73.93, Z:13.16 [[ 3.67881145e-01 -9.29234951e-01 -3.44364322e-02 9.89277464e+01] [ 9.24299304e-01 3.69473932e-01 -9.57069041e-02 7.39299918e+01] [ 1.01657564e-01 3.37919519e-03 9.94813712e-01 1.31635292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:73.96, Z:13.16 [[ 3.67841629e-01 -9.29251588e-01 -3.44096316e-02 9.89370839e+01] [ 9.24315119e-01 3.69431868e-01 -9.57165389e-02 7.39568653e+01] [ 1.01656760e-01 3.40318483e-03 9.94813712e-01 1.31648199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:73.98, Z:13.17 [[ 3.67854140e-01 -9.29247622e-01 -3.43829573e-02 9.89467864e+01] [ 9.24310250e-01 3.69441569e-01 -9.57261198e-02 7.39829981e+01] [ 1.01655763e-01 3.43272970e-03 9.94813712e-01 1.31666813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:74.01, Z:13.17 [[ 3.67501230e-01 -9.29388234e-01 -3.43563253e-02 9.89566012e+01] [ 9.24450583e-01 3.69087794e-01 -9.57356772e-02 7.40090956e+01] [ 1.01656112e-01 3.42225421e-03 9.94813713e-01 1.31684239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:74.03, Z:13.17 [[ 3.65830781e-01 -9.30048045e-01 -3.43289136e-02 9.89668745e+01] [ 9.25112343e-01 3.67423395e-01 -9.57455055e-02 7.40345498e+01] [ 1.01661166e-01 3.26855135e-03 9.94813713e-01 1.31675616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:74.06, Z:13.17 [[ 3.64249503e-01 -9.30669172e-01 -3.43102373e-02 9.89769912e+01] [ 9.25735561e-01 3.65848585e-01 -9.57521977e-02 7.40609724e+01] [ 1.01665970e-01 3.11548369e-03 9.94813713e-01 1.31707827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:74.09, Z:13.17 [[ 3.62226564e-01 -9.31459399e-01 -3.42827085e-02 9.89868413e+01] [ 9.26528353e-01 3.63833533e-01 -9.57620530e-02 7.40862715e+01] [ 1.01671663e-01 2.92365789e-03 9.94813714e-01 1.31723146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:74.11, Z:13.18 [[ 3.59761904e-01 -9.32415178e-01 -3.42535821e-02 9.89969947e+01] [ 9.27487418e-01 3.61378919e-01 -9.57724703e-02 7.41122658e+01] [ 1.01678227e-01 2.68551988e-03 9.94813714e-01 1.31757769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:74.14, Z:13.18 [[ 3.53444191e-01 -9.34829255e-01 -3.42267274e-02 9.90078993e+01] [ 9.29911627e-01 3.55091764e-01 -9.57820666e-02 7.41370795e+01] [ 1.01693507e-01 2.02578324e-03 9.94813715e-01 1.31803380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:74.16, Z:13.18 [[ 3.46611031e-01 -9.37385330e-01 -3.41984783e-02 9.90122501e+01] [ 9.32478871e-01 3.48291571e-01 -9.57921517e-02 7.41612118e+01] [ 1.01705200e-01 1.31325800e-03 9.94813715e-01 1.31796046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:74.19, Z:13.19 [[ 3.46717128e-01 -9.37381555e-01 -3.32122451e-02 9.90279401e+01] [ 9.32440979e-01 3.48296168e-01 -9.61436385e-02 7.41880492e+01] [ 1.01690971e-01 2.36618783e-03 9.94813222e-01 1.31893148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:74.21, Z:13.19 [[ 3.39940353e-01 -9.39826062e-01 -3.41691291e-02 9.90390659e+01] [ 9.34930645e-01 3.41652728e-01 -9.58024095e-02 7.42137796e+01] [ 1.01711577e-01 6.21338941e-04 9.94813736e-01 1.31946692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:74.24, Z:13.20 [[ 3.36717174e-01 -9.40986628e-01 -3.41425078e-02 9.90483303e+01] [ 9.36096151e-01 3.38443608e-01 -9.58118960e-02 7.42391027e+01] [ 1.01713026e-01 3.00840777e-04 9.94813736e-01 1.31976218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:74.27, Z:13.20 [[ 3.34047572e-01 -9.41938650e-01 -3.41145014e-02 9.90576859e+01] [ 9.37052075e-01 3.35785017e-01 -9.58218669e-02 7.42650819e+01] [ 1.01713458e-01 4.19976352e-05 9.94813737e-01 1.31998175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:74.29, Z:13.20 [[ 3.31337888e-01 -9.42896180e-01 -3.40880995e-02 9.90660985e+01] [ 9.38013659e-01 3.33086693e-01 -9.58312584e-02 7.42920613e+01] [ 1.01713220e-01 -2.22576155e-04 9.94813737e-01 1.32032002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:74.32, Z:13.21 [[ 3.30606361e-01 -9.43153875e-01 -3.40617547e-02 9.90750000e+01] [ 9.38271752e-01 3.32356276e-01 -9.58406214e-02 7.43183826e+01] [ 1.01713091e-01 -2.73663218e-04 9.94813737e-01 1.32058759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:74.34, Z:13.21 [[ 3.29603190e-01 -9.43505873e-01 -3.40353539e-02 9.90835382e+01] [ 9.38624651e-01 3.31355614e-01 -9.58499961e-02 7.43435883e+01] [ 1.01712840e-01 -3.53957729e-04 9.94813738e-01 1.32074284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:74.37, Z:13.21 [[ 3.28567030e-01 -9.43867900e-01 -3.40160723e-02 9.90918113e+01] [ 9.38987901e-01 3.30322854e-01 -9.58568384e-02 7.43695033e+01] [ 1.01712479e-01 -4.45283565e-04 9.94813738e-01 1.32071290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:74.40, Z:13.21 [[ 3.28553426e-01 -9.43873571e-01 -3.39901077e-02 9.91009481e+01] [ 9.38992650e-01 3.30306684e-01 -9.58660444e-02 7.43956746e+01] [ 1.01712585e-01 -4.19343979e-04 9.94813738e-01 1.32099676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:74.42, Z:13.21 [[ 3.28937937e-01 -9.43740579e-01 -3.39640015e-02 9.91096434e+01] [ 9.38857993e-01 3.30686554e-01 -9.58752926e-02 7.44205178e+01] [ 1.01712843e-01 -3.50353357e-04 9.94813739e-01 1.32126551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:74.45, Z:13.22 [[ 3.30100046e-01 -9.43335545e-01 -3.39412510e-02 9.91190633e+01] [ 9.38449986e-01 3.31840336e-01 -9.58833460e-02 7.44472773e+01] [ 1.01713245e-01 -2.01069587e-04 9.94813739e-01 1.32163126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:74.47, Z:13.22 [[ 3.34332441e-01 -9.41844774e-01 -3.39151920e-02 9.91269794e+01] [ 9.36950519e-01 3.36048123e-01 -9.58925626e-02 7.44731500e+01] [ 1.01713046e-01 2.83137786e-04 9.94813739e-01 1.32185131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:74.50, Z:13.22 [[ 3.36590676e-01 -9.41041155e-01 -3.38860004e-02 9.91354754e+01] [ 9.36141765e-01 3.38291639e-01 -9.59028771e-02 7.44995317e+01] [ 1.01711905e-01 5.57914071e-04 9.94813740e-01 1.32218316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:74.53, Z:13.23 [[ 3.41464701e-01 -9.39284508e-01 -3.38595888e-02 9.91443187e+01] [ 9.34375446e-01 3.43137545e-01 -9.59122011e-02 7.45259328e+01] [ 1.01707341e-01 1.11306273e-03 9.94813740e-01 1.32265893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:74.55, Z:13.23 [[ 3.43606926e-01 -9.38503919e-01 -3.38330485e-02 9.91531604e+01] [ 9.33590137e-01 3.45265853e-01 -9.59215624e-02 7.45526787e+01] [ 1.01704158e-01 1.37311284e-03 9.94813741e-01 1.32301293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:74.58, Z:13.23 [[ 3.46002454e-01 -9.37624344e-01 -3.38066662e-02 9.91615517e+01] [ 9.32705441e-01 3.47646129e-01 -9.59308597e-02 7.45780731e+01] [ 1.01699866e-01 1.66065136e-03 9.94813741e-01 1.32326049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:74.60, Z:13.24 [[ 3.48167765e-01 -9.36823409e-01 -3.37802941e-02 9.91702628e+01] [ 9.31899827e-01 3.49797371e-01 -9.59401453e-02 7.46040272e+01] [ 1.01695232e-01 1.92341569e-03 9.94813741e-01 1.32358014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:74.63, Z:13.24 [[ 3.52021733e-01 -9.35383122e-01 -3.37507770e-02 9.91784632e+01] [ 9.30451886e-01 3.53628030e-01 -9.59505280e-02 7.46293342e+01] [ 1.01685725e-01 2.37319699e-03 9.94813742e-01 1.32401576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:74.66, Z:13.24 [[ 3.53364203e-01 -9.34877859e-01 -3.37213333e-02 9.91869686e+01] [ 9.29943345e-01 3.54960399e-01 -9.59608748e-02 7.46553452e+01] [ 1.01681435e-01 2.55020862e-03 9.94813742e-01 1.32420314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:74.68, Z:13.24 [[ 3.54845709e-01 -9.34317543e-01 -3.36934938e-02 9.91954159e+01] [ 9.29379587e-01 3.56431223e-01 -9.59706488e-02 7.46814364e+01] [ 1.01676474e-01 2.74072751e-03 9.94813743e-01 1.32440911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:74.71, Z:13.25 [[ 3.56061882e-01 -9.33855822e-01 -3.36636419e-02 9.92043914e+01] [ 9.28914828e-01 3.57637901e-01 -9.59811189e-02 7.47076023e+01] [ 1.01671921e-01 2.90456173e-03 9.94813743e-01 1.32467474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:74.73, Z:13.25 [[ 3.57210470e-01 -9.33418061e-01 -3.36363321e-02 9.92130819e+01] [ 9.28474242e-01 3.58777604e-01 -9.59906886e-02 7.47334337e+01] [ 1.01667405e-01 3.05841112e-03 9.94813744e-01 1.32484689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:74.76, Z:13.25 [[ 3.58340292e-01 -9.32985943e-01 -3.36075278e-02 9.92222388e+01] [ 9.28039297e-01 3.59898478e-01 -9.60007723e-02 7.47602982e+01] [ 1.01662669e-01 3.21183828e-03 9.94813744e-01 1.32516388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:74.79, Z:13.25 [[ 3.59838654e-01 -9.32410029e-01 -3.35809506e-02 9.92306796e+01] [ 9.27460032e-01 3.61386159e-01 -9.60100681e-02 7.47867762e+01] [ 1.01656441e-01 3.40314423e-03 9.94813745e-01 1.32524914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:74.81, Z:13.25 [[ 3.60110450e-01 -9.32306053e-01 -3.35542461e-02 9.92395515e+01] [ 9.27354748e-01 3.61653765e-01 -9.60194001e-02 7.48133118e+01] [ 1.01654487e-01 3.46089993e-03 9.94813745e-01 1.32547242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:74.84, Z:13.26 [[ 3.60617201e-01 -9.32111126e-01 -3.35273450e-02 9.92484661e+01] [ 9.27158123e-01 3.62155057e-01 -9.60287924e-02 7.48389221e+01] [ 1.01651603e-01 3.54448411e-03 9.94813745e-01 1.32575701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:74.87, Z:13.26 [[ 3.60409441e-01 -9.32192499e-01 -3.34989340e-02 9.92581624e+01] [ 9.27238933e-01 3.61945478e-01 -9.60387024e-02 7.48652405e+01] [ 1.01651346e-01 3.55173922e-03 9.94813746e-01 1.32608550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:74.89, Z:13.26 [[ 3.59883661e-01 -9.32396574e-01 -3.34720859e-02 9.92673483e+01] [ 9.27443017e-01 3.61419729e-01 -9.60480588e-02 7.48892722e+01] [ 1.01652353e-01 3.52267469e-03 9.94813746e-01 1.32638424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:74.91, Z:13.27 [[ 3.58955249e-01 -9.32755520e-01 -3.34405242e-02 9.92768215e+01] [ 9.27802487e-01 3.60493002e-01 -9.60590463e-02 7.49142779e+01] [ 1.01654681e-01 3.45469734e-03 9.94813747e-01 1.32670439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40687499999999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:99.29, Y:74.94, Z:13.27 [[ 3.57018237e-01 -9.33499708e-01 -3.34106916e-02 9.92870374e+01] [ 9.28548920e-01 3.58563201e-01 -9.60694214e-02 7.49397626e+01] [ 1.01660621e-01 3.27507377e-03 9.94813747e-01 1.32706616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:74.97, Z:13.27 [[ 3.55733655e-01 -9.33990946e-01 -3.33838349e-02 9.92965392e+01] [ 9.29041424e-01 3.57282669e-01 -9.60787532e-02 7.49655303e+01] [ 1.01664151e-01 3.16348048e-03 9.94813748e-01 1.32739733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:74.99, Z:13.28 [[ 3.54791301e-01 -9.34350279e-01 -3.33569951e-02 9.93061857e+01] [ 9.29401458e-01 3.56342550e-01 -9.60880706e-02 7.49912736e+01] [ 1.01666432e-01 3.08917166e-03 9.94813748e-01 1.32777058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:75.01, Z:13.28 [[ 3.49948748e-01 -9.36175713e-01 -3.33302945e-02 9.93093715e+01] [ 9.31234117e-01 3.51522862e-01 -9.60973315e-02 7.50149671e+01] [ 1.01680348e-01 2.59083349e-03 9.94813749e-01 1.32755247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:75.04, Z:13.28 [[ 3.51270087e-01 -9.35722429e-01 -3.21381782e-02 9.93257387e+01] [ 9.30740666e-01 3.52714652e-01 -9.65100297e-02 7.50425103e+01] [ 1.01642206e-01 3.98877711e-03 9.94813023e-01 1.32845399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:75.07, Z:13.29 [[ 3.49980515e-01 -9.36164872e-01 -3.33012258e-02 9.93354939e+01] [ 9.31222304e-01 3.51551480e-01 -9.61071139e-02 7.50678751e+01] [ 1.01679199e-01 2.62477297e-03 9.94813777e-01 1.32895747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:75.09, Z:13.29 [[ 3.48478766e-01 -9.36725981e-01 -3.32714021e-02 9.93445565e+01] [ 9.31784963e-01 3.50054597e-01 -9.61174375e-02 7.50934163e+01] [ 1.01682508e-01 2.49309384e-03 9.94813778e-01 1.32919618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:75.12, Z:13.29 [[ 3.46619164e-01 -9.37416751e-01 -3.32413940e-02 9.93541505e+01] [ 9.32477884e-01 3.48201722e-01 -9.61278145e-02 7.51173965e+01] [ 1.01686534e-01 2.32287793e-03 9.94813778e-01 1.32936424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:75.14, Z:13.30 [[ 3.45687130e-01 -9.37761962e-01 -3.32100941e-02 9.93640521e+01] [ 9.32823641e-01 3.47271390e-01 -9.61386268e-02 7.51431966e+01] [ 1.01688063e-01 2.25472503e-03 9.94813779e-01 1.32967385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:75.17, Z:13.30 [[ 3.44779354e-01 -9.38097084e-01 -3.31822032e-02 9.93737845e+01] [ 9.33159380e-01 3.46365536e-01 -9.61482524e-02 7.51686293e+01] [ 1.01689567e-01 2.18564823e-03 9.94813779e-01 1.32990395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:75.19, Z:13.30 [[ 3.43953205e-01 -9.38401351e-01 -3.31526222e-02 9.93833164e+01] [ 9.33464072e-01 3.45540705e-01 -9.61584511e-02 7.51935852e+01] [ 1.01690801e-01 2.12722578e-03 9.94813780e-01 1.33018138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:75.22, Z:13.31 [[ 3.42553672e-01 -9.38914192e-01 -3.31228369e-02 9.93940340e+01] [ 9.33978301e-01 3.44145481e-01 -9.61687099e-02 7.52182250e+01] [ 1.01693241e-01 2.00693374e-03 9.94813780e-01 1.33050672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:75.24, Z:13.31 [[ 3.41489428e-01 -9.39302832e-01 -3.30931959e-02 9.94034023e+01] [ 9.34367768e-01 3.43083797e-01 -9.61789089e-02 7.52430975e+01] [ 1.01694861e-01 1.92286496e-03 9.94813781e-01 1.33073423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:75.27, Z:13.31 [[ 3.41206173e-01 -9.39406855e-01 -3.30621861e-02 9.94122605e+01] [ 9.34471247e-01 3.42798856e-01 -9.61895676e-02 7.52693091e+01] [ 1.01694819e-01 1.92481195e-03 9.94813781e-01 1.33101533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:75.29, Z:13.31 [[ 3.40393041e-01 -9.39702824e-01 -3.30330246e-02 9.94219192e+01] [ 9.34767631e-01 3.41987011e-01 -9.61995811e-02 7.52945292e+01] [ 1.01695883e-01 1.86746583e-03 9.94813782e-01 1.33128016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:75.32, Z:13.31 [[ 3.39837230e-01 -9.39905004e-01 -3.30036418e-02 9.94325462e+01] [ 9.34969784e-01 3.41431111e-01 -9.62096606e-02 7.53192140e+01] [ 1.01696412e-01 1.83821670e-03 9.94813782e-01 1.33145571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:75.34, Z:13.32 [[ 3.39853854e-01 -9.39900035e-01 -3.29739647e-02 9.94423726e+01] [ 9.34963807e-01 3.41444612e-01 -9.62198308e-02 7.53444645e+01] [ 1.01695805e-01 1.87121671e-03 9.94813782e-01 1.33170074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:75.37, Z:13.32 [[ 3.40330860e-01 -9.39728469e-01 -3.29440586e-02 9.94521684e+01] [ 9.34790451e-01 3.41916051e-01 -9.62300691e-02 7.53696833e+01] [ 1.01694238e-01 1.95427077e-03 9.94813783e-01 1.33194483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:75.39, Z:13.32 [[ 3.41637385e-01 -9.39255315e-01 -3.29142824e-02 9.94605470e+01] [ 9.34314126e-01 3.43212658e-01 -9.62402527e-02 7.53942264e+01] [ 1.01690767e-01 2.12698925e-03 9.94813783e-01 1.33204406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:75.42, Z:13.32 [[ 3.41828744e-01 -9.39186785e-01 -3.28830109e-02 9.94691744e+01] [ 9.34244256e-01 3.43399807e-01 -9.62509363e-02 7.54197109e+01] [ 1.01689627e-01 2.18057257e-03 9.94813784e-01 1.33223798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:75.44, Z:13.32 [[ 3.42130979e-01 -9.39077758e-01 -3.28535669e-02 9.94777279e+01] [ 9.34133768e-01 3.43697435e-01 -9.62609855e-02 7.54433159e+01] [ 1.01688237e-01 2.24423893e-03 9.94813785e-01 1.33232096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:75.47, Z:13.33 [[ 3.37525741e-01 -9.40766549e-01 -3.21663489e-02 9.94863196e+01] [ 9.35807933e-01 3.39046027e-01 -9.64950994e-02 7.54701438e+01] [ 1.01685235e-01 2.46805544e-03 9.94813561e-01 1.33272332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:75.49, Z:13.33 [[ 3.36025416e-01 -9.41281999e-01 -3.27889953e-02 9.94952416e+01] [ 9.36346142e-01 3.37617343e-01 -9.62830818e-02 7.54949969e+01] [ 1.01699665e-01 1.65171331e-03 9.94813777e-01 1.33317135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:75.52, Z:13.33 [[ 3.35816340e-01 -9.41357557e-01 -3.27617893e-02 9.95035748e+01] [ 9.36421158e-01 3.37406581e-01 -9.62923382e-02 7.55203385e+01] [ 1.01699564e-01 1.65770797e-03 9.94813777e-01 1.33349805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:75.55, Z:13.34 [[ 3.35319793e-01 -9.41535543e-01 -3.27331248e-02 9.95109594e+01] [ 9.36599038e-01 3.36909707e-01 -9.63020813e-02 7.55467573e+01] [ 1.01699940e-01 1.63418084e-03 9.94813777e-01 1.33383405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:75.57, Z:13.34 [[ 3.34986178e-01 -9.41655316e-01 -3.27036190e-02 9.95187586e+01] [ 9.36718404e-01 3.36574823e-01 -9.63121003e-02 7.55732094e+01] [ 1.01700016e-01 1.62914057e-03 9.94813778e-01 1.33417395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:75.60, Z:13.34 [[ 3.35016246e-01 -9.41645654e-01 -3.26738016e-02 9.95264004e+01] [ 9.36707711e-01 3.36601685e-01 -9.63222149e-02 7.55978992e+01] [ 1.01699452e-01 1.66370498e-03 9.94813778e-01 1.33439302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:75.62, Z:13.35 [[ 3.35247325e-01 -9.41564489e-01 -3.26426653e-02 9.95347219e+01] [ 9.36625138e-01 3.36828368e-01 -9.63327655e-02 7.56232809e+01] [ 1.01698487e-01 1.72136106e-03 9.94813779e-01 1.33476711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:75.65, Z:13.35 [[ 3.30249723e-01 -9.43330005e-01 -3.26132113e-02 9.95430636e+01] [ 9.38398129e-01 3.31853928e-01 -9.63427361e-02 7.56481038e+01] [ 1.01705816e-01 1.21298541e-03 9.94813779e-01 1.33524268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:75.67, Z:13.36 [[ 3.28137537e-01 -9.44067877e-01 -3.25822050e-02 9.95509663e+01] [ 9.39138568e-01 3.29749613e-01 -9.63532211e-02 7.56739606e+01] [ 1.01707950e-01 1.01790331e-03 9.94813780e-01 1.33560836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:75.70, Z:13.36 [[ 3.26823684e-01 -9.44524542e-01 -3.25525767e-02 9.95581551e+01] [ 9.39596488e-01 3.28439594e-01 -9.63632299e-02 7.56987537e+01] [ 1.01708991e-01 9.07499001e-04 9.94813780e-01 1.33574967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:75.73, Z:13.36 [[ 3.24957373e-01 -9.45169045e-01 -3.25297105e-02 9.95640630e+01] [ 9.40243425e-01 3.26580683e-01 -9.63709483e-02 7.57266343e+01] [ 1.01710412e-01 7.30603777e-04 9.94813781e-01 1.33576063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:75.75, Z:13.36 [[ 3.24186140e-01 -9.45434780e-01 -3.25026688e-02 9.95714353e+01] [ 9.40509576e-01 3.25810712e-01 -9.63800678e-02 7.57528127e+01] [ 1.01710786e-01 6.76010912e-04 9.94813781e-01 1.33573629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:75.78, Z:13.36 [[ 3.23048553e-01 -9.45825049e-01 -3.24747337e-02 9.95790333e+01] [ 9.40900862e-01 3.24676202e-01 -9.63894795e-02 7.57793183e+01] [ 1.01711357e-01 5.82976936e-04 9.94813782e-01 1.33592659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:75.81, Z:13.36 [[ 3.22187686e-01 -9.46119660e-01 -3.24450861e-02 9.95873146e+01] [ 9.41195956e-01 3.23816794e-01 -9.63994580e-02 7.58053678e+01] [ 1.01711686e-01 5.21534423e-04 9.94813782e-01 1.33619423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:75.83, Z:13.37 [[ 3.20567513e-01 -9.46670856e-01 -3.24154436e-02 9.95960392e+01] [ 9.41748945e-01 3.22202030e-01 -9.64094247e-02 7.58307904e+01] [ 1.01712314e-01 3.78519657e-04 9.94813783e-01 1.33667107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:75.86, Z:13.37 [[ 3.19878418e-01 -9.46904930e-01 -3.23859662e-02 9.96044958e+01] [ 9.41983213e-01 3.21513515e-01 -9.64193258e-02 7.58567019e+01] [ 1.01712461e-01 3.35424879e-04 9.94813783e-01 1.33705572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:75.88, Z:13.37 [[ 3.19265186e-01 -9.47112816e-01 -3.23582312e-02 9.96124905e+01] [ 9.42191219e-01 3.20900647e-01 -9.64286328e-02 7.58828541e+01] [ 1.01712571e-01 2.98664112e-04 9.94813783e-01 1.33747036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:75.91, Z:13.38 [[ 3.19591605e-01 -9.47003657e-01 -3.23307760e-02 9.96204874e+01] [ 9.42080571e-01 3.21222573e-01 -9.64378372e-02 7.59098765e+01] [ 1.01712360e-01 3.62527241e-04 9.94813784e-01 1.33798315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:75.93, Z:13.38 [[ 3.20383044e-01 -9.46737091e-01 -3.23045878e-02 9.96285331e+01] [ 9.41811763e-01 3.22007229e-01 -9.64466089e-02 7.59346333e+01] [ 1.01711893e-01 4.75017419e-04 9.94813784e-01 1.33830804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:75.96, Z:13.39 [[ 3.21914586e-01 -9.46218470e-01 -3.22739347e-02 9.96365821e+01] [ 9.41289497e-01 3.23527674e-01 -9.64568653e-02 7.59600705e+01] [ 1.01710779e-01 6.71756128e-04 9.94813785e-01 1.33860188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:75.99, Z:13.39 [[ 3.23828408e-01 -9.45566198e-01 -3.22448114e-02 9.96446707e+01] [ 9.40633007e-01 3.25428550e-01 -9.64666001e-02 7.59861692e+01] [ 1.01708938e-01 9.08091680e-04 9.94813785e-01 1.33889667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:76.01, Z:13.39 [[ 3.28854847e-01 -9.43830833e-01 -3.22156479e-02 9.96518723e+01] [ 9.38888251e-01 3.30425738e-01 -9.64763385e-02 7.60110743e+01] [ 1.01702222e-01 1.47981815e-03 9.94813786e-01 1.33896498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:76.04, Z:13.39 [[ 3.31015258e-01 -9.43076358e-01 -3.21851097e-02 9.96596891e+01] [ 9.38129209e-01 3.32571704e-01 -9.64865252e-02 7.60379300e+01] [ 1.01698018e-01 1.74472050e-03 9.94813786e-01 1.33921392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:76.06, Z:13.39 [[ 3.33460512e-01 -9.42215427e-01 -3.21586006e-02 9.96670586e+01] [ 9.37263412e-01 3.35001406e-01 -9.64953598e-02 7.60633117e+01] [ 1.01692593e-01 2.03631237e-03 9.94813787e-01 1.33935828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:76.09, Z:13.40 [[ 3.35538635e-01 -9.41478165e-01 -3.21354947e-02 9.96745403e+01] [ 9.36522032e-01 3.37066232e-01 -9.65030541e-02 7.60894476e+01] [ 1.01687308e-01 2.28490423e-03 9.94813787e-01 1.33956485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:76.12, Z:13.40 [[ 3.38689933e-01 -9.40350058e-01 -3.21075998e-02 9.96823944e+01] [ 9.35387967e-01 3.40198061e-01 -9.65123342e-02 7.61164853e+01] [ 1.01678322e-01 2.65469349e-03 9.94813787e-01 1.33984774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:76.14, Z:13.40 [[ 3.39513655e-01 -9.40053891e-01 -3.20805184e-02 9.96905420e+01] [ 9.35089640e-01 3.41014657e-01 -9.65213352e-02 7.61420264e+01] [ 1.01675184e-01 2.77215084e-03 9.94813788e-01 1.34005469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:76.17, Z:13.40 [[ 3.39197415e-01 -9.40168720e-01 -3.20607493e-02 9.96988372e+01] [ 9.35204361e-01 3.40698060e-01 -9.65279014e-02 7.61674057e+01] [ 1.01675549e-01 2.75866210e-03 9.94813788e-01 1.34004298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:76.19, Z:13.41 [[ 3.35071369e-01 -9.41648186e-01 -3.20292121e-02 9.97084516e+01] [ 9.36689465e-01 3.36590538e-01 -9.65383647e-02 7.61934838e+01] [ 1.01685906e-01 2.34581650e-03 9.94813788e-01 1.34059809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:76.22, Z:13.41 [[ 3.33077031e-01 -9.42356376e-01 -3.20023800e-02 9.97173746e+01] [ 9.37400035e-01 3.34603947e-01 -9.65472588e-02 7.62178786e+01] [ 1.01690048e-01 2.15864219e-03 9.94813789e-01 1.34097929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.936875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:99.73, Y:76.24, Z:13.41 [[ 3.30930701e-01 -9.43113317e-01 -3.19709680e-02 9.97261231e+01] [ 9.38159469e-01 3.32465682e-01 -9.65576596e-02 7.62430820e+01] [ 1.01694064e-01 1.96002762e-03 9.94813789e-01 1.34133431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.966875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.73, Y:76.27, Z:13.42 [[ 3.29477568e-01 -9.43622956e-01 -3.19413305e-02 9.97345995e+01] [ 9.38670535e-01 3.31017146e-01 -9.65674627e-02 7.62688480e+01] [ 1.01696403e-01 1.83442695e-03 9.94813790e-01 1.34160251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.996875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:99.74, Y:76.30, Z:13.42 [[ 3.27694560e-01 -9.44244627e-01 -3.19117516e-02 9.97435010e+01] [ 9.39294178e-01 3.29240466e-01 -9.65772365e-02 7.62958317e+01] [ 1.01699177e-01 1.67331246e-03 9.94813790e-01 1.34191927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.026875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:99.75, Y:76.32, Z:13.42 [[ 3.27329276e-01 -9.44372220e-01 -3.18850368e-02 9.97516169e+01] [ 9.39421516e-01 3.28874366e-01 -9.65860556e-02 7.63203487e+01] [ 1.01699359e-01 1.66195398e-03 9.94813791e-01 1.34215387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:76.35, Z:13.42 [[ 3.27306154e-01 -9.44381302e-01 -3.18533818e-02 9.97603502e+01] [ 9.39429628e-01 3.28848128e-01 -9.65964941e-02 7.63460356e+01] [ 1.01698848e-01 1.69261642e-03 9.94813791e-01 1.34248915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:76.37, Z:13.43 [[ 3.27710328e-01 -9.44242125e-01 -3.18237400e-02 9.97691047e+01] [ 9.39288850e-01 3.29247151e-01 -9.66062587e-02 7.63713498e+01] [ 1.01697575e-01 1.76718460e-03 9.94813792e-01 1.34286084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.116875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.78, Y:76.40, Z:13.43 [[ 3.29404502e-01 -9.43653440e-01 -3.17940106e-02 9.97778027e+01] [ 9.38696479e-01 3.30929391e-01 -9.66160420e-02 7.63961248e+01] [ 1.01693633e-01 1.98083346e-03 9.94813792e-01 1.34324061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.146875 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:99.79, Y:76.42, Z:13.44 [[ 3.30262803e-01 -9.43354433e-01 -3.17631152e-02 9.97854530e+01] [ 9.38395118e-01 3.31780018e-01 -9.66261980e-02 7.64208799e+01] [ 1.01691119e-01 2.10568668e-03 9.94813793e-01 1.34352150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:76.45, Z:13.44 [[ 3.33530092e-01 -9.42204975e-01 -3.17405643e-02 9.97929926e+01] [ 9.37239734e-01 3.35027800e-01 -9.66336052e-02 7.64455280e+01] [ 1.01682635e-01 2.48169707e-03 9.94813793e-01 1.34377737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:76.47, Z:13.44 [[ 3.35051017e-01 -9.41666228e-01 -3.17101072e-02 9.98007530e+01] [ 9.36697641e-01 3.36537583e-01 -9.66435986e-02 7.64717035e+01] [ 1.01677656e-01 2.67775338e-03 9.94813794e-01 1.34400330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:76.50, Z:13.44 [[ 3.36648362e-01 -9.41097315e-01 -3.16816107e-02 9.98082625e+01] [ 9.36125344e-01 3.38123571e-01 -9.66529395e-02 7.64975968e+01] [ 1.01672121e-01 2.88009509e-03 9.94813794e-01 1.34418510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:76.52, Z:13.44 [[ 3.38141189e-01 -9.40562945e-01 -3.16525394e-02 9.98148432e+01] [ 9.35587761e-01 3.39605522e-01 -9.66624590e-02 7.65235735e+01] [ 1.01666504e-01 3.07183035e-03 9.94813795e-01 1.34443245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:76.55, Z:13.45 [[ 3.37682183e-01 -9.40728855e-01 -3.16222337e-02 9.98226444e+01] [ 9.35753470e-01 3.39145832e-01 -9.66723723e-02 7.65489266e+01] [ 1.01667039e-01 3.05392279e-03 9.94813795e-01 1.34461386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:76.57, Z:13.45 [[ 3.35070607e-01 -9.41663278e-01 -3.15904918e-02 9.98303092e+01] [ 9.36691008e-01 3.36544800e-01 -9.66827438e-02 7.65737894e+01] [ 1.01674205e-01 2.80501597e-03 9.94813796e-01 1.34485113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:76.60, Z:13.45 [[ 3.35478528e-01 -9.41519019e-01 -3.15609577e-02 9.98378611e+01] [ 9.36545215e-01 3.36947537e-01 -9.66923840e-02 7.65969725e+01] [ 1.01672105e-01 2.87995471e-03 9.94813796e-01 1.34500982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:76.62, Z:13.45 [[ 3.31864753e-01 -9.42823375e-01 -3.08199594e-02 9.98454269e+01] [ 9.37832838e-01 3.33276799e-01 -9.69337034e-02 7.66240018e+01] [ 1.01662939e-01 3.26490954e-03 9.94813544e-01 1.34545381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:76.65, Z:13.46 [[ 3.30313110e-01 -9.43345754e-01 -3.14966290e-02 9.98538545e+01] [ 9.38378095e-01 3.31802767e-01 -9.67133596e-02 7.66496047e+01] [ 1.01684806e-01 2.38994390e-03 9.94813796e-01 1.34587475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:76.68, Z:13.46 [[ 3.28710321e-01 -9.43906373e-01 -3.14687637e-02 9.98619578e+01] [ 9.38940392e-01 3.30205561e-01 -9.67224257e-02 7.66753096e+01] [ 1.01688075e-01 2.24636628e-03 9.94813796e-01 1.34616673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:76.70, Z:13.47 [[ 3.27102860e-01 -9.44465547e-01 -3.14412177e-02 9.98697969e+01] [ 9.39501265e-01 3.28603732e-01 -9.67313791e-02 7.67012584e+01] [ 1.01691156e-01 2.10204694e-03 9.94813797e-01 1.34660764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:76.73, Z:13.47 [[ 3.25381003e-01 -9.45061122e-01 -3.14114499e-02 9.98770968e+01] [ 9.40098659e-01 3.26887874e-01 -9.67410447e-02 7.67259072e+01] [ 1.01694222e-01 1.94783625e-03 9.94813797e-01 1.34701031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:76.75, Z:13.47 [[ 3.24095825e-01 -9.45503661e-01 -3.13802992e-02 9.98849290e+01] [ 9.40542281e-01 3.25606256e-01 -9.67511482e-02 7.67521671e+01] [ 1.01696187e-01 1.84214504e-03 9.94813798e-01 1.34733438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:76.78, Z:13.48 [[ 3.23232411e-01 -9.45800167e-01 -3.13504789e-02 9.98929030e+01] [ 9.40839238e-01 3.24744321e-01 -9.67608100e-02 7.67787529e+01] [ 1.01697280e-01 1.78046929e-03 9.94813798e-01 1.34767049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:76.80, Z:13.48 [[ 3.23116721e-01 -9.45840588e-01 -3.13235915e-02 9.99003768e+01] [ 9.40879006e-01 3.24626488e-01 -9.67695133e-02 7.68041845e+01] [ 1.01697001e-01 1.79613826e-03 9.94813799e-01 1.34795083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:76.83, Z:13.48 [[ 3.22970794e-01 -9.45891478e-01 -3.12918262e-02 9.99080449e+01] [ 9.40929142e-01 3.24478077e-01 -9.67797840e-02 7.68306755e+01] [ 1.01696685e-01 1.81365246e-03 9.94813799e-01 1.34829676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:76.86, Z:13.49 [[ 3.23473538e-01 -9.45720661e-01 -3.12618094e-02 9.99158976e+01] [ 9.40756596e-01 3.24975113e-01 -9.67894791e-02 7.68565237e+01] [ 1.01695120e-01 1.89908186e-03 9.94813800e-01 1.34852394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:76.88, Z:13.49 [[ 3.23182913e-01 -9.45821005e-01 -3.12318995e-02 9.99242596e+01] [ 9.40856476e-01 3.24682953e-01 -9.67991295e-02 7.68828978e+01] [ 1.01695115e-01 1.89908981e-03 9.94813800e-01 1.34880516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:76.91, Z:13.49 [[ 3.23310654e-01 -9.45778334e-01 -3.12019942e-02 9.99320135e+01] [ 9.40812680e-01 3.24806964e-01 -9.68087682e-02 7.69089574e+01] [ 1.01694261e-01 1.94407440e-03 9.94813801e-01 1.34899328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.746875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.94, Y:76.93, Z:13.49 [[ 3.22972033e-01 -9.45895008e-01 -3.11720936e-02 9.99387991e+01] [ 9.40928969e-01 3.24467062e-01 -9.68183952e-02 7.69343714e+01] [ 1.01694354e-01 1.93890802e-03 9.94813801e-01 1.34910029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:76.96, Z:13.49 [[ 3.23403670e-01 -9.45751226e-01 -3.10593832e-02 9.99463866e+01] [ 9.40781049e-01 3.24884897e-01 -9.68546415e-02 7.69606791e+01] [ 1.01691120e-01 2.10306744e-03 9.94813798e-01 1.34937743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:76.99, Z:13.50 [[ 3.24208658e-01 -9.45473687e-01 -3.11167738e-02 9.99543799e+01] [ 9.40504002e-01 3.25691529e-01 -9.68362001e-02 7.69868378e+01] [ 1.01690549e-01 2.12968419e-03 9.94813800e-01 1.34968829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:77.01, Z:13.50 [[ 3.24566649e-01 -9.45351835e-01 -3.10869585e-02 9.99619146e+01] [ 9.40380681e-01 3.26044585e-01 -9.68457708e-02 7.70122326e+01] [ 1.01689062e-01 2.19933213e-03 9.94813801e-01 1.35001217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:77.04, Z:13.50 [[ 3.25090952e-01 -9.45172688e-01 -3.10558142e-02 9.99698985e+01] [ 9.40199770e-01 3.26562941e-01 -9.68557569e-02 7.70381538e+01] [ 1.01687094e-01 2.28826075e-03 9.94813801e-01 1.35031493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:77.06, Z:13.51 [[ 3.25882189e-01 -9.44901165e-01 -3.10256001e-02 9.99777240e+01] [ 9.39926105e-01 3.27346919e-01 -9.68654344e-02 7.70634228e+01] [ 1.01684396e-01 2.40494839e-03 9.94813802e-01 1.35061678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:77.09, Z:13.51 [[ 3.28195818e-01 -9.44101096e-01 -3.09939611e-02 9.99860677e+01] [ 9.39121519e-01 3.29645112e-01 -9.68755569e-02 7.70898610e+01] [ 1.01677327e-01 2.68705675e-03 9.94813802e-01 1.35096739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.956875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:99.99, Y:77.12, Z:13.51 [[ 3.29550428e-01 -9.43629998e-01 -3.09667908e-02 9.99939224e+01] [ 9.38647540e-01 3.30989787e-01 -9.68842413e-02 7.71157056e+01] [ 1.01672568e-01 2.86134114e-03 9.94813803e-01 1.35112710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:77.14, Z:13.51 [[ 3.31245410e-01 -9.43037281e-01 -3.09380728e-02 1.00001823e+02] [ 9.38051401e-01 3.32672868e-01 -9.68934110e-02 7.71420344e+01] [ 1.01666356e-01 3.07399521e-03 9.94813803e-01 1.35143969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:77.17, Z:13.51 [[ 3.33603937e-01 -9.42206421e-01 -3.09107219e-02 1.00008399e+02] [ 9.37216189e-01 3.35016105e-01 -9.69021357e-02 7.71694511e+01] [ 1.01657404e-01 3.35690498e-03 9.94813803e-01 1.35142649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:77.20, Z:13.52 [[ 3.36026443e-01 -9.41352737e-01 -3.06798583e-02 1.00016945e+02] [ 9.36352275e-01 3.37402031e-01 -9.69756998e-02 7.71955794e+01] [ 1.01639787e-01 3.85924439e-03 9.94813782e-01 1.35200323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:77.22, Z:13.52 [[ 3.36726172e-01 -9.41096369e-01 -3.08724575e-02 1.00024382e+02] [ 9.36100383e-01 3.38117852e-01 -9.69143487e-02 7.72223355e+01] [ 1.01644271e-01 3.73387840e-03 9.94813802e-01 1.35227130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:77.25, Z:13.52 [[ 3.35125827e-01 -9.41668360e-01 -3.08444415e-02 1.00027503e+02] [ 9.36673941e-01 3.36523118e-01 -9.69232645e-02 7.72479640e+01] [ 1.01649439e-01 3.59030461e-03 9.94813802e-01 1.35194432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:77.28, Z:13.53 [[ 3.38575037e-01 -9.40465416e-01 -2.98621061e-02 1.00039365e+02] [ 9.35438606e-01 3.39852804e-01 -9.72352149e-02 7.72761731e+01] [ 1.01595077e-01 4.98724962e-03 9.94813333e-01 1.35281877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:77.30, Z:13.53 [[ 3.38353143e-01 -9.40515096e-01 -3.07978158e-02 1.00046999e+02] [ 9.35514603e-01 3.39728502e-01 -9.69379854e-02 7.73016144e+01] [ 1.01634534e-01 3.98746564e-03 9.94813813e-01 1.35306609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:77.33, Z:13.53 [[ 3.38185460e-01 -9.40576372e-01 -3.07682190e-02 1.00054688e+02] [ 9.35575288e-01 3.39558665e-01 -9.69473786e-02 7.73268731e+01] [ 1.01634029e-01 4.00020853e-03 9.94813813e-01 1.35331797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:77.35, Z:13.54 [[ 3.37781431e-01 -9.40722596e-01 -3.07360148e-02 1.00062567e+02] [ 9.35721192e-01 3.39153471e-01 -9.69575876e-02 7.73528374e+01] [ 1.01634420e-01 3.99013226e-03 9.94813814e-01 1.35361328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:77.38, Z:13.54 [[ 3.37275917e-01 -9.40904953e-01 -3.07054628e-02 1.00070252e+02] [ 9.35903425e-01 3.38647500e-01 -9.69672621e-02 7.73787107e+01] [ 1.01635305e-01 3.96737439e-03 9.94813814e-01 1.35393649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:77.40, Z:13.54 [[ 3.36959394e-01 -9.41019351e-01 -3.06748591e-02 1.00077875e+02] [ 9.36017422e-01 3.38329511e-01 -9.69769425e-02 7.74048589e+01] [ 1.01635390e-01 3.96508928e-03 9.94813815e-01 1.35423815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:77.43, Z:13.54 [[ 3.36753459e-01 -9.41094061e-01 -3.06443416e-02 1.00085278e+02] [ 9.36091573e-01 3.38121531e-01 -9.69865850e-02 7.74295450e+01] [ 1.01635011e-01 3.97465807e-03 9.94813815e-01 1.35444337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:77.46, Z:13.55 [[ 3.36021435e-01 -9.41356715e-01 -3.06125886e-02 1.00093068e+02] [ 9.36354398e-01 3.37390131e-01 -9.69966065e-02 7.74561939e+01] [ 1.01636792e-01 3.92870696e-03 9.94813816e-01 1.35470921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.10, Y:77.48, Z:13.55 [[ 3.35013583e-01 -9.41716753e-01 -3.05852319e-02 1.00100484e+02] [ 9.36715132e-01 3.36384820e-01 -9.70052319e-02 7.74811962e+01] [ 1.01639860e-01 3.84842085e-03 9.94813816e-01 1.35485711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:77.51, Z:13.55 [[ 3.34545135e-01 -9.41884319e-01 -3.05529570e-02 1.00109202e+02] [ 9.36882470e-01 3.35915540e-01 -9.70153963e-02 7.75080332e+01] [ 1.01640493e-01 3.83149905e-03 9.94813817e-01 1.35519210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:77.53, Z:13.55 [[ 3.32467741e-01 -9.42620510e-01 -3.05250062e-02 1.00116994e+02] [ 9.37620902e-01 3.33846298e-01 -9.70241900e-02 7.75342979e+01] [ 1.01647652e-01 3.63652939e-03 9.94813817e-01 1.35528430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:77.56, Z:13.56 [[ 3.31562497e-01 -9.42940258e-01 -3.04955884e-02 1.00125366e+02] [ 9.37941141e-01 3.32942830e-01 -9.70334354e-02 7.75597421e+01] [ 1.01650020e-01 3.56958109e-03 9.94813818e-01 1.35557124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:77.59, Z:13.56 [[ 3.30598554e-01 -9.43279633e-01 -3.04652389e-02 1.00133793e+02] [ 9.38281067e-01 3.31980878e-01 -9.70429633e-02 7.75859324e+01] [ 1.01652528e-01 3.49730645e-03 9.94813818e-01 1.35596370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:77.61, Z:13.56 [[ 3.30062571e-01 -9.43468198e-01 -3.04377758e-02 1.00141659e+02] [ 9.38469638e-01 3.31444914e-01 -9.70515765e-02 7.76117335e+01] [ 1.01653522e-01 3.46816445e-03 9.94813818e-01 1.35626915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:77.64, Z:13.56 [[ 3.29450046e-01 -9.43683192e-01 -3.04088860e-02 1.00148986e+02] [ 9.38684709e-01 3.30832666e-01 -9.70606276e-02 7.76369872e+01] [ 1.01654736e-01 3.43227190e-03 9.94813819e-01 1.35644815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:77.66, Z:13.57 [[ 3.27880152e-01 -9.44230825e-01 -3.03768908e-02 1.00157498e+02] [ 9.39233735e-01 3.29267797e-01 -9.70706401e-02 7.76637334e+01] [ 1.01659223e-01 3.29653562e-03 9.94813819e-01 1.35684490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:77.69, Z:13.57 [[ 3.26728721e-01 -9.44630737e-01 -3.03498621e-02 1.00166299e+02] [ 9.39634569e-01 3.28119683e-01 -9.70790902e-02 7.76905874e+01] [ 1.01662280e-01 3.20074739e-03 9.94813820e-01 1.35717147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:77.72, Z:13.57 [[ 3.25217578e-01 -9.45152921e-01 -3.03229638e-02 1.00174342e+02] [ 9.40158213e-01 3.26613768e-01 -9.70874912e-02 7.77151784e+01] [ 1.01666423e-01 3.06617527e-03 9.94813820e-01 1.35739189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:77.74, Z:13.58 [[ 3.23832690e-01 -9.45629329e-01 -3.02912524e-02 1.00183186e+02] [ 9.40635759e-01 3.25232943e-01 -9.70973842e-02 7.77420380e+01] [ 1.01669848e-01 2.95027195e-03 9.94813821e-01 1.35770625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:77.77, Z:13.58 [[ 3.20393041e-01 -9.46801135e-01 -3.02640200e-02 1.00193521e+02] [ 9.41811895e-01 3.21808646e-01 -9.71058715e-02 7.77678419e+01] [ 1.01679173e-01 2.60903150e-03 9.94813821e-01 1.35800643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:77.79, Z:13.58 [[ 3.18577383e-01 -9.47414468e-01 -3.02370172e-02 1.00202107e+02] [ 9.42427162e-01 3.19999784e-01 -9.71142790e-02 7.77925421e+01] [ 1.01683312e-01 2.44222655e-03 9.94813822e-01 1.35817736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:77.82, Z:13.58 [[ 3.17315577e-01 -9.47838839e-01 -3.02052886e-02 1.00210910e+02] [ 9.42852502e-01 3.18741369e-01 -9.71241466e-02 7.78181224e+01] [ 1.01685713e-01 2.33987267e-03 9.94813822e-01 1.35840511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:77.84, Z:13.59 [[ 3.16593909e-01 -9.48081066e-01 -3.01759788e-02 1.00219481e+02] [ 9.43094956e-01 3.18020494e-01 -9.71332522e-02 7.78443359e+01] [ 1.01686777e-01 2.29298254e-03 9.94813823e-01 1.35864340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:77.87, Z:13.59 [[ 3.15912226e-01 -9.48309383e-01 -3.01459781e-02 1.00228450e+02] [ 9.43323421e-01 3.17339325e-01 -9.71425622e-02 7.78692264e+01] [ 1.01687708e-01 2.25111587e-03 9.94813823e-01 1.35869995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:77.90, Z:13.59 [[ 3.16007391e-01 -9.48278671e-01 -3.01146258e-02 1.00237676e+02] [ 9.43291649e-01 3.17430779e-01 -9.71522807e-02 7.78952682e+01] [ 1.01686745e-01 2.29396375e-03 9.94813824e-01 1.35900599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:77.92, Z:13.59 [[ 3.16421849e-01 -9.48141401e-01 -3.00848370e-02 1.00246341e+02] [ 9.43152889e-01 3.17840007e-01 -9.71615045e-02 7.79213816e+01] [ 1.01685010e-01 2.36942202e-03 9.94813824e-01 1.35926321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:77.95, Z:13.59 [[ 3.16910586e-01 -9.47979106e-01 -3.00548826e-02 1.00254224e+02] [ 9.42988994e-01 3.18323103e-01 -9.71707694e-02 7.79458680e+01] [ 1.01683023e-01 2.45302190e-03 9.94813825e-01 1.35948155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:77.97, Z:13.60 [[ 3.17461548e-01 -9.47795474e-01 -3.00317355e-02 1.00262726e+02] [ 9.42803874e-01 3.18868793e-01 -9.71779228e-02 7.79721373e+01] [ 1.01680979e-01 2.53621724e-03 9.94813825e-01 1.35982767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:78.00, Z:13.60 [[ 3.18950181e-01 -9.47296433e-01 -3.00041801e-02 1.00270626e+02] [ 9.42301837e-01 3.20346757e-01 -9.71864300e-02 7.79978041e+01] [ 1.01676100e-01 2.72463538e-03 9.94813825e-01 1.36001329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:78.02, Z:13.60 [[ 3.19128041e-01 -9.47237168e-01 -2.99840133e-02 1.00277963e+02] [ 9.42241733e-01 3.20521613e-01 -9.71926515e-02 7.80225729e+01] [ 1.01675016e-01 2.76471187e-03 9.94813826e-01 1.36021563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:78.05, Z:13.61 [[ 3.18349833e-01 -9.47500004e-01 -2.99520759e-02 1.00286180e+02] [ 9.42504801e-01 3.19744234e-01 -9.72024928e-02 7.80492064e+01] [ 1.01676366e-01 2.71442206e-03 9.94813826e-01 1.36050864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:78.07, Z:13.61 [[ 3.17724072e-01 -9.47710902e-01 -2.99242511e-02 1.00294962e+02] [ 9.42715825e-01 3.19118919e-01 -9.72110580e-02 7.80746613e+01] [ 1.01677374e-01 2.67622809e-03 9.94813827e-01 1.36081888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:78.10, Z:13.61 [[ 3.16340561e-01 -9.48174536e-01 -2.98947893e-02 1.00303276e+02] [ 9.43180654e-01 3.17739678e-01 -9.72201175e-02 7.81002168e+01] [ 1.01680401e-01 2.55847953e-03 9.94813827e-01 1.36115663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:78.13, Z:13.62 [[ 3.15092294e-01 -9.48591037e-01 -2.98645569e-02 1.00311804e+02] [ 9.43598130e-01 3.16494886e-01 -9.72294036e-02 7.81262722e+01] [ 1.01682920e-01 2.45609576e-03 9.94813827e-01 1.36151606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:78.15, Z:13.62 [[ 3.13992697e-01 -9.48956532e-01 -2.98343216e-02 1.00319999e+02] [ 9.43964382e-01 3.15397979e-01 -9.72386803e-02 7.81508222e+01] [ 1.01684966e-01 2.36969845e-03 9.94813828e-01 1.36186392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:78.18, Z:13.62 [[ 3.12697477e-01 -9.49385112e-01 -2.98026353e-02 1.00328998e+02] [ 9.44393968e-01 3.14106326e-01 -9.72483909e-02 7.81763718e+01] [ 1.01687371e-01 2.26389747e-03 9.94813829e-01 1.36205415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:78.20, Z:13.62 [[ 3.12300685e-01 -9.49516655e-01 -2.97725444e-02 1.00337059e+02] [ 9.44525231e-01 3.13708539e-01 -9.72576024e-02 7.82022510e+01] [ 1.01687615e-01 2.25269642e-03 9.94813829e-01 1.36223510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:78.23, Z:13.62 [[ 3.12092165e-01 -9.49586163e-01 -2.97422365e-02 1.00345291e+02] [ 9.44594173e-01 3.13498012e-01 -9.72668700e-02 7.82282498e+01] [ 1.01687406e-01 2.26188471e-03 9.94813830e-01 1.36239611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:78.25, Z:13.63 [[ 3.11810995e-01 -9.49679469e-01 -2.97121083e-02 1.00354015e+02] [ 9.44687028e-01 3.13215236e-01 -9.72760724e-02 7.82539743e+01] [ 1.01687374e-01 2.26310566e-03 9.94813830e-01 1.36254813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:78.28, Z:13.63 [[ 3.11103835e-01 -9.49912305e-01 -2.96819377e-02 1.00362664e+02] [ 9.44920041e-01 3.12508705e-01 -9.72852776e-02 7.82796115e+01] [ 1.01688346e-01 2.21876511e-03 9.94813831e-01 1.36276599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:78.30, Z:13.63 [[ 3.09814304e-01 -9.50334609e-01 -2.96517643e-02 1.00371474e+02] [ 9.45343385e-01 3.11222861e-01 -9.72944734e-02 7.83046597e+01] [ 1.01690612e-01 2.11212027e-03 9.94813831e-01 1.36302520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.366875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.38, Y:78.33, Z:13.63 [[ 3.08799347e-01 -9.50665621e-01 -2.96283761e-02 1.00380259e+02] [ 9.45675227e-01 3.10210840e-01 -9.73015951e-02 7.83299575e+01] [ 1.01692325e-01 2.02784779e-03 9.94813831e-01 1.36322263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:78.36, Z:13.63 [[ 3.08939511e-01 -9.50621015e-01 -2.95983786e-02 1.00388592e+02] [ 9.45629547e-01 3.10347199e-01 -9.73107193e-02 7.83560130e+01] [ 1.01691389e-01 2.07402474e-03 9.94813832e-01 1.36347717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:78.38, Z:13.64 [[ 3.08907057e-01 -9.50632490e-01 -2.95685337e-02 1.00397115e+02] [ 9.45640210e-01 3.10311862e-01 -9.73197871e-02 7.83829321e+01] [ 1.01690818e-01 2.10157465e-03 9.94813832e-01 1.36377587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:78.41, Z:13.64 [[ 3.08899280e-01 -9.50635863e-01 -2.95413409e-02 1.00405278e+02] [ 9.45642813e-01 3.10301343e-01 -9.73280408e-02 7.84074394e+01] [ 1.01690244e-01 2.12900502e-03 9.94813833e-01 1.36409430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:78.43, Z:13.64 [[ 3.08298525e-01 -9.50831865e-01 -2.95090534e-02 1.00413393e+02] [ 9.45838773e-01 3.09700439e-01 -9.73378292e-02 7.84322131e+01] [ 1.01690876e-01 2.09830226e-03 9.94813833e-01 1.36431534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:78.46, Z:13.65 [[ 3.07357458e-01 -9.51137462e-01 -2.94774667e-02 1.00422777e+02] [ 9.46144852e-01 3.08761081e-01 -9.73473939e-02 7.84572466e+01] [ 1.01692248e-01 2.03049413e-03 9.94813834e-01 1.36461735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:78.48, Z:13.65 [[ 3.06840177e-01 -9.51305401e-01 -2.94472585e-02 1.00431158e+02] [ 9.46312685e-01 3.08243424e-01 -9.73565310e-02 7.84834161e+01] [ 1.01692717e-01 2.00658092e-03 9.94813834e-01 1.36494219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:78.51, Z:13.65 [[ 3.07072730e-01 -9.51231297e-01 -2.94169681e-02 1.00438867e+02] [ 9.46237370e-01 3.08471658e-01 -9.73656826e-02 7.85087387e+01] [ 1.01691586e-01 2.06291144e-03 9.94813835e-01 1.36520287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:78.54, Z:13.65 [[ 3.06781168e-01 -9.51326091e-01 -2.93935932e-02 1.00446732e+02] [ 9.46331923e-01 3.08179236e-01 -9.73727388e-02 7.85352689e+01] [ 1.01691722e-01 2.05602700e-03 9.94813835e-01 1.36548446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:78.56, Z:13.66 [[ 3.06435135e-01 -9.51438536e-01 -2.93635892e-02 1.00453840e+02] [ 9.46444018e-01 3.07831949e-01 -9.73817860e-02 7.85612041e+01] [ 1.01691835e-01 2.05020742e-03 9.94813836e-01 1.36573667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:78.59, Z:13.66 [[ 3.00292325e-01 -9.53396071e-01 -2.93334570e-02 1.00460159e+02] [ 9.48409785e-01 3.01718246e-01 -9.73908616e-02 7.85860035e+01] [ 1.01702504e-01 1.42559057e-03 9.94813836e-01 1.36611009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:78.61, Z:13.67 [[ 2.92411818e-01 -9.55843346e-01 -2.93057313e-02 1.00467372e+02] [ 9.50868170e-01 2.93876027e-01 -9.73992038e-02 7.86123976e+01] [ 1.01710633e-01 6.14791148e-04 9.94813836e-01 1.36663357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:78.64, Z:13.67 [[ 2.90199765e-01 -9.56518175e-01 -2.92758898e-02 1.00474395e+02] [ 9.51545498e-01 2.91672441e-01 -9.74081727e-02 7.86387839e+01] [ 1.01711658e-01 4.10487741e-04 9.94813837e-01 1.36674855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:78.66, Z:13.67 [[ 2.88295558e-01 -9.57094733e-01 -2.92462678e-02 1.00480248e+02] [ 9.52124099e-01 2.89775112e-01 -9.74170658e-02 7.86646024e+01] [ 1.01712201e-01 2.38830874e-04 9.94813837e-01 1.36667190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:78.69, Z:13.66 [[ 2.86495332e-01 -9.57636099e-01 -2.92151720e-02 1.00484573e+02] [ 9.52667310e-01 2.87981067e-01 -9.74263905e-02 7.86922533e+01] [ 1.01712445e-01 7.98667567e-05 9.94813838e-01 1.36638859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:78.72, Z:13.67 [[ 2.86293288e-01 -9.57697444e-01 -2.91849153e-02 1.00490882e+02] [ 9.52728049e-01 2.87776993e-01 -9.74354534e-02 7.87186344e+01] [ 1.01712432e-01 8.98288871e-05 9.94813838e-01 1.36655309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:78.74, Z:13.67 [[ 2.87109488e-01 -9.57453990e-01 -2.91547504e-02 1.00498324e+02] [ 9.52482419e-01 2.88585888e-01 -9.74444786e-02 7.87443588e+01] [ 1.01712254e-01 2.07847154e-04 9.94813839e-01 1.36689175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:78.77, Z:13.68 [[ 2.90037979e-01 -9.56571858e-01 -2.91247557e-02 1.00505709e+02] [ 9.51594897e-01 2.91496103e-01 -9.74534428e-02 7.87695803e+01] [ 1.01710974e-01 5.50230736e-04 9.94813839e-01 1.36757685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:78.79, Z:13.68 [[ 2.91728332e-01 -9.56058612e-01 -2.90948670e-02 1.00512112e+02] [ 9.51078196e-01 2.93174610e-01 -9.74623653e-02 7.87946624e+01] [ 1.01709610e-01 7.61039604e-04 9.94813840e-01 1.36792568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:78.82, Z:13.68 [[ 2.93612296e-01 -9.55482672e-01 -2.90634439e-02 1.00518481e+02] [ 9.50498493e-01 2.95045549e-01 -9.74717349e-02 7.88215692e+01] [ 1.01707593e-01 9.94140248e-04 9.94813840e-01 1.36820974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:78.85, Z:13.68 [[ 2.95301789e-01 -9.54962769e-01 -2.90338102e-02 1.00524688e+02] [ 9.49975201e-01 2.96723200e-01 -9.74805611e-02 7.88483122e+01] [ 1.01705312e-01 1.20478446e-03 9.94813841e-01 1.36843996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:78.87, Z:13.69 [[ 2.97160936e-01 -9.54386800e-01 -2.90036869e-02 1.00530925e+02] [ 9.49395604e-01 2.98569555e-01 -9.74895230e-02 7.88737452e+01] [ 1.01702332e-01 1.43410510e-03 9.94813841e-01 1.36859502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:78.90, Z:13.69 [[ 3.00067833e-01 -9.53477545e-01 -2.89804639e-02 1.00537928e+02] [ 9.48481419e-01 3.01458862e-01 -9.74964260e-02 7.89000591e+01] [ 1.01697071e-01 1.76810974e-03 9.94813842e-01 1.36878669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:78.93, Z:13.69 [[ 3.00693069e-01 -9.53281461e-01 -2.89505539e-02 1.00546339e+02] [ 9.48283576e-01 3.02077763e-01 -9.75053067e-02 7.89257425e+01] [ 1.01695320e-01 1.86583519e-03 9.94813842e-01 1.36911021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:78.95, Z:13.69 [[ 3.00448121e-01 -9.53359599e-01 -2.89206182e-02 1.00554389e+02] [ 9.48361222e-01 3.01831039e-01 -9.75141851e-02 7.89507665e+01] [ 1.01695225e-01 1.87076086e-03 9.94813843e-01 1.36939222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:78.98, Z:13.70 [[ 3.00443661e-01 -9.53361954e-01 -2.88892914e-02 1.00563109e+02] [ 9.48362699e-01 3.01823399e-01 -9.75234650e-02 7.89763669e+01] [ 1.01694625e-01 1.90278051e-03 9.94813843e-01 1.36975525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:79.00, Z:13.70 [[ 3.00474104e-01 -9.53353264e-01 -2.88594428e-02 1.00571158e+02] [ 9.48353124e-01 3.01850630e-01 -9.75322972e-02 7.90020699e+01] [ 1.01693975e-01 1.93698682e-03 9.94813844e-01 1.36998954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:79.03, Z:13.70 [[ 3.00489312e-01 -9.53349377e-01 -2.88294830e-02 1.00579206e+02] [ 9.48348374e-01 3.01862694e-01 -9.75411522e-02 7.90267482e+01] [ 1.01693342e-01 1.96968035e-03 9.94813844e-01 1.37013340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:79.05, Z:13.71 [[ 3.01371824e-01 -9.53071464e-01 -2.88063970e-02 1.00588420e+02] [ 9.48068546e-01 3.02738213e-01 -9.75479696e-02 7.90520918e+01] [ 1.01690983e-01 2.08777054e-03 9.94813844e-01 1.37058743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:79.08, Z:13.71 [[ 3.02090578e-01 -9.52844793e-01 -2.87764248e-02 1.00596070e+02] [ 9.47840012e-01 3.03450127e-01 -9.75568106e-02 7.90765266e+01] [ 1.01688709e-01 2.19554654e-03 9.94813845e-01 1.37090515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:79.10, Z:13.71 [[ 2.99695412e-01 -9.53601601e-01 -2.87514645e-02 1.00599087e+02] [ 9.48599553e-01 3.01064979e-01 -9.75641663e-02 7.91012748e+01] [ 1.01693404e-01 1.96590667e-03 9.94813845e-01 1.37081477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:79.13, Z:13.72 [[ 3.04206391e-01 -9.52201820e-01 -2.77518441e-02 1.00612763e+02] [ 9.47166423e-01 3.05449765e-01 -9.78581051e-02 7.91280123e+01] [ 1.01657460e-01 3.48344605e-03 9.94813363e-01 1.37154477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:79.15, Z:13.72 [[ 3.04966015e-01 -9.51930424e-01 -2.87088379e-02 1.00620932e+02] [ 9.46919722e-01 3.06303525e-01 -9.75765926e-02 7.91533602e+01] [ 1.01679745e-01 2.57257974e-03 9.94813858e-01 1.37199340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:79.18, Z:13.72 [[ 3.03657136e-01 -9.52349663e-01 -2.86786139e-02 1.00627656e+02] [ 9.47339975e-01 3.04998438e-01 -9.75854749e-02 7.91788689e+01] [ 1.01682427e-01 2.46412851e-03 9.94813858e-01 1.37204697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:79.21, Z:13.72 [[ 3.03506552e-01 -9.52398618e-01 -2.86469225e-02 1.00635193e+02] [ 9.47388274e-01 3.04845400e-01 -9.75947773e-02 7.92050395e+01] [ 1.01682014e-01 2.48089590e-03 9.94813859e-01 1.37232610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:79.23, Z:13.72 [[ 3.02745169e-01 -9.52641812e-01 -2.86171366e-02 1.00643014e+02] [ 9.47631724e-01 3.04084972e-01 -9.76035105e-02 7.92307681e+01] [ 1.01683226e-01 2.43048472e-03 9.94813859e-01 1.37246610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:79.26, Z:13.73 [[ 3.01956080e-01 -9.52893118e-01 -2.85872636e-02 1.00650746e+02] [ 9.47883322e-01 3.03296974e-01 -9.76122594e-02 7.92570416e+01] [ 1.01684481e-01 2.37722482e-03 9.94813860e-01 1.37270382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:79.28, Z:13.73 [[ 3.00736495e-01 -9.53279645e-01 -2.85565872e-02 1.00657942e+02] [ 9.48270726e-01 3.02080659e-01 -9.76212330e-02 7.92822187e+01] [ 1.01686727e-01 2.27889181e-03 9.94813860e-01 1.37290155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:79.31, Z:13.73 [[ 2.99703079e-01 -9.53606011e-01 -2.85243649e-02 1.00666605e+02] [ 9.48597665e-01 3.01049375e-01 -9.76306473e-02 7.93075777e+01] [ 1.01688414e-01 2.20205972e-03 9.94813861e-01 1.37328375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:79.33, Z:13.74 [[ 2.99384538e-01 -9.53706901e-01 -2.84964041e-02 1.00674105e+02] [ 9.48698236e-01 3.00729646e-01 -9.76388079e-02 7.93329570e+01] [ 1.01688518e-01 2.19706109e-03 9.94813861e-01 1.37356755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:79.36, Z:13.74 [[ 2.99295614e-01 -9.53735745e-01 -2.84651421e-02 1.00681498e+02] [ 9.48726348e-01 3.00637989e-01 -9.76479210e-02 7.93591176e+01] [ 1.01688016e-01 2.21996415e-03 9.94813862e-01 1.37391093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:79.38, Z:13.74 [[ 2.99224948e-01 -9.53758816e-01 -2.84350534e-02 1.00688539e+02] [ 9.48748694e-01 3.00564615e-01 -9.76566821e-02 7.93845157e+01] [ 1.01687492e-01 2.24359583e-03 9.94813862e-01 1.37408127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:79.41, Z:13.74 [[ 2.94346512e-01 -9.55276348e-01 -2.84117907e-02 1.00689484e+02] [ 9.50272491e-01 2.95709391e-01 -9.76634497e-02 7.94099136e+01] [ 1.01697217e-01 1.74795271e-03 9.94813862e-01 1.37373034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:79.44, Z:13.74 [[ 2.93714459e-01 -9.55502821e-01 -2.73162251e-02 1.00696384e+02] [ 9.50469970e-01 2.94968529e-01 -9.79816469e-02 7.94368895e+01] [ 1.01679167e-01 2.81537476e-03 9.94813259e-01 1.37392468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:79.46, Z:13.75 [[ 2.97033140e-01 -9.54479106e-01 -2.72204086e-02 1.00710128e+02] [ 9.49439408e-01 2.98259883e-01 -9.80094570e-02 7.94647304e+01] [ 1.01666735e-01 3.26792817e-03 9.94813146e-01 1.37486593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:79.49, Z:13.75 [[ 2.95989358e-01 -9.54769418e-01 -2.83841148e-02 1.00717431e+02] [ 9.49762474e-01 2.97340797e-01 -9.76713520e-02 7.94910581e+01] [ 1.01693375e-01 1.95151366e-03 9.94813877e-01 1.37526657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.746875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.72, Y:79.52, Z:13.76 [[ 2.93516191e-01 -9.55533514e-01 -2.83539797e-02 1.00724409e+02] [ 9.50529248e-01 2.94877511e-01 -9.76800995e-02 7.95175514e+01] [ 1.01697560e-01 1.71940379e-03 9.94813877e-01 1.37570896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:79.54, Z:13.76 [[ 2.91999967e-01 -9.55998839e-01 -2.83238180e-02 1.00731971e+02] [ 9.50995897e-01 2.93366143e-01 -9.76888446e-02 7.95436791e+01] [ 1.01699671e-01 1.58930468e-03 9.94813878e-01 1.37603719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:79.57, Z:13.76 [[ 2.90171459e-01 -9.56556326e-01 -2.82934721e-02 1.00738885e+02] [ 9.51555154e-01 2.91544099e-01 -9.76976329e-02 7.95686286e+01] [ 1.01702084e-01 1.42626549e-03 9.94813878e-01 1.37622805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:79.59, Z:13.76 [[ 2.86460908e-01 -9.57675011e-01 -2.82616778e-02 1.00746581e+02] [ 9.52678296e-01 2.87849683e-01 -9.77068295e-02 7.95949713e+01] [ 1.01706504e-01 1.06490001e-03 9.94813879e-01 1.37638575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:79.62, Z:13.77 [[ 2.84988858e-01 -9.58114980e-01 -2.82318275e-02 1.00754415e+02] [ 9.53119556e-01 2.86382267e-01 -9.77154538e-02 7.96209899e+01] [ 1.01707735e-01 9.39508706e-04 9.94813879e-01 1.37668018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:79.65, Z:13.77 [[ 2.83612746e-01 -9.58524106e-01 -2.82019279e-02 1.00761953e+02] [ 9.53529834e-01 2.85010278e-01 -9.77240825e-02 7.96469617e+01] [ 1.01708728e-01 8.24415750e-04 9.94813880e-01 1.37692662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:79.67, Z:13.77 [[ 2.82467914e-01 -9.58862976e-01 -2.81721567e-02 1.00769528e+02] [ 9.53869526e-01 2.83868375e-01 -9.77326644e-02 7.96728221e+01] [ 1.01709418e-01 7.33780058e-04 9.94813880e-01 1.37719339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:79.70, Z:13.78 [[ 2.82119052e-01 -9.58966552e-01 -2.81423521e-02 1.00777963e+02] [ 9.53972760e-01 2.83518292e-01 -9.77412460e-02 7.96997463e+01] [ 1.01709457e-01 7.27630311e-04 9.94813881e-01 1.37760798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:79.73, Z:13.78 [[ 2.82441933e-01 -9.58872251e-01 -2.81169131e-02 1.00785549e+02] [ 9.53877263e-01 2.83836898e-01 -9.77485634e-02 7.97269764e+01] [ 1.01709002e-01 7.88209019e-04 9.94813881e-01 1.37792018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:79.75, Z:13.78 [[ 2.83579091e-01 -9.58537366e-01 -2.80894616e-02 1.00792546e+02] [ 9.53539950e-01 2.84965332e-01 -9.77564514e-02 7.97519218e+01] [ 1.01707734e-01 9.37261827e-04 9.94813881e-01 1.37813287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:79.78, Z:13.78 [[ 2.86150343e-01 -9.57773813e-01 -2.80589424e-02 1.00799557e+02] [ 9.52771842e-01 2.87520053e-01 -9.77652105e-02 7.97786367e+01] [ 1.01704467e-01 1.24177821e-03 9.94813882e-01 1.37834965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:79.80, Z:13.79 [[ 2.87952281e-01 -9.57234489e-01 -2.80288491e-02 1.00806680e+02] [ 9.52229115e-01 2.89309503e-01 -9.77738375e-02 7.98045395e+01] [ 1.01701502e-01 1.46431341e-03 9.94813882e-01 1.37860346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:79.83, Z:13.79 [[ 2.89730950e-01 -9.56698456e-01 -2.80007187e-02 1.00813985e+02] [ 9.51689796e-01 2.91075992e-01 -9.77818929e-02 7.98308394e+01] [ 1.01698123e-01 1.68244236e-03 9.94813883e-01 1.37883966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:79.86, Z:13.79 [[ 2.93040984e-01 -9.55690651e-01 -2.79707295e-02 1.00821629e+02] [ 9.50676554e-01 2.94365612e-01 -9.77904707e-02 7.98574611e+01] [ 1.01691059e-01 2.06549901e-03 9.94813883e-01 1.37902913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:79.88, Z:13.79 [[ 2.92746836e-01 -9.55781679e-01 -2.79405183e-02 1.00829096e+02] [ 9.50767174e-01 2.94069918e-01 -9.77991019e-02 7.98841051e+01] [ 1.01691056e-01 2.06545004e-03 9.94813884e-01 1.37931035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:79.91, Z:13.80 [[ 2.94698735e-01 -9.55182534e-01 -2.79102572e-02 1.00837422e+02] [ 9.50164528e-01 2.96008474e-01 -9.78077372e-02 7.99100363e+01] [ 1.01685915e-01 2.30448011e-03 9.94813884e-01 1.37951191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:79.94, Z:13.80 [[ 2.94441057e-01 -9.55262884e-01 -2.78798580e-02 1.00844992e+02] [ 9.50244420e-01 2.95749038e-01 -9.78164017e-02 7.99362314e+01] [ 1.01685819e-01 2.30848518e-03 9.94813885e-01 1.37972311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.85, Y:79.96, Z:13.80 [[ 2.95111099e-01 -9.55056987e-01 -2.78494162e-02 1.00852228e+02] [ 9.50036799e-01 2.96412443e-01 -9.78250681e-02 7.99610310e+01] [ 1.01683428e-01 2.41129313e-03 9.94813885e-01 1.37987686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:79.99, Z:13.80 [[ 2.95530680e-01 -9.54928170e-01 -2.78173890e-02 1.00859572e+02] [ 9.49906564e-01 2.96826539e-01 -9.78341745e-02 7.99877435e+01] [ 1.01681549e-01 2.48907972e-03 9.94813886e-01 1.38007876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:80.01, Z:13.80 [[ 2.95340553e-01 -9.54987603e-01 -2.77963209e-02 1.00866792e+02] [ 9.49965699e-01 2.96635255e-01 -9.78401600e-02 8.00136580e+01] [ 1.01681509e-01 2.49061560e-03 9.94813886e-01 1.38029219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:80.04, Z:13.81 [[ 2.95809980e-01 -9.54843183e-01 -2.77660153e-02 1.00874894e+02] [ 9.49819846e-01 2.97099110e-01 -9.78487597e-02 8.00388975e+01] [ 1.01679480e-01 2.57192732e-03 9.94813886e-01 1.38050719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:80.07, Z:13.81 [[ 2.95620400e-01 -9.54902816e-01 -2.77343041e-02 1.00882624e+02] [ 9.49878902e-01 2.96907280e-01 -9.78577471e-02 8.00650648e+01] [ 1.01679155e-01 2.58451602e-03 9.94813887e-01 1.38076599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:80.09, Z:13.81 [[ 2.95419816e-01 -9.54965757e-01 -2.77044230e-02 1.00889971e+02] [ 9.49941331e-01 2.96704691e-01 -9.78662061e-02 8.00906742e+01] [ 1.01678908e-01 2.59404018e-03 9.94813887e-01 1.38109992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:80.12, Z:13.81 [[ 2.91873223e-01 -9.56056585e-01 -2.76736012e-02 1.00897144e+02] [ 9.51036145e-01 2.93173585e-01 -9.78749208e-02 8.01169521e+01] [ 1.01687131e-01 2.24847360e-03 9.94813888e-01 1.38144939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:80.14, Z:13.82 [[ 2.90228347e-01 -9.56558092e-01 -2.76427934e-02 1.00904926e+02] [ 9.51539075e-01 2.91534191e-01 -9.78836211e-02 8.01438457e+01] [ 1.01690189e-01 2.10540350e-03 9.94813888e-01 1.38187585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:80.17, Z:13.82 [[ 2.89958907e-01 -9.56640600e-01 -2.76151262e-02 1.00912571e+02] [ 9.51621216e-01 2.91263335e-01 -9.78914261e-02 8.01712880e+01] [ 1.01690186e-01 2.10535088e-03 9.94813889e-01 1.38216555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:80.20, Z:13.82 [[ 2.88429602e-01 -9.57103599e-01 -2.75874060e-02 1.00919794e+02] [ 9.52085567e-01 2.89739216e-01 -9.78992375e-02 8.01977338e+01] [ 1.01692866e-01 1.97146700e-03 9.94813889e-01 1.38244670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:80.22, Z:13.83 [[ 2.87395956e-01 -9.57415328e-01 -2.75581864e-02 1.00926998e+02] [ 9.52397931e-01 2.88708001e-01 -9.79074620e-02 8.02239888e+01] [ 1.01694374e-01 1.89184893e-03 9.94813890e-01 1.38277428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:80.25, Z:13.83 [[ 2.85456735e-01 -9.57996168e-01 -2.75280647e-02 1.00934109e+02] [ 9.52980628e-01 2.86775859e-01 -9.79159305e-02 8.02507936e+01] [ 1.01697471e-01 1.71704935e-03 9.94813890e-01 1.38298617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:80.27, Z:13.82 [[ 2.79504678e-01 -9.59750490e-01 -2.74978697e-02 1.00932554e+02] [ 9.54742405e-01 2.80851830e-01 -9.79244095e-02 8.02737260e+01] [ 1.01705827e-01 1.11694826e-03 9.94813891e-01 1.38243276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:80.30, Z:13.83 [[ 2.84345818e-01 -9.58375581e-01 -2.57623934e-02 1.00947886e+02] [ 9.53315724e-01 2.85489980e-01 -9.84103736e-02 8.03034662e+01] [ 1.01669004e-01 3.42288340e-03 9.94812393e-01 1.38333552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:80.33, Z:13.84 [[ 2.84005319e-01 -9.58429278e-01 -2.74644883e-02 1.00954830e+02] [ 9.53414087e-01 2.85325546e-01 -9.79332014e-02 8.03296924e+01] [ 1.01698368e-01 1.62852006e-03 9.94813947e-01 1.38379367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:80.36, Z:13.84 [[ 2.83878659e-01 -9.58467670e-01 -2.74341617e-02 1.00961728e+02] [ 9.53451839e-01 2.85196451e-01 -9.79416962e-02 8.03560848e+01] [ 1.01698075e-01 1.64640544e-03 9.94813948e-01 1.38415758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:80.38, Z:13.84 [[ 2.84044673e-01 -9.58419354e-01 -2.74037530e-02 1.00968032e+02] [ 9.53402481e-01 2.85358490e-01 -9.79502037e-02 8.03815906e+01] [ 1.01697265e-01 1.69542755e-03 9.94813948e-01 1.38443500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:80.41, Z:13.85 [[ 2.85122029e-01 -9.58100073e-01 -2.73802685e-02 1.00973019e+02] [ 9.53081101e-01 2.86427804e-01 -9.79567680e-02 8.04077183e+01] [ 1.01694857e-01 1.83401596e-03 9.94813949e-01 1.38452011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:80.43, Z:13.85 [[ 2.85699789e-01 -9.57928849e-01 -2.73486945e-02 1.00979262e+02] [ 9.52908254e-01 2.86999309e-01 -9.79655825e-02 8.04346785e+01] [ 1.01693114e-01 1.92794957e-03 9.94813949e-01 1.38473353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:80.46, Z:13.84 [[ 2.81703191e-01 -9.59112354e-01 -2.73277407e-02 1.00977570e+02] [ 9.54096658e-01 2.83021493e-01 -9.79714273e-02 8.04575623e+01] [ 1.01699944e-01 1.52555761e-03 9.94813949e-01 1.38423119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:80.49, Z:13.85 [[ 2.86571162e-01 -9.57713529e-01 -2.57248120e-02 1.00991992e+02] [ 9.52650456e-01 2.87699723e-01 -9.84173674e-02 8.04862475e+01] [ 1.01656666e-01 3.69682551e-03 9.94812674e-01 1.38502608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:80.51, Z:13.85 [[ 2.86817000e-01 -9.57596335e-01 -2.72995947e-02 1.00998004e+02] [ 9.52572993e-01 2.88105643e-01 -9.79787303e-02 8.05125079e+01] [ 1.01689240e-01 2.09710892e-03 9.94814003e-01 1.38547102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:80.54, Z:13.86 [[ 2.86358362e-01 -9.57734460e-01 -2.72688847e-02 1.01003873e+02] [ 9.52710930e-01 2.87646270e-01 -9.79872766e-02 8.05376481e+01] [ 1.01689584e-01 2.08011146e-03 9.94814004e-01 1.38573106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:80.56, Z:13.86 [[ 2.86046888e-01 -9.57828444e-01 -2.72369131e-02 1.01010673e+02] [ 9.52804496e-01 2.87333160e-01 -9.79961628e-02 8.05637337e+01] [ 1.01689581e-01 2.08004411e-03 9.94814004e-01 1.38610346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:80.59, Z:13.87 [[ 2.85492828e-01 -9.57994588e-01 -2.72068812e-02 1.01016811e+02] [ 9.52970598e-01 2.86778935e-01 -9.80045000e-02 8.05902249e+01] [ 1.01690141e-01 2.05222404e-03 9.94814005e-01 1.38656013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00687499999998 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:101.02, Y:80.62, Z:13.87 [[ 2.85098418e-01 -9.58112894e-01 -2.71767374e-02 1.01023457e+02] [ 9.53088645e-01 2.86383511e-01 -9.80128582e-02 8.06172776e+01] [ 1.01690353e-01 2.04147094e-03 9.94814005e-01 1.38679544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:80.64, Z:13.87 [[ 2.84678582e-01 -9.58238498e-01 -2.71493282e-02 1.01030285e+02] [ 9.53214095e-01 2.85963074e-01 -9.80204500e-02 8.06434616e+01] [ 1.01690674e-01 2.02520040e-03 9.94814005e-01 1.38705408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:80.67, Z:13.87 [[ 2.84006464e-01 -9.58438733e-01 -2.71205264e-02 1.01036901e+02] [ 9.53414479e-01 2.85291535e-01 -9.80284183e-02 8.06698103e+01] [ 1.01691490e-01 1.98360193e-03 9.94814006e-01 1.38727130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:80.70, Z:13.87 [[ 2.83003456e-01 -9.58736224e-01 -2.70905393e-02 1.01043282e+02] [ 9.53712531e-01 2.84290718e-01 -9.80367048e-02 8.06960934e+01] [ 1.01692929e-01 1.90813949e-03 9.94814006e-01 1.38746754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:80.72, Z:13.88 [[ 2.82191755e-01 -9.58976295e-01 -2.70606497e-02 1.01050206e+02] [ 9.53952910e-01 2.83480215e-01 -9.80449544e-02 8.07220537e+01] [ 1.01693946e-01 1.85289229e-03 9.94814007e-01 1.38773919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:80.75, Z:13.88 [[ 2.81487553e-01 -9.59184069e-01 -2.70310697e-02 1.01057370e+02] [ 9.54160855e-01 2.82776678e-01 -9.80531090e-02 8.07486511e+01] [ 1.01694736e-01 1.80874119e-03 9.94814007e-01 1.38797086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.186875 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:101.06, Y:80.78, Z:13.88 [[ 2.80150686e-01 -9.59576216e-01 -2.70014650e-02 1.01064518e+02] [ 9.54554024e-01 2.81443785e-01 -9.80612608e-02 8.07760743e+01] [ 1.01696648e-01 1.69757243e-03 9.94814008e-01 1.38833210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:80.80, Z:13.89 [[ 2.78936851e-01 -9.59930541e-01 -2.69738890e-02 1.01071173e+02] [ 9.54909261e-01 2.80233484e-01 -9.80688456e-02 8.08020668e+01] [ 1.01698267e-01 1.59739858e-03 9.94814008e-01 1.38853177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:80.83, Z:13.89 [[ 2.77913851e-01 -9.60228030e-01 -2.69447981e-02 1.01077751e+02] [ 9.55207365e-01 2.79212864e-01 -9.80768379e-02 8.08284854e+01] [ 1.01699463e-01 1.51904207e-03 9.94814009e-01 1.38879890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:80.85, Z:13.89 [[ 2.77294197e-01 -9.60407995e-01 -2.69148887e-02 1.01084275e+02] [ 9.55387379e-01 2.78593395e-01 -9.80850452e-02 8.08545867e+01] [ 1.01699972e-01 1.48426884e-03 9.94814009e-01 1.38906845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:80.88, Z:13.89 [[ 2.77584896e-01 -9.60324861e-01 -2.68846970e-02 1.01090610e+02] [ 9.55303057e-01 2.78879491e-01 -9.80933199e-02 8.08816672e+01] [ 1.01699044e-01 1.54619076e-03 9.94814010e-01 1.38916873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:80.91, Z:13.89 [[ 2.78207666e-01 -9.60145467e-01 -2.68547364e-02 1.01097319e+02] [ 9.55122039e-01 2.79495944e-01 -9.81015215e-02 8.09073985e+01] [ 1.01697521e-01 1.64304470e-03 9.94814010e-01 1.38938198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:80.93, Z:13.90 [[ 2.78888903e-01 -9.59948691e-01 -2.68233183e-02 1.01104382e+02] [ 9.54923531e-01 2.80170406e-01 -9.81101113e-02 8.09338524e+01] [ 1.01695773e-01 1.74760353e-03 9.94814011e-01 1.38972836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:80.96, Z:13.90 [[ 2.79613237e-01 -9.59738801e-01 -2.67931421e-02 1.01111094e+02] [ 9.54711892e-01 2.80887864e-01 -9.81183516e-02 8.09593719e+01] [ 1.01693857e-01 1.85545854e-03 9.94814011e-01 1.38994807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:80.99, Z:13.90 [[ 2.82490504e-01 -9.58896681e-01 -2.67632276e-02 1.01118046e+02] [ 9.53865208e-01 2.83746988e-01 -9.81265105e-02 8.09860509e+01] [ 1.01687171e-01 2.19129574e-03 9.94814012e-01 1.39017201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:81.01, Z:13.90 [[ 2.83698983e-01 -9.58540675e-01 -2.67331481e-02 1.01124749e+02] [ 9.53506859e-01 2.84946046e-01 -9.81347046e-02 8.10114074e+01] [ 1.01683611e-01 2.35047579e-03 9.94814012e-01 1.39035967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:81.04, Z:13.91 [[ 2.84523394e-01 -9.58297166e-01 -2.67016709e-02 1.01131737e+02] [ 9.53261486e-01 2.85762905e-01 -9.81432686e-02 8.10376028e+01] [ 1.01680763e-01 2.47038140e-03 9.94814013e-01 1.39056710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:81.06, Z:13.91 [[ 2.86046971e-01 -9.57844336e-01 -2.66713190e-02 1.01139671e+02] [ 9.52805932e-01 2.87275365e-01 -9.81515164e-02 8.10645792e+01] [ 1.01675887e-01 2.66335296e-03 9.94814013e-01 1.39077141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:81.09, Z:13.91 [[ 2.85215336e-01 -9.58093036e-01 -2.66448302e-02 1.01146588e+02] [ 9.53055038e-01 2.86445392e-01 -9.81587067e-02 8.10909627e+01] [ 1.01677462e-01 2.60237888e-03 9.94814013e-01 1.39081299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:81.12, Z:13.91 [[ 2.84032116e-01 -9.58445293e-01 -2.66153722e-02 1.01153446e+02] [ 9.53408079e-01 2.85265376e-01 -9.81666936e-02 8.11159574e+01] [ 1.01679850e-01 2.50718277e-03 9.94814014e-01 1.39097068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:81.14, Z:13.91 [[ 2.83163668e-01 -9.58703128e-01 -2.65828587e-02 1.01161231e+02] [ 9.53666218e-01 2.84398165e-01 -9.81754973e-02 8.11421801e+01] [ 1.01681273e-01 2.44855962e-03 9.94814014e-01 1.39129862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:81.17, Z:13.92 [[ 2.81995802e-01 -9.59048143e-01 -2.65523539e-02 1.01170452e+02] [ 9.54011972e-01 2.83233311e-01 -9.81837469e-02 8.11673753e+01] [ 1.01683451e-01 2.35614098e-03 9.94814015e-01 1.39191212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.666875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:101.18, Y:81.19, Z:13.92 [[ 2.81052897e-01 -9.59325732e-01 -2.65218701e-02 1.01178047e+02] [ 9.54290012e-01 2.82292238e-01 -9.81919807e-02 8.11932330e+01] [ 1.01685012e-01 2.28758492e-03 9.94814015e-01 1.39226510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:81.22, Z:13.93 [[ 2.80096671e-01 -9.59606194e-01 -2.64916532e-02 1.01185156e+02] [ 9.54570950e-01 2.81337939e-01 -9.82001324e-02 8.12190512e+01] [ 1.01686562e-01 2.21736755e-03 9.94814016e-01 1.39255172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:81.24, Z:13.93 [[ 2.79008874e-01 -9.59923870e-01 -2.64615122e-02 1.01192476e+02] [ 9.54889274e-01 2.80252767e-01 -9.82082537e-02 8.12447874e+01] [ 1.01688359e-01 2.13316013e-03 9.94814016e-01 1.39286682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:81.27, Z:13.93 [[ 2.78557856e-01 -9.60055687e-01 -2.64310208e-02 1.01199436e+02] [ 9.55020906e-01 2.79800996e-01 -9.82164593e-02 8.12695270e+01] [ 1.01688696e-01 2.11678884e-03 9.94814017e-01 1.39315568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:81.30, Z:13.94 [[ 2.77918670e-01 -9.60241564e-01 -2.64074111e-02 1.01206959e+02] [ 9.55207015e-01 2.79162748e-01 -9.82228069e-02 8.12954633e+01] [ 1.01689587e-01 2.07340750e-03 9.94814017e-01 1.39355214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:81.32, Z:13.94 [[ 2.76364298e-01 -9.60690909e-01 -2.63771139e-02 1.01213701e+02] [ 9.55657610e-01 2.77613425e-01 -9.82309424e-02 8.13200223e+01] [ 1.01692214e-01 1.94003583e-03 9.94814018e-01 1.39399888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:81.35, Z:13.94 [[ 2.75759309e-01 -9.60865431e-01 -2.63519812e-02 1.01221059e+02] [ 9.55832282e-01 2.77009036e-01 -9.82376842e-02 8.13463166e+01] [ 1.01692932e-01 1.90188154e-03 9.94814018e-01 1.39436655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:81.37, Z:13.95 [[ 2.73879490e-01 -9.61403761e-01 -2.63217265e-02 1.01227294e+02] [ 9.56372293e-01 2.75135968e-01 -9.82457900e-02 8.13729052e+01] [ 1.01695926e-01 1.73413690e-03 9.94814019e-01 1.39466173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.23, Y:81.40, Z:13.95 [[ 2.72739348e-01 -9.61728663e-01 -2.62911914e-02 1.01233094e+02] [ 9.56697908e-01 2.73998673e-01 -9.82539608e-02 8.13981870e+01] [ 1.01697402e-01 1.64499340e-03 9.94814019e-01 1.39486652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:81.42, Z:13.95 [[ 2.71776892e-01 -9.62001733e-01 -2.62676034e-02 1.01239359e+02] [ 9.56971635e-01 2.73038842e-01 -9.82602665e-02 8.14241490e+01] [ 1.01698623e-01 1.56751843e-03 9.94814019e-01 1.39510938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:81.45, Z:13.95 [[ 2.69403711e-01 -9.62669887e-01 -2.62360455e-02 1.01246096e+02] [ 9.57642102e-01 2.70674840e-01 -9.82686920e-02 8.14512803e+01] [ 1.01701748e-01 1.34920852e-03 9.94814020e-01 1.39537111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:81.48, Z:13.96 [[ 2.68205727e-01 -9.63005083e-01 -2.62087329e-02 1.01252867e+02] [ 9.57978177e-01 2.69480324e-01 -9.82759759e-02 8.14768919e+01] [ 1.01703002e-01 1.25078538e-03 9.94814020e-01 1.39566025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:81.50, Z:13.96 [[ 2.66612825e-01 -9.63448088e-01 -2.61798253e-02 1.01259455e+02] [ 9.58422545e-01 2.67892786e-01 -9.82836760e-02 8.15042491e+01] [ 1.01704606e-01 1.11235374e-03 9.94814021e-01 1.39594426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:81.53, Z:13.96 [[ 2.65429911e-01 -9.63775394e-01 -2.61524857e-02 1.01265879e+02] [ 9.58750713e-01 2.66713251e-01 -9.82909504e-02 8.15316569e+01] [ 1.01705614e-01 1.01564385e-03 9.94814021e-01 1.39618723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:81.56, Z:13.96 [[ 2.63755102e-01 -9.64235822e-01 -2.61252030e-02 1.01271335e+02] [ 9.59212664e-01 2.65044389e-01 -9.82982015e-02 8.15588557e+01] [ 1.01706986e-01 8.67026601e-04 9.94814022e-01 1.39630559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:81.58, Z:13.96 [[ 2.63259902e-01 -9.64371882e-01 -2.60978394e-02 1.01276962e+02] [ 9.59348671e-01 2.64548980e-01 -9.83054659e-02 8.15849112e+01] [ 1.01707184e-01 8.42959748e-04 9.94814022e-01 1.39642821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:81.61, Z:13.97 [[ 2.62863871e-01 -9.64480445e-01 -2.60779119e-02 1.01282890e+02] [ 9.59457242e-01 2.64152980e-01 -9.83107519e-02 8.16119188e+01] [ 1.01707356e-01 8.21703339e-04 9.94814022e-01 1.39672568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:81.64, Z:13.97 [[ 2.62299651e-01 -9.64634866e-01 -2.60474450e-02 1.01288594e+02] [ 9.59611621e-01 2.63588593e-01 -9.83188235e-02 8.16375448e+01] [ 1.01707574e-01 7.93562117e-04 9.94814023e-01 1.39696339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:81.66, Z:13.97 [[ 2.62016619e-01 -9.64712643e-01 -2.60155488e-02 1.01293862e+02] [ 9.59688943e-01 2.63303784e-01 -9.83272627e-02 8.16636293e+01] [ 1.01707546e-01 7.96542383e-04 9.94814023e-01 1.39726514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:81.69, Z:13.98 [[ 2.62608527e-01 -9.64552538e-01 -2.59839045e-02 1.01299671e+02] [ 9.59527226e-01 2.63889384e-01 -9.83356243e-02 8.16892701e+01] [ 1.01706753e-01 8.91509612e-04 9.94814024e-01 1.39755055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:81.72, Z:13.98 [[ 2.63205425e-01 -9.64390668e-01 -2.59527230e-02 1.01305148e+02] [ 9.59363758e-01 2.64479992e-01 -9.83438531e-02 8.17155281e+01] [ 1.01705870e-01 9.86533809e-04 9.94814024e-01 1.39781852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:81.74, Z:13.98 [[ 2.65391164e-01 -9.63792280e-01 -2.59223884e-02 1.01308982e+02] [ 9.58761718e-01 2.66651237e-01 -9.83518484e-02 8.17418859e+01] [ 1.01702989e-01 1.24831793e-03 9.94814025e-01 1.39815971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:81.77, Z:13.98 [[ 2.66597858e-01 -9.63460042e-01 -2.58907197e-02 1.01313752e+02] [ 9.58427102e-01 2.67848397e-01 -9.83601844e-02 8.17673582e+01] [ 1.01700895e-01 1.40824698e-03 9.94814025e-01 1.39838014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:81.79, Z:13.99 [[ 2.68592880e-01 -9.62906615e-01 -2.58595464e-02 1.01319533e+02] [ 9.57870313e-01 2.69829808e-01 -9.83683794e-02 8.17948294e+01] [ 1.01697240e-01 1.65095445e-03 9.94814026e-01 1.39864218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:81.82, Z:13.99 [[ 2.70785594e-01 -9.62293020e-01 -2.58322716e-02 1.01324302e+02] [ 9.57253237e-01 2.72008260e-01 -9.83755415e-02 8.18202732e+01] [ 1.01692688e-01 1.91065387e-03 9.94814026e-01 1.39885408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:81.85, Z:13.99 [[ 2.75545539e-01 -9.60941733e-01 -2.58000308e-02 1.01327801e+02] [ 9.55895178e-01 2.76739945e-01 -9.83839964e-02 8.18465434e+01] [ 1.01681187e-01 2.44714635e-03 9.94814027e-01 1.39911369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:81.87, Z:13.99 [[ 2.75256715e-01 -9.61025132e-01 -2.57766855e-02 1.01334681e+02] [ 9.55978371e-01 2.76450249e-01 -9.83901125e-02 8.18733317e+01] [ 1.01681342e-01 2.44058532e-03 9.94814027e-01 1.39939524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:81.90, Z:14.00 [[ 2.77331980e-01 -9.60429106e-01 -2.57469562e-02 1.01340157e+02] [ 9.55379067e-01 2.78511566e-01 -9.83978916e-02 8.18999165e+01] [ 1.01675024e-01 2.69077911e-03 9.94814027e-01 1.39967665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:81.93, Z:14.00 [[ 2.79110467e-01 -9.59914578e-01 -2.57167076e-02 1.01345544e+02] [ 9.54861648e-01 2.80277600e-01 -9.84057966e-02 8.19279150e+01] [ 1.01668976e-01 2.91019010e-03 9.94814028e-01 1.39987837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53687499999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.35, Y:81.96, Z:14.00 [[ 2.80939822e-01 -9.59381506e-01 -2.56893569e-02 1.01350989e+02] [ 9.54325719e-01 2.82094517e-01 -9.84129361e-02 8.19552821e+01] [ 1.01662378e-01 3.13209871e-03 9.94814028e-01 1.40005498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:81.98, Z:14.00 [[ 2.84112447e-01 -9.58447486e-01 -2.56619319e-02 1.01354821e+02] [ 9.53387275e-01 2.85247596e-01 -9.84200870e-02 8.19819731e+01] [ 1.01650489e-01 3.49661240e-03 9.94814029e-01 1.40020218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59687499999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:101.35, Y:82.01, Z:14.00 [[ 2.80781010e-01 -9.59429493e-01 -2.56334272e-02 1.01352188e+02] [ 9.54372591e-01 2.81930811e-01 -9.84275105e-02 8.20052572e+01] [ 1.01661109e-01 3.17273545e-03 9.94814029e-01 1.40001593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:82.04, Z:14.01 [[ 2.86642084e-01 -9.57743000e-01 -2.37626169e-02 1.01366530e+02] [ 9.52638704e-01 2.87568565e-01 -9.89132007e-02 8.20359636e+01] [ 1.01566807e-01 5.71549740e-03 9.94812302e-01 1.40067459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:82.06, Z:14.01 [[ 2.83855373e-01 -9.58525095e-01 -2.56079878e-02 1.01364566e+02] [ 9.53464034e-01 2.84986349e-01 -9.84333079e-02 8.20586796e+01] [ 1.01648723e-01 3.52452790e-03 9.94814111e-01 1.40093031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:82.08, Z:14.01 [[ 2.82878482e-01 -9.58850633e-01 -2.41914782e-02 1.01369129e+02] [ 9.53759109e-01 2.83869135e-01 -9.88022043e-02 8.20843103e+01] [ 1.01603770e-01 4.87617486e-03 9.94812996e-01 1.40088821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:82.11, Z:14.01 [[ 2.81376006e-01 -9.59306564e-01 -2.36317685e-02 1.01375557e+02] [ 9.54204606e-01 2.82317041e-01 -9.89477561e-02 8.21116462e+01] [ 1.01592883e-01 5.29198203e-03 9.94811983e-01 1.40095816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:82.14, Z:14.02 [[ 2.82415375e-01 -9.59002235e-01 -2.35853796e-02 1.01392138e+02] [ 9.53898289e-01 2.83346104e-01 -9.89597889e-02 8.21430047e+01] [ 1.01585484e-01 5.44971265e-03 9.94811887e-01 1.40168056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:82.17, Z:14.02 [[ 2.79987781e-01 -9.59662062e-01 -2.56040776e-02 1.01400117e+02] [ 9.54605450e-01 2.81138755e-01 -9.84349306e-02 8.21700090e+01] [ 1.01662567e-01 3.11878575e-03 9.94814051e-01 1.40204840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:82.20, Z:14.02 [[ 2.77659305e-01 -9.60339072e-01 -2.55768853e-02 1.01407530e+02] [ 9.55284627e-01 2.78819755e-01 -9.84419956e-02 8.21966223e+01] [ 1.01669036e-01 2.90013076e-03 9.94814051e-01 1.40235213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:82.22, Z:14.03 [[ 2.75326365e-01 -9.61011239e-01 -2.55497881e-02 1.01414984e+02] [ 9.55958984e-01 2.76496312e-01 -9.84490280e-02 8.22225843e+01] [ 1.01675045e-01 2.68106356e-03 9.94814052e-01 1.40266767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:82.25, Z:14.03 [[ 2.71317607e-01 -9.62151500e-01 -2.55195393e-02 1.01423196e+02] [ 9.57103438e-01 2.72505513e-01 -9.84568684e-02 8.22489311e+01] [ 1.01684639e-01 2.28824316e-03 9.94814052e-01 1.40303689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:82.28, Z:14.03 [[ 2.69148678e-01 -9.62761196e-01 -2.54925375e-02 1.01430744e+02] [ 9.57715168e-01 2.70345197e-01 -9.84638593e-02 8.22753704e+01] [ 1.01688968e-01 2.08682775e-03 9.94814052e-01 1.40338557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:82.30, Z:14.04 [[ 2.67268496e-01 -9.63285567e-01 -2.54650121e-02 1.01438056e+02] [ 9.58241214e-01 2.68472051e-01 -9.84709775e-02 8.23010585e+01] [ 1.01692315e-01 1.91656596e-03 9.94814053e-01 1.40367027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:82.33, Z:14.04 [[ 2.65598723e-01 -9.63748065e-01 -2.54359252e-02 1.01445261e+02] [ 9.58705092e-01 2.66808047e-01 -9.84784904e-02 8.23274469e+01] [ 1.01694964e-01 1.77021029e-03 9.94814053e-01 1.40412003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:82.35, Z:14.04 [[ 2.64642281e-01 -9.64011887e-01 -2.54075885e-02 1.01452346e+02] [ 9.58969420e-01 2.65853715e-01 -9.84858008e-02 8.23534546e+01] [ 1.01696184e-01 1.69840656e-03 9.94814054e-01 1.40420404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:82.38, Z:14.04 [[ 2.64136895e-01 -9.64151269e-01 -2.53777790e-02 1.01458878e+02] [ 9.59108707e-01 2.65347928e-01 -9.84934816e-02 8.23803044e+01] [ 1.01696556e-01 1.67571357e-03 9.94814054e-01 1.40446607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:82.41, Z:14.05 [[ 2.64033442e-01 -9.64180395e-01 -2.53477192e-02 1.01465432e+02] [ 9.59137227e-01 2.65241946e-01 -9.85012170e-02 8.24064792e+01] [ 1.01696221e-01 1.69567417e-03 9.94814055e-01 1.40469069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:82.43, Z:14.05 [[ 2.64501237e-01 -9.64052961e-01 -2.53176653e-02 1.01472158e+02] [ 9.59008474e-01 2.65704224e-01 -9.85089412e-02 8.24333268e+01] [ 1.01694847e-01 1.77588119e-03 9.94814055e-01 1.40489856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:82.46, Z:14.05 [[ 2.64754056e-01 -9.63984347e-01 -2.52877248e-02 1.01478747e+02] [ 9.58938818e-01 2.65952661e-01 -9.85166265e-02 8.24592161e+01] [ 1.01693824e-01 1.83329554e-03 9.94814056e-01 1.40519034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:82.49, Z:14.05 [[ 2.65154318e-01 -9.63875127e-01 -2.52572020e-02 1.01484960e+02] [ 9.58828363e-01 2.66347710e-01 -9.85244512e-02 8.24850110e+01] [ 1.01692466e-01 1.90686200e-03 9.94814056e-01 1.40542380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:82.51, Z:14.06 [[ 2.65724736e-01 -9.63718868e-01 -2.52251475e-02 1.01491597e+02] [ 9.58670627e-01 2.66911865e-01 -9.85326575e-02 8.25116782e+01] [ 1.01690672e-01 1.99995637e-03 9.94814057e-01 1.40577579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:82.54, Z:14.06 [[ 2.66781701e-01 -9.63427596e-01 -2.51950682e-02 1.01497250e+02] [ 9.58377338e-01 2.67960217e-01 -9.85403483e-02 8.25384935e+01] [ 1.01687767e-01 2.14237937e-03 9.94814057e-01 1.40612698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:82.57, Z:14.06 [[ 2.67413809e-01 -9.63253130e-01 -2.51647048e-02 1.01503790e+02] [ 9.58201379e-01 2.68585906e-01 -9.85481018e-02 8.25652067e+01] [ 1.01685653e-01 2.24026843e-03 9.94814058e-01 1.40640774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:82.59, Z:14.07 [[ 2.67664858e-01 -9.63184188e-01 -2.51345200e-02 1.01510692e+02] [ 9.58131418e-01 2.68832551e-01 -9.85557998e-02 8.25918665e+01] [ 1.01684365e-01 2.29775091e-03 9.94814058e-01 1.40665629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:82.62, Z:14.07 [[ 2.67579463e-01 -9.63208621e-01 -2.51074303e-02 1.01517850e+02] [ 9.58155315e-01 2.68744834e-01 -9.85627006e-02 8.26188479e+01] [ 1.01683935e-01 2.31653674e-03 9.94814059e-01 1.40698855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:82.65, Z:14.07 [[ 2.67029411e-01 -9.63361970e-01 -2.50800299e-02 1.01525149e+02] [ 9.58308684e-01 2.68194865e-01 -9.85696724e-02 8.26457305e+01] [ 1.01684609e-01 2.28659115e-03 9.94814059e-01 1.40719794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:82.67, Z:14.07 [[ 2.66522559e-01 -9.63503028e-01 -2.50527518e-02 1.01532414e+02] [ 9.58449712e-01 2.67687883e-01 -9.85766050e-02 8.26708677e+01] [ 1.01685175e-01 2.26108634e-03 9.94814059e-01 1.40739257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:82.70, Z:14.08 [[ 2.65735708e-01 -9.63721181e-01 -2.50203855e-02 1.01539661e+02] [ 9.58668054e-01 2.66901848e-01 -9.85848195e-02 8.26967104e+01] [ 1.01686266e-01 2.21126254e-03 9.94814060e-01 1.40765741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:82.72, Z:14.08 [[ 2.65097978e-01 -9.63897581e-01 -2.49903137e-02 1.01547252e+02] [ 9.58844516e-01 2.66264387e-01 -9.85924418e-02 8.27226140e+01] [ 1.01687047e-01 2.17483175e-03 9.94814060e-01 1.40800988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:82.75, Z:14.08 [[ 2.65517692e-01 -9.63782839e-01 -2.49598707e-02 1.01556150e+02] [ 9.58728551e-01 2.66678787e-01 -9.86001483e-02 8.27485693e+01] [ 1.01685399e-01 2.25034309e-03 9.94814061e-01 1.40849710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:82.77, Z:14.09 [[ 2.65730765e-01 -9.63724815e-01 -2.49327300e-02 1.01563556e+02] [ 9.58669636e-01 2.66887968e-01 -9.86070109e-02 8.27737574e+01] [ 1.01684269e-01 2.30066518e-03 9.94814061e-01 1.40880630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:82.80, Z:14.09 [[ 2.66341298e-01 -9.63557091e-01 -2.49007073e-02 1.01571293e+02] [ 9.58500433e-01 2.67492023e-01 -9.86150968e-02 8.28000401e+01] [ 1.01682016e-01 2.39793418e-03 9.94814062e-01 1.40911315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:82.83, Z:14.09 [[ 2.66962256e-01 -9.63386019e-01 -2.48703287e-02 1.01578755e+02] [ 9.58327917e-01 2.68106613e-01 -9.86227576e-02 8.28260427e+01] [ 1.01679685e-01 2.49462351e-03 9.94814062e-01 1.40933120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:82.85, Z:14.10 [[ 2.68902546e-01 -9.62847025e-01 -2.48400344e-02 1.01586995e+02] [ 9.57785934e-01 2.70033611e-01 -9.86303873e-02 8.28518242e+01] [ 1.01673619e-01 2.73052677e-03 9.94814063e-01 1.40961013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:82.88, Z:14.10 [[ 2.69817912e-01 -9.62591702e-01 -2.48094843e-02 1.01594409e+02] [ 9.57528844e-01 2.70941036e-01 -9.86380713e-02 8.28783181e+01] [ 1.01670096e-01 2.85852159e-03 9.94814063e-01 1.41000751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:82.90, Z:14.10 [[ 2.70549453e-01 -9.62387069e-01 -2.47815015e-02 1.01601884e+02] [ 9.57322727e-01 2.71665863e-01 -9.86451011e-02 8.29042860e+01] [ 1.01667058e-01 2.96448356e-03 9.94814064e-01 1.41017471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:82.93, Z:14.10 [[ 2.71096499e-01 -9.62233869e-01 -2.47521520e-02 1.01609135e+02] [ 9.57168234e-01 2.72207024e-01 -9.86524650e-02 8.29301475e+01] [ 1.01664453e-01 3.05236421e-03 9.94814064e-01 1.41045569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:82.96, Z:14.11 [[ 2.71871531e-01 -9.62015965e-01 -2.47215071e-02 1.01617426e+02] [ 9.56948753e-01 2.72974836e-01 -9.86601439e-02 8.29560992e+01] [ 1.01660983e-01 3.16566900e-03 9.94814065e-01 1.41073456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:82.98, Z:14.11 [[ 2.71568753e-01 -9.62102273e-01 -2.46906655e-02 1.01624687e+02] [ 9.57034720e-01 2.72670493e-01 -9.86678617e-02 8.29812417e+01] [ 1.01660990e-01 3.16528410e-03 9.94814065e-01 1.41097877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:83.01, Z:14.11 [[ 2.71160520e-01 -9.62218239e-01 -2.46583117e-02 1.01632465e+02] [ 9.57150434e-01 2.72261096e-01 -9.86759467e-02 8.30072761e+01] [ 1.01661295e-01 3.15530728e-03 9.94814066e-01 1.41129369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:83.03, Z:14.12 [[ 2.70162009e-01 -9.62499852e-01 -2.46276997e-02 1.01641046e+02] [ 9.57432509e-01 2.71264706e-01 -9.86835864e-02 8.30329914e+01] [ 1.01663563e-01 3.08119565e-03 9.94814066e-01 1.41166477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:83.06, Z:14.12 [[ 2.69565750e-01 -9.62667805e-01 -2.45968260e-02 1.01648827e+02] [ 9.57600457e-01 2.70668424e-01 -9.86912811e-02 8.30600281e+01] [ 1.01664503e-01 3.04985731e-03 9.94814067e-01 1.41217724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:83.09, Z:14.12 [[ 2.68837385e-01 -9.62872191e-01 -2.45683751e-02 1.01656138e+02] [ 9.57805043e-01 2.69940979e-01 -9.86983632e-02 8.30856902e+01] [ 1.01665920e-01 3.00209635e-03 9.94814067e-01 1.41228078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:83.11, Z:14.13 [[ 2.68068789e-01 -9.63086980e-01 -2.45477594e-02 1.01663237e+02] [ 9.58020255e-01 2.69174316e-01 -9.87034904e-02 8.31106502e+01] [ 1.01667673e-01 2.94207452e-03 9.94814067e-01 1.41256143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:83.14, Z:14.13 [[ 2.66608579e-01 -9.63492830e-01 -2.45241252e-02 1.01671651e+02] [ 9.58427255e-01 2.67719366e-01 -9.87093623e-02 8.31359760e+01] [ 1.01671346e-01 2.81217282e-03 9.94814068e-01 1.41291032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:83.16, Z:14.13 [[ 2.65817721e-01 -9.63712099e-01 -2.44934462e-02 1.01679268e+02] [ 9.58646748e-01 2.66929525e-01 -9.87169744e-02 8.31622220e+01] [ 1.01672767e-01 2.76015867e-03 9.94814068e-01 1.41320697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:83.19, Z:14.13 [[ 2.64735904e-01 -9.64010619e-01 -2.44627648e-02 1.01686870e+02] [ 9.58945828e-01 2.65850253e-01 -9.87245769e-02 8.31885820e+01] [ 1.01674973e-01 2.67747391e-03 9.94814069e-01 1.41349376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:83.21, Z:14.14 [[ 2.63819117e-01 -9.64262647e-01 -2.44340357e-02 1.01694047e+02] [ 9.59198269e-01 2.64935341e-01 -9.87316868e-02 8.32144808e+01] [ 1.01676717e-01 2.61022166e-03 9.94814069e-01 1.41388236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:83.24, Z:14.14 [[ 2.61840638e-01 -9.64802545e-01 -2.44034622e-02 1.01701962e+02] [ 9.59739773e-01 2.62964121e-01 -9.87392431e-02 8.32403283e+01] [ 1.01681108e-01 2.43297313e-03 9.94814070e-01 1.41423939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:83.27, Z:14.15 [[ 2.60882237e-01 -9.65062904e-01 -2.43731321e-02 1.01709498e+02] [ 9.60000560e-01 2.62007648e-01 -9.87467294e-02 8.32658182e+01] [ 1.01682752e-01 2.36304727e-03 9.94814070e-01 1.41451824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:83.29, Z:14.15 [[ 2.59673544e-01 -9.65389637e-01 -2.43412954e-02 1.01717404e+02] [ 9.60327981e-01 2.60802038e-01 -9.87545767e-02 8.32923069e+01] [ 1.01684904e-01 2.26832385e-03 9.94814071e-01 1.41482826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:83.32, Z:14.15 [[ 2.58464648e-01 -9.65714712e-01 -2.43129700e-02 1.01724801e+02] [ 9.60653825e-01 2.59596582e-01 -9.87615498e-02 8.33187653e+01] [ 1.01687046e-01 2.17002157e-03 9.94814071e-01 1.41507822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:83.34, Z:14.15 [[ 2.56442839e-01 -9.66254311e-01 -2.42832424e-02 1.01732141e+02] [ 9.61195119e-01 2.57582326e-01 -9.87688587e-02 8.33445582e+01] [ 1.01690770e-01 1.98763250e-03 9.94814071e-01 1.41542232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:83.37, Z:14.16 [[ 2.55371561e-01 -9.66538755e-01 -2.42528638e-02 1.01738517e+02] [ 9.61480128e-01 2.56513553e-01 -9.87763177e-02 8.33697241e+01] [ 1.01692327e-01 1.90601591e-03 9.94814072e-01 1.41552595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:83.40, Z:14.16 [[ 2.54297207e-01 -9.66822770e-01 -2.42211078e-02 1.01745210e+02] [ 9.61764681e-01 2.55441576e-01 -9.87841041e-02 8.33960601e+01] [ 1.01693799e-01 1.82551572e-03 9.94814072e-01 1.41595901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:83.42, Z:14.16 [[ 2.52647226e-01 -9.67256005e-01 -2.41908898e-02 1.01753034e+02] [ 9.62199174e-01 2.53797139e-01 -9.87915035e-02 8.34223173e+01] [ 1.01696254e-01 1.68294514e-03 9.94814073e-01 1.41634679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:83.45, Z:14.17 [[ 2.51742391e-01 -9.67492651e-01 -2.41606849e-02 1.01759921e+02] [ 9.62436195e-01 2.52893949e-01 -9.87988900e-02 8.34485237e+01] [ 1.01697291e-01 1.61875109e-03 9.94814073e-01 1.41674162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:83.47, Z:14.17 [[ 2.50792918e-01 -9.67739968e-01 -2.41302180e-02 1.01766419e+02] [ 9.62683934e-01 2.51946328e-01 -9.88063306e-02 8.34745437e+01] [ 1.01698355e-01 1.55015474e-03 9.94814074e-01 1.41710079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:83.50, Z:14.17 [[ 2.50496062e-01 -9.67817614e-01 -2.40995491e-02 1.01772844e+02] [ 9.62761221e-01 2.51647892e-01 -9.88138104e-02 8.35014535e+01] [ 1.01698347e-01 1.55035908e-03 9.94814074e-01 1.41738195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:83.53, Z:14.18 [[ 2.49718857e-01 -9.68019200e-01 -2.40690775e-02 1.01778934e+02] [ 9.62963024e-01 2.50871637e-01 -9.88212322e-02 8.35279547e+01] [ 1.01699099e-01 1.49989343e-03 9.94814075e-01 1.41765128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:83.55, Z:14.18 [[ 2.48892388e-01 -9.68232779e-01 -2.40388399e-02 1.01785104e+02] [ 9.63176884e-01 2.50046398e-01 -9.88285872e-02 8.35548029e+01] [ 1.01699903e-01 1.44402809e-03 9.94814075e-01 1.41793010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:83.58, Z:14.18 [[ 2.48028174e-01 -9.68455273e-01 -2.40085218e-02 1.01791256e+02] [ 9.63399702e-01 2.49183603e-01 -9.88359519e-02 8.35806749e+01] [ 1.01700729e-01 1.38429801e-03 9.94814076e-01 1.41836700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:83.61, Z:14.19 [[ 2.47095418e-01 -9.68694456e-01 -2.39771783e-02 1.01797011e+02] [ 9.63639268e-01 2.48252517e-01 -9.88435552e-02 8.36066455e+01] [ 1.01701599e-01 1.31843900e-03 9.94814076e-01 1.41861107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.456875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.80, Y:83.63, Z:14.19 [[ 2.42337631e-01 -9.69896247e-01 -2.39529437e-02 1.01800939e+02] [ 9.64846222e-01 2.43517060e-01 -9.88494277e-02 8.36333601e+01] [ 1.01706639e-01 8.44028913e-04 9.94814077e-01 1.41876259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:83.66, Z:14.19 [[ 2.40863325e-01 -9.70264181e-01 -2.39223258e-02 1.01807333e+02] [ 9.65215223e-01 2.42047308e-01 -9.88568369e-02 8.36585087e+01] [ 1.01707582e-01 7.20793389e-04 9.94814077e-01 1.41909081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:83.68, Z:14.19 [[ 2.39439329e-01 -9.70617152e-01 -2.38988079e-02 1.01813468e+02] [ 9.65569372e-01 2.40628324e-01 -9.88625221e-02 8.36847163e+01] [ 1.01708390e-01 5.95619042e-04 9.94814077e-01 1.41946169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.546875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:101.82, Y:83.71, Z:14.20 [[ 2.38355805e-01 -9.70884539e-01 -2.38688596e-02 1.01819200e+02] [ 9.65837369e-01 2.39547384e-01 -9.88697522e-02 8.37116686e+01] [ 1.01708837e-01 5.12742798e-04 9.94814078e-01 1.41971420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.576875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.82, Y:83.74, Z:14.20 [[ 2.37459252e-01 -9.71104938e-01 -2.38391223e-02 1.01823186e+02] [ 9.66058154e-01 2.38652463e-01 -9.88769219e-02 8.37390140e+01] [ 1.01709132e-01 4.49261401e-04 9.94814078e-01 1.42006380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.606875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.83, Y:83.76, Z:14.20 [[ 2.37285429e-01 -9.71148099e-01 -2.38116775e-02 1.01828207e+02] [ 9.66100868e-01 2.38476749e-01 -9.88835308e-02 8.37648930e+01] [ 1.01709084e-01 4.59138653e-04 9.94814079e-01 1.42019526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:83.79, Z:14.20 [[ 2.37313139e-01 -9.71142120e-01 -2.37793380e-02 1.01833841e+02] [ 9.66094080e-01 2.38501023e-01 -9.88913072e-02 8.37911323e+01] [ 1.01708910e-01 4.95128866e-04 9.94814079e-01 1.42046187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.666875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:101.84, Y:83.82, Z:14.21 [[ 2.38351346e-01 -9.70888579e-01 -2.37487473e-02 1.01839262e+02] [ 9.65838544e-01 2.39530715e-01 -9.88986531e-02 8.38171463e+01] [ 1.01708127e-01 6.35171589e-04 9.94814080e-01 1.42087773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:83.84, Z:14.21 [[ 2.38925325e-01 -9.70748234e-01 -2.37182339e-02 1.01844446e+02] [ 9.65696780e-01 2.40098600e-01 -9.89059704e-02 8.38428049e+01] [ 1.01707511e-01 7.26519005e-04 9.94814080e-01 1.42116116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:83.87, Z:14.22 [[ 2.39588625e-01 -9.70585319e-01 -2.36945205e-02 1.01849860e+02] [ 9.65532505e-01 2.40756031e-01 -9.89116510e-02 8.38697033e+01] [ 1.01706795e-01 8.20276673e-04 9.94814081e-01 1.42152092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75687499999998 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:101.86, Y:83.90, Z:14.22 [[ 2.40691119e-01 -9.70313249e-01 -2.36639875e-02 1.01855059e+02] [ 9.65258399e-01 2.41849672e-01 -9.89189553e-02 8.38956998e+01] [ 1.01705501e-01 9.67051341e-04 9.94814081e-01 1.42179092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:83.92, Z:14.22 [[ 2.43954243e-01 -9.69498768e-01 -2.36318884e-02 1.01858731e+02] [ 9.64439312e-01 2.45092508e-01 -9.89266233e-02 8.39225002e+01] [ 1.01701238e-01 1.34204729e-03 9.94814082e-01 1.42213716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:83.95, Z:14.22 [[ 2.46181565e-01 -9.68936333e-01 -2.36012789e-02 1.01863950e+02] [ 9.63873580e-01 2.47305077e-01 -9.89339255e-02 8.39493364e+01] [ 1.01697391e-01 1.60705949e-03 9.94814082e-01 1.42241192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:83.98, Z:14.23 [[ 2.48135714e-01 -9.68438437e-01 -2.35724667e-02 1.01868716e+02] [ 9.63372782e-01 2.49246067e-01 -9.89407900e-02 8.39756020e+01] [ 1.01693409e-01 1.84167076e-03 9.94814083e-01 1.42276979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:84.00, Z:14.23 [[ 2.49629337e-01 -9.68055248e-01 -2.35421141e-02 1.01873590e+02] [ 9.62987213e-01 2.50728774e-01 -9.89480116e-02 8.40023574e+01] [ 1.01689827e-01 2.02957169e-03 9.94814083e-01 1.42307081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:84.03, Z:14.23 [[ 2.52089355e-01 -9.67418289e-01 -2.35119241e-02 1.01877046e+02] [ 9.62346817e-01 2.53172818e-01 -9.89551849e-02 8.40299862e+01] [ 1.01683636e-01 2.31892342e-03 9.94814084e-01 1.42323744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:84.06, Z:14.23 [[ 2.52130185e-01 -9.67408384e-01 -2.34816769e-02 1.01882598e+02] [ 9.62336206e-01 2.53210342e-01 -9.89623620e-02 8.40582194e+01] [ 1.01682822e-01 2.35413070e-03 9.94814084e-01 1.42345553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:84.08, Z:14.24 [[ 2.53036195e-01 -9.67166873e-01 -2.36838119e-02 1.01887815e+02] [ 9.62098085e-01 2.54132267e-01 -9.89144371e-02 8.40835670e+01] [ 1.01685588e-01 2.24278273e-03 9.94814059e-01 1.42371598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:84.11, Z:14.24 [[ 2.52424447e-01 -9.67332875e-01 -2.34309087e-02 1.01894271e+02] [ 9.62259277e-01 2.53497870e-01 -9.89743123e-02 8.41114410e+01] [ 1.01680791e-01 2.43692676e-03 9.94814092e-01 1.42399736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:84.14, Z:14.24 [[ 2.52481804e-01 -9.67312977e-01 -2.36335201e-02 1.01900025e+02] [ 9.62243714e-01 2.53575640e-01 -9.89263848e-02 8.41377603e+01] [ 1.01685661e-01 2.23590592e-03 9.94814067e-01 1.42430947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:84.16, Z:14.25 [[ 2.52004273e-01 -9.67443602e-01 -2.33821076e-02 1.01905713e+02] [ 9.62369423e-01 2.53074910e-01 -9.89857762e-02 8.41639241e+01] [ 1.01680581e-01 2.44261316e-03 9.94814100e-01 1.42454914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:84.19, Z:14.25 [[ 2.50886779e-01 -9.67734737e-01 -2.33517257e-02 1.01912257e+02] [ 9.62661140e-01 2.51960169e-01 -9.89929431e-02 8.41888329e+01] [ 1.01682615e-01 2.35622170e-03 9.94814100e-01 1.42471975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:84.22, Z:14.25 [[ 2.50139701e-01 -9.67928717e-01 -2.33265537e-02 1.01919536e+02] [ 9.62855405e-01 2.51214435e-01 -9.89988743e-02 8.42157938e+01] [ 1.01683820e-01 2.30345054e-03 9.94814101e-01 1.42506394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:84.24, Z:14.25 [[ 2.49695807e-01 -9.68043990e-01 -2.32988788e-02 1.01926567e+02] [ 9.62970571e-01 2.50770038e-01 -9.90053871e-02 8.42413170e+01] [ 1.01684231e-01 2.28509533e-03 9.94814101e-01 1.42533492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:84.27, Z:14.26 [[ 2.48917839e-01 -9.68245105e-01 -2.32664146e-02 1.01933266e+02] [ 9.63171848e-01 2.49992829e-01 -9.90130157e-02 8.42664835e+01] [ 1.01685305e-01 2.23655034e-03 9.94814102e-01 1.42556047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:84.29, Z:14.26 [[ 2.47686172e-01 -9.68561673e-01 -2.32345660e-02 1.01941606e+02] [ 9.63489095e-01 2.48764359e-01 -9.90204888e-02 8.42924973e+01] [ 1.01687382e-01 2.13975484e-03 9.94814102e-01 1.42581160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:84.32, Z:14.26 [[ 2.46981386e-01 -9.68742355e-01 -2.32044004e-02 1.01948329e+02] [ 9.63669907e-01 2.48060181e-01 -9.90275573e-02 8.43185908e+01] [ 1.01688277e-01 2.09658098e-03 9.94814103e-01 1.42607429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:84.34, Z:14.26 [[ 2.46794939e-01 -9.68790593e-01 -2.31742479e-02 1.01955382e+02] [ 9.63717698e-01 2.47871630e-01 -9.90346131e-02 8.43444098e+01] [ 1.01688040e-01 2.10780848e-03 9.94814103e-01 1.42630572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.296875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.96, Y:84.37, Z:14.27 [[ 2.46006412e-01 -9.68991841e-01 -2.31442632e-02 1.01963258e+02] [ 9.63919173e-01 2.47084167e-01 -9.90416201e-02 8.43693137e+01] [ 1.01689103e-01 2.05567453e-03 9.94814104e-01 1.42656632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:84.40, Z:14.27 [[ 2.45626278e-01 -9.69089025e-01 -2.31126091e-02 1.01970320e+02] [ 9.64016093e-01 2.46702790e-01 -9.90490065e-02 8.43957809e+01] [ 1.01689250e-01 2.04811172e-03 9.94814104e-01 1.42685065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:84.42, Z:14.27 [[ 2.45356285e-01 -9.69158153e-01 -2.30817841e-02 1.01977082e+02] [ 9.64084853e-01 2.46431061e-01 -9.90561892e-02 8.44215019e+01] [ 1.01689182e-01 2.05126015e-03 9.94814105e-01 1.42708072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:84.45, Z:14.27 [[ 2.44232337e-01 -9.69442570e-01 -2.30579417e-02 1.01983153e+02] [ 9.64370002e-01 2.45310559e-01 -9.90617389e-02 8.44470636e+01] [ 1.01691023e-01 1.95769273e-03 9.94814105e-01 1.42722489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:84.47, Z:14.27 [[ 2.37735177e-01 -9.71057010e-01 -2.30275837e-02 1.01979118e+02] [ 9.65991097e-01 2.38844246e-01 -9.90687954e-02 8.44678984e+01] [ 1.01701454e-01 1.30769678e-03 9.94814105e-01 1.42671484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:84.50, Z:14.28 [[ 2.44392317e-01 -9.69454216e-01 -2.07585862e-02 1.01996663e+02] [ 9.64334458e-01 2.45234261e-01 -9.95952318e-02 8.44999870e+01] [ 1.01643734e-01 4.32208942e-03 9.94811475e-01 1.42766291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:84.53, Z:14.28 [[ 2.44443183e-01 -9.69389335e-01 -2.30618330e-02 1.02003247e+02] [ 9.64316773e-01 2.45520702e-01 -9.90593087e-02 8.45258247e+01] [ 1.01689195e-01 1.97546037e-03 9.94814257e-01 1.42800494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:84.55, Z:14.28 [[ 2.44451776e-01 -9.69387889e-01 -2.30314995e-02 1.02009500e+02] [ 9.64314661e-01 2.45526152e-01 -9.90663609e-02 8.45522571e+01] [ 1.01688566e-01 2.00733527e-03 9.94814257e-01 1.42830368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:84.58, Z:14.29 [[ 2.43802138e-01 -9.69552207e-01 -2.30007823e-02 1.02016165e+02] [ 9.64479034e-01 2.44876776e-01 -9.90734922e-02 8.45791245e+01] [ 1.01689280e-01 1.97055690e-03 9.94814258e-01 1.42856505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:84.61, Z:14.29 [[ 2.42840535e-01 -9.69793018e-01 -2.30212130e-02 1.02022154e+02] [ 9.64721358e-01 2.43922290e-01 -9.90687553e-02 8.46061398e+01] [ 1.01691574e-01 1.84885363e-03 9.94814257e-01 1.42884512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:84.63, Z:14.28 [[ 2.33735060e-01 -9.72030790e-01 -2.28924701e-02 1.02019337e+02] [ 9.66966588e-01 2.34851208e-01 -9.90985749e-02 8.46298244e+01] [ 1.01703190e-01 1.02655772e-03 9.94814258e-01 1.42835304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:84.66, Z:14.29 [[ 2.42208500e-01 -9.69998737e-01 -2.09163179e-02 1.02035051e+02] [ 9.64884423e-01 2.43078170e-01 -9.95542709e-02 8.46597764e+01] [ 1.01651817e-01 3.93106126e-03 9.94812271e-01 1.42920143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:84.69, Z:14.30 [[ 2.42047557e-01 -9.69998916e-01 -2.26954479e-02 1.02042279e+02] [ 9.64921214e-01 2.43100188e-01 -9.91430704e-02 8.46862245e+01] [ 1.01685938e-01 2.09801889e-03 9.94814339e-01 1.42953021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:84.71, Z:14.30 [[ 2.40870035e-01 -9.70294976e-01 -2.25673454e-02 1.02048552e+02] [ 9.65215808e-01 2.41915742e-01 -9.91726623e-02 8.47145739e+01] [ 1.01686132e-01 2.10536416e-03 9.94814303e-01 1.42979174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.06, Y:84.74, Z:14.30 [[ 2.40192266e-01 -9.70461898e-01 -2.26137339e-02 1.02055519e+02] [ 9.65384457e-01 2.41246259e-01 -9.91619479e-02 8.47422629e+01] [ 1.01688371e-01 1.98698573e-03 9.94814318e-01 1.43004731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.06, Y:84.77, Z:14.30 [[ 2.39694662e-01 -9.70584904e-01 -2.26144555e-02 1.02063818e+02] [ 9.65508020e-01 2.40751332e-01 -9.91617814e-02 8.47693709e+01] [ 1.01689388e-01 1.93411148e-03 9.94814318e-01 1.43024186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:84.80, Z:14.31 [[ 2.38723270e-01 -9.70818823e-01 -2.28475962e-02 1.02070467e+02] [ 9.65748066e-01 2.39808820e-01 -9.91080380e-02 8.47956875e+01] [ 1.01695004e-01 1.59437302e-03 9.94814347e-01 1.43053584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:84.82, Z:14.31 [[ 2.37827625e-01 -9.71039334e-01 -2.28173881e-02 1.02075946e+02] [ 9.65968918e-01 2.38914770e-01 -9.91149923e-02 8.48215951e+01] [ 1.01695967e-01 1.53139555e-03 9.94814347e-01 1.43093986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:84.85, Z:14.31 [[ 2.38572378e-01 -9.70862299e-01 -2.25747092e-02 1.02082718e+02] [ 9.65785798e-01 2.39630858e-01 -9.91707821e-02 8.48475222e+01] [ 1.01690770e-01 1.85707582e-03 9.94814324e-01 1.43122122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:84.87, Z:14.31 [[ 2.40193039e-01 -9.70462728e-01 -2.25698137e-02 1.02088844e+02] [ 9.65384363e-01 2.41242542e-01 -9.91719064e-02 8.48737594e+01] [ 1.01687438e-01 2.03185641e-03 9.94814323e-01 1.43133172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:84.90, Z:14.32 [[ 2.41240725e-01 -9.70198603e-01 -2.27504643e-02 1.02094035e+02] [ 9.65122953e-01 2.42303198e-01 -9.91304488e-02 8.48993469e+01] [ 1.01688733e-01 1.95730600e-03 9.94814340e-01 1.43150244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:84.93, Z:14.32 [[ 2.44448023e-01 -9.69396238e-01 -2.27177877e-02 1.02099469e+02] [ 9.64316416e-01 2.45490365e-01 -9.91379368e-02 8.49265864e+01] [ 1.01680941e-01 2.32693705e-03 9.94814340e-01 1.43165821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:84.95, Z:14.32 [[ 2.45667484e-01 -9.69088646e-01 -2.26866161e-02 1.02105292e+02] [ 9.64006869e-01 2.46700247e-01 -9.91450696e-02 8.49521186e+01] [ 1.01677155e-01 2.48666604e-03 9.94814341e-01 1.43186406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:84.98, Z:14.32 [[ 2.47047213e-01 -9.68738562e-01 -2.26555492e-02 1.02111451e+02] [ 9.63654679e-01 2.48069561e-01 -9.91521683e-02 8.49790487e+01] [ 1.01672681e-01 2.66314079e-03 9.94814341e-01 1.43203612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.12, Y:85.01, Z:14.32 [[ 2.47895607e-01 -9.68522535e-01 -2.26245050e-02 1.02117706e+02] [ 9.63437124e-01 2.48910325e-01 -9.91592515e-02 8.50058198e+01] [ 1.01669442e-01 2.78385478e-03 9.94814342e-01 1.43222402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.12, Y:85.03, Z:14.32 [[ 2.44798767e-01 -9.69310640e-01 -2.25930764e-02 1.02124568e+02] [ 9.64227849e-01 2.45826521e-01 -9.91664119e-02 8.50310011e+01] [ 1.01677036e-01 2.49094192e-03 9.94814342e-01 1.43240588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:85.06, Z:14.33 [[ 2.43893440e-01 -9.69539598e-01 -2.25601012e-02 1.02130711e+02] [ 9.64457085e-01 2.44922570e-01 -9.91739132e-02 8.50559397e+01] [ 1.01678514e-01 2.42961742e-03 9.94814343e-01 1.43268895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:85.08, Z:14.33 [[ 2.43676208e-01 -9.69594962e-01 -2.25281186e-02 1.02136915e+02] [ 9.64512019e-01 2.44703207e-01 -9.91811778e-02 8.50819530e+01] [ 1.01678273e-01 2.43945214e-03 9.94814343e-01 1.43306031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:85.11, Z:14.33 [[ 2.43433688e-01 -9.69656600e-01 -2.24970485e-02 1.02142576e+02] [ 9.64573273e-01 2.44458782e-01 -9.91882249e-02 8.51071846e+01] [ 1.01678118e-01 2.44570372e-03 9.94814344e-01 1.43322627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:85.13, Z:14.33 [[ 2.42700435e-01 -9.69840943e-01 -2.24732054e-02 1.02149019e+02] [ 9.64757900e-01 2.43726935e-01 -9.91936268e-02 8.51340073e+01] [ 1.01679366e-01 2.39313384e-03 9.94814344e-01 1.43338309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:85.16, Z:14.34 [[ 2.42401038e-01 -9.69916532e-01 -2.24423276e-02 1.02155125e+02] [ 9.64833169e-01 2.43425952e-01 -9.92006124e-02 8.51600235e+01] [ 1.01679359e-01 2.39322939e-03 9.94814345e-01 1.43363229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:85.19, Z:14.34 [[ 2.41804587e-01 -9.70066121e-01 -2.24112102e-02 1.02161464e+02] [ 9.64982748e-01 2.42829446e-01 -9.92076419e-02 8.51855333e+01] [ 1.01680074e-01 2.36243169e-03 9.94814345e-01 1.43388196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:85.21, Z:14.34 [[ 2.41507797e-01 -9.70140809e-01 -2.23784562e-02 1.02167415e+02] [ 9.65057075e-01 2.42530863e-01 -9.92150298e-02 8.52125564e+01] [ 1.01680016e-01 2.36471580e-03 9.94814346e-01 1.43416304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:85.24, Z:14.34 [[ 2.40545798e-01 -9.70380487e-01 -2.23479406e-02 1.02174087e+02] [ 9.65297141e-01 2.41570785e-01 -9.92219029e-02 8.52383194e+01] [ 1.01681608e-01 2.29500860e-03 9.94814346e-01 1.43439838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.18, Y:85.26, Z:14.35 [[ 2.39855486e-01 -9.70551889e-01 -2.23243664e-02 1.02180489e+02] [ 9.65468786e-01 2.40881680e-01 -9.92272068e-02 8.52647186e+01] [ 1.01682684e-01 2.24671104e-03 9.94814347e-01 1.43472755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:85.29, Z:14.35 [[ 2.38695474e-01 -9.70838527e-01 -2.22940522e-02 1.02186915e+02] [ 9.65756027e-01 2.39724645e-01 -9.92340172e-02 8.52910831e+01] [ 1.01684641e-01 2.15609550e-03 9.94814347e-01 1.43500440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:85.32, Z:14.35 [[ 2.37713128e-01 -9.71080219e-01 -2.22637827e-02 1.02193045e+02] [ 9.65998136e-01 2.38744349e-01 -9.92408080e-02 8.53175588e+01] [ 1.01686138e-01 2.08407036e-03 9.94814348e-01 1.43525719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:85.34, Z:14.35 [[ 2.30819170e-01 -9.72742609e-01 -2.22334952e-02 1.02189839e+02] [ 9.67667319e-01 2.31883323e-01 -9.92475931e-02 8.53404062e+01] [ 1.01697939e-01 1.39362040e-03 9.94814348e-01 1.43483301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:85.37, Z:14.35 [[ 2.29792450e-01 -9.73025721e-01 -2.04053063e-02 1.02196237e+02] [ 9.67914103e-01 2.30675154e-01 -9.96557198e-02 8.53672407e+01] [ 1.01674576e-01 3.14954823e-03 9.94812727e-01 1.43523136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:85.39, Z:14.35 [[ 2.28854493e-01 -9.73244078e-01 -2.05325782e-02 1.02202153e+02] [ 9.68135821e-01 2.29755149e-01 -9.96273249e-02 8.53938696e+01] [ 1.01679169e-01 2.92183649e-03 9.94812952e-01 1.43539823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.21, Y:85.42, Z:14.36 [[ 2.26868665e-01 -9.73707673e-01 -2.05907007e-02 1.02209116e+02] [ 9.68602430e-01 2.27785685e-01 -9.96143263e-02 8.54205942e+01] [ 1.01685501e-01 2.65516650e-03 9.94813052e-01 1.43584955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.526875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:102.22, Y:85.45, Z:14.36 [[ 2.25300897e-01 -9.74073628e-01 -2.04956696e-02 1.02215135e+02] [ 9.68967947e-01 2.26216417e-01 -9.96355871e-02 8.54475295e+01] [ 1.01688855e-01 2.58834029e-03 9.94812886e-01 1.43610769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:85.47, Z:14.36 [[ 2.24595564e-01 -9.74238789e-01 -2.03866238e-02 1.02221942e+02] [ 9.69131576e-01 2.25503629e-01 -9.96599290e-02 8.54746231e+01] [ 1.01689826e-01 2.62585712e-03 9.94812688e-01 1.43641017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:85.51, Z:14.37 [[ 2.28001017e-01 -9.73444986e-01 -2.05035312e-02 1.02236750e+02] [ 9.68336941e-01 2.28903180e-01 -9.96338484e-02 8.55052884e+01] [ 1.01681394e-01 2.86229202e-03 9.94812898e-01 1.43724555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:85.53, Z:14.37 [[ 2.24413809e-01 -9.74241089e-01 -2.21977994e-02 1.02235193e+02] [ 9.69172175e-01 2.25507697e-01 -9.92550926e-02 8.55280878e+01] [ 1.01704164e-01 7.60723846e-04 9.94814397e-01 1.43712386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:85.56, Z:14.38 [[ 2.28438223e-01 -9.73336453e-01 -2.07876994e-02 1.02247613e+02] [ 9.68233765e-01 2.29367163e-01 -9.95694763e-02 8.55591690e+01] [ 1.01682617e-01 2.61812178e-03 9.94813445e-01 1.43780002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:85.59, Z:14.38 [[ 2.29248732e-01 -9.73115586e-01 -2.21602373e-02 1.02253324e+02] [ 9.68040530e-01 2.30313606e-01 -9.92631640e-02 8.55860490e+01] [ 1.01698336e-01 1.30394665e-03 9.94814429e-01 1.43818867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:85.61, Z:14.38 [[ 2.31404366e-01 -9.72605929e-01 -2.21297387e-02 1.02257776e+02] [ 9.67527882e-01 2.32454880e-01 -9.92699629e-02 8.56123995e+01] [ 1.01694720e-01 1.56036368e-03 9.94814430e-01 1.43835821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:85.64, Z:14.39 [[ 2.32430153e-01 -9.72362028e-01 -2.20977664e-02 1.02262667e+02] [ 9.67282205e-01 2.33472047e-01 -9.92770796e-02 8.56391647e+01] [ 1.01692473e-01 1.70021057e-03 9.94814430e-01 1.43858426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.27, Y:85.66, Z:14.39 [[ 2.33944698e-01 -9.71999432e-01 -2.20676851e-02 1.02267566e+02] [ 9.66917369e-01 2.34975605e-01 -9.92837657e-02 8.56645898e+01] [ 1.01689132e-01 1.88928253e-03 9.94814431e-01 1.43876140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.27, Y:85.69, Z:14.39 [[ 2.35095117e-01 -9.71722541e-01 -2.20360831e-02 1.02272571e+02] [ 9.66638613e-01 2.36116780e-01 -9.92907794e-02 8.56911253e+01] [ 1.01686177e-01 2.04184861e-03 9.94814431e-01 1.43898520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:85.72, Z:14.39 [[ 2.38811375e-01 -9.70816584e-01 -2.20065125e-02 1.02277501e+02] [ 9.65728190e-01 2.39810556e-01 -9.92973329e-02 8.57176802e+01] [ 1.01676892e-01 2.46102320e-03 9.94814431e-01 1.43936349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:85.74, Z:14.40 [[ 2.40056747e-01 -9.70510088e-01 -2.19755864e-02 1.02282660e+02] [ 9.65419801e-01 2.41046237e-01 -9.93041768e-02 8.57438838e+01] [ 1.01672838e-01 2.62297147e-03 9.94814432e-01 1.43960836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:85.77, Z:14.40 [[ 2.41099460e-01 -9.70252270e-01 -2.19449801e-02 1.02287638e+02] [ 9.65160319e-01 2.42080349e-01 -9.93109400e-02 8.57703529e+01] [ 1.01669113e-01 2.76339002e-03 9.94814432e-01 1.43982966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:85.80, Z:14.40 [[ 2.42120434e-01 -9.69998698e-01 -2.19139682e-02 1.02292064e+02] [ 9.64905111e-01 2.43092791e-01 -9.93177827e-02 8.57969603e+01] [ 1.01665248e-01 2.90196472e-03 9.94814433e-01 1.43999515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:85.82, Z:14.40 [[ 2.44287829e-01 -9.69460237e-01 -2.16865313e-02 1.02297304e+02] [ 9.64360134e-01 2.45225517e-01 -9.93678907e-02 8.58243886e+01] [ 1.01651310e-01 3.36074000e-03 9.94814413e-01 1.44030959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:85.85, Z:14.41 [[ 2.44644080e-01 -9.69366604e-01 -2.18554612e-02 1.02302216e+02] [ 9.64269375e-01 2.45597189e-01 -9.93307231e-02 8.58508669e+01] [ 1.01655526e-01 3.22612145e-03 9.94814428e-01 1.44052210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:85.88, Z:14.41 [[ 2.44274274e-01 -9.69460555e-01 -2.18245654e-02 1.02307053e+02] [ 9.64363099e-01 2.45226165e-01 -9.93375110e-02 8.58776398e+01] [ 1.01655753e-01 3.21879283e-03 9.94814429e-01 1.44082426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:85.90, Z:14.41 [[ 2.43207662e-01 -9.69729388e-01 -2.17933060e-02 1.02312034e+02] [ 9.64632383e-01 2.44161961e-01 -9.93443684e-02 8.59035839e+01] [ 1.01658250e-01 3.13878286e-03 9.94814429e-01 1.44107933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:85.92, Z:14.41 [[ 2.35782119e-01 -9.71562284e-01 -2.17605333e-02 1.02306193e+02] [ 9.66472077e-01 2.36772032e-01 -9.93515465e-02 8.59247149e+01] [ 1.01678501e-01 2.39437032e-03 9.94814430e-01 1.44052092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:85.96, Z:14.42 [[ 2.40844012e-01 -9.70370245e-01 -1.93842482e-02 1.02323065e+02] [ 9.65232136e-01 2.41563746e-01 -9.98693205e-02 8.59569588e+01] [ 1.01592749e-01 5.34262854e-03 9.94811726e-01 1.44157082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:85.98, Z:14.41 [[ 2.31814070e-01 -9.72517593e-01 -2.17202314e-02 1.02315533e+02] [ 9.67430796e-01 2.32820641e-01 -9.93589636e-02 8.59760670e+01] [ 1.01685258e-01 2.01998495e-03 9.94814570e-01 1.44097817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:86.01, Z:14.42 [[ 2.37648519e-01 -9.71170527e-01 -1.87346988e-02 1.02333642e+02] [ 9.66024162e-01 2.38318430e-01 -1.00008221e-01 8.60102026e+01] [ 1.01589861e-01 5.66863396e-03 9.94810216e-01 1.44202140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:86.04, Z:14.42 [[ 2.36440805e-01 -9.71403331e-01 -2.17097845e-02 1.02339285e+02] [ 9.66311860e-01 2.37422090e-01 -9.93586502e-02 8.60352495e+01] [ 1.01671706e-01 2.51401696e-03 9.94814829e-01 1.44231584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:86.06, Z:14.43 [[ 2.34844896e-01 -9.71790918e-01 -2.16860861e-02 1.02344530e+02] [ 9.66700596e-01 2.35832121e-01 -9.93638224e-02 8.60622782e+01] [ 1.01675136e-01 2.37113415e-03 9.94814829e-01 1.44253050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:86.09, Z:14.43 [[ 2.33689270e-01 -9.72070138e-01 -2.16557611e-02 1.02350000e+02] [ 9.66980390e-01 2.34679449e-01 -9.93704312e-02 8.60875421e+01] [ 1.01677191e-01 2.28110722e-03 9.94814830e-01 1.44272338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:86.11, Z:14.43 [[ 2.30698955e-01 -9.72784861e-01 -2.16242282e-02 1.02355820e+02] [ 9.67697546e-01 2.31701560e-01 -9.93772927e-02 8.61140354e+01] [ 1.01683093e-01 2.00052502e-03 9.94814830e-01 1.44320457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:86.14, Z:14.44 [[ 2.28796632e-01 -9.73234709e-01 -2.15940317e-02 1.02361657e+02] [ 9.68148752e-01 2.29806099e-01 -9.93838538e-02 8.61402613e+01] [ 1.01686256e-01 1.83245611e-03 9.94814831e-01 1.44366440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:86.17, Z:14.44 [[ 2.25027205e-01 -9.74113845e-01 -2.15632645e-02 1.02367787e+02] [ 9.69031200e-01 2.26053215e-01 -9.93905290e-02 8.61674052e+01] [ 1.01692136e-01 1.47009684e-03 9.94814831e-01 1.44436644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.366875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:102.37, Y:86.19, Z:14.45 [[ 2.22674781e-01 -9.74654899e-01 -2.15353320e-02 1.02373401e+02] [ 9.69574165e-01 2.23710211e-01 -9.93965809e-02 8.61946071e+01] [ 1.01695038e-01 1.25301033e-03 9.94814832e-01 1.44467830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:86.22, Z:14.45 [[ 2.21805650e-01 -9.74850101e-01 -2.16687346e-02 1.02378520e+02] [ 9.69773083e-01 2.22859208e-01 -9.93677081e-02 8.62198042e+01] [ 1.01697697e-01 1.02656350e-03 9.94814819e-01 1.44503419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:86.24, Z:14.44 [[ 2.13420948e-01 -9.76724303e-01 -2.14740708e-02 1.02371216e+02] [ 9.71652297e-01 2.14498284e-01 -9.94097606e-02 8.62400707e+01] [ 1.01702080e-01 3.50795180e-04 9.94814839e-01 1.44438047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:86.27, Z:14.46 [[ 2.19573266e-01 -9.75415546e-01 -1.87641416e-02 1.02388267e+02] [ 9.70284057e-01 2.20341683e-01 -9.99919560e-02 8.62730179e+01] [ 1.01668231e-01 3.74901288e-03 9.94811297e-01 1.44564494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:86.30, Z:14.46 [[ 2.19123676e-01 -9.75461300e-01 -2.14491516e-02 1.02394240e+02] [ 9.70382779e-01 2.20168824e-01 -9.94130363e-02 8.62988389e+01] [ 1.01696004e-01 9.69862676e-04 9.94815049e-01 1.44606756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.40, Y:86.33, Z:14.46 [[ 2.18944418e-01 -9.75502249e-01 -2.14173872e-02 1.02400016e+02] [ 9.70423254e-01 2.19987262e-01 -9.94198791e-02 8.63254197e+01] [ 1.01695868e-01 9.83496991e-04 9.94815050e-01 1.44647778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:86.35, Z:14.46 [[ 2.12554447e-01 -9.76915145e-01 -2.13870765e-02 1.02394196e+02] [ 9.71842432e-01 2.13627429e-01 -9.94263992e-02 8.63462835e+01] [ 1.01700021e-01 3.48654898e-04 9.94815050e-01 1.44592444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:86.38, Z:14.47 [[ 2.19226234e-01 -9.75488053e-01 -1.90503918e-02 1.02410828e+02] [ 9.70362382e-01 2.20025808e-01 -9.99274330e-02 8.63787112e+01] [ 1.01669595e-01 3.42093124e-03 9.94812339e-01 1.44711987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:86.40, Z:14.48 [[ 2.19414309e-01 -9.75397215e-01 -2.13923709e-02 1.02416805e+02] [ 9.70317345e-01 2.20452158e-01 -9.94238232e-02 8.64047435e+01] [ 1.01693715e-01 1.05762093e-03 9.94815194e-01 1.44751935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:86.43, Z:14.48 [[ 2.19458350e-01 -9.75387972e-01 -2.13620359e-02 1.02422399e+02] [ 9.70307425e-01 2.20492878e-01 -9.94303405e-02 8.64308321e+01] [ 1.01693335e-01 1.09307643e-03 9.94815194e-01 1.44771422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:86.45, Z:14.47 [[ 2.14195353e-01 -9.76557923e-01 -2.13301111e-02 1.02417061e+02] [ 9.71482350e-01 2.15254012e-01 -9.94371887e-02 8.64518136e+01] [ 1.01697567e-01 5.77157276e-04 9.94815195e-01 1.44708110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:86.48, Z:14.48 [[ 2.20970251e-01 -9.75095657e-01 -1.89896846e-02 1.02433273e+02] [ 9.69967862e-01 2.21754454e-01 -9.99365239e-02 8.64834530e+01] [ 1.01658718e-01 3.66361507e-03 9.94812587e-01 1.44809816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:86.51, Z:14.49 [[ 2.21383446e-01 -9.74954313e-01 -2.12945455e-02 1.02439358e+02] [ 9.69870510e-01 2.22401062e-01 -9.94432553e-02 8.65098004e+01] [ 1.01688560e-01 1.36213880e-03 9.94815350e-01 1.44856900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:86.54, Z:14.49 [[ 2.21117131e-01 -9.75015386e-01 -2.12652896e-02 1.02444767e+02] [ 9.69931264e-01 2.22133152e-01 -9.94495112e-02 8.65366336e+01] [ 1.01688529e-01 1.36412132e-03 9.94815351e-01 1.44886870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:102.45, Y:86.56, Z:14.49 [[ 2.21775334e-01 -9.74866536e-01 -2.12353327e-02 1.02450412e+02] [ 9.69781123e-01 2.22784867e-01 -9.94559075e-02 8.65633936e+01] [ 1.01687147e-01 1.46324225e-03 9.94815351e-01 1.44922627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:86.59, Z:14.50 [[ 2.21762504e-01 -9.74870119e-01 -2.12047750e-02 1.02456119e+02] [ 9.69784102e-01 2.22768987e-01 -9.94624222e-02 8.65899644e+01] [ 1.01686710e-01 1.49298207e-03 9.94815352e-01 1.44953437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:86.62, Z:14.50 [[ 2.21882167e-01 -9.74843552e-01 -2.11743654e-02 1.02461643e+02] [ 9.69756799e-01 2.22884924e-01 -9.94688957e-02 8.66150749e+01] [ 1.01686058e-01 1.53638939e-03 9.94815352e-01 1.44980703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:86.64, Z:14.50 [[ 2.22257301e-01 -9.74758602e-01 -2.11508840e-02 1.02466694e+02] [ 9.69670994e-01 2.23255705e-01 -9.94738885e-02 8.66419328e+01] [ 1.01685084e-01 1.59939933e-03 9.94815353e-01 1.45009735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:86.67, Z:14.50 [[ 2.22547067e-01 -9.74693144e-01 -2.11205491e-02 1.02471396e+02] [ 9.69604634e-01 2.23540863e-01 -9.94803289e-02 8.66690416e+01] [ 1.01684100e-01 1.66047315e-03 9.94815353e-01 1.45033595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:86.70, Z:14.51 [[ 2.23004754e-01 -9.74589192e-01 -2.10899605e-02 1.02476245e+02] [ 9.69499609e-01 2.23993039e-01 -9.94868134e-02 8.66953590e+01] [ 1.01682777e-01 1.73932386e-03 9.94815353e-01 1.45058722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:86.72, Z:14.51 [[ 2.23685369e-01 -9.74433862e-01 -2.10595511e-02 1.02481579e+02] [ 9.69342991e-01 2.24666995e-01 -9.94932501e-02 8.67227863e+01] [ 1.01680978e-01 1.84125611e-03 9.94815354e-01 1.45097755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:86.75, Z:14.51 [[ 2.26122790e-01 -9.73871740e-01 -2.10313779e-02 1.02485926e+02] [ 9.68777883e-01 2.27088798e-01 -9.94992052e-02 8.67496562e+01] [ 1.01675454e-01 2.12430414e-03 9.94815354e-01 1.45118533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:86.78, Z:14.51 [[ 2.26824291e-01 -9.73709228e-01 -2.10018912e-02 1.02490075e+02] [ 9.68614109e-01 2.27783618e-01 -9.95054288e-02 8.67762449e+01] [ 1.01673241e-01 2.22752026e-03 9.94815355e-01 1.45132026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:86.80, Z:14.52 [[ 2.27899491e-01 -9.73458797e-01 -2.09712551e-02 1.02494532e+02] [ 9.68362037e-01 2.28850060e-01 -9.95118852e-02 8.68027229e+01] [ 1.01669993e-01 2.37094067e-03 9.94815355e-01 1.45151608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:86.83, Z:14.52 [[ 2.28669224e-01 -9.73278944e-01 -2.09400158e-02 1.02499088e+02] [ 9.68180843e-01 2.29612570e-01 -9.95184584e-02 8.68282704e+01] [ 1.01667311e-01 2.48308648e-03 9.94815356e-01 1.45170931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:86.86, Z:14.52 [[ 2.28368880e-01 -9.73350165e-01 -2.09072203e-02 1.02504649e+02] [ 9.68251736e-01 2.29310449e-01 -9.95253478e-02 8.68553725e+01] [ 1.01667258e-01 2.48503990e-03 9.94815356e-01 1.45199038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:86.88, Z:14.52 [[ 2.29524340e-01 -9.73079008e-01 -2.08763451e-02 1.02509655e+02] [ 9.67978887e-01 2.30456699e-01 -9.95318237e-02 8.68820802e+01] [ 1.01663422e-01 2.63711482e-03 9.94815357e-01 1.45226169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:86.91, Z:14.53 [[ 2.29398817e-01 -9.73109271e-01 -2.08453541e-02 1.02515147e+02] [ 9.68008693e-01 2.30328666e-01 -9.95383139e-02 8.69073650e+01] [ 1.01662939e-01 2.65548747e-03 9.94815357e-01 1.45259611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:86.93, Z:14.53 [[ 2.28579027e-01 -9.73302861e-01 -2.08127241e-02 1.02520963e+02] [ 9.68202459e-01 2.29509837e-01 -9.95451362e-02 8.69342413e+01] [ 1.01664291e-01 2.60299965e-03 9.94815358e-01 1.45294667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:86.96, Z:14.53 [[ 2.27176683e-01 -9.73631786e-01 -2.07822260e-02 1.02527139e+02] [ 9.68532157e-01 2.28111724e-01 -9.95515030e-02 8.69607986e+01] [ 1.01667177e-01 2.48752606e-03 9.94815358e-01 1.45331853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:86.99, Z:14.54 [[ 2.26450291e-01 -9.73801640e-01 -2.07516786e-02 1.02532775e+02] [ 9.68702137e-01 2.27386015e-01 -9.95578703e-02 8.69879181e+01] [ 1.01668259e-01 2.44271328e-03 9.94815359e-01 1.45355546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:87.01, Z:14.54 [[ 2.25460881e-01 -9.74031800e-01 -2.07230058e-02 1.02537739e+02] [ 9.68932712e-01 2.26398856e-01 -9.95638382e-02 8.70146029e+01] [ 1.01670009e-01 2.36855244e-03 9.94815359e-01 1.45376818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:87.04, Z:14.54 [[ 2.25089479e-01 -9.74118346e-01 -2.06923675e-02 1.02543565e+02] [ 9.69019040e-01 2.26026268e-01 -9.95702055e-02 8.70412999e+01] [ 1.01670182e-01 2.36090765e-03 9.94815360e-01 1.45408782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:87.07, Z:14.54 [[ 2.23654870e-01 -9.74449394e-01 -2.06610268e-02 1.02549811e+02] [ 9.69350882e-01 2.24595965e-01 -9.95767083e-02 8.70664573e+01] [ 1.01672846e-01 2.24303120e-03 9.94815360e-01 1.45432804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:87.09, Z:14.55 [[ 2.22354352e-01 -9.74747665e-01 -2.06284183e-02 1.02555745e+02] [ 9.69649796e-01 2.23298920e-01 -9.95834632e-02 8.70926281e+01] [ 1.01675052e-01 2.14047478e-03 9.94815361e-01 1.45465137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.416875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.56, Y:87.12, Z:14.55 [[ 2.20692971e-01 -9.75125618e-01 -2.06068199e-02 1.02561505e+02] [ 9.70028954e-01 2.21644021e-01 -9.95879324e-02 8.71181229e+01] [ 1.01678123e-01 1.98914480e-03 9.94815361e-01 1.45489181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:87.15, Z:14.55 [[ 2.17278077e-01 -9.75892714e-01 -2.05827236e-02 1.02568175e+02] [ 9.70798943e-01 2.18244504e-01 -9.95929123e-02 8.71450224e+01] [ 1.01684064e-01 1.65767012e-03 9.94815361e-01 1.45512908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:87.17, Z:14.55 [[ 2.15179748e-01 -9.76358174e-01 -2.05521875e-02 1.02573741e+02] [ 9.71265896e-01 2.16154008e-01 -9.95992135e-02 8.71707153e+01] [ 1.01686944e-01 1.47009477e-03 9.94815362e-01 1.45532926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:87.20, Z:14.56 [[ 2.13017615e-01 -9.76832675e-01 -2.05285238e-02 1.02579860e+02] [ 9.71742101e-01 2.14000734e-01 -9.96040906e-02 8.71973631e+01] [ 1.01689649e-01 1.26899503e-03 9.94815362e-01 1.45566411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:87.22, Z:14.56 [[ 2.11419764e-01 -9.77180395e-01 -2.04977689e-02 1.02585704e+02] [ 9.72090827e-01 2.12408072e-01 -9.96104194e-02 8.72226600e+01] [ 1.01691241e-01 1.13391824e-03 9.94815363e-01 1.45588239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:87.25, Z:14.56 [[ 2.08083369e-01 -9.77896964e-01 -2.04655880e-02 1.02591739e+02] [ 9.72810151e-01 2.09085765e-01 -9.96170308e-02 8.72486003e+01] [ 1.01694255e-01 8.19515590e-04 9.94815363e-01 1.45620872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.60, Y:87.27, Z:14.56 [[ 2.06630446e-01 -9.78205634e-01 -2.04351550e-02 1.02597685e+02] [ 9.73119703e-01 2.07637299e-01 -9.96232734e-02 8.72746171e+01] [ 1.01695148e-01 6.99349497e-04 9.94815364e-01 1.45649720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62687499999998 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:102.59, Y:87.30, Z:14.56 [[ 1.98359471e-01 -9.79916889e-01 -2.04061648e-02 1.02592559e+02] [ 9.74839036e-01 1.99406305e-01 -9.96292112e-02 8.72958242e+01] [ 1.01697465e-01 -1.30328335e-04 9.94815364e-01 1.45584264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:87.33, Z:14.57 [[ 2.04422100e-01 -9.78716675e-01 -1.80353620e-02 1.02608633e+02] [ 9.73587257e-01 2.05195571e-01 -1.00113087e-01 8.73273527e+01] [ 1.01683124e-01 2.90632885e-03 9.94812593e-01 1.45712823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:87.35, Z:14.58 [[ 2.02440693e-01 -9.79081681e-01 -2.04163498e-02 1.02613736e+02] [ 9.73999891e-01 2.03467397e-01 -9.96254553e-02 8.73540666e+01] [ 1.01695520e-01 2.82723681e-04 9.94815531e-01 1.45760391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:87.38, Z:14.58 [[ 2.01857705e-01 -9.79202672e-01 -2.03861398e-02 1.02618887e+02] [ 9.74120872e-01 2.02884361e-01 -9.96316368e-02 8.73808757e+01] [ 1.01695594e-01 2.52849313e-04 9.94815532e-01 1.45795651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:87.41, Z:14.58 [[ 2.01382758e-01 -9.79301105e-01 -2.03551338e-02 1.02623946e+02] [ 9.74219166e-01 2.02408724e-01 -9.96379711e-02 8.74072708e+01] [ 1.01695632e-01 2.35007902e-04 9.94815532e-01 1.45820781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:87.43, Z:14.58 [[ 2.01436395e-01 -9.79290714e-01 -2.03242881e-02 1.02628094e+02] [ 9.74208087e-01 2.02458944e-01 -9.96442627e-02 8.74329636e+01] [ 1.01695535e-01 2.71895208e-04 9.94815533e-01 1.45836112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:87.46, Z:14.59 [[ 2.01232947e-01 -9.79333215e-01 -2.02917428e-02 1.02632459e+02] [ 9.74250136e-01 2.02253240e-01 -9.96508899e-02 8.74597729e+01] [ 1.01695497e-01 2.83809064e-04 9.94815533e-01 1.45866914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:87.49, Z:14.59 [[ 2.01483586e-01 -9.79282307e-01 -2.02615021e-02 1.02636944e+02] [ 9.74198351e-01 2.02499501e-01 -9.96570382e-02 8.74862965e+01] [ 1.01695318e-01 3.40535486e-04 9.94815534e-01 1.45895796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:87.51, Z:14.59 [[ 2.01673004e-01 -9.79243940e-01 -2.02312983e-02 1.02641442e+02] [ 9.74159176e-01 2.02684861e-01 -9.96631696e-02 8.75124690e+01] [ 1.01695133e-01 3.90865849e-04 9.94815534e-01 1.45936103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:87.54, Z:14.60 [[ 2.02102368e-01 -9.79156093e-01 -2.01984552e-02 1.02644285e+02] [ 9.74070224e-01 2.03108653e-01 -9.96698254e-02 8.75389548e+01] [ 1.01694798e-01 4.68793958e-04 9.94815535e-01 1.45968188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:87.57, Z:14.60 [[ 2.02429286e-01 -9.79089162e-01 -2.01692005e-02 1.02648727e+02] [ 9.74002370e-01 2.03430895e-01 -9.96757451e-02 8.75658541e+01] [ 1.01694480e-01 5.32440814e-04 9.94815535e-01 1.45998769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:87.59, Z:14.60 [[ 2.02921533e-01 -9.78987870e-01 -2.01395448e-02 1.02653698e+02] [ 9.73899984e-01 2.03917564e-01 -9.96817367e-02 8.75928413e+01] [ 1.01694018e-01 6.13668440e-04 9.94815536e-01 1.46041210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.66, Y:87.62, Z:14.61 [[ 2.04005200e-01 -9.78763246e-01 -2.01093721e-02 1.02657485e+02] [ 9.73673663e-01 2.04992525e-01 -9.96878233e-02 8.76188123e+01] [ 1.01693049e-01 7.56868251e-04 9.94815536e-01 1.46067422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.66, Y:87.64, Z:14.61 [[ 2.04798323e-01 -9.78598247e-01 -2.00777788e-02 1.02661206e+02] [ 9.73507246e-01 2.05778306e-01 -9.96941861e-02 8.76443413e+01] [ 1.01692127e-01 8.71339000e-04 9.94815537e-01 1.46087954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:87.67, Z:14.61 [[ 2.05891444e-01 -9.78369474e-01 -2.00470785e-02 1.02665704e+02] [ 9.73276784e-01 2.06862611e-01 -9.97003591e-02 8.76716026e+01] [ 1.01690779e-01 1.01609483e-03 9.94815537e-01 1.46112953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:87.70, Z:14.61 [[ 2.09019063e-01 -9.77706660e-01 -2.00179717e-02 1.02669726e+02] [ 9.72610335e-01 2.09970971e-01 -9.97062029e-02 8.76971632e+01] [ 1.01686612e-01 1.37081089e-03 9.94815538e-01 1.46139693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.106875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:102.67, Y:87.72, Z:14.62 [[ 2.10349959e-01 -9.77421811e-01 -1.99874406e-02 1.02674167e+02] [ 9.72323620e-01 2.11291814e-01 -9.97123230e-02 8.77240418e+01] [ 1.01684182e-01 1.54022244e-03 9.94815538e-01 1.46168584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:87.75, Z:14.62 [[ 2.12071829e-01 -9.77050243e-01 -1.99589965e-02 1.02679003e+02] [ 9.71949871e-01 2.13001798e-01 -9.97180162e-02 8.77508603e+01] [ 1.01680814e-01 1.74823802e-03 9.94815539e-01 1.46216936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:87.78, Z:14.62 [[ 2.13301027e-01 -9.76783265e-01 -1.99279804e-02 1.02683459e+02] [ 9.71681155e-01 2.14221412e-01 -9.97242143e-02 8.77762122e+01] [ 1.01677944e-01 1.90763430e-03 9.94815539e-01 1.46238174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:87.80, Z:14.63 [[ 2.15078194e-01 -9.76394152e-01 -1.98954853e-02 1.02688091e+02] [ 9.71289785e-01 2.15985976e-01 -9.97306968e-02 8.78029085e+01] [ 1.01673615e-01 2.12561652e-03 9.94815540e-01 1.46262231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:87.83, Z:14.63 [[ 2.15380464e-01 -9.76328146e-01 -1.98647157e-02 1.02693354e+02] [ 9.71222942e-01 2.16283524e-01 -9.97368253e-02 8.78291820e+01] [ 1.01672280e-01 2.18829605e-03 9.94815540e-01 1.46294477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:87.86, Z:14.63 [[ 2.15462826e-01 -9.76310598e-01 -1.98339843e-02 1.02698946e+02] [ 9.71204764e-01 2.16362317e-01 -9.97429363e-02 8.78555653e+01] [ 1.01671413e-01 2.22803493e-03 9.94815541e-01 1.46322489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:87.88, Z:14.64 [[ 2.15246128e-01 -9.76359020e-01 -1.98032188e-02 1.02704911e+02] [ 9.71252834e-01 2.16143611e-01 -9.97490443e-02 8.78815305e+01] [ 1.01671218e-01 2.23666321e-03 9.94815541e-01 1.46355986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:87.91, Z:14.64 [[ 2.14709132e-01 -9.76477876e-01 -1.97723631e-02 1.02710707e+02] [ 9.71371630e-01 2.15606272e-01 -9.97551602e-02 8.79088225e+01] [ 1.01671752e-01 2.21203122e-03 9.94815542e-01 1.46385218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:87.94, Z:14.64 [[ 2.14014295e-01 -9.76630969e-01 -1.97441608e-02 1.02716238e+02] [ 9.71524856e-01 2.14912189e-01 -9.97607419e-02 8.79351093e+01] [ 1.01672691e-01 2.16828191e-03 9.94815542e-01 1.46398529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:87.96, Z:14.64 [[ 2.13354998e-01 -9.76775778e-01 -1.97160700e-02 1.02722254e+02] [ 9.71669767e-01 2.14253471e-01 -9.97662933e-02 8.79619384e+01] [ 1.01673535e-01 2.12812820e-03 9.94815542e-01 1.46422685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:87.99, Z:14.64 [[ 2.11814227e-01 -9.77111675e-01 -1.96852090e-02 1.02729037e+02] [ 9.72006530e-01 2.12717601e-01 -9.97723823e-02 8.79873661e+01] [ 1.01676150e-01 1.99905828e-03 9.94815543e-01 1.46448987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:88.01, Z:14.65 [[ 2.11408205e-01 -9.77200248e-01 -1.96531578e-02 1.02734727e+02] [ 9.72094900e-01 2.12310429e-01 -9.97786954e-02 8.80135759e+01] [ 1.01676336e-01 1.98930035e-03 9.94815543e-01 1.46480087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:88.04, Z:14.65 [[ 2.11345537e-01 -9.77214412e-01 -1.96228549e-02 1.02740571e+02] [ 9.72108577e-01 2.12244995e-01 -9.97846545e-02 8.80411154e+01] [ 1.01675855e-01 2.01349577e-03 9.94815544e-01 1.46515531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:88.07, Z:14.66 [[ 2.11448270e-01 -9.77192749e-01 -1.95949070e-02 1.02745948e+02] [ 9.72086318e-01 2.12344340e-01 -9.97901425e-02 8.80672064e+01] [ 1.01675071e-01 2.05251209e-03 9.94815544e-01 1.46550211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.526875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:102.75, Y:88.09, Z:14.66 [[ 2.12492605e-01 -9.76966817e-01 -1.95635389e-02 1.02751207e+02] [ 9.71858874e-01 2.13380013e-01 -9.97962918e-02 8.80924185e+01] [ 1.01672134e-01 2.19297512e-03 9.94815545e-01 1.46578125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:88.12, Z:14.66 [[ 2.13300365e-01 -9.76791431e-01 -1.95308500e-02 1.02756383e+02] [ 9.71682181e-01 2.14180211e-01 -9.98026889e-02 8.81191259e+01] [ 1.01669533e-01 2.31017109e-03 9.94815545e-01 1.46606965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:88.15, Z:14.66 [[ 2.14473595e-01 -9.76535101e-01 -1.95005862e-02 1.02762052e+02] [ 9.71424271e-01 2.15344212e-01 -9.98086018e-02 8.81468435e+01] [ 1.01665941e-01 2.46296690e-03 9.94815546e-01 1.46636836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.77, Y:88.17, Z:14.66 [[ 2.15913989e-01 -9.76218199e-01 -1.94724755e-02 1.02766888e+02] [ 9.71105606e-01 2.16774193e-01 -9.98140859e-02 8.81731493e+01] [ 1.01661457e-01 2.64142729e-03 9.94815546e-01 1.46639538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.77, Y:88.20, Z:14.67 [[ 2.16002716e-01 -9.76199059e-01 -1.94479706e-02 1.02772175e+02] [ 9.71085968e-01 2.16859951e-01 -9.98188603e-02 8.81999852e+01] [ 1.01660563e-01 2.67549354e-03 9.94815547e-01 1.46670291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:88.23, Z:14.67 [[ 2.15622296e-01 -9.76283776e-01 -1.94168743e-02 1.02777259e+02] [ 9.71170486e-01 2.16478346e-01 -9.98249089e-02 8.82259831e+01] [ 1.01660772e-01 2.66738075e-03 9.94815547e-01 1.46690058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.706875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:102.78, Y:88.25, Z:14.67 [[ 2.15300561e-01 -9.76355425e-01 -1.93843465e-02 1.02782294e+02] [ 9.71241862e-01 2.16154973e-01 -9.98312249e-02 8.82522980e+01] [ 1.01660781e-01 2.66682994e-03 9.94815548e-01 1.46718872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:88.28, Z:14.67 [[ 2.14925190e-01 -9.76438734e-01 -1.93535939e-02 1.02787839e+02] [ 9.71324975e-01 2.15778426e-01 -9.98371864e-02 8.82777654e+01] [ 1.01660984e-01 2.65889714e-03 9.94815548e-01 1.46737947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:88.30, Z:14.68 [[ 2.14214755e-01 -9.76595472e-01 -1.93215386e-02 1.02793016e+02] [ 9.71481788e-01 2.15068437e-01 -9.98433897e-02 8.83032938e+01] [ 1.01662055e-01 2.61740441e-03 9.94815549e-01 1.46772217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:88.33, Z:14.68 [[ 2.13608807e-01 -9.76728821e-01 -1.92895718e-02 1.02798449e+02] [ 9.71615122e-01 2.14462396e-01 -9.98495653e-02 8.83298797e+01] [ 1.01662836e-01 2.58670689e-03 9.94815549e-01 1.46803005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:88.36, Z:14.68 [[ 2.12682087e-01 -9.76931627e-01 -1.92594563e-02 1.02803132e+02] [ 9.71818225e-01 2.13537450e-01 -9.98553739e-02 8.83552949e+01] [ 1.01664488e-01 2.52075870e-03 9.94815550e-01 1.46824061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:88.38, Z:14.68 [[ 2.12292564e-01 -9.77016803e-01 -1.92362701e-02 1.02807854e+02] [ 9.71903346e-01 2.13147597e-01 -9.98598403e-02 8.83805218e+01] [ 1.01664907e-01 2.50370627e-03 9.94815550e-01 1.46848275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:88.41, Z:14.69 [[ 2.11989182e-01 -9.77083160e-01 -1.92115778e-02 1.02813367e+02] [ 9.71969547e-01 2.12843281e-01 -9.98645906e-02 8.84071296e+01] [ 1.01665065e-01 2.49714435e-03 9.94815550e-01 1.46877606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:88.43, Z:14.69 [[ 2.12291820e-01 -9.77018032e-01 -1.91819999e-02 1.02819297e+02] [ 9.71903652e-01 2.13141314e-01 -9.98702716e-02 8.84326976e+01] [ 1.01663533e-01 2.55858596e-03 9.94815551e-01 1.46920923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:88.46, Z:14.70 [[ 2.12433897e-01 -9.76987760e-01 -1.91508620e-02 1.02824398e+02] [ 9.71872731e-01 2.13279466e-01 -9.98762422e-02 8.84592908e+01] [ 1.01662352e-01 2.60489881e-03 9.94815551e-01 1.46954940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.83, Y:88.49, Z:14.70 [[ 2.12805876e-01 -9.76907375e-01 -1.91217181e-02 1.02829470e+02] [ 9.71791534e-01 2.13646520e-01 -9.98818217e-02 8.84861534e+01] [ 1.01660577e-01 2.67311484e-03 9.94815552e-01 1.47009104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.83, Y:88.51, Z:14.70 [[ 2.11811284e-01 -9.77124109e-01 -1.90906919e-02 1.02834345e+02] [ 9.72008605e-01 2.12653966e-01 -9.98877515e-02 8.85124193e+01] [ 1.01662442e-01 2.60103617e-03 9.94815552e-01 1.47017151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:88.54, Z:14.70 [[ 2.11488521e-01 -9.77194609e-01 -1.90604765e-02 1.02839147e+02] [ 9.72078875e-01 2.12329806e-01 -9.98935169e-02 8.85388351e+01] [ 1.01662513e-01 2.59804562e-03 9.94815553e-01 1.47044434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:88.57, Z:14.71 [[ 2.12577638e-01 -9.76958909e-01 -1.90273053e-02 1.02844325e+02] [ 9.71841688e-01 2.13409831e-01 -9.98998349e-02 8.85655124e+01] [ 1.01658648e-01 2.74494243e-03 9.94815553e-01 1.47093835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:88.59, Z:14.71 [[ 2.08305585e-01 -9.77879323e-01 -1.89950991e-02 1.02844825e+02] [ 9.72765240e-01 2.09156847e-01 -9.99059583e-02 8.85917323e+01] [ 1.01668926e-01 2.33319699e-03 9.94815554e-01 1.47073220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:88.62, Z:14.72 [[ 2.11089684e-01 -9.77299715e-01 -1.80669087e-02 1.02855524e+02] [ 9.72168210e-01 2.11831487e-01 -1.00081929e-01 8.86205831e+01] [ 1.01637180e-01 3.56218843e-03 9.94815156e-01 1.47163376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:88.65, Z:14.72 [[ 2.10099477e-01 -9.77496130e-01 -1.89611522e-02 1.02861478e+02] [ 9.72379940e-01 2.10937887e-01 -9.99122636e-02 8.86463404e+01] [ 1.01663476e-01 2.55407031e-03 9.94815568e-01 1.47200253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:88.67, Z:14.72 [[ 2.07541140e-01 -9.78043146e-01 -1.89283050e-02 1.02867143e+02] [ 9.72928610e-01 2.08389580e-01 -9.99184862e-02 8.86717605e+01] [ 1.01669052e-01 2.32130705e-03 9.94815569e-01 1.47219672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:88.70, Z:14.73 [[ 2.06349938e-01 -9.78295788e-01 -1.88958906e-02 1.02872958e+02] [ 9.73181737e-01 2.07201296e-01 -9.99246158e-02 8.86981494e+01] [ 1.01671084e-01 2.23030259e-03 9.94815569e-01 1.47266860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:88.72, Z:14.73 [[ 2.04908298e-01 -9.78599361e-01 -1.88647937e-02 1.02878527e+02] [ 9.73486039e-01 2.05764017e-01 -9.99304863e-02 8.87239790e+01] [ 1.01673606e-01 2.11197267e-03 9.94815570e-01 1.47290320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:88.75, Z:14.73 [[ 2.02682485e-01 -9.79063409e-01 -1.88321890e-02 1.02885239e+02] [ 9.73951483e-01 2.03546502e-01 -9.99366305e-02 8.87499046e+01] [ 1.01677524e-01 1.91376621e-03 9.94815570e-01 1.47320736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:88.78, Z:14.73 [[ 2.01463754e-01 -9.79315524e-01 -1.88005395e-02 1.02890381e+02] [ 9.74204129e-01 2.02330904e-01 -9.99425842e-02 8.87753584e+01] [ 1.01679254e-01 1.81924500e-03 9.94815571e-01 1.47334700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:88.80, Z:14.74 [[ 2.00583608e-01 -9.79496809e-01 -1.87674648e-02 1.02896010e+02] [ 9.74385621e-01 2.01451978e-01 -9.99487947e-02 8.88016477e+01] [ 1.01680268e-01 1.76134206e-03 9.94815571e-01 1.47369498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:88.83, Z:14.74 [[ 1.99406676e-01 -9.79737692e-01 -1.87358537e-02 1.02901458e+02] [ 9.74627002e-01 2.00277961e-01 -9.99547201e-02 8.88274434e+01] [ 1.01681785e-01 1.67116956e-03 9.94815572e-01 1.47392801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:88.85, Z:14.74 [[ 1.98753740e-01 -9.79870989e-01 -1.87028276e-02 1.02908761e+02] [ 9.74760305e-01 1.99625062e-01 -9.99608994e-02 8.88535238e+01] [ 1.01682338e-01 1.63682861e-03 9.94815572e-01 1.47435414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:88.88, Z:14.75 [[ 1.98257724e-01 -9.79972057e-01 -1.86719792e-02 1.02914088e+02] [ 9.74861278e-01 1.99128487e-01 -9.99666613e-02 8.88804156e+01] [ 1.01682658e-01 1.61657321e-03 9.94815573e-01 1.47465297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:88.91, Z:14.75 [[ 1.98090942e-01 -9.80006382e-01 -1.86405475e-02 1.02919690e+02] [ 9.74895207e-01 1.98959370e-01 -9.99725220e-02 8.89065014e+01] [ 1.01682421e-01 1.63107065e-03 9.94815573e-01 1.47495323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:88.93, Z:14.75 [[ 1.97683521e-01 -9.80089243e-01 -1.86091972e-02 1.02925152e+02] [ 9.74977886e-01 1.98550877e-01 -9.99783574e-02 8.89323988e+01] [ 1.01682585e-01 1.62051794e-03 9.94815574e-01 1.47506194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:88.96, Z:14.75 [[ 1.96685603e-01 -9.80290616e-01 -1.85763890e-02 1.02932019e+02] [ 9.75179575e-01 1.97554816e-01 -9.99844530e-02 8.89585623e+01] [ 1.01683676e-01 1.55018732e-03 9.94815574e-01 1.47537670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:88.99, Z:14.76 [[ 1.96004225e-01 -9.80427656e-01 -1.85460313e-02 1.02938195e+02] [ 9.75316693e-01 1.96873895e-01 -9.99900837e-02 8.89853113e+01] [ 1.01684273e-01 1.51022488e-03 9.94815575e-01 1.47571513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.576875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:102.94, Y:89.01, Z:14.76 [[ 1.94855481e-01 -9.80657189e-01 -1.85154055e-02 1.02943645e+02] [ 9.75546715e-01 1.95728016e-01 -9.99957545e-02 8.90116216e+01] [ 1.01685539e-01 1.42207778e-03 9.94815575e-01 1.47594162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:89.04, Z:14.76 [[ 1.93460084e-01 -9.80933996e-01 -1.84848725e-02 1.02950538e+02] [ 9.75824235e-01 1.94336777e-01 -1.00001398e-01 8.90373934e+01] [ 1.01687062e-01 1.30829243e-03 9.94815576e-01 1.47634217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.636875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:102.96, Y:89.06, Z:14.77 [[ 1.93043004e-01 -9.81016732e-01 -1.84545568e-02 1.02956459e+02] [ 9.75906813e-01 1.93918780e-01 -1.00006993e-01 8.90642069e+01] [ 1.01687218e-01 1.29572259e-03 9.94815576e-01 1.47664240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:89.09, Z:14.77 [[ 1.92740229e-01 -9.81076850e-01 -1.84233361e-02 1.02961796e+02] [ 9.75966657e-01 1.93614400e-01 -1.00012744e-01 8.90908900e+01] [ 1.01687211e-01 1.29591748e-03 9.94815577e-01 1.47691925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:89.12, Z:14.77 [[ 1.92769203e-01 -9.81071744e-01 -1.83920473e-02 1.02966757e+02] [ 9.75960982e-01 1.93640033e-01 -1.00018498e-01 8.91175642e+01] [ 1.01686759e-01 1.33056551e-03 9.94815577e-01 1.47715369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:89.14, Z:14.77 [[ 1.92534114e-01 -9.81118495e-01 -1.83606826e-02 1.02971621e+02] [ 9.76007397e-01 1.93402972e-01 -1.00024255e-01 8.91432211e+01] [ 1.01686657e-01 1.33791929e-03 9.94815578e-01 1.47739856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:89.17, Z:14.78 [[ 1.92352241e-01 -9.81154780e-01 -1.83279191e-02 1.02976363e+02] [ 9.76043277e-01 1.93218707e-01 -1.00030258e-01 8.91697621e+01] [ 1.01686463e-01 1.35220206e-03 9.94815578e-01 1.47763598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:89.20, Z:14.78 [[ 1.91805301e-01 -9.81262426e-01 -1.82969442e-02 1.02981123e+02] [ 9.76150871e-01 1.92671459e-01 -1.00035924e-01 8.91964053e+01] [ 1.01686792e-01 1.32684248e-03 9.94815579e-01 1.47791712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81687499999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.99, Y:89.22, Z:14.78 [[ 1.90296936e-01 -9.81556641e-01 -1.82657063e-02 1.02985489e+02] [ 9.76445881e-01 1.91167766e-01 -1.00041627e-01 8.92221459e+01] [ 1.01688338e-01 1.20214144e-03 9.94815579e-01 1.47810084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:89.25, Z:14.78 [[ 1.89516722e-01 -9.81708191e-01 -1.82329116e-02 1.02990513e+02] [ 9.76597554e-01 1.90388272e-01 -1.00047604e-01 8.92488564e+01] [ 1.01688885e-01 1.15447707e-03 9.94815580e-01 1.47847301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:89.27, Z:14.79 [[ 1.88949629e-01 -9.81818073e-01 -1.82019233e-02 1.02995011e+02] [ 9.76707401e-01 1.89820974e-01 -1.00053241e-01 8.92745202e+01] [ 1.01689187e-01 1.12706964e-03 9.94815580e-01 1.47875135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:89.30, Z:14.79 [[ 1.88214383e-01 -9.81959885e-01 -1.81694738e-02 1.02999197e+02] [ 9.76849303e-01 1.89086249e-01 -1.00059134e-01 8.93008848e+01] [ 1.01689653e-01 1.08373032e-03 9.94815581e-01 1.47902359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:89.33, Z:14.79 [[ 1.88561893e-01 -9.81893816e-01 -1.81368870e-02 1.03003441e+02] [ 9.76782362e-01 1.89428630e-01 -1.00065040e-01 8.93278554e+01] [ 1.01688890e-01 1.15266208e-03 9.94815581e-01 1.47927865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:89.35, Z:14.80 [[ 1.88977429e-01 -9.81814494e-01 -1.81061026e-02 1.03007646e+02] [ 9.76702144e-01 1.89838864e-01 -1.00070610e-01 8.93547350e+01] [ 1.01688017e-01 1.22681741e-03 9.94815582e-01 1.47951564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:89.38, Z:14.80 [[ 1.89793515e-01 -9.81657630e-01 -1.80753485e-02 1.03012057e+02] [ 9.76544042e-01 1.90647566e-01 -1.00076165e-01 8.93811623e+01] [ 1.01686552e-01 1.34243325e-03 9.94815582e-01 1.47988726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:89.41, Z:14.80 [[ 1.90540290e-01 -9.81513531e-01 -1.80440236e-02 1.03015989e+02] [ 9.76398765e-01 1.91387257e-01 -1.00081813e-01 8.94071835e+01] [ 1.01685049e-01 1.45145525e-03 9.94815583e-01 1.48020986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:89.43, Z:14.81 [[ 1.93929285e-01 -9.80850154e-01 -1.80113015e-02 1.03019181e+02] [ 9.75731955e-01 1.94755243e-01 -1.00087701e-01 8.94338428e+01] [ 1.01678833e-01 1.83573389e-03 9.94815583e-01 1.48057063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:89.46, Z:14.81 [[ 1.95129308e-01 -9.80612695e-01 -1.79804141e-02 1.03022660e+02] [ 9.75492986e-01 1.95945851e-01 -1.00093250e-01 8.94603776e+01] [ 1.01675899e-01 1.99135876e-03 9.94815584e-01 1.48084983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:89.49, Z:14.81 [[ 1.96610663e-01 -9.80317331e-01 -1.79492975e-02 1.03026398e+02] [ 9.75195894e-01 1.97416295e-01 -1.00098829e-01 8.94862988e+01] [ 1.01672101e-01 2.17641600e-03 9.94815584e-01 1.48112910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:89.51, Z:14.81 [[ 1.97956987e-01 -9.80046953e-01 -1.79165358e-02 1.03030392e+02] [ 9.74923894e-01 1.98752238e-01 -1.00104693e-01 8.95128516e+01] [ 1.01668251e-01 2.34916455e-03 9.94815585e-01 1.48144170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:89.54, Z:14.82 [[ 2.00777044e-01 -9.79473673e-01 -1.78857954e-02 1.03033462e+02] [ 9.74347870e-01 2.01554407e-01 -1.00110185e-01 8.95403134e+01] [ 1.01660252e-01 2.67284040e-03 9.94815585e-01 1.48180226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:89.57, Z:14.82 [[ 1.98454188e-01 -9.79947530e-01 -1.78542432e-02 1.03033278e+02] [ 9.74823089e-01 1.99240481e-01 -1.00115812e-01 8.95667831e+01] [ 1.01665531e-01 2.46367378e-03 9.94815586e-01 1.48150281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:89.60, Z:14.82 [[ 2.02669422e-01 -9.79100142e-01 -1.69710702e-02 1.03041861e+02] [ 9.73959363e-01 2.03343365e-01 -1.00272800e-01 8.95957741e+01] [ 1.01628067e-01 3.79309763e-03 9.94815233e-01 1.48228904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:89.62, Z:14.83 [[ 2.03325627e-01 -9.78949345e-01 -1.78008006e-02 1.03046101e+02] [ 9.73820251e-01 2.04080962e-01 -1.00125323e-01 8.96226993e+01] [ 1.01650424e-01 3.02326391e-03 9.94815587e-01 1.48258857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:89.65, Z:14.83 [[ 2.04169536e-01 -9.78774260e-01 -1.77693356e-02 1.03049642e+02] [ 9.73644047e-01 2.04917233e-01 -1.00130907e-01 8.96493128e+01] [ 1.01646797e-01 3.14267290e-03 9.94815587e-01 1.48280823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:89.68, Z:14.83 [[ 2.03888752e-01 -9.78833361e-01 -1.77377596e-02 1.03053731e+02] [ 9.73702893e-01 2.04634693e-01 -1.00136500e-01 8.96762168e+01] [ 1.01646708e-01 3.14539810e-03 9.94815588e-01 1.48307184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:89.70, Z:14.83 [[ 2.02750168e-01 -9.79070407e-01 -1.77061654e-02 1.03057965e+02] [ 9.73940338e-01 2.03498848e-01 -1.00142086e-01 8.97035274e+01] [ 1.01649337e-01 3.05907616e-03 9.94815588e-01 1.48339074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.386875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:103.06, Y:89.73, Z:14.84 [[ 1.98487971e-01 -9.79943949e-01 -1.76743316e-02 1.03061308e+02] [ 9.74816699e-01 1.99255716e-01 -1.00147704e-01 8.97291729e+01] [ 1.01660848e-01 2.64888110e-03 9.94815589e-01 1.48356605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:89.76, Z:14.84 [[ 1.92482505e-01 -9.81141825e-01 -1.76409863e-02 1.03065117e+02] [ 9.76018845e-01 1.93278235e-01 -1.00153578e-01 8.97559790e+01] [ 1.01674483e-01 2.05987641e-03 9.94815589e-01 1.48407420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:89.78, Z:14.84 [[ 1.89953275e-01 -9.81635204e-01 -1.76090892e-02 1.03069197e+02] [ 9.76513779e-01 1.90758952e-01 -1.00159186e-01 8.97821607e+01] [ 1.01678874e-01 1.83004712e-03 9.94815590e-01 1.48433378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:89.81, Z:14.85 [[ 1.88172835e-01 -9.81978652e-01 -1.75758639e-02 1.03072964e+02] [ 9.76858159e-01 1.88984409e-01 -1.00165016e-01 8.98094260e+01] [ 1.01681471e-01 1.67920887e-03 9.94815590e-01 1.48456234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:89.84, Z:14.85 [[ 1.86315921e-01 -9.82333215e-01 -1.75451286e-02 1.03074613e+02] [ 9.77213765e-01 1.87134042e-01 -1.00170399e-01 8.98372841e+01] [ 1.01684001e-01 1.51799900e-03 9.94815591e-01 1.48456047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:89.86, Z:14.85 [[ 1.85762797e-01 -9.82438512e-01 -1.75143916e-02 1.03078058e+02] [ 9.77319021e-01 1.86580667e-01 -1.00175773e-01 8.98647324e+01] [ 1.01684384e-01 1.49178373e-03 9.94815591e-01 1.48476055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:89.89, Z:14.85 [[ 1.85765804e-01 -9.82438486e-01 -1.74839216e-02 1.03082020e+02] [ 9.77318498e-01 1.86580552e-01 -1.00181091e-01 8.98914287e+01] [ 1.01683919e-01 1.52286092e-03 9.94815592e-01 1.48509393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:89.92, Z:14.86 [[ 1.86749476e-01 -9.82252531e-01 -1.74527536e-02 1.03085804e+02] [ 9.77131229e-01 1.87555919e-01 -1.00186521e-01 8.99172161e+01] [ 1.01681831e-01 1.65614964e-03 9.94815592e-01 1.48550743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:89.94, Z:14.86 [[ 1.86863681e-01 -9.82231392e-01 -1.74200061e-02 1.03089600e+02] [ 9.77109473e-01 1.87666189e-01 -1.00192214e-01 8.99438180e+01] [ 1.01681084e-01 1.70103296e-03 9.94815593e-01 1.48587093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:89.97, Z:14.86 [[ 1.87726893e-01 -9.82067321e-01 -1.73893977e-02 1.03092669e+02] [ 9.76944213e-01 1.88521777e-01 -1.00197526e-01 8.99708668e+01] [ 1.01678997e-01 1.82129891e-03 9.94815593e-01 1.48608838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.686875 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:103.10, Y:90.00, Z:14.86 [[ 1.87548861e-01 -9.82101862e-01 -1.73596678e-02 1.03095924e+02] [ 9.76978428e-01 1.88341641e-01 -1.00202677e-01 8.99969416e+01] [ 1.01678784e-01 1.83287696e-03 9.94815594e-01 1.48622280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.716875 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:103.10, Y:90.02, Z:14.86 [[ 1.87896105e-01 -9.82036073e-01 -1.73264282e-02 1.03099973e+02] [ 9.76911838e-01 1.88683683e-01 -1.00208424e-01 9.00228565e+01] [ 1.01677502e-01 1.90237981e-03 9.94815594e-01 1.48621714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:90.05, Z:14.87 [[ 1.87986496e-01 -9.82018506e-01 -1.73415793e-02 1.03104102e+02] [ 9.76894436e-01 1.88775148e-01 -1.00205811e-01 9.00485719e+01] [ 1.01677620e-01 1.89644700e-03 9.94815594e-01 1.48681240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.11, Y:90.08, Z:14.87 [[ 1.87322471e-01 -9.82146995e-01 -1.72502580e-02 1.03108627e+02] [ 9.77022032e-01 1.88105272e-01 -1.00221530e-01 9.00751665e+01] [ 1.01677139e-01 1.91986247e-03 9.94815598e-01 1.48713095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.806875 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:103.11, Y:90.10, Z:14.87 [[ 1.86786312e-01 -9.82249648e-01 -1.72192644e-02 1.03112700e+02] [ 9.77124630e-01 1.87568750e-01 -1.00226855e-01 9.01019175e+01] [ 1.01677589e-01 1.89563721e-03 9.94815598e-01 1.48709693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:90.13, Z:14.88 [[ 1.86183030e-01 -9.82364236e-01 -1.72159215e-02 1.03116183e+02] [ 9.77239647e-01 1.86968275e-01 -1.00227428e-01 9.01271659e+01] [ 1.01678672e-01 1.83656517e-03 9.94815598e-01 1.48765639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:90.15, Z:14.88 [[ 1.85418798e-01 -9.82509826e-01 -1.71554870e-02 1.03119907e+02] [ 9.77384906e-01 1.86201866e-01 -1.00237771e-01 9.01535348e+01] [ 1.01678979e-01 1.81845305e-03 9.94815600e-01 1.48802938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:90.18, Z:14.88 [[ 1.84711041e-01 -9.82643679e-01 -1.71239703e-02 1.03123252e+02] [ 9.77518833e-01 1.85494586e-01 -1.00243155e-01 9.01793456e+01] [ 1.01679707e-01 1.77701417e-03 9.94815601e-01 1.48847066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:90.21, Z:14.89 [[ 1.84407722e-01 -9.82701069e-01 -1.70997476e-02 1.03127784e+02] [ 9.77576087e-01 1.85190378e-01 -1.00247287e-01 9.02066387e+01] [ 1.01679825e-01 1.77006955e-03 9.94815601e-01 1.48875219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:90.23, Z:14.89 [[ 1.83719040e-01 -9.82830594e-01 -1.70686408e-02 1.03132052e+02] [ 9.77705676e-01 1.84502115e-01 -1.00252583e-01 9.02337092e+01] [ 1.01680506e-01 1.73020138e-03 9.94815602e-01 1.48904296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:90.26, Z:14.89 [[ 1.82838649e-01 -9.82995294e-01 -1.70376137e-02 1.03136300e+02] [ 9.77870595e-01 1.83623151e-01 -1.00257856e-01 9.02609396e+01] [ 1.01681501e-01 1.67042952e-03 9.94815602e-01 1.48931431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:90.29, Z:14.90 [[ 1.81929657e-01 -9.83164471e-01 -1.70065444e-02 1.03140547e+02] [ 9.78040013e-01 1.82715729e-01 -1.00263126e-01 9.02879176e+01] [ 1.01682506e-01 1.60775522e-03 9.94815603e-01 1.48953011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:90.31, Z:14.90 [[ 1.81306734e-01 -9.83280081e-01 -1.69749860e-02 1.03144729e+02] [ 9.78155628e-01 1.82092836e-01 -1.00268469e-01 9.03135318e+01] [ 1.01683011e-01 1.57517049e-03 9.94815603e-01 1.48974274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:90.34, Z:14.90 [[ 1.80705471e-01 -9.83391329e-01 -1.69418653e-02 1.03149240e+02] [ 9.78266840e-01 1.81491329e-01 -1.00274065e-01 9.03408572e+01] [ 1.01683447e-01 1.54640704e-03 9.94815604e-01 1.48998837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:90.37, Z:14.90 [[ 1.80279497e-01 -9.83470038e-01 -1.69111364e-02 1.03154163e+02] [ 9.78345409e-01 1.81064443e-01 -1.00279247e-01 9.03680960e+01] [ 1.01683640e-01 1.53335958e-03 9.94815604e-01 1.49016085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:90.40, Z:14.90 [[ 1.80317270e-01 -9.83463642e-01 -1.68803981e-02 1.03159019e+02] [ 9.78338504e-01 1.81098885e-01 -1.00284421e-01 9.03953165e+01] [ 1.01683103e-01 1.56826966e-03 9.94815605e-01 1.49043877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:90.42, Z:14.91 [[ 1.80219509e-01 -9.83482086e-01 -1.68497531e-02 1.03164191e+02] [ 9.78356551e-01 1.80998510e-01 -1.00289570e-01 9.04231983e+01] [ 1.01682775e-01 1.58907071e-03 9.94815605e-01 1.49076998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:90.45, Z:14.91 [[ 1.80280667e-01 -9.83471368e-01 -1.68211308e-02 1.03169440e+02] [ 9.78345342e-01 1.81056430e-01 -1.00294370e-01 9.04499198e+01] [ 1.01682215e-01 1.62426095e-03 9.94815605e-01 1.49101475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:90.48, Z:14.91 [[ 1.80819486e-01 -9.83372957e-01 -1.67910771e-02 1.03174658e+02] [ 9.78246047e-01 1.81589377e-01 -1.00299402e-01 9.04752040e+01] [ 1.01680800e-01 1.71028145e-03 9.94815606e-01 1.49120088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:103.18, Y:90.50, Z:14.91 [[ 1.82322201e-01 -9.83096023e-01 -1.67578495e-02 1.03179877e+02] [ 9.77967440e-01 1.83080866e-01 -1.00304953e-01 9.05015989e+01] [ 1.01677442e-01 1.89918859e-03 9.94815606e-01 1.49149160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:90.53, Z:14.92 [[ 1.83417326e-01 -9.82892821e-01 -1.67268627e-02 1.03185191e+02] [ 9.77762933e-01 1.84167116e-01 -1.00310120e-01 9.05284226e+01] [ 1.01674635e-01 2.04370763e-03 9.94815607e-01 1.49188808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:90.55, Z:14.92 [[ 1.84041060e-01 -9.82776749e-01 -1.66958092e-02 1.03190056e+02] [ 9.77645927e-01 1.84784427e-01 -1.00315288e-01 9.05545476e+01] [ 1.01672659e-01 2.13954219e-03 9.94815607e-01 1.49227747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:90.58, Z:14.93 [[ 1.86268305e-01 -9.82357606e-01 -1.66629162e-02 1.03195957e+02] [ 9.77224635e-01 1.86996681e-01 -1.00320752e-01 9.05796393e+01] [ 1.01666764e-01 2.40316414e-03 9.94815608e-01 1.49267186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:90.61, Z:14.93 [[ 1.86891926e-01 -9.82239707e-01 -1.66302531e-02 1.03200827e+02] [ 9.77105806e-01 1.87613710e-01 -1.00326166e-01 9.06072319e+01] [ 1.01664408e-01 2.50063362e-03 9.94815609e-01 1.49291968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:90.64, Z:14.93 [[ 1.87652314e-01 -9.82095208e-01 -1.66015743e-02 1.03205995e+02] [ 9.76960341e-01 1.88367195e-01 -1.00330912e-01 9.06351562e+01] [ 1.01661700e-01 2.60824803e-03 9.94815609e-01 1.49317225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:90.66, Z:14.93 [[ 1.89313364e-01 -9.81776851e-01 -1.65730492e-02 1.03211953e+02] [ 9.76640383e-01 1.90016645e-01 -1.00335623e-01 9.06612937e+01] [ 1.01656348e-01 2.80896527e-03 9.94815609e-01 1.49328380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:90.69, Z:14.93 [[ 1.86525985e-01 -9.82310802e-01 -1.65392177e-02 1.03217194e+02] [ 9.77175870e-01 1.87240389e-01 -1.00341200e-01 9.06873722e+01] [ 1.01663054e-01 2.55451667e-03 9.94815610e-01 1.49344110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:90.71, Z:14.94 [[ 1.83043015e-01 -9.82966335e-01 -1.65057546e-02 1.03222239e+02] [ 9.77833481e-01 1.83772200e-01 -1.00346704e-01 9.07138651e+01] [ 1.01670731e-01 2.22788380e-03 9.94815611e-01 1.49377657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:90.74, Z:14.94 [[ 1.80917407e-01 -9.83360302e-01 -1.64744941e-02 1.03226922e+02] [ 9.78228578e-01 1.81654500e-01 -1.00351836e-01 9.07391246e+01] [ 1.01674678e-01 2.03957307e-03 9.94815611e-01 1.49406983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:90.77, Z:14.94 [[ 1.79363087e-01 -9.83645398e-01 -1.64503718e-02 1.03231769e+02] [ 9.78514489e-01 1.80105828e-01 -1.00355790e-01 9.07656085e+01] [ 1.01677319e-01 1.90319719e-03 9.94815611e-01 1.49415467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:90.79, Z:14.94 [[ 1.79011030e-01 -9.83710045e-01 -1.64194579e-02 1.03235639e+02] [ 9.78578947e-01 1.79752455e-01 -1.00360848e-01 9.07932309e+01] [ 1.01677412e-01 1.89796300e-03 9.94815612e-01 1.49421270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:90.82, Z:14.94 [[ 1.79280630e-01 -9.83661464e-01 -1.63883807e-02 1.03239794e+02] [ 9.78529708e-01 1.80017479e-01 -1.00365923e-01 9.08206515e+01] [ 1.01676285e-01 1.95714849e-03 9.94815612e-01 1.49436466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:90.85, Z:14.95 [[ 1.79964254e-01 -9.83537148e-01 -1.63568402e-02 1.03243980e+02] [ 9.78404422e-01 1.80694320e-01 -1.00371063e-01 9.08463603e+01] [ 1.01674257e-01 2.05959865e-03 9.94815613e-01 1.49452586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:90.87, Z:14.95 [[ 1.81992736e-01 -9.83164225e-01 -1.63324908e-02 1.03248600e+02] [ 9.78029657e-01 1.82709727e-01 -1.00375025e-01 9.08726924e+01] [ 1.01669238e-01 2.29386500e-03 9.94815613e-01 1.49484035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:90.90, Z:14.95 [[ 1.83276993e-01 -9.82926153e-01 -1.63009640e-02 1.03253023e+02] [ 9.77790209e-01 1.83984058e-01 -1.00380144e-01 9.08984338e+01] [ 1.01665387e-01 2.45844806e-03 9.94815614e-01 1.49514924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.736875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.26, Y:90.93, Z:14.96 [[ 1.84697574e-01 -9.82660756e-01 -1.62679286e-02 1.03256903e+02] [ 9.77523337e-01 1.85393842e-01 -1.00385498e-01 9.09256797e+01] [ 1.01660863e-01 2.63867811e-03 9.94815614e-01 1.49551363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:90.95, Z:14.96 [[ 1.87633527e-01 -9.82104896e-01 -1.62367790e-02 1.03259636e+02] [ 9.76965000e-01 1.88311257e-01 -1.00390536e-01 9.09530315e+01] [ 1.01651605e-01 2.97386558e-03 9.94815615e-01 1.49586677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:90.98, Z:14.96 [[ 1.88421818e-01 -9.81954479e-01 -1.62055702e-02 1.03262905e+02] [ 9.76813624e-01 1.89092234e-01 -1.00395574e-01 9.09801623e+01] [ 1.01648231e-01 3.08689469e-03 9.94815615e-01 1.49610330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:91.01, Z:14.96 [[ 1.89131952e-01 -9.81818462e-01 -1.61744176e-02 1.03266598e+02] [ 9.76676713e-01 1.89795467e-01 -1.00400593e-01 9.10071080e+01] [ 1.01644987e-01 3.19178304e-03 9.94815616e-01 1.49634386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:91.03, Z:14.97 [[ 1.89495550e-01 -9.81748882e-01 -1.61421646e-02 1.03270023e+02] [ 9.76606465e-01 1.90153866e-01 -1.00405778e-01 9.10334449e+01] [ 1.01642755e-01 3.26190576e-03 9.94815616e-01 1.49659800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:91.06, Z:14.97 [[ 1.89660586e-01 -9.81717568e-01 -1.61083551e-02 1.03273110e+02] [ 9.76574600e-01 1.90314584e-01 -1.00411202e-01 9.10603449e+01] [ 1.01641096e-01 3.31303692e-03 9.94815617e-01 1.49682273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:91.09, Z:14.97 [[ 1.89276957e-01 -9.81792120e-01 -1.60769003e-02 1.03276918e+02] [ 9.76649000e-01 1.89929750e-01 -1.00416238e-01 9.10869539e+01] [ 1.01641353e-01 3.30499125e-03 9.94815617e-01 1.49711280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:91.11, Z:14.97 [[ 1.88473936e-01 -9.81947110e-01 -1.60452263e-02 1.03280764e+02] [ 9.76804113e-01 1.89127700e-01 -1.00421299e-01 9.11135391e+01] [ 1.01643001e-01 3.25375437e-03 9.94815618e-01 1.49738836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:91.14, Z:14.98 [[ 1.87109827e-01 -9.82208472e-01 -1.60134409e-02 1.03285141e+02] [ 9.77065973e-01 1.87767487e-01 -1.00426367e-01 9.11407037e+01] [ 1.01646432e-01 3.14457192e-03 9.94815618e-01 1.49765843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:103.29, Y:91.17, Z:14.98 [[ 1.83710328e-01 -9.82850495e-01 -1.59818561e-02 1.03289045e+02] [ 9.77709880e-01 1.84382552e-01 -1.00431393e-01 9.11661606e+01] [ 1.01655820e-01 2.82466560e-03 9.94815619e-01 1.49792543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:91.19, Z:14.98 [[ 1.81968012e-01 -9.83175101e-01 -1.59487862e-02 1.03293153e+02] [ 9.78035240e-01 1.82645971e-01 -1.00436645e-01 9.11924296e+01] [ 1.01659790e-01 2.67778161e-03 9.94815619e-01 1.49823778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:91.22, Z:14.98 [[ 1.79830974e-01 -9.83568754e-01 -1.59162549e-02 1.03296744e+02] [ 9.78429935e-01 1.80516781e-01 -1.00441800e-01 9.12189647e+01] [ 1.01664567e-01 2.48960646e-03 9.94815620e-01 1.49847385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:91.25, Z:14.99 [[ 1.76941754e-01 -9.84093119e-01 -1.58855066e-02 1.03300972e+02] [ 9.78955909e-01 1.77639513e-01 -1.00446663e-01 9.12458298e+01] [ 1.01670763e-01 2.22199816e-03 9.94815620e-01 1.49876098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:91.27, Z:14.99 [[ 1.75516162e-01 -9.84348878e-01 -1.58544355e-02 1.03305279e+02] [ 9.79212251e-01 1.76218192e-01 -1.00451567e-01 9.12723600e+01] [ 1.01673227e-01 2.10601596e-03 9.94815621e-01 1.49907652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:91.30, Z:14.99 [[ 1.74258143e-01 -9.84572875e-01 -1.58225379e-02 1.03309730e+02] [ 9.79436702e-01 1.74963482e-01 -1.00456591e-01 9.12994885e+01] [ 1.01675201e-01 2.00820453e-03 9.94815621e-01 1.49936979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:91.33, Z:15.00 [[ 1.72877343e-01 -9.84816722e-01 -1.57939243e-02 1.03313575e+02] [ 9.79681139e-01 1.73586966e-01 -1.00461089e-01 9.13258899e+01] [ 1.01677380e-01 1.89443636e-03 9.94815622e-01 1.49950880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:91.35, Z:15.00 [[ 1.71977895e-01 -9.84974729e-01 -1.57602958e-02 1.03317833e+02] [ 9.79839321e-01 1.72688779e-01 -1.00466365e-01 9.13526651e+01] [ 1.01678457e-01 1.83543636e-03 9.94815622e-01 1.49973088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:91.38, Z:15.00 [[ 1.70251142e-01 -9.85275161e-01 -1.57291373e-02 1.03321945e+02] [ 9.80140563e-01 1.70967850e-01 -1.00471243e-01 9.13784455e+01] [ 1.01680997e-01 1.68857831e-03 9.94815623e-01 1.49985990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:91.41, Z:15.00 [[ 1.69503844e-01 -9.85404381e-01 -1.57051739e-02 1.03326220e+02] [ 9.80269986e-01 1.70222004e-01 -1.00474988e-01 9.14050469e+01] [ 1.01681860e-01 1.63558620e-03 9.94815623e-01 1.50013784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:91.43, Z:15.00 [[ 1.68571999e-01 -9.85564710e-01 -1.56743200e-02 1.03329749e+02] [ 9.80430555e-01 1.69291868e-01 -1.00479802e-01 9.14313502e+01] [ 1.01682881e-01 1.57049870e-03 9.94815624e-01 1.50036110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.336875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:103.33, Y:91.46, Z:15.01 [[ 1.67908075e-01 -9.85678551e-01 -1.56420089e-02 1.03333573e+02] [ 9.80544420e-01 1.68628109e-01 -1.00484831e-01 9.14578095e+01] [ 1.01683425e-01 1.53453004e-03 9.94815624e-01 1.50062012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:91.48, Z:15.01 [[ 1.67562381e-01 -9.85737880e-01 -1.56102710e-02 1.03337339e+02] [ 9.80603548e-01 1.68280982e-01 -1.00489762e-01 9.14832111e+01] [ 1.01683476e-01 1.53081663e-03 9.94815625e-01 1.50093427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.396875 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:103.34, Y:91.51, Z:15.01 [[ 1.67766739e-01 -9.85703647e-01 -1.55769804e-02 1.03340994e+02] [ 9.80568694e-01 1.68480882e-01 -1.00494922e-01 9.15102406e+01] [ 1.01682634e-01 1.58540592e-03 9.94815625e-01 1.50123137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:91.54, Z:15.02 [[ 1.67153918e-01 -9.85807966e-01 -1.55634618e-02 1.03343023e+02] [ 9.80673266e-01 1.67869876e-01 -1.00497012e-01 9.15355286e+01] [ 1.01683391e-01 1.53579845e-03 9.94815626e-01 1.50162517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:91.56, Z:15.02 [[ 1.67104322e-01 -9.85817430e-01 -1.54964635e-02 1.03345588e+02] [ 9.80681821e-01 1.67813708e-01 -1.00507342e-01 9.15615625e+01] [ 1.01682409e-01 1.59811123e-03 9.94815628e-01 1.50182978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:91.59, Z:15.02 [[ 1.67148367e-01 -9.85810479e-01 -1.54635683e-02 1.03347938e+02] [ 9.80674377e-01 1.67854172e-01 -1.00512403e-01 9.15890666e+01] [ 1.01681805e-01 1.63575887e-03 9.94815629e-01 1.50209431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:91.62, Z:15.02 [[ 1.66582599e-01 -9.85906722e-01 -1.54328460e-02 1.03351051e+02] [ 9.80770595e-01 1.67288219e-01 -1.00517120e-01 9.16150968e+01] [ 1.01682238e-01 1.60832157e-03 9.94815629e-01 1.50233054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:91.64, Z:15.03 [[ 1.65939011e-01 -9.86015752e-01 -1.54006884e-02 1.03354553e+02] [ 9.80879636e-01 1.66644707e-01 -1.00522047e-01 9.16424036e+01] [ 1.01682765e-01 1.57430748e-03 9.94815630e-01 1.50267957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:91.67, Z:15.03 [[ 1.64025314e-01 -9.86336385e-01 -1.53698758e-02 1.03357409e+02] [ 9.81201211e-01 1.64737835e-01 -1.00526758e-01 9.16696648e+01] [ 1.01685199e-01 1.40799230e-03 9.94815630e-01 1.50302631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:91.70, Z:15.03 [[ 1.62606720e-01 -9.86571724e-01 -1.53391094e-02 1.03360414e+02] [ 9.81437143e-01 1.63323490e-01 -1.00531452e-01 9.16958735e+01] [ 1.01686725e-01 1.29271803e-03 9.94815631e-01 1.50319033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:91.72, Z:15.03 [[ 1.61067653e-01 -9.86824659e-01 -1.53069555e-02 1.03363661e+02] [ 9.81690741e-01 1.61789156e-01 -1.00536348e-01 9.17225381e+01] [ 1.01688247e-01 1.16645709e-03 9.94815631e-01 1.50343179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:91.75, Z:15.04 [[ 1.59699077e-01 -9.87047548e-01 -1.52755366e-02 1.03367066e+02] [ 9.81914183e-01 1.60424499e-01 -1.00541122e-01 9.17504594e+01] [ 1.01689438e-01 1.05705829e-03 9.94815632e-01 1.50370579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:91.78, Z:15.04 [[ 1.57273995e-01 -9.87437293e-01 -1.52474076e-02 1.03370159e+02] [ 9.82305314e-01 1.58009160e-01 -1.00545387e-01 9.17786307e+01] [ 1.01691495e-01 8.35565149e-04 9.94815632e-01 1.50395148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:91.81, Z:15.04 [[ 1.56019497e-01 -9.87636720e-01 -1.52192879e-02 1.03373489e+02] [ 9.82505267e-01 1.56758318e-01 -1.00549644e-01 9.18051553e+01] [ 1.01692270e-01 7.34674242e-04 9.94815632e-01 1.50417204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75687499999998 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:103.38, Y:91.83, Z:15.04 [[ 1.54886806e-01 -9.87815472e-01 -1.51878566e-02 1.03376613e+02] [ 9.82684407e-01 1.55628312e-01 -1.00554391e-01 9.18326063e+01] [ 1.01692844e-01 6.49678579e-04 9.94815633e-01 1.50446483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78687499999998 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:103.38, Y:91.86, Z:15.05 [[ 1.54256016e-01 -9.87914603e-01 -1.51598054e-02 1.03378470e+02] [ 9.82783599e-01 1.54997943e-01 -1.00558620e-01 9.18583775e+01] [ 1.01693068e-01 6.12963974e-04 9.94815633e-01 1.50474077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:91.89, Z:15.05 [[ 1.54364553e-01 -9.87898156e-01 -1.51267549e-02 1.03381149e+02] [ 9.82766586e-01 1.55102552e-01 -1.00563591e-01 9.18857388e+01] [ 1.01692785e-01 6.57384575e-04 9.94815634e-01 1.50510763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:91.91, Z:15.05 [[ 1.54058241e-01 -9.87946447e-01 -1.50955582e-02 1.03385130e+02] [ 9.82814650e-01 1.54794656e-01 -1.00568274e-01 9.19131154e+01] [ 1.01692781e-01 6.57235618e-04 9.94815634e-01 1.50538880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:91.94, Z:15.06 [[ 1.54213138e-01 -9.87922759e-01 -1.50642120e-02 1.03387094e+02] [ 9.82790391e-01 1.54945557e-01 -1.00572969e-01 9.19401101e+01] [ 1.01692458e-01 7.04710330e-04 9.94815635e-01 1.50564611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:91.97, Z:15.06 [[ 1.54926912e-01 -9.87811551e-01 -1.50330286e-02 1.03389406e+02] [ 9.82678206e-01 1.55652448e-01 -1.00577630e-01 9.19667908e+01] [ 1.01691673e-01 8.09552121e-04 9.94815635e-01 1.50604748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:91.99, Z:15.06 [[ 1.57357944e-01 -9.87427677e-01 -1.50019981e-02 1.03390024e+02] [ 9.82292124e-01 1.58067682e-01 -1.00582259e-01 9.19932503e+01] [ 1.01689037e-01 1.09107280e-03 9.94815636e-01 1.50646654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:92.02, Z:15.07 [[ 1.58170950e-01 -9.87298136e-01 -1.49780393e-02 1.03392193e+02] [ 9.82161666e-01 1.58874019e-01 -1.00585826e-01 9.20204227e+01] [ 1.01687820e-01 1.19889970e-03 9.94815636e-01 1.50676535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:92.05, Z:15.07 [[ 1.59081977e-01 -9.87152222e-01 -1.49470949e-02 1.03394274e+02] [ 9.82014678e-01 1.59777153e-01 -1.00590425e-01 9.20476183e+01] [ 1.01686265e-01 1.32385703e-03 9.94815637e-01 1.50706077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:92.08, Z:15.07 [[ 1.61364459e-01 -9.86782153e-01 -1.49162136e-02 1.03394896e+02] [ 9.81642599e-01 1.62044604e-01 -1.00595004e-01 9.20762039e+01] [ 1.01682446e-01 1.59006773e-03 9.94815637e-01 1.50738138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:92.10, Z:15.08 [[ 1.62504676e-01 -9.86595447e-01 -1.48880253e-02 1.03396822e+02] [ 9.81454735e-01 1.63176008e-01 -1.00599175e-01 9.21027502e+01] [ 1.01680057e-01 1.73591352e-03 9.94815638e-01 1.50762204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:92.13, Z:15.08 [[ 1.63246370e-01 -9.86473498e-01 -1.48546190e-02 1.03398787e+02] [ 9.81331842e-01 1.63910431e-01 -1.00604108e-01 9.21299847e+01] [ 1.01678113e-01 1.84594480e-03 9.94815638e-01 1.50787475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:92.16, Z:15.08 [[ 1.63843143e-01 -9.86375029e-01 -1.48232041e-02 1.03400529e+02] [ 9.81232561e-01 1.64500890e-01 -1.00608737e-01 9.21572634e+01] [ 1.01676376e-01 1.93904113e-03 9.94815639e-01 1.50810470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:92.19, Z:15.08 [[ 1.64689943e-01 -9.86234464e-01 -1.47920583e-02 1.03400843e+02] [ 9.81091032e-01 1.65340099e-01 -1.00613316e-01 9.21859913e+01] [ 1.01674040e-01 2.05764545e-03 9.94815639e-01 1.50832553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:92.21, Z:15.09 [[ 1.64624507e-01 -9.86245815e-01 -1.47635791e-02 1.03403319e+02] [ 9.81102060e-01 1.65272100e-01 -1.00617494e-01 9.22142491e+01] [ 1.01673591e-01 2.07952751e-03 9.94815639e-01 1.50860443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:92.24, Z:15.09 [[ 1.64271048e-01 -9.86305180e-01 -1.47348420e-02 1.03405668e+02] [ 9.81161288e-01 1.64917554e-01 -1.00621703e-01 9.22416718e+01] [ 1.01673741e-01 2.07197596e-03 9.94815640e-01 1.50872024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:92.27, Z:15.09 [[ 1.63404255e-01 -9.86449606e-01 -1.47045596e-02 1.03407753e+02] [ 9.81305895e-01 1.64052193e-01 -1.00626128e-01 9.22689904e+01] [ 1.01674920e-01 2.01306641e-03 9.94815640e-01 1.50899870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:92.30, Z:15.09 [[ 1.61476259e-01 -9.86767503e-01 -1.46735547e-02 1.03408187e+02] [ 9.81624665e-01 1.62131087e-01 -1.00630649e-01 9.22972785e+01] [ 1.01678094e-01 1.84553753e-03 9.94815641e-01 1.50927841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:92.32, Z:15.10 [[ 1.60246610e-01 -9.86968358e-01 -1.46452742e-02 1.03410089e+02] [ 9.81825971e-01 1.60904963e-01 -1.00634765e-01 9.23231498e+01] [ 1.01679826e-01 1.74726927e-03 9.94815641e-01 1.50951642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:92.35, Z:15.10 [[ 1.59342356e-01 -9.87115113e-01 -1.46207965e-02 1.03412654e+02] [ 9.81973010e-01 1.60002925e-01 -1.00638321e-01 9.23505502e+01] [ 1.01680978e-01 1.67871967e-03 9.94815642e-01 1.50986230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:92.38, Z:15.10 [[ 1.58228100e-01 -9.87294748e-01 -1.45927658e-02 1.03414504e+02] [ 9.82153025e-01 1.58891616e-01 -1.00642385e-01 9.23767031e+01] [ 1.01682367e-01 1.59212428e-03 9.94815642e-01 1.51011201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:92.40, Z:15.10 [[ 1.57362788e-01 -9.87433525e-01 -1.45597313e-02 1.03414463e+02] [ 9.82291950e-01 1.58027443e-01 -1.00647164e-01 9.24036717e+01] [ 1.01683221e-01 1.53621152e-03 9.94815643e-01 1.51046831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:92.43, Z:15.11 [[ 1.56847205e-01 -9.87516013e-01 -1.45285248e-02 1.03416004e+02] [ 9.82374375e-01 1.57511365e-01 -1.00651669e-01 9.24307483e+01] [ 1.01683542e-01 1.51448237e-03 9.94815643e-01 1.51073719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:92.46, Z:15.11 [[ 1.56780517e-01 -9.87527062e-01 -1.44973170e-02 1.03417417e+02] [ 9.82385058e-01 1.57441844e-01 -1.00656164e-01 9.24564815e+01] [ 1.01683170e-01 1.53897771e-03 9.94815644e-01 1.51098928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:92.48, Z:15.11 [[ 1.56489057e-01 -9.87573643e-01 -1.44732160e-02 1.03419051e+02] [ 9.82431520e-01 1.57149446e-01 -1.00659629e-01 9.24838850e+01] [ 1.01683254e-01 1.53318685e-03 9.94815644e-01 1.51124237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:92.51, Z:15.11 [[ 1.55705475e-01 -9.87697942e-01 -1.44422970e-02 1.03418499e+02] [ 9.82555938e-01 1.56366793e-01 -1.00664065e-01 9.25118064e+01] [ 1.01683985e-01 1.48358141e-03 9.94815644e-01 1.51149894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:92.54, Z:15.12 [[ 1.55199474e-01 -9.87778031e-01 -1.44112559e-02 1.03420512e+02] [ 9.82635960e-01 1.55860263e-01 -1.00668509e-01 9.25392214e+01] [ 1.01684283e-01 1.46268129e-03 9.94815645e-01 1.51183408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:92.57, Z:15.12 [[ 1.54464835e-01 -9.87893586e-01 -1.43832168e-02 1.03422443e+02] [ 9.82751640e-01 1.55126591e-01 -1.00672515e-01 9.25672670e+01] [ 1.01684951e-01 1.41523346e-03 9.94815645e-01 1.51215789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59687499999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.42, Y:92.59, Z:15.12 [[ 1.54195101e-01 -9.87936138e-01 -1.43547243e-02 1.03424196e+02] [ 9.82793999e-01 1.54855358e-01 -1.00676577e-01 9.25944085e+01] [ 1.01684935e-01 1.41609814e-03 9.94815646e-01 1.51234877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:92.62, Z:15.13 [[ 1.53780743e-01 -9.88001023e-01 -1.43339432e-02 1.03423872e+02] [ 9.82858889e-01 1.54441039e-01 -1.00679536e-01 9.26224363e+01] [ 1.01685234e-01 1.39433031e-03 9.94815646e-01 1.51268111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:92.65, Z:15.13 [[ 1.53824732e-01 -9.87994590e-01 -1.43053050e-02 1.03425773e+02] [ 9.82852054e-01 1.54481881e-01 -1.00683605e-01 9.26492641e+01] [ 1.01684767e-01 1.42763012e-03 9.94815646e-01 1.51295170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:92.68, Z:15.13 [[ 1.53671307e-01 -9.88018903e-01 -1.42750539e-02 1.03427847e+02] [ 9.82876076e-01 1.54326173e-01 -1.00687894e-01 9.26769601e+01] [ 1.01684557e-01 1.44223130e-03 9.94815647e-01 1.51326290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:92.70, Z:15.13 [[ 1.53566593e-01 -9.88035605e-01 -1.42458503e-02 1.03429703e+02] [ 9.82892470e-01 1.54219029e-01 -1.00692026e-01 9.27035575e+01] [ 1.01684288e-01 1.46079235e-03 9.94815647e-01 1.51343220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:92.73, Z:15.14 [[ 1.54517458e-01 -9.87887791e-01 -1.42150509e-02 1.03430213e+02] [ 9.82743636e-01 1.55161805e-01 -1.00696373e-01 9.27315833e+01] [ 1.01682351e-01 1.58959682e-03 9.94815648e-01 1.51369035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:92.76, Z:15.14 [[ 1.54646415e-01 -9.87868012e-01 -1.41872049e-02 1.03432418e+02] [ 9.82723420e-01 1.55287253e-01 -1.00700297e-01 9.27597979e+01] [ 1.01681694e-01 1.63084135e-03 9.94815648e-01 1.51397741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:92.79, Z:15.14 [[ 1.54777253e-01 -9.87847923e-01 -1.41592107e-02 1.03434738e+02] [ 9.82702892e-01 1.55414556e-01 -1.00704233e-01 9.27881104e+01] [ 1.01681015e-01 1.67242717e-03 9.94815648e-01 1.51436029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:92.82, Z:15.15 [[ 1.55279480e-01 -9.87769516e-01 -1.41303064e-02 1.03435285e+02] [ 9.82623800e-01 1.55911221e-01 -1.00708288e-01 9.28155089e+01] [ 1.01679651e-01 1.75315525e-03 9.94815649e-01 1.51462793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:92.84, Z:15.15 [[ 1.55187965e-01 -9.87784334e-01 -1.40998433e-02 1.03438024e+02] [ 9.82638296e-01 1.55817078e-01 -1.00712553e-01 9.28431557e+01] [ 1.01679279e-01 1.77433018e-03 9.94815649e-01 1.51502920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:92.87, Z:15.15 [[ 1.54913815e-01 -9.87827777e-01 -1.40710008e-02 1.03440718e+02] [ 9.82681555e-01 1.55541416e-01 -1.00716583e-01 9.28696238e+01] [ 1.01679261e-01 1.77507707e-03 9.94815650e-01 1.51523533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:92.90, Z:15.16 [[ 1.54909927e-01 -9.87828820e-01 -1.40405763e-02 1.03443813e+02] [ 9.82682223e-01 1.55534448e-01 -1.00720824e-01 9.28972650e+01] [ 1.01678726e-01 1.80523073e-03 9.94815650e-01 1.51564980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:92.93, Z:15.16 [[ 1.55242878e-01 -9.87776950e-01 -1.40123221e-02 1.03445222e+02] [ 9.82629796e-01 1.55862784e-01 -1.00724755e-01 9.29256063e+01] [ 1.01677591e-01 1.86787558e-03 9.94815651e-01 1.51591206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:92.95, Z:15.16 [[ 1.55369293e-01 -9.87757477e-01 -1.39839085e-02 1.03447901e+02] [ 9.82609896e-01 1.55985643e-01 -1.00728699e-01 9.29532366e+01] [ 1.01676815e-01 1.90941992e-03 9.94815651e-01 1.51617547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:92.98, Z:15.16 [[ 1.55601568e-01 -9.87721319e-01 -1.39551787e-02 1.03450649e+02] [ 9.82573245e-01 1.56213780e-01 -1.00732679e-01 9.29809876e+01] [ 1.01675806e-01 1.96217773e-03 9.94815651e-01 1.51648431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:93.01, Z:15.17 [[ 1.55690483e-01 -9.87707718e-01 -1.39261474e-02 1.03453533e+02] [ 9.82559238e-01 1.56299271e-01 -1.00736693e-01 9.30080967e+01] [ 1.01675056e-01 2.00047955e-03 9.94815652e-01 1.51667006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:93.04, Z:15.17 [[ 1.56729951e-01 -9.87543739e-01 -1.38955437e-02 1.03455646e+02] [ 9.82394257e-01 1.57330200e-01 -1.00740914e-01 9.30357899e+01] [ 1.01672248e-01 2.13821627e-03 9.94815652e-01 1.51696879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:93.06, Z:15.17 [[ 1.57377979e-01 -9.87441070e-01 -1.38673827e-02 1.03458826e+02] [ 9.82290864e-01 1.57971976e-01 -1.00744791e-01 9.30638452e+01] [ 1.01670202e-01 2.23320817e-03 9.94815653e-01 1.51724767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:93.09, Z:15.17 [[ 1.57889378e-01 -9.87359822e-01 -1.38393088e-02 1.03461639e+02] [ 9.82208981e-01 1.58477845e-01 -1.00748647e-01 9.30922101e+01] [ 1.01668390e-01 2.31404774e-03 9.94815653e-01 1.51749102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:93.12, Z:15.18 [[ 1.59553754e-01 -9.87092631e-01 -1.38107808e-02 1.03463970e+02] [ 9.81940479e-01 1.60130626e-01 -1.00752558e-01 9.31200604e+01] [ 1.01663636e-01 2.51408410e-03 9.94815654e-01 1.51775552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:93.15, Z:15.18 [[ 1.60357613e-01 -9.86962765e-01 -1.37817113e-02 1.03467417e+02] [ 9.81809817e-01 1.60927324e-01 -1.00756534e-01 9.31472701e+01] [ 1.01660801e-01 2.62605781e-03 9.94815654e-01 1.51793361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:93.18, Z:15.18 [[ 1.61019166e-01 -9.86855348e-01 -1.37604735e-02 1.03471356e+02] [ 9.81701782e-01 1.61583255e-01 -1.00759434e-01 9.31752771e+01] [ 1.01658449e-01 2.71551871e-03 9.94815654e-01 1.51817513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:93.20, Z:15.18 [[ 1.61258790e-01 -9.86816618e-01 -1.37318969e-02 1.03474835e+02] [ 9.81662598e-01 1.61818712e-01 -1.00763329e-01 9.32025104e+01] [ 1.01657005e-01 2.76888288e-03 9.94815655e-01 1.51841627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:93.23, Z:15.19 [[ 1.61301515e-01 -9.86810054e-01 -1.37018086e-02 1.03478635e+02] [ 9.81655677e-01 1.61858144e-01 -1.00767420e-01 9.32304779e+01] [ 1.01656052e-01 2.80347930e-03 9.94815655e-01 1.51867095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:93.26, Z:15.19 [[ 1.60787685e-01 -9.86894297e-01 -1.36736027e-02 1.03482645e+02] [ 9.81739900e-01 1.61344120e-01 -1.00771247e-01 9.32576244e+01] [ 1.01656725e-01 2.77885421e-03 9.94815655e-01 1.51892533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:93.28, Z:15.19 [[ 1.60212224e-01 -9.86988165e-01 -1.36530174e-02 1.03486927e+02] [ 9.81833866e-01 1.60769564e-01 -1.00774036e-01 9.32849345e+01] [ 1.01657771e-01 2.74023761e-03 9.94815656e-01 1.51912281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:93.31, Z:15.20 [[ 1.58076121e-01 -9.87332961e-01 -1.36221678e-02 1.03491499e+02] [ 9.82179535e-01 1.58641466e-01 -1.00778206e-01 9.33116520e+01] [ 1.01662685e-01 2.55121346e-03 9.94815656e-01 1.51957276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:93.34, Z:15.20 [[ 1.57123928e-01 -9.87485404e-01 -1.35885057e-02 1.03496187e+02] [ 9.82332147e-01 1.57690809e-01 -1.00782745e-01 9.33392982e+01] [ 1.01664272e-01 2.48695475e-03 9.94815657e-01 1.51983388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:93.37, Z:15.20 [[ 1.56164495e-01 -9.87637977e-01 -1.35601068e-02 1.03500903e+02] [ 9.82484953e-01 1.56733486e-01 -1.00786566e-01 9.33669833e+01] [ 1.01665963e-01 2.41668226e-03 9.94815657e-01 1.52013377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:93.39, Z:15.20 [[ 1.54919746e-01 -9.87834381e-01 -1.35317207e-02 1.03504990e+02] [ 9.82681756e-01 1.55492336e-01 -1.00790377e-01 9.33935141e+01] [ 1.01668278e-01 2.31704450e-03 9.94815658e-01 1.52039975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:93.42, Z:15.21 [[ 1.54089328e-01 -9.87964666e-01 -1.35017917e-02 1.03509418e+02] [ 9.82812183e-01 1.54663197e-01 -1.00794386e-01 9.34207643e+01] [ 1.01669522e-01 2.26161378e-03 9.94815658e-01 1.52060855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.526875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.51, Y:93.45, Z:15.21 [[ 1.53924446e-01 -9.87990749e-01 -1.34738820e-02 1.03513401e+02] [ 9.82838046e-01 1.54496328e-01 -1.00798117e-01 9.34470478e+01] [ 1.01669272e-01 2.27265036e-03 9.94815658e-01 1.52081653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:93.47, Z:15.21 [[ 1.54027160e-01 -9.87975189e-01 -1.34409606e-02 1.03517844e+02] [ 9.82822056e-01 1.54595151e-01 -1.00802507e-01 9.34740472e+01] [ 1.01668283e-01 2.31625129e-03 9.94815659e-01 1.52111697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:93.50, Z:15.21 [[ 1.54866669e-01 -9.87844366e-01 -1.34098124e-02 1.03523800e+02] [ 9.82690406e-01 1.55427103e-01 -1.00806650e-01 9.35014143e+01] [ 1.01665530e-01 2.43389611e-03 9.94815659e-01 1.52147846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:93.53, Z:15.22 [[ 1.55717755e-01 -9.87710943e-01 -1.33818090e-02 1.03528510e+02] [ 9.82556196e-01 1.56270892e-01 -1.00810367e-01 9.35293607e+01] [ 1.01662690e-01 2.54958474e-03 9.94815660e-01 1.52181248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:93.56, Z:15.22 [[ 1.56773671e-01 -9.87544280e-01 -1.33533401e-02 1.03532906e+02] [ 9.82388636e-01 1.57318392e-01 -1.00814138e-01 9.35567032e+01] [ 1.01659152e-01 2.68683297e-03 9.94815660e-01 1.52213495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:93.58, Z:15.22 [[ 1.60265430e-01 -9.86984010e-01 -1.33249842e-02 1.03537601e+02] [ 9.81826179e-01 1.60789019e-01 -1.00817886e-01 9.35838989e+01] [ 1.01648153e-01 3.07480349e-03 9.94815661e-01 1.52239243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:93.61, Z:15.23 [[ 1.62101561e-01 -9.86684490e-01 -1.32966890e-02 1.03541231e+02] [ 9.81525406e-01 1.62612664e-01 -1.00821618e-01 9.36119335e+01] [ 1.01641336e-01 3.29230346e-03 9.94815661e-01 1.52272279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:93.64, Z:15.23 [[ 1.61818230e-01 -9.86731388e-01 -1.32675778e-02 1.03544868e+02] [ 9.81572157e-01 1.62327844e-01 -1.00825449e-01 9.36401614e+01] [ 1.01641332e-01 3.29231065e-03 9.94815661e-01 1.52301244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:93.67, Z:15.23 [[ 1.63678439e-01 -9.86424914e-01 -1.32384728e-02 1.03548566e+02] [ 9.81264446e-01 1.64175352e-01 -1.00829270e-01 9.36673183e+01] [ 1.01633935e-01 3.51313482e-03 9.94815662e-01 1.52311104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:93.69, Z:15.23 [[ 1.65097594e-01 -9.86188795e-01 -1.32077993e-02 1.03552511e+02] [ 9.81027321e-01 1.65583950e-01 -1.00833288e-01 9.36946006e+01] [ 1.01627658e-01 3.69012125e-03 9.94815662e-01 1.52342680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:93.72, Z:15.24 [[ 1.66359288e-01 -9.85977129e-01 -1.31790929e-02 1.03556862e+02] [ 9.80814766e-01 1.66836108e-01 -1.00837040e-01 9.37219821e+01] [ 1.01621763e-01 3.84892920e-03 9.94815663e-01 1.52373927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.856875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.56, Y:93.75, Z:15.24 [[ 1.68098821e-01 -9.85682435e-01 -1.31500641e-02 1.03561951e+02] [ 9.80518971e-01 1.68563567e-01 -1.00840825e-01 9.37481529e+01] [ 1.01613652e-01 4.05733655e-03 9.94815663e-01 1.52412451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:93.78, Z:15.24 [[ 1.68704074e-01 -9.85579431e-01 -1.31195039e-02 1.03566328e+02] [ 9.80415405e-01 1.69162527e-01 -1.00844801e-01 9.37757685e+01] [ 1.01609890e-01 4.15036504e-03 9.94815664e-01 1.52442848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:93.80, Z:15.25 [[ 1.69008909e-01 -9.85527583e-01 -1.30909031e-02 1.03570096e+02] [ 9.80363158e-01 1.69462843e-01 -1.00848514e-01 9.38033979e+01] [ 1.01607414e-01 4.21045814e-03 9.94815664e-01 1.52469752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:93.83, Z:15.25 [[ 1.69856304e-01 -9.85382269e-01 -1.30621464e-02 1.03574210e+02] [ 9.80217202e-01 1.70302859e-01 -1.00852238e-01 9.38306085e+01] [ 1.01602528e-01 4.32664786e-03 9.94815665e-01 1.52486987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:93.86, Z:15.25 [[ 1.69760168e-01 -9.85399113e-01 -1.30411922e-02 1.03578443e+02] [ 9.80233905e-01 1.70205086e-01 -1.00854948e-01 9.38579044e+01] [ 1.01602053e-01 4.33773418e-03 9.94815665e-01 1.52516103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:93.88, Z:15.25 [[ 1.69491518e-01 -9.85445735e-01 -1.30126724e-02 1.03582661e+02] [ 9.80280397e-01 1.69934931e-01 -1.00858627e-01 9.38843467e+01] [ 1.01602012e-01 4.33861419e-03 9.94815665e-01 1.52543166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:93.91, Z:15.26 [[ 1.68736344e-01 -9.85575719e-01 -1.29826187e-02 1.03586541e+02] [ 9.80410458e-01 1.69180644e-01 -1.00862496e-01 9.39106964e+01] [ 1.01604035e-01 4.29087361e-03 9.94815666e-01 1.52561289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:93.94, Z:15.26 [[ 1.68292417e-01 -9.85652052e-01 -1.29496938e-02 1.03591237e+02] [ 9.80486703e-01 1.68735681e-01 -1.00866723e-01 9.39373747e+01] [ 1.01604568e-01 4.27810208e-03 9.94815666e-01 1.52594335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:93.96, Z:15.26 [[ 1.67663585e-01 -9.85759626e-01 -1.29182717e-02 1.03595325e+02] [ 9.80594285e-01 1.68106934e-01 -1.00870747e-01 9.39646807e+01] [ 1.01605961e-01 4.24476768e-03 9.94815667e-01 1.52622592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:93.99, Z:15.26 [[ 1.67300304e-01 -9.85821756e-01 -1.28869719e-02 1.03599410e+02] [ 9.80656304e-01 1.67742360e-01 -1.00874746e-01 9.39912013e+01] [ 1.01606210e-01 4.23868541e-03 9.94815667e-01 1.52646805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:94.02, Z:15.27 [[ 1.67013539e-01 -9.85870786e-01 -1.28557934e-02 1.03603520e+02] [ 9.80705191e-01 1.67453913e-01 -1.00878719e-01 9.40174108e+01] [ 1.01606135e-01 4.24036860e-03 9.94815668e-01 1.52671137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:94.04, Z:15.27 [[ 1.66576292e-01 -9.85945184e-01 -1.28231357e-02 1.03607648e+02] [ 9.80779501e-01 1.67015621e-01 -1.00882870e-01 9.40442485e+01] [ 1.01606644e-01 4.22802580e-03 9.94815668e-01 1.52687318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:94.07, Z:15.27 [[ 1.65943129e-01 -9.86052347e-01 -1.27924666e-02 1.03613144e+02] [ 9.80886680e-01 1.66382643e-01 -1.00886759e-01 9.40702093e+01] [ 1.01608070e-01 4.19350446e-03 9.94815669e-01 1.52712695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:94.10, Z:15.27 [[ 1.65243911e-01 -9.86170180e-01 -1.27603061e-02 1.03617489e+02] [ 9.81004546e-01 1.65683802e-01 -1.00890827e-01 9.40966745e+01] [ 1.01609701e-01 4.15367649e-03 9.94815669e-01 1.52745293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:94.12, Z:15.28 [[ 1.64538593e-01 -9.86288495e-01 -1.27301610e-02 1.03621652e+02] [ 9.81122913e-01 1.64979100e-01 -1.00894630e-01 9.41226920e+01] [ 1.01611424e-01 4.11120783e-03 9.94815670e-01 1.52775873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:94.15, Z:15.28 [[ 1.64044534e-01 -9.86371196e-01 -1.26986017e-02 1.03625949e+02] [ 9.81205561e-01 1.64484406e-01 -1.00898602e-01 9.41494134e+01] [ 1.01612197e-01 4.09192562e-03 9.94815670e-01 1.52812841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:94.18, Z:15.29 [[ 1.63016063e-01 -9.86542075e-01 -1.26687702e-02 1.03631238e+02] [ 9.81376640e-01 1.63458274e-01 -1.00902348e-01 9.41771104e+01] [ 1.01615227e-01 4.01586842e-03 9.94815671e-01 1.52855830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:94.20, Z:15.29 [[ 1.62325189e-01 -9.86656352e-01 -1.26402230e-02 1.03635629e+02] [ 9.81490978e-01 1.62768102e-01 -1.00905924e-01 9.42042764e+01] [ 1.01616896e-01 3.97330838e-03 9.94815671e-01 1.52861445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:94.23, Z:15.29 [[ 1.61998952e-01 -9.86710355e-01 -1.26101151e-02 1.03640278e+02] [ 9.81544864e-01 1.62440499e-01 -1.00909686e-01 9.42313413e+01] [ 1.01617026e-01 3.96986973e-03 9.94815671e-01 1.52908915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:94.26, Z:15.29 [[ 1.61269559e-01 -9.86830194e-01 -1.25816322e-02 1.03645203e+02] [ 9.81664781e-01 1.61712015e-01 -1.00913238e-01 9.42580871e+01] [ 1.01618831e-01 3.92328809e-03 9.94815672e-01 1.52913416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:94.29, Z:15.30 [[ 1.60951185e-01 -9.86882553e-01 -1.25516270e-02 1.03649081e+02] [ 9.81717021e-01 1.61392244e-01 -1.00916970e-01 9.42850927e+01] [ 1.01618932e-01 3.92056000e-03 9.94815672e-01 1.52957472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:94.31, Z:15.30 [[ 1.60963634e-01 -9.86880922e-01 -1.25201561e-02 1.03653220e+02] [ 9.81715112e-01 1.61401415e-01 -1.00920874e-01 9.43126171e+01] [ 1.01617656e-01 3.95336421e-03 9.94815673e-01 1.52991268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:94.34, Z:15.30 [[ 1.60828462e-01 -9.86903330e-01 -1.24909106e-02 1.03657518e+02] [ 9.81737328e-01 1.61263964e-01 -1.00924493e-01 9.43391211e+01] [ 1.01617052e-01 3.96873784e-03 9.94815673e-01 1.53014649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:94.36, Z:15.30 [[ 1.60704292e-01 -9.86923827e-01 -1.24696050e-02 1.03662021e+02] [ 9.81757696e-01 1.61138269e-01 -1.00927126e-01 9.43649887e+01] [ 1.01616716e-01 3.97729157e-03 9.94815674e-01 1.53037913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:94.39, Z:15.31 [[ 1.61030296e-01 -9.86871102e-01 -1.24366846e-02 1.03665459e+02] [ 9.81704549e-01 1.61459205e-01 -1.00931182e-01 9.43926757e+01] [ 1.01614084e-01 4.04382833e-03 9.94815674e-01 1.53074503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.606875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.67, Y:94.42, Z:15.31 [[ 1.61763058e-01 -9.86751615e-01 -1.24082128e-02 1.03669367e+02] [ 9.81584507e-01 1.62185223e-01 -1.00934682e-01 9.44202752e+01] [ 1.01609890e-01 4.14779341e-03 9.94815674e-01 1.53101571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:94.45, Z:15.31 [[ 1.62980532e-01 -9.86551618e-01 -1.23795022e-02 1.03673313e+02] [ 9.81383758e-01 1.63393389e-01 -1.00938204e-01 9.44473980e+01] [ 1.01603477e-01 4.30191978e-03 9.94815675e-01 1.53106257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:94.47, Z:15.31 [[ 1.63555461e-01 -9.86456844e-01 -1.23493104e-02 1.03676899e+02] [ 9.81288501e-01 1.63962222e-01 -1.00941897e-01 9.44742876e+01] [ 1.01599646e-01 4.39136231e-03 9.94815675e-01 1.53126076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:94.50, Z:15.32 [[ 1.63994033e-01 -9.86384402e-01 -1.23194288e-02 1.03680789e+02] [ 9.81215642e-01 1.64395444e-01 -1.00945544e-01 9.45015674e+01] [ 1.01596368e-01 4.46645068e-03 9.94815676e-01 1.53163707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:94.53, Z:15.32 [[ 1.64407901e-01 -9.86315861e-01 -1.22908521e-02 1.03684613e+02] [ 9.81146708e-01 1.64804224e-01 -1.00949024e-01 9.45289928e+01] [ 1.01593207e-01 4.53768795e-03 9.94815676e-01 1.53187503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:94.56, Z:15.32 [[ 1.65532903e-01 -9.86128032e-01 -1.22622219e-02 1.03688860e+02] [ 9.80958211e-01 1.65920405e-01 -1.00952501e-01 9.45564380e+01] [ 1.01586644e-01 4.68223340e-03 9.94815677e-01 1.53208605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:94.58, Z:15.32 [[ 1.66038283e-01 -9.86043424e-01 -1.22333501e-02 1.03692410e+02] [ 9.80873186e-01 1.66420186e-01 -1.00956000e-01 9.45828292e+01] [ 1.01582876e-01 4.76319579e-03 9.94815677e-01 1.53229262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:94.61, Z:15.33 [[ 1.66329111e-01 -9.85994784e-01 -1.22030173e-02 1.03695807e+02] [ 9.80824207e-01 1.66706390e-01 -1.00959666e-01 9.46095906e+01] [ 1.01580025e-01 4.82351669e-03 9.94815677e-01 1.53256848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84687499999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:103.70, Y:94.64, Z:15.33 [[ 1.66490892e-01 -9.85967869e-01 -1.21714500e-02 1.03699536e+02] [ 9.80796998e-01 1.66864097e-01 -1.00963472e-01 9.46369643e+01] [ 1.01577717e-01 4.87177680e-03 9.94815678e-01 1.53284872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87687499999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.70, Y:94.66, Z:15.33 [[ 1.66058921e-01 -9.86041107e-01 -1.21396294e-02 1.03704097e+02] [ 9.80870165e-01 1.66431142e-01 -1.00967298e-01 9.46644496e+01] [ 1.01578318e-01 4.85912026e-03 9.94815679e-01 1.53326841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:94.69, Z:15.34 [[ 1.65374622e-01 -9.86156461e-01 -1.21107214e-02 1.03708111e+02] [ 9.80985565e-01 1.65747478e-01 -1.00970765e-01 9.46919778e+01] [ 1.01580294e-01 4.81755928e-03 9.94815679e-01 1.53355288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.936875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:103.71, Y:94.72, Z:15.34 [[ 1.64010965e-01 -9.86384525e-01 -1.20818979e-02 1.03711580e+02] [ 9.81213934e-01 1.64388026e-01 -1.00974214e-01 9.47191222e+01] [ 1.01585521e-01 4.70595170e-03 9.94815679e-01 1.53374944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.966875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:103.72, Y:94.75, Z:15.34 [[ 1.61632576e-01 -9.86777417e-01 -1.20515849e-02 1.03715808e+02] [ 9.81607518e-01 1.62019004e-01 -1.00977832e-01 9.47464121e+01] [ 1.01595230e-01 4.49138070e-03 9.94815680e-01 1.53399257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:94.77, Z:15.34 [[ 1.60225411e-01 -9.87007228e-01 -1.20228762e-02 1.03719941e+02] [ 9.81837664e-01 1.60616279e-01 -1.00981250e-01 9.47730093e+01] [ 1.01600293e-01 4.37524961e-03 9.94815680e-01 1.53420153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:94.80, Z:15.35 [[ 1.58590433e-01 -9.87271621e-01 -1.19925688e-02 1.03724475e+02] [ 9.82102473e-01 1.58986768e-01 -1.00984849e-01 9.48009908e+01] [ 1.01606135e-01 4.23729943e-03 9.94815681e-01 1.53458135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:94.83, Z:15.35 [[ 1.56832485e-01 -9.87552750e-01 -1.19640264e-02 1.03728950e+02] [ 9.82384089e-01 1.57235109e-01 -1.00988231e-01 9.48271290e+01] [ 1.01612370e-01 4.08496597e-03 9.94815681e-01 1.53480350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:94.85, Z:15.35 [[ 1.53380440e-01 -9.88095192e-01 -1.19303480e-02 1.03734791e+02] [ 9.82927691e-01 1.53797686e-01 -1.00992209e-01 9.48525855e+01] [ 1.01624776e-01 3.76356003e-03 9.94815682e-01 1.53511516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:94.88, Z:15.35 [[ 1.51328280e-01 -9.88411859e-01 -1.19058159e-02 1.03739039e+02] [ 9.83245030e-01 1.51753752e-01 -1.00995101e-01 9.48800184e+01] [ 1.01631508e-01 3.57708065e-03 9.94815682e-01 1.53545950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:94.91, Z:15.36 [[ 1.49474774e-01 -9.88694202e-01 -1.18771797e-02 1.03743248e+02] [ 9.83527934e-01 1.49907011e-01 -1.00998469e-01 9.49077825e+01] [ 1.01637073e-01 3.41518526e-03 9.94815682e-01 1.53566216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:94.93, Z:15.36 [[ 1.47506657e-01 -9.88990092e-01 -1.18483945e-02 1.03747267e+02] [ 9.83824444e-01 1.47946239e-01 -1.01001846e-01 9.49341167e+01] [ 1.01642750e-01 3.24170448e-03 9.94815683e-01 1.53581193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:94.96, Z:15.36 [[ 1.45434034e-01 -9.89297363e-01 -1.18181698e-02 1.03753729e+02] [ 9.84132381e-01 1.45881357e-01 -1.01005382e-01 9.49608449e+01] [ 1.01648409e-01 3.05897666e-03 9.94815683e-01 1.53609408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:94.99, Z:15.36 [[ 1.44532851e-01 -9.89429800e-01 -1.17866877e-02 1.03758124e+02] [ 9.84264948e-01 1.44981666e-01 -1.01009056e-01 9.49871912e+01] [ 1.01650223e-01 2.99790326e-03 9.94815684e-01 1.53641833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:95.01, Z:15.37 [[ 1.43565392e-01 -9.89571014e-01 -1.17553039e-02 1.03762386e+02] [ 9.84406323e-01 1.44016056e-01 -1.01012708e-01 9.50141217e+01] [ 1.01652200e-01 2.92993346e-03 9.94815684e-01 1.53672671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:95.04, Z:15.37 [[ 1.42230866e-01 -9.89764081e-01 -1.17237283e-02 1.03767604e+02] [ 9.84599718e-01 1.42685274e-01 -1.01016373e-01 9.50408519e+01] [ 1.01655181e-01 2.82446659e-03 9.94815685e-01 1.53708137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.326875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.77, Y:95.07, Z:15.37 [[ 1.41202280e-01 -9.89911718e-01 -1.16921597e-02 1.03771312e+02] [ 9.84747546e-01 1.41658835e-01 -1.01020027e-01 9.50666907e+01] [ 1.01657206e-01 2.75043250e-03 9.94815685e-01 1.53727888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:95.09, Z:15.38 [[ 1.40386555e-01 -9.90028120e-01 -1.16591572e-02 1.03775384e+02] [ 9.84864027e-01 1.40844000e-01 -1.01023835e-01 9.50938418e+01] [ 1.01658560e-01 2.69970371e-03 9.94815686e-01 1.53761342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:95.12, Z:15.38 [[ 1.39049250e-01 -9.90217200e-01 -1.16276449e-02 1.03779228e+02] [ 9.85053442e-01 1.39510457e-01 -1.01027462e-01 9.51212123e+01] [ 1.01661309e-01 2.59394124e-03 9.94815686e-01 1.53783592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:95.15, Z:15.38 [[ 1.37004027e-01 -9.90502612e-01 -1.15962142e-02 1.03784647e+02] [ 9.85339526e-01 1.37472692e-01 -1.01031070e-01 9.51489830e+01] [ 1.01665701e-01 2.41545520e-03 9.94815687e-01 1.53818595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:95.17, Z:15.39 [[ 1.35577165e-01 -9.90699258e-01 -1.15677073e-02 1.03788212e+02] [ 9.85536586e-01 1.36050361e-01 -1.01034334e-01 9.51744297e+01] [ 1.01668430e-01 2.29754976e-03 9.94815687e-01 1.53853015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:95.20, Z:15.39 [[ 1.34345822e-01 -9.90867378e-01 -1.15342722e-02 1.03792027e+02] [ 9.85704983e-01 1.34822026e-01 -1.01038151e-01 9.52016276e+01] [ 1.01670481e-01 2.20466385e-03 9.94815688e-01 1.53892330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:95.23, Z:15.39 [[ 1.32936115e-01 -9.91057826e-01 -1.15054223e-02 1.03796643e+02] [ 9.85895840e-01 1.33416723e-01 -1.01041436e-01 9.52285875e+01] [ 1.01672922e-01 2.08890792e-03 9.94815688e-01 1.53933138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:95.26, Z:15.40 [[ 1.32355022e-01 -9.91135950e-01 -1.14750484e-02 1.03800503e+02] [ 9.85973958e-01 1.32835560e-01 -1.01044885e-01 9.52557870e+01] [ 1.01673513e-01 2.05969906e-03 9.94815689e-01 1.53964335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:95.28, Z:15.40 [[ 1.31303718e-01 -9.91276131e-01 -1.14439955e-02 1.03804211e+02] [ 9.86114355e-01 1.31786567e-01 -1.01048402e-01 9.52826720e+01] [ 1.01675034e-01 1.98294261e-03 9.94815689e-01 1.53993393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:95.31, Z:15.40 [[ 1.30736681e-01 -9.91351437e-01 -1.14126569e-02 1.03807917e+02] [ 9.86189639e-01 1.31219290e-01 -1.01051942e-01 9.53096917e+01] [ 1.01675548e-01 1.95615144e-03 9.94815690e-01 1.54015029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:95.34, Z:15.40 [[ 1.30166829e-01 -9.91426777e-01 -1.13816342e-02 1.03811806e+02] [ 9.86264961e-01 1.30649244e-01 -1.01055436e-01 9.53369623e+01] [ 1.01676067e-01 1.92875862e-03 9.94815690e-01 1.54028330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:95.36, Z:15.41 [[ 1.29863814e-01 -9.91466869e-01 -1.13506183e-02 1.03814765e+02] [ 9.86304906e-01 1.30344646e-01 -1.01058919e-01 9.53644634e+01] [ 1.01676063e-01 1.92872620e-03 9.94815691e-01 1.54056446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:95.39, Z:15.41 [[ 1.29392221e-01 -9.91528880e-01 -1.13195691e-02 1.03818056e+02] [ 9.86366852e-01 1.29872345e-01 -1.01062397e-01 9.53916807e+01] [ 1.01676384e-01 1.91144034e-03 9.94815691e-01 1.54071515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:95.42, Z:15.41 [[ 1.29200806e-01 -9.91554197e-01 -1.12883241e-02 1.03821608e+02] [ 9.86391966e-01 1.29678742e-01 -1.01065887e-01 9.54189980e+01] [ 1.01676160e-01 1.92308184e-03 9.94815692e-01 1.54093837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:95.45, Z:15.41 [[ 1.28193420e-01 -9.91685294e-01 -1.12572489e-02 1.03825175e+02] [ 9.86523256e-01 1.28673435e-01 -1.01069348e-01 9.54455460e+01] [ 1.01677495e-01 1.85088757e-03 9.94815692e-01 1.54120835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:95.47, Z:15.42 [[ 1.26651114e-01 -9.91883798e-01 -1.12261157e-02 1.03830733e+02] [ 9.86722215e-01 1.27135984e-01 -1.01072806e-01 9.54724013e+01] [ 1.01679722e-01 1.72392581e-03 9.94815693e-01 1.54153333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:95.50, Z:15.42 [[ 1.25590116e-01 -9.92019049e-01 -1.11950463e-02 1.03834781e+02] [ 9.86857688e-01 1.26077342e-01 -1.01076247e-01 9.54993081e+01] [ 1.01681005e-01 1.64626014e-03 9.94815693e-01 1.54182034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:95.53, Z:15.42 [[ 1.25104433e-01 -9.92080766e-01 -1.11639996e-02 1.03838961e+02] [ 9.86919345e-01 1.25591023e-01 -1.01079676e-01 9.55264700e+01] [ 1.01681301e-01 1.62754839e-03 9.94815694e-01 1.54216575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.866875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:103.84, Y:95.55, Z:15.42 [[ 1.24525015e-01 -9.92154008e-01 -1.11330244e-02 1.03842349e+02] [ 9.86992575e-01 1.25011465e-01 -1.01083088e-01 9.55529336e+01] [ 1.01681747e-01 1.59916064e-03 9.94815694e-01 1.54246082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:95.58, Z:15.43 [[ 1.25288882e-01 -9.92058189e-01 -1.11016258e-02 1.03846588e+02] [ 9.86896085e-01 1.25768159e-01 -1.01086536e-01 9.55791322e+01] [ 1.01679957e-01 1.70886806e-03 9.94815695e-01 1.54284005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:95.61, Z:15.43 [[ 1.25900432e-01 -9.91981131e-01 -1.10687139e-02 1.03849645e+02] [ 9.86818425e-01 1.26373174e-01 -1.01090140e-01 9.56059598e+01] [ 1.01678300e-01 1.80448149e-03 9.94815695e-01 1.54310624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:95.63, Z:15.43 [[ 1.26561609e-01 -9.91897338e-01 -1.10376795e-02 1.03852658e+02] [ 9.86734032e-01 1.27027748e-01 -1.01093529e-01 9.56325100e+01] [ 1.01676493e-01 1.90330562e-03 9.94815696e-01 1.54341558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:95.66, Z:15.44 [[ 1.27769753e-01 -9.91742788e-01 -1.10060369e-02 1.03855678e+02] [ 9.86578633e-01 1.28226377e-01 -1.01096973e-01 9.56586890e+01] [ 1.01673459e-01 2.05881445e-03 9.94815696e-01 1.54365034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:95.69, Z:15.44 [[ 1.30256425e-01 -9.91419621e-01 -1.09726783e-02 1.03859006e+02] [ 9.86254046e-01 1.30696697e-01 -1.01100594e-01 9.56860168e+01] [ 1.01667205e-01 2.34715350e-03 9.94815697e-01 1.54394863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:95.71, Z:15.44 [[ 1.31215024e-01 -9.91293526e-01 -1.09436141e-02 1.03861918e+02] [ 9.86127280e-01 1.31647339e-01 -1.01103740e-01 9.57124418e+01] [ 1.01664181e-01 2.47453327e-03 9.94815697e-01 1.54414755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:95.74, Z:15.44 [[ 1.31866260e-01 -9.91207339e-01 -1.09224966e-02 1.03865114e+02] [ 9.86040632e-01 1.32293028e-01 -1.01106021e-01 9.57393023e+01] [ 1.01662000e-01 2.56244746e-03 9.94815697e-01 1.54444499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:95.77, Z:15.45 [[ 1.32416129e-01 -9.91134376e-01 -1.08911731e-02 1.03868432e+02] [ 9.85967172e-01 1.32836837e-01 -1.01109395e-01 9.57666054e+01] [ 1.01659747e-01 2.65017559e-03 9.94815698e-01 1.54476527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:95.79, Z:15.45 [[ 1.33802882e-01 -9.90948462e-01 -1.08597994e-02 1.03872177e+02] [ 9.85780420e-01 1.34213161e-01 -1.01112765e-01 9.57934809e+01] [ 1.01655067e-01 2.82380173e-03 9.94815698e-01 1.54500030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:95.82, Z:15.45 [[ 1.34350276e-01 -9.90874739e-01 -1.08283916e-02 1.03875636e+02] [ 9.85706221e-01 1.34754498e-01 -1.01116129e-01 9.58200630e+01] [ 1.01652592e-01 2.91136676e-03 9.94815699e-01 1.54524118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:95.85, Z:15.45 [[ 1.34897946e-01 -9.90800677e-01 -1.07963869e-02 1.03879034e+02] [ 9.85631684e-01 1.35296048e-01 -1.01119546e-01 9.58468363e+01] [ 1.01650023e-01 2.99955804e-03 9.94815699e-01 1.54547214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:95.87, Z:15.46 [[ 1.36797273e-01 -9.90540576e-01 -1.07644832e-02 1.03882793e+02] [ 9.85370586e-01 1.37182210e-01 -1.01122942e-01 9.58741570e+01] [ 1.01643073e-01 3.22633764e-03 9.94815700e-01 1.54564466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:95.90, Z:15.46 [[ 1.37595769e-01 -9.90430316e-01 -1.07328396e-02 1.03885448e+02] [ 9.85259781e-01 1.37973311e-01 -1.01126300e-01 9.59004198e+01] [ 1.01639399e-01 3.33991587e-03 9.94815700e-01 1.54588773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:95.93, Z:15.46 [[ 1.38596658e-01 -9.90291112e-01 -1.06994976e-02 1.03888862e+02] [ 9.85119956e-01 1.38965574e-01 -1.01129828e-01 9.59270483e+01] [ 1.01634832e-01 3.47596767e-03 9.94815701e-01 1.54628667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:95.95, Z:15.47 [[ 1.39399229e-01 -9.90178800e-01 -1.06676497e-02 1.03892464e+02] [ 9.85007119e-01 1.39760705e-01 -1.01133187e-01 9.59536605e+01] [ 1.01630856e-01 3.59017748e-03 9.94815701e-01 1.54664697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:95.98, Z:15.47 [[ 1.39767986e-01 -9.90127158e-01 -1.06358604e-02 1.03896485e+02] [ 9.84955118e-01 1.40124292e-01 -1.01136531e-01 9.59794353e+01] [ 1.01628368e-01 3.65980401e-03 9.94815702e-01 1.54697648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:96.00, Z:15.47 [[ 1.39782537e-01 -9.90125442e-01 -1.06042796e-02 1.03899932e+02] [ 9.84953177e-01 1.40135546e-01 -1.01139842e-01 9.60049730e+01] [ 1.01627167e-01 3.69286481e-03 9.94815702e-01 1.54729500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:96.03, Z:15.48 [[ 1.38903720e-01 -9.90249470e-01 -1.05709420e-02 1.03903364e+02] [ 9.85077286e-01 1.39257918e-01 -1.01143326e-01 9.60323804e+01] [ 1.01629212e-01 3.63598934e-03 9.94815703e-01 1.54758679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:96.06, Z:15.48 [[ 1.38113463e-01 -9.90360334e-01 -1.05394666e-02 1.03906759e+02] [ 9.85188214e-01 1.38468578e-01 -1.01146606e-01 9.60577984e+01] [ 1.01630971e-01 3.58634965e-03 9.94815703e-01 1.54788601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:96.08, Z:15.48 [[ 1.35331933e-01 -9.90744565e-01 -1.05106887e-02 1.03910999e+02] [ 9.85573254e-01 1.35698636e-01 -1.01149596e-01 9.60836586e+01] [ 1.01639699e-01 3.32971674e-03 9.94815704e-01 1.54818564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:96.11, Z:15.48 [[ 1.33260275e-01 -9.91025596e-01 -1.04865638e-02 1.03914550e+02] [ 9.85854884e-01 1.33635328e-01 -1.01152097e-01 9.61106081e+01] [ 1.01645693e-01 3.14132613e-03 9.94815704e-01 1.54847594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:96.14, Z:15.49 [[ 1.29079772e-01 -9.91579087e-01 -1.04559624e-02 1.03918951e+02] [ 9.86409765e-01 1.29473508e-01 -1.01155261e-01 9.61362450e+01] [ 1.01657211e-01 2.74323456e-03 9.94815705e-01 1.54860398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:96.16, Z:15.49 [[ 1.26570852e-01 -9.91902799e-01 -1.04238967e-02 1.03922526e+02] [ 9.86734233e-01 1.26974397e-01 -1.01158565e-01 9.61624476e+01] [ 1.01663032e-01 2.51811005e-03 9.94815705e-01 1.54883706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:96.19, Z:15.49 [[ 1.23797098e-01 -9.92253131e-01 -1.03924126e-02 1.03926063e+02] [ 9.87085456e-01 1.24211884e-01 -1.01161799e-01 9.61885139e+01] [ 1.01668973e-01 2.26533786e-03 9.94815706e-01 1.54905446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:96.22, Z:15.49 [[ 1.21294726e-01 -9.92562476e-01 -1.03595352e-02 1.03929876e+02] [ 9.87395588e-01 1.21719191e-01 -1.01165166e-01 9.62150759e+01] [ 1.01673702e-01 2.04184176e-03 9.94815706e-01 1.54929216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:96.24, Z:15.49 [[ 1.16505850e-01 -9.93136316e-01 -1.03268735e-02 1.03934292e+02] [ 9.87971248e-01 1.16951905e-01 -1.01168500e-01 9.62406630e+01] [ 1.01681859e-01 1.58406803e-03 9.94815707e-01 1.54945397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:96.27, Z:15.50 [[ 1.14182796e-01 -9.93406435e-01 -1.02928779e-02 1.03937793e+02] [ 9.88242119e-01 1.14637469e-01 -1.01171959e-01 9.62673228e+01] [ 1.01684824e-01 1.38024174e-03 9.94815707e-01 1.54990819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:96.29, Z:15.50 [[ 1.12165299e-01 -9.93636571e-01 -1.02621210e-02 1.03941340e+02] [ 9.88472908e-01 1.12627326e-01 -1.01175078e-01 9.62944518e+01] [ 1.01687053e-01 1.20450431e-03 9.94815708e-01 1.55023912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:96.32, Z:15.50 [[ 1.10448165e-01 -9.93829226e-01 -1.02309799e-02 1.03944740e+02] [ 9.88666081e-01 1.10915944e-01 -1.01178227e-01 9.63206118e+01] [ 1.01688658e-01 1.05992677e-03 9.94815708e-01 1.55031184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:96.35, Z:15.51 [[ 1.06726407e-01 -9.94236122e-01 -1.01984363e-02 1.03948969e+02] [ 9.89074454e-01 1.07210202e-01 -1.01181508e-01 9.63469057e+01] [ 1.01691686e-01 7.11725963e-04 9.94815709e-01 1.55098804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:96.37, Z:15.51 [[ 1.04668302e-01 -9.94455218e-01 -1.01668831e-02 1.03952254e+02] [ 9.89294256e-01 1.05159569e-01 -1.01184678e-01 9.63730817e+01] [ 1.01692776e-01 5.32789378e-04 9.94815709e-01 1.55120439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:96.40, Z:15.52 [[ 1.03238795e-01 -9.94604974e-01 -1.01339561e-02 1.03955963e+02] [ 9.89444402e-01 1.03734131e-01 -1.01187976e-01 9.64004359e+01] [ 1.01693301e-01 4.19538536e-04 9.94815710e-01 1.55150804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:96.43, Z:15.52 [[ 1.01351098e-01 -9.94799419e-01 -1.01030598e-02 1.03959968e+02] [ 9.89639489e-01 1.01853083e-01 -1.01191061e-01 9.64263683e+01] [ 1.01693836e-01 2.57438080e-04 9.94815710e-01 1.55160612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:96.45, Z:15.52 [[ 1.00960948e-01 -9.94839418e-01 -1.00707202e-02 1.03963424e+02] [ 9.89679366e-01 1.01461667e-01 -1.01194279e-01 9.64520749e+01] [ 1.01693850e-01 2.49886380e-04 9.94815711e-01 1.55206196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:96.48, Z:15.52 [[ 1.00543141e-01 -9.94882057e-01 -1.00384451e-02 1.03966604e+02] [ 9.89721897e-01 1.01042744e-01 -1.01197481e-01 9.64784827e+01] [ 1.01693870e-01 2.39443615e-04 9.94815711e-01 1.55247263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:96.51, Z:15.53 [[ 1.00648208e-01 -9.94871747e-01 -1.00072485e-02 1.03969667e+02] [ 9.89711230e-01 1.01144094e-01 -1.01200566e-01 9.65058806e+01] [ 1.01693758e-01 2.81369354e-04 9.94815712e-01 1.55276511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:96.53, Z:15.53 [[ 1.02119590e-01 -9.94722109e-01 -9.97577230e-03 1.03973272e+02] [ 9.89560562e-01 1.02604640e-01 -1.01203668e-01 9.65315335e+01] [ 1.01693087e-01 4.63246286e-04 9.94815712e-01 1.55298383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:96.56, Z:15.53 [[ 1.02671362e-01 -9.94665640e-01 -9.94259759e-03 1.03976147e+02] [ 9.89503512e-01 1.03150174e-01 -1.01206927e-01 9.65582612e+01] [ 1.01692634e-01 5.52817901e-04 9.94815713e-01 1.55326638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:96.59, Z:15.54 [[ 1.03597426e-01 -9.94569911e-01 -9.91285264e-03 1.03979215e+02] [ 9.89407063e-01 1.04068404e-01 -1.01209841e-01 9.65856973e+01] [ 1.01691877e-01 6.77232601e-04 9.94815713e-01 1.55355546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:96.61, Z:15.54 [[ 1.04242703e-01 -9.94502805e-01 -9.88080082e-03 1.03981903e+02] [ 9.89339358e-01 1.04707069e-01 -1.01212970e-01 9.66116605e+01] [ 1.01691172e-01 7.75248442e-04 9.94815714e-01 1.55380327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:96.64, Z:15.54 [[ 1.05799148e-01 -9.94338759e-01 -9.84743922e-03 1.03985448e+02] [ 9.89174293e-01 1.06252036e-01 -1.01216216e-01 9.66387951e+01] [ 1.01689517e-01 9.67755633e-04 9.94815714e-01 1.55415890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:96.67, Z:15.55 [[ 1.06358057e-01 -9.94279442e-01 -9.81606489e-03 1.03988478e+02] [ 9.89114445e-01 1.06804848e-01 -1.01219258e-01 9.66654373e+01] [ 1.01688631e-01 1.05627205e-03 9.94815715e-01 1.55451868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:96.69, Z:15.55 [[ 1.07023659e-01 -9.94208323e-01 -9.78503118e-03 1.03991469e+02] [ 9.89042759e-01 1.07463834e-01 -1.01222258e-01 9.66910266e+01] [ 1.01687549e-01 1.15536223e-03 9.94815715e-01 1.55481769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:96.72, Z:15.55 [[ 1.06989212e-01 -9.94212349e-01 -9.75260707e-03 1.03994547e+02] [ 9.89046520e-01 1.07426265e-01 -1.01225382e-01 9.67184329e+01] [ 1.01687211e-01 1.18424182e-03 9.94815716e-01 1.55500635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:96.75, Z:15.55 [[ 1.06936657e-01 -9.94218287e-01 -9.72364147e-03 1.03997502e+02] [ 9.89052233e-01 1.07371035e-01 -1.01228165e-01 9.67455840e+01] [ 1.01686930e-01 1.20781226e-03 9.94815716e-01 1.55529099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:96.77, Z:15.56 [[ 1.06741648e-01 -9.94239546e-01 -9.69257275e-03 1.04000392e+02] [ 9.89073312e-01 1.07173876e-01 -1.01231140e-01 9.67722433e+01] [ 1.01686793e-01 1.21891367e-03 9.94815717e-01 1.55558500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:96.80, Z:15.56 [[ 1.06529237e-01 -9.94262627e-01 -9.66179021e-03 1.04003403e+02] [ 9.89096224e-01 1.06959435e-01 -1.01234078e-01 9.67978049e+01] [ 1.01686679e-01 1.22794886e-03 9.94815717e-01 1.55582842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:96.82, Z:15.56 [[ 1.06072916e-01 -9.94311727e-01 -9.62942063e-03 1.04006829e+02] [ 9.89145248e-01 1.06502189e-01 -1.01237156e-01 9.68242286e+01] [ 1.01686846e-01 1.21362474e-03 9.94815718e-01 1.55617978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:96.85, Z:15.56 [[ 1.05749519e-01 -9.94346477e-01 -9.59809760e-03 1.04009716e+02] [ 9.89179873e-01 1.06177284e-01 -1.01240126e-01 9.68505903e+01] [ 1.01686863e-01 1.21184970e-03 9.94815718e-01 1.55629392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:96.88, Z:15.57 [[ 1.05079089e-01 -9.94417867e-01 -9.56513585e-03 1.04012247e+02] [ 9.89251274e-01 1.05506982e-01 -1.01243240e-01 9.68776229e+01] [ 1.01687276e-01 1.17622463e-03 9.94815719e-01 1.55660123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:96.90, Z:15.57 [[ 1.02696650e-01 -9.94667034e-01 -9.53362947e-03 1.04015336e+02] [ 9.89501209e-01 1.03133712e-01 -1.01246207e-01 9.69048918e+01] [ 1.01689503e-01 9.64108406e-04 9.94815719e-01 1.55687348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:96.93, Z:15.57 [[ 9.19517650e-02 -9.95718128e-01 -9.50176244e-03 1.04020079e+02] [ 9.90557015e-01 9.24413337e-02 -1.01249198e-01 9.69306898e+01] [ 1.01694017e-01 -1.01995003e-04 9.94815720e-01 1.55740715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:96.96, Z:15.58 [[ 8.75243011e-02 -9.96117385e-01 -9.46852043e-03 1.04023309e+02] [ 9.90958165e-01 8.80334304e-02 -1.01252306e-01 9.69570157e+01] [ 1.01692729e-01 -5.20870281e-04 9.94815720e-01 1.55764906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:96.98, Z:15.58 [[ 8.40509776e-02 -9.96416778e-01 -9.43593665e-03 1.04026443e+02] [ 9.91259029e-01 8.45747796e-02 -1.01255343e-01 9.69842470e+01] [ 1.01690565e-01 -8.42846851e-04 9.94815721e-01 1.55796211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:97.01, Z:15.58 [[ 7.98004649e-02 -9.96766487e-01 -9.40509939e-03 1.04029124e+02] [ 9.91610688e-01 8.03431280e-02 -1.01258207e-01 9.70113602e+01] [ 1.01686423e-01 -1.24574507e-03 9.94815721e-01 1.55789714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:97.04, Z:15.58 [[ 7.95003289e-02 -9.96790758e-01 -9.37452869e-03 1.04031543e+02] [ 9.91634797e-01 8.00414393e-02 -1.01261037e-01 9.70389265e+01] [ 1.01686417e-01 -1.24582308e-03 9.94815722e-01 1.55817829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.576875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:104.03, Y:97.07, Z:15.58 [[ 7.80427254e-02 -9.96906227e-01 -9.34387900e-03 1.04033903e+02] [ 9.91750732e-01 7.85882617e-02 -1.01263866e-01 9.70663842e+01] [ 1.01684897e-01 -1.36389078e-03 9.94815722e-01 1.55834057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.606875 meters Centerline goodness : 0.999949 Centerline is valid? [True, True] Translation: X:104.04, Y:97.09, Z:15.59 [[ 7.78086407e-02 -9.96924812e-01 -9.31318150e-03 1.04036697e+02] [ 9.91769116e-01 7.83522699e-02 -1.01266689e-01 9.70932366e+01] [ 1.01684984e-01 -1.35710238e-03 9.94815723e-01 1.55857951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:97.12, Z:15.59 [[ 7.93106910e-02 -9.96806725e-01 -9.28260825e-03 1.04040434e+02] [ 9.91649895e-01 7.98434455e-02 -1.01269491e-01 9.71203965e+01] [ 1.01687265e-01 -1.17334417e-03 9.94815723e-01 1.55909210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:97.15, Z:15.60 [[ 8.08966929e-02 -9.96679549e-01 -9.25211191e-03 1.04043068e+02] [ 9.91521564e-01 8.14181429e-02 -1.01272277e-01 9.71467911e+01] [ 1.01689298e-01 -9.81076143e-04 9.94815724e-01 1.55953454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.17, Z:15.60 [[ 8.33873375e-02 -9.96474561e-01 -9.21958848e-03 1.04045309e+02] [ 9.91314965e-01 8.38925897e-02 -1.01275238e-01 9.71737298e+01] [ 1.01691654e-01 -6.94443562e-04 9.94815724e-01 1.55985320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.20, Z:15.60 [[ 8.59106602e-02 -9.96260469e-01 -9.18890301e-03 1.04046748e+02] [ 9.91099314e-01 8.63997247e-02 -1.01278022e-01 9.71999410e+01] [ 1.01693209e-01 -4.06253709e-04 9.94815725e-01 1.56007018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.23, Z:15.60 [[ 8.92726153e-02 -9.95965138e-01 -9.15661818e-03 1.04048031e+02] [ 9.90802063e-01 8.97409748e-02 -1.01280941e-01 9.72267900e+01] [ 1.01694010e-01 -3.07816816e-05 9.94815725e-01 1.56027556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.25, Z:15.60 [[ 9.68715474e-02 -9.95255056e-01 -9.12558936e-03 1.04047671e+02] [ 9.90088296e-01 9.72973295e-02 -1.01283737e-01 9.72527430e+01] [ 1.01691047e-01 7.76373102e-04 9.94815726e-01 1.56040391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.28, Z:15.60 [[ 9.82286741e-02 -9.95122292e-01 -9.09677886e-03 1.04048428e+02] [ 9.89954720e-01 9.86444778e-02 -1.01286325e-01 9.72804695e+01] [ 1.01689626e-01 9.43822191e-04 9.94815726e-01 1.56050000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.31, Z:15.61 [[ 9.94580363e-02 -9.95000453e-01 -9.06627747e-03 1.04049891e+02] [ 9.89832127e-01 9.98643508e-02 -1.01289055e-01 9.73080428e+01] [ 1.01688053e-01 1.09991777e-03 9.94815727e-01 1.56078117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.33, Z:15.61 [[ 1.00265486e-01 -9.94919691e-01 -9.03558010e-03 1.04051434e+02] [ 9.89750794e-01 1.00664482e-01 -1.01291793e-01 9.73338493e+01] [ 1.01686761e-01 1.21309831e-03 9.94815727e-01 1.56113012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.36, Z:15.62 [[ 1.02335589e-01 -9.94709186e-01 -9.00342223e-03 1.04052021e+02] [ 9.89539227e-01 1.02720553e-01 -1.01294651e-01 9.73604778e+01] [ 1.01683557e-01 1.45680834e-03 9.94815728e-01 1.56155861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.39, Z:15.62 [[ 1.03796995e-01 -9.94558029e-01 -8.97275467e-03 1.04052955e+02] [ 9.89387283e-01 1.04171241e-01 -1.01297368e-01 9.73877143e+01] [ 1.01680814e-01 1.63683307e-03 9.94815728e-01 1.56198744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.41, Z:15.62 [[ 1.05084876e-01 -9.94423065e-01 -8.94074397e-03 1.04053794e+02] [ 9.89251608e-01 1.05449165e-01 -1.01300193e-01 9.74141217e+01] [ 1.01678043e-01 1.80047292e-03 9.94815729e-01 1.56223146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.44, Z:15.62 [[ 1.08329860e-01 -9.94075099e-01 -8.90721211e-03 1.04052687e+02] [ 9.88902254e-01 1.08673853e-01 -1.01303142e-01 9.74412292e+01] [ 1.01670912e-01 2.16579304e-03 9.94815729e-01 1.56243716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.47, Z:15.63 [[ 1.09577485e-01 -9.93938626e-01 -8.87594239e-03 1.04053748e+02] [ 9.88765146e-01 1.09911800e-01 -1.01305881e-01 9.74681284e+01] [ 1.01667399e-01 2.32462124e-03 9.94815730e-01 1.56265550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:97.49, Z:15.63 [[ 1.09966830e-01 -9.93895907e-01 -8.84435874e-03 1.04054713e+02] [ 9.88722091e-01 1.10295900e-01 -1.01308639e-01 9.74942161e+01] [ 1.01665738e-01 2.39597697e-03 9.94815730e-01 1.56281396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.086875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:104.06, Y:97.52, Z:15.63 [[ 1.10553338e-01 -9.93831131e-01 -8.81145178e-03 1.04056857e+02] [ 9.88656913e-01 1.10876002e-01 -1.01311501e-01 9.75212296e+01] [ 1.01663502e-01 2.48882183e-03 9.94815731e-01 1.56315829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:97.55, Z:15.63 [[ 1.10694641e-01 -9.93815684e-01 -8.77966540e-03 1.04058413e+02] [ 9.88641220e-01 1.11013332e-01 -1.01314255e-01 9.75485445e+01] [ 1.01662356e-01 2.53500601e-03 9.94815731e-01 1.56347944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:97.57, Z:15.64 [[ 1.09721695e-01 -9.93923857e-01 -8.74738245e-03 1.04060004e+02] [ 9.88749503e-01 1.10042162e-01 -1.01317043e-01 9.75746897e+01] [ 1.01664007e-01 2.46770756e-03 9.94815732e-01 1.56364505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:97.60, Z:15.64 [[ 1.06638251e-01 -9.94259704e-01 -8.71341350e-03 1.04062374e+02] [ 9.89086146e-01 1.06971306e-01 -1.01319964e-01 9.76015090e+01] [ 1.01670443e-01 2.18626714e-03 9.94815732e-01 1.56406796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:97.63, Z:15.64 [[ 1.04151949e-01 -9.94523501e-01 -8.68207300e-03 1.04064447e+02] [ 9.89350579e-01 1.04494747e-01 -1.01322650e-01 9.76283335e+01] [ 1.01674987e-01 1.96333751e-03 9.94815733e-01 1.56437344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:97.66, Z:15.65 [[ 1.00805311e-01 -9.94868562e-01 -8.65061652e-03 1.04065900e+02] [ 9.89696602e-01 1.01162308e-01 -1.01325335e-01 9.76552934e+01] [ 1.01680507e-01 1.65264615e-03 9.94815733e-01 1.56456186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:97.68, Z:15.65 [[ 9.95053692e-02 -9.94999696e-01 -8.61893519e-03 1.04067500e+02] [ 9.89827981e-01 9.98658983e-02 -1.01328030e-01 9.76828957e+01] [ 1.01682097e-01 1.55141983e-03 9.94815734e-01 1.56473342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:97.71, Z:15.65 [[ 9.81494146e-02 -9.95134642e-01 -8.58703415e-03 1.04069027e+02] [ 9.89963194e-01 9.85137431e-02 -1.01330734e-01 9.77098560e+01] [ 1.01683664e-01 1.44470443e-03 9.94815734e-01 1.56486757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:97.74, Z:15.65 [[ 9.56618645e-02 -9.95377123e-01 -8.55519958e-03 1.04070461e+02] [ 9.90206366e-01 9.60358770e-02 -1.01333421e-01 9.77372006e+01] [ 1.01686575e-01 1.22233092e-03 9.94815735e-01 1.56511999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:97.76, Z:15.65 [[ 9.47208976e-02 -9.95467378e-01 -8.52359098e-03 1.04072483e+02] [ 9.90296743e-01 9.50965805e-02 -1.01336080e-01 9.77634120e+01] [ 1.01687326e-01 1.15776007e-03 9.94815735e-01 1.56544231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:97.79, Z:15.66 [[ 9.35547239e-02 -9.95577860e-01 -8.49926424e-03 1.04074570e+02] [ 9.90407488e-01 9.39339877e-02 -1.01338120e-01 9.77900700e+01] [ 1.01688359e-01 1.06292492e-03 9.94815736e-01 1.56595596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:97.82, Z:15.66 [[ 9.28040410e-02 -9.95648390e-01 -8.46722322e-03 1.04076369e+02] [ 9.90478064e-01 9.31839422e-02 -1.01340797e-01 9.78160530e+01] [ 1.01688811e-01 1.01823666e-03 9.94815736e-01 1.56628772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:97.84, Z:15.67 [[ 9.08670118e-02 -9.95827249e-01 -8.44257412e-03 1.04076990e+02] [ 9.90657484e-01 9.12544620e-02 -1.01342851e-01 9.78429591e+01] [ 1.01690395e-01 8.45022801e-04 9.94815736e-01 1.56661432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:97.87, Z:15.67 [[ 9.03964577e-02 -9.95870340e-01 -8.41114447e-03 1.04078768e+02] [ 9.90700518e-01 9.07831524e-02 -1.01345459e-01 9.78685753e+01] [ 1.01690527e-01 8.28345356e-04 9.94815737e-01 1.56691237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:97.90, Z:15.67 [[ 8.99603969e-02 -9.95910029e-01 -8.38694165e-03 1.04079996e+02] [ 9.90740193e-01 9.03468924e-02 -1.01347462e-01 9.78955910e+01] [ 1.01690688e-01 8.07977745e-04 9.94815737e-01 1.56720478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:97.92, Z:15.67 [[ 9.00348072e-02 -9.95903572e-01 -8.35519437e-03 1.04080358e+02] [ 9.90733467e-01 9.04176859e-02 -1.01350080e-01 9.79217171e+01] [ 1.01690364e-01 8.47264191e-04 9.94815738e-01 1.56734361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:97.95, Z:15.68 [[ 9.05171493e-02 -9.95860126e-01 -8.32196300e-03 1.04081896e+02] [ 9.90689590e-01 9.08941422e-02 -1.01352808e-01 9.79488321e+01] [ 1.01689638e-01 9.29685169e-04 9.94815738e-01 1.56756268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:97.98, Z:15.68 [[ 9.08035183e-02 -9.95834313e-01 -8.29106426e-03 1.04083179e+02] [ 9.90663442e-01 9.11758797e-02 -1.01355336e-01 9.79758102e+01] [ 1.01689066e-01 9.89766844e-04 9.94815739e-01 1.56789878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:98.00, Z:15.68 [[ 9.23519726e-02 -9.95692155e-01 -8.26107884e-03 1.04083700e+02] [ 9.90520497e-01 9.27132407e-02 -1.01357780e-01 9.80016113e+01] [ 1.01687058e-01 1.17782299e-03 9.94815739e-01 1.56810857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:104.08, Y:98.03, Z:15.68 [[ 9.28788074e-02 -9.95643427e-01 -8.22755500e-03 1.04084595e+02] [ 9.90471344e-01 9.32339266e-02 -1.01360501e-01 9.80292024e+01] [ 1.01686004e-01 1.26508499e-03 9.94815740e-01 1.56834312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:98.06, Z:15.69 [[ 9.37536538e-02 -9.95561614e-01 -8.20524281e-03 1.04085821e+02] [ 9.90389067e-01 9.41019569e-02 -1.01362307e-01 9.80559027e+01] [ 1.01684552e-01 1.37670390e-03 9.94815740e-01 1.56864657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:98.08, Z:15.69 [[ 9.55663324e-02 -9.95389509e-01 -8.17326274e-03 1.04086092e+02] [ 9.90216125e-01 9.59019603e-02 -1.01364886e-01 9.80835748e+01] [ 1.01681376e-01 1.59377382e-03 9.94815741e-01 1.56892113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:98.11, Z:15.69 [[ 9.63791672e-02 -9.95311392e-01 -8.14178507e-03 1.04087634e+02] [ 9.90137532e-01 9.67073653e-02 -1.01367414e-01 9.81100533e+01] [ 1.01679513e-01 1.70821999e-03 9.94815741e-01 1.56918894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:98.14, Z:15.70 [[ 9.69953953e-02 -9.95251798e-01 -8.10869584e-03 1.04089319e+02] [ 9.90077526e-01 9.73170208e-02 -1.01370061e-01 9.81374805e+01] [ 1.01677850e-01 1.80419164e-03 9.94815742e-01 1.56952708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:98.16, Z:15.70 [[ 9.76247819e-02 -9.95190510e-01 -8.07782377e-03 1.04090860e+02] [ 9.90015843e-01 9.79399916e-02 -1.01372521e-01 9.81633993e+01] [ 1.01676113e-01 1.89929678e-03 9.94815742e-01 1.56974186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.836875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:104.09, Y:98.19, Z:15.70 [[ 9.88711079e-02 -9.95067725e-01 -8.04532695e-03 1.04092397e+02] [ 9.89892472e-01 9.91765271e-02 -1.01375100e-01 9.81907821e+01] [ 1.01672998e-01 2.05905990e-03 9.94815743e-01 1.56999568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:98.22, Z:15.70 [[ 9.96044467e-02 -9.94994839e-01 -8.01408384e-03 1.04094463e+02] [ 9.89819178e-01 9.99028699e-02 -1.01377570e-01 9.82174514e+01] [ 1.01670789e-01 2.16516291e-03 9.94815743e-01 1.57023895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:98.24, Z:15.70 [[ 1.00193306e-01 -9.94935964e-01 -7.98307415e-03 1.04096411e+02] [ 9.89759949e-01 1.00485508e-01 -1.01380012e-01 9.82433189e+01] [ 1.01668803e-01 2.25627157e-03 9.94815744e-01 1.57046944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:98.27, Z:15.71 [[ 1.01657763e-01 -9.94787660e-01 -7.95049138e-03 1.04098663e+02] [ 9.89611040e-01 1.01939027e-01 -1.01382567e-01 9.82702232e+01] [ 1.01664592e-01 2.43843101e-03 9.94815744e-01 1.57076109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:98.30, Z:15.71 [[ 1.02193285e-01 -9.94733038e-01 -7.91930255e-03 1.04101254e+02] [ 9.89556098e-01 1.02468585e-01 -1.01385004e-01 9.82973315e+01] [ 1.01662492e-01 2.52427244e-03 9.94815745e-01 1.57101770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:98.32, Z:15.71 [[ 1.02799482e-01 -9.94670822e-01 -7.88816996e-03 1.04104076e+02] [ 9.89493549e-01 1.03068456e-01 -1.01387426e-01 9.83246835e+01] [ 1.01660136e-01 2.61728154e-03 9.94815745e-01 1.57134736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:98.35, Z:15.72 [[ 1.03051718e-01 -9.94644968e-01 -7.85689039e-03 1.04106665e+02] [ 9.89467464e-01 1.03316193e-01 -1.01389850e-01 9.83514768e+01] [ 1.01658648e-01 2.67426080e-03 9.94815746e-01 1.57166345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:98.38, Z:15.72 [[ 1.03160944e-01 -9.94633892e-01 -7.82562612e-03 1.04109103e+02] [ 9.89456198e-01 1.03421665e-01 -1.01392263e-01 9.83788917e+01] [ 1.01657520e-01 2.71660725e-03 9.94815746e-01 1.57196393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:98.41, Z:15.72 [[ 1.03089691e-01 -9.94641524e-01 -7.79456332e-03 1.04112566e+02] [ 9.89463690e-01 1.03347619e-01 -1.01394651e-01 9.84052215e+01] [ 1.01656880e-01 2.74030579e-03 9.94815747e-01 1.57244216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:98.43, Z:15.73 [[ 1.02510008e-01 -9.94701681e-01 -7.76293569e-03 1.04115014e+02] [ 9.89523839e-01 1.02767732e-01 -1.01397072e-01 9.84312009e+01] [ 1.01657618e-01 2.71260476e-03 9.94815747e-01 1.57262444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:98.46, Z:15.73 [[ 1.02390153e-01 -9.94714283e-01 -7.72991431e-03 1.04118027e+02] [ 9.89536305e-01 1.02645137e-01 -1.01399590e-01 9.84579232e+01] [ 1.01657058e-01 2.73328868e-03 9.94815748e-01 1.57291092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:98.49, Z:15.73 [[ 1.02403085e-01 -9.94713197e-01 -7.69825989e-03 1.04121681e+02] [ 9.89535059e-01 1.02654777e-01 -1.01401993e-01 9.84850835e+01] [ 1.01656164e-01 2.76617886e-03 9.94815748e-01 1.57335470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:98.51, Z:15.74 [[ 1.02585406e-01 -9.94694663e-01 -7.66559753e-03 1.04124312e+02] [ 9.89516319e-01 1.02832822e-01 -1.01404462e-01 9.85113886e+01] [ 1.01654752e-01 2.81738408e-03 9.94815749e-01 1.57355442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:98.54, Z:15.74 [[ 1.02972629e-01 -9.94654915e-01 -7.63130478e-03 1.04127015e+02] [ 9.89476312e-01 1.03214536e-01 -1.01407043e-01 9.85385097e+01] [ 1.01652675e-01 2.89115450e-03 9.94815749e-01 1.57389965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:98.57, Z:15.74 [[ 1.03021162e-01 -9.94650134e-01 -7.59937896e-03 1.04129808e+02] [ 9.89471368e-01 1.03259564e-01 -1.01409435e-01 9.85651717e+01] [ 1.01651617e-01 2.92794997e-03 9.94815750e-01 1.57420982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:98.59, Z:15.75 [[ 1.02008896e-01 -9.94754706e-01 -7.56707436e-03 1.04132458e+02] [ 9.89576032e-01 1.02249277e-01 -1.01411846e-01 9.85924104e+01] [ 1.01653639e-01 2.85671497e-03 9.94815750e-01 1.57452647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:98.62, Z:15.75 [[ 1.02903039e-01 -9.94663449e-01 -7.45579361e-03 1.04137337e+02] [ 9.89484054e-01 1.03127428e-01 -1.01420122e-01 9.86190211e+01] [ 1.01647785e-01 3.05904981e-03 9.94815747e-01 1.57468078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:98.65, Z:15.75 [[ 1.01999795e-01 -9.94755983e-01 -7.52165416e-03 1.04140261e+02] [ 9.89577098e-01 1.02235597e-01 -1.01415237e-01 9.86462114e+01] [ 1.01652395e-01 2.90107669e-03 9.94815749e-01 1.57496994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:98.67, Z:15.75 [[ 1.00365802e-01 -9.94922411e-01 -7.49005293e-03 1.04143131e+02] [ 9.89743770e-01 1.00606891e-01 -1.01417571e-01 9.86732312e+01] [ 1.01656165e-01 2.76562267e-03 9.94815749e-01 1.57520927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:98.70, Z:15.76 [[ 9.79338577e-02 -9.95164976e-01 -7.45850945e-03 1.04147809e+02] [ 9.89986783e-01 9.81843899e-02 -1.01419891e-01 9.87003524e+01] [ 1.01661832e-01 2.54861537e-03 9.94815750e-01 1.57570054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:98.73, Z:15.76 [[ 9.64665044e-02 -9.95308525e-01 -7.42653710e-03 1.04151121e+02] [ 9.90130546e-01 9.67214148e-02 -1.01422232e-01 9.87265217e+01] [ 1.01664717e-01 2.43060695e-03 9.94815750e-01 1.57600276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:98.75, Z:15.76 [[ 9.61671987e-02 -9.95337738e-01 -7.39300941e-03 1.04152981e+02] [ 9.90159669e-01 9.64202516e-02 -1.01424676e-01 9.87541286e+01] [ 1.01664643e-01 2.43346721e-03 9.94815751e-01 1.57628376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:98.78, Z:15.77 [[ 9.50766526e-02 -9.95442729e-01 -7.36234955e-03 1.04156284e+02] [ 9.90264785e-01 9.53322562e-02 -1.01426902e-01 9.87805084e+01] [ 1.01666541e-01 2.35265478e-03 9.94815752e-01 1.57664009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:98.81, Z:15.77 [[ 9.34465654e-02 -9.95597251e-01 -7.33849841e-03 1.04158867e+02] [ 9.90419610e-01 9.37082184e-02 -1.01428627e-01 9.88076623e+01] [ 1.01669740e-01 2.20996411e-03 9.94815752e-01 1.57703413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:98.83, Z:15.77 [[ 9.07491430e-02 -9.95846985e-01 -7.30589805e-03 1.04162567e+02] [ 9.90669896e-01 9.10215021e-02 -1.01430975e-01 9.88333979e+01] [ 1.01674725e-01 1.96704083e-03 9.94815752e-01 1.57719239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:98.86, Z:15.77 [[ 8.89717738e-02 -9.96007604e-01 -7.27167085e-03 1.04165287e+02] [ 9.90830822e-01 8.92498872e-02 -1.01433429e-01 9.88600669e+01] [ 1.01677463e-01 1.81971652e-03 9.94815753e-01 1.57743295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:98.89, Z:15.78 [[ 8.74980195e-02 -9.96138381e-01 -7.24034437e-03 1.04168492e+02] [ 9.90961842e-01 8.77806029e-02 -1.01435665e-01 9.88871635e+01] [ 1.01679521e-01 1.70051482e-03 9.94815753e-01 1.57770988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:98.91, Z:15.78 [[ 8.58343606e-02 -9.96283344e-01 -7.20841794e-03 1.04171779e+02] [ 9.91107102e-01 8.61223386e-02 -1.01437934e-01 9.89129647e+01] [ 1.01681730e-01 1.56254600e-03 9.94815754e-01 1.57795354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:98.94, Z:15.78 [[ 8.20310459e-02 -9.96603947e-01 -7.17499141e-03 1.04177172e+02] [ 9.91428642e-01 8.23353770e-02 -1.01440298e-01 9.89397733e+01] [ 1.01686557e-01 1.20776179e-03 9.94815754e-01 1.57831139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:98.97, Z:15.79 [[ 8.00706020e-02 -9.96763593e-01 -7.14408237e-03 1.04180464e+02] [ 9.91588707e-01 8.03819668e-02 -1.01442475e-01 9.89671891e+01] [ 1.01688422e-01 1.03856866e-03 9.94815755e-01 1.57860422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:98.99, Z:15.79 [[ 7.80564007e-02 -9.96923572e-01 -7.11272027e-03 1.04183563e+02] [ 9.91749128e-01 7.83750301e-02 -1.01444674e-01 9.89945088e+01] [ 1.01690047e-01 8.64372018e-04 9.94815755e-01 1.57884964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:99.02, Z:15.79 [[ 7.61259293e-02 -9.97073064e-01 -7.08147183e-03 1.04187271e+02] [ 9.91899047e-01 7.64513981e-02 -1.01446856e-01 9.90211772e+01] [ 1.01691316e-01 6.98630992e-04 9.94815756e-01 1.57904016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:99.05, Z:15.79 [[ 7.57577855e-02 -9.97101328e-01 -7.04985260e-03 1.04189752e+02] [ 9.91927229e-01 7.60819478e-02 -1.01449053e-01 9.90475640e+01] [ 1.01691352e-01 6.92614843e-04 9.94815756e-01 1.57928676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:99.08, Z:15.80 [[ 7.56317882e-02 -9.97111128e-01 -7.01651033e-03 1.04191771e+02] [ 9.91936859e-01 7.59532120e-02 -1.01451359e-01 9.90750881e+01] [ 1.01691205e-01 7.13012482e-04 9.94815757e-01 1.57954537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:99.10, Z:15.80 [[ 7.62963799e-02 -9.97060711e-01 -6.98571678e-03 1.04193943e+02] [ 9.91886038e-01 7.66112217e-02 -1.01453479e-01 9.91023990e+01] [ 1.01690463e-01 8.11498258e-04 9.94815757e-01 1.57984972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.13, Z:15.80 [[ 7.93020135e-02 -9.96826376e-01 -6.95456326e-03 1.04195190e+02] [ 9.91650595e-01 7.95980827e-02 -1.01455615e-01 9.91295773e+01] [ 1.01687203e-01 1.14913774e-03 9.94815758e-01 1.58014964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.16, Z:15.80 [[ 8.02383953e-02 -9.96751662e-01 -6.92268129e-03 1.04195939e+02] [ 9.91575425e-01 8.05263576e-02 -1.01457790e-01 9.91553587e+01] [ 1.01685679e-01 1.27644965e-03 9.94815758e-01 1.58042792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.18, Z:15.81 [[ 8.03773182e-02 -9.96740640e-01 -6.89800382e-03 1.04197153e+02] [ 9.91564224e-01 8.06620476e-02 -1.01459468e-01 9.91819769e+01] [ 1.01685182e-01 1.31522614e-03 9.94815759e-01 1.58070631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.21, Z:15.81 [[ 8.03411871e-02 -9.96743780e-01 -6.86513351e-03 1.04198183e+02] [ 9.91567192e-01 8.06227587e-02 -1.01461692e-01 9.92091361e+01] [ 1.01684797e-01 1.34431165e-03 9.94815759e-01 1.58107091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00687499999998 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:104.20, Y:99.24, Z:15.81 [[ 8.08815264e-02 -9.96700301e-01 -6.83295921e-03 1.04198144e+02] [ 9.91523385e-01 8.11570170e-02 -1.01463859e-01 9.92357721e+01] [ 1.01683601e-01 1.43151294e-03 9.94815760e-01 1.58089027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:99.26, Z:15.80 [[ 7.55505291e-02 -9.97118792e-01 -6.79943580e-03 1.04188238e+02] [ 9.91943226e-01 7.58502883e-02 -1.01466106e-01 9.92551748e+01] [ 1.01689500e-01 9.21163680e-04 9.94815760e-01 1.58033573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.29, Z:15.81 [[ 8.28990128e-02 -9.96548491e-01 -4.34256221e-03 1.04199240e+02] [ 9.91361471e-01 8.29103802e-02 -1.01628254e-01 9.92897016e+01] [ 1.01637527e-01 4.11983309e-03 9.94812967e-01 1.58106445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.32, Z:15.81 [[ 8.35059774e-02 -9.96484260e-01 -6.77285820e-03 1.04200396e+02] [ 9.91306490e-01 8.37617189e-02 -1.01466335e-01 9.93164986e+01] [ 1.01676912e-01 1.75906718e-03 9.94815918e-01 1.58135309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.34, Z:15.82 [[ 8.50022582e-02 -9.96357949e-01 -6.74194126e-03 1.04200383e+02] [ 9.91179652e-01 8.52470768e-02 -1.01468389e-01 9.93439413e+01] [ 1.01673567e-01 1.94256722e-03 9.94815919e-01 1.58165383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.37, Z:15.82 [[ 8.53119527e-02 -9.96331688e-01 -6.71105502e-03 1.04201747e+02] [ 9.91153169e-01 8.55520174e-02 -1.01470432e-01 9.93713569e+01] [ 1.01672351e-01 2.00495723e-03 9.94815919e-01 1.58198586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.40, Z:15.82 [[ 8.52932349e-02 -9.96333500e-01 -6.67994461e-03 1.04202836e+02] [ 9.91154839e-01 8.55302297e-02 -1.01472480e-01 9.93984395e+01] [ 1.01671768e-01 2.03405664e-03 9.94815920e-01 1.58230725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.43, Z:15.83 [[ 8.56770569e-02 -9.96300776e-01 -6.64872026e-03 1.04203809e+02] [ 9.91121882e-01 8.59088778e-02 -1.01474526e-01 9.94255066e+01] [ 1.01670333e-01 2.10434658e-03 9.94815920e-01 1.58261788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.246875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:104.20, Y:99.45, Z:15.83 [[ 8.60994415e-02 -9.96264571e-01 -6.61748729e-03 1.04204432e+02] [ 9.91085440e-01 8.63258870e-02 -1.01476563e-01 9.94515459e+01] [ 1.01668765e-01 2.17858007e-03 9.94815921e-01 1.58276604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.48, Z:15.83 [[ 8.74496673e-02 -9.96147175e-01 -6.58493187e-03 1.04203836e+02] [ 9.90967603e-01 8.76657783e-02 -1.01478675e-01 9.94788685e+01] [ 1.01664969e-01 2.34882224e-03 9.94815921e-01 1.58302134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:99.51, Z:15.83 [[ 8.79059632e-02 -9.96107216e-01 -6.55410614e-03 1.04204537e+02] [ 9.90927417e-01 8.81165629e-02 -1.01480666e-01 9.95058194e+01] [ 1.01663149e-01 2.42611223e-03 9.94815922e-01 1.58335290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:99.53, Z:15.84 [[ 8.79106931e-02 -9.96107004e-01 -6.52278990e-03 1.04205087e+02] [ 9.90927076e-01 8.81180796e-02 -1.01482679e-01 9.95327662e+01] [ 1.01662383e-01 2.45780353e-03 9.94815922e-01 1.58358229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:99.56, Z:15.84 [[ 8.75870229e-02 -9.96135719e-01 -6.49168368e-03 1.04205517e+02] [ 9.90955733e-01 8.77929253e-02 -1.01484669e-01 9.95595335e+01] [ 1.01662428e-01 2.45576886e-03 9.94815923e-01 1.58387079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:99.59, Z:15.84 [[ 8.70274008e-02 -9.96184969e-01 -6.46062496e-03 1.04206897e+02] [ 9.91004973e-01 8.72330509e-02 -1.01486646e-01 9.95866438e+01] [ 1.01663051e-01 2.42960756e-03 9.94815923e-01 1.58419935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:99.61, Z:15.85 [[ 8.66186281e-02 -9.96220800e-01 -6.42885975e-03 1.04208099e+02] [ 9.91040761e-01 8.68231696e-02 -1.01488658e-01 9.96127401e+01] [ 1.01663286e-01 2.41954630e-03 9.94815924e-01 1.58452165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:99.64, Z:15.85 [[ 8.56113720e-02 -9.96308081e-01 -6.39542553e-03 1.04208959e+02] [ 9.91128114e-01 8.58177465e-02 -1.01490765e-01 9.96399810e+01] [ 1.01664911e-01 2.35007761e-03 9.94815924e-01 1.58488195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:99.67, Z:15.85 [[ 8.39992404e-02 -9.96445501e-01 -6.36325056e-03 1.04209248e+02] [ 9.91265741e-01 8.42107202e-02 -1.01492783e-01 9.96661421e+01] [ 1.01667880e-01 2.21764436e-03 9.94815925e-01 1.58511067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.516875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.21, Y:99.69, Z:15.85 [[ 8.22986024e-02 -9.96587560e-01 -6.33840055e-03 1.04210192e+02] [ 9.91408062e-01 8.25163919e-02 -1.01494334e-01 9.96925353e+01] [ 1.01671013e-01 2.06890047e-03 9.94815925e-01 1.58534228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:99.72, Z:15.86 [[ 8.06267040e-02 -9.96724426e-01 -6.30508728e-03 1.04212076e+02] [ 9.91545153e-01 8.08497908e-02 -1.01496404e-01 9.97186714e+01] [ 1.01673710e-01 1.93154179e-03 9.94815926e-01 1.58562433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:99.75, Z:15.86 [[ 7.82760825e-02 -9.96911979e-01 -6.27383961e-03 1.04213759e+02] [ 9.91733104e-01 7.85082015e-02 -1.01498336e-01 9.97455309e+01] [ 1.01677454e-01 1.72291765e-03 9.94815926e-01 1.58598673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:99.77, Z:15.86 [[ 7.36670964e-02 -9.97263356e-01 -6.24160209e-03 1.04215192e+02] [ 9.92085449e-01 7.39198713e-02 -1.01500318e-01 9.97719518e+01] [ 1.01683926e-01 1.28503109e-03 9.94815927e-01 1.58628808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:99.80, Z:15.87 [[ 7.10095634e-02 -9.97456259e-01 -6.21717239e-03 1.04216204e+02] [ 9.92278917e-01 7.12736487e-02 -1.01501814e-01 9.97986818e+01] [ 1.01686741e-01 1.03843044e-03 9.94815927e-01 1.58658649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.666875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:104.22, Y:99.83, Z:15.87 [[ 6.63784110e-02 -9.97775347e-01 -6.18572673e-03 1.04217648e+02] [ 9.92599110e-01 6.66633288e-02 -1.01503731e-01 9.98259237e+01] [ 1.01690281e-01 5.97709512e-04 9.94815927e-01 1.58698949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:99.85, Z:15.87 [[ 6.42273958e-02 -9.97916314e-01 -6.15403994e-03 1.04219255e+02] [ 9.92740520e-01 6.45202481e-02 -1.01505652e-01 9.98521464e+01] [ 1.01691206e-01 4.10078867e-04 9.94815928e-01 1.58726923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:99.88, Z:15.88 [[ 6.22537727e-02 -9.98041530e-01 -6.12960896e-03 1.04220596e+02] [ 9.92866181e-01 6.25543754e-02 -1.01507127e-01 9.98792590e+01] [ 1.01691762e-01 2.33320186e-04 9.94815928e-01 1.58758571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:99.91, Z:15.88 [[ 6.05792285e-02 -9.98144755e-01 -6.09967288e-03 1.04222338e+02] [ 9.92969737e-01 6.08854693e-02 -1.01508926e-01 9.99068463e+01] [ 1.01691984e-01 9.25418586e-05 9.94815929e-01 1.58783971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:99.93, Z:15.88 [[ 5.87116248e-02 -9.98256531e-01 -6.06981850e-03 1.04223580e+02] [ 9.93081911e-01 5.90245116e-02 -1.01510711e-01 9.99334718e+01] [ 1.01691999e-01 -6.79681595e-05 9.94815929e-01 1.58822922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:99.96, Z:15.88 [[ 5.69566279e-02 -9.98358383e-01 -6.04008693e-03 1.04224129e+02] [ 9.93184134e-01 5.72755879e-02 -1.01512480e-01 9.99593424e+01] [ 1.01691785e-01 -2.17109931e-04 9.94815930e-01 1.58839723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:99.99, Z:15.89 [[ 5.66829209e-02 -9.98374160e-01 -6.00684617e-03 1.04225075e+02] [ 9.93199792e-01 5.69999196e-02 -1.01514447e-01 9.99864407e+01] [ 1.01691791e-01 -2.11862969e-04 9.94815930e-01 1.58880875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:100.01, Z:15.89 [[ 5.66733103e-02 -9.98374895e-01 -5.97537978e-03 1.04225971e+02] [ 9.93200335e-01 5.69871593e-02 -1.01516300e-01 1.00012690e+02] [ 1.01691845e-01 -1.81484445e-04 9.94815931e-01 1.58899849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:100.04, Z:15.88 [[ 5.22288844e-02 -9.98617459e-01 -5.94257617e-03 1.04219625e+02] [ 9.93444131e-01 5.25624282e-02 -1.01518220e-01 1.00035176e+02] [ 1.01690223e-01 -6.01434047e-04 9.94815931e-01 1.58838653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:100.07, Z:15.89 [[ 5.76107632e-02 -9.98329382e-01 -4.40957986e-03 1.04228412e+02] [ 9.93146391e-01 5.77604612e-02 -1.01606962e-01 1.00066150e+02] [ 1.01691915e-01 1.47429630e-03 9.94814848e-01 1.58940160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:100.09, Z:15.90 [[ 5.85221780e-02 -9.98268599e-01 -5.91252762e-03 1.04229525e+02] [ 9.93093139e-01 5.88200517e-02 -1.01519545e-01 1.00092483e+02] [ 1.01691549e-01 6.94542860e-05 9.94815975e-01 1.58960764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:100.12, Z:15.90 [[ 5.82033528e-02 -9.98287433e-01 -5.87968913e-03 1.04230369e+02] [ 9.93111877e-01 5.84995399e-02 -1.01521447e-01 1.00119236e+02] [ 1.01691544e-01 6.96994992e-05 9.94815975e-01 1.58992261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:100.15, Z:15.90 [[ 5.86563566e-02 -9.98261106e-01 -5.84778659e-03 1.04231974e+02] [ 9.93085233e-01 5.89469506e-02 -1.01523285e-01 1.00145025e+02] [ 1.01691456e-01 1.47635488e-04 9.94815976e-01 1.59015373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:100.17, Z:15.90 [[ 5.83788873e-02 -9.98277566e-01 -5.81438505e-03 1.04233639e+02] [ 9.93101584e-01 5.86675230e-02 -1.01525198e-01 1.00171876e+02] [ 1.01691443e-01 1.52653077e-04 9.94815977e-01 1.59040066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:100.20, Z:15.91 [[ 5.87767196e-02 -9.98254397e-01 -5.78405859e-03 1.04235634e+02] [ 9.93078132e-01 5.90602082e-02 -1.01526926e-01 1.00198008e+02] [ 1.01691308e-01 2.23397532e-04 9.94815977e-01 1.59066855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.116875 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:104.24, Y:100.22, Z:15.91 [[ 5.86184353e-02 -9.98263889e-01 -5.75208650e-03 1.04237198e+02] [ 9.93087491e-01 5.88994930e-02 -1.01528737e-01 1.00224687e+02] [ 1.01691267e-01 2.39130551e-04 9.94815978e-01 1.59099613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:100.25, Z:15.90 [[ 5.50957382e-02 -9.98464687e-01 -5.72087749e-03 1.04233630e+02] [ 9.93289131e-01 5.53918854e-02 -1.01530496e-01 1.00249095e+02] [ 1.01691505e-01 -8.85878279e-05 9.94815978e-01 1.59042021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:100.28, Z:15.91 [[ 5.89895136e-02 -9.98247770e-01 -4.65045319e-03 1.04240684e+02] [ 9.93065927e-01 5.91565723e-02 -1.01590177e-01 1.00278777e+02] [ 1.01687272e-01 1.37454850e-03 9.94815465e-01 1.59138373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:100.31, Z:15.92 [[ 5.84486538e-02 -9.98274262e-01 -5.67922691e-03 1.04242931e+02] [ 9.93097529e-01 5.87231816e-02 -1.01532686e-01 1.00305617e+02] [ 1.01690970e-01 2.94422617e-04 9.94815993e-01 1.59178076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:100.33, Z:15.92 [[ 5.87615624e-02 -9.98256069e-01 -5.64791077e-03 1.04245180e+02] [ 9.93079084e-01 5.90312825e-02 -1.01534428e-01 1.00331232e+02] [ 1.01690763e-01 3.57499588e-04 9.94815994e-01 1.59206247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:100.36, Z:15.92 [[ 5.84830019e-02 -9.98272564e-01 -5.62369438e-03 1.04247173e+02] [ 9.93095527e-01 5.87517035e-02 -1.01535770e-01 1.00357998e+02] [ 1.01690775e-01 3.53250870e-04 9.94815994e-01 1.59237485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:100.38, Z:15.93 [[ 5.87477341e-02 -9.98257195e-01 -5.59257991e-03 1.04249381e+02] [ 9.93079924e-01 5.90118980e-02 -1.01537483e-01 1.00384396e+02] [ 1.01690552e-01 4.11218240e-04 9.94815994e-01 1.59264463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:100.41, Z:15.93 [[ 5.97455777e-02 -9.98198153e-01 -5.55998868e-03 1.04251461e+02] [ 9.93020456e-01 6.00012511e-02 -1.01539268e-01 1.00411002e+02] [ 1.01689916e-01 5.45339731e-04 9.94815995e-01 1.59300236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:100.44, Z:15.93 [[ 5.94380975e-02 -9.98216684e-01 -5.52857258e-03 1.04252839e+02] [ 9.93038909e-01 5.96921702e-02 -1.01540979e-01 1.00438642e+02] [ 1.01689911e-01 5.45314908e-04 9.94815995e-01 1.59328352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:100.46, Z:15.94 [[ 6.08919683e-02 -9.98129225e-01 -5.49713106e-03 1.04254491e+02] [ 9.92950935e-01 6.11353007e-02 -1.01542681e-01 1.00464933e+02] [ 1.01688786e-01 7.24752274e-04 9.94815996e-01 1.59350065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:100.49, Z:15.94 [[ 6.21021870e-02 -9.98054839e-01 -5.46419991e-03 1.04255822e+02] [ 9.92876106e-01 6.23358902e-02 -1.01544453e-01 1.00491996e+02] [ 1.01687548e-01 8.80859072e-04 9.94815996e-01 1.59371057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:100.52, Z:15.94 [[ 6.34788895e-02 -9.97968394e-01 -5.43283933e-03 1.04257379e+02] [ 9.92789205e-01 6.37022580e-02 -1.01546131e-01 1.00517899e+02] [ 1.01685913e-01 1.05237138e-03 9.94815997e-01 1.59386119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:100.54, Z:15.94 [[ 6.54436058e-02 -9.97841612e-01 -5.40858876e-03 1.04259602e+02] [ 9.92661892e-01 6.56543094e-02 -1.01547422e-01 1.00543812e+02] [ 1.01683341e-01 1.27672953e-03 9.94815997e-01 1.59402114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:100.57, Z:15.94 [[ 6.59337337e-02 -9.97809522e-01 -5.37595246e-03 1.04261151e+02] [ 9.92629568e-01 6.61385721e-02 -1.01549150e-01 1.00570890e+02] [ 1.01682267e-01 1.35918526e-03 9.94815998e-01 1.59436416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:100.60, Z:15.95 [[ 6.63494604e-02 -9.97782132e-01 -5.34478564e-03 1.04262816e+02] [ 9.92601970e-01 6.65489692e-02 -1.01550791e-01 1.00598407e+02] [ 1.01681254e-01 1.43259541e-03 9.94815998e-01 1.59466006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:100.63, Z:15.95 [[ 6.68871599e-02 -9.97746397e-01 -5.31372321e-03 1.04264615e+02] [ 9.92566010e-01 6.70807162e-02 -1.01552416e-01 1.00625197e+02] [ 1.01680006e-01 1.51833164e-03 9.94815999e-01 1.59504128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:100.65, Z:15.95 [[ 6.72750238e-02 -9.97720488e-01 -5.28197948e-03 1.04267700e+02] [ 9.92539908e-01 6.74633360e-02 -1.01554067e-01 1.00651428e+02] [ 1.01678913e-01 1.58947686e-03 9.94815999e-01 1.59540068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:100.68, Z:15.95 [[ 6.44117280e-02 -9.97909560e-01 -5.25740847e-03 1.04266357e+02] [ 9.92729445e-01 6.46124053e-02 -1.01555339e-01 1.00676663e+02] [ 1.01682738e-01 1.32217069e-03 9.94815999e-01 1.59517779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:100.70, Z:15.95 [[ 6.38544071e-02 -9.97947318e-01 -4.87500187e-03 1.04268346e+02] [ 9.92765871e-01 6.40190653e-02 -1.01575018e-01 1.00704024e+02] [ 1.01678609e-01 1.64627704e-03 9.94815938e-01 1.59545924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:100.73, Z:15.96 [[ 6.52908381e-02 -9.97854860e-01 -4.77335429e-03 1.04273368e+02] [ 9.92672838e-01 6.54376930e-02 -1.01580235e-01 1.00732445e+02] [ 1.01674688e-01 1.89387951e-03 9.94815898e-01 1.59622259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:100.76, Z:15.96 [[ 6.32848844e-02 -9.97981929e-01 -5.20500245e-03 1.04276962e+02] [ 9.92801826e-01 6.34860785e-02 -1.01558122e-01 1.00759031e+02] [ 1.01683615e-01 1.25955806e-03 9.94815991e-01 1.59647032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:100.79, Z:15.97 [[ 6.16945805e-02 -9.98081667e-01 -5.17349823e-03 1.04279276e+02] [ 9.92901763e-01 6.19008232e-02 -1.01559727e-01 1.00785582e+02] [ 1.01685145e-01 1.12890922e-03 9.94815991e-01 1.59675899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:100.81, Z:15.97 [[ 6.00252392e-02 -9.98183623e-01 -5.14049272e-03 1.04281588e+02] [ 9.93003934e-01 6.02367870e-02 -1.01561397e-01 1.00812646e+02] [ 1.01686570e-01 9.91717673e-04 9.94815992e-01 1.59703174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:100.84, Z:15.97 [[ 5.72047915e-02 -9.98349390e-01 -5.10948290e-03 1.04285307e+02] [ 9.93170183e-01 5.74278184e-02 -1.01562957e-01 1.00839967e+02] [ 1.01688743e-01 7.35301736e-04 9.94815992e-01 1.59741957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:100.87, Z:15.98 [[ 5.60956285e-02 -9.98412485e-01 -5.07839245e-03 1.04287504e+02] [ 9.93233390e-01 5.63212465e-02 -1.01564512e-01 1.00867242e+02] [ 1.01689298e-01 6.53296187e-04 9.94815993e-01 1.59772291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:100.89, Z:15.98 [[ 5.48174472e-02 -9.98483639e-01 -5.04681985e-03 1.04288757e+02] [ 9.93304694e-01 5.50464837e-02 -1.01566081e-01 1.00893924e+02] [ 1.01689880e-01 5.54563428e-04 9.94815993e-01 1.59797731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:100.92, Z:15.98 [[ 5.44130955e-02 -9.98505916e-01 -5.01504645e-03 1.04290246e+02] [ 9.93326922e-01 5.46409974e-02 -1.01567650e-01 1.00921371e+02] [ 1.01689926e-01 5.45029576e-04 9.94815994e-01 1.59823981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:100.95, Z:15.98 [[ 5.29415301e-02 -9.98585180e-01 -4.98323946e-03 1.04291985e+02] [ 9.93406382e-01 5.31738290e-02 -1.01569210e-01 1.00948002e+02] [ 1.01690486e-01 4.26847531e-04 9.94815994e-01 1.59846411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:100.97, Z:15.99 [[ 5.18558449e-02 -9.98642313e-01 -4.94988399e-03 1.04293500e+02] [ 9.93463617e-01 5.20903815e-02 -1.01570836e-01 1.00974744e+02] [ 1.01690776e-01 3.49511871e-04 9.94815995e-01 1.59875086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:101.00, Z:15.99 [[ 5.06283593e-02 -9.98705451e-01 -4.91841707e-03 1.04295186e+02] [ 9.93526899e-01 5.08660607e-02 -1.01572360e-01 1.01002170e+02] [ 1.01691050e-01 2.55862271e-04 9.94815996e-01 1.59901659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:101.03, Z:15.99 [[ 4.90633579e-02 -9.98783711e-01 -4.88720271e-03 1.04296518e+02] [ 9.93605389e-01 4.93059992e-02 -1.01573862e-01 1.01029142e+02] [ 1.01691287e-01 1.27603779e-04 9.94815996e-01 1.59935663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:101.06, Z:16.00 [[ 4.58592802e-02 -9.98936109e-01 -4.85564416e-03 1.04297801e+02] [ 9.93758432e-01 4.61153219e-02 -1.01575370e-01 1.01056029e+02] [ 1.01691225e-01 -1.67163962e-04 9.94815997e-01 1.59973459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:101.08, Z:16.00 [[ 4.44576293e-02 -9.98999623e-01 -4.82413463e-03 1.04299433e+02] [ 9.93822149e-01 4.47177318e-02 -1.01576867e-01 1.01082993e+02] [ 1.01690976e-01 -2.78465155e-04 9.94815997e-01 1.60014128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:101.11, Z:16.00 [[ 4.27558964e-02 -9.99074054e-01 -4.79244161e-03 1.04300336e+02] [ 9.93896865e-01 4.30215954e-02 -1.01578362e-01 1.01109297e+02] [ 1.01690485e-01 -4.20118764e-04 9.94815997e-01 1.60039951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:101.14, Z:16.00 [[ 3.72581818e-02 -9.99294339e-01 -4.75947294e-03 1.04298734e+02] [ 9.94118501e-01 3.75490116e-02 -1.01579907e-01 1.01136458e+02] [ 1.01686939e-01 -9.46797462e-04 9.94815998e-01 1.60019129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:101.17, Z:16.01 [[ 3.74193616e-02 -9.99289720e-01 -4.45493914e-03 1.04302386e+02] [ 9.94112155e-01 3.76783999e-02 -1.01594098e-01 1.01165102e+02] [ 1.01689792e-01 -6.27122873e-04 9.94815959e-01 1.60101787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:101.19, Z:16.01 [[ 3.50887694e-02 -9.99373053e-01 -4.72007613e-03 1.04303944e+02] [ 9.94197623e-01 3.53868306e-02 -1.01581782e-01 1.01192479e+02] [ 1.01685124e-01 -1.12830875e-03 9.94815994e-01 1.60129549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:101.22, Z:16.02 [[ 3.26687802e-02 -9.99455235e-01 -4.68881833e-03 1.04304891e+02] [ 9.94280352e-01 3.29761959e-02 -1.01583224e-01 1.01219507e+02] [ 1.01682505e-01 -1.34339991e-03 9.94815995e-01 1.60158396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.25, Z:16.02 [[ 3.05478743e-02 -9.99522453e-01 -4.65767353e-03 1.04305869e+02] [ 9.94348041e-01 3.08631057e-02 -1.01584652e-01 1.01247129e+02] [ 1.01679891e-01 -1.52815336e-03 9.94815995e-01 1.60188415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28687499999998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:104.31, Y:101.27, Z:16.02 [[ 2.87162111e-02 -9.99576897e-01 -4.62670445e-03 1.04305820e+02] [ 9.94402876e-01 2.90377776e-02 -1.01586063e-01 1.01273735e+02] [ 1.01677431e-01 -1.68364138e-03 9.94815996e-01 1.60216724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.30, Z:16.02 [[ 2.80762422e-02 -9.99595227e-01 -4.59425592e-03 1.04306380e+02] [ 9.94421207e-01 2.83978244e-02 -1.01587530e-01 1.01301344e+02] [ 1.01676877e-01 -1.71642942e-03 9.94815996e-01 1.60249797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.33, Z:16.03 [[ 2.69853419e-02 -9.99625415e-01 -4.56297174e-03 1.04306564e+02] [ 9.94451550e-01 2.73093922e-02 -1.01588936e-01 1.01328038e+02] [ 1.01675494e-01 -1.79624216e-03 9.94815997e-01 1.60269686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.36, Z:16.03 [[ 2.65555239e-02 -9.99637076e-01 -4.53005973e-03 1.04307082e+02] [ 9.94463141e-01 2.68784551e-02 -1.01590403e-01 1.01355140e+02] [ 1.01675295e-01 -1.80719105e-03 9.94815997e-01 1.60294560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.38, Z:16.03 [[ 2.59035231e-02 -9.99654323e-01 -4.49914498e-03 1.04306704e+02] [ 9.94480403e-01 2.62266882e-02 -1.01591772e-01 1.01382038e+02] [ 1.01674652e-01 -1.84272668e-03 9.94815998e-01 1.60300935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.41, Z:16.03 [[ 2.57508903e-02 -9.99658412e-01 -4.46666156e-03 1.04307305e+02] [ 9.94484337e-01 2.60715452e-02 -1.01593201e-01 1.01408995e+02] [ 1.01674950e-01 -1.82590960e-03 9.94815998e-01 1.60322294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.43, Z:16.03 [[ 2.54164924e-02 -9.99667106e-01 -4.43606818e-03 1.04307643e+02] [ 9.94492946e-01 2.57357700e-02 -1.01594537e-01 1.01434804e+02] [ 1.01674882e-01 -1.82946175e-03 9.94815999e-01 1.60339577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.496875 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:104.31, Y:101.46, Z:16.03 [[ 2.39386195e-02 -9.99703730e-01 -4.40401818e-03 1.04307339e+02] [ 9.94529843e-01 2.42622900e-02 -1.01595926e-01 1.01462730e+02] [ 1.01672678e-01 -1.94786129e-03 9.94815999e-01 1.60315679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.49, Z:16.04 [[ 2.64203618e-02 -9.99639096e-01 -4.86232867e-03 1.04307468e+02] [ 9.94467302e-01 2.67777473e-02 -1.01576267e-01 1.01486744e+02] [ 1.01669809e-01 -2.15174515e-03 9.94815872e-01 1.60425034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.51, Z:16.05 [[ 2.70258661e-02 -9.99625524e-01 -4.29121596e-03 1.04307639e+02] [ 9.94450029e-01 2.73220941e-02 -1.01600405e-01 1.01513939e+02] [ 1.01679603e-01 -1.52156091e-03 9.94816035e-01 1.60458231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.54, Z:16.05 [[ 2.80079255e-02 -9.99598622e-01 -4.26045629e-03 1.04307807e+02] [ 9.94422664e-01 2.82959429e-02 -1.01601695e-01 1.01541296e+02] [ 1.01681468e-01 -1.39104159e-03 9.94816035e-01 1.60497841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.57, Z:16.05 [[ 3.13367927e-02 -9.99499933e-01 -4.22961737e-03 1.04307062e+02] [ 9.94322882e-01 3.16044361e-02 -1.01602979e-01 1.01567942e+02] [ 1.01685845e-01 -1.02169386e-03 9.94816036e-01 1.60521479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.60, Z:16.05 [[ 3.30248943e-02 -9.99445716e-01 -4.19739382e-03 1.04307218e+02] [ 9.94268058e-01 3.32805177e-02 -1.01604310e-01 1.01595549e+02] [ 1.01687684e-01 -8.17863016e-04 9.94816036e-01 1.60544050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.62, Z:16.06 [[ 3.53199676e-02 -9.99367368e-01 -4.16708963e-03 1.04308260e+02] [ 9.94188993e-01 3.55606193e-02 -1.01605553e-01 1.01622195e+02] [ 1.01689458e-01 -5.54169806e-04 9.94816037e-01 1.60576205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.65, Z:16.06 [[ 3.75532697e-02 -9.99286067e-01 -4.13632840e-03 1.04308639e+02] [ 9.94107030e-01 3.77792204e-02 -1.01606805e-01 1.01649034e+02] [ 1.01690532e-01 -2.96285390e-04 9.94816037e-01 1.60599285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:101.67, Z:16.05 [[ 3.95020976e-02 -9.99211054e-01 -4.10540869e-03 1.04302489e+02] [ 9.94031457e-01 3.97148030e-02 -1.01608054e-01 1.01672451e+02] [ 1.01690937e-01 -6.71741095e-05 9.94816038e-01 1.60539072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.71, Z:16.06 [[ 4.63051488e-02 -9.98923735e-01 -2.68409445e-03 1.04308403e+02] [ 9.93738971e-01 4.63379797e-02 -1.01664391e-01 1.01705274e+02] [ 1.01679348e-01 2.04029547e-03 9.94815132e-01 1.60612248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.73, Z:16.06 [[ 4.82979357e-02 -9.98824714e-01 -4.06209470e-03 1.04309123e+02] [ 9.93643346e-01 4.84606246e-02 -1.01609398e-01 1.01730970e+02] [ 1.01686830e-01 8.71250822e-04 9.94816078e-01 1.60641469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.76, Z:16.07 [[ 5.06715970e-02 -9.98707244e-01 -4.02875279e-03 1.04309991e+02] [ 9.93525407e-01 5.08185796e-02 -1.01610720e-01 1.01758252e+02] [ 1.01684098e-01 1.14610922e-03 9.94816079e-01 1.60659289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.856875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:104.31, Y:101.78, Z:16.07 [[ 5.40581606e-02 -9.98529779e-01 -3.99946689e-03 1.04310704e+02] [ 9.93347400e-01 5.41845899e-02 -1.01611873e-01 1.01784630e+02] [ 1.01679191e-01 1.52009091e-03 9.94816079e-01 1.60684103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.81, Z:16.07 [[ 5.53504130e-02 -9.98459111e-01 -3.96672584e-03 1.04312025e+02] [ 9.93276498e-01 5.54668041e-02 -1.01613151e-01 1.01810339e+02] [ 1.01676598e-01 1.68427434e-03 9.94816080e-01 1.60715785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.916875 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:104.31, Y:101.84, Z:16.07 [[ 5.62265403e-02 -9.98410285e-01 -3.93435147e-03 1.04313304e+02] [ 9.93227502e-01 5.63350897e-02 -1.01614405e-01 1.01837774e+02] [ 1.01674509e-01 1.80572035e-03 9.94816080e-01 1.60717253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.86, Z:16.08 [[ 5.64696180e-02 -9.98396657e-01 -3.91122335e-03 1.04313784e+02] [ 9.93213800e-01 5.65745524e-02 -1.01615292e-01 1.01862914e+02] [ 1.01673644e-01 1.85349572e-03 9.94816081e-01 1.60775072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:101.89, Z:16.08 [[ 5.71716174e-02 -9.98356920e-01 -3.85580849e-03 1.04314429e+02] [ 9.93173885e-01 5.72672693e-02 -1.01617395e-01 1.01889888e+02] [ 1.01671241e-01 1.98014252e-03 9.94816082e-01 1.60793367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:101.92, Z:16.08 [[ 5.70835444e-02 -9.98362080e-01 -3.82453983e-03 1.04315902e+02] [ 9.93178995e-01 5.71764721e-02 -1.01618572e-01 1.01917015e+02] [ 1.01670802e-01 2.00229563e-03 9.94816083e-01 1.60820708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:101.94, Z:16.08 [[ 5.63856724e-02 -9.98401859e-01 -3.79274186e-03 1.04317154e+02] [ 9.93218782e-01 5.64789878e-02 -1.01619759e-01 1.01942718e+02] [ 1.01671566e-01 1.96287597e-03 9.94816083e-01 1.60841427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06687499999998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:104.32, Y:101.97, Z:16.09 [[ 5.54775093e-02 -9.98452843e-01 -3.76384577e-03 1.04318844e+02] [ 9.93269799e-01 5.55725992e-02 -1.01620829e-01 1.01969440e+02] [ 1.01672772e-01 1.89915615e-03 9.94816084e-01 1.60882653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:102.00, Z:16.09 [[ 5.40283333e-02 -9.98532430e-01 -3.73162983e-03 1.04320094e+02] [ 9.93349466e-01 5.41276679e-02 -1.01622012e-01 1.01995766e+02] [ 1.01674859e-01 1.78365543e-03 9.94816084e-01 1.60898082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:102.02, Z:16.09 [[ 5.14474508e-02 -9.98668856e-01 -3.69810781e-03 1.04322453e+02] [ 9.93486094e-01 5.15567701e-02 -1.01623232e-01 1.02022832e+02] [ 1.01678619e-01 1.55423754e-03 9.94816085e-01 1.60925206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15687499999999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:104.32, Y:102.05, Z:16.09 [[ 5.03085407e-02 -9.98726994e-01 -3.66647557e-03 1.04324216e+02] [ 9.93544289e-01 5.04205523e-02 -1.01624373e-01 1.02050022e+02] [ 1.01679870e-01 1.46976805e-03 9.94816085e-01 1.60914314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:102.08, Z:16.10 [[ 4.78003787e-02 -9.98850202e-01 -3.66023875e-03 1.04325023e+02] [ 9.93667780e-01 4.79247703e-02 -1.01624596e-01 1.02075166e+02] [ 1.01683164e-01 1.22063286e-03 9.94816086e-01 1.60977478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:102.10, Z:16.10 [[ 4.35399330e-02 -9.99045251e-01 -3.58611384e-03 1.04327083e+02] [ 9.93863202e-01 4.36788863e-02 -1.01627212e-01 1.02101552e+02] [ 1.01686821e-01 8.60735404e-04 9.94816088e-01 1.60994833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:102.13, Z:16.10 [[ 4.09276055e-02 -9.99155767e-01 -3.56155749e-03 1.04328774e+02] [ 9.93974026e-01 4.10776101e-02 -1.01628072e-01 1.02129153e+02] [ 1.01688575e-01 6.19298011e-04 9.94816089e-01 1.61024949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:102.16, Z:16.11 [[ 4.06245082e-02 -9.99168247e-01 -3.53040699e-03 1.04329594e+02] [ 9.93986461e-01 4.07729164e-02 -1.01629155e-01 1.02156815e+02] [ 1.01688569e-01 6.19457677e-04 9.94816089e-01 1.61053063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:102.18, Z:16.11 [[ 3.84012323e-02 -9.99256273e-01 -3.49941659e-03 1.04331388e+02] [ 9.94074734e-01 3.85580180e-02 -1.01630222e-01 1.02184039e+02] [ 1.01689567e-01 4.24044140e-04 9.94816090e-01 1.61088614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:102.21, Z:16.11 [[ 3.49624194e-02 -9.99382610e-01 -3.46813600e-03 1.04332356e+02] [ 9.94201536e-01 3.51338535e-02 -1.01631289e-01 1.02211746e+02] [ 1.01690392e-01 1.05249616e-04 9.94816090e-01 1.61111747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:102.24, Z:16.11 [[ 3.36189386e-02 -9.99428816e-01 -3.43649309e-03 1.04333520e+02] [ 9.94247867e-01 3.37941196e-02 -1.01632359e-01 1.02238669e+02] [ 1.01690442e-01 4.61213002e-08 9.94816091e-01 1.61135090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:102.27, Z:16.12 [[ 3.18969282e-02 -9.99485364e-01 -3.40497415e-03 1.04334805e+02] [ 9.94304612e-01 3.20778304e-02 -1.01633415e-01 1.02265479e+02] [ 1.01690335e-01 -1.43787747e-04 9.94816091e-01 1.61167265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.29, Z:16.12 [[ 3.03515252e-02 -9.99533595e-01 -3.37318875e-03 1.04336288e+02] [ 9.94353013e-01 3.05372055e-02 -1.01634470e-01 1.02292847e+02] [ 1.01690075e-01 -2.69379212e-04 9.94816092e-01 1.61205041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.32, Z:16.12 [[ 2.88516187e-02 -9.99578121e-01 -3.34134377e-03 1.04337687e+02] [ 9.94397704e-01 2.90418347e-02 -1.01635517e-01 1.02318649e+02] [ 1.01689678e-01 -3.90275392e-04 9.94816092e-01 1.61233833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.35, Z:16.13 [[ 2.71263743e-02 -9.99626539e-01 -3.30807185e-03 1.04339766e+02] [ 9.94446329e-01 2.73221483e-02 -1.01636600e-01 1.02345743e+02] [ 1.01689026e-01 -5.32667450e-04 9.94816093e-01 1.61274566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.37, Z:16.13 [[ 2.66606225e-02 -9.99639172e-01 -3.27667495e-03 1.04341042e+02] [ 9.94458934e-01 2.68556179e-02 -1.01637612e-01 1.02373229e+02] [ 1.01688936e-01 -5.48796665e-04 9.94816093e-01 1.61305977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.40, Z:16.13 [[ 2.65102175e-02 -9.99643275e-01 -3.24509676e-03 1.04342371e+02] [ 9.94462947e-01 2.67027817e-02 -1.01638621e-01 1.02400431e+02] [ 1.01689017e-01 -5.32666545e-04 9.94816094e-01 1.61327516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.43, Z:16.13 [[ 2.35260430e-02 -9.99718059e-01 -3.21384622e-03 1.04339890e+02] [ 9.94538202e-01 2.37308933e-02 -1.01639609e-01 1.02427184e+02] [ 1.01687220e-01 -8.05115033e-04 9.94816094e-01 1.61281423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.46, Z:16.14 [[ 2.72986227e-02 -9.99623657e-01 -2.70720106e-03 1.04344988e+02] [ 9.94441374e-01 2.74324054e-02 -1.01655381e-01 1.02455223e+02] [ 1.01691388e-01 8.28991422e-05 9.94815990e-01 1.61363785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.48, Z:16.14 [[ 2.64952820e-02 -9.99643963e-01 -3.15396247e-03 1.04346700e+02] [ 9.94463297e-01 2.66786576e-02 -1.01641528e-01 1.02482230e+02] [ 1.01689483e-01 -4.43478980e-04 9.94816090e-01 1.61389098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.51, Z:16.14 [[ 2.57533379e-02 -9.99663450e-01 -3.12302386e-03 1.04347899e+02] [ 9.94482809e-01 2.59374129e-02 -1.01642478e-01 1.02509535e+02] [ 1.01689274e-01 -4.88160460e-04 9.94816090e-01 1.61420947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.54, Z:16.14 [[ 2.58862221e-02 -9.99660115e-01 -3.09176355e-03 1.04348201e+02] [ 9.94479338e-01 2.60664300e-02 -1.01643429e-01 1.02535487e+02] [ 1.01689473e-01 -4.43530592e-04 9.94816091e-01 1.61443744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.56, Z:16.14 [[ 2.18990518e-02 -9.99755481e-01 -3.06761511e-03 1.04343373e+02] [ 9.94575370e-01 2.20974660e-02 -1.01644158e-01 1.02561377e+02] [ 1.01687091e-01 -8.25063751e-04 9.94816091e-01 1.61402666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.59, Z:16.14 [[ 2.16213896e-02 -9.99763306e-01 -2.41823699e-03 1.04343466e+02] [ 9.94580924e-01 2.17552178e-02 -1.01663641e-01 1.02587752e+02] [ 1.01692187e-01 -2.07023189e-04 9.94815891e-01 1.61418344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.61, Z:16.14 [[ 1.87538044e-02 -9.99821847e-01 -2.13732105e-03 1.04343713e+02] [ 9.94638917e-01 1.88739319e-02 -1.01672018e-01 1.02614641e+02] [ 1.01694245e-01 -2.19125551e-04 9.94815678e-01 1.61434058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.64, Z:16.15 [[ 2.04672358e-02 -9.99788667e-01 -1.92726578e-03 1.04350221e+02] [ 9.94604923e-01 2.05571188e-02 -1.01678179e-01 1.02643603e+02] [ 1.01696310e-01 1.64203224e-04 9.94815477e-01 1.61538335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.67, Z:16.16 [[ 1.99361650e-02 -9.99796727e-01 -3.00900247e-03 1.04350944e+02] [ 9.94616748e-01 2.01387910e-02 -1.01646216e-01 1.02669901e+02] [ 1.01686152e-01 -9.66368516e-04 9.94816060e-01 1.61559445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.70, Z:16.16 [[ 1.98350857e-02 -9.99798835e-01 -2.97639300e-03 1.04351221e+02] [ 9.94618748e-01 2.00349203e-02 -1.01647171e-01 1.02697148e+02] [ 1.01686355e-01 -9.44195935e-04 9.94816060e-01 1.61589671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.72, Z:16.15 [[ 1.43813616e-02 -9.99892245e-01 -2.94527696e-03 1.04344776e+02] [ 9.94713188e-01 1.46062857e-02 -1.01648072e-01 1.02722369e+02] [ 1.01680139e-01 -1.46786815e-03 9.94816061e-01 1.61525138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.75, Z:16.16 [[ 2.19028670e-02 -9.99758302e-01 -1.89813004e-03 1.04350154e+02] [ 9.94574492e-01 2.19823434e-02 -1.01677707e-01 1.02751867e+02] [ 1.01694857e-01 3.39201576e-04 9.94815581e-01 1.61623757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.78, Z:16.17 [[ 2.33337540e-02 -9.99723565e-01 -2.88603101e-03 1.04350438e+02] [ 9.94542504e-01 2.35062723e-02 -1.01649709e-01 1.02778510e+02] [ 1.01689449e-01 -4.98411210e-04 9.94816067e-01 1.61656056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.81, Z:16.16 [[ 2.14754519e-02 -9.99765301e-01 -2.85443214e-03 1.04346125e+02] [ 9.94584458e-01 2.16543877e-02 -1.01650596e-01 1.02805480e+02] [ 1.01688550e-01 -6.55981354e-04 9.94816068e-01 1.61607005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.83, Z:16.17 [[ 2.75403099e-02 -9.99618090e-01 -2.28137433e-03 1.04350642e+02] [ 9.94434786e-01 2.76295334e-02 -1.01666437e-01 1.02832954e+02] [ 1.01690643e-01 5.31247202e-04 9.94815928e-01 1.61699683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.86, Z:16.17 [[ 2.75419394e-02 -9.99616699e-01 -2.80997750e-03 1.04345116e+02] [ 9.94434739e-01 2.76849123e-02 -1.01651839e-01 1.02859531e+02] [ 1.01690670e-01 5.34955566e-06 9.94816067e-01 1.61662635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.89, Z:16.18 [[ 3.28929889e-02 -9.99456659e-01 -2.10657529e-03 1.04349503e+02] [ 9.94272698e-01 3.29366741e-02 -1.01670932e-01 1.02887515e+02] [ 1.01685074e-01 1.24975055e-03 9.94815854e-01 1.61762636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.116875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:104.35, Y:102.92, Z:16.18 [[ 3.35953795e-02 -9.99431716e-01 -2.75594586e-03 1.04349132e+02] [ 9.94248866e-01 3.37014711e-02 -1.01653349e-01 1.02915038e+02] [ 1.01688460e-01 6.74986779e-04 9.94816064e-01 1.61787558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:102.94, Z:16.18 [[ 3.43959197e-02 -9.99404573e-01 -2.72411226e-03 1.04348901e+02] [ 9.94221577e-01 3.44946220e-02 -1.01654202e-01 1.02941894e+02] [ 1.01687641e-01 7.88118574e-04 9.94816065e-01 1.61815548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:102.97, Z:16.18 [[ 2.91388693e-02 -9.99571747e-01 -2.69241239e-03 1.04343660e+02] [ 9.94389265e-01 2.92616075e-02 -1.01655041e-01 1.02968137e+02] [ 1.01690292e-01 2.84806979e-04 9.94816065e-01 1.61750035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.00, Z:16.19 [[ 3.19018965e-02 -9.99489129e-01 -1.93660598e-03 1.04348142e+02] [ 9.94305032e-01 3.19334340e-02 -1.01674768e-01 1.02997897e+02] [ 1.01684667e-01 1.31804084e-03 9.94815808e-01 1.61853872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.02, Z:16.19 [[ 3.10984747e-02 -9.99512785e-01 -2.66050738e-03 1.04348222e+02] [ 9.94330006e-01 3.12078076e-02 -1.01655849e-01 1.03024603e+02] [ 1.01689349e-01 5.15919519e-04 9.94816069e-01 1.61895787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.05, Z:16.19 [[ 2.99055240e-02 -9.99549273e-01 -2.62867300e-03 1.04347808e+02] [ 9.94366558e-01 3.00178050e-02 -1.01656672e-01 1.03051420e+02] [ 1.01689759e-01 4.26231517e-04 9.94816069e-01 1.61936521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.08, Z:16.20 [[ 2.88419085e-02 -9.99580612e-01 -2.59694706e-03 1.04348095e+02] [ 9.94397948e-01 2.89564777e-02 -1.01657482e-01 1.03077535e+02] [ 1.01690047e-01 3.49596975e-04 9.94816070e-01 1.61968316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.10, Z:16.20 [[ 2.80803910e-02 -9.99602381e-01 -2.56370273e-03 1.04348532e+02] [ 9.94419729e-01 2.81955277e-02 -1.01658321e-01 1.03104250e+02] [ 1.01690184e-01 3.05208825e-04 9.94816070e-01 1.62006496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.13, Z:16.20 [[ 2.76709270e-02 -9.99613880e-01 -2.53206787e-03 1.04348833e+02] [ 9.94431205e-01 2.77849694e-02 -1.01659109e-01 1.03131194e+02] [ 1.01690209e-01 2.95034475e-04 9.94816071e-01 1.62034285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.16, Z:16.21 [[ 2.84448276e-02 -9.99592236e-01 -2.50055697e-03 1.04348000e+02] [ 9.94409408e-01 2.85516528e-02 -1.01659884e-01 1.03158106e+02] [ 1.01689826e-01 4.05120488e-04 9.94816071e-01 1.62057167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.19, Z:16.21 [[ 2.91940527e-02 -9.99570714e-01 -2.46885536e-03 1.04347662e+02] [ 9.94387745e-01 2.92937691e-02 -1.01660654e-01 1.03185043e+02] [ 1.01689334e-01 5.12886975e-04 9.94816072e-01 1.62082907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:103.21, Z:16.20 [[ 2.54890577e-02 -9.99672131e-01 -2.43691776e-03 1.04341744e+02] [ 9.94489494e-01 2.56047356e-02 -1.01661419e-01 1.03208604e+02] [ 1.01690484e-01 1.67764673e-04 9.94816072e-01 1.62040227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.24, Z:16.21 [[ 3.07835459e-02 -9.99525436e-01 -1.13003332e-03 1.04347471e+02] [ 9.94340942e-01 3.07388426e-02 -1.01691766e-01 1.03239579e+02] [ 1.01678243e-01 2.00679475e-03 9.94815313e-01 1.62121407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:103.26, Z:16.21 [[ 2.75650139e-02 -9.99617158e-01 -2.38921173e-03 1.04341737e+02] [ 9.94434226e-01 2.76650773e-02 -1.01662254e-01 1.03264538e+02] [ 1.01689431e-01 4.26407535e-04 9.94816102e-01 1.62078921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.29, Z:16.22 [[ 3.18524550e-02 -9.99491903e-01 -1.16473527e-03 1.04347319e+02] [ 9.94307551e-01 3.18057391e-02 -1.01690166e-01 1.03294755e+02] [ 1.01675543e-01 2.08097637e-03 9.94815437e-01 1.62163447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.32, Z:16.22 [[ 3.21565558e-02 -9.99480089e-01 -2.34676704e-03 1.04347860e+02] [ 9.94296721e-01 3.22284932e-02 -1.01662951e-01 1.03321773e+02] [ 1.01685728e-01 9.35747600e-04 9.94816132e-01 1.62207970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.35, Z:16.22 [[ 3.17816223e-02 -9.99492152e-01 -2.31677049e-03 1.04348339e+02] [ 9.94308768e-01 3.18524532e-02 -1.01663635e-01 1.03347665e+02] [ 1.01685800e-01 9.27450031e-04 9.94816133e-01 1.62232572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.37, Z:16.23 [[ 3.06760302e-02 -9.99526772e-01 -2.28323490e-03 1.04348479e+02] [ 9.94343422e-01 3.07491839e-02 -1.01664388e-01 1.03374463e+02] [ 1.01686485e-01 8.48340246e-04 9.94816133e-01 1.62269908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.40, Z:16.23 [[ 2.96564533e-02 -9.99557615e-01 -2.25135573e-03 1.04348712e+02] [ 9.94374295e-01 2.97316520e-02 -1.01665094e-01 1.03400314e+02] [ 1.01687056e-01 7.76335853e-04 9.94816134e-01 1.62300651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.43, Z:16.23 [[ 2.85436644e-02 -9.99590067e-01 -2.22662813e-03 1.04350005e+02] [ 9.94406794e-01 2.86221185e-02 -1.01665636e-01 1.03426331e+02] [ 1.01687690e-01 6.87735650e-04 9.94816134e-01 1.62332854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.45, Z:16.24 [[ 2.79711193e-02 -9.99606306e-01 -2.20225441e-03 1.04350909e+02] [ 9.94423041e-01 2.80500634e-02 -1.01666164e-01 1.03453536e+02] [ 1.01687912e-01 6.53743869e-04 9.94816134e-01 1.62365001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.48, Z:16.24 [[ 2.74329895e-02 -9.99621287e-01 -2.17090548e-03 1.04351608e+02] [ 9.94438017e-01 2.75115357e-02 -1.01666833e-01 1.03480741e+02] [ 1.01688056e-01 6.30194225e-04 9.94816135e-01 1.62392010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.51, Z:16.24 [[ 2.67963071e-02 -9.99638626e-01 -2.13914280e-03 1.04351580e+02] [ 9.94455357e-01 2.68749243e-02 -1.01667502e-01 1.03507267e+02] [ 1.01688251e-01 5.97031570e-04 9.94816135e-01 1.62407192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.53, Z:16.24 [[ 2.68064963e-02 -9.99638423e-01 -2.10589525e-03 1.04351953e+02] [ 9.94455104e-01 2.68816794e-02 -1.01668190e-01 1.03533504e+02] [ 1.01688039e-01 6.31149684e-04 9.94816136e-01 1.62423455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.56, Z:16.24 [[ 2.63724799e-02 -9.99650032e-01 -2.07482095e-03 1.04352738e+02] [ 9.94466701e-01 2.64467532e-02 -1.01668825e-01 1.03560383e+02] [ 1.01688116e-01 6.17918693e-04 9.94816136e-01 1.62444372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:103.59, Z:16.25 [[ 2.65696731e-02 -9.99644876e-01 -2.04335700e-03 1.04354343e+02] [ 9.94461486e-01 2.66397240e-02 -1.01669457e-01 1.03587506e+02] [ 1.01687786e-01 6.69284404e-04 9.94816137e-01 1.62478459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.61, Z:16.25 [[ 2.65106766e-02 -9.99646508e-01 -2.01091791e-03 1.04356477e+02] [ 9.94463079e-01 2.65777343e-02 -1.01670099e-01 1.03613692e+02] [ 1.01687605e-01 6.95559480e-04 9.94816137e-01 1.62505182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.64, Z:16.25 [[ 2.65343732e-02 -9.99645947e-01 -1.97673969e-03 1.04357511e+02] [ 9.94462474e-01 2.65978321e-02 -1.01670763e-01 1.03640571e+02] [ 1.01687343e-01 7.31976539e-04 9.94816138e-01 1.62523830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.67, Z:16.25 [[ 2.63623772e-02 -9.99650561e-01 -1.94456031e-03 1.04358180e+02] [ 9.94467059e-01 2.64234552e-02 -1.01671379e-01 1.03666540e+02] [ 1.01687233e-01 7.46498066e-04 9.94816139e-01 1.62543886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.69, Z:16.26 [[ 2.70991483e-02 -9.99630924e-01 -1.91079036e-03 1.04359870e+02] [ 9.94447343e-01 2.71529714e-02 -1.01672013e-01 1.03693876e+02] [ 1.01686372e-01 8.55044574e-04 9.94816139e-01 1.62564418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.72, Z:16.26 [[ 2.71267485e-02 -9.99630236e-01 -1.87911851e-03 1.04360768e+02] [ 9.94446621e-01 2.71772074e-02 -1.01672599e-01 1.03720395e+02] [ 1.01686073e-01 8.89363966e-04 9.94816140e-01 1.62586453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.75, Z:16.26 [[ 2.65232421e-02 -9.99646493e-01 -1.84569442e-03 1.04362340e+02] [ 9.94462876e-01 2.65734312e-02 -1.01673206e-01 1.03746892e+02] [ 1.01686310e-01 8.61228464e-04 9.94816140e-01 1.62617434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.77, Z:16.27 [[ 2.64967156e-02 -9.99647240e-01 -1.82172447e-03 1.04363251e+02] [ 9.94463602e-01 2.65446045e-02 -1.01673635e-01 1.03773616e+02] [ 1.01686126e-01 8.82378716e-04 9.94816140e-01 1.62655279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.80, Z:16.27 [[ 2.66298339e-02 -9.99643760e-01 -1.79044670e-03 1.04364001e+02] [ 9.94460087e-01 2.66738515e-02 -1.01674186e-01 1.03799489e+02] [ 1.01685724e-01 9.27038905e-04 9.94816141e-01 1.62688136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.83, Z:16.27 [[ 2.62452268e-02 -9.99653989e-01 -1.75768580e-03 1.04364211e+02] [ 9.94470307e-01 2.62879069e-02 -1.01674752e-01 1.03826363e+02] [ 1.01685778e-01 9.20510594e-04 9.94816141e-01 1.62720297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.85, Z:16.27 [[ 2.58457327e-02 -9.99664452e-01 -1.72688775e-03 1.04363860e+02] [ 9.94480761e-01 2.58873522e-02 -1.01675276e-01 1.03852890e+02] [ 1.01685863e-01 9.10515358e-04 9.94816142e-01 1.62730687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.88, Z:16.28 [[ 2.55164369e-02 -9.99672966e-01 -1.69473139e-03 1.04364117e+02] [ 9.94489263e-01 2.55564935e-02 -1.01675812e-01 1.03879748e+02] [ 1.01685872e-01 9.09012258e-04 9.94816142e-01 1.62757962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.91, Z:16.28 [[ 2.45590007e-02 -9.99697002e-01 -1.66106411e-03 1.04364072e+02] [ 9.94513312e-01 2.46005980e-02 -1.01676362e-01 1.03906252e+02] [ 1.01686417e-01 8.45119473e-04 9.94816143e-01 1.62774161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.93, Z:16.28 [[ 2.40072047e-02 -9.99710461e-01 -1.62742137e-03 1.04364344e+02] [ 9.94526767e-01 2.40482417e-02 -1.01676900e-01 1.03933236e+02] [ 1.01686597e-01 8.22464036e-04 9.94816144e-01 1.62796612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.96, Z:16.28 [[ 2.30915200e-02 -9.99732081e-01 -1.59616722e-03 1.04364716e+02] [ 9.94548400e-01 2.31341264e-02 -1.01677391e-01 1.03958992e+02] [ 1.01687075e-01 7.60419949e-04 9.94816144e-01 1.62819677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:103.98, Z:16.28 [[ 1.82981873e-02 -9.99831352e-01 -1.56348102e-03 1.04364797e+02] [ 9.94647893e-01 1.83623217e-02 -1.01677894e-01 1.03984457e+02] [ 1.01689455e-01 3.05408039e-04 9.94816145e-01 1.62823448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.01, Z:16.29 [[ 1.50732699e-02 -9.99885210e-01 -1.53718550e-03 1.04365425e+02] [ 9.94701945e-01 1.51514486e-02 -1.01678291e-01 1.04011349e+02] [ 1.01689910e-01 3.58292239e-06 9.94816145e-01 1.62859995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:104.04, Z:16.28 [[ 8.67280947e-03 -9.99961257e-01 -1.50591433e-03 1.04362045e+02] [ 9.94778531e-01 8.78098436e-03 -1.01678754e-01 1.04035404e+02] [ 1.01688038e-01 -6.16210778e-04 9.94816145e-01 1.62842666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.07, Z:16.29 [[ 7.16273815e-03 -9.99974303e-01 -2.96072188e-04 1.04367812e+02] [ 9.94789793e-01 7.15571202e-03 -1.01695938e-01 1.04065896e+02] [ 1.01695443e-01 4.33891785e-04 9.94815485e-01 1.62923915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.09, Z:16.30 [[ 4.78781845e-03 -9.99987453e-01 -1.47306092e-03 1.04368443e+02] [ 9.94805134e-01 4.91278731e-03 -1.01678957e-01 1.04091578e+02] [ 1.01684918e-01 -9.78588184e-04 9.94816174e-01 1.62954765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:104.11, Z:16.29 [[-1.13811751e-03 -9.99998317e-01 -1.43927941e-03 1.04363215e+02] [ 9.94816727e-01 -9.85874880e-04 -1.01679435e-01 1.04114421e+02] [ 1.01677845e-01 -1.54754238e-03 9.94816174e-01 1.62928950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:104.14, Z:16.30 [[-1.74668878e-03 -9.99998455e-01 -1.95895573e-04 1.04363600e+02] [ 9.94813912e-01 -1.71771091e-03 -1.01697248e-01 1.04140946e+02] [ 1.01696754e-01 -3.72513083e-04 9.94815376e-01 1.62966920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.17, Z:16.30 [[ 2.35750250e-03 -9.99997221e-01 1.27824850e-05 1.04369628e+02] [ 9.94812336e-01 2.34397910e-03 -1.01700162e-01 1.04172905e+02] [ 1.01699849e-01 2.52474560e-04 9.94815097e-01 1.63042254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:104.20, Z:16.30 [[-2.49064211e-03 -9.99995828e-01 -1.46337823e-03 1.04364141e+02] [ 9.94814531e-01 -2.32894180e-03 -1.01679028e-01 1.04195297e+02] [ 1.01675195e-01 -1.70903600e-03 9.94816181e-01 1.63021758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:104.22, Z:16.30 [[-2.67298614e-03 -9.99996414e-01 1.62678264e-04 1.04363853e+02] [ 9.94811392e-01 -2.67567123e-03 -1.01701203e-01 1.04221254e+02] [ 1.01701274e-01 -1.10011716e-04 9.94814977e-01 1.63029517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:104.25, Z:16.30 [[-2.78463065e-03 -9.99996099e-01 2.20238889e-04 1.04363725e+02] [ 9.94810991e-01 -2.79259080e-03 -1.01701981e-01 1.04248472e+02] [ 1.01702199e-01 -6.41063849e-05 9.94814887e-01 1.63042369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.28, Z:16.31 [[ 2.33443109e-03 -9.99997239e-01 2.70653673e-04 1.04371119e+02] [ 9.94812195e-01 2.29480066e-03 -1.01702660e-01 1.04282354e+02] [ 1.01701758e-01 5.06667426e-04 9.94814805e-01 1.63132719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.30, Z:16.31 [[-1.92009227e-03 -9.99997147e-01 -1.42128293e-03 1.04365335e+02] [ 9.94815677e-01 -1.76562808e-03 -1.01679155e-01 1.04304848e+02] [ 1.01676356e-01 -1.60914790e-03 9.94816229e-01 1.63101000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.34, Z:16.32 [[ 4.96802192e-03 -9.99987638e-01 2.05784871e-04 1.04371570e+02] [ 9.94802842e-01 4.92133465e-03 -1.01700965e-01 1.04337946e+02] [ 1.01698695e-01 7.09967998e-04 9.94814994e-01 1.63188067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.37, Z:16.32 [[ 7.23430786e-03 -9.99972852e-01 -1.39973888e-03 1.04371210e+02] [ 9.94790189e-01 7.33914177e-03 -1.01678994e-01 1.04365025e+02] [ 1.01686507e-01 -6.56869356e-04 9.94816276e-01 1.63222694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:104.39, Z:16.32 [[ 3.85240297e-03 -9.99991643e-01 -1.36828804e-03 1.04364261e+02] [ 9.94809290e-01 3.97156619e-03 -1.01679417e-01 1.04388866e+02] [ 1.01684002e-01 -9.69475568e-04 9.94816276e-01 1.63176811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.42, Z:16.33 [[ 1.00924457e-02 -9.99949068e-01 5.85867212e-05 1.04370870e+02] [ 9.94764764e-01 1.00341623e-02 -1.01697496e-01 1.04419462e+02] [ 1.01691728e-01 1.08465646e-03 9.94815368e-01 1.63253987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.45, Z:16.33 [[ 1.04020633e-02 -9.99945020e-01 -1.32466712e-03 1.04371385e+02] [ 9.94761969e-01 1.04828450e-02 -1.01679572e-01 1.04445668e+02] [ 1.01687868e-01 -2.60051123e-04 9.94816320e-01 1.63278319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.47, Z:16.32 [[ 7.02547643e-03 -9.99974487e-01 -1.29152003e-03 1.04366481e+02] [ 9.94791676e-01 7.12038888e-03 -1.01679993e-01 1.04470714e+02] [ 1.01686595e-01 -5.70442978e-04 9.94816320e-01 1.63240601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.50, Z:16.33 [[ 1.24749735e-02 -9.99922167e-01 -1.86819195e-04 1.04371863e+02] [ 9.94738156e-01 1.24292978e-02 -1.01693231e-01 1.04500290e+02] [ 1.01687638e-01 1.08278418e-03 9.94815788e-01 1.63326750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.52, Z:16.33 [[ 9.52319444e-03 -9.99953883e-01 -1.24112160e-03 1.04367269e+02] [ 9.94770794e-01 9.60003618e-03 -1.01680419e-01 1.04524736e+02] [ 1.01687644e-01 -2.66309126e-04 9.94816341e-01 1.63290453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.56, Z:16.34 [[ 1.38832815e-02 -9.99903575e-01 -3.07448545e-04 1.04371610e+02] [ 9.94719682e-01 1.38425730e-02 -1.01691387e-01 1.04555209e+02] [ 1.01685838e-01 1.10598504e-03 9.94815946e-01 1.63381126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97687499999998 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:104.37, Y:104.58, Z:16.33 [[ 1.23556343e-02 -9.99922939e-01 -1.20631363e-03 1.04366215e+02] [ 9.94739618e-01 1.24142545e-02 -1.01680765e-01 1.04579871e+02] [ 1.01687904e-01 5.63623846e-05 9.94816348e-01 1.63347438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.61, Z:16.34 [[ 1.28545096e-02 -9.99917320e-01 -3.38691997e-04 1.04366007e+02] [ 9.94733413e-01 1.28223123e-02 -1.01690833e-01 1.04606682e+02] [ 1.01686768e-01 9.70277546e-04 9.94815993e-01 1.63373627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.64, Z:16.35 [[ 1.71386680e-02 -9.99853069e-01 -3.24908624e-04 1.04370929e+02] [ 9.94669352e-01 1.70828581e-02 -1.01690988e-01 1.04636153e+02] [ 1.01681597e-01 1.41967144e-03 9.94815982e-01 1.63452632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.66, Z:16.35 [[ 1.75479518e-02 -9.99845340e-01 -1.16817619e-03 1.04371453e+02] [ 9.94661751e-01 1.75757764e-02 -1.01681336e-01 1.04663539e+02] [ 1.01686142e-01 6.22359019e-04 9.94816335e-01 1.63498381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.69, Z:16.35 [[ 1.82172168e-02 -9.99833407e-01 -1.13623223e-03 1.04370736e+02] [ 9.94649786e-01 1.82383232e-02 -1.01681693e-01 1.04689808e+02] [ 1.01685477e-01 7.22204310e-04 9.94816336e-01 1.63525112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.72, Z:16.36 [[ 1.81710381e-02 -9.99834285e-01 -1.10290179e-03 1.04370562e+02] [ 9.94650652e-01 1.81889944e-02 -1.01682055e-01 1.04716542e+02] [ 1.01685265e-01 7.50666512e-04 9.94816336e-01 1.63551628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.74, Z:16.36 [[ 1.81888651e-02 -9.99833995e-01 -1.07158884e-03 1.04370364e+02] [ 9.94650352e-01 1.82035446e-02 -1.01682385e-01 1.04743488e+02] [ 1.01685012e-01 7.83630965e-04 9.94816337e-01 1.63577618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.77, Z:16.35 [[ 1.44274748e-02 -9.99895378e-01 -1.03967022e-03 1.04365107e+02] [ 9.94711808e-01 1.44584087e-02 -1.01682711e-01 1.04767538e+02] [ 1.01687105e-01 4.32852513e-04 9.94816337e-01 1.63538773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.80, Z:16.36 [[ 1.87435898e-02 -9.99824318e-01 1.01652215e-04 1.04370775e+02] [ 9.94641202e-01 1.86360834e-02 -1.01693542e-01 1.04797849e+02] [ 1.01673781e-01 2.00720951e-03 9.94815769e-01 1.63612729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.83, Z:16.36 [[ 1.86908364e-02 -9.99824830e-01 -9.80351538e-04 1.04371734e+02] [ 9.94641182e-01 1.86936355e-02 -1.01683169e-01 1.04825057e+02] [ 1.01683684e-01 9.25445472e-04 9.94816351e-01 1.63645274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.85, Z:16.36 [[ 1.59166183e-02 -9.99872872e-01 -9.48973345e-04 1.04366688e+02] [ 9.94689243e-01 1.59306091e-02 -1.01683462e-01 1.04848370e+02] [ 1.01685653e-01 6.74523279e-04 9.94816351e-01 1.63626488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.88, Z:16.37 [[ 2.05610263e-02 -9.99788543e-01 3.37300893e-04 1.04372244e+02] [ 9.94606068e-01 2.04201378e-02 -1.01694579e-01 1.04879440e+02] [ 1.01666187e-01 2.42642642e-03 9.94815611e-01 1.63689438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.91, Z:16.37 [[ 2.10359300e-02 -9.99778309e-01 -9.07104169e-04 1.04372250e+02] [ 9.94594717e-01 2.10191222e-02 -1.01683556e-01 1.04906616e+02] [ 1.01680080e-01 1.23680716e-03 9.94816381e-01 1.63718259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.93, Z:16.37 [[ 2.18867547e-02 -9.99760073e-01 -8.75993044e-04 1.04372256e+02] [ 9.94576511e-01 2.18623719e-02 -1.01683824e-01 1.04933487e+02] [ 1.01678579e-01 1.35428682e-03 9.94816381e-01 1.63739569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.96, Z:16.37 [[ 1.85734819e-02 -9.99827141e-01 -8.45018253e-04 1.04367771e+02] [ 9.94643533e-01 1.85631274e-02 -1.01684082e-01 1.04957106e+02] [ 1.01682191e-01 1.04813551e-03 9.94816382e-01 1.63746187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:104.98, Z:16.38 [[ 1.84180497e-02 -9.99830346e-01 2.33613209e-04 1.04368231e+02] [ 9.94647584e-01 1.82988165e-02 -1.01692364e-01 1.04984511e+02] [ 1.01670836e-01 2.10533783e-03 9.94815867e-01 1.63771333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.02, Z:16.38 [[ 2.10663816e-02 -9.99778059e-01 2.02166787e-04 1.04373605e+02] [ 9.94595581e-01 2.09366180e-02 -1.01692125e-01 1.05015418e+02] [ 1.01665323e-01 2.34335930e-03 9.94815898e-01 1.63833391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.04, Z:16.39 [[ 1.77308283e-02 -9.99842487e-01 -7.87183845e-04 1.04369887e+02] [ 9.94658885e-01 1.77189613e-02 -1.01684516e-01 1.05038908e+02] [ 1.01682447e-01 1.01997128e-03 9.94816385e-01 1.63861637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.07, Z:16.39 [[ 1.61141008e-02 -9.99870149e-01 1.45948558e-04 1.04374430e+02] [ 9.94687074e-01 1.60157257e-02 -1.01691302e-01 1.05069506e+02] [ 1.01675759e-01 1.78383702e-03 9.94815992e-01 1.63897815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.10, Z:16.39 [[ 1.50769083e-02 -9.99886055e-01 -7.50768890e-04 1.04373844e+02] [ 9.94702447e-01 1.50750970e-02 -1.01684722e-01 1.05095939e+02] [ 1.01684453e-01 7.86299571e-04 9.94816392e-01 1.63936522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.12, Z:16.40 [[ 8.78345789e-03 -9.99961167e-01 -7.17766138e-04 1.04373693e+02] [ 9.94777632e-01 8.81091561e-03 -1.01684955e-01 1.05122764e+02] [ 1.01687330e-01 1.79127819e-04 9.94816393e-01 1.63960367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.15, Z:16.39 [[ 1.87175955e-03 -9.99998012e-01 -6.86774715e-04 1.04368974e+02] [ 9.94814754e-01 1.93189266e-03 -1.01685164e-01 1.05146077e+02] [ 1.01686289e-01 -4.92883442e-04 9.94816393e-01 1.63934683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.17, Z:16.39 [[-2.52753169e-03 -9.99996772e-01 2.59268482e-04 1.04368142e+02] [ 9.94812745e-01 -2.54079432e-03 -1.01691427e-01 1.05171861e+02] [ 1.01691758e-01 8.95286380e-07 9.94815956e-01 1.63944869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.20, Z:16.40 [[-5.20901575e-03 -9.99986279e-01 5.54874196e-04 1.04374334e+02] [ 9.94802001e-01 -5.23843818e-03 -1.01693347e-01 1.05203072e+02] [ 1.01694858e-01 2.22677160e-05 9.94815639e-01 1.64042980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:105.23, Z:16.41 [[-8.57395438e-03 -9.99963006e-01 -6.88517595e-04 1.04375077e+02] [ 9.94780678e-01 -8.45950518e-03 -1.01685006e-01 1.05229275e+02] [ 1.01675420e-01 -1.55676660e-03 9.94816408e-01 1.64081658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:105.26, Z:16.41 [[-1.13714696e-02 -9.99935122e-01 -6.64011752e-04 1.04375478e+02] [ 9.94753073e-01 -1.12450137e-02 -1.01685166e-01 1.05255323e+02] [ 1.01671102e-01 -1.81683751e-03 9.94816408e-01 1.64112281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:105.28, Z:16.42 [[-1.48617978e-02 -9.99889358e-01 -6.31247439e-04 1.04376170e+02] [ 9.94707691e-01 -1.47205847e-02 -1.01685370e-01 1.05282205e+02] [ 1.01664827e-01 -2.13913409e-03 9.94816409e-01 1.64154556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:105.31, Z:16.42 [[-1.61304450e-02 -9.99869716e-01 -5.99974179e-04 1.04376315e+02] [ 9.94688143e-01 -1.59858363e-02 -1.01685554e-01 1.05309428e+02] [ 1.01662715e-01 -2.23702044e-03 9.94816409e-01 1.64181130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:105.34, Z:16.42 [[-1.67090223e-02 -9.99860233e-01 -5.68854552e-04 1.04376197e+02] [ 9.94678655e-01 -1.65645786e-02 -1.01685729e-01 1.05335943e+02] [ 1.01662093e-01 -2.26489659e-03 9.94816410e-01 1.64205385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:105.36, Z:16.42 [[-1.65362319e-02 -9.99863119e-01 -5.44727332e-04 1.04376039e+02] [ 9.94681449e-01 -1.63951363e-02 -1.01685858e-01 1.05362825e+02] [ 1.01663008e-01 -2.22333110e-03 9.94816410e-01 1.64236499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:105.39, Z:16.43 [[-1.54579346e-02 -9.99880387e-01 -5.13158893e-04 1.04375249e+02] [ 9.94698486e-01 -1.53256362e-02 -1.01686017e-01 1.05389631e+02] [ 1.01665990e-01 -2.08229417e-03 9.94816411e-01 1.64252182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:105.42, Z:16.43 [[-1.45470262e-02 -9.99894070e-01 -4.81853413e-04 1.04375325e+02] [ 9.94711974e-01 -1.44226311e-02 -1.01686166e-01 1.05416432e+02] [ 1.01668444e-01 -1.95853668e-03 9.94816411e-01 1.64277804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.44, Z:16.43 [[-1.37764948e-02 -9.99904998e-01 -4.51348773e-04 1.04374991e+02] [ 9.94722737e-01 -1.36591942e-02 -1.01686301e-01 1.05443203e+02] [ 1.01670476e-01 -1.84984768e-03 9.94816411e-01 1.64308316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.47, Z:16.43 [[-1.24337578e-02 -9.99922610e-01 -4.20043210e-04 1.04374739e+02] [ 9.94740129e-01 -1.23265991e-02 -1.01686430e-01 1.05470094e+02] [ 1.01673383e-01 -1.68217829e-03 9.94816412e-01 1.64337242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.50, Z:16.44 [[-8.66690165e-03 -9.99962366e-01 -3.88416814e-04 1.04373911e+02] [ 9.94779466e-01 -8.58248202e-03 -1.01686551e-01 1.05496418e+02] [ 1.01679391e-01 -1.26769641e-03 9.94816412e-01 1.64351480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.52, Z:16.44 [[-6.43762603e-03 -9.99979215e-01 -3.55456298e-04 1.04373186e+02] [ 9.94796094e-01 -6.36811242e-03 -1.01686667e-01 1.05523759e+02] [ 1.01682289e-01 -1.00822727e-03 9.94816413e-01 1.64385748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.55, Z:16.44 [[-3.94881127e-03 -9.99992151e-01 -3.24560169e-04 1.04372543e+02] [ 9.94808840e-01 -3.89533946e-03 -1.01686765e-01 1.05550499e+02] [ 1.01684703e-01 -7.24417170e-04 9.94816413e-01 1.64408992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.58, Z:16.44 [[-4.25420445e-03 -9.99990908e-01 -2.93391988e-04 1.04372494e+02] [ 9.94807581e-01 -4.20231893e-03 -1.01686855e-01 1.05578172e+02] [ 1.01684698e-01 -7.24465245e-04 9.94816414e-01 1.64437106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.61, Z:16.45 [[ 1.09315917e-03 -9.99999368e-01 -2.62175421e-04 1.04370959e+02] [ 9.94815825e-01 1.11415256e-03 -1.01686936e-01 1.05605420e+02] [ 1.01687164e-01 -1.49656251e-04 9.94816414e-01 1.64450207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.63, Z:16.45 [[ 3.94793105e-03 -9.99992180e-01 -2.30901716e-04 1.04370282e+02] [ 9.94808596e-01 3.95094635e-03 -1.01687007e-01 1.05632392e+02] [ 1.01687124e-01 1.71750280e-04 9.94816415e-01 1.64470492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.176875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:104.37, Y:105.66, Z:16.45 [[ 6.25545948e-03 -9.99980415e-01 -1.99693078e-04 1.04369266e+02] [ 9.94796844e-01 6.24333983e-03 -1.01687068e-01 1.05659851e+02] [ 1.01686323e-01 4.37445291e-04 9.94816415e-01 1.64496209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.69, Z:16.45 [[ 1.08076244e-02 -9.99941582e-01 -1.68141213e-04 1.04368790e+02] [ 9.94758144e-01 1.07686993e-02 -1.01687120e-01 1.05687411e+02] [ 1.01682991e-01 9.31736361e-04 9.94816416e-01 1.64535550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.71, Z:16.46 [[ 1.15996452e-02 -9.99932713e-01 -1.36297296e-04 1.04368246e+02] [ 9.94749335e-01 1.15533765e-02 -1.01687163e-01 1.05713961e+02] [ 1.01681895e-01 1.04395337e-03 9.94816416e-01 1.64551630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.74, Z:16.46 [[ 1.23679642e-02 -9.99923509e-01 -1.02903624e-04 1.04367554e+02] [ 9.94740203e-01 1.23143172e-02 -1.01687197e-01 1.05740418e+02] [ 1.01680686e-01 1.15530124e-03 9.94816417e-01 1.64570012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.77, Z:16.46 [[ 1.28884104e-02 -9.99916939e-01 -7.00028968e-05 1.04366937e+02] [ 9.94733700e-01 1.28287201e-02 -1.01687220e-01 1.05767967e+02] [ 1.01679671e-01 1.24095238e-03 9.94816417e-01 1.64600537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.79, Z:16.46 [[ 1.33383272e-02 -9.99911040e-01 -3.80745214e-05 1.04366374e+02] [ 9.94727869e-01 1.32730583e-02 -1.01687232e-01 1.05794393e+02] [ 1.01678691e-01 1.31846378e-03 9.94816418e-01 1.64616098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.82, Z:16.47 [[ 1.34385763e-02 -9.99909698e-01 -4.51343312e-06 1.04366288e+02] [ 9.94726579e-01 1.33693753e-02 -1.01687233e-01 1.05821377e+02] [ 1.01678111e-01 1.36204201e-03 9.94816419e-01 1.64653398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.82, Z:16.47 [[ 1.31530032e-02 -9.99913495e-01 2.72719161e-05 1.04366276e+02] [ 9.94730400e-01 1.30820506e-02 -1.01687225e-01 1.05819815e+02] [ 1.01678071e-01 1.36462060e-03 9.94816419e-01 1.64658948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.83, Z:16.47 [[ 1.31771101e-02 -9.99913176e-01 6.75764893e-05 1.04366016e+02] [ 9.94730141e-01 1.31019345e-02 -1.01687198e-01 1.05828002e+02] [ 1.01677484e-01 1.40716377e-03 9.94816420e-01 1.64668784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.83, Z:16.47 [[ 1.24645594e-02 -9.99922309e-01 1.02937496e-04 1.04366131e+02] [ 9.94739273e-01 1.23894819e-02 -1.01687162e-01 1.05830732e+02] [ 1.01677987e-01 1.36988164e-03 9.94816420e-01 1.64678289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.82, Z:16.47 [[ 1.17944672e-02 -9.99930433e-01 1.43625057e-04 1.04365970e+02] [ 9.94747407e-01 1.17187261e-02 -1.01687105e-01 1.05815490e+02] [ 1.01678348e-01 1.34221588e-03 9.94816421e-01 1.64666369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.82, Z:16.47 [[ 1.14284005e-02 -9.99934677e-01 1.84186628e-04 1.04365788e+02] [ 9.94751685e-01 1.13504328e-02 -1.01687031e-01 1.05819801e+02] [ 1.01678298e-01 1.34534008e-03 9.94816422e-01 1.64668033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.82, Z:16.47 [[ 1.06954323e-02 -9.99942777e-01 2.24657441e-04 1.04365821e+02] [ 9.94759791e-01 1.06171488e-02 -1.01686942e-01 1.05822212e+02] [ 1.01678738e-01 1.31106599e-03 9.94816423e-01 1.64678083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.81, Z:16.47 [[ 1.00573926e-02 -9.99949388e-01 2.65295933e-04 1.04366219e+02] [ 9.94766415e-01 9.97828428e-03 -1.01686836e-01 1.05814815e+02] [ 1.01679042e-01 1.28661192e-03 9.94816424e-01 1.64660114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.81, Z:16.47 [[ 9.32531997e-03 -9.99956471e-01 3.05934375e-04 1.04366638e+02] [ 9.94773505e-01 9.24587423e-03 -1.01686714e-01 1.05810307e+02] [ 1.01679459e-01 1.25259656e-03 9.94816425e-01 1.64664035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.81, Z:16.46 [[ 7.80685903e-03 -9.99969466e-01 3.46453604e-04 1.04366908e+02] [ 9.94786444e-01 7.73116392e-03 -1.01686576e-01 1.05805079e+02] [ 1.01680793e-01 1.13850011e-03 9.94816425e-01 1.64648818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.80, Z:16.46 [[ 7.15784106e-03 -9.99974308e-01 3.86896221e-04 1.04367488e+02] [ 9.94791297e-01 7.08139784e-03 -1.01686422e-01 1.05797063e+02] [ 1.01681070e-01 1.11273624e-03 9.94816426e-01 1.64629211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.686875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.36, Y:105.79, Z:16.45 [[-6.54961941e-03 -9.99978460e-01 4.27200419e-04 1.04361778e+02] [ 9.94794895e-01 -6.55910964e-03 -1.01686253e-01 1.05790180e+02] [ 1.01686865e-01 -2.41029459e-04 9.94816427e-01 1.64516224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:105.81, Z:16.45 [[-4.35491784e-03 -9.99988858e-01 1.82175620e-03 1.04363620e+02] [ 9.94806974e-01 -4.51758782e-03 -1.01679275e-01 1.05813938e+02] [ 1.01686372e-01 1.36949089e-03 9.94815564e-01 1.64541552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.79, Z:16.46 [[ 3.20230117e-03 -9.99993806e-01 1.46061916e-03 1.04370574e+02] [ 9.94812402e-01 3.03719026e-03 -1.01681172e-01 1.05788675e+02] [ 1.01676106e-01 1.77865579e-03 9.94815966e-01 1.64591661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.79, Z:16.45 [[-7.45604864e-03 -9.99972076e-01 5.04865200e-04 1.04367492e+02] [ 9.94788512e-01 -7.46873779e-03 -1.01685964e-01 1.05785099e+02] [ 1.01686895e-01 -2.55941389e-04 9.94816420e-01 1.64529841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.81, Z:16.46 [[-6.51299645e-03 -9.99977413e-01 1.65966984e-03 1.04368262e+02] [ 9.94795005e-01 -6.64800073e-03 -1.01679406e-01 1.05806167e+02] [ 1.01688143e-01 9.88793653e-04 9.94815834e-01 1.64554426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:105.82, Z:16.46 [[ 3.00154731e-03 -9.99994303e-01 1.54403257e-03 1.04374419e+02] [ 9.94813127e-01 2.82899743e-03 -1.01680081e-01 1.05815619e+02] [ 1.01675134e-01 1.84122144e-03 9.94815951e-01 1.64632689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:105.72, Z:16.94 [[-9.19309786e-02 9.95765221e-01 -5.66364358e-04 1.03303225e+02] [ 9.90598622e-01 9.15118242e-02 1.01685575e-01 1.05717974e+02] [ 1.01306788e-01 8.78701467e-03 -9.94816427e-01 1.69416483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:105.67, Z:16.94 [[-1.69767094e-01 9.85447148e-01 -8.54701242e-03 1.03344870e+02] [ 9.80295494e-01 1.69755711e-01 1.01013575e-01 1.05667698e+02] [ 1.00994444e-01 8.77018334e-03 -9.94848333e-01 1.69398098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:105.62, Z:16.94 [[-2.46747692e-01 9.68940600e-01 -1.64222323e-02 1.03391257e+02] [ 9.63835498e-01 2.47137759e-01 9.97199177e-02 1.05618911e+02] [ 1.00681231e-01 8.77732912e-03 -9.94880017e-01 1.69383780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:105.58, Z:16.94 [[-3.21997461e-01 9.46432507e-01 -2.41484027e-02 1.03440259e+02] [ 9.41404987e-01 3.22782775e-01 9.78157949e-02 1.05579764e+02] [ 1.00370736e-01 8.76301092e-03 -9.94911516e-01 1.69377506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:105.56, Z:16.94 [[-3.94483168e-01 9.18356900e-01 -3.16801794e-02 1.03487067e+02] [ 9.13438196e-01 3.95658392e-01 9.53157856e-02 1.05558296e+02] [ 1.00068438e-01 8.66258709e-03 -9.94942846e-01 1.69404986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:105.53, Z:16.94 [[-4.65267838e-01 8.84311830e-01 -3.89669819e-02 1.03541115e+02] [ 8.79530415e-01 4.66816738e-01 9.22408901e-02 1.05526837e+02] [ 9.97601498e-02 8.64407375e-03 -9.94973966e-01 1.69406263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.046875 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:103.35, Y:105.93, Z:16.99 [[-5.31411819e-01 8.45865537e-01 -4.59670827e-02 1.03345702e+02] [ 8.41253299e-01 5.33329725e-01 8.86131618e-02 1.05932863e+02] [ 9.94704312e-02 8.42012151e-03 -9.95004892e-01 1.69939239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:105.51, Z:16.94 [[-5.97498057e-01 8.00146296e-01 -5.25545120e-02 1.03665253e+02] [ 7.95718037e-01 5.99742126e-01 8.45114700e-02 1.05510426e+02] [ 9.91406944e-02 8.67686608e-03 -9.95035595e-01 1.69436849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.106875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:103.71, Y:105.50, Z:16.95 [[-6.57864716e-01 7.50825304e-01 -5.89523402e-02 1.03714281e+02] [ 7.46621919e-01 6.60446471e-01 7.97882729e-02 1.05504240e+02] [ 9.88419193e-02 8.47478012e-03 -9.95067060e-01 1.69461778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:105.48, Z:16.94 [[-7.14587981e-01 6.96533268e-01 -6.48492416e-02 1.03783440e+02] [ 6.92570700e-01 7.17474785e-01 7.46710062e-02 1.05481492e+02] [ 9.85385356e-02 8.44631898e-03 -9.95097391e-01 1.69434867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:105.48, Z:16.94 [[-7.66893300e-01 6.37911742e-01 -7.03084352e-02 1.03836116e+02] [ 6.34211609e-01 7.70063457e-01 6.91224020e-02 1.05481482e+02] [ 9.82359485e-02 8.41908113e-03 -9.95127538e-01 1.69430903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:105.49, Z:16.95 [[-8.11115300e-01 5.80018891e-01 -7.52997743e-02 1.03888978e+02] [ 5.76620923e-01 8.14565438e-01 6.31779960e-02 1.05490814e+02] [ 9.79810248e-02 7.82521390e-03 -9.95157518e-01 1.69491189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:105.50, Z:16.95 [[-8.52794326e-01 5.16216072e-01 -7.91378895e-02 1.03938514e+02] [ 5.13042269e-01 8.56414179e-01 5.78133652e-02 1.05501312e+02] [ 9.76189989e-02 8.70182740e-03 -9.95185816e-01 1.69496848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:105.49, Z:16.94 [[-8.93479514e-01 4.41392190e-01 -8.28691279e-02 1.04018652e+02] [ 4.38471658e-01 8.97260838e-01 5.16293890e-02 1.05491375e+02] [ 9.71440322e-02 9.79403756e-03 -9.95222143e-01 1.69396209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:105.50, Z:16.94 [[-9.24898740e-01 3.70123585e-01 -8.70106433e-02 1.04081837e+02] [ 3.67668372e-01 9.28947421e-01 4.33203990e-02 1.05501742e+02] [ 9.68622141e-02 8.07592096e-03 -9.95265036e-01 1.69386285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:105.52, Z:16.94 [[-9.50754971e-01 2.96627068e-01 -8.98741819e-02 1.04127763e+02] [ 2.94514889e-01 9.54960135e-01 3.62232017e-02 1.05523339e+02] [ 9.65710430e-02 7.97010438e-03 -9.95294183e-01 1.69394748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:105.55, Z:16.94 [[-9.70887587e-01 2.21096291e-01 -9.21613973e-02 1.04154886e+02] [ 2.19334661e-01 9.75220029e-01 2.89517227e-02 1.05552191e+02] [ 9.62787590e-02 7.89467936e-03 -9.95323101e-01 1.69421272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:105.57, Z:16.94 [[-9.85045677e-01 1.44480012e-01 -9.38644778e-02 1.04257254e+02] [ 1.43077051e-01 9.89477039e-01 2.15440802e-02 1.05568614e+02] [ 9.59894345e-02 7.79205041e-03 -9.95351854e-01 1.69373485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:105.60, Z:16.94 [[-9.92763784e-01 7.34814139e-02 -9.49765787e-02 1.04305018e+02] [ 7.24718953e-02 9.97271632e-01 1.40398457e-02 1.05604823e+02] [ 9.57491153e-02 7.05511769e-03 -9.95380496e-01 1.69435677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:105.63, Z:16.94 [[-9.95367177e-01 -1.18969789e-02 -9.54077825e-02 1.04335000e+02] [-1.27076605e-02 9.99888095e-01 7.89391230e-03 1.05634731e+02] [ 9.53031921e-02 9.06975091e-03 -9.95406973e-01 1.69394983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:105.67, Z:16.94 [[-9.91347724e-01 -9.02480161e-02 -9.53151921e-02 1.04387877e+02] [-9.05625594e-02 9.95890236e-01 -1.02954199e-03 1.05673358e+02] [ 9.50163833e-02 7.61135363e-03 -9.95446610e-01 1.69396134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:105.71, Z:16.94 [[-9.81251502e-01 -1.67891327e-01 -9.46466698e-02 1.04427882e+02] [-1.67845535e-01 9.85776646e-01 -8.50179267e-03 1.05714818e+02] [ 9.47278540e-02 7.54362410e-03 -9.95474624e-01 1.69401814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:106.81, Z:16.46 [[-9.81741977e-01 1.65707888e-01 9.34001422e-02 1.04195098e+02] [-1.64947342e-01 -9.86174868e-01 1.58589043e-02 1.06808505e+02] [ 9.47368184e-02 1.63246788e-04 9.95502340e-01 1.64575330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:105.76, Z:16.94 [[-9.65046713e-01 -2.44867489e-01 -9.34063893e-02 1.04458461e+02] [-2.44472903e-01 9.69527031e-01 -1.58220250e-02 1.05758104e+02] [ 9.44343187e-02 7.56633798e-03 -9.95502341e-01 1.69415111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.586875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:104.49, Y:105.81, Z:16.94 [[-9.42831744e-01 -3.20435498e-01 -9.15936404e-02 1.04490062e+02] [-3.19695553e-01 9.47240171e-01 -2.30393757e-02 1.05805152e+02] [ 9.41438094e-02 7.55982468e-03 -9.95529905e-01 1.69422669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:106.84, Z:16.45 [[-9.41461635e-01 3.25097203e-01 8.92289052e-02 1.04092639e+02] [-3.23704476e-01 -9.45680429e-01 3.00655652e-02 1.06843918e+02] [ 9.41562606e-02 -5.78219773e-04 9.95557263e-01 1.64514461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:106.84, Z:16.45 [[-9.42068039e-01 3.23413535e-01 8.89465884e-02 1.04084939e+02] [-3.21934083e-01 -9.46257606e-01 3.09028994e-02 1.06840999e+02] [ 9.41608018e-02 4.77695439e-04 9.95556887e-01 1.64517278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:106.84, Z:16.45 [[-9.42360380e-01 3.22553992e-01 8.89709870e-02 1.04084880e+02] [-3.21077557e-01 -9.46550942e-01 3.08304544e-02 1.06840765e+02] [ 9.41600577e-02 4.86811537e-04 9.95556953e-01 1.64521641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:106.85, Z:16.46 [[-9.44861202e-01 3.15147371e-01 8.89912549e-02 1.04084835e+02] [-3.13643763e-01 -9.49042035e-01 3.07702041e-02 1.06846544e+02] [ 9.41535906e-02 1.16201995e-03 9.95557005e-01 1.64587974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:106.85, Z:16.45 [[-9.41332687e-01 3.25461980e-01 8.92595723e-02 1.04097943e+02] [-3.24079832e-01 -9.45554858e-01 2.99712126e-02 1.06846063e+02] [ 9.41543124e-02 -7.14345041e-04 9.95557359e-01 1.64546212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:106.84, Z:16.47 [[-9.44557328e-01 3.16076632e-01 8.89214138e-02 1.04047954e+02] [-3.14557583e-01 -9.48732787e-01 3.09778372e-02 1.06836093e+02] [ 9.41540312e-02 1.28943808e-03 9.95556807e-01 1.64655695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:106.85, Z:16.46 [[-9.44483625e-01 3.16196364e-01 8.92778925e-02 1.04084785e+02] [-3.14778190e-01 -9.48693753e-01 2.99141228e-02 1.06849378e+02] [ 9.41561157e-02 1.50665760e-04 9.95557433e-01 1.64628163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:106.85, Z:16.46 [[-9.44238502e-01 3.16924253e-01 8.92898005e-02 1.04087858e+02] [-3.15512689e-01 -9.48450851e-01 2.98785368e-02 1.06851480e+02] [ 9.41562202e-02 4.03998368e-05 9.95557434e-01 1.64616752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:106.85, Z:16.45 [[-9.40129813e-01 3.28909077e-01 8.93014813e-02 1.04100866e+02] [-3.27554526e-01 -9.44360838e-01 2.98435842e-02 1.06848553e+02] [ 9.41486475e-02 -1.19426121e-03 9.95557435e-01 1.64525610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.886875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:104.06, Y:106.84, Z:16.46 [[-9.43917746e-01 3.17997135e-01 8.88656949e-02 1.04064799e+02] [-3.16470720e-01 -9.48090815e-01 3.11462681e-02 1.06844175e+02] [ 9.41571731e-02 1.27612480e-03 9.95556527e-01 1.64608576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:106.84, Z:16.45 [[-9.40115225e-01 3.28947250e-01 8.93144439e-02 1.04059926e+02] [-3.27596849e-01 -9.44347481e-01 2.98016843e-02 1.06836367e+02] [ 9.41470522e-02 -1.24211321e-03 9.95557527e-01 1.64544899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:106.86, Z:16.46 [[-9.43604923e-01 3.18902827e-01 8.89423136e-02 1.04099714e+02] [-3.17402197e-01 -9.47786949e-01 3.09151154e-02 1.06856231e+02] [ 9.41572818e-02 9.41169359e-04 9.95556890e-01 1.64570247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:106.86, Z:16.46 [[-9.43727411e-01 3.18434473e-01 8.93199846e-02 1.04097529e+02] [-3.17038721e-01 -9.47944852e-01 2.97826700e-02 1.06855732e+02] [ 9.41542483e-02 -2.11171594e-04 9.95557599e-01 1.64579094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:106.85, Z:16.46 [[-9.43106756e-01 3.20264797e-01 8.93314458e-02 1.04076671e+02] [-3.18880490e-01 -9.47327966e-01 2.97482531e-02 1.06848623e+02] [ 9.41534951e-02 -4.30276786e-04 9.95557600e-01 1.64591882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:106.85, Z:16.46 [[-9.42798077e-01 3.21169144e-01 8.93429782e-02 1.04073331e+02] [-3.19792171e-01 -9.47021684e-01 2.97135777e-02 1.06847095e+02] [ 9.41528220e-02 -5.57281123e-04 9.95557600e-01 1.64592339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:106.85, Z:16.46 [[-9.42921428e-01 3.20803583e-01 8.93545866e-02 1.04092695e+02] [-3.19428285e-01 -9.47145580e-01 2.96786280e-02 1.06851379e+02] [ 9.41528119e-02 -5.57768044e-04 9.95557601e-01 1.64586372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:106.85, Z:16.46 [[-9.43178780e-01 3.20042950e-01 8.93660919e-02 1.04081514e+02] [-3.18667531e-01 -9.47402893e-01 2.96439436e-02 1.06846585e+02] [ 9.41530292e-02 -5.18533292e-04 9.95557602e-01 1.64598100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:106.84, Z:16.46 [[-9.43229794e-01 3.19889376e-01 8.93775321e-02 1.04069080e+02] [-3.18516541e-01 -9.47454746e-01 2.96094110e-02 1.06840607e+02] [ 9.41529030e-02 -5.39743708e-04 9.95557602e-01 1.64609582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:106.84, Z:16.46 [[-9.43393561e-01 3.19402861e-01 8.93890473e-02 1.04072485e+02] [-3.18031144e-01 -9.47618876e-01 2.95746065e-02 1.06838482e+02] [ 9.41529625e-02 -5.28007674e-04 9.95557603e-01 1.64609115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:106.84, Z:16.46 [[-9.43502088e-01 3.19078902e-01 8.94005799e-02 1.04076666e+02] [-3.17709041e-01 -9.47728005e-01 2.95397038e-02 1.06838905e+02] [ 9.41529295e-02 -5.32600346e-04 9.95557604e-01 1.64606340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:106.84, Z:16.46 [[-9.43509039e-01 3.19055134e-01 8.94120525e-02 1.04081216e+02] [-3.17688462e-01 -9.47735986e-01 2.95049374e-02 1.06839488e+02] [ 9.41527215e-02 -5.67002289e-04 9.95557604e-01 1.64608562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:106.84, Z:16.46 [[-9.43787035e-01 3.18228646e-01 8.94234966e-02 1.04072813e+02] [-3.16861562e-01 -9.48013849e-01 2.94702122e-02 1.06835555e+02] [ 9.41529788e-02 -5.21264658e-04 9.95557605e-01 1.64614299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:106.83, Z:16.46 [[-9.44033194e-01 3.17494457e-01 8.94348867e-02 1.04071450e+02] [-3.16127364e-01 -9.48260004e-01 2.94356054e-02 1.06834605e+02] [ 9.41531676e-02 -4.84626390e-04 9.95557606e-01 1.64617517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:106.84, Z:16.46 [[-9.44382511e-01 3.16450682e-01 8.94462882e-02 1.04082978e+02] [-3.15082202e-01 -9.48608872e-01 2.94009188e-02 1.06836567e+02] [ 9.41534834e-02 -4.17219966e-04 9.95557606e-01 1.64602934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:105.85, Z:16.95 [[-9.23695250e-01 -3.72537811e-01 -8.94576137e-02 1.04464921e+02] [-3.71428678e-01 9.27996956e-01 -2.93664186e-02 1.05850039e+02] [ 9.39564946e-02 6.10150185e-03 -9.95557607e-01 1.69531632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:105.87, Z:16.95 [[-8.89212631e-01 -4.49025492e-01 -8.76185201e-02 1.04430464e+02] [-4.47845592e-01 8.93471759e-01 -3.38015205e-02 1.05866652e+02] [ 9.34624176e-02 9.18282896e-03 -9.95580460e-01 1.69528222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:106.82, Z:16.47 [[-8.87439194e-01 4.53328494e-01 8.33363911e-02 1.03894107e+02] [-4.51354819e-01 -8.91343516e-01 4.22559361e-02 1.06824590e+02] [ 9.34371717e-02 -1.14707835e-04 9.95625171e-01 1.64668121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:106.82, Z:16.47 [[-8.88125478e-01 4.51979474e-01 8.33528080e-02 1.03889214e+02] [-4.50002910e-01 -8.92028337e-01 4.22235280e-02 1.06821473e+02] [ 9.34372347e-02 -9.21519210e-06 9.95625172e-01 1.64668373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:106.82, Z:16.47 [[-8.89195115e-01 4.49868448e-01 8.33692178e-02 1.03884522e+02] [-4.47885658e-01 -8.93094815e-01 4.21911025e-02 1.06818498e+02] [ 9.34370619e-02 1.76245355e-04 9.95625173e-01 1.64675811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:106.82, Z:16.47 [[-8.89780112e-01 4.48707239e-01 8.33856509e-02 1.03886006e+02] [-4.46722405e-01 -8.93678771e-01 4.21585996e-02 1.06819185e+02] [ 9.34368548e-02 2.61644952e-04 9.95625173e-01 1.64673983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:106.81, Z:16.47 [[-8.90938388e-01 4.46399914e-01 8.34020713e-02 1.03873293e+02] [-4.44408026e-01 -8.94833448e-01 4.21260902e-02 1.06812672e+02] [ 9.34360460e-02 4.67201065e-04 9.95625174e-01 1.64705207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:106.82, Z:16.47 [[-8.91571042e-01 4.45131920e-01 8.34185288e-02 1.03883221e+02] [-4.43137544e-01 -8.95464827e-01 4.20934757e-02 1.06817735e+02] [ 9.34355081e-02 5.63441980e-04 9.95625175e-01 1.64703537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:106.81, Z:16.47 [[-8.92140354e-01 4.43986706e-01 8.34349654e-02 1.03871144e+02] [-4.41990381e-01 -8.96033139e-01 4.20608710e-02 1.06811576e+02] [ 9.34349616e-02 6.46748195e-04 9.95625175e-01 1.64720763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:106.82, Z:16.47 [[-8.92708608e-01 4.42839936e-01 8.34513781e-02 1.03879968e+02] [-4.40841656e-01 -8.96600389e-01 4.20282821e-02 1.06815725e+02] [ 9.34343399e-02 7.30165467e-04 9.95625176e-01 1.64708897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.636875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:103.85, Y:106.80, Z:16.47 [[-8.93430564e-01 4.41378476e-01 8.34677726e-02 1.03852046e+02] [-4.39376873e-01 -8.97320636e-01 4.19956978e-02 1.06801373e+02] [ 9.34333519e-02 8.46431007e-04 9.95625177e-01 1.64719351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:106.80, Z:16.47 [[-8.93975375e-01 4.40270834e-01 8.34842571e-02 1.03850262e+02] [-4.38267474e-01 -8.97864542e-01 4.19629022e-02 1.06801068e+02] [ 9.34325963e-02 9.25366725e-04 9.95625177e-01 1.64726122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:106.80, Z:16.47 [[-8.94208512e-01 4.39793970e-01 8.35009039e-02 1.03848685e+02] [-4.37791631e-01 -8.98098204e-01 4.19297512e-02 1.06800676e+02] [ 9.34324636e-02 9.37943571e-04 9.95625178e-01 1.64728850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:106.80, Z:16.47 [[-8.94226391e-01 4.39754459e-01 8.35175317e-02 1.03853171e+02] [-4.37755043e-01 -8.98117585e-01 4.18966051e-02 1.06803161e+02] [ 9.34327828e-02 9.04829314e-04 9.95625179e-01 1.64719839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:106.80, Z:16.47 [[-8.94507710e-01 4.39178791e-01 8.35340953e-02 1.03842807e+02] [-4.37179957e-01 -8.98399203e-01 4.18635544e-02 1.06798603e+02] [ 9.34325499e-02 9.27839992e-04 9.95625179e-01 1.64719304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:106.79, Z:16.47 [[-8.94813696e-01 4.38551865e-01 8.35506516e-02 1.03834315e+02] [-4.36553391e-01 -8.98705373e-01 4.18304857e-02 1.06794711e+02] [ 9.34322570e-02 9.56171229e-04 9.95625180e-01 1.64721855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:106.80, Z:16.47 [[-8.95066677e-01 4.38032124e-01 8.35673551e-02 1.03840482e+02] [-4.36034507e-01 -8.98958793e-01 4.17970896e-02 1.06797696e+02] [ 9.34320766e-02 9.72931610e-04 9.95625181e-01 1.64707496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:106.79, Z:16.47 [[-8.95260711e-01 4.37632242e-01 8.35839730e-02 1.03822657e+02] [-4.35635991e-01 -8.99153527e-01 4.17638314e-02 1.06789448e+02] [ 9.34320233e-02 9.77330487e-04 9.95625181e-01 1.64716468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87687499999998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:103.84, Y:106.80, Z:16.47 [[-8.95212388e-01 4.37727900e-01 8.36006292e-02 1.03839323e+02] [-4.35735181e-01 -8.99107013e-01 4.17304635e-02 1.06798205e+02] [ 9.34325001e-02 9.29892582e-04 9.95625182e-01 1.64697795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:106.80, Z:16.47 [[-8.95084402e-01 4.37986381e-01 8.36172463e-02 1.03837717e+02] [-4.35997898e-01 -8.98981191e-01 4.16971405e-02 1.06798032e+02] [ 9.34331113e-02 8.65516462e-04 9.95625183e-01 1.64694525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:106.79, Z:16.47 [[-8.94867569e-01 4.38425689e-01 8.36358113e-02 1.03825794e+02] [-4.36442602e-01 -8.98767106e-01 4.16598699e-02 1.06792622e+02] [ 9.34338732e-02 7.77835490e-04 9.95625184e-01 1.64710995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:106.79, Z:16.47 [[-8.94129774e-01 4.39925263e-01 8.36523179e-02 1.03826271e+02] [-4.37951819e-01 -8.98034199e-01 4.16266986e-02 1.06794441e+02] [ 9.34352786e-02 5.83985818e-04 9.95625184e-01 1.64728457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:106.80, Z:16.47 [[-8.93821965e-01 4.40547179e-01 8.36688566e-02 1.03833706e+02] [-4.38579565e-01 -8.97729331e-01 4.15934297e-02 1.06798569e+02] [ 9.34358548e-02 4.81670282e-04 9.95625185e-01 1.64714827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:106.79, Z:16.47 [[-8.90710894e-01 4.46800711e-01 8.36852946e-02 1.03829346e+02] [-4.44863640e-01 -8.94633490e-01 4.15603305e-02 1.06791456e+02] [ 9.34368524e-02 -2.10305713e-04 9.95625186e-01 1.64665569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:106.80, Z:16.47 [[-8.93225279e-01 4.41796934e-01 8.34509976e-02 1.03838079e+02] [-4.39793747e-01 -8.97114685e-01 4.20321491e-02 1.06800840e+02] [ 9.34347900e-02 8.42951166e-04 9.95625045e-01 1.64722068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:106.80, Z:16.47 [[-8.93045293e-01 4.42112621e-01 8.37050484e-02 1.03835085e+02] [-4.40158737e-01 -8.96959517e-01 4.15200126e-02 1.06799684e+02] [ 9.34365614e-02 2.35743467e-04 9.95625207e-01 1.64732642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:106.80, Z:16.47 [[-8.93051211e-01 4.42097592e-01 8.37212855e-02 1.03832555e+02] [-4.40146714e-01 -8.96966933e-01 4.14872463e-02 1.06798208e+02] [ 9.34366364e-02 2.00586860e-04 9.95625208e-01 1.64740390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:106.79, Z:16.48 [[-8.93182025e-01 4.41830169e-01 8.37375234e-02 1.03821473e+02] [-4.39881193e-01 -8.97098693e-01 4.14544461e-02 1.06792989e+02] [ 9.34366477e-02 1.91804459e-04 9.95625209e-01 1.64751660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:106.80, Z:16.47 [[-8.93404037e-01 4.41377985e-01 8.37538146e-02 1.03830677e+02] [-4.39430114e-01 -8.97321254e-01 4.14215056e-02 1.06797886e+02] [ 9.34366187e-02 2.02192018e-04 9.95625209e-01 1.64745632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:106.80, Z:16.47 [[-8.93766352e-01 4.40640764e-01 8.37700736e-02 1.03828628e+02] [-4.38692747e-01 -8.97683496e-01 4.13885978e-02 1.06797114e+02] [ 9.34365158e-02 2.42412369e-04 9.95625210e-01 1.64748428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:106.79, Z:16.47 [[-8.94058296e-01 4.40045021e-01 8.37863008e-02 1.03819802e+02] [-4.38097473e-01 -8.97975672e-01 4.13557218e-02 1.06792626e+02] [ 9.34364392e-02 2.67859431e-04 9.95625211e-01 1.64740861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:106.79, Z:16.48 [[-8.94252160e-01 4.39649562e-01 8.37934201e-02 1.03813494e+02] [-4.37701634e-01 -8.98169348e-01 4.13412919e-02 1.06789229e+02] [ 9.34363623e-02 2.93022645e-04 9.95625211e-01 1.64751861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:106.78, Z:16.48 [[-8.94524485e-01 4.39092112e-01 8.38096779e-02 1.03798178e+02] [-4.37144833e-01 -8.98441995e-01 4.13083068e-02 1.06781712e+02] [ 9.34362859e-02 3.14324226e-04 9.95625211e-01 1.64763633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:106.79, Z:16.47 [[-8.94913425e-01 4.38295730e-01 8.38261046e-02 1.03808778e+02] [-4.36348089e-01 -8.98830754e-01 4.12749456e-02 1.06787081e+02] [ 9.34361132e-02 3.60142358e-04 9.95625212e-01 1.64749059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:106.78, Z:16.48 [[-8.95194198e-01 4.37718449e-01 8.38445440e-02 1.03797239e+02] [-4.35771793e-01 -8.99112016e-01 4.12374546e-02 1.06781390e+02] [ 9.34360316e-02 3.78442849e-04 9.95625213e-01 1.64761989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:106.79, Z:16.48 [[-8.95540376e-01 4.37006627e-01 8.38608524e-02 1.03807483e+02] [-4.35059965e-01 -8.99458190e-01 4.12042632e-02 1.06786285e+02] [ 9.34358666e-02 4.15581832e-04 9.95625214e-01 1.64752203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:106.76, Z:16.48 [[-8.95841672e-01 4.36385525e-01 8.38771309e-02 1.03754057e+02] [-4.34439251e-01 -8.99759678e-01 4.11710995e-02 1.06760119e+02] [ 9.34357321e-02 4.43268673e-04 9.95625214e-01 1.64811569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:106.78, Z:16.48 [[-8.96248256e-01 4.35546686e-01 8.38936674e-02 1.03791928e+02] [-4.33599902e-01 -9.00166008e-01 4.11373758e-02 1.06777892e+02] [ 9.34354753e-02 4.93015394e-04 9.95625215e-01 1.64786053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:106.78, Z:16.48 [[-8.96712892e-01 4.34586074e-01 8.39102739e-02 1.03787761e+02] [-4.32638265e-01 -9.00630133e-01 4.11034748e-02 1.06775406e+02] [ 9.34351188e-02 5.55220427e-04 9.95625216e-01 1.64788892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:106.78, Z:16.48 [[-8.97300050e-01 4.33369294e-01 8.39266045e-02 1.03791885e+02] [-4.31419294e-01 -9.01216200e-01 4.10701034e-02 1.06776753e+02] [ 9.34345373e-02 6.44649382e-04 9.95625216e-01 1.64789530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:106.78, Z:16.48 [[-8.97685189e-01 4.32567788e-01 8.39428967e-02 1.03788325e+02] [-4.30617408e-01 -9.01601149e-01 4.10367769e-02 1.06775091e+02] [ 9.34341999e-02 6.90834291e-04 9.95625217e-01 1.64800433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:106.77, Z:16.48 [[-8.98078468e-01 4.31747528e-01 8.39591450e-02 1.03782840e+02] [-4.29796680e-01 -9.01994194e-01 4.10035069e-02 1.06772056e+02] [ 9.34338241e-02 7.39004827e-04 9.95625218e-01 1.64811702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:106.77, Z:16.48 [[-8.98445390e-01 4.30980289e-01 8.39754164e-02 1.03782484e+02] [-4.29029215e-01 -9.02361003e-01 4.09701560e-02 1.06771624e+02] [ 9.34334707e-02 7.81540881e-04 9.95625219e-01 1.64817768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:106.77, Z:16.48 [[-8.98584686e-01 4.30686614e-01 8.39916858e-02 1.03789476e+02] [-4.28737379e-01 -9.02501214e-01 4.09367757e-02 1.06774941e+02] [ 9.34335196e-02 7.74784500e-04 9.95625219e-01 1.64821057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:106.77, Z:16.48 [[-8.98386473e-01 4.31096766e-01 8.40078751e-02 1.03788547e+02] [-4.29152427e-01 -9.02305434e-01 4.09035260e-02 1.06774796e+02] [ 9.34341400e-02 6.94990945e-04 9.95625220e-01 1.64822556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:106.77, Z:16.48 [[-8.98089638e-01 4.31711677e-01 8.40239797e-02 1.03782729e+02] [-4.29773119e-01 -9.02011461e-01 4.08704174e-02 1.06772267e+02] [ 9.34348291e-02 5.94050493e-04 9.95625221e-01 1.64827089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:106.78, Z:16.48 [[-8.97752034e-01 4.32410164e-01 8.40400878e-02 1.03789336e+02] [-4.30477760e-01 -9.01676891e-01 4.08372683e-02 1.06775605e+02] [ 9.34354549e-02 4.84351908e-04 9.95625221e-01 1.64818834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:106.78, Z:16.48 [[-8.97160979e-01 4.33632035e-01 8.40561472e-02 1.03805375e+02] [-4.31708076e-01 -9.01089982e-01 4.08041863e-02 1.06784063e+02] [ 9.34361545e-02 3.20206120e-04 9.95625222e-01 1.64796558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:106.78, Z:16.48 [[-8.96906334e-01 4.34155415e-01 8.40720155e-02 1.03799065e+02] [-4.32236815e-01 -9.00837956e-01 4.07714653e-02 1.06781130e+02] [ 9.34364151e-02 2.29165278e-04 9.95625223e-01 1.64808314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:106.77, Z:16.47 [[-8.92669222e-01 4.42798946e-01 8.40877784e-02 1.03798791e+02] [-4.40921478e-01 -8.96620650e-01 4.07389299e-02 1.06774625e+02] [ 9.34339937e-02 -7.09718750e-04 9.95625223e-01 1.64722145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:106.77, Z:16.48 [[-8.96728987e-01 4.34592416e-01 8.37051698e-02 1.03781376e+02] [-4.32604911e-01 -9.00626657e-01 4.15285084e-02 1.06771884e+02] [ 9.34350820e-02 1.02854980e-03 9.95624843e-01 1.64807684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:106.78, Z:16.48 [[-8.97075942e-01 4.33797308e-01 8.41109353e-02 1.03787858e+02] [-4.31884791e-01 -9.01010469e-01 4.06898339e-02 1.06775332e+02] [ 9.34359736e-02 1.75637343e-04 9.95625275e-01 1.64805881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:106.77, Z:16.48 [[-8.97244105e-01 4.33446298e-01 8.41268233e-02 1.03785823e+02] [-4.31535324e-01 -9.01179381e-01 4.06569588e-02 1.06774275e+02] [ 9.34359668e-02 1.75520751e-04 9.95625276e-01 1.64808235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:106.77, Z:16.48 [[-8.97666481e-01 4.32567802e-01 8.41426475e-02 1.03780213e+02] [-4.30656048e-01 -9.01601377e-01 4.06241830e-02 1.06771501e+02] [ 9.34358405e-02 2.30427371e-04 9.95625276e-01 1.64815364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:106.77, Z:16.48 [[-8.98084234e-01 4.31696721e-01 8.41584804e-02 1.03772780e+02] [-4.29784227e-01 -9.02018769e-01 4.05913566e-02 1.06767966e+02] [ 9.34356845e-02 2.84469949e-04 9.95625277e-01 1.64824652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:106.76, Z:16.48 [[-8.99200633e-01 4.29364615e-01 8.41679829e-02 1.03752852e+02] [-4.27443761e-01 -9.03131094e-01 4.05716434e-02 1.06757920e+02] [ 9.34347505e-02 5.04968187e-04 9.95625277e-01 1.64844659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:106.77, Z:16.48 [[-8.99995145e-01 4.27693574e-01 8.41839976e-02 1.03771703e+02] [-4.25768534e-01 -9.03923556e-01 4.05383866e-02 1.06766596e+02] [ 9.34339059e-02 6.41453877e-04 9.95625278e-01 1.64829788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:106.77, Z:16.48 [[-9.01283982e-01 4.24967700e-01 8.41999827e-02 1.03769561e+02] [-4.23033882e-01 -9.05208079e-01 4.05051577e-02 1.06765050e+02] [ 9.34318883e-02 8.87204279e-04 9.95625278e-01 1.64829886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:106.76, Z:16.48 [[-9.02013550e-01 4.23413807e-01 8.42158171e-02 1.03764999e+02] [-4.21476305e-01 -9.05935828e-01 4.04722091e-02 1.06762740e+02] [ 9.34306182e-02 1.01150955e-03 9.95625279e-01 1.64836013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.75, Z:16.49 [[-9.02543713e-01 4.22279379e-01 8.42316574e-02 1.03743977e+02] [-4.20340026e-01 -9.06465075e-01 4.04392153e-02 1.06752414e+02] [ 9.34297024e-02 1.09222252e-03 9.95625280e-01 1.64852112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.75, Z:16.49 [[-9.02786142e-01 4.21757654e-01 8.42476252e-02 1.03736987e+02] [-4.19819140e-01 -9.06707919e-01 4.04059219e-02 1.06749801e+02] [ 9.34294958e-02 1.10914082e-03 9.95625280e-01 1.64859537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:106.74, Z:16.49 [[-9.02889587e-01 4.21532936e-01 8.42637393e-02 1.03722919e+02] [-4.19596584e-01 -9.06812431e-01 4.03722893e-02 1.06743290e+02] [ 9.34296559e-02 1.09494245e-03 9.95625281e-01 1.64871530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:106.74, Z:16.49 [[-9.03193828e-01 4.20877414e-01 8.42799547e-02 1.03707299e+02] [-4.18941375e-01 -9.07116826e-01 4.03384103e-02 1.06736025e+02] [ 9.34292908e-02 1.12504313e-03 9.95625282e-01 1.64884884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.75, Z:16.48 [[-9.03542810e-01 4.20124409e-01 8.42963326e-02 1.03740350e+02] [-4.18188296e-01 -9.07465770e-01 4.03041560e-02 1.06751962e+02] [ 9.34287961e-02 1.16479065e-03 9.95625283e-01 1.64839252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:106.73, Z:16.49 [[-9.03689447e-01 4.19805644e-01 8.43125459e-02 1.03702682e+02] [-4.17871313e-01 -9.07613286e-01 4.02702109e-02 1.06734087e+02] [ 9.34288486e-02 1.15997036e-03 9.95625283e-01 1.64881618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:106.75, Z:16.49 [[-9.03725713e-01 4.19724311e-01 8.43287455e-02 1.03729545e+02] [-4.17792795e-01 -9.07650937e-01 4.02362593e-02 1.06747134e+02] [ 9.34292011e-02 1.13059988e-03 9.95625284e-01 1.64867297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:106.75, Z:16.49 [[-9.03732698e-01 4.19706012e-01 8.43449764e-02 1.03727843e+02] [-4.17777593e-01 -9.07659444e-01 4.02022065e-02 1.06746782e+02] [ 9.34296222e-02 1.09460735e-03 9.95625285e-01 1.64871573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:106.75, Z:16.49 [[-9.02726603e-01 4.21862421e-01 8.43609955e-02 1.03726416e+02] [-4.19946526e-01 -9.06659474e-01 4.01685639e-02 1.06747365e+02] [ 9.34323034e-02 8.34124301e-04 9.95625285e-01 1.64878293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.75, Z:16.49 [[-9.01456956e-01 4.24565519e-01 8.43769900e-02 1.03739507e+02] [-4.22664564e-01 -9.05397069e-01 4.01349382e-02 1.06754540e+02] [ 9.34345904e-02 5.16755521e-04 9.95625286e-01 1.64862649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:106.76, Z:16.49 [[-9.00290143e-01 4.27030633e-01 8.43948857e-02 1.03757232e+02] [-4.25143997e-01 -9.04237132e-01 4.00972723e-02 1.06763590e+02] [ 9.34357530e-02 2.19199991e-04 9.95625287e-01 1.64868430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:106.76, Z:16.49 [[-8.99539541e-01 4.28606442e-01 8.44104972e-02 1.03755383e+02] [-4.26729806e-01 -9.03491294e-01 4.00643811e-02 1.06763350e+02] [ 9.34360012e-02 1.90198249e-05 9.95625288e-01 1.64872761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.75, Z:16.49 [[-8.98096746e-01 4.31618455e-01 8.44259684e-02 1.03740273e+02] [-4.29758140e-01 -9.02056207e-01 4.00317528e-02 1.06754482e+02] [ 9.34354121e-02 -3.30360235e-04 9.95625288e-01 1.64884308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:106.76, Z:16.49 [[-8.97541447e-01 4.32768970e-01 8.44415127e-02 1.03752872e+02] [-4.30916817e-01 -9.01504732e-01 3.99989377e-02 1.06759344e+02] [ 9.34347223e-02 -4.86563464e-04 9.95625289e-01 1.64875910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.75, Z:16.49 [[-8.97340357e-01 4.33182748e-01 8.44570389e-02 1.03743193e+02] [-4.31335510e-01 -9.01305934e-01 3.99661276e-02 1.06754427e+02] [ 9.34342673e-02 -5.66100749e-04 9.95625290e-01 1.64881609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.75, Z:16.49 [[-8.96345076e-01 4.35235453e-01 8.44725133e-02 1.03743379e+02] [-4.33400380e-01 -9.00316297e-01 3.99333941e-02 1.06752795e+02] [ 9.34324092e-02 -8.16318273e-04 9.95625290e-01 1.64888434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:106.75, Z:16.48 [[-8.90306064e-01 4.47456199e-01 8.44870586e-02 1.03764581e+02] [-4.45678542e-01 -8.94303315e-01 3.99025970e-02 1.06753715e+02] [ 9.34117210e-02 -2.12854509e-03 9.95625291e-01 1.64770980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:106.75, Z:16.49 [[-8.95322273e-01 4.37446473e-01 8.38964253e-02 1.03747095e+02] [-4.35506609e-01 -8.99244399e-01 4.11522093e-02 1.06752914e+02] [ 9.34452794e-02 3.07041841e-04 9.95624370e-01 1.64885319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:106.74, Z:16.49 [[-8.94924974e-01 4.38142145e-01 8.45029722e-02 1.03730893e+02] [-4.36326257e-01 -8.98904910e-01 3.98667730e-02 1.06744782e+02] [ 9.34274501e-02 -1.19309479e-03 9.95625375e-01 1.64907664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:106.76, Z:16.49 [[-8.94687190e-01 4.38624510e-01 8.45184652e-02 1.03756157e+02] [-4.36813873e-01 -8.98669517e-01 3.98339006e-02 1.06755127e+02] [ 9.34262934e-02 -1.27995755e-03 9.95625376e-01 1.64894364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.75, Z:16.49 [[-8.94949371e-01 4.38086348e-01 8.45338652e-02 1.03742096e+02] [-4.36276405e-01 -8.98932013e-01 3.98011925e-02 1.06747655e+02] [ 9.34265567e-02 -1.26007860e-03 9.95625377e-01 1.64916285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.75, Z:16.49 [[-8.95582079e-01 4.36788484e-01 8.45491631e-02 1.03743359e+02] [-4.34975838e-01 -8.99563490e-01 3.97686690e-02 1.06747024e+02] [ 9.34278369e-02 -1.16073591e-03 9.95625377e-01 1.64915212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:106.74, Z:16.48 [[-8.93500764e-01 4.41027470e-01 8.45645097e-02 1.03751306e+02] [-4.39236801e-01 -8.97492107e-01 3.97360091e-02 1.06741676e+02] [ 9.34206516e-02 -1.63969022e-03 9.95625378e-01 1.64822199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:106.73, Z:16.48 [[-8.94051104e-01 4.39975678e-01 8.42260452e-02 1.03732398e+02] [-4.38112315e-01 -8.98009393e-01 4.04565154e-02 1.06730240e+02] [ 9.34356625e-02 -7.30275439e-04 9.95625052e-01 1.64831208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.74, Z:16.49 [[-9.00120307e-01 4.27430845e-01 8.41802004e-02 1.03735614e+02] [-4.25503179e-01 -9.04047789e-01 4.05541668e-02 1.06735682e+02] [ 9.34370258e-02 6.84686240e-04 9.95624956e-01 1.64914754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:106.73, Z:16.49 [[-9.01361195e-01 4.24723911e-01 8.46025771e-02 1.03725059e+02] [-4.22868813e-01 -9.05322925e-01 3.96531065e-02 1.06729935e+02] [ 9.34342751e-02 -3.40199301e-05 9.95625449e-01 1.64923356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:106.73, Z:16.49 [[-9.02462636e-01 4.22375410e-01 8.46179870e-02 1.03732987e+02] [-4.20513087e-01 -9.06420975e-01 3.96201954e-02 1.06732502e+02] [ 9.34341145e-02 1.72775011e-04 9.95625450e-01 1.64908879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:106.72, Z:16.49 [[-9.04518045e-01 4.17952506e-01 8.46333789e-02 1.03709485e+02] [-4.16073907e-01 -9.08468684e-01 3.95872894e-02 1.06719696e+02] [ 9.34323812e-02 5.93676952e-04 9.95625451e-01 1.64944973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:106.72, Z:16.48 [[-9.00984626e-01 4.25512958e-01 8.46488359e-02 1.03736667e+02] [-4.23670618e-01 -9.04952304e-01 3.95542103e-02 1.06724906e+02] [ 9.34339881e-02 -2.25489228e-04 9.95625451e-01 1.64843475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:106.72, Z:16.49 [[-9.06359308e-01 4.14048609e-01 8.41222544e-02 1.03723689e+02] [-4.12051240e-01 -9.10252093e-01 4.06805082e-02 1.06724365e+02] [ 9.34161659e-02 2.20847805e-03 9.95624700e-01 1.64923465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:106.72, Z:16.49 [[-9.07368548e-01 4.11719467e-01 8.46723005e-02 1.03725749e+02] [-4.09821720e-01 -9.11309923e-01 3.95016648e-02 1.06724951e+02] [ 9.34263120e-02 1.14202041e-03 9.95625542e-01 1.64924954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:106.71, Z:16.50 [[-9.07759219e-01 4.10854237e-01 8.46876386e-02 1.03700715e+02] [-4.08955803e-01 -9.11700262e-01 3.94687540e-02 1.06713349e+02] [ 9.34256472e-02 1.19462400e-03 9.95625543e-01 1.64954476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:106.71, Z:16.50 [[-9.08181424e-01 4.09916929e-01 8.47030857e-02 1.03701216e+02] [-4.08017521e-01 -9.12121998e-01 3.94355756e-02 1.06713894e+02] [ 9.34248578e-02 1.25431416e-03 9.95625543e-01 1.64958585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:106.71, Z:16.50 [[-9.08488167e-01 4.09233431e-01 8.47186462e-02 1.03701094e+02] [-4.07334177e-01 -9.12428814e-01 3.94021191e-02 1.06713795e+02] [ 9.34243983e-02 1.28755892e-03 9.95625544e-01 1.64958282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:106.72, Z:16.50 [[-9.08703839e-01 4.08751080e-01 8.47342205e-02 1.03708829e+02] [-4.06852859e-01 -9.12644983e-01 3.93685983e-02 1.06717453e+02] [ 9.34242182e-02 1.30003650e-03 9.95625545e-01 1.64952037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:106.71, Z:16.50 [[-9.08947850e-01 4.08204976e-01 8.47496493e-02 1.03697281e+02] [-4.06307485e-01 -9.12889345e-01 3.93353563e-02 1.06712554e+02] [ 9.34239401e-02 1.31937067e-03 9.95625545e-01 1.64957134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:106.71, Z:16.49 [[-9.04123426e-01 4.18778839e-01 8.47650599e-02 1.03705668e+02] [-4.16930566e-01 -9.08088237e-01 3.93021197e-02 1.06709223e+02] [ 9.34330499e-02 1.92822690e-04 9.95625546e-01 1.64858327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:106.72, Z:16.49 [[-9.08836814e-01 4.08561465e-01 8.42209863e-02 1.03703329e+02] [-4.06559682e-01 -9.12727264e-01 4.04742609e-02 1.06715455e+02] [ 9.34070138e-02 2.54364092e-03 9.95624758e-01 1.64919949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:106.71, Z:16.49 [[-9.08892568e-01 4.08321622e-01 8.47806205e-02 1.03696954e+02] [-4.06431093e-01 -9.12837300e-01 3.92661362e-02 1.06712611e+02] [ 9.34241251e-02 1.23121906e-03 9.95625641e-01 1.64936444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:106.71, Z:16.49 [[-9.08979538e-01 4.08123972e-01 8.47998973e-02 1.03693848e+02] [-4.06236472e-01 -9.12925720e-01 3.92244616e-02 1.06712091e+02] [ 9.34244504e-02 1.20542198e-03 9.95625642e-01 1.64932590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:106.70, Z:16.49 [[-9.05635815e-01 4.15487842e-01 8.48152358e-02 1.03675600e+02] [-4.13635540e-01 -9.09598640e-01 3.91912672e-02 1.06697522e+02] [ 9.34313181e-02 4.10419400e-04 9.95625643e-01 1.64877616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:106.70, Z:16.49 [[-9.09090999e-01 4.07940975e-01 8.44850074e-02 1.03674042e+02] [-4.05989233e-01 -9.13006160e-01 3.99060833e-02 1.06703151e+02] [ 9.34146587e-02 1.97825783e-03 9.95625325e-01 1.64948107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:106.71, Z:16.49 [[-9.09139171e-01 4.07760535e-01 8.48369902e-02 1.03683375e+02] [-4.05879029e-01 -9.13088176e-01 3.91432941e-02 1.06707557e+02] [ 9.34247431e-02 1.15314681e-03 9.95625676e-01 1.64941281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:105.76, Z:16.99 [[-8.72043028e-01 -4.82017656e-01 -8.48524352e-02 1.04114706e+02] [-4.80474614e-01 8.76136159e-01 -3.91097848e-02 1.05760991e+02] [ 9.31938935e-02 6.66402589e-03 -9.95625677e-01 1.69930288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:105.75, Z:16.99 [[-8.31537305e-01 -5.49167519e-01 -8.34310866e-02 1.04050930e+02] [-5.47692039e-01 8.35639741e-01 -4.17091559e-02 1.05753634e+02] [ 9.26236452e-02 1.10118229e-02 -9.95640297e-01 1.69911460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:106.64, Z:16.51 [[-8.41730280e-01 5.34245890e-01 7.79195987e-02 1.03435546e+02] [-5.31876981e-01 -8.45328683e-01 5.02622544e-02 1.06643847e+02] [ 9.27200746e-02 8.63620596e-04 9.95691841e-01 1.65128883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:106.64, Z:16.51 [[-8.41284684e-01 5.34943728e-01 7.79441339e-02 1.03426945e+02] [-5.32581330e-01 -8.44887365e-01 5.02241777e-02 1.06637862e+02] [ 9.27211227e-02 7.41240930e-04 9.95691842e-01 1.65138690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:106.64, Z:16.52 [[-8.40587155e-01 5.36036296e-01 7.79636028e-02 1.03424975e+02] [-5.33681386e-01 -8.44194733e-01 5.01939378e-02 1.06636650e+02] [ 9.27222354e-02 5.84655863e-04 9.95691843e-01 1.65160795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:106.64, Z:16.52 [[-8.40243597e-01 5.36571833e-01 7.79831161e-02 1.03427478e+02] [-5.34222036e-01 -8.43854507e-01 5.01636030e-02 1.06637785e+02] [ 9.27227804e-02 4.89347188e-04 9.95691843e-01 1.65163189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:106.63, Z:16.52 [[-8.39729835e-01 5.37372673e-01 7.80026536e-02 1.03411993e+02] [-5.35029143e-01 -8.43344815e-01 5.01332046e-02 1.06627401e+02] [ 9.27233476e-02 3.64654776e-04 9.95691844e-01 1.65173077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:106.63, Z:16.52 [[-8.38531720e-01 5.39237509e-01 7.80221952e-02 1.03415518e+02] [-5.36904850e-01 -8.42153723e-01 5.01027737e-02 1.06630440e+02] [ 9.27239771e-02 1.22270031e-04 9.95691844e-01 1.65174424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:106.62, Z:16.52 [[-8.37731915e-01 5.40476381e-01 7.80417909e-02 1.03403105e+02] [-5.38151923e-01 -8.41359186e-01 5.00722323e-02 1.06622605e+02] [ 9.27240365e-02 -5.12328120e-05 9.95691845e-01 1.65188051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:106.62, Z:16.51 [[-8.33030702e-01 5.47691761e-01 7.80614178e-02 1.03401226e+02] [-5.45401587e-01 -8.36679715e-01 5.00416158e-02 1.06615951e+02] [ 9.27197854e-02 -8.88618840e-04 9.95691846e-01 1.65119122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.696875 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:102.93, Y:106.32, Z:16.57 [[-8.36539004e-01 5.42347254e-01 7.78585317e-02 1.02929656e+02] [-5.40004169e-01 -8.40154420e-01 5.03591982e-02 1.06319983e+02] [ 9.27253624e-02 8.35017943e-05 9.95691719e-01 1.65677041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:105.73, Z:17.01 [[-8.04376991e-01 -5.88995506e-01 -7.78585317e-02 1.03929868e+02] [-5.86861598e-01 8.08119679e-01 -5.03591982e-02 1.05728135e+02] [ 9.25803531e-02 5.18440202e-03 -9.95691719e-01 1.70060648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:106.58, Z:16.53 [[-7.95876588e-01 6.00869234e-01 7.44084681e-02 1.03260324e+02] [-5.98344707e-01 -7.99347006e-01 5.50270518e-02 1.06578820e+02] [ 9.25422486e-02 -7.27170759e-04 9.95708493e-01 1.65267287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:106.58, Z:16.53 [[-7.96108069e-01 6.00559854e-01 7.44298615e-02 1.03258514e+02] [-5.98036685e-01 -7.99579472e-01 5.49980999e-02 1.06577400e+02] [ 9.25422402e-02 -7.27356519e-04 9.95708494e-01 1.65269620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:106.56, Z:16.53 [[-7.95930102e-01 6.00793060e-01 7.44511328e-02 1.03231583e+02] [-5.98273602e-01 -7.99404199e-01 5.49692899e-02 1.06558021e+02] [ 9.25417161e-02 -7.90434923e-04 9.95708495e-01 1.65303847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:106.58, Z:16.52 [[-7.90676001e-01 6.07688479e-01 7.44726374e-02 1.03271246e+02] [-6.05202057e-01 -7.94173817e-01 5.49401399e-02 1.06581630e+02] [ 9.25307088e-02 -1.63114320e-03 9.95708495e-01 1.65185464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:106.58, Z:16.53 [[-7.94361001e-01 6.02919065e-01 7.40216223e-02 1.03257796e+02] [-6.00354487e-01 -7.97802296e-01 5.55516500e-02 1.06578611e+02] [ 9.25477691e-02 -3.11148733e-04 9.95708197e-01 1.65268097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:106.58, Z:16.53 [[-7.94007046e-01 6.03324179e-01 7.45167451e-02 1.03257085e+02] [-6.00824224e-01 -7.97495142e-01 5.48794133e-02 1.06578776e+02] [ 9.25368192e-02 -1.19682464e-03 9.95708544e-01 1.65277235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:106.58, Z:16.53 [[-7.93607511e-01 6.03847029e-01 7.45378085e-02 1.03254115e+02] [-6.01352058e-01 -7.97099174e-01 5.48507900e-02 1.06576791e+02] [ 9.25355121e-02 -1.29346564e-03 9.95708545e-01 1.65283887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:106.55, Z:16.53 [[-7.92745375e-01 6.04975171e-01 7.45641540e-02 1.03222672e+02] [-6.02488538e-01 -7.96242979e-01 5.48149525e-02 1.06554030e+02] [ 9.25328695e-02 -1.46974809e-03 9.95708546e-01 1.65320559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:106.54, Z:16.53 [[-7.92827218e-01 6.04865294e-01 7.45853822e-02 1.03204671e+02] [-6.02380894e-01 -7.96326407e-01 5.47860528e-02 1.06540560e+02] [ 9.25324914e-02 -1.49293544e-03 9.95708546e-01 1.65345776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:106.57, Z:16.53 [[-7.92899262e-01 6.04768167e-01 7.46071313e-02 1.03250307e+02] [-6.02286125e-01 -7.96400125e-01 5.47564191e-02 1.06573276e+02] [ 9.25320679e-02 -1.51851571e-03 9.95708547e-01 1.65293506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:106.57, Z:16.53 [[-7.92922177e-01 6.04734814e-01 7.46339517e-02 1.03245718e+02] [-6.02256065e-01 -7.96425371e-01 5.47198381e-02 1.06569490e+02] [ 9.25313638e-02 -1.56017697e-03 9.95708548e-01 1.65303178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:106.55, Z:16.53 [[-7.93085261e-01 6.04518331e-01 7.46549156e-02 1.03225011e+02] [-6.02041318e-01 -7.96589682e-01 5.46912220e-02 1.06554131e+02] [ 9.25311817e-02 -1.57054172e-03 9.95708549e-01 1.65318817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:106.56, Z:16.53 [[-7.92747306e-01 6.04958835e-01 7.46760752e-02 1.03238751e+02] [-6.02486491e-01 -7.96255021e-01 5.46623152e-02 1.06563762e+02] [ 9.25296504e-02 -1.65792340e-03 9.95708549e-01 1.65308919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:106.56, Z:16.53 [[-7.92694956e-01 6.05024491e-01 7.46998800e-02 1.03236157e+02] [-6.02555503e-01 -7.96205033e-01 5.46297651e-02 1.06561507e+02] [ 9.25287662e-02 -1.70608456e-03 9.95708550e-01 1.65319172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:106.56, Z:16.53 [[-7.92918231e-01 6.04728930e-01 7.47234967e-02 1.03234448e+02] [-6.02261677e-01 -7.96429527e-01 5.45974427e-02 1.06559914e+02] [ 9.25286523e-02 -1.71179081e-03 9.95708551e-01 1.65318891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:106.56, Z:16.53 [[-7.93365856e-01 6.04138956e-01 7.47444971e-02 1.03236117e+02] [-6.01671801e-01 -7.96877220e-01 5.45686779e-02 1.06560092e+02] [ 9.25292512e-02 -1.67873036e-03 9.95708552e-01 1.65317179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:106.56, Z:16.53 [[-7.94416805e-01 6.02753414e-01 7.47680528e-02 1.03234710e+02] [-6.00283171e-01 -7.97925997e-01 5.45363837e-02 1.06555965e+02] [ 9.25313646e-02 -1.55738417e-03 9.95708552e-01 1.65322606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:106.56, Z:16.53 [[-7.95471717e-01 6.01357605e-01 7.47915610e-02 1.03237001e+02] [-5.98884237e-01 -7.98978705e-01 5.45041255e-02 1.06555953e+02] [ 9.25333350e-02 -1.43499656e-03 9.95708553e-01 1.65321551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:106.54, Z:16.54 [[-7.97761051e-01 5.98314315e-01 7.48150125e-02 1.03222728e+02] [-5.95830586e-01 -8.01260708e-01 5.44719160e-02 1.06543481e+02] [ 9.25376570e-02 -1.12149982e-03 9.95708554e-01 1.65355174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:106.54, Z:16.54 [[-7.99228854e-01 5.96349578e-01 7.48359576e-02 1.03219433e+02] [-5.93859941e-01 -8.02724309e-01 5.44431255e-02 1.06539947e+02] [ 9.25397773e-02 -9.29560543e-04 9.95708555e-01 1.65368304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:106.53, Z:16.54 [[-8.00968588e-01 5.94008203e-01 7.48570387e-02 1.03211707e+02] [-5.91511058e-01 -8.04458683e-01 5.44141245e-02 1.06533087e+02] [ 9.25418311e-02 -6.94761722e-04 9.95708555e-01 1.65376527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:106.54, Z:16.54 [[-8.04540787e-01 5.89157863e-01 7.48808057e-02 1.03225664e+02] [-5.86642721e-01 -8.08017934e-01 5.43813986e-02 1.06539209e+02] [ 9.25442624e-02 -1.76226388e-04 9.95708556e-01 1.65363623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:106.54, Z:16.54 [[-8.06351125e-01 5.86675015e-01 7.49018629e-02 1.03222898e+02] [-5.84151862e-01 -8.09822463e-01 5.43523801e-02 1.06535307e+02] [ 9.25443945e-02 7.30402383e-05 9.95708557e-01 1.65365864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:106.53, Z:16.54 [[-8.07958574e-01 5.84456600e-01 7.49227933e-02 1.03213640e+02] [-5.81926592e-01 -8.11424918e-01 5.43235131e-02 1.06526788e+02] [ 9.25439572e-02 2.91582432e-04 9.95708557e-01 1.65375225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47687499999998 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:103.20, Y:106.52, Z:16.54 [[-8.09346654e-01 5.82530198e-01 7.49437294e-02 1.03204615e+02] [-5.79994615e-01 -8.12808921e-01 5.42946147e-02 1.06518556e+02] [ 9.25431845e-02 4.76205239e-04 9.95708558e-01 1.65376102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:106.52, Z:16.54 [[-8.10788448e-01 5.80519043e-01 7.49648840e-02 1.03211008e+02] [-5.77977573e-01 -8.14246395e-01 5.42653908e-02 1.06522352e+02] [ 9.25419793e-02 6.69730213e-04 9.95708559e-01 1.65363641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:106.52, Z:16.54 [[-8.12371098e-01 5.78299485e-01 7.49860273e-02 1.03208856e+02] [-5.75751266e-01 -8.15824074e-01 5.42361586e-02 1.06519451e+02] [ 9.25401489e-02 8.86587660e-04 9.95708559e-01 1.65359615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:106.50, Z:16.54 [[-8.13278304e-01 5.77018462e-01 7.50206232e-02 1.03185429e+02] [-5.74469220e-01 -8.16730523e-01 5.41882628e-02 1.06501130e+02] [ 9.25392609e-02 9.73099512e-04 9.95708561e-01 1.65386858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:106.51, Z:16.54 [[-8.13882978e-01 5.76162155e-01 7.50444492e-02 1.03202294e+02] [-5.73612324e-01 -8.17334761e-01 5.41552465e-02 1.06512572e+02] [ 9.25386405e-02 1.02961239e-03 9.95708562e-01 1.65364555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:106.50, Z:16.54 [[-8.14131351e-01 5.75808379e-01 7.50656674e-02 1.03184325e+02] [-5.73259760e-01 -8.17584028e-01 5.41258197e-02 1.06499192e+02] [ 9.25385912e-02 1.03340024e-03 9.95708562e-01 1.65387829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:106.51, Z:16.54 [[-8.14672618e-01 5.75039564e-01 7.50867840e-02 1.03202019e+02] [-5.72490387e-01 -8.18124883e-01 5.40965097e-02 1.06511616e+02] [ 9.25379997e-02 1.08448317e-03 9.95708563e-01 1.65386564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:106.51, Z:16.54 [[-8.15127523e-01 5.74391783e-01 7.51079325e-02 1.03201502e+02] [-5.71842569e-01 -8.18579759e-01 5.40671310e-02 1.06510476e+02] [ 9.25375491e-02 1.12169345e-03 9.95708564e-01 1.65387751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:106.50, Z:16.54 [[-8.15781358e-01 5.73460059e-01 7.51288010e-02 1.03184875e+02] [-5.70909573e-01 -8.19232654e-01 5.40381178e-02 1.06498308e+02] [ 9.25366693e-02 1.19153744e-03 9.95708564e-01 1.65412331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.746875 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:102.73, Y:106.17, Z:16.59 [[-8.16495044e-01 5.72440689e-01 7.51498627e-02 1.02729321e+02] [-5.69888590e-01 -8.19945146e-01 5.40088119e-02 1.06171169e+02] [ 9.25356067e-02 1.27087787e-03 9.95708565e-01 1.65908439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:105.65, Z:17.02 [[-7.57250541e-01 -6.48786649e-01 -7.51498627e-02 1.03723078e+02] [-6.46580493e-01 7.60931478e-01 -5.40088119e-02 1.05653551e+02] [ 9.22240922e-02 7.69223329e-03 -9.95708565e-01 1.70244017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:106.44, Z:16.55 [[-7.77028140e-01 6.25436753e-01 7.11065230e-02 1.03033319e+02] [-6.22659532e-01 -7.80273451e-01 5.88935444e-02 1.06437466e+02] [ 9.23167193e-02 1.48678696e-03 9.95728584e-01 1.65524751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:106.43, Z:16.55 [[-7.77566817e-01 6.24764301e-01 7.11295559e-02 1.03024748e+02] [-6.21986818e-01 -7.80811902e-01 5.88657131e-02 1.06430199e+02] [ 9.23159999e-02 1.53037896e-03 9.95728585e-01 1.65525621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:106.43, Z:16.55 [[-7.78010963e-01 6.24208507e-01 7.11525274e-02 1.03018633e+02] [-6.21431244e-01 -7.81256236e-01 5.88379338e-02 1.06426180e+02] [ 9.23154945e-02 1.56015386e-03 9.95728585e-01 1.65518680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:106.43, Z:16.55 [[-7.78123618e-01 6.24065110e-01 7.11784579e-02 1.03017162e+02] [-6.21290119e-01 -7.81370833e-01 5.88065481e-02 1.06426130e+02] [ 9.23158858e-02 1.53629147e-03 9.95728586e-01 1.65524469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:106.42, Z:16.55 [[-7.77985630e-01 6.24234166e-01 7.12043934e-02 1.03014692e+02] [-6.21462754e-01 -7.81235899e-01 5.87751281e-02 1.06424981e+02] [ 9.23168713e-02 1.47532659e-03 9.95728587e-01 1.65522236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:106.42, Z:16.55 [[-7.77793032e-01 6.24470496e-01 7.12362241e-02 1.03006673e+02] [-6.21703605e-01 -7.81047148e-01 5.87365236e-02 1.06420103e+02] [ 9.23180758e-02 1.39704141e-03 9.95728588e-01 1.65536315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:106.43, Z:16.55 [[-7.77149985e-01 6.25267955e-01 7.12592813e-02 1.03012707e+02] [-6.22506969e-01 -7.80409112e-01 5.87085374e-02 1.06425874e+02] [ 9.23199595e-02 1.26593976e-03 9.95728589e-01 1.65529566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:106.41, Z:16.56 [[-7.75843327e-01 6.26884591e-01 7.12940556e-02 1.02996341e+02] [-6.24134277e-01 -7.79111463e-01 5.86662782e-02 1.06413876e+02] [ 9.23230018e-02 1.01877655e-03 9.95728590e-01 1.65555786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.046875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:103.01, Y:106.43, Z:16.55 [[-7.75575373e-01 6.27213454e-01 7.13170696e-02 1.03013621e+02] [-6.24467099e-01 -7.78846836e-01 5.86382883e-02 1.06428867e+02] [ 9.23237973e-02 9.43248761e-04 9.95728591e-01 1.65536851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:106.42, Z:16.56 [[-7.75381457e-01 6.27450233e-01 7.13428442e-02 1.03000919e+02] [-6.24707763e-01 -7.78656176e-01 5.86069127e-02 1.06420026e+02] [ 9.23244673e-02 8.74284759e-04 9.95728592e-01 1.65554967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:106.41, Z:16.56 [[-7.74790458e-01 6.28176955e-01 7.13684715e-02 1.02989584e+02] [-6.25440432e-01 -7.78070148e-01 5.85756885e-02 1.06413461e+02] [ 9.23255748e-02 7.47156901e-04 9.95728593e-01 1.65573223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.136875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:103.00, Y:106.42, Z:16.56 [[-7.74807221e-01 6.28153668e-01 7.13914577e-02 1.02996378e+02] [-6.25419628e-01 -7.78088980e-01 5.85476599e-02 1.06420569e+02] [ 9.23258338e-02 7.13530768e-04 9.95728593e-01 1.65557227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:106.41, Z:16.55 [[-7.74542437e-01 6.28477198e-01 7.14172601e-02 1.02983851e+02] [-6.25747432e-01 -7.77827751e-01 5.85161689e-02 1.06412648e+02] [ 9.23264046e-02 6.34088986e-04 9.95728594e-01 1.65545986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:106.41, Z:16.55 [[-7.74605056e-01 6.28397411e-01 7.14401957e-02 1.02980876e+02] [-6.25669890e-01 -7.77892232e-01 5.84881544e-02 1.06411180e+02] [ 9.23265781e-02 6.07240733e-04 9.95728595e-01 1.65543702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:106.42, Z:16.55 [[-7.74445374e-01 6.28591576e-01 7.14632335e-02 1.02989207e+02] [-6.25867477e-01 -7.77735386e-01 5.84599924e-02 1.06418623e+02] [ 9.23269442e-02 5.47557070e-04 9.95728595e-01 1.65526215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:106.41, Z:16.55 [[-7.74484152e-01 6.28540868e-01 7.14889868e-02 1.02973968e+02] [-6.25819461e-01 -7.77776391e-01 5.84284825e-02 1.06407357e+02] [ 9.23271353e-02 5.12734537e-04 9.95728596e-01 1.65533376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:102.98, Y:106.41, Z:16.55 [[-7.74907892e-01 6.28014776e-01 7.15206296e-02 1.02978266e+02] [-6.25294710e-01 -7.78201237e-01 5.83897240e-02 1.06414068e+02] [ 9.23270519e-02 5.25186594e-04 9.95728597e-01 1.65528713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31687499999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:102.96, Y:106.40, Z:16.56 [[-7.75638208e-01 6.27109628e-01 7.15463812e-02 1.02962353e+02] [-6.24388631e-01 -7.78930782e-01 5.83581530e-02 1.06402202e+02] [ 9.23266383e-02 5.92066273e-04 9.95728598e-01 1.65550766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34687499999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.94, Y:106.38, Z:16.56 [[-7.76272431e-01 6.26321097e-01 7.15751166e-02 1.02939327e+02] [-6.23600005e-01 -7.79564926e-01 5.83228884e-02 1.06383128e+02] [ 9.23263059e-02 6.40207194e-04 9.95728599e-01 1.65583624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:102.97, Y:106.41, Z:16.56 [[-7.78381083e-01 6.23695883e-01 7.15984306e-02 1.02969205e+02] [-6.20966321e-01 -7.81666558e-01 5.82942537e-02 1.06405620e+02] [ 9.23239849e-02 9.14930340e-04 9.95728600e-01 1.65556399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40687499999999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:102.97, Y:106.40, Z:16.56 [[-7.79905916e-01 6.21784745e-01 7.16274608e-02 1.02967926e+02] [-6.19050409e-01 -7.83187418e-01 5.82585620e-02 1.06404186e+02] [ 9.23220111e-02 1.09518825e-03 9.95728601e-01 1.65560190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.436875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:102.97, Y:106.40, Z:16.56 [[-7.81102298e-01 6.20278517e-01 7.16502721e-02 1.02967100e+02] [-6.17540427e-01 -7.84380667e-01 5.82304937e-02 1.06403083e+02] [ 9.23202125e-02 1.23703277e-03 9.95728602e-01 1.65560881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.466875 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:102.95, Y:106.39, Z:16.56 [[-7.82172184e-01 6.18926205e-01 7.16730532e-02 1.02954845e+02] [-6.16185017e-01 -7.85447962e-01 5.82024401e-02 1.06392444e+02] [ 9.23184690e-02 1.36046826e-03 9.95728602e-01 1.65576550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.496875 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:102.95, Y:106.39, Z:16.56 [[-7.83945662e-01 6.16675679e-01 7.16959355e-02 1.02952911e+02] [-6.13927664e-01 -7.87215715e-01 5.81742393e-02 1.06389594e+02] [ 9.23148056e-02 1.58932435e-03 9.95728603e-01 1.65564604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.526875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:102.95, Y:106.38, Z:16.56 [[-7.84967216e-01 6.15372134e-01 7.17189356e-02 1.02947494e+02] [-6.12621280e-01 -7.88234880e-01 5.81458703e-02 1.06384336e+02] [ 9.23127149e-02 1.70605584e-03 9.95728604e-01 1.65572402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.556875 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.94, Y:106.38, Z:16.56 [[-7.85592469e-01 6.14571039e-01 7.17419757e-02 1.02939913e+02] [-6.11819447e-01 -7.88859511e-01 5.81174289e-02 1.06377670e+02] [ 9.23116286e-02 1.76347857e-03 9.95728604e-01 1.65576888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.586875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:102.93, Y:106.37, Z:16.56 [[-7.86986100e-01 6.12782707e-01 7.17651195e-02 1.02928349e+02] [-6.10026298e-01 -7.90249077e-01 5.80888364e-02 1.06369393e+02] [ 9.23081539e-02 1.93649662e-03 9.95728605e-01 1.65596414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.616875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:102.93, Y:106.37, Z:16.56 [[-7.87461475e-01 6.12168970e-01 7.17884284e-02 1.02927148e+02] [-6.09412642e-01 -7.90724520e-01 5.80600161e-02 1.06368459e+02] [ 9.23074109e-02 1.97125011e-03 9.95728606e-01 1.65598075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.646875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:102.93, Y:106.37, Z:16.56 [[-7.88011354e-01 6.11458231e-01 7.18118231e-02 1.02930867e+02] [-6.08701595e-01 -7.91274139e-01 5.80310659e-02 1.06371110e+02] [ 9.23064114e-02 2.01716758e-03 9.95728606e-01 1.65582608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:106.38, Z:16.56 [[-7.88778036e-01 6.10465813e-01 7.18380214e-02 1.02939742e+02] [-6.07708025e-01 -7.92039846e-01 5.79986164e-02 1.06378343e+02] [ 9.23047479e-02 2.09149265e-03 9.95728607e-01 1.65577020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:106.38, Z:16.56 [[-7.89018632e-01 6.10151408e-01 7.18669477e-02 1.02937994e+02] [-6.07395584e-01 -7.92282099e-01 5.79627514e-02 1.06376852e+02] [ 9.23049506e-02 2.08202411e-03 9.95728608e-01 1.65579398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.736875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:102.93, Y:106.37, Z:16.56 [[-7.86743855e-01 6.13079074e-01 7.18898916e-02 1.02933352e+02] [-6.10337995e-01 -7.90019716e-01 5.79342807e-02 1.06372566e+02] [ 9.23127269e-02 1.70230703e-03 9.95728609e-01 1.65560786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.766875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:102.94, Y:106.38, Z:16.55 [[-7.85277173e-01 6.14953902e-01 7.19128557e-02 1.02943627e+02] [-6.12223255e-01 -7.88561734e-01 5.79057618e-02 1.06381206e+02] [ 9.23171004e-02 1.44535037e-03 9.95728610e-01 1.65545435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.796875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:102.95, Y:106.38, Z:16.56 [[-7.83921215e-01 6.16678504e-01 7.19385278e-02 1.02945420e+02] [-6.13958010e-01 -7.87214189e-01 5.78738509e-02 1.06383402e+02] [ 9.23205896e-02 1.20130422e-03 9.95728610e-01 1.65550897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.826875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:102.95, Y:106.39, Z:16.55 [[-7.82162005e-01 6.18905636e-01 7.19611807e-02 1.02948536e+02] [-6.16197111e-01 -7.85464830e-01 5.78456704e-02 1.06386816e+02] [ 9.23239880e-02 9.02413873e-04 9.95728611e-01 1.65535649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.856875 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:102.94, Y:106.38, Z:16.55 [[-7.81541971e-01 6.19685143e-01 7.19893886e-02 1.02942496e+02] [-6.16983146e-01 -7.84850137e-01 5.78105443e-02 1.06381737e+02] [ 9.23252169e-02 7.65127233e-04 9.95728612e-01 1.65528849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.886875 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:102.95, Y:106.38, Z:16.55 [[-7.80772947e-01 6.20650864e-01 7.20146491e-02 1.02947339e+02] [-6.17955862e-01 -7.84086814e-01 5.77790602e-02 1.06384764e+02] [ 9.23263604e-02 6.10452604e-04 9.95728613e-01 1.65514166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.916875 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:102.93, Y:106.37, Z:16.55 [[-7.80669848e-01 6.20777615e-01 7.20398583e-02 1.02929894e+02] [-6.18086053e-01 -7.83986508e-01 5.77476119e-02 1.06371655e+02] [ 9.23267018e-02 5.54987692e-04 9.95728614e-01 1.65543128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.946875 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:102.94, Y:106.38, Z:16.55 [[-7.80513254e-01 6.20971880e-01 7.20623666e-02 1.02944357e+02] [-6.18283737e-01 -7.83832685e-01 5.77195106e-02 1.06384503e+02] [ 9.23270313e-02 4.95853661e-04 9.95728614e-01 1.65529875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97687499999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:102.94, Y:106.38, Z:16.56 [[-7.79781940e-01 6.21887048e-01 7.20876248e-02 1.02935246e+02] [-6.19205718e-01 -7.83106876e-01 5.76879477e-02 1.06379961e+02] [ 9.23277022e-02 3.46950366e-04 9.95728615e-01 1.65564236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00687499999998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:102.94, Y:106.38, Z:16.56 [[-7.79623362e-01 6.22082928e-01 7.21127208e-02 1.02939478e+02] [-6.19405337e-01 -7.82951308e-01 5.76565595e-02 1.06384665e+02] [ 9.23279105e-02 2.83396673e-04 9.95728616e-01 1.65559044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:106.38, Z:16.56 [[-7.79472553e-01 6.22268977e-01 7.21377842e-02 1.02933028e+02] [-6.19595083e-01 -7.82803469e-01 5.76251842e-02 1.06380388e+02] [ 9.23280722e-02 2.21033082e-04 9.95728617e-01 1.65566593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.06687499999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:102.92, Y:106.37, Z:16.56 [[-7.79661461e-01 6.22029690e-01 7.21600385e-02 1.02916888e+02] [-6.19357354e-01 -7.82993626e-01 5.75973033e-02 1.06367847e+02] [ 9.23280829e-02 2.13547049e-04 9.95728617e-01 1.65573076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09687499999998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:102.91, Y:106.36, Z:16.56 [[-7.80343391e-01 6.21171378e-01 7.21824806e-02 1.02912755e+02] [-6.18497979e-01 -7.83674704e-01 5.75691646e-02 1.06364689e+02] [ 9.23279014e-02 2.78998752e-04 9.95728618e-01 1.65572151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12687499999998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:102.91, Y:106.36, Z:16.56 [[-7.81286369e-01 6.19982286e-01 7.22050868e-02 1.02909561e+02] [-6.17306438e-01 -7.84615714e-01 5.75407972e-02 1.06362444e+02] [ 9.23275208e-02 3.83175600e-04 9.95728619e-01 1.65568946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15687499999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:102.90, Y:106.36, Z:16.56 [[-7.82360030e-01 6.18623905e-01 7.22305110e-02 1.02900611e+02] [-6.15945224e-01 -7.85687095e-01 5.75088648e-02 1.06355782e+02] [ 9.23269390e-02 5.02598908e-04 9.95728620e-01 1.65571885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.186875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:102.89, Y:106.35, Z:16.56 [[-7.82992211e-01 6.17820906e-01 7.22532053e-02 1.02894975e+02] [-6.15141444e-01 -7.86318647e-01 5.74803381e-02 1.06351678e+02] [ 9.23265972e-02 5.60716020e-04 9.95728620e-01 1.65569671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.216875 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:102.91, Y:106.37, Z:16.55 [[-7.83393951e-01 6.17307389e-01 7.22876534e-02 1.02913359e+02] [-6.14629747e-01 -7.86721849e-01 5.74369835e-02 1.06365747e+02] [ 9.23265506e-02 5.65643353e-04 9.95728622e-01 1.65545206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.246875 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:102.91, Y:106.35, Z:16.55 [[-7.75494881e-01 6.27198950e-01 7.23129844e-02 1.02909500e+02] [-6.24566729e-01 -7.78858818e-01 5.74050742e-02 1.06352013e+02] [ 9.23260078e-02 -6.46942912e-04 9.95728623e-01 1.65473747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.276875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:102.90, Y:106.35, Z:16.56 [[-7.84215215e-01 6.16371108e-01 7.13663396e-02 1.02898092e+02] [-6.13583254e-01 -7.87452841e-01 5.85970426e-02 1.06352787e+02] [ 9.23151509e-02 2.16350145e-03 9.95727489e-01 1.65562955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.306875 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:102.90, Y:106.36, Z:16.56 [[-7.84816815e-01 6.15489895e-01 7.23516127e-02 1.02900620e+02] [-6.12812163e-01 -7.88144488e-01 5.73543223e-02 1.06355162e+02] [ 9.23245306e-02 6.74688311e-04 9.95728741e-01 1.65572654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.336875 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:102.91, Y:106.36, Z:16.56 [[-7.85340594e-01 6.14818458e-01 7.23768980e-02 1.02910760e+02] [-6.12140823e-01 -7.88668344e-01 5.73223966e-02 1.06363231e+02] [ 9.23242357e-02 7.12751115e-04 9.95728742e-01 1.65562067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.366875 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:102.90, Y:106.35, Z:16.56 [[-7.85987112e-01 6.13988438e-01 7.24048200e-02 1.02895770e+02] [-6.11310539e-01 -7.89314648e-01 5.72871063e-02 1.06351095e+02] [ 9.23238058e-02 7.65097700e-04 9.95728743e-01 1.65572345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.396875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:102.89, Y:106.34, Z:16.56 [[-7.86577170e-01 6.13229380e-01 7.24298515e-02 1.02885895e+02] [-6.10551185e-01 -7.89904466e-01 5.72554407e-02 1.06343298e+02] [ 9.23233816e-02 8.13690819e-04 9.95728744e-01 1.65581057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.426875 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:102.89, Y:106.33, Z:16.55 [[-7.80867309e-01 6.20481190e-01 7.24523269e-02 1.02886109e+02] [-6.17836536e-01 -7.84221326e-01 5.72269859e-02 1.06333599e+02] [ 9.23269281e-02 -7.70121681e-05 9.95728744e-01 1.65492726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.456875 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:102.89, Y:106.35, Z:16.55 [[-7.88670882e-01 6.10625445e-01 7.16575600e-02 1.02890090e+02] [-6.07846934e-01 -7.91915997e-01 5.82336543e-02 1.06345760e+02] [ 9.23057192e-02 2.37035943e-03 9.95727892e-01 1.65535824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.486875 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:102.88, Y:106.33, Z:16.55 [[-7.82822746e-01 6.18005034e-01 7.25143110e-02 1.02878850e+02] [-6.15357210e-01 -7.86174131e-01 5.71466520e-02 1.06327733e+02] [ 9.23257941e-02 1.13495027e-04 9.95728846e-01 1.65479399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.516875 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:102.87, Y:106.33, Z:16.56 [[-7.90789570e-01 6.07862537e-01 7.17982735e-02 1.02869020e+02] [-6.05088863e-01 -7.94038449e-01 5.80552201e-02 1.06328552e+02] [ 9.23001832e-02 2.46512682e-03 9.95728175e-01 1.65552701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.546875 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:102.86, Y:106.31, Z:16.55 [[-7.85726695e-01 6.14303223e-01 7.25610766e-02 1.02857512e+02] [-6.11645233e-01 -7.89069912e-01 5.70857429e-02 1.06310813e+02] [ 9.23237182e-02 4.72155552e-04 9.95728933e-01 1.65508894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.576875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:102.87, Y:106.32, Z:16.56 [[-7.92645148e-01 6.05423888e-01 7.19415428e-02 1.02865437e+02] [-6.02656703e-01 -7.95899228e-01 5.78732895e-02 1.06324810e+02] [ 9.22960902e-02 2.51692908e-03 9.95728425e-01 1.65568153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.606875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:102.86, Y:106.32, Z:16.56 [[-7.94152627e-01 6.03364615e-01 7.26136756e-02 1.02856719e+02] [-6.00666833e-01 -7.97463712e-01 5.70173930e-02 1.06317623e+02] [ 9.23090487e-02 1.66388587e-03 9.95729015e-01 1.65610363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.636875 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:102.85, Y:106.30, Z:16.56 [[-7.88905310e-01 6.10206828e-01 7.26363458e-02 1.02845900e+02] [-6.07540428e-01 -7.92241718e-01 5.69884981e-02 1.06299532e+02] [ 9.23203140e-02 8.29012087e-04 9.95729016e-01 1.65569739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.666875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:102.87, Y:106.31, Z:16.55 [[-7.89550581e-01 6.09457831e-01 7.19098979e-02 1.02867776e+02] [-6.06703566e-01 -7.92815710e-01 5.79140098e-02 1.06314594e+02] [ 9.23074436e-02 2.09804860e-03 9.95728344e-01 1.65527744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.696875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:102.86, Y:106.31, Z:16.56 [[-7.96020962e-01 6.00984691e-01 7.18890044e-02 1.02857976e+02] [-5.98193284e-01 -7.99254450e-01 5.79406457e-02 1.06312878e+02] [ 9.22790477e-02 3.11844891e-03 9.95728303e-01 1.65584120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72687499999998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:102.87, Y:106.32, Z:16.56 [[-7.92733750e-01 6.05217565e-01 7.26973254e-02 1.02868616e+02] [-6.02537530e-01 -7.96059032e-01 5.69081853e-02 1.06318023e+02] [ 9.23131958e-02 1.31017220e-03 9.95729159e-01 1.65574666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75687499999998 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:102.88, Y:106.32, Z:16.55 [[-7.83665903e-01 6.16910997e-01 7.27225826e-02 1.02880166e+02] [-6.14283584e-01 -7.87032917e-01 5.68758910e-02 1.06317585e+02] [ 9.23224289e-02 -1.00592148e-04 9.95729159e-01 1.65514136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78687499999998 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:102.89, Y:106.32, Z:16.55 [[-7.82944023e-01 6.17935752e-01 7.17918023e-02 1.02888543e+02] [-6.15203014e-01 -7.86227531e-01 5.80648043e-02 1.06322638e+02] [ 9.23250099e-02 1.29495831e-03 9.95728083e-01 1.65496912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81687499999998 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:102.85, Y:106.30, Z:16.56 [[-7.90726842e-01 6.07943438e-01 7.18041591e-02 1.02851091e+02] [-6.05170658e-01 -7.93976566e-01 5.80490040e-02 1.06301475e+02] [ 9.23013307e-02 2.44713540e-03 9.95728113e-01 1.65594895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84687499999998 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.88, Y:106.32, Z:16.56 [[-7.89957251e-01 6.08827488e-01 7.27779592e-02 1.02876445e+02] [-6.06172475e-01 -7.93302288e-01 5.68014925e-02 1.06318989e+02] [ 9.23172316e-02 7.54755220e-04 9.95729360e-01 1.65556736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87687499999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:102.88, Y:106.32, Z:16.55 [[-7.88639639e-01 6.10530291e-01 7.28030472e-02 1.02880800e+02] [-6.07885471e-01 -7.91992739e-01 5.67693188e-02 1.06319865e+02] [ 9.23188735e-02 5.14620436e-04 9.95729361e-01 1.65524258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90687499999999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:102.87, Y:106.31, Z:16.55 [[-7.88720510e-01 6.10422867e-01 7.28277433e-02 1.02870919e+02] [-6.07780516e-01 -7.92075556e-01 5.67376194e-02 1.06312280e+02] [ 9.23190155e-02 4.86840718e-04 9.95729362e-01 1.65538284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.936875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:102.86, Y:106.31, Z:16.56 [[-7.88967893e-01 6.10099127e-01 7.28609536e-02 1.02864301e+02] [-6.07459341e-01 -7.92324954e-01 5.66949396e-02 1.06308758e+02] [ 9.23190850e-02 4.70420233e-04 9.95729363e-01 1.65565777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.966875 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:102.87, Y:106.32, Z:16.56 [[-7.89020073e-01 6.10029020e-01 7.28829100e-02 1.02873245e+02] [-6.07391543e-01 -7.92378949e-01 5.66667001e-02 1.06316095e+02] [ 9.23192152e-02 4.42700661e-04 9.95729364e-01 1.65579347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.996875 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:102.87, Y:106.31, Z:16.56 [[-7.88913793e-01 6.10163836e-01 7.29048672e-02 1.02866765e+02] [-6.07529545e-01 -7.92275167e-01 5.66384370e-02 1.06310404e+02] [ 9.23194418e-02 3.90983411e-04 9.95729365e-01 1.65590295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.026875 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:102.87, Y:106.31, Z:16.56 [[-7.89319718e-01 6.09636015e-01 7.29267584e-02 1.02867322e+02] [-6.07002081e-01 -7.92681370e-01 5.66102363e-02 1.06310108e+02] [ 9.23193217e-02 4.16881653e-04 9.95729365e-01 1.65587844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.056875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:102.87, Y:106.31, Z:16.56 [[-7.89848361e-01 6.08947662e-01 7.29541807e-02 1.02869300e+02] [-6.06314063e-01 -7.93210275e-01 5.65748749e-02 1.06310547e+02] [ 9.23191436e-02 4.52426471e-04 9.95729366e-01 1.65591645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.086875 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:102.88, Y:106.31, Z:16.55 [[-7.82021861e-01 6.18964070e-01 7.29745833e-02 1.02876736e+02] [-6.16375985e-01 -7.85418937e-01 5.65485460e-02 1.06306931e+02] [ 9.23171378e-02 -7.57581569e-04 9.95729367e-01 1.65513023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.116875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:102.86, Y:106.31, Z:16.56 [[-7.90609007e-01 6.08076887e-01 7.19715114e-02 1.02863024e+02] [-6.05323464e-01 -7.93875189e-01 5.78419188e-02 1.06306506e+02] [ 9.23087311e-02 2.16429730e-03 9.95728082e-01 1.65604132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.146875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.85, Y:106.30, Z:16.56 [[-7.91004563e-01 6.07438453e-01 7.30089516e-02 1.02852968e+02] [-6.04805201e-01 -7.94366564e-01 5.65015996e-02 1.06299348e+02] [ 9.23171143e-02 5.36829397e-04 9.95729513e-01 1.65625330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.176875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.85, Y:106.30, Z:16.56 [[-7.91072114e-01 6.07347185e-01 7.30363406e-02 1.02850067e+02] [-6.04716815e-01 -7.94436369e-01 5.64661734e-02 1.06295833e+02] [ 9.23172967e-02 5.02511901e-04 9.95729514e-01 1.65625669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.206875 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:102.86, Y:106.30, Z:16.56 [[-7.91447300e-01 6.06855550e-01 7.30582787e-02 1.02855498e+02] [-6.04225712e-01 -7.94811970e-01 5.64377747e-02 1.06299629e+02] [ 9.23171712e-02 5.23833993e-04 9.95729514e-01 1.65613686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.236875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:102.85, Y:106.29, Z:16.56 [[-7.91588429e-01 6.06668152e-01 7.30856575e-02 1.02848842e+02] [-6.04040791e-01 -7.94955032e-01 5.64022977e-02 1.06294277e+02] [ 9.23172889e-02 5.00687794e-04 9.95729515e-01 1.65627298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.266875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:102.84, Y:106.29, Z:16.56 [[-7.91244890e-01 6.07113517e-01 7.31074646e-02 1.02844816e+02] [-6.04490665e-01 -7.94615005e-01 5.63740176e-02 1.06291392e+02] [ 9.23177165e-02 4.12873481e-04 9.95729516e-01 1.65643941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.296875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:102.84, Y:106.29, Z:16.56 [[-7.90975513e-01 6.07461800e-01 7.31293339e-02 1.02843364e+02] [-6.04843055e-01 -7.94348820e-01 5.63456343e-02 1.06290020e+02] [ 9.23180205e-02 3.36247208e-04 9.95729517e-01 1.65641946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.326875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:102.84, Y:106.29, Z:16.56 [[-7.90596676e-01 6.07952133e-01 7.31512142e-02 1.02839215e+02] [-6.05338109e-01 -7.93973643e-01 5.63172137e-02 1.06285748e+02] [ 9.23183062e-02 2.42984264e-04 9.95729517e-01 1.65644361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.356875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:102.84, Y:106.29, Z:16.56 [[-7.89520737e-01 6.09346126e-01 7.31731092e-02 1.02842629e+02] [-6.06740703e-01 -7.92904343e-01 5.62887513e-02 1.06285885e+02] [ 9.23186086e-02 4.40327158e-05 9.95729518e-01 1.65627969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.386875 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:102.85, Y:106.29, Z:16.56 [[-7.89164420e-01 6.09804898e-01 7.31949783e-02 1.02846952e+02] [-6.07204080e-01 -7.92551566e-01 5.62602994e-02 1.06288407e+02] [ 9.23186009e-02 -4.56628857e-05 9.95729518e-01 1.65614443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.416875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:102.85, Y:106.29, Z:16.56 [[-7.88926623e-01 6.10109902e-01 7.32167378e-02 1.02847581e+02] [-6.07513022e-01 -7.92316789e-01 5.62319677e-02 1.06288735e+02] [ 9.23185309e-02 -1.17225287e-04 9.95729519e-01 1.65622454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.446875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:102.83, Y:106.28, Z:16.56 [[-7.87864256e-01 6.11478256e-01 7.32410831e-02 1.02833095e+02] [-6.08890213e-01 -7.91261171e-01 5.62002406e-02 1.06275880e+02] [ 9.23180503e-02 -3.17617994e-04 9.95729520e-01 1.65649242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47687499999998 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.85, Y:106.28, Z:16.56 [[-7.87708298e-01 6.11676544e-01 7.32628375e-02 1.02846720e+02] [-6.09091994e-01 -7.91107871e-01 5.61718672e-02 1.06284989e+02] [ 9.23178210e-02 -3.76761871e-04 9.95729521e-01 1.65633697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50687499999998 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.84, Y:106.27, Z:16.56 [[-7.87486785e-01 6.11958441e-01 7.32900370e-02 1.02835031e+02] [-6.09378413e-01 -7.90889790e-01 5.61363565e-02 1.06274670e+02] [ 9.23174592e-02 -4.54727451e-04 9.95729521e-01 1.65644121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53687499999998 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:102.84, Y:106.28, Z:16.56 [[-7.87583053e-01 6.11831956e-01 7.33116107e-02 1.02843362e+02] [-6.09254004e-01 -7.90987631e-01 5.61081681e-02 1.06280083e+02] [ 9.23173475e-02 -4.75550017e-04 9.95729522e-01 1.65641372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56687499999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:102.84, Y:106.28, Z:16.57 [[-7.87679248e-01 6.11705194e-01 7.33359294e-02 1.02840448e+02] [-6.09129655e-01 -7.91085650e-01 5.60763645e-02 1.06276733e+02] [ 9.23172048e-02 -5.00900758e-04 9.95729523e-01 1.65651752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59687499999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:102.84, Y:106.28, Z:16.57 [[-7.87913448e-01 6.11400917e-01 7.33574665e-02 1.02838654e+02] [-6.08826686e-01 -7.91320838e-01 5.60481763e-02 1.06275279e+02] [ 9.23171982e-02 -5.00871422e-04 9.95729524e-01 1.65654078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62687499999998 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:102.83, Y:106.27, Z:16.57 [[-7.88794282e-01 6.10261502e-01 7.33790106e-02 1.02834071e+02] [-6.07684975e-01 -7.92199935e-01 5.60199564e-02 1.06269728e+02] [ 9.23176701e-02 -4.03100940e-04 9.95729524e-01 1.65673710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65687499999999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:102.84, Y:106.27, Z:16.57 [[-7.89543821e-01 6.09288856e-01 7.34005833e-02 1.02836299e+02] [-6.06710761e-01 -7.92948286e-01 5.59916764e-02 1.06269989e+02] [ 9.23179712e-02 -3.25041619e-04 9.95729525e-01 1.65671479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.686875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:102.83, Y:106.26, Z:16.57 [[-7.91851221e-01 6.06284126e-01 7.34248158e-02 1.02825579e+02] [-6.03696060e-01 -7.95248112e-01 5.59598811e-02 1.06258420e+02] [ 9.23185337e-02 -1.43718054e-05 9.95729526e-01 1.65682316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.716875 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:102.83, Y:106.26, Z:16.57 [[-7.93595787e-01 6.03995825e-01 7.34490963e-02 1.02828996e+02] [-6.01400916e-01 -7.96987452e-01 5.59279941e-02 1.06259198e+02] [ 9.23182831e-02 2.11866739e-04 9.95729526e-01 1.65673354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:106.25, Z:16.57 [[-7.95544926e-01 6.01423579e-01 7.34707452e-02 1.02822620e+02] [-5.98820330e-01 -7.98930193e-01 5.58995403e-02 1.06252732e+02] [ 9.23172983e-02 4.74819700e-04 9.95729527e-01 1.65670606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.776875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:102.81, Y:106.24, Z:16.57 [[-7.99552140e-01 5.96083263e-01 7.34923139e-02 1.02809102e+02] [-5.93460012e-01 -8.02921931e-01 5.58711692e-02 1.06240547e+02] [ 9.23124594e-02 1.05716334e-03 9.95729528e-01 1.65690713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.806875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:102.81, Y:106.24, Z:16.57 [[-8.01446905e-01 5.93530575e-01 7.35140531e-02 1.02814194e+02] [-5.90899216e-01 -8.04810367e-01 5.58425507e-02 1.06243404e+02] [ 9.23091332e-02 1.31544313e-03 9.95729528e-01 1.65680499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.836875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:102.81, Y:106.24, Z:16.57 [[-8.03109232e-01 5.91276611e-01 7.35359176e-02 1.02805573e+02] [-5.88638449e-01 -8.06467360e-01 5.58137438e-02 1.06236228e+02] [ 9.23056786e-02 1.53846439e-03 9.95729529e-01 1.65683580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.866875 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:102.81, Y:106.24, Z:16.57 [[-8.04477399e-01 5.89411035e-01 7.35577783e-02 1.02806443e+02] [-5.86767720e-01 -8.07831471e-01 5.57849184e-02 1.06236572e+02] [ 9.23025348e-02 1.71637624e-03 9.95729530e-01 1.65674714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.896875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:102.80, Y:106.23, Z:16.57 [[-8.06031878e-01 5.87280719e-01 7.35796759e-02 1.02802446e+02] [-5.84631175e-01 -8.09381032e-01 5.57560209e-02 1.06234786e+02] [ 9.22984301e-02 1.92415786e-03 9.95729530e-01 1.65681634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.926875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:102.81, Y:106.24, Z:16.57 [[-8.06644854e-01 5.86435763e-01 7.36014690e-02 1.02807148e+02] [-5.83785335e-01 -8.09993307e-01 5.57272378e-02 1.06239125e+02] [ 9.22971425e-02 1.98463136e-03 9.95729531e-01 1.65675443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.956875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:102.80, Y:106.24, Z:16.57 [[-8.07119707e-01 5.85779302e-01 7.36232810e-02 1.02804914e+02] [-5.83128778e-01 -8.10468084e-01 5.56984064e-02 1.06238468e+02] [ 9.22962931e-02 2.02342757e-03 9.95729532e-01 1.65679455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:106.24, Z:16.57 [[-8.06917919e-01 5.86054516e-01 7.36449309e-02 1.02800781e+02] [-5.83407747e-01 -8.10269263e-01 5.56697661e-02 1.06238191e+02] [ 9.22977417e-02 1.95590864e-03 9.95729532e-01 1.65677005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.016875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:102.80, Y:106.24, Z:16.57 [[-8.06686429e-01 5.86370386e-01 7.36666543e-02 1.02804051e+02] [-5.83727553e-01 -8.10040877e-01 5.56410053e-02 1.06242559e+02] [ 9.22992390e-02 1.88358806e-03 9.95729533e-01 1.65677790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.046875 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:102.79, Y:106.23, Z:16.57 [[-8.06573017e-01 5.86523657e-01 7.36883116e-02 1.02789648e+02] [-5.83884081e-01 -8.09930028e-01 5.56123087e-02 1.06233955e+02] [ 9.23003109e-02 1.82995554e-03 9.95729534e-01 1.65674379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.076875 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:102.79, Y:106.24, Z:16.57 [[-8.06367481e-01 5.86803476e-01 7.37100125e-02 1.02788941e+02] [-5.84167694e-01 -8.09727470e-01 5.55835309e-02 1.06235099e+02] [ 9.23016311e-02 1.76174382e-03 9.95729534e-01 1.65675297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.106875 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:102.78, Y:106.23, Z:16.57 [[-8.06031480e-01 5.87262196e-01 7.37317199e-02 1.02775089e+02] [-5.84630960e-01 -8.09395029e-01 5.55547211e-02 1.06227814e+02] [ 9.23032752e-02 1.67300787e-03 9.95729535e-01 1.65688269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.136875 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:102.79, Y:106.24, Z:16.57 [[-8.06193030e-01 5.87037664e-01 7.37535079e-02 1.02785944e+02] [-5.84408137e-01 -8.09557915e-01 5.55257808e-02 1.06237709e+02] [ 9.23034607e-02 1.66234735e-03 9.95729535e-01 1.65685085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.166875 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:102.77, Y:106.22, Z:16.57 [[-8.06469298e-01 5.86654988e-01 7.37780230e-02 1.02766311e+02] [-5.84026843e-01 -8.09835262e-01 5.54931882e-02 1.06224744e+02] [ 9.23034002e-02 1.66520663e-03 9.95729536e-01 1.65703561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.196875 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:102.77, Y:106.23, Z:16.57 [[-8.06363371e-01 5.86797492e-01 7.38025506e-02 1.02765221e+02] [-5.84172928e-01 -8.09732127e-01 5.54605489e-02 1.06226507e+02] [ 9.23044073e-02 1.60790309e-03 9.95729537e-01 1.65711136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22687499999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:102.78, Y:106.24, Z:16.57 [[-8.06441815e-01 5.86686919e-01 7.38245107e-02 1.02779515e+02] [-5.84064569e-01 -8.09812293e-01 5.54313020e-02 1.06238225e+02] [ 9.23048162e-02 1.58383875e-03 9.95729538e-01 1.65707246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25687499999998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:102.77, Y:106.23, Z:16.57 [[-8.01018003e-01 5.94068083e-01 7.38462694e-02 1.02773988e+02] [-5.91479469e-01 -8.04414460e-01 5.54022998e-02 1.06227461e+02] [ 9.23157449e-02 6.99687347e-04 9.95729538e-01 1.65654335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28687499999998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:102.79, Y:106.24, Z:16.56 [[-8.00352309e-01 5.95041454e-01 7.32246470e-02 1.02788402e+02] [-5.92380843e-01 -8.03693361e-01 5.62309375e-02 1.06239113e+02] [ 9.23099015e-02 1.62768261e-03 9.95728996e-01 1.65641818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31687499999998 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:102.77, Y:106.23, Z:16.57 [[-8.06805343e-01 5.86273441e-01 7.31340636e-02 1.02766710e+02] [-5.83565585e-01 -8.10108442e-01 5.63517439e-02 1.06231570e+02] [ 9.22840531e-02 2.78636538e-03 9.95728823e-01 1.65733906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34687499999998 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:102.75, Y:106.22, Z:16.57 [[-8.06851648e-01 5.86112319e-01 7.39105424e-02 1.02753072e+02] [-5.83498273e-01 -8.10228417e-01 5.53143491e-02 1.06221742e+02] [ 9.23048432e-02 1.50379987e-03 9.95729659e-01 1.65749041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37687499999998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:102.76, Y:106.22, Z:16.57 [[-8.06485349e-01 5.86613508e-01 7.39322252e-02 1.02755865e+02] [-5.84004217e-01 -8.09865794e-01 5.52853532e-02 1.06223923e+02] [ 9.23063152e-02 1.41009608e-03 9.95729660e-01 1.65734339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40687499999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:102.76, Y:106.23, Z:16.57 [[-8.06182079e-01 5.87027133e-01 7.39567434e-02 1.02764173e+02] [-5.84422586e-01 -8.09566179e-01 5.52525351e-02 1.06230173e+02] [ 9.23076155e-02 1.32161232e-03 9.95729661e-01 1.65713906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.436875 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.75, Y:106.22, Z:16.57 [[-8.05894441e-01 5.87419227e-01 7.39783841e-02 1.02754899e+02] [-5.84818987e-01 -8.09281850e-01 5.52235449e-02 1.06223707e+02] [ 9.23087357e-02 1.24038423e-03 9.95729662e-01 1.65719486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.466875 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:102.75, Y:106.22, Z:16.57 [[-8.04644105e-01 5.89128066e-01 7.39999036e-02 1.02753660e+02] [-5.86537672e-01 -8.08039049e-01 5.51946937e-02 1.06224191e+02] [ 9.23115549e-02 1.00835371e-03 9.95729662e-01 1.65716461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.496875 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:102.75, Y:106.22, Z:16.57 [[-8.03909844e-01 5.90126912e-01 7.40215546e-02 1.02748026e+02] [-5.87543410e-01 -8.07310035e-01 5.51656424e-02 1.06220382e+02] [ 9.23130740e-02 8.57326366e-04 9.95729663e-01 1.65725257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.526875 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:102.74, Y:106.21, Z:16.57 [[-7.97343457e-01 5.98965948e-01 7.40486658e-02 1.02744050e+02] [-5.96423523e-01 -8.00774469e-01 5.51292273e-02 1.06209530e+02] [ 9.23168109e-02 -2.07437465e-04 9.95729664e-01 1.65668262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.556875 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:102.76, Y:106.23, Z:16.57 [[-8.02078236e-01 5.92687229e-01 7.34326265e-02 1.02760865e+02] [-5.90041892e-01 -8.05431211e-01 5.59565032e-02 1.06229771e+02] [ 9.23096342e-02 1.55316756e-03 9.95729139e-01 1.65720805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.586875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:102.76, Y:106.23, Z:16.57 [[-8.00186638e-01 5.95157289e-01 7.40887682e-02 1.02758791e+02] [-5.92603653e-01 -8.03609217e-01 5.50739152e-02 1.06228900e+02] [ 9.23160591e-02 1.64136383e-04 9.95729742e-01 1.65736704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.616875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:102.77, Y:106.23, Z:16.57 [[-7.93983135e-01 6.03405733e-01 7.41100685e-02 1.02766386e+02] [-6.00890327e-01 -7.97433908e-01 5.50452378e-02 1.06227125e+02] [ 9.23124936e-02 -8.27032768e-04 9.95729742e-01 1.65655930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.646875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:102.74, Y:106.22, Z:16.58 [[-7.97800854e-01 5.98419951e-01 7.35347495e-02 1.02744613e+02] [-5.95811294e-01 -8.01182279e-01 5.58198770e-02 1.06218930e+02] [ 9.23184662e-02 7.20311342e-04 9.95729271e-01 1.65754407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.676875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:102.75, Y:106.23, Z:16.58 [[-7.97509466e-01 5.98731570e-01 7.41563134e-02 1.02754430e+02] [-5.96201850e-01 -8.00949671e-01 5.49816288e-02 1.06226519e+02] [ 9.23147118e-02 -3.63761829e-04 9.95729814e-01 1.65750108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.706875 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:102.75, Y:106.22, Z:16.58 [[-7.97600812e-01 5.98606566e-01 7.41830446e-02 1.02749174e+02] [-5.96079663e-01 -8.01043085e-01 5.49455387e-02 1.06222699e+02] [ 9.23145751e-02 -3.94397907e-04 9.95729815e-01 1.65766775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.736875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:102.73, Y:106.21, Z:16.58 [[-7.98015472e-01 5.98050025e-01 7.42123600e-02 1.02732837e+02] [-5.95524405e-01 -8.01458685e-01 5.49059154e-02 1.06210765e+02] [ 9.23146245e-02 -3.79501570e-04 9.95729816e-01 1.65788157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.766875 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:102.74, Y:106.22, Z:16.58 [[-7.99063966e-01 5.96645746e-01 7.42336373e-02 1.02744658e+02] [-5.94116748e-01 -8.02504698e-01 5.48771331e-02 1.06219315e+02] [ 9.23150507e-02 -2.53107603e-04 9.95729816e-01 1.65771775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.796875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:102.74, Y:106.22, Z:16.58 [[-7.99951911e-01 5.95452045e-01 7.42549863e-02 1.02742906e+02] [-5.92920595e-01 -8.03390838e-01 5.48482304e-02 1.06217730e+02] [ 9.23152667e-02 -1.51364029e-04 9.95729817e-01 1.65766850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.826875 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:102.74, Y:106.21, Z:16.58 [[-8.00952393e-01 5.94102947e-01 7.42761921e-02 1.02736770e+02] [-5.91568369e-01 -8.04389015e-01 5.48194982e-02 1.06212940e+02] [ 9.23153785e-02 -3.16375164e-05 9.95729818e-01 1.65753867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.856875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:102.73, Y:106.20, Z:16.58 [[-8.02955350e-01 5.91390064e-01 7.43000564e-02 1.02725713e+02] [-5.88846869e-01 -8.06385599e-01 5.47871347e-02 1.06204931e+02] [ 9.23150626e-02 2.40267329e-04 9.95729819e-01 1.65759531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.886875 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:102.72, Y:106.20, Z:16.58 [[-8.04158139e-01 5.89750818e-01 7.43213268e-02 1.02722004e+02] [-5.87203299e-01 -8.07585177e-01 5.47582652e-02 1.06202457e+02] [ 9.23145336e-02 3.92576377e-04 9.95729819e-01 1.65760152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.916875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:102.73, Y:106.21, Z:16.58 [[-8.05559763e-01 5.87832138e-01 7.43427665e-02 1.02725095e+02] [-5.85279143e-01 -8.08982723e-01 5.47291421e-02 1.06205148e+02] [ 9.23135623e-02 5.76324090e-04 9.95729820e-01 1.65760804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.946875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:102.71, Y:106.20, Z:16.58 [[-8.07034628e-01 5.85802601e-01 7.43668038e-02 1.02710961e+02] [-5.83244009e-01 -8.10453406e-01 5.46964605e-02 1.06195045e+02] [ 9.23121583e-02 7.67944854e-04 9.95729821e-01 1.65781037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97687499999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:102.71, Y:106.20, Z:16.58 [[-8.10005017e-01 5.81685717e-01 7.43881645e-02 1.02713417e+02] [-5.79112419e-01 -8.13412738e-01 5.46673942e-02 1.06196876e+02] [ 9.23075230e-02 1.20175361e-03 9.95729821e-01 1.65792857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00687499999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:102.70, Y:106.18, Z:16.58 [[-8.11681304e-01 5.79341576e-01 7.44096705e-02 1.02696963e+02] [-5.76761120e-01 -8.15083608e-01 5.46381060e-02 1.06184149e+02] [ 9.23042292e-02 1.43212420e-03 9.95729822e-01 1.65810094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03687499999998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:102.26, Y:105.86, Z:16.63 [[-8.12995895e-01 5.77491502e-01 7.44395018e-02 1.02260713e+02] [-5.74907026e-01 -8.16395144e-01 5.45974336e-02 1.05864089e+02] [ 9.23016017e-02 1.59169682e-03 9.95729823e-01 1.66280506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.06687499999998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:103.27, Y:105.33, Z:17.09 [[-7.49091232e-01 -6.58271287e-01 -7.44395018e-02 1.03272869e+02] [-6.56051228e-01 7.52738936e-01 -5.45974336e-02 1.05332263e+02] [ 9.19734343e-02 7.93766777e-03 -9.95729823e-01 1.70906291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09687499999998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:102.88, Y:105.01, Z:17.15 [[-6.94188952e-01 -7.16345111e-01 -7.03660455e-02 1.02883955e+02] [-7.13932674e-01 6.97688288e-01 -5.94238180e-02 1.05014062e+02] [ 9.16615273e-02 8.98526105e-03 -9.95749682e-01 1.71453303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12687499999998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:102.47, Y:106.11, Z:16.60 [[-7.22642393e-01 6.88137025e-01 6.52334777e-02 1.02465749e+02] [-6.85099588e-01 -7.25577994e-01 6.46152317e-02 1.06108220e+02] [ 9.17961092e-02 2.00227688e-03 9.95775811e-01 1.65952289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15687499999999 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:102.46, Y:106.11, Z:16.59 [[-7.21173149e-01 6.89656518e-01 6.54459801e-02 1.02463131e+02] [-6.86644821e-01 -7.24135085e-01 6.43992815e-02 1.06105895e+02] [ 9.18051146e-02 1.50488933e-03 9.95775856e-01 1.65948554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.186875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:102.47, Y:106.11, Z:16.59 [[-7.20212216e-01 6.90657237e-01 6.54747587e-02 1.02467289e+02] [-6.87652315e-01 -7.23181025e-01 6.43700090e-02 1.06110244e+02] [ 9.18077157e-02 1.33619739e-03 9.95775857e-01 1.65941833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.216875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:102.46, Y:106.10, Z:16.59 [[-7.18970935e-01 6.91946290e-01 6.55066955e-02 1.02460156e+02] [-6.88949652e-01 -7.21948104e-01 6.43374920e-02 1.06103570e+02] [ 9.18105235e-02 1.12597175e-03 9.95775858e-01 1.65939724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.246875 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:102.48, Y:106.12, Z:16.58 [[-7.10542401e-01 7.00595904e-01 6.55353056e-02 1.02484856e+02] [-6.97638201e-01 -7.13558252e-01 6.43083361e-02 1.06119413e+02] [ 9.18174150e-02 -2.61331396e-05 9.95775859e-01 1.65843037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.276875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:102.49, Y:106.12, Z:16.58 [[-7.07483355e-01 7.03756146e-01 6.47656469e-02 1.02485618e+02] [-7.00739696e-01 -7.10441300e-01 6.50925362e-02 1.06118580e+02] [ 9.18214628e-02 6.68026248e-04 9.95775262e-01 1.65821425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.306875 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.47, Y:106.12, Z:16.59 [[-7.11791924e-01 6.99408207e-01 6.46561481e-02 1.02472109e+02] [-6.96363540e-01 -7.14721089e-01 6.52041828e-02 1.06116215e+02] [ 9.18154532e-02 1.38762653e-03 9.95775074e-01 1.65900694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.336875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.46, Y:106.10, Z:16.59 [[-7.09620776e-01 7.01521470e-01 6.56199765e-02 1.02458210e+02] [-6.98575914e-01 -7.12648268e-01 6.42194596e-02 1.06103304e+02] [ 9.18152923e-02 -2.69072286e-04 9.95776019e-01 1.65928611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.366875 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:102.46, Y:106.11, Z:16.59 [[-7.07840573e-01 7.03314736e-01 6.56513989e-02 1.02463756e+02] [-7.00379828e-01 -7.10878389e-01 6.41873206e-02 1.06109229e+02] [ 9.18140491e-02 -5.46525767e-04 9.95776020e-01 1.65922689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.396875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:102.48, Y:106.12, Z:16.59 [[-7.03634710e-01 7.07519280e-01 6.56860976e-02 1.02476071e+02] [-7.04605838e-01 -7.06693117e-01 6.41517921e-02 1.06121054e+02] [ 9.18085429e-02 -1.14338019e-03 9.95776021e-01 1.65911674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.426875 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:102.47, Y:106.11, Z:16.59 [[-7.02286025e-01 7.08855132e-01 6.57171303e-02 1.02468022e+02] [-7.05950481e-01 -7.05352781e-01 6.41199866e-02 1.06113239e+02] [ 9.18055422e-02 -1.36246919e-03 9.95776022e-01 1.65929212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.456875 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:102.47, Y:106.11, Z:16.59 [[-7.01437984e-01 7.09691452e-01 6.57479872e-02 1.02466990e+02] [-7.06793422e-01 -7.04510997e-01 6.40883308e-02 1.06112055e+02] [ 9.18031205e-02 -1.51625529e-03 9.95776023e-01 1.65940168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.486875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:102.47, Y:106.11, Z:16.60 [[-7.01096018e-01 7.10026416e-01 6.57788854e-02 1.02469294e+02] [-7.07132829e-01 -7.04173213e-01 6.40566019e-02 1.06113198e+02] [ 9.18016086e-02 -1.60458079e-03 9.95776024e-01 1.65963384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.516875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:102.47, Y:106.11, Z:16.60 [[-7.01470149e-01 7.09653647e-01 6.58128514e-02 1.02465929e+02] [-7.06761698e-01 -7.04548881e-01 6.40216858e-02 1.06109883e+02] [ 9.18015937e-02 -1.60470109e-03 9.95776025e-01 1.65968001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.546875 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:102.47, Y:106.11, Z:16.60 [[-7.02081436e-01 7.09045744e-01 6.58467145e-02 1.02466214e+02] [-7.06154395e-01 -7.05160730e-01 6.39868386e-02 1.06108403e+02] [ 9.18021129e-02 -1.57397532e-03 9.95776026e-01 1.65974821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.576875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:102.45, Y:106.09, Z:16.60 [[-7.03322296e-01 7.07812067e-01 6.58773506e-02 1.02452601e+02] [-7.04918270e-01 -7.06399289e-01 6.39552819e-02 1.06093115e+02] [ 9.18040339e-02 -1.45697231e-03 9.95776027e-01 1.65996753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.606875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:102.46, Y:106.10, Z:16.60 [[-7.06857916e-01 7.04278358e-01 6.59081282e-02 1.02461568e+02] [-7.01372133e-01 -7.09923173e-01 6.39235489e-02 1.06095898e+02] [ 9.18096795e-02 -1.04125790e-03 9.95776028e-01 1.65981565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.636875 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:102.46, Y:106.09, Z:16.60 [[-7.09500584e-01 7.01613125e-01 6.59389370e-02 1.02455121e+02] [-6.98698339e-01 -7.12557699e-01 6.38917531e-02 1.06086625e+02] [ 9.18125898e-02 -7.40189594e-04 9.95776029e-01 1.65984100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.666875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:102.46, Y:106.08, Z:16.60 [[-7.14385560e-01 6.96635683e-01 6.59696625e-02 1.02455389e+02] [-6.93702526e-01 -7.17425051e-01 6.38600127e-02 1.06080245e+02] [ 9.18154521e-02 -1.42650530e-04 9.95776030e-01 1.65977541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.696875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:102.45, Y:106.07, Z:16.60 [[-7.17217115e-01 6.93717196e-01 6.60004621e-02 1.02448999e+02] [-6.90774601e-01 -7.20247469e-01 6.38281649e-02 1.06071147e+02] [ 9.18153614e-02 1.87209454e-04 9.95776031e-01 1.65986447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:106.06, Z:16.60 [[-7.19884738e-01 6.90944684e-01 6.60409562e-02 1.02440581e+02] [-6.87994263e-01 -7.22907470e-01 6.37862397e-02 1.06059970e+02] [ 9.18142638e-02 4.82941494e-04 9.95776033e-01 1.66002373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:102.43, Y:106.05, Z:16.60 [[-7.22325955e-01 6.88388601e-01 6.60783501e-02 1.02428258e+02] [-6.85431028e-01 -7.25341689e-01 6.37474787e-02 1.06045119e+02] [ 9.18124197e-02 7.54307035e-04 9.95776034e-01 1.66018019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:106.05, Z:16.60 [[-7.24393785e-01 6.86209583e-01 6.61063714e-02 1.02433467e+02] [-6.83245591e-01 -7.27403208e-01 6.37184074e-02 1.06046810e+02] [ 9.18101684e-02 9.90331552e-04 9.95776035e-01 1.66014832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81687499999998 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:102.81, Y:105.00, Z:17.15 [[-6.49435231e-01 -7.57535553e-01 -6.61344637e-02 1.02811151e+02] [-7.54902060e-01 6.52737743e-01 -6.36892366e-02 1.04997872e+02] [ 9.14153217e-02 8.56300876e-03 -9.95776036e-01 1.71527358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:106.02, Z:16.60 [[-6.74500456e-01 7.35780363e-01 6.06332603e-02 1.02349682e+02] [-7.32580423e-01 -6.77217763e-01 6.85713149e-02 1.06016193e+02] [ 9.15153479e-02 1.83264364e-03 9.95801980e-01 1.66034967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:106.03, Z:16.60 [[-6.76502500e-01 7.33917358e-01 6.09071347e-02 1.02360753e+02] [-7.30731846e-01 -6.79236604e-01 6.83271904e-02 1.06025314e+02] [ 9.15168664e-02 1.71673211e-03 9.95802047e-01 1.66022301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:106.03, Z:16.60 [[-6.77098000e-01 7.33364303e-01 6.09515955e-02 1.02365987e+02] [-7.30180126e-01 -6.79833656e-01 6.82875061e-02 1.06029747e+02] [ 9.15165654e-02 1.73169017e-03 9.95802048e-01 1.66012811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:106.03, Z:16.60 [[-6.77347254e-01 7.33131028e-01 6.09884681e-02 1.02364979e+02] [-7.29948872e-01 -6.80085259e-01 6.82545590e-02 1.06027407e+02] [ 9.15168931e-02 1.71357455e-03 9.95802050e-01 1.66006762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.966875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.36, Y:106.02, Z:16.60 [[-6.77514535e-01 7.32973388e-01 6.10251322e-02 1.02360620e+02] [-7.29793546e-01 -6.80255225e-01 6.82217627e-02 1.06021314e+02] [ 9.15174016e-02 1.68548820e-03 9.95802051e-01 1.66018335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:106.02, Z:16.60 [[-6.77392357e-01 7.33083537e-01 6.10583542e-02 1.02363611e+02] [-7.29906819e-01 -6.80136666e-01 6.81920162e-02 1.06022455e+02] [ 9.15184699e-02 1.62584159e-03 9.95802052e-01 1.66004238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.026875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.36, Y:106.01, Z:16.60 [[-6.77493287e-01 7.32987498e-01 6.10915255e-02 1.02356954e+02] [-7.29813069e-01 -6.80240242e-01 6.81622860e-02 1.06013884e+02] [ 9.15190176e-02 1.59409748e-03 9.95802053e-01 1.66021833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.056875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:102.35, Y:106.01, Z:16.60 [[-6.77798818e-01 7.32702214e-01 6.11246823e-02 1.02353896e+02] [-7.29529310e-01 -6.80547532e-01 6.81325397e-02 1.06009778e+02] [ 9.15191144e-02 1.58790758e-03 9.95802054e-01 1.66020429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.086875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.35, Y:106.01, Z:16.60 [[-6.77973384e-01 7.32537916e-01 6.11579224e-02 1.02351642e+02] [-7.29367036e-01 -6.80724431e-01 6.81026894e-02 1.06006481e+02] [ 9.15194941e-02 1.56523826e-03 9.95802055e-01 1.66021319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:106.01, Z:16.60 [[-6.78101750e-01 7.32416599e-01 6.11877591e-02 1.02354143e+02] [-7.29247644e-01 -6.80855014e-01 6.80758718e-02 1.06007814e+02] [ 9.15198910e-02 1.54133873e-03 9.95802056e-01 1.66015656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:105.99, Z:16.60 [[-6.78362858e-01 7.32171709e-01 6.12243561e-02 1.02334988e+02] [-7.29004729e-01 -6.81118391e-01 6.80429423e-02 1.05985803e+02] [ 9.15201523e-02 1.52495961e-03 9.95802057e-01 1.66033659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.176875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.35, Y:106.00, Z:16.60 [[-6.78234314e-01 7.32287416e-01 6.12646382e-02 1.02347009e+02] [-7.29124181e-01 -6.80994144e-01 6.80066538e-02 1.05998761e+02] [ 9.15212766e-02 1.45491702e-03 9.95802058e-01 1.66012347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.206875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.33, Y:105.98, Z:16.60 [[-6.77566624e-01 7.32902467e-01 6.12979897e-02 1.02332501e+02] [-7.29744456e-01 -6.80332428e-01 6.79765792e-02 1.05983207e+02] [ 9.15232128e-02 1.32679307e-03 9.95802059e-01 1.66045422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.236875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:102.35, Y:106.00, Z:16.60 [[-6.77194428e-01 7.33243889e-01 6.13278600e-02 1.02345296e+02] [-7.30089712e-01 -6.79964603e-01 6.79496199e-02 1.05997200e+02] [ 9.15244175e-02 1.24026429e-03 9.95802060e-01 1.66034618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.266875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:102.34, Y:105.99, Z:16.61 [[-6.76809621e-01 7.33596315e-01 6.13610851e-02 1.02335640e+02] [-7.30446301e-01 -6.79584527e-01 6.79196032e-02 1.05986231e+02] [ 9.15256146e-02 1.14766330e-03 9.95802061e-01 1.66053629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:105.99, Z:16.61 [[-6.76789750e-01 7.33612166e-01 6.13907542e-02 1.02340812e+02] [-7.30464649e-01 -6.79567486e-01 6.78927756e-02 1.05992141e+02] [ 9.15261267e-02 1.10535883e-03 9.95802062e-01 1.66051073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:105.99, Z:16.61 [[-6.76731104e-01 7.33663213e-01 6.14272093e-02 1.02338236e+02] [-7.30518899e-01 -6.79512464e-01 6.78597763e-02 1.05987845e+02] [ 9.15267759e-02 1.04908403e-03 9.95802063e-01 1.66056402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:105.98, Z:16.61 [[-6.77209974e-01 7.33217888e-01 6.14669033e-02 1.02334323e+02] [-7.30075007e-01 -6.79992952e-01 6.78238029e-02 1.05982758e+02] [ 9.15266865e-02 1.05550592e-03 9.95802064e-01 1.66060226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.386875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.33, Y:105.97, Z:16.61 [[-6.77601068e-01 7.32853717e-01 6.14997737e-02 1.02325453e+02] [-7.29712046e-01 -6.80385409e-01 6.77939844e-02 1.05972368e+02] [ 9.15266222e-02 1.06015046e-03 9.95802065e-01 1.66069779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:105.97, Z:16.61 [[-6.78051959e-01 7.32433792e-01 6.15327746e-02 1.02324370e+02] [-7.29293114e-01 -6.80837419e-01 6.77640182e-02 1.05970943e+02] [ 9.15264723e-02 1.07209651e-03 9.95802066e-01 1.66076497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:105.97, Z:16.61 [[-6.78302147e-01 7.32198743e-01 6.15727085e-02 1.02326108e+02] [-7.29060394e-01 -6.81090228e-01 6.77277136e-02 1.05972609e+02] [ 9.15267169e-02 1.04963037e-03 9.95802068e-01 1.66076561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:105.96, Z:16.61 [[-6.78441147e-01 7.32067464e-01 6.16022606e-02 1.02315448e+02] [-7.28931016e-01 -6.81231365e-01 6.77008237e-02 1.05960228e+02] [ 9.15269624e-02 1.02722605e-03 9.95802069e-01 1.66085245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:105.97, Z:16.61 [[-6.78472126e-01 7.32035975e-01 6.16352646e-02 1.02322263e+02] [-7.28902126e-01 -6.81265262e-01 6.76707634e-02 1.05967343e+02] [ 9.15273980e-02 9.86651280e-04 9.95802070e-01 1.66071259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:105.95, Z:16.61 [[-6.77584430e-01 7.32854944e-01 6.16682306e-02 1.02307894e+02] [-7.29727206e-01 -6.80384406e-01 6.76407084e-02 1.05952240e+02] [ 9.15289300e-02 8.31305257e-04 9.95802071e-01 1.66081222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:105.96, Z:16.61 [[-6.77068745e-01 7.33328340e-01 6.17046177e-02 1.02317992e+02] [-7.30205585e-01 -6.79874275e-01 6.76074984e-02 1.05963385e+02] [ 9.15298768e-02 7.17867667e-04 9.95802072e-01 1.66060423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:105.96, Z:16.61 [[-6.76564771e-01 7.33790561e-01 6.17375402e-02 1.02313721e+02] [-7.30672466e-01 -6.79375478e-01 6.75774211e-02 1.05958453e+02] [ 9.15306446e-02 6.10581633e-04 9.95802073e-01 1.66058973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:105.96, Z:16.61 [[-6.76398168e-01 7.33941383e-01 6.17702538e-02 1.02312258e+02] [-7.30826646e-01 -6.79212595e-01 6.75475055e-02 1.05956773e+02] [ 9.15310440e-02 5.45661602e-04 9.95802074e-01 1.66057198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:105.95, Z:16.61 [[-6.75439077e-01 7.34821653e-01 6.17996084e-02 1.02309879e+02] [-7.31713041e-01 -6.78260267e-01 6.75206383e-02 1.05953954e+02] [ 9.15318459e-02 3.86498295e-04 9.95802075e-01 1.66064040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.686875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:102.31, Y:105.95, Z:16.61 [[-6.75832922e-01 7.34456971e-01 6.18289512e-02 1.02309984e+02] [-7.31349295e-01 -6.78655141e-01 6.74937584e-02 1.05954661e+02] [ 9.15317970e-02 3.95944066e-04 9.95802075e-01 1.66067405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.716875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:102.31, Y:105.95, Z:16.61 [[-6.76316630e-01 7.34009110e-01 6.18582496e-02 1.02307728e+02] [-7.30902021e-01 -6.79139495e-01 6.74668957e-02 1.05950983e+02] [ 9.15316964e-02 4.16663890e-04 9.95802076e-01 1.66081674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:105.95, Z:16.61 [[-6.77197896e-01 7.33193662e-01 6.18875048e-02 1.02305255e+02] [-7.30085627e-01 -6.80019718e-01 6.74400493e-02 1.05948304e+02] [ 9.15313402e-02 4.87081735e-04 9.95802077e-01 1.66088686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:105.94, Z:16.61 [[-6.78171282e-01 7.32290943e-01 6.19167693e-02 1.02293431e+02] [-7.29181605e-01 -6.80991667e-01 6.74131709e-02 1.05935270e+02] [ 9.15308584e-02 5.69107262e-04 9.95802078e-01 1.66105275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.806875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.29, Y:105.94, Z:16.61 [[-6.79833470e-01 7.30745594e-01 6.19461841e-02 1.02294615e+02] [-7.27632309e-01 -6.82649495e-01 6.73861308e-02 1.05935120e+02] [ 9.15296495e-02 7.37302200e-04 9.95802079e-01 1.66089701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:105.94, Z:16.61 [[-6.80834338e-01 7.29810386e-01 6.19790722e-02 1.02299034e+02] [-7.26695986e-01 -6.83649129e-01 6.73558682e-02 1.05939618e+02] [ 9.15289508e-02 8.18245014e-04 9.95802080e-01 1.66077463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.866875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.29, Y:105.94, Z:16.61 [[-6.81813933e-01 7.28892802e-01 6.20084183e-02 1.02294789e+02] [-7.25777071e-01 -6.84627249e-01 6.73288411e-02 1.05935220e+02] [ 9.15281605e-02 9.01453718e-04 9.95802080e-01 1.66082950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:105.93, Z:16.61 [[-6.83389642e-01 7.27412888e-01 6.20410115e-02 1.02289398e+02] [-7.24293791e-01 -6.86199225e-01 6.72987944e-02 1.05930858e+02] [ 9.15265044e-02 1.05537964e-03 9.95802081e-01 1.66075884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.23, Y:105.87, Z:16.61 [[-6.84414066e-01 7.26446315e-01 6.20736502e-02 1.02234408e+02] [-7.23325980e-01 -6.87222272e-01 6.72686765e-02 1.05871730e+02] [ 9.15254771e-02 1.14014447e-03 9.95802082e-01 1.66135387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:105.23, Z:17.14 [[-6.14124800e-01 -7.86764000e-01 -6.20736502e-02 1.02958752e+02] [-7.83917425e-01 6.17210172e-01 -6.72686765e-02 1.05234449e+02] [ 9.12370613e-02 7.34925355e-03 -9.95802082e-01 1.71366785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:105.81, Z:16.62 [[-6.35130198e-01 7.70281085e-01 5.72423076e-02 1.02141458e+02] [-7.66988414e-01 -6.37703212e-01 7.11574819e-02 1.05811138e+02] [ 9.13148657e-02 1.29007889e-03 9.95821234e-01 1.66191514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.016875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.13, Y:105.80, Z:16.62 [[-6.37546262e-01 7.68279963e-01 5.72770622e-02 1.02131365e+02] [-7.64981728e-01 -6.40112139e-01 7.11294958e-02 1.05799923e+02] [ 9.13111092e-02 1.53243815e-03 9.95821235e-01 1.66192669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:105.80, Z:16.62 [[-6.38878861e-01 7.67169283e-01 5.73157178e-02 1.02130498e+02] [-7.63869381e-01 -6.41442590e-01 7.10983339e-02 1.05799808e+02] [ 9.13092003e-02 1.64150071e-03 9.95821237e-01 1.66186500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:105.81, Z:16.62 [[-6.40262597e-01 7.66012199e-01 5.73508234e-02 1.02139372e+02] [-7.62710198e-01 -6.42823621e-01 7.10700051e-02 1.05812258e+02] [ 9.13069549e-02 1.76140823e-03 9.95821238e-01 1.66178945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.106875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:102.12, Y:105.79, Z:16.62 [[-6.41999421e-01 7.64554264e-01 5.73891994e-02 1.02119869e+02] [-7.61249215e-01 -6.44556508e-01 7.10390030e-02 1.05790539e+02] [ 9.13037547e-02 1.91951576e-03 9.95821239e-01 1.66206087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.136875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:102.12, Y:105.79, Z:16.62 [[-6.43001111e-01 7.63709402e-01 5.74240389e-02 1.02117836e+02] [-7.60403506e-01 -6.45557101e-01 7.10108296e-02 1.05788904e+02] [ 9.13021343e-02 1.99460181e-03 9.95821240e-01 1.66211430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.12, Y:105.79, Z:16.62 [[-6.44044417e-01 7.62827131e-01 5.74591788e-02 1.02120058e+02] [-7.59520267e-01 -6.46599153e-01 7.09823845e-02 1.05792549e+02] [ 9.13003451e-02 2.07439755e-03 9.95821241e-01 1.66212259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:105.79, Z:16.62 [[-6.45429681e-01 7.61652501e-01 5.74977854e-02 1.02112077e+02] [-7.58343770e-01 -6.47981997e-01 7.09510984e-02 1.05785816e+02] [ 9.12976113e-02 2.19085737e-03 9.95821242e-01 1.66215518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22687499999998 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:102.11, Y:105.79, Z:16.62 [[-6.46128846e-01 7.61056558e-01 5.75363285e-02 1.02114876e+02] [-7.57748253e-01 -6.48681712e-01 7.09198290e-02 1.05791636e+02] [ 9.12967650e-02 2.22529493e-03 9.95821243e-01 1.66216689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25687499999998 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:102.10, Y:105.77, Z:16.62 [[-6.46510546e-01 7.60729426e-01 5.75747669e-02 1.02098269e+02] [-7.57422604e-01 -6.49065331e-01 7.08886100e-02 1.05773748e+02] [ 9.12968367e-02 2.22180410e-03 9.95821245e-01 1.66232810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28687499999998 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:102.10, Y:105.78, Z:16.62 [[-6.46595334e-01 7.60654715e-01 5.76097147e-02 1.02102390e+02] [-7.57350125e-01 -6.49153003e-01 7.08601974e-02 1.05780985e+02] [ 9.12976625e-02 2.18714834e-03 9.95821246e-01 1.66225164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31687499999998 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:102.11, Y:105.79, Z:16.62 [[-6.45959160e-01 7.61192110e-01 5.76483691e-02 1.02107170e+02] [-7.57892451e-01 -6.48523186e-01 7.08287363e-02 1.05790804e+02] [ 9.13005792e-02 2.06120725e-03 9.95821247e-01 1.66210060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:105.79, Z:16.62 [[-6.45698624e-01 7.61410503e-01 5.76830274e-02 1.02101024e+02] [-7.58114230e-01 -6.48267000e-01 7.08004994e-02 1.05786054e+02] [ 9.13022470e-02 1.98546115e-03 9.95821248e-01 1.66221623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:102.09, Y:105.77, Z:16.62 [[-6.44897301e-01 7.62086713e-01 5.77175321e-02 1.02085704e+02] [-7.58795648e-01 -6.47472345e-01 7.07723596e-02 1.05774769e+02] [ 9.13051807e-02 1.84509149e-03 9.95821249e-01 1.66239307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:102.08, Y:105.77, Z:16.62 [[-6.45271601e-01 7.61767181e-01 5.77522540e-02 1.02083258e+02] [-7.58477375e-01 -6.47848251e-01 7.07440142e-02 1.05771708e+02] [ 9.13051651e-02 1.84532526e-03 9.95821250e-01 1.66243134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.436875 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:102.09, Y:105.78, Z:16.62 [[-6.45015437e-01 7.61981451e-01 5.77871440e-02 1.02087275e+02] [-7.58695052e-01 -6.47596430e-01 7.07155031e-02 1.05779491e+02] [ 9.13066498e-02 1.76977094e-03 9.95821251e-01 1.66239065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.466875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.07, Y:105.75, Z:16.62 [[-6.35732645e-01 7.69740360e-01 5.78254458e-02 1.02071795e+02] [-7.66488321e-01 -6.38356798e-01 7.06841692e-02 1.05751623e+02] [ 9.13217243e-02 6.13704963e-04 9.95821252e-01 1.66183238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:105.78, Z:16.62 [[-6.45316127e-01 7.61799350e-01 5.68229392e-02 1.02083977e+02] [-7.58442283e-01 -6.47805892e-01 7.15040567e-02 1.05780662e+02] [ 9.12819787e-02 3.04580113e-03 9.95820427e-01 1.66227108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.526875 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:102.07, Y:105.77, Z:16.62 [[-6.45605894e-01 7.61472595e-01 5.79009192e-02 1.02067723e+02] [-7.58192684e-01 -6.48194894e-01 7.06203464e-02 1.05767282e+02] [ 9.13065386e-02 1.69285855e-03 9.95821395e-01 1.66245516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.556875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.06, Y:105.76, Z:16.63 [[-6.45961091e-01 7.61168679e-01 5.79353999e-02 1.02057846e+02] [-7.57890085e-01 -6.48551758e-01 7.05920479e-02 1.05758361e+02] [ 9.13065613e-02 1.69105110e-03 9.95821396e-01 1.66251535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.586875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:102.06, Y:105.77, Z:16.62 [[-6.46601977e-01 7.60620850e-01 5.79810749e-02 1.02060754e+02] [-7.57343423e-01 -6.49194117e-01 7.05545128e-02 1.05765527e+02] [ 9.13062062e-02 1.70910176e-03 9.95821397e-01 1.66246146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.616875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:102.06, Y:105.76, Z:16.63 [[-6.47030817e-01 7.60253166e-01 5.80193611e-02 1.02056541e+02] [-7.56977086e-01 -6.49624658e-01 7.05230148e-02 1.05763339e+02] [ 9.13061529e-02 1.71123696e-03 9.95821399e-01 1.66255146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:105.75, Z:16.63 [[-6.47453204e-01 7.59890573e-01 5.80574415e-02 1.02041281e+02] [-7.56615849e-01 -6.50048755e-01 7.04916517e-02 1.05750551e+02] [ 9.13061091e-02 1.71286531e-03 9.95821400e-01 1.66282156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.676875 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:102.03, Y:105.74, Z:16.63 [[-6.47958066e-01 7.59457469e-01 5.80921418e-02 1.02030591e+02] [-7.56183573e-01 -6.50554659e-01 7.04630437e-02 1.05740418e+02] [ 9.13057983e-02 1.72877426e-03 9.95821401e-01 1.66292606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.706875 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:102.05, Y:105.75, Z:16.62 [[-6.36156542e-01 7.69367056e-01 5.81307823e-02 1.02050326e+02] [-7.66136536e-01 -6.38806904e-01 7.04311517e-02 1.05752056e+02] [ 9.13217529e-02 2.69121734e-04 9.95821402e-01 1.66201720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.736875 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:102.01, Y:105.72, Z:16.63 [[-6.48379671e-01 7.59200791e-01 5.67270802e-02 1.02012671e+02] [-7.55826227e-01 -6.50846846e-01 7.15897897e-02 1.05724243e+02] [ 9.12716661e-02 3.54154937e-03 9.95819733e-01 1.66323594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.766875 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:102.03, Y:105.73, Z:16.62 [[-6.37451581e-01 7.68287797e-01 5.82180614e-02 1.02027087e+02] [-7.65059626e-01 -6.40104496e-01 7.03562617e-02 1.05729931e+02] [ 9.13195001e-02 3.08422004e-04 9.95821597e-01 1.66239431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.796875 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:102.02, Y:105.73, Z:16.63 [[-6.49408644e-01 7.58301399e-01 5.69859706e-02 1.02016222e+02] [-7.54942162e-01 -6.51895617e-01 7.13753295e-02 1.05732453e+02] [ 9.12729167e-02 3.33064414e-03 9.95820346e-01 1.66320771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:105.72, Z:16.63 [[-6.50490370e-01 7.57274372e-01 5.82906806e-02 1.02004546e+02] [-7.54006920e-01 -6.53094464e-01 7.02935741e-02 1.05721213e+02] [ 9.13008430e-02 1.77371646e-03 9.95821776e-01 1.66345265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.856875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:102.00, Y:105.72, Z:16.63 [[-6.50892777e-01 7.56925532e-01 5.83295068e-02 1.02001561e+02] [-7.53659569e-01 -6.53498736e-01 7.02613415e-02 1.05717778e+02] [ 9.13008623e-02 1.77200875e-03 9.95821778e-01 1.66343637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.886875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.99, Y:105.71, Z:16.64 [[-6.51540940e-01 7.56364677e-01 5.83684799e-02 1.01991482e+02] [-7.53099368e-01 -6.54147718e-01 7.02289505e-02 1.05706547e+02] [ 9.13003054e-02 1.79977101e-03 9.95821779e-01 1.66350381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.916875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:101.99, Y:105.70, Z:16.64 [[-6.52197113e-01 7.55795925e-01 5.84075851e-02 1.01986974e+02] [-7.52531253e-01 -6.54804686e-01 7.01964128e-02 1.05702861e+02] [ 9.12997232e-02 1.82836458e-03 9.95821780e-01 1.66357419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.946875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:101.99, Y:105.70, Z:16.63 [[-6.42684172e-01 7.63898568e-01 5.84468393e-02 1.01991478e+02] [-7.60669756e-01 -6.45336017e-01 7.01637139e-02 1.05696838e+02] [ 9.13158111e-02 6.34365338e-04 9.95821781e-01 1.66281421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97687499999998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:101.97, Y:105.69, Z:16.64 [[-6.53014973e-01 7.55165646e-01 5.74133375e-02 1.01974402e+02] [-7.51825105e-01 -6.55526130e-01 7.10246756e-02 1.05689437e+02] [ 9.12713380e-02 3.21538814e-03 9.95820870e-01 1.66365744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00687499999998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:101.96, Y:105.68, Z:16.64 [[-6.53388806e-01 7.54756071e-01 5.85349609e-02 1.01963857e+02] [-7.51496940e-01 -6.56003058e-01 7.00880642e-02 1.05678299e+02] [ 9.12985053e-02 1.80591255e-03 9.95821933e-01 1.66393801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03687499999998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:101.98, Y:105.70, Z:16.64 [[-6.52736600e-01 7.55317116e-01 5.85746146e-02 1.01979294e+02] [-7.52063204e-01 -6.55357343e-01 7.00549090e-02 1.05698250e+02] [ 9.13009756e-02 1.67559084e-03 9.95821934e-01 1.66365792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.06687499999998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:101.97, Y:105.69, Z:16.64 [[-6.51607769e-01 7.56287832e-01 5.86176684e-02 1.01974433e+02] [-7.53041063e-01 -6.54237354e-01 7.00188658e-02 1.05693009e+02] [ 9.13042845e-02 1.48332562e-03 9.95821936e-01 1.66365119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09687499999998 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:102.01, Y:105.72, Z:16.62 [[-6.35718819e-01 7.69688893e-01 5.86565547e-02 1.02009463e+02] [-7.66500576e-01 -6.38418975e-01 6.99862748e-02 1.05719703e+02] [ 9.13151159e-02 -4.68691020e-04 9.95821937e-01 1.66223287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12687499999998 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:101.99, Y:105.71, Z:16.63 [[-6.47363023e-01 7.60045471e-01 5.70263012e-02 1.01987312e+02] [-7.56694999e-01 -6.49862792e-01 7.13514520e-02 1.05709767e+02] [ 9.12896192e-02 3.03877466e-03 9.95819748e-01 1.66328560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15687499999999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:102.00, Y:105.71, Z:16.63 [[-6.34553525e-01 7.70644289e-01 5.87299175e-02 1.01999074e+02] [-7.67466090e-01 -6.37265159e-01 6.99207959e-02 1.05710009e+02] [ 9.13105923e-02 -7.04732592e-04 9.95822213e-01 1.66252781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.186875 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:101.97, Y:105.69, Z:16.64 [[-6.46705399e-01 7.60578210e-01 5.73839099e-02 1.01972913e+02] [-7.57256333e-01 -6.49241528e-01 7.10512817e-02 1.05693275e+02] [ 9.12960740e-02 2.49491823e-03 9.95820668e-01 1.66358788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.216875 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:102.00, Y:105.71, Z:16.62 [[-6.34207339e-01 7.70922822e-01 5.88137139e-02 1.01999496e+02] [-7.67752597e-01 -6.36927993e-01 6.98475528e-02 1.05710506e+02] [ 9.13071733e-02 -8.56550950e-04 9.95822407e-01 1.66249050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.246875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:101.96, Y:105.68, Z:16.64 [[-6.46861273e-01 7.60438025e-01 5.74848223e-02 1.01960106e+02] [-7.57123133e-01 -6.49406141e-01 7.09663696e-02 1.05678214e+02] [ 9.12965225e-02 2.38230744e-03 9.95820902e-01 1.66377344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:105.67, Z:16.64 [[-6.48183217e-01 7.59203286e-01 5.88972720e-02 1.01951069e+02] [-7.55990520e-01 -6.50853194e-01 6.97743091e-02 1.05669477e+02] [ 9.13063624e-02 7.00756855e-04 9.95822603e-01 1.66412373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.306875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:101.96, Y:105.68, Z:16.64 [[-6.49468061e-01 7.58101433e-01 5.89360223e-02 1.01959813e+02] [-7.54887108e-01 -6.52136159e-01 6.97415629e-02 1.05679908e+02] [ 9.13054900e-02 8.04874181e-04 9.95822605e-01 1.66397616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.336875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:101.97, Y:105.68, Z:16.63 [[-6.38572298e-01 7.67298499e-01 5.89782436e-02 1.01970702e+02] [-7.64125900e-01 -6.41289876e-01 6.97058395e-02 1.05677556e+02] [ 9.13073366e-02 -5.54585297e-04 9.95822606e-01 1.66297958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.366875 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:101.92, Y:105.63, Z:16.64 [[-6.51690249e-01 7.56287696e-01 5.76952348e-02 1.01924044e+02] [-7.52972008e-01 -6.54233656e-01 7.07917945e-02 1.05634760e+02] [ 9.12851275e-02 2.69142539e-03 9.95821160e-01 1.66408434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.396875 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:101.94, Y:105.65, Z:16.64 [[-6.52245111e-01 7.55703056e-01 5.90695109e-02 1.01938328e+02] [-7.52489367e-01 -6.54913706e-01 6.96260778e-02 1.05651540e+02] [ 9.13020720e-02 9.64090007e-04 9.95822777e-01 1.66394051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.426875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:101.96, Y:105.67, Z:16.63 [[-6.40833894e-01 7.65400308e-01 5.91125152e-02 1.01962805e+02] [-7.62230372e-01 -6.43554314e-01 6.95895481e-02 1.05665579e+02] [ 9.13059758e-02 -4.62013340e-04 9.95822778e-01 1.66277617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.456875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:101.95, Y:105.65, Z:16.63 [[-6.43255666e-01 7.63464928e-01 5.78225913e-02 1.01952513e+02] [-7.60187210e-01 -6.45847518e-01 7.06851434e-02 1.05654494e+02] [ 9.13102050e-02 1.51262460e-03 9.95821349e-01 1.66302584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.486875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:101.94, Y:105.65, Z:16.64 [[-6.53322887e-01 7.54844862e-01 5.81243474e-02 1.01940694e+02] [-7.51555736e-01 -6.55899238e-01 7.04284403e-02 1.05654045e+02] [ 9.12862615e-02 2.32882529e-03 9.95821970e-01 1.66409859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:105.64, Z:16.64 [[-6.53279232e-01 7.54794978e-01 5.92518971e-02 1.01930301e+02] [-7.51592002e-01 -6.55960230e-01 6.94668257e-02 1.05641974e+02] [ 9.13000992e-02 8.47982565e-04 9.95823063e-01 1.66434626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.546875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:101.94, Y:105.64, Z:16.63 [[-6.42124506e-01 7.64304116e-01 5.92902818e-02 1.01939607e+02] [-7.61143869e-01 -6.44855739e-01 6.94340489e-02 1.05637571e+02] [ 9.13024078e-02 -5.43130087e-04 9.95823064e-01 1.66336838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.576875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.94, Y:105.65, Z:16.64 [[-6.53434626e-01 7.54747990e-01 5.81262563e-02 1.01937874e+02] [-7.51458527e-01 -6.56010666e-01 7.04278934e-02 1.05647563e+02] [ 9.12867551e-02 2.34055326e-03 9.95821897e-01 1.66412330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:105.65, Z:16.64 [[-6.53798661e-01 7.54335305e-01 5.93764146e-02 1.01944339e+02] [-7.51140335e-01 -6.56488912e-01 6.93578102e-02 1.05654634e+02] [ 9.12990027e-02 7.46023512e-04 9.95823245e-01 1.66414404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:105.60, Z:16.65 [[-6.54186522e-01 7.53995709e-01 5.94177170e-02 1.01901617e+02] [-7.50802557e-01 -6.56878927e-01 6.93224092e-02 1.05603736e+02] [ 9.12990453e-02 7.38811902e-04 9.95823247e-01 1.66476661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:105.65, Z:16.64 [[-6.54522288e-01 7.53701796e-01 5.94489439e-02 1.01943344e+02] [-7.50509867e-01 -6.57216142e-01 6.92956196e-02 1.05649707e+02] [ 9.12990385e-02 7.38508500e-04 9.95823247e-01 1.66414166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.696875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.94, Y:105.64, Z:16.64 [[-6.54941668e-01 7.53334084e-01 5.94909126e-02 1.01936608e+02] [-7.50143915e-01 -6.57637604e-01 6.92595705e-02 1.05640755e+02] [ 9.12990564e-02 7.34232573e-04 9.95823249e-01 1.66412588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:105.64, Z:16.64 [[-6.55000917e-01 7.53279612e-01 5.95283548e-02 1.01939633e+02] [-7.50092144e-01 -6.57700043e-01 6.92273743e-02 1.05642635e+02] [ 9.12993712e-02 6.92242352e-04 9.95823250e-01 1.66412819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:105.62, Z:16.64 [[-6.55703518e-01 7.52665144e-01 5.95657497e-02 1.01923712e+02] [-7.49478069e-01 -6.58403107e-01 6.91951835e-02 1.05622581e+02] [ 9.12990774e-02 7.28302217e-04 9.95823251e-01 1.66440520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78687499999998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.92, Y:105.62, Z:16.65 [[-6.56452629e-01 7.52009183e-01 5.95997979e-02 1.01918871e+02] [-7.48822073e-01 -6.59152175e-01 6.91658445e-02 1.05616175e+02] [ 9.12986866e-02 7.74456221e-04 9.95823252e-01 1.66458080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81687499999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.92, Y:105.61, Z:16.65 [[-6.57571934e-01 7.51027626e-01 5.96377109e-02 1.01916856e+02] [-7.47839451e-01 -6.60270221e-01 6.91331390e-02 1.05612966e+02] [ 9.12979018e-02 8.60579038e-04 9.95823254e-01 1.66469951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:105.60, Z:16.65 [[-6.58970270e-01 7.49797402e-01 5.96828290e-02 1.01909648e+02] [-7.46607717e-01 -6.61666769e-01 6.90941666e-02 1.05603083e+02] [ 9.12967713e-02 9.71340875e-04 9.95823255e-01 1.66480016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:105.59, Z:16.65 [[-6.62012649e-01 7.47109550e-01 5.97207900e-02 1.01903523e+02] [-7.43911878e-01 -6.64699669e-01 6.90613401e-02 1.05592834e+02] [ 9.12927760e-02 1.29247568e-03 9.95823257e-01 1.66474426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:105.58, Z:16.65 [[-6.64175425e-01 7.45184457e-01 5.97589347e-02 1.01896036e+02] [-7.41981965e-01 -6.66856697e-01 6.90283177e-02 1.05582625e+02] [ 9.12894753e-02 1.50686036e-03 9.95823258e-01 1.66480029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:105.58, Z:16.65 [[-6.66409473e-01 7.43184451e-01 5.97936949e-02 1.01893027e+02] [-7.39976613e-01 -6.69084346e-01 6.89981948e-02 1.05577383e+02] [ 9.12854107e-02 1.73511483e-03 9.95823259e-01 1.66474238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:105.58, Z:16.65 [[-6.68507901e-01 7.41294630e-01 5.98285734e-02 1.01894550e+02] [-7.38081935e-01 -6.71176937e-01 6.89679383e-02 1.05577696e+02] [ 9.12811209e-02 1.94722244e-03 9.95823260e-01 1.66466525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:105.56, Z:16.65 [[-6.71776661e-01 7.38330882e-01 5.98633973e-02 1.01884644e+02] [-7.35109105e-01 -6.74434724e-01 6.89376985e-02 1.05564701e+02] [ 9.12727856e-02 2.30460849e-03 9.95823261e-01 1.66490511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.026875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.89, Y:105.56, Z:16.64 [[-6.64938128e-01 7.44492475e-01 5.99019150e-02 1.01892141e+02] [-7.41298353e-01 -6.67629359e-01 6.89042132e-02 1.05562682e+02] [ 9.12909454e-02 1.41184763e-03 9.95823262e-01 1.66430356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.056875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.88, Y:105.56, Z:16.65 [[-6.72089274e-01 7.38109501e-01 5.90793736e-02 1.01882300e+02] [-7.34826639e-01 -6.74672482e-01 6.96193329e-02 1.05559930e+02] [ 9.12459187e-02 3.37730940e-03 9.95822663e-01 1.66488207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.086875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.88, Y:105.55, Z:16.65 [[-6.71653447e-01 7.38434803e-01 5.99640611e-02 1.01877622e+02] [-7.35221351e-01 -6.74321433e-01 6.88488962e-02 1.05554037e+02] [ 9.12754726e-02 2.15574049e-03 9.95823348e-01 1.66528201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:105.55, Z:16.65 [[-6.65552208e-01 7.43935729e-01 5.99990799e-02 1.01885661e+02] [-7.40747087e-01 -6.68249793e-01 6.88183652e-02 1.05553853e+02] [ 9.12908135e-02 1.35807125e-03 9.95823349e-01 1.66489400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.146875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.88, Y:105.55, Z:16.65 [[-6.71664610e-01 7.38474083e-01 5.93521650e-02 1.01879254e+02] [-7.35213447e-01 -6.74275341e-01 6.93826484e-02 1.05553697e+02] [ 9.12569889e-02 2.96535964e-03 9.95822960e-01 1.66544857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:105.56, Z:16.65 [[-6.71844417e-01 7.38252273e-01 6.00721291e-02 1.01883434e+02] [-7.35046596e-01 -6.74521636e-01 6.87536496e-02 1.05556510e+02] [ 9.12774888e-02 2.03594161e-03 9.95823416e-01 1.66537690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.206875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.87, Y:105.54, Z:16.65 [[-6.72163211e-01 7.37958917e-01 6.01103539e-02 1.01872619e+02] [-7.34755058e-01 -6.74842602e-01 6.87202140e-02 1.05542702e+02] [ 9.12777223e-02 2.02481317e-03 9.95823417e-01 1.66535918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.236875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.87, Y:105.54, Z:16.65 [[-6.72583729e-01 7.37572260e-01 6.01522146e-02 1.01870416e+02] [-7.34370134e-01 -6.75265189e-01 6.86835531e-02 1.05539671e+02] [ 9.12777800e-02 2.02145034e-03 9.95823418e-01 1.66522766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:105.54, Z:16.64 [[-6.63989568e-01 7.45315623e-01 6.01870008e-02 1.01884248e+02] [-7.42147544e-01 -6.66711167e-01 6.86530567e-02 1.05543519e+02] [ 9.12955413e-02 9.17278602e-04 9.95823419e-01 1.66425697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.296875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.88, Y:105.54, Z:16.64 [[-6.65215500e-01 7.44298178e-01 5.92331061e-02 1.01878501e+02] [-7.41050899e-01 -6.67843388e-01 6.94893888e-02 1.05536557e+02] [ 9.12792637e-02 2.33067204e-03 9.95822607e-01 1.66422674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.326875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.88, Y:105.53, Z:16.64 [[-6.65622178e-01 7.43938634e-01 5.91812881e-02 1.01875977e+02] [-7.40685895e-01 -6.68243451e-01 6.95348496e-02 1.05533594e+02] [ 9.12771693e-02 2.44919270e-03 9.95822514e-01 1.66425880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:105.54, Z:16.65 [[-6.74096343e-01 7.36266312e-01 5.92118116e-02 1.01872450e+02] [-7.32986112e-01 -6.76683080e-01 6.95080454e-02 1.05539245e+02] [ 9.12440632e-02 3.45368359e-03 9.95822571e-01 1.66480744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.386875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.87, Y:105.54, Z:16.65 [[-6.73714897e-01 7.36524992e-01 6.03255669e-02 1.01874753e+02] [-7.33332623e-01 -6.76407580e-01 6.85277306e-02 1.05542321e+02] [ 9.12770569e-02 1.92944676e-03 9.95823667e-01 1.66486535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.416875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:101.88, Y:105.54, Z:16.65 [[-6.73179877e-01 7.37010944e-01 6.03632469e-02 1.01875700e+02] [-7.33823494e-01 -6.75878377e-01 6.84945240e-02 1.05543559e+02] [ 9.12794271e-02 1.81316650e-03 9.95823668e-01 1.66494696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:105.54, Z:16.64 [[-6.61928431e-01 7.47129796e-01 6.03971929e-02 1.01883949e+02] [-7.43986345e-01 -6.64678058e-01 6.84645780e-02 1.05542892e+02] [ 9.12966151e-02 3.83963876e-04 9.95823669e-01 1.66437009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:105.54, Z:16.65 [[-6.69974751e-01 7.40005001e-01 5.93837610e-02 1.01870837e+02] [-7.36752461e-01 -6.72595878e-01 6.93584601e-02 1.05539519e+02] [ 9.12668802e-02 2.71728493e-03 9.95822762e-01 1.66525271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50687499999998 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:101.89, Y:105.55, Z:16.65 [[-6.61241395e-01 7.47732212e-01 6.04678143e-02 1.01885606e+02] [-7.44597145e-01 -6.64000375e-01 6.84002530e-02 1.05546727e+02] [ 9.12957238e-02 2.04916837e-04 9.95823804e-01 1.66464288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53687499999998 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:101.89, Y:105.55, Z:16.64 [[-6.57522317e-01 7.51068812e-01 5.96660972e-02 1.01889348e+02] [-7.47882986e-01 -6.60223426e-01 6.91090934e-02 1.05550416e+02] [ 9.12986397e-02 8.17512234e-04 9.95823222e-01 1.66446661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:105.54, Z:16.65 [[-6.62531956e-01 7.46650323e-01 5.97051320e-02 1.01875756e+02] [-7.43449598e-01 -6.65215304e-01 6.90745508e-02 1.05544612e+02] [ 9.12913032e-02 1.37634085e-03 9.95823279e-01 1.66515313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:105.53, Z:16.65 [[-6.60259617e-01 7.48591680e-01 6.05618315e-02 1.01857934e+02] [-7.45468003e-01 -6.63031293e-01 6.83151611e-02 1.05525465e+02] [ 9.12945506e-02 -4.11654570e-05 9.95823932e-01 1.66549681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.87, Y:105.54, Z:16.65 [[-6.58102427e-01 7.50485826e-01 6.05988465e-02 1.01869859e+02] [-7.47373151e-01 -6.60886450e-01 6.82823113e-02 1.05539748e+02] [ 9.12938634e-02 -3.53196046e-04 9.95823933e-01 1.66547152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65687499999999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:101.87, Y:105.53, Z:16.66 [[-6.53637745e-01 7.54374572e-01 6.06358289e-02 1.01865996e+02] [-7.51281504e-01 -6.56443534e-01 6.82494547e-02 1.05534556e+02] [ 9.12896510e-02 -9.44157172e-04 9.95823934e-01 1.66558048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:105.55, Z:16.65 [[-6.52169643e-01 7.55641189e-01 6.06724896e-02 1.01877739e+02] [-7.52556601e-01 -6.54984751e-01 6.82168486e-02 1.05546576e+02] [ 9.12870160e-02 -1.17052475e-03 9.95823936e-01 1.66542121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:105.54, Z:16.65 [[-6.51011471e-01 7.56636305e-01 6.07088625e-02 1.01874624e+02] [-7.53559038e-01 -6.53834578e-01 6.81844637e-02 1.05541267e+02] [ 9.12843942e-02 -1.35884397e-03 9.95823937e-01 1.66539902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:105.54, Z:16.65 [[-6.50504790e-01 7.57069335e-01 6.07415808e-02 1.01871781e+02] [-7.53996668e-01 -6.53332901e-01 6.81553045e-02 1.05536302e+02] [ 9.12827643e-02 -1.46359747e-03 9.95823938e-01 1.66537357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.776875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.87, Y:105.53, Z:16.65 [[-6.49947917e-01 7.57544570e-01 6.07777068e-02 1.01872283e+02] [-7.54476981e-01 -6.52781534e-01 6.81230739e-02 1.05532947e+02] [ 9.12808294e-02 -1.57893078e-03 9.95823939e-01 1.66530083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:105.52, Z:16.66 [[-6.50996824e-01 7.56640482e-01 6.08137920e-02 1.01860358e+02] [-7.53571965e-01 -6.53829435e-01 6.80908454e-02 1.05518078e+02] [ 9.12821373e-02 -1.50064474e-03 9.95823940e-01 1.66554230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:105.52, Z:16.66 [[-6.53191290e-01 7.54743664e-01 6.08534325e-02 1.01866673e+02] [-7.51670221e-01 -6.56018553e-01 6.80554000e-02 1.05521721e+02] [ 9.12853627e-02 -1.28851852e-03 9.95823941e-01 1.66564713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:105.51, Z:16.66 [[-6.55134552e-01 7.53054833e-01 6.08862686e-02 1.01861143e+02] [-7.49976831e-01 -6.57956849e-01 6.80260104e-02 1.05513059e+02] [ 9.12878533e-02 -1.09710098e-03 9.95823942e-01 1.66574555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:105.51, Z:16.66 [[-6.57295177e-01 7.51167040e-01 6.09190304e-02 1.01864734e+02] [-7.48083651e-01 -6.60111586e-01 6.79966588e-02 1.05514222e+02] [ 9.12902067e-02 -8.78654859e-04 9.95823943e-01 1.66567073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:105.51, Z:16.66 [[-6.59578011e-01 7.49160409e-01 6.09551384e-02 1.01862045e+02] [-7.46071442e-01 -6.62388301e-01 6.79642747e-02 1.05508780e+02] [ 9.12921144e-02 -6.49146856e-04 9.95823945e-01 1.66560663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:105.50, Z:16.66 [[-6.64493549e-01 7.44800916e-01 6.09911394e-02 1.01856762e+02] [-7.41696477e-01 -6.67286735e-01 6.79319522e-02 1.05499022e+02] [ 9.12943585e-02 -9.65692104e-05 9.95823946e-01 1.66571908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.986875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.86, Y:105.50, Z:16.66 [[-6.67136703e-01 7.42431619e-01 6.10238436e-02 1.01855506e+02] [-7.39319948e-01 -6.69921829e-01 6.79025612e-02 1.05495939e+02] [ 9.12942134e-02 1.84146000e-04 9.95823947e-01 1.66582074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:105.47, Z:16.66 [[-6.69740070e-01 7.40081299e-01 6.10566059e-02 1.01837016e+02] [-7.36962540e-01 -6.72517255e-01 6.78730893e-02 1.05473703e+02] [ 9.12932251e-02 4.60896237e-04 9.95823948e-01 1.66614851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:105.47, Z:16.66 [[-6.72737140e-01 7.37355550e-01 6.10862756e-02 1.01832998e+02] [-7.34227964e-01 -6.75504379e-01 6.78463760e-02 1.05467438e+02] [ 9.12909485e-02 7.91525198e-04 9.95823948e-01 1.66625280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.076875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.84, Y:105.47, Z:16.66 [[-6.78091566e-01 7.32431712e-01 6.11196852e-02 1.01838000e+02] [-7.29286747e-01 -6.80839037e-01 6.78162655e-02 1.05469588e+02] [ 9.12834511e-02 1.41186129e-03 9.95823949e-01 1.66609423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:105.47, Z:16.66 [[-6.80860381e-01 7.29855775e-01 6.11530047e-02 1.01839845e+02] [-7.26703114e-01 -6.83599016e-01 6.77862066e-02 1.05470147e+02] [ 9.12782882e-02 1.71286348e-03 9.95823950e-01 1.66606361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:105.45, Z:16.66 [[-6.83264402e-01 7.27602923e-01 6.11861365e-02 1.01824086e+02] [-7.24443910e-01 -6.85995705e-01 6.77562877e-02 1.05451367e+02] [ 9.12730998e-02 1.96953547e-03 9.95823951e-01 1.66633106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:105.44, Z:16.66 [[-6.86952695e-01 7.24119184e-01 6.12160312e-02 1.01817786e+02] [-7.20948727e-01 -6.89670704e-01 6.77292679e-02 1.05442664e+02] [ 9.12629656e-02 2.39318332e-03 9.95823952e-01 1.66630048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:105.46, Z:16.66 [[-6.88538479e-01 7.22608341e-01 6.12531558e-02 1.01830648e+02] [-7.19434902e-01 -6.91253005e-01 6.76956765e-02 1.05456317e+02] [ 9.12588885e-02 2.54341997e-03 9.95823953e-01 1.66609379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:105.44, Z:16.66 [[-6.89651327e-01 7.21543487e-01 6.12865666e-02 1.01820823e+02] [-7.18368541e-01 -6.92364089e-01 6.76654155e-02 1.05444619e+02] [ 9.12561577e-02 2.63920218e-03 9.95823954e-01 1.66606082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:105.44, Z:16.66 [[-6.90396125e-01 7.20828335e-01 6.13164104e-02 1.01821235e+02] [-7.17652977e-01 -6.93108402e-01 6.76383613e-02 1.05444911e+02] [ 9.12545666e-02 2.69335813e-03 9.95823955e-01 1.66596210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28687499999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.81, Y:105.43, Z:16.66 [[-6.90953554e-01 7.20291478e-01 6.13463428e-02 1.01807988e+02] [-7.17116418e-01 -6.93666179e-01 6.76112025e-02 1.05431609e+02] [ 9.12536562e-02 2.72373104e-03 9.95823956e-01 1.66609921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:105.44, Z:16.66 [[-6.90811648e-01 7.20425017e-01 6.13763977e-02 1.01815293e+02] [-7.17252902e-01 -6.93527714e-01 6.75839082e-02 1.05440608e+02] [ 9.12553710e-02 2.66535169e-03 9.95823957e-01 1.66596895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:105.44, Z:16.66 [[-6.90057942e-01 7.21144135e-01 6.14098790e-02 1.01815427e+02] [-7.17977553e-01 -6.92780457e-01 6.75534720e-02 1.05441867e+02] [ 9.12593541e-02 2.52489525e-03 9.95823958e-01 1.66604325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:105.45, Z:16.66 [[-6.89328260e-01 7.21839120e-01 6.14396842e-02 1.01817687e+02] [-7.18677696e-01 -6.92056761e-01 6.75263535e-02 1.05445854e+02] [ 9.12629124e-02 2.39249312e-03 9.95823959e-01 1.66596763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:105.44, Z:16.66 [[-6.86584735e-01 7.24446344e-01 6.14727249e-02 1.01812091e+02] [-7.21297974e-01 -6.89328287e-01 6.74962615e-02 1.05444030e+02] [ 9.12723080e-02 2.00175092e-03 9.95823960e-01 1.66616981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:105.44, Z:16.66 [[-6.85232128e-01 7.25723362e-01 6.15022951e-02 1.01805463e+02] [-7.22582522e-01 -6.87984296e-01 6.74693066e-02 1.05438523e+02] [ 9.12766652e-02 1.79165310e-03 9.95823961e-01 1.66635837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:105.44, Z:16.66 [[-6.84326553e-01 7.26574548e-01 6.15353205e-02 1.01805773e+02] [-7.23439838e-01 -6.87085699e-01 6.74391725e-02 1.05440442e+02] [ 9.12796250e-02 1.63331408e-03 9.95823962e-01 1.66630488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.496875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.80, Y:105.44, Z:16.67 [[-6.82150183e-01 7.28614868e-01 6.15751693e-02 1.01798962e+02] [-7.25491696e-01 -6.84922380e-01 6.74027692e-02 1.05435488e+02] [ 9.12848713e-02 1.30653740e-03 9.95823963e-01 1.66650201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:105.43, Z:16.67 [[-6.80989710e-01 7.29696826e-01 6.16081008e-02 1.01795766e+02] [-7.26580780e-01 -6.83769914e-01 6.73726555e-02 1.05433120e+02] [ 9.12873786e-02 1.11682315e-03 9.95823964e-01 1.66661659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:105.42, Z:16.67 [[-6.80011462e-01 7.30605770e-01 6.16410662e-02 1.01784312e+02] [-7.27496174e-01 -6.82798877e-01 6.73424811e-02 1.05421679e+02] [ 9.12892561e-02 9.50019185e-04 9.95823965e-01 1.66674555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:105.43, Z:16.67 [[-6.79013356e-01 7.31530117e-01 6.16810329e-02 1.01790717e+02] [-7.28427642e-01 -6.81808692e-01 6.73058547e-02 1.05429691e+02] [ 9.12909241e-02 7.71404934e-04 9.95823966e-01 1.66655651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:105.44, Z:16.67 [[-6.76634048e-01 7.33728657e-01 6.17140524e-02 1.01795782e+02] [-7.30638026e-01 -6.79442472e-01 6.72755650e-02 1.05437732e+02] [ 9.12931582e-02 4.30304405e-04 9.95823967e-01 1.66654416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:105.44, Z:16.66 [[-6.75620160e-01 7.34659326e-01 6.17500984e-02 1.01794412e+02] [-7.31575588e-01 -6.78436150e-01 6.72424633e-02 1.05437238e+02] [ 9.12938018e-02 2.55499293e-04 9.95823969e-01 1.66649590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:105.43, Z:16.67 [[-6.74845875e-01 7.35367910e-01 6.17825419e-02 1.01784482e+02] [-7.32289859e-01 -6.77668078e-01 6.72126410e-02 1.05426989e+02] [ 9.12940758e-02 1.15444637e-04 9.95823970e-01 1.66666340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:105.41, Z:16.67 [[-6.74059104e-01 7.36086423e-01 6.18150658e-02 1.01771581e+02] [-7.33014124e-01 -6.76887566e-01 6.71827158e-02 1.05412984e+02] [ 9.12941344e-02 -2.61950642e-05 9.95823971e-01 1.66682300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:105.43, Z:16.67 [[-6.72784636e-01 7.37249001e-01 6.18445210e-02 1.01784428e+02] [-7.34184082e-01 -6.75621093e-01 6.71555902e-02 1.05425965e+02] [ 9.12938546e-02 -2.24013540e-04 9.95823971e-01 1.66676554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:105.42, Z:16.67 [[-6.73055429e-01 7.36998763e-01 6.18806364e-02 1.01778106e+02] [-7.33935850e-01 -6.75894049e-01 6.71222952e-02 1.05418613e+02] [ 9.12938025e-02 -2.39392343e-04 9.95823973e-01 1.66691295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:105.42, Z:16.67 [[-6.73738866e-01 7.36371308e-01 6.19131412e-02 1.01782433e+02] [-7.33308507e-01 -6.76577606e-01 6.70922997e-02 1.05422511e+02] [ 9.12938894e-02 -1.98743175e-04 9.95823974e-01 1.66701243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:105.41, Z:16.67 [[-6.76287570e-01 7.34028236e-01 6.19489421e-02 1.01773566e+02] [-7.30958628e-01 -6.79118947e-01 6.70592272e-02 1.05411270e+02] [ 9.12940666e-02 6.92080382e-05 9.95823975e-01 1.66727953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.856875 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:101.78, Y:105.41, Z:16.67 [[-6.77983619e-01 7.32458661e-01 6.19880780e-02 1.01775884e+02] [-7.29385807e-01 -6.80811471e-01 6.70230315e-02 1.05411544e+02] [ 9.12937945e-02 2.27293178e-04 9.95823976e-01 1.66724208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:105.41, Z:16.67 [[-6.80193629e-01 7.30404056e-01 6.20204996e-02 1.01773629e+02] [-7.27325396e-01 -6.83015157e-01 6.69930165e-02 1.05406776e+02] [ 9.12929122e-02 4.59138619e-04 9.95823977e-01 1.66723120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:105.39, Z:16.67 [[-6.82593478e-01 7.28159040e-01 6.20528575e-02 1.01760293e+02] [-7.25073825e-01 -6.85407835e-01 6.69630314e-02 1.05389448e+02] [ 9.12912514e-02 7.15625674e-04 9.95823978e-01 1.66736240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:105.37, Z:16.67 [[-6.82887376e-01 7.27880929e-01 6.20820857e-02 1.01751971e+02] [-7.24797032e-01 -6.85703176e-01 6.69359228e-02 1.05368956e+02] [ 9.12912650e-02 7.12785283e-04 9.95823979e-01 1.66673004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97687499999998 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:101.34, Y:104.93, Z:16.72 [[-6.91849324e-01 7.19384096e-01 6.18953615e-02 1.01340510e+02] [-7.16250077e-01 -6.94609332e-01 6.71096338e-02 1.04930816e+02] [ 9.12706989e-02 2.09719734e-03 9.95823911e-01 1.67233925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:104.69, Z:17.21 [[-6.12230597e-01 -7.88252917e-01 -6.18953615e-02 1.02450715e+02] [-7.85427033e-01 6.15305349e-01 -6.71096338e-02 1.04689353e+02] [ 9.09839116e-02 7.52771898e-03 -9.95823911e-01 1.72112565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:105.28, Z:16.68 [[-6.45046413e-01 7.61987189e-01 5.73641829e-02 1.01615325e+02] [-7.58695394e-01 -6.47588572e-01 7.07837618e-02 1.05278658e+02] [ 9.10847089e-02 2.13687033e-03 9.95840856e-01 1.66807219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:105.27, Z:16.68 [[-6.46766833e-01 7.60525115e-01 5.73952291e-02 1.01609593e+02] [-7.57229805e-01 -6.49304432e-01 7.07585790e-02 1.05270419e+02] [ 9.10806531e-02 2.30292395e-03 9.95840856e-01 1.66815217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:105.28, Z:16.68 [[-6.48115416e-01 7.59373551e-01 5.74301121e-02 1.01617277e+02] [-7.56076237e-01 -6.50650409e-01 7.07302555e-02 1.05278483e+02] [ 9.10776112e-02 2.41982587e-03 9.95840857e-01 1.66806160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.25, Z:16.68 [[-6.49456887e-01 7.58223939e-01 5.74648643e-02 1.01594500e+02] [-7.54924632e-01 -6.51989284e-01 7.07020100e-02 1.05250444e+02] [ 9.10744322e-02 2.53626580e-03 9.95840858e-01 1.66837470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:105.27, Z:16.68 [[-6.50378287e-01 7.57431089e-01 5.74998255e-02 1.01611576e+02] [-7.54131204e-01 -6.52909929e-01 7.06735657e-02 1.05271091e+02] [ 9.10725628e-02 2.60214005e-03 9.95840859e-01 1.66810013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:105.26, Z:16.68 [[-6.50643826e-01 7.57200068e-01 5.75384083e-02 1.01606522e+02] [-7.53902057e-01 -6.53177906e-01 7.06421399e-02 1.05264701e+02] [ 9.10730502e-02 2.58454781e-03 9.95840861e-01 1.66819973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:105.26, Z:16.68 [[-6.51051922e-01 7.56846580e-01 5.75729879e-02 1.01603554e+02] [-7.53549680e-01 -6.53587446e-01 7.06139466e-02 1.05261012e+02] [ 9.10729061e-02 2.58923905e-03 9.95840862e-01 1.66824532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:105.26, Z:16.68 [[-6.51448797e-01 7.56502091e-01 5.76112034e-02 1.01601709e+02] [-7.53206602e-01 -6.53986153e-01 7.05827544e-02 1.05258517e+02] [ 9.10729306e-02 2.58791169e-03 9.95840863e-01 1.66826604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.24, Z:16.68 [[-6.51549415e-01 7.56412798e-01 5.76458050e-02 1.01588897e+02] [-7.53119457e-01 -6.54089557e-01 7.05544837e-02 1.05242875e+02] [ 9.10738334e-02 2.55555515e-03 9.95840864e-01 1.66843120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:105.26, Z:16.68 [[-6.44592326e-01 7.62347751e-01 5.76770287e-02 1.01610973e+02] [-7.59080092e-01 -6.47165420e-01 7.05289497e-02 1.05263174e+02] [ 9.10941647e-02 1.68093555e-03 9.95840865e-01 1.66759979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:105.26, Z:16.68 [[-6.50688684e-01 7.57206235e-01 5.69469434e-02 1.01599387e+02] [-7.53865777e-01 -6.53167277e-01 7.11259360e-02 1.05256658e+02] [ 9.10528822e-02 3.35048994e-03 9.95840422e-01 1.66814093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.25, Z:16.68 [[-6.50340732e-01 7.57445084e-01 5.77397332e-02 1.01594968e+02] [-7.54162687e-01 -6.52894867e-01 7.04764838e-02 1.05252146e+02] [ 9.10800416e-02 2.28857572e-03 9.95840945e-01 1.66832802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.24, Z:16.68 [[-6.49673352e-01 7.58014967e-01 5.77740905e-02 1.01584236e+02] [-7.54737312e-01 -6.52233567e-01 7.04483078e-02 1.05239628e+02] [ 9.10830728e-02 2.16412648e-03 9.95840946e-01 1.66842902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.24, Z:16.68 [[-6.47490139e-01 7.59878071e-01 5.78086261e-02 1.01582185e+02] [-7.56610311e-01 -6.50062972e-01 7.04199571e-02 1.05239121e+02] [ 9.10898284e-02 1.85762527e-03 9.95840947e-01 1.66845139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.23, Z:16.68 [[-6.43199740e-01 7.63510478e-01 5.78432771e-02 1.01580829e+02] [-7.60259810e-01 -6.45794132e-01 7.03914833e-02 1.05233394e+02] [ 9.10994839e-02 1.29986497e-03 9.95840948e-01 1.66819978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.24, Z:16.68 [[-6.45126702e-01 7.61903788e-01 5.75687061e-02 1.01582762e+02] [-7.58626480e-01 -6.47687477e-01 7.06172525e-02 1.05241232e+02] [ 9.10900822e-02 1.88393038e-03 9.95840875e-01 1.66841462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.24, Z:16.69 [[-6.43014787e-01 7.63661054e-01 5.79118116e-02 1.01579679e+02] [-7.60416098e-01 -6.45616279e-01 7.03347601e-02 1.05239303e+02] [ 9.11007253e-02 1.18921699e-03 9.95840973e-01 1.66854452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:105.22, Z:16.69 [[-6.42373754e-01 7.64197484e-01 5.79496784e-02 1.01565080e+02] [-7.60957514e-01 -6.44981452e-01 7.03035474e-02 1.05221521e+02] [ 9.11022618e-02 1.06391051e-03 9.95840974e-01 1.66874202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.576875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:101.58, Y:105.24, Z:16.68 [[-6.37134124e-01 7.68568760e-01 5.79842074e-02 1.01584470e+02] [-7.65349275e-01 -6.39767070e-01 7.02750575e-02 1.05238970e+02] [ 9.11076003e-02 3.96466138e-04 9.95840975e-01 1.66807224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:105.23, Z:16.69 [[-6.41099954e-01 7.65300516e-01 5.74975639e-02 1.01574479e+02] [-7.62031432e-01 -6.43671409e-01 7.06768276e-02 1.05232430e+02] [ 9.10985506e-02 1.49595988e-03 9.95840758e-01 1.66858031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:105.23, Z:16.69 [[-6.40612961e-01 7.65666339e-01 5.80524825e-02 1.01574562e+02] [-7.62440086e-01 -6.43237543e-01 7.02180817e-02 1.05232287e+02] [ 9.11051578e-02 7.21073515e-04 9.95841017e-01 1.66853487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:105.22, Z:16.69 [[-6.39417925e-01 7.66661494e-01 5.80936326e-02 1.01567657e+02] [-7.63442419e-01 -6.42051304e-01 7.01840207e-02 1.05223801e+02] [ 9.11064787e-02 5.25777552e-04 9.95841018e-01 1.66862638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:105.22, Z:16.69 [[-6.39574808e-01 7.66527214e-01 5.81385823e-02 1.01566178e+02] [-7.63310971e-01 -6.42211642e-01 7.01467659e-02 1.05221509e+02] [ 9.11066795e-02 4.86286592e-04 9.95841020e-01 1.66870941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:105.21, Z:16.69 [[-6.39530032e-01 7.66558208e-01 5.82224367e-02 1.01559828e+02] [-7.63348430e-01 -6.42174723e-01 7.00770976e-02 1.05213237e+02] [ 9.11071515e-02 3.72402819e-04 9.95841026e-01 1.66887330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.20, Z:16.69 [[-6.40491927e-01 7.65752106e-01 5.82563604e-02 1.01553338e+02] [-7.62541565e-01 -6.43135690e-01 7.00488849e-02 1.05203158e+02] [ 9.11068257e-02 4.42849110e-04 9.95841027e-01 1.66917017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.20, Z:16.69 [[-6.42111552e-01 7.64391901e-01 5.82904458e-02 1.01554052e+02] [-7.61178334e-01 -6.44751636e-01 7.00205097e-02 1.05203030e+02] [ 9.11059708e-02 5.91553778e-04 9.95841028e-01 1.66926870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.19, Z:16.69 [[-6.39872343e-01 7.66264457e-01 5.83280882e-02 1.01551595e+02] [-7.63061476e-01 -6.42525256e-01 6.99891392e-02 1.05194100e+02] [ 9.11074596e-02 2.76197472e-04 9.95841029e-01 1.66896180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.20, Z:16.69 [[-6.46198081e-01 7.60967220e-01 5.79390262e-02 1.01551768e+02] [-7.57713323e-01 -6.48788512e-01 7.03134915e-02 1.05197715e+02] [ 9.10964368e-02 1.53527117e-03 9.95840892e-01 1.66938747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.19, Z:16.69 [[-6.51035641e-01 7.56797715e-01 5.83935989e-02 1.01545792e+02] [-7.53561115e-01 -6.53647374e-01 6.99339524e-02 1.05186491e+02] [ 9.10946779e-02 1.52635008e-03 9.95841067e-01 1.66940754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.18, Z:16.69 [[-6.48864126e-01 7.58657187e-01 5.84347350e-02 1.01547432e+02] [-7.55431166e-01 -6.51488913e-01 6.98995635e-02 1.05180047e+02] [ 9.10993882e-02 1.21189925e-03 9.95841068e-01 1.66871363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.936875 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:101.23, Y:104.80, Z:16.74 [[-6.56413078e-01 7.52152721e-01 5.82078681e-02 1.01227727e+02] [-7.48883830e-01 -6.58984403e-01 7.00897001e-02 1.04802530e+02] [ 9.10762359e-02 2.41686461e-03 9.95840990e-01 1.67356050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.966875 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:101.94, Y:104.12, Z:17.29 [[-5.64834951e-01 -8.23148420e-01 -5.82078681e-02 1.01940658e+02] [-8.20199504e-01 5.67767741e-01 -7.00897001e-02 1.04115892e+02] [ 9.07427757e-02 8.15295216e-03 -9.95840990e-01 1.72893023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.996875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:101.14, Y:104.73, Z:16.74 [[-6.07821883e-01 7.92281725e-01 5.33125478e-02 1.01144001e+02] [-7.88855593e-01 -6.10149424e-01 7.36514369e-02 1.04727550e+02] [ 9.08813077e-02 2.71105354e-03 9.95858041e-01 1.67402420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:105.10, Z:16.70 [[-6.10878570e-01 7.89909371e-01 5.35775907e-02 1.01415219e+02] [-7.86491069e-01 -6.13217500e-01 7.34581307e-02 1.05097266e+02] [ 9.08799820e-02 2.73570132e-03 9.95858095e-01 1.67004200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.056875 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:101.93, Y:104.11, Z:17.30 [[-4.99204393e-01 -8.64816261e-01 -5.37383271e-02 1.01927875e+02] [-8.61755417e-01 5.01994814e-01 -7.33403572e-02 1.04114978e+02] [ 9.04022951e-02 9.69746596e-03 -9.95858115e-01 1.72954335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:104.55, Z:17.25 [[-4.40253334e-01 -8.96264021e-01 -5.37383271e-02 1.02142881e+02] [-8.93396634e-01 4.43242198e-01 -7.33403572e-02 1.04546349e+02] [ 8.95514177e-02 1.57213038e-02 -9.95858115e-01 1.72482364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:104.97, Z:16.71 [[-4.87801300e-01 8.71946163e-01 4.19497304e-02 1.01233162e+02] [-8.68311723e-01 -4.89595949e-01 7.95648097e-02 1.04970162e+02] [ 8.99146486e-02 2.38637498e-03 9.95946616e-01 1.67139836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:104.97, Z:16.72 [[-4.87135463e-01 8.72316263e-01 4.19926029e-02 1.01231426e+02] [-8.68685130e-01 -4.88936793e-01 7.95421762e-02 1.04967449e+02] [ 8.99176624e-02 2.26946515e-03 9.95946617e-01 1.67154920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:104.96, Z:16.72 [[-4.86273816e-01 8.72794823e-01 4.20353664e-02 1.01228603e+02] [-8.69167411e-01 -4.88082625e-01 7.95195708e-02 1.04962630e+02] [ 8.99210017e-02 2.13251456e-03 9.95946618e-01 1.67163642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:104.96, Z:16.71 [[-4.78326169e-01 8.77173203e-01 4.20862004e-02 1.01230271e+02] [-8.73564725e-01 -4.80172457e-01 7.94926577e-02 1.04956007e+02] [ 8.99374634e-02 1.25839834e-03 9.95946620e-01 1.67116047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:104.94, Z:16.72 [[-4.84546843e-01 8.73782524e-01 4.14542807e-02 1.01216342e+02] [-8.70132308e-01 -4.86309871e-01 7.98277897e-02 1.04939342e+02] [ 8.99117535e-02 2.60959452e-03 9.95946317e-01 1.67191980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:104.94, Z:16.72 [[-4.84304476e-01 8.73880681e-01 4.22105495e-02 1.01213712e+02] [-8.70265459e-01 -4.86137384e-01 7.94259113e-02 1.04935328e+02] [ 8.99288956e-02 1.73194109e-03 9.95946682e-01 1.67198816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:104.94, Z:16.72 [[-4.84418613e-01 8.73815135e-01 4.22577510e-02 1.01214109e+02] [-8.70201851e-01 -4.86255337e-01 7.94007905e-02 1.04936957e+02] [ 8.99296694e-02 1.69044765e-03 9.95946684e-01 1.67197927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:104.92, Z:16.72 [[-4.84162196e-01 8.73954960e-01 4.23047904e-02 1.01203399e+02] [-8.70344393e-01 -4.86004251e-01 7.93757200e-02 1.04918076e+02] [ 8.99311122e-02 1.61098575e-03 9.95946685e-01 1.67203474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:104.93, Z:16.72 [[-4.84869792e-01 8.73560496e-01 4.23479111e-02 1.01209174e+02] [-8.69950436e-01 -4.86712838e-01 7.93527081e-02 1.04930087e+02] [ 8.99306630e-02 1.63514734e-03 9.95946686e-01 1.67191050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:104.93, Z:16.72 [[-4.85772150e-01 8.73056743e-01 4.23950690e-02 1.01209772e+02] [-8.69446967e-01 -4.87615749e-01 7.93275056e-02 1.04931206e+02] [ 8.99299170e-02 1.67482885e-03 9.95946688e-01 1.67187477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:104.92, Z:16.72 [[-4.87955706e-01 8.71835952e-01 4.24417529e-02 1.01205729e+02] [-8.68223732e-01 -4.89794509e-01 7.93025211e-02 1.04923817e+02] [ 8.99265265e-02 1.84718049e-03 9.95946689e-01 1.67182267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:104.90, Z:16.71 [[-4.82653285e-01 8.74780285e-01 4.24883543e-02 1.01195754e+02] [-8.71181483e-01 -4.84518209e-01 7.92775454e-02 1.04895168e+02] [ 8.99368151e-02 1.24850019e-03 9.95946691e-01 1.67133781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:104.91, Z:16.72 [[-4.91193716e-01 8.70045994e-01 4.18174786e-02 1.01199605e+02] [-8.66398446e-01 -4.92962103e-01 7.96372934e-02 1.04912142e+02] [ 8.99025403e-02 2.88673960e-03 9.95946384e-01 1.67175188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:104.91, Z:16.72 [[-4.92704421e-01 8.69154414e-01 4.25788422e-02 1.01196691e+02] [-8.65538594e-01 -4.94535986e-01 7.92281591e-02 1.04906734e+02] [ 8.99182739e-02 2.18243300e-03 9.95946756e-01 1.67182828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:104.90, Z:16.72 [[-4.95042211e-01 8.67822916e-01 4.26215446e-02 1.01194755e+02] [-8.64204142e-01 -4.96867931e-01 7.92051804e-02 1.04903425e+02] [ 8.99133493e-02 2.37619225e-03 9.95946757e-01 1.67185240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:104.90, Z:16.72 [[-4.96129317e-01 8.67199783e-01 4.26642516e-02 1.01191925e+02] [-8.63580687e-01 -4.97954396e-01 7.91821695e-02 1.04898982e+02] [ 8.99116118e-02 2.44057196e-03 9.95946758e-01 1.67196068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:104.87, Z:16.72 [[-4.97033972e-01 8.66679496e-01 4.27069291e-02 1.01178064e+02] [-8.63060461e-01 -4.98859168e-01 7.91591448e-02 1.04874349e+02] [ 8.99103509e-02 2.48612218e-03 9.95946760e-01 1.67228060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:104.88, Z:16.72 [[-4.97395577e-01 8.66469894e-01 4.27499955e-02 1.01182678e+02] [-8.62852082e-01 -4.99223194e-01 7.91358800e-02 1.04883394e+02] [ 8.99106469e-02 2.47491403e-03 9.95946761e-01 1.67231269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:104.88, Z:16.72 [[-4.97591850e-01 8.66354860e-01 4.27972719e-02 1.01181430e+02] [-8.62738817e-01 -4.99422961e-01 7.91103044e-02 1.04881426e+02] [ 8.99115370e-02 2.44177500e-03 9.95946762e-01 1.67238380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:104.86, Z:16.73 [[-4.96453471e-01 8.67005177e-01 4.28482682e-02 1.01169468e+02] [-8.63393909e-01 -4.98293978e-01 7.90826740e-02 1.04860399e+02] [ 8.99161218e-02 2.26593427e-03 9.95946764e-01 1.67282799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:104.88, Z:16.73 [[-4.95313097e-01 8.67654838e-01 4.28954235e-02 1.01178524e+02] [-8.64048194e-01 -4.97162645e-01 7.90570883e-02 1.04877383e+02] [ 8.99202673e-02 2.09429806e-03 9.95946765e-01 1.67268137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:104.87, Z:16.73 [[-4.93848726e-01 8.68486633e-01 4.29465348e-02 1.01175045e+02] [-8.64885513e-01 -4.95709004e-01 7.90293133e-02 1.04871985e+02] [ 8.99248862e-02 1.88468987e-03 9.95946767e-01 1.67276127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:104.87, Z:16.73 [[-4.90438381e-01 8.70414920e-01 4.29890844e-02 1.01171237e+02] [-8.66823143e-01 -4.92316631e-01 7.90061611e-02 1.04865402e+02] [ 8.99323827e-02 1.48372046e-03 9.95946768e-01 1.67291505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:104.85, Z:16.73 [[-4.89196637e-01 8.71111315e-01 4.30317010e-02 1.01165878e+02] [-8.67524251e-01 -4.91083871e-01 7.89829428e-02 1.04854702e+02] [ 8.99351095e-02 1.30714587e-03 9.95946769e-01 1.67297665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:104.86, Z:16.73 [[-4.87858625e-01 8.71859250e-01 4.30744645e-02 1.01169163e+02] [-8.68277137e-01 -4.89755237e-01 7.89596144e-02 1.04859198e+02] [ 8.99376147e-02 1.12055619e-03 9.95946771e-01 1.67288294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:104.86, Z:16.73 [[-4.86837219e-01 8.72427696e-01 4.31211931e-02 1.01169391e+02] [-8.68850057e-01 -4.88742252e-01 7.89340870e-02 1.04858169e+02] [ 8.99394327e-02 9.62200356e-04 9.95946772e-01 1.67282473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:104.86, Z:16.73 [[-4.84551805e-01 8.73696804e-01 4.31676261e-02 1.01171116e+02] [-8.70126415e-01 -4.86470391e-01 7.89086856e-02 1.04858209e+02] [ 8.99420383e-02 6.74054250e-04 9.95946773e-01 1.67279457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:104.85, Z:16.73 [[-4.84122392e-01 8.73932533e-01 4.32138528e-02 1.01168558e+02] [-8.70365337e-01 -4.86046906e-01 7.88833618e-02 1.04852304e+02] [ 8.99426956e-02 5.77362268e-04 9.95946775e-01 1.67280769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:104.84, Z:16.73 [[-4.83860798e-01 8.74075310e-01 4.32559932e-02 1.01165154e+02] [-8.70510747e-01 -4.85790181e-01 7.88602473e-02 1.04844030e+02] [ 8.99431319e-02 5.02575225e-04 9.95946776e-01 1.67285547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:104.84, Z:16.73 [[-4.83747259e-01 8.74135865e-01 4.33021915e-02 1.01166773e+02] [-8.70573814e-01 -4.85681272e-01 7.88348718e-02 1.04844669e+02] [ 8.99434522e-02 4.38399145e-04 9.95946777e-01 1.67282268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:104.82, Z:16.73 [[-4.83992549e-01 8.73997987e-01 4.33443392e-02 1.01156420e+02] [-8.70437460e-01 -4.85929364e-01 7.88116918e-02 1.04823145e+02] [ 8.99435471e-02 4.15735060e-04 9.95946778e-01 1.67292793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:104.84, Z:16.73 [[-4.84783515e-01 8.73557405e-01 4.33866759e-02 1.01165570e+02] [-8.69997203e-01 -4.86720924e-01 7.87883782e-02 1.04835093e+02] [ 8.99433742e-02 4.49020234e-04 9.95946780e-01 1.67284658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:104.83, Z:16.73 [[-4.86185626e-01 8.72775523e-01 4.34329851e-02 1.01163031e+02] [-8.69214485e-01 -4.88121496e-01 7.87628416e-02 1.04828882e+02] [ 8.99428539e-02 5.40781697e-04 9.95946781e-01 1.67286535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:104.83, Z:16.73 [[-4.87761764e-01 8.71893367e-01 4.34789368e-02 1.01162471e+02] [-8.68331088e-01 -4.89695347e-01 7.87374671e-02 1.04825163e+02] [ 8.99421084e-02 6.51013387e-04 9.95946782e-01 1.67296645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:104.82, Z:16.73 [[-4.88224542e-01 8.71632221e-01 4.35209050e-02 1.01160201e+02] [-8.68070974e-01 -4.90160023e-01 7.87142631e-02 1.04820997e+02] [ 8.99420958e-02 6.51000582e-04 9.95946784e-01 1.67301168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:104.80, Z:16.73 [[-4.90171751e-01 8.70536578e-01 4.35628497e-02 1.01151219e+02] [-8.66973067e-01 -4.92103059e-01 7.86910429e-02 1.04802178e+02] [ 8.99408428e-02 8.04308834e-04 9.95946785e-01 1.67322665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:104.81, Z:16.73 [[-4.94642083e-01 8.68001995e-01 4.36090054e-02 1.01156600e+02] [-8.64430844e-01 -4.96559223e-01 7.86654562e-02 1.04805446e+02] [ 8.99362268e-02 1.21427586e-03 9.95946786e-01 1.67323678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:104.80, Z:16.73 [[-4.97162105e-01 8.66558747e-01 4.36552319e-02 1.01153645e+02] [-8.62984281e-01 -4.99073054e-01 7.86397947e-02 1.04797111e+02] [ 8.99331518e-02 1.42294692e-03 9.95946787e-01 1.67324532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:104.79, Z:16.73 [[-4.99517624e-01 8.65200951e-01 4.36973364e-02 1.01150669e+02] [-8.61623335e-01 -5.01422667e-01 7.86163919e-02 1.04788741e+02] [ 8.99298120e-02 1.61962857e-03 9.95946789e-01 1.67333650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:104.78, Z:16.73 [[-5.01743178e-01 8.63910085e-01 4.37395512e-02 1.01145997e+02] [-8.60329613e-01 -5.03642844e-01 7.85928980e-02 1.04777543e+02] [ 8.99263092e-02 1.80301921e-03 9.95946790e-01 1.67343195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:104.77, Z:16.73 [[-5.05195747e-01 8.61893497e-01 4.37819277e-02 1.01145655e+02] [-8.58307485e-01 -5.07084933e-01 7.85692843e-02 1.04772568e+02] [ 8.99195110e-02 2.11451208e-03 9.95946791e-01 1.67332625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:104.77, Z:16.73 [[-5.06631366e-01 8.61048041e-01 4.38284057e-02 1.01142775e+02] [-8.57461114e-01 -5.08518810e-01 7.85433490e-02 1.04765753e+02] [ 8.99171655e-02 2.21137058e-03 9.95946792e-01 1.67340815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:104.76, Z:16.74 [[-5.07653390e-01 8.60443712e-01 4.38708854e-02 1.01142562e+02] [-8.56856582e-01 -5.09540447e-01 7.85196146e-02 1.04764151e+02] [ 8.99156992e-02 2.26969158e-03 9.95946794e-01 1.67350656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:104.74, Z:16.73 [[-5.03172344e-01 8.63069644e-01 4.39133353e-02 1.01136457e+02] [-8.59494436e-01 -5.05081888e-01 7.84958668e-02 1.04744041e+02] [ 8.99272301e-02 1.75368197e-03 9.95946795e-01 1.67312654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:104.75, Z:16.74 [[-5.08958511e-01 8.59696029e-01 4.34047467e-02 1.01133791e+02] [-8.56083822e-01 -5.10797520e-01 7.87805986e-02 1.04745424e+02] [ 8.98984047e-02 2.93795475e-03 9.95946608e-01 1.67368735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:104.75, Z:16.74 [[-5.09337937e-01 8.59441008e-01 4.40002203e-02 1.01136542e+02] [-8.55856445e-01 -5.11229765e-01 7.84466252e-02 1.04747973e+02] [ 8.99144690e-02 2.29797010e-03 9.95946840e-01 1.67354397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:104.74, Z:16.74 [[-5.09682079e-01 8.59234781e-01 4.40428185e-02 1.01134401e+02] [-8.55651512e-01 -5.11576357e-01 7.84227019e-02 1.04742748e+02] [ 8.99147777e-02 2.28534152e-03 9.95946841e-01 1.67356289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:104.74, Z:16.74 [[-5.09865199e-01 8.59123540e-01 4.40933280e-02 1.01135854e+02] [-8.55542308e-01 -5.11763319e-01 7.83942927e-02 1.04744857e+02] [ 8.99157301e-02 2.24681411e-03 9.95946843e-01 1.67351472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:104.74, Z:16.74 [[-5.09899368e-01 8.59100884e-01 4.41396156e-02 1.01133936e+02] [-8.55521817e-01 -5.11801565e-01 7.83682221e-02 1.04740714e+02] [ 8.99169332e-02 2.19750277e-03 9.95946844e-01 1.67353276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:104.73, Z:16.74 [[-5.09171160e-01 8.59530512e-01 4.41817640e-02 1.01126232e+02] [-8.55955107e-01 -5.11080229e-01 7.83444530e-02 1.04726039e+02] [ 8.99198738e-02 2.07312950e-03 9.95946845e-01 1.67368725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:104.72, Z:16.74 [[-5.08863535e-01 8.59710495e-01 4.42240683e-02 1.01124544e+02] [-8.56137836e-01 -5.10777735e-01 7.83205658e-02 1.04723087e+02] [ 8.99216818e-02 1.99258184e-03 9.95946846e-01 1.67373496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:104.73, Z:16.74 [[-5.08425128e-01 8.59967652e-01 4.42665352e-02 1.01127923e+02] [-8.56398047e-01 -5.10345015e-01 7.82965564e-02 1.04729203e+02] [ 8.99237113e-02 1.89816240e-03 9.95946848e-01 1.67371734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:104.72, Z:16.74 [[-5.08163117e-01 8.60120328e-01 4.43087853e-02 1.01124069e+02] [-8.56553380e-01 -5.10087934e-01 7.82726394e-02 1.04722923e+02] [ 8.99252650e-02 1.82242856e-03 9.95946849e-01 1.67382101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:104.72, Z:16.74 [[-5.06954915e-01 8.60830827e-01 4.43508822e-02 1.01123867e+02] [-8.57268661e-01 -5.08888565e-01 7.82487793e-02 1.04721805e+02] [ 8.99286182e-02 1.64798187e-03 9.95946850e-01 1.67379639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:104.72, Z:16.74 [[-5.06708632e-01 8.60973651e-01 4.43929495e-02 1.01122434e+02] [-8.57414118e-01 -5.08647121e-01 7.82249060e-02 1.04718774e+02] [ 8.99299290e-02 1.57409347e-03 9.95946851e-01 1.67381715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:104.71, Z:16.74 [[-5.06423290e-01 8.61139151e-01 4.44388792e-02 1.01115769e+02] [-8.57582538e-01 -5.08367129e-01 7.81988053e-02 1.04706399e+02] [ 8.99313182e-02 1.49168949e-03 9.95946852e-01 1.67393093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:104.71, Z:16.74 [[-5.06237325e-01 8.61246519e-01 4.44770017e-02 1.01115566e+02] [-8.57692221e-01 -5.08185392e-01 7.81771165e-02 1.04705721e+02] [ 8.99323320e-02 1.42859599e-03 9.95946853e-01 1.67397194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.826875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.12, Y:104.71, Z:16.74 [[-5.06289015e-01 8.61213956e-01 4.45191536e-02 1.01116564e+02] [-8.57661641e-01 -5.08240693e-01 7.81531051e-02 1.04705782e+02] [ 8.99329903e-02 1.38568832e-03 9.95946855e-01 1.67405547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:104.70, Z:16.74 [[-5.06999528e-01 8.60793694e-01 4.45611360e-02 1.01112283e+02] [-8.57241863e-01 -5.08952083e-01 7.81291605e-02 1.04697630e+02] [ 8.99325717e-02 1.41177618e-03 9.95946856e-01 1.67433856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:104.69, Z:16.74 [[-5.07813706e-01 8.60311457e-01 4.46031056e-02 1.01107396e+02] [-8.56759873e-01 -5.09766710e-01 7.81051933e-02 1.04688281e+02] [ 8.99319710e-02 1.44873655e-03 9.95946857e-01 1.67443818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:104.69, Z:16.75 [[-5.09348238e-01 8.59401843e-01 4.46412824e-02 1.01110723e+02] [-8.55848682e-01 -5.11298368e-01 7.80833672e-02 1.04690780e+02] [ 8.99300046e-02 1.56544286e-03 9.95946858e-01 1.67455026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:104.68, Z:16.75 [[-5.10587218e-01 8.58664131e-01 4.46833669e-02 1.01107239e+02] [-8.55110257e-01 -5.12536046e-01 7.80592769e-02 1.04682634e+02] [ 8.99285374e-02 1.64686364e-03 9.95946859e-01 1.67456736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:104.68, Z:16.75 [[-5.11846548e-01 8.57912060e-01 4.47214504e-02 1.01109174e+02] [-8.54357226e-01 -5.13793622e-01 7.80374523e-02 1.04684221e+02] [ 8.99268675e-02 1.73510618e-03 9.95946860e-01 1.67457173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:104.68, Z:16.75 [[-5.13535493e-01 8.56899955e-01 4.47634207e-02 1.01105420e+02] [-8.53343379e-01 -5.15479381e-01 7.80133702e-02 1.04677184e+02] [ 8.99242738e-02 1.86406589e-03 9.95946861e-01 1.67464277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:104.67, Z:16.75 [[-5.13909056e-01 8.56673365e-01 4.48132601e-02 1.01104297e+02] [-8.53118423e-01 -5.15855928e-01 7.79847306e-02 1.04674707e+02] [ 8.99246274e-02 1.84604151e-03 9.95946863e-01 1.67468204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:104.67, Z:16.75 [[-5.14289422e-01 8.56442882e-01 4.48551075e-02 1.01101023e+02] [-8.52889163e-01 -5.16238523e-01 7.79606536e-02 1.04668517e+02] [ 8.99247812e-02 1.83790442e-03 9.95946864e-01 1.67470887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:104.67, Z:16.75 [[-5.14623804e-01 8.56239805e-01 4.48969585e-02 1.01099738e+02] [-8.52687416e-01 -5.16575325e-01 7.79365445e-02 1.04665467e+02] [ 8.99250326e-02 1.82492950e-03 9.95946865e-01 1.67477132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:104.66, Z:16.75 [[-5.15119650e-01 8.55939602e-01 4.49348827e-02 1.01098909e+02] [-8.52387980e-01 -5.17072563e-01 7.79146730e-02 1.04660980e+02] [ 8.99248492e-02 1.83342518e-03 9.95946866e-01 1.67472804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:104.65, Z:16.75 [[-5.15993292e-01 8.55411023e-01 4.49767091e-02 1.01096050e+02] [-8.51859501e-01 -5.17946385e-01 7.78905212e-02 1.04654436e+02] [ 8.99239343e-02 1.87714949e-03 9.95946867e-01 1.67480482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:104.65, Z:16.75 [[-5.17373474e-01 8.54574759e-01 4.50185503e-02 1.01092349e+02] [-8.51022180e-01 -5.19324642e-01 7.78663307e-02 1.04646728e+02] [ 8.99218433e-02 1.97418923e-03 9.95946868e-01 1.67476159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:104.65, Z:16.75 [[-5.18870546e-01 8.53664402e-01 4.50604730e-02 1.01092587e+02] [-8.50110502e-01 -5.20819305e-01 7.78420630e-02 1.04645307e+02] [ 8.99193624e-02 2.08357245e-03 9.95946870e-01 1.67461418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:104.64, Z:16.75 [[-5.20655853e-01 8.52574488e-01 4.51023826e-02 1.01089539e+02] [-8.49018608e-01 -5.22600993e-01 7.78177727e-02 1.04638967e+02] [ 8.99159977e-02 2.22351675e-03 9.95946871e-01 1.67472178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:104.63, Z:16.75 [[-5.22368127e-01 8.51524034e-01 4.51481957e-02 1.01088086e+02] [-8.47966533e-01 -5.24310300e-01 7.77911841e-02 1.04634585e+02] [ 8.99127269e-02 2.35147620e-03 9.95946872e-01 1.67462781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:104.62, Z:16.75 [[-5.25541910e-01 8.49566898e-01 4.51861337e-02 1.01083518e+02] [-8.46004055e-01 -5.27474264e-01 7.77691411e-02 1.04622485e+02] [ 8.99046105e-02 2.64329058e-03 9.95946873e-01 1.67469823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:104.62, Z:16.75 [[-5.26984068e-01 8.48671057e-01 4.52242023e-02 1.01080813e+02] [-8.45106823e-01 -5.28913851e-01 7.77469973e-02 1.04615463e+02] [ 8.99013334e-02 2.75214703e-03 9.95946874e-01 1.67473999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:104.62, Z:16.75 [[-5.28523699e-01 8.47710620e-01 4.52703472e-02 1.01083362e+02] [-8.44145171e-01 -5.30451235e-01 7.77201190e-02 1.04618674e+02] [ 8.98978818e-02 2.86217978e-03 9.95946875e-01 1.67475340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:104.61, Z:16.75 [[-5.30589539e-01 8.46417087e-01 4.53084481e-02 1.01079927e+02] [-8.42848829e-01 -5.32511867e-01 7.76979011e-02 1.04612856e+02] [ 8.98921174e-02 3.03752115e-03 9.95946876e-01 1.67493680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:104.61, Z:16.75 [[-5.31621488e-01 8.45767280e-01 4.53464671e-02 1.01079386e+02] [-8.42198556e-01 -5.33542948e-01 7.76757060e-02 1.04611112e+02] [ 8.98898583e-02 3.10334525e-03 9.95946877e-01 1.67503430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:104.61, Z:16.75 [[-5.32606590e-01 8.45145024e-01 4.53884099e-02 1.01076568e+02] [-8.41576134e-01 -5.34527739e-01 7.76511899e-02 1.04606273e+02] [ 8.98878808e-02 3.15973299e-03 9.95946879e-01 1.67508749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:104.60, Z:16.75 [[-5.33351069e-01 8.44673357e-01 4.54263936e-02 1.01074477e+02] [-8.41104650e-01 -5.35272558e-01 7.76289629e-02 1.04602322e+02] [ 8.98866186e-02 3.19513947e-03 9.95946880e-01 1.67519927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:104.60, Z:16.75 [[-5.33966060e-01 8.44282675e-01 4.54643934e-02 1.01072447e+02] [-8.40714448e-01 -5.35888437e-01 7.76067015e-02 1.04598884e+02] [ 8.98858363e-02 3.21677221e-03 9.95946881e-01 1.67526884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:104.60, Z:16.75 [[-5.34366310e-01 8.44027145e-01 4.55063156e-02 1.01069401e+02] [-8.40460081e-01 -5.36290843e-01 7.75821119e-02 1.04595335e+02] [ 8.98860288e-02 3.21102521e-03 9.95946882e-01 1.67522321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:104.58, Z:16.75 [[-5.34728827e-01 8.43795472e-01 4.55442925e-02 1.01058445e+02] [-8.40229464e-01 -5.36655312e-01 7.75598114e-02 1.04577665e+02] [ 8.98862042e-02 3.20581055e-03 9.95946883e-01 1.67535799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:104.58, Z:16.75 [[-5.35351526e-01 8.43398470e-01 4.55825012e-02 1.01061711e+02] [-8.39832935e-01 -5.37278885e-01 7.75373495e-02 1.04584610e+02] [ 8.98853973e-02 3.22805262e-03 9.95946884e-01 1.67523923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:104.59, Z:16.75 [[-5.36162328e-01 8.42881192e-01 4.56207705e-02 1.01062178e+02] [-8.39315703e-01 -5.38089771e-01 7.75148264e-02 1.04586097e+02] [ 8.98838592e-02 3.27030071e-03 9.95946885e-01 1.67519354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:104.58, Z:16.75 [[-5.37040283e-01 8.42320016e-01 4.56587852e-02 1.01056622e+02] [-8.38754407e-01 -5.38967502e-01 7.74924281e-02 1.04577894e+02] [ 8.98820247e-02 3.32004823e-03 9.95946886e-01 1.67525707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:104.58, Z:16.75 [[-5.37653168e-01 8.41926882e-01 4.56967889e-02 1.01053043e+02] [-8.38361758e-01 -5.39581282e-01 7.74700112e-02 1.04576108e+02] [ 8.98812169e-02 3.34155668e-03 9.95946887e-01 1.67533099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:104.57, Z:16.75 [[-5.37772289e-01 8.41848732e-01 4.57348673e-02 1.01049253e+02] [-8.38285229e-01 -5.39703396e-01 7.74475250e-02 1.04571765e+02] [ 8.98823639e-02 3.31026910e-03 9.95946888e-01 1.67544021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:104.56, Z:16.76 [[-5.37762430e-01 8.41852960e-01 4.57729493e-02 1.01043905e+02] [-8.38291379e-01 -5.39697074e-01 7.74250114e-02 1.04564766e+02] [ 8.98840018e-02 3.26519351e-03 9.95946889e-01 1.67554413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:104.57, Z:16.75 [[-5.33526316e-01 8.44541894e-01 4.58111188e-02 1.01046110e+02] [-8.40992002e-01 -5.35482323e-01 7.74024206e-02 1.04569064e+02] [ 8.99006313e-02 2.76944381e-03 9.95946890e-01 1.67539463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:104.56, Z:16.76 [[-5.37455865e-01 8.42070516e-01 4.53700302e-02 1.01038433e+02] [-8.38489591e-01 -5.39354770e-01 7.76636201e-02 1.04564094e+02] [ 8.98687868e-02 3.69847004e-03 9.95946747e-01 1.67585616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:104.57, Z:16.76 [[-5.37410835e-01 8.42071401e-01 4.58840893e-02 1.01037685e+02] [-8.38516234e-01 -5.39357166e-01 7.73587329e-02 1.04565272e+02] [ 8.98894890e-02 3.09886751e-03 9.95946925e-01 1.67588820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:104.54, Z:16.76 [[-5.37665977e-01 8.41906229e-01 4.59260059e-02 1.01024431e+02] [-8.38352579e-01 -5.39615076e-01 7.73338402e-02 1.04544624e+02] [ 8.98902069e-02 3.07758926e-03 9.95946926e-01 1.67603819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:104.55, Z:16.76 [[-5.37153068e-01 8.42231270e-01 4.59681289e-02 1.01027183e+02] [-8.38680933e-01 -5.39108192e-01 7.73087938e-02 1.04552749e+02] [ 8.98936784e-02 2.97406257e-03 9.95946927e-01 1.67579760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:104.55, Z:16.76 [[-5.37282304e-01 8.42146528e-01 4.60103346e-02 1.01021696e+02] [-8.38598025e-01 -5.39240751e-01 7.72836670e-02 1.04545056e+02] [ 8.98948192e-02 2.93897092e-03 9.95946928e-01 1.67581305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:104.55, Z:16.76 [[-5.37379458e-01 8.42082238e-01 4.60523964e-02 1.01025408e+02] [-8.38535639e-01 -5.39341349e-01 7.72585949e-02 1.04552949e+02] [ 8.98960521e-02 2.90060617e-03 9.95946929e-01 1.67569184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:104.55, Z:16.76 [[-5.37727399e-01 8.41857353e-01 4.61025153e-02 1.01022175e+02] [-8.38312487e-01 -5.39692417e-01 7.72286760e-02 1.04549802e+02] [ 8.98967067e-02 2.87966079e-03 9.95946931e-01 1.67574295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:104.55, Z:16.76 [[-5.38179472e-01 8.41566358e-01 4.61402343e-02 1.01019764e+02] [-8.38022354e-01 -5.40146042e-01 7.72061343e-02 1.04545709e+02] [ 8.98965502e-02 2.88420885e-03 9.95946932e-01 1.67578797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:104.53, Z:16.76 [[-5.37864823e-01 8.41765209e-01 4.61818621e-02 1.01009584e+02] [-8.38224062e-01 -5.39836531e-01 7.71812262e-02 1.04531486e+02] [ 8.98991272e-02 2.80231861e-03 9.95946933e-01 1.67605126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:104.54, Z:16.76 [[-5.37731356e-01 8.41848181e-01 4.62236823e-02 1.01012053e+02] [-8.38309484e-01 -5.39707453e-01 7.71561721e-02 1.04536840e+02] [ 8.99010491e-02 2.73954178e-03 9.95946934e-01 1.67588307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:104.53, Z:16.76 [[-5.37820922e-01 8.41788666e-01 4.62655171e-02 1.01007632e+02] [-8.38251900e-01 -5.39800472e-01 7.71310785e-02 1.04531286e+02] [ 8.99022156e-02 2.70055016e-03 9.95946936e-01 1.67599964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:104.52, Z:16.76 [[-5.37494899e-01 8.41994582e-01 4.63071987e-02 1.01000841e+02] [-8.38460723e-01 -5.39479632e-01 7.71060461e-02 1.04521618e+02] [ 8.99046636e-02 2.61733920e-03 9.95946937e-01 1.67602495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:104.52, Z:16.76 [[-5.36626307e-01 8.42546241e-01 4.63469451e-02 1.00997555e+02] [-8.39016479e-01 -5.38618315e-01 7.70821481e-02 1.04520571e+02] [ 8.99085876e-02 2.47845773e-03 9.95946938e-01 1.67607664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:104.53, Z:16.76 [[-5.36464138e-01 8.42647202e-01 4.63888182e-02 1.00998760e+02] [-8.39119988e-01 -5.38460652e-01 7.70569403e-02 1.04525054e+02] [ 8.99103684e-02 2.41250047e-03 9.95946939e-01 1.67599323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:104.52, Z:16.76 [[-5.36436838e-01 8.42662285e-01 4.64305042e-02 1.00992978e+02] [-8.39137296e-01 -5.38437274e-01 7.70318144e-02 1.04517470e+02] [ 8.99117189e-02 2.36113515e-03 9.95946940e-01 1.67593941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:104.52, Z:16.76 [[-5.36382975e-01 8.42694279e-01 4.64720989e-02 1.00992486e+02] [-8.39171578e-01 -5.38387434e-01 7.70067129e-02 1.04518658e+02] [ 8.99131105e-02 2.30702524e-03 9.95946941e-01 1.67590487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:104.51, Z:16.76 [[-5.36619792e-01 8.42541202e-01 4.65136687e-02 1.00987898e+02] [-8.39020100e-01 -5.38627056e-01 7.69815958e-02 1.04512792e+02] [ 8.99136868e-02 2.28394495e-03 9.95946943e-01 1.67592308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:104.51, Z:16.76 [[-5.36436129e-01 8.42654179e-01 4.65855689e-02 1.00982740e+02] [-8.39137268e-01 -5.38450722e-01 7.69380610e-02 1.04509839e+02] [ 8.99162118e-02 2.18066853e-03 9.95946946e-01 1.67626109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:104.51, Z:16.76 [[-5.36725791e-01 8.42467415e-01 4.66270355e-02 1.00980209e+02] [-8.38951982e-01 -5.38742958e-01 7.69129228e-02 1.04507873e+02] [ 8.99166183e-02 2.16330552e-03 9.95946947e-01 1.67629013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:104.51, Z:16.76 [[-5.37109936e-01 8.42220262e-01 4.66684772e-02 1.00977512e+02] [-8.38706080e-01 -5.39129281e-01 7.68877691e-02 1.04505934e+02] [ 8.99167796e-02 2.15604911e-03 9.95946949e-01 1.67634369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:104.50, Z:16.76 [[-5.37106458e-01 8.42220187e-01 4.67098395e-02 1.00973354e+02] [-8.38708186e-01 -5.39129590e-01 7.68626331e-02 1.04504168e+02] [ 8.99179179e-02 2.10749187e-03 9.95946950e-01 1.67640060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:104.49, Z:16.76 [[-5.37537628e-01 8.41942553e-01 4.67550524e-02 1.00965058e+02] [-8.38431894e-01 -5.39563085e-01 7.68351207e-02 1.04492980e+02] [ 8.99180580e-02 2.10084142e-03 9.95946951e-01 1.67646573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:104.49, Z:16.76 [[-5.38233315e-01 8.41495687e-01 4.67964522e-02 1.00959318e+02] [-8.37985533e-01 -5.40259646e-01 7.68098980e-02 1.04485932e+02] [ 8.99174326e-02 2.12689604e-03 9.95946952e-01 1.67647411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:104.49, Z:16.76 [[-5.39230751e-01 8.40854562e-01 4.68380377e-02 1.00960458e+02] [-8.37344198e-01 -5.41256714e-01 7.67845312e-02 1.04491798e+02] [ 8.99160258e-02 2.18502136e-03 9.95946953e-01 1.67628637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:104.46, Z:16.77 [[-5.40014808e-01 8.40348927e-01 4.68795152e-02 1.00937665e+02] [-8.36838858e-01 -5.42041281e-01 7.67591996e-02 1.04457307e+02] [ 8.99151435e-02 2.22050441e-03 9.95946955e-01 1.67662765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:104.48, Z:16.76 [[-5.40541298e-01 8.40008029e-01 4.69213868e-02 1.00949246e+02] [-8.36498899e-01 -5.42569394e-01 7.67335959e-02 1.04478832e+02] [ 8.99149451e-02 2.22798912e-03 9.95946956e-01 1.67633885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:104.48, Z:16.76 [[-5.41373883e-01 8.39469111e-01 4.69673322e-02 1.00946603e+02] [-8.35960396e-01 -5.43402694e-01 7.67054633e-02 1.04477515e+02] [ 8.99140420e-02 2.26350487e-03 9.95946957e-01 1.67620521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:104.46, Z:16.76 [[-5.41914374e-01 8.39117982e-01 4.70087670e-02 1.00930577e+02] [-8.35610149e-01 -5.43944709e-01 7.66800619e-02 1.04457711e+02] [ 8.99137888e-02 2.27302493e-03 9.95946958e-01 1.67641912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:104.45, Z:16.77 [[-5.42199546e-01 8.38931185e-01 4.70544204e-02 1.00921937e+02] [-8.35425079e-01 -5.44232857e-01 7.66520367e-02 1.04447504e+02] [ 8.99143457e-02 2.25025663e-03 9.95946960e-01 1.67651393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:104.46, Z:16.77 [[-5.42153509e-01 8.38958573e-01 4.70965513e-02 1.00925932e+02] [-8.35454813e-01 -5.44190858e-01 7.66261420e-02 1.04457479e+02] [ 8.99156714e-02 2.19609127e-03 9.95946961e-01 1.67654758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:104.44, Z:16.77 [[-5.42059584e-01 8.39016680e-01 4.71425301e-02 1.00915803e+02] [-8.35515593e-01 -5.44101520e-01 7.65978443e-02 1.04444539e+02] [ 8.99171913e-02 2.13227662e-03 9.95946963e-01 1.67666700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:104.42, Z:16.77 [[-5.37440014e-01 8.41980915e-01 4.71844378e-02 1.00900073e+02] [-8.38493358e-01 -5.39504972e-01 7.65720205e-02 1.04419618e+02] [ 8.99284186e-02 1.58903002e-03 9.95946964e-01 1.67663598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:104.42, Z:16.77 [[-5.41181236e-01 8.39597294e-01 4.68961990e-02 1.00897875e+02] [-8.36085219e-01 -5.43204355e-01 7.67498233e-02 1.04424632e+02] [ 8.99131636e-02 2.32634543e-03 9.95946892e-01 1.67713141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:104.44, Z:16.77 [[-5.41349952e-01 8.39466908e-01 4.72815005e-02 1.00903269e+02] [-8.35975017e-01 -5.43407513e-01 7.65117317e-02 1.04436163e+02] [ 8.99221894e-02 1.89346905e-03 9.95946994e-01 1.67709134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:104.42, Z:16.77 [[-5.41425515e-01 8.39415568e-01 4.73277624e-02 1.00891689e+02] [-8.35925979e-01 -5.43486975e-01 7.64831050e-02 1.04419455e+02] [ 8.99231314e-02 1.84739835e-03 9.95946995e-01 1.67727507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:104.41, Z:16.77 [[-5.41933275e-01 8.39085237e-01 4.73739380e-02 1.00880800e+02] [-8.35596889e-01 -5.43996829e-01 7.64544931e-02 1.04405926e+02] [ 8.99231086e-02 1.84771868e-03 9.95946997e-01 1.67746678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:104.40, Z:16.77 [[-5.42403284e-01 8.38778625e-01 4.74246319e-02 1.00879089e+02] [-8.35291855e-01 -5.44469501e-01 7.64230350e-02 1.04404163e+02] [ 8.99232739e-02 1.83869637e-03 9.95946999e-01 1.67744357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:104.41, Z:16.77 [[-5.43041008e-01 8.38363246e-01 4.74713776e-02 1.00885228e+02] [-8.34877429e-01 -5.45108830e-01 7.63939873e-02 1.04414445e+02] [ 8.99229782e-02 1.85228614e-03 9.95947000e-01 1.67733960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:104.42, Z:16.77 [[-5.43723591e-01 8.37918088e-01 4.75177352e-02 1.00887455e+02] [-8.34433094e-01 -5.45792797e-01 7.63651417e-02 1.04418322e+02] [ 8.99225711e-02 1.87115828e-03 9.95947002e-01 1.67714860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:104.40, Z:16.77 [[-5.44248395e-01 8.37574707e-01 4.75635763e-02 1.00876479e+02] [-8.34090899e-01 -5.46319594e-01 7.63365793e-02 1.04401199e+02] [ 8.99225018e-02 1.87371472e-03 9.95947003e-01 1.67734286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:104.39, Z:16.78 [[-5.44204662e-01 8.37600515e-01 4.76094875e-02 1.00866113e+02] [-8.34119306e-01 -5.46280224e-01 7.63079349e-02 1.04387033e+02] [ 8.99236870e-02 1.81514122e-03 9.95947005e-01 1.67752806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:104.40, Z:16.77 [[-5.43630862e-01 8.37970179e-01 4.76598887e-02 1.00872527e+02] [-8.34493137e-01 -5.45713393e-01 7.62764429e-02 1.04397979e+02] [ 8.99260241e-02 1.69437833e-03 9.95947006e-01 1.67730732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:104.39, Z:16.77 [[-5.41654148e-01 8.39246634e-01 4.77060967e-02 1.00870429e+02] [-8.35777043e-01 -5.43749068e-01 7.62475319e-02 1.04394985e+02] [ 8.99306300e-02 1.42813156e-03 9.95947008e-01 1.67730118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:104.40, Z:16.77 [[-5.40064437e-01 8.40265928e-01 4.77867597e-02 1.00873437e+02] [-8.36804761e-01 -5.42173236e-01 7.61969447e-02 1.04401446e+02] [ 8.99343986e-02 1.16307194e-03 9.95947012e-01 1.67722759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:104.41, Z:16.77 [[-5.37729878e-01 8.41759264e-01 4.78322109e-02 1.00873565e+02] [-8.38306491e-01 -5.39852390e-01 7.61684024e-02 1.04405208e+02] [ 8.99377917e-02 8.59972856e-04 9.95947014e-01 1.67742718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:104.40, Z:16.77 [[-5.37112133e-01 8.42150787e-01 4.78811949e-02 1.00872107e+02] [-8.38702305e-01 -5.39241606e-01 7.61375977e-02 1.04403789e+02] [ 8.99388702e-02 7.36358997e-04 9.95947015e-01 1.67746270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:104.39, Z:16.78 [[-5.36659089e-01 8.42437012e-01 4.79260175e-02 1.00861949e+02] [-8.38992185e-01 -5.38794467e-01 7.61093731e-02 1.04387575e+02] [ 8.99396259e-02 6.35232734e-04 9.95947017e-01 1.67751880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:104.40, Z:16.77 [[-5.34616297e-01 8.43732303e-01 4.79709912e-02 1.00872676e+02] [-8.40295193e-01 -5.36764071e-01 7.60810161e-02 1.04401640e+02] [ 8.99411155e-02 3.64357776e-04 9.95947018e-01 1.67708525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:104.38, Z:16.77 [[-5.32160076e-01 8.45281100e-01 4.80157805e-02 1.00860827e+02] [-8.41852791e-01 -5.34321869e-01 7.60527387e-02 1.04379369e+02] [ 8.99418242e-02 5.00124326e-05 9.95947020e-01 1.67703047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:104.40, Z:16.77 [[-5.29367305e-01 8.47030588e-01 4.80566333e-02 1.00871348e+02] [-8.43611766e-01 -5.31544068e-01 7.60269157e-02 1.04396710e+02] [ 8.99413415e-02 -2.94977769e-04 9.95947021e-01 1.67724432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:104.39, Z:16.78 [[-5.29889200e-01 8.46701662e-01 4.81012524e-02 1.00865385e+02] [-8.43284052e-01 -5.32067862e-01 7.59986755e-02 1.04387501e+02] [ 8.99413354e-02 -2.92141629e-04 9.95947022e-01 1.67766406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:104.38, Z:16.78 [[-5.30533699e-01 8.46295240e-01 4.81493623e-02 1.00862358e+02] [-8.42878726e-01 -5.32714078e-01 7.59681831e-02 1.04381108e+02] [ 8.99413549e-02 -2.80391900e-04 9.95947024e-01 1.67777892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:104.38, Z:16.78 [[-5.30961015e-01 8.46024449e-01 4.81978358e-02 1.00862813e+02] [-8.42609615e-01 -5.33144020e-01 7.59374169e-02 1.04378049e+02] [ 8.99412993e-02 -2.92151914e-04 9.95947025e-01 1.67776680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:104.37, Z:16.78 [[-5.31800684e-01 8.45494371e-01 4.82421092e-02 1.00858428e+02] [-8.42079912e-01 -5.33984273e-01 7.59092803e-02 1.04367065e+02] [ 8.99413968e-02 -2.55103864e-04 9.95947027e-01 1.67777455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:104.35, Z:16.78 [[-5.36213339e-01 8.42700230e-01 4.82864120e-02 1.00849095e+02] [-8.39276929e-01 -5.38383039e-01 7.58810887e-02 1.04345298e+02] [ 8.99415961e-02 1.62780394e-04 9.95947028e-01 1.67786448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:104.32, Z:16.78 [[-5.39584890e-01 8.40543053e-01 4.83272321e-02 1.00835638e+02] [-8.37113407e-01 -5.41744543e-01 7.58550823e-02 1.04321659e+02] [ 8.99404768e-02 4.74882386e-04 9.95947029e-01 1.67814584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:104.35, Z:16.78 [[-5.45480687e-01 8.36726533e-01 4.83686881e-02 1.00856339e+02] [-8.33284122e-01 -5.47619932e-01 7.58286390e-02 1.04348774e+02] [ 8.99354918e-02 1.05819833e-03 9.95947030e-01 1.67798508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:104.33, Z:16.78 [[-5.47539634e-01 8.35378032e-01 4.84137591e-02 1.00848479e+02] [-8.31932896e-01 -5.49674485e-01 7.57998521e-02 1.04332917e+02] [ 8.99333393e-02 1.22642449e-03 9.95947032e-01 1.67810405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:104.33, Z:16.78 [[-5.49551100e-01 8.34053804e-01 4.84545082e-02 1.00848372e+02] [-8.30605819e-01 -5.51681344e-01 7.57737946e-02 1.04328822e+02] [ 8.99308699e-02 1.39497572e-03 9.95947033e-01 1.67795530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:104.33, Z:16.78 [[-5.51129954e-01 8.33008985e-01 4.84954117e-02 1.00850396e+02] [-8.29559262e-01 -5.53257382e-01 7.57476074e-02 1.04329035e+02] [ 8.99288820e-02 1.51695741e-03 9.95947034e-01 1.67783408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:104.32, Z:16.78 [[-5.52442211e-01 8.32136689e-01 4.85400327e-02 1.00847770e+02] [-8.28686117e-01 -5.54568258e-01 7.57190030e-02 1.04323748e+02] [ 8.99273218e-02 1.60592227e-03 9.95947036e-01 1.67787364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:104.31, Z:16.78 [[-5.53166919e-01 8.31652738e-01 4.85806899e-02 1.00841163e+02] [-8.28202594e-01 -5.55293658e-01 7.56929089e-02 1.04313184e+02] [ 8.99267639e-02 1.63615979e-03 9.95947037e-01 1.67812700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:104.30, Z:16.78 [[-5.53581844e-01 8.31374220e-01 4.86214735e-02 1.00834133e+02] [-8.27925305e-01 -5.55710572e-01 7.56667025e-02 1.04302394e+02] [ 8.99268126e-02 1.63276440e-03 9.95947038e-01 1.67848244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:104.28, Z:16.79 [[-5.53731864e-01 8.31271908e-01 4.86624997e-02 1.00817953e+02] [-8.27824915e-01 -5.55863701e-01 7.56403088e-02 1.04275031e+02] [ 8.99273810e-02 1.60041944e-03 9.95947039e-01 1.67879189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:104.31, Z:16.78 [[-5.54218192e-01 8.30945311e-01 4.87040570e-02 1.00838483e+02] [-8.27499411e-01 -5.56351793e-01 7.56135411e-02 1.04305400e+02] [ 8.99273069e-02 1.60382154e-03 9.95947040e-01 1.67846354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:104.30, Z:16.78 [[-5.54453964e-01 8.30785128e-01 4.87531966e-02 1.00838043e+02] [-8.27341393e-01 -5.56591056e-01 7.55818443e-02 1.04303736e+02] [ 8.99278654e-02 1.57111551e-03 9.95947042e-01 1.67849694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:104.30, Z:16.79 [[-5.54693067e-01 8.30623121e-01 4.87937692e-02 1.00834769e+02] [-8.27181065e-01 -5.56832858e-01 7.55556427e-02 1.04298057e+02] [ 8.99282377e-02 1.54890924e-03 9.95947043e-01 1.67863593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:104.29, Z:16.79 [[-5.55207858e-01 8.30276727e-01 4.88343116e-02 1.00828132e+02] [-8.26835638e-01 -5.57349202e-01 7.55294298e-02 1.04288095e+02] [ 8.99280923e-02 1.55658377e-03 9.95947044e-01 1.67870366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:104.28, Z:16.79 [[-5.55429905e-01 8.30125808e-01 4.88749746e-02 1.00825523e+02] [-8.26686450e-01 -5.57574026e-01 7.55031077e-02 1.04283948e+02] [ 8.99284947e-02 1.53240472e-03 9.95947046e-01 1.67868112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:104.28, Z:16.79 [[-5.55719017e-01 8.29929892e-01 4.89157318e-02 1.00825768e+02] [-8.26492100e-01 -5.57865645e-01 7.54766935e-02 1.04284255e+02] [ 8.99287704e-02 1.51536800e-03 9.95947047e-01 1.67872184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:104.26, Z:16.79 [[-5.55914991e-01 8.29796236e-01 4.89563988e-02 1.00811687e+02] [-8.26360248e-01 -5.58064504e-01 7.54503066e-02 1.04262231e+02] [ 8.99292089e-02 1.48833463e-03 9.95947048e-01 1.67888697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:104.28, Z:16.78 [[-5.47338382e-01 8.35475889e-01 4.89972912e-02 1.00828209e+02] [-8.32064591e-01 -5.49526865e-01 7.54237419e-02 1.04276140e+02] [ 8.99400457e-02 5.13397843e-04 9.95947049e-01 1.67779775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:104.27, Z:16.78 [[-5.47821672e-01 8.35213083e-01 4.80678929e-02 1.00825898e+02] [-8.31747269e-01 -5.49923922e-01 7.60273652e-02 1.04271953e+02] [ 8.99327343e-02 1.66909958e-03 9.95946443e-01 1.67778497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:104.27, Z:16.79 [[-5.57174404e-01 8.29001281e-01 4.80994827e-02 1.00816443e+02] [-8.25513820e-01 -5.59240463e-01 7.60068250e-02 1.04269628e+02] [ 8.99089322e-02 2.64226973e-03 9.95946486e-01 1.67866749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03687499999998 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:100.82, Y:104.27, Z:16.78 [[-5.49375938e-01 8.34130626e-01 4.91139228e-02 1.00821693e+02] [-8.30720944e-01 -5.51566630e-01 7.53456427e-02 1.04267721e+02] [ 8.99377090e-02 5.93118801e-04 9.95947216e-01 1.67794287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:104.24, Z:16.79 [[-5.58553329e-01 8.28062611e-01 4.82751678e-02 1.00799009e+02] [-8.24581503e-01 -5.60629681e-01 7.58927317e-02 1.04244458e+02] [ 8.99084255e-02 2.58332754e-03 9.95946686e-01 1.67892259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:104.25, Z:16.79 [[-5.59475403e-01 8.27385402e-01 4.92003129e-02 1.00804112e+02] [-8.23954363e-01 -5.61632345e-01 7.52882216e-02 1.04252648e+02] [ 8.99248626e-02 1.58309562e-03 9.95947294e-01 1.67890880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:104.25, Z:16.79 [[-5.60418087e-01 8.26744282e-01 4.92489634e-02 1.00805094e+02] [-8.23313570e-01 -5.62575544e-01 7.52563842e-02 1.04254353e+02] [ 8.99240477e-02 1.62769903e-03 9.95947296e-01 1.67894330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:104.25, Z:16.79 [[-5.61718389e-01 8.25858946e-01 4.92894792e-02 1.00801658e+02] [-8.22427159e-01 -5.63874135e-01 7.52298389e-02 1.04249991e+02] [ 8.99222979e-02 1.72097759e-03 9.95947297e-01 1.67907928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:104.23, Z:16.79 [[-5.63203631e-01 8.24843911e-01 4.93375468e-02 1.00786106e+02] [-8.21410996e-01 -5.65357577e-01 7.51983020e-02 1.04227138e+02] [ 8.99202174e-02 1.82555326e-03 9.95947299e-01 1.67937267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:104.23, Z:16.79 [[-5.64073116e-01 8.24246886e-01 4.93820932e-02 1.00790166e+02] [-8.20814249e-01 -5.66227503e-01 7.51690375e-02 1.04233140e+02] [ 8.99193444e-02 1.86730745e-03 9.95947300e-01 1.67925340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:104.23, Z:16.79 [[-5.64765344e-01 8.23769820e-01 4.94306666e-02 1.00789885e+02] [-8.20338154e-01 -5.66921274e-01 7.51370826e-02 1.04232833e+02] [ 8.99189574e-02 1.88495849e-03 9.95947302e-01 1.67925667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:104.23, Z:16.79 [[-5.65521180e-01 8.23248455e-01 4.94750102e-02 1.00785265e+02] [-8.19817353e-01 -5.67678004e-01 7.51078727e-02 1.04226674e+02] [ 8.99183152e-02 1.91462089e-03 9.95947303e-01 1.67932674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:104.22, Z:16.79 [[-5.66464115e-01 8.22597486e-01 4.95154783e-02 1.00783938e+02] [-8.19166234e-01 -5.68620697e-01 7.50811844e-02 1.04224405e+02] [ 8.99171194e-02 1.96938885e-03 9.95947304e-01 1.67920253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:104.21, Z:16.79 [[-5.67172007e-01 8.22107124e-01 4.95559319e-02 1.00773612e+02] [-8.18676336e-01 -5.69329327e-01 7.50544744e-02 1.04208669e+02] [ 8.99164635e-02 1.99852812e-03 9.95947306e-01 1.67916411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:104.21, Z:16.79 [[-5.67727243e-01 8.21721340e-01 4.95965496e-02 1.00776009e+02] [-8.18291427e-01 -5.69885950e-01 7.50276244e-02 1.04212258e+02] [ 8.99161769e-02 2.01079497e-03 9.95947307e-01 1.67908105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:104.20, Z:16.79 [[-5.68119616e-01 8.21447654e-01 4.96372289e-02 1.00766618e+02] [-8.18019048e-01 -5.70280397e-01 7.50007021e-02 1.04198523e+02] [ 8.99162894e-02 2.00517125e-03 9.95947308e-01 1.67926616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:104.20, Z:16.79 [[-5.68975867e-01 8.20852340e-01 4.96779426e-02 1.00766313e+02] [-8.17423825e-01 -5.71136789e-01 7.49737251e-02 1.04199973e+02] [ 8.99152583e-02 2.05030646e-03 9.95947309e-01 1.67922267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:104.20, Z:16.79 [[-5.69580515e-01 8.20430426e-01 4.97187292e-02 1.00763684e+02] [-8.17002667e-01 -5.71742634e-01 7.49466679e-02 1.04196850e+02] [ 8.99148439e-02 2.06782739e-03 9.95947310e-01 1.67934733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:104.18, Z:16.79 [[-5.70132782e-01 8.20044041e-01 4.97632468e-02 1.00753844e+02] [-8.16617392e-01 -5.72296657e-01 7.49170975e-02 1.04182418e+02] [ 8.99146592e-02 2.07516045e-03 9.95947312e-01 1.67947563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:104.18, Z:16.80 [[-5.70538420e-01 8.19759396e-01 4.98040682e-02 1.00752695e+02] [-8.16334031e-01 -5.72704326e-01 7.48899501e-02 1.04180844e+02] [ 8.99147456e-02 2.07083801e-03 9.95947313e-01 1.67951309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:104.20, Z:16.79 [[-5.69870496e-01 8.20221367e-01 4.98450292e-02 1.00762146e+02] [-8.16800139e-01 -5.72042929e-01 7.48626776e-02 1.04196179e+02] [ 8.99174643e-02 1.94860445e-03 9.95947314e-01 1.67939887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:104.19, Z:16.80 [[-5.69530722e-01 8.20454632e-01 4.98894133e-02 1.00757184e+02] [-8.17036881e-01 -5.71708618e-01 7.48330880e-02 1.04190329e+02] [ 8.99193612e-02 1.85825196e-03 9.95947316e-01 1.67953555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:104.18, Z:16.80 [[-5.68999279e-01 8.20820841e-01 4.99296262e-02 1.00748585e+02] [-8.17406844e-01 -5.71183051e-01 7.48062480e-02 1.04179957e+02] [ 8.99214836e-02 1.75188300e-03 9.95947317e-01 1.67976079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:104.18, Z:16.80 [[-5.67146675e-01 8.22099305e-01 4.99738107e-02 1.00750586e+02] [-8.18692829e-01 -5.69342160e-01 7.47767193e-02 1.04184310e+02] [ 8.99260862e-02 1.49616730e-03 9.95947318e-01 1.67975177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:104.17, Z:16.80 [[-5.67126301e-01 8.22111016e-01 5.00123622e-02 1.00742137e+02] [-8.18706857e-01 -5.69325374e-01 7.47509263e-02 1.04171762e+02] [ 8.99268668e-02 1.44775245e-03 9.95947319e-01 1.67997060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:104.17, Z:16.80 [[-5.67613350e-01 8.21772467e-01 5.00509424e-02 1.00740004e+02] [-8.18369272e-01 -5.69813913e-01 7.47250855e-02 1.04167867e+02] [ 8.99267412e-02 1.45480283e-03 9.95947320e-01 1.67998800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:104.16, Z:16.80 [[-5.68217647e-01 8.21352269e-01 5.00914737e-02 1.00732775e+02] [-8.17949840e-01 -5.70419391e-01 7.46979058e-02 1.04157047e+02] [ 8.99264424e-02 1.47235538e-03 9.95947321e-01 1.68021027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:104.14, Z:16.80 [[-5.68608711e-01 8.21079110e-01 5.01321101e-02 1.00724542e+02] [-8.17678026e-01 -5.70812530e-01 7.46706236e-02 1.04144493e+02] [ 8.99265258e-02 1.46644225e-03 9.95947323e-01 1.68032561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:104.16, Z:16.80 [[-5.69424342e-01 8.20511175e-01 5.01730118e-02 1.00734500e+02] [-8.17110312e-01 -5.71628500e-01 7.46431308e-02 1.04159355e+02] [ 8.99258464e-02 1.50673028e-03 9.95947324e-01 1.68024347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:104.16, Z:16.80 [[-5.70167083e-01 8.19992497e-01 5.02175450e-02 1.00733536e+02] [-8.16592265e-01 -5.72372212e-01 7.46131583e-02 1.04157178e+02] [ 8.99253573e-02 1.53470801e-03 9.95947325e-01 1.68025943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:104.15, Z:16.80 [[-5.71071567e-01 8.19360371e-01 5.02578212e-02 1.00726303e+02] [-8.15960083e-01 -5.73276607e-01 7.45860194e-02 1.04145515e+02] [ 8.99244618e-02 1.58557895e-03 9.95947326e-01 1.68035624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:104.15, Z:16.80 [[-5.71803346e-01 8.18847377e-01 5.02981851e-02 1.00731697e+02] [-8.15447503e-01 -5.74009022e-01 7.45587896e-02 1.04152589e+02] [ 8.99238813e-02 1.61743589e-03 9.95947328e-01 1.68025026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:104.15, Z:16.80 [[-5.73178952e-01 8.17882588e-01 5.03384589e-02 1.00730145e+02] [-8.14481387e-01 -5.75382579e-01 7.45315889e-02 1.04149841e+02] [ 8.99219612e-02 1.72020021e-03 9.95947329e-01 1.68033193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:104.14, Z:16.80 [[-5.74002176e-01 8.17302349e-01 5.03822629e-02 1.00726122e+02] [-8.13901516e-01 -5.76206369e-01 7.45019664e-02 1.04143577e+02] [ 8.99212129e-02 1.75809071e-03 9.95947330e-01 1.68038537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:104.13, Z:16.81 [[-5.74607602e-01 8.16873879e-01 5.04298558e-02 1.00718506e+02] [-8.13474226e-01 -5.76813611e-01 7.44697373e-02 1.04131786e+02] [ 8.99210104e-02 1.76748923e-03 9.95947332e-01 1.68055916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:104.13, Z:16.81 [[-5.75166135e-01 8.16478229e-01 5.04699905e-02 1.00718149e+02] [-8.13079442e-01 -5.77373477e-01 7.44425273e-02 1.04130204e+02] [ 8.99207367e-02 1.78070900e-03 9.95947333e-01 1.68057666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:104.13, Z:16.81 [[-5.75381895e-01 8.16323707e-01 5.05102014e-02 1.00720466e+02] [-8.12926720e-01 -5.77592002e-01 7.44152338e-02 1.04132546e+02] [ 8.99212079e-02 1.75608590e-03 9.95947334e-01 1.68060760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:104.11, Z:16.81 [[-5.74632219e-01 8.16849122e-01 5.05502212e-02 1.00707289e+02] [-8.13456544e-01 -5.76849088e-01 7.43880385e-02 1.04112053e+02] [ 8.99236530e-02 1.62535540e-03 9.95947335e-01 1.68088242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:104.13, Z:16.81 [[-5.74312789e-01 8.17071252e-01 5.05904027e-02 1.00716141e+02] [-8.13681937e-01 -5.76534640e-01 7.43607017e-02 1.04125242e+02] [ 8.99251113e-02 1.54180515e-03 9.95947337e-01 1.68088401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:104.12, Z:16.81 [[-5.73678843e-01 8.17513523e-01 5.06381730e-02 1.00709261e+02] [-8.14128790e-01 -5.75907665e-01 7.43281569e-02 1.04115266e+02] [ 8.99271854e-02 1.41449657e-03 9.95947338e-01 1.68099309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:104.11, Z:16.81 [[-5.70131225e-01 8.19988865e-01 5.06818297e-02 1.00706794e+02] [-8.16616455e-01 -5.72378648e-01 7.42983772e-02 1.04105258e+02] [ 8.99330391e-02 9.72208748e-04 9.95947340e-01 1.68072324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:104.10, Z:16.81 [[-5.68861859e-01 8.20890514e-01 5.03482801e-02 1.00704898e+02] [-8.17501450e-01 -5.71084265e-01 7.45261085e-02 1.04099619e+02] [ 8.99308860e-02 1.23526860e-03 9.95947243e-01 1.68053779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:104.10, Z:16.81 [[-5.70385383e-01 8.19841776e-01 5.01993744e-02 1.00704088e+02] [-8.16439661e-01 -5.72587950e-01 7.46278741e-02 1.04099323e+02] [ 8.99266057e-02 1.58188836e-03 9.95947139e-01 1.68065681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:104.09, Z:16.81 [[-5.76959712e-01 8.15222670e-01 5.02940288e-02 1.00692993e+02] [-8.11808563e-01 -5.79143505e-01 7.45631157e-02 1.04088990e+02] [ 8.99130024e-02 2.19079058e-03 9.95947214e-01 1.68114583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:104.09, Z:16.81 [[-5.77979079e-01 8.14466287e-01 5.08414443e-02 1.00694980e+02] [-8.11082099e-01 -5.80208557e-01 7.41879929e-02 1.04091880e+02] [ 8.99222601e-02 1.64252240e-03 9.95947433e-01 1.68105683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:104.08, Z:16.81 [[-5.79185890e-01 8.13605788e-01 5.08854278e-02 1.00684915e+02] [-8.10220936e-01 -5.81414356e-01 7.41578125e-02 1.04077537e+02] [ 8.99207438e-02 1.72271965e-03 9.95947434e-01 1.68108265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:104.06, Z:16.81 [[-5.80406118e-01 8.12733239e-01 5.09256350e-02 1.00670278e+02] [-8.09347456e-01 -5.82633169e-01 7.41301913e-02 1.04056974e+02] [ 8.99190346e-02 1.80908345e-03 9.95947436e-01 1.68121367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:104.08, Z:16.81 [[-5.82244650e-01 8.11414567e-01 5.09663451e-02 1.00683645e+02] [-8.08026188e-01 -5.84467745e-01 7.41021917e-02 1.04079107e+02] [ 8.99157826e-02 1.96346310e-03 9.95947437e-01 1.68104979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:104.07, Z:16.81 [[-5.83533646e-01 8.10485281e-01 5.10107129e-02 1.00678167e+02] [-8.07096028e-01 -5.85755405e-01 7.40716372e-02 1.04072124e+02] [ 8.99137725e-02 2.05274878e-03 9.95947438e-01 1.68109465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:104.07, Z:16.81 [[-5.84850920e-01 8.09532716e-01 5.10507981e-02 1.00675440e+02] [-8.06142251e-01 -5.87070829e-01 7.40439999e-02 1.04069532e+02] [ 8.99114747e-02 2.15049622e-03 9.95947439e-01 1.68100249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44687499999998 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:100.67, Y:104.06, Z:16.81 [[-5.86203061e-01 8.08551600e-01 5.10909165e-02 1.00666290e+02] [-8.05159828e-01 -5.88420970e-01 7.40163077e-02 1.04057680e+02] [ 8.99089706e-02 2.25223262e-03 9.95947441e-01 1.68115652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:104.05, Z:16.81 [[-5.83065339e-01 8.10814662e-01 5.11311545e-02 1.00665339e+02] [-8.07433935e-01 -5.85300045e-01 7.39885006e-02 1.04052772e+02] [ 8.99180281e-02 1.85510087e-03 9.95947442e-01 1.68090638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:104.04, Z:16.82 [[-5.90566036e-01 8.05404349e-01 5.05528690e-02 1.00649215e+02] [-8.01968849e-01 -5.92716077e-01 7.43882946e-02 1.04038034e+02] [ 8.98761541e-02 3.38937410e-03 9.95947182e-01 1.68167189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:104.03, Z:16.82 [[-5.91981851e-01 8.04322435e-01 5.12143455e-02 1.00642443e+02] [-8.00922258e-01 -5.94186736e-01 7.39300986e-02 1.04029700e+02] [ 8.98945217e-02 2.74656733e-03 9.95947504e-01 1.68185311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:104.01, Z:16.82 [[-5.93547716e-01 8.03164987e-01 5.12553684e-02 1.00630226e+02] [-7.99762959e-01 -5.95749742e-01 7.39016468e-02 1.04013945e+02] [ 8.98905878e-02 2.87200854e-03 9.95947506e-01 1.68217012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:104.02, Z:16.82 [[-5.87009137e-01 8.07953538e-01 5.12967098e-02 1.00637139e+02] [-8.04571990e-01 -5.89242482e-01 7.38729399e-02 1.04016538e+02] [ 8.99121038e-02 2.09219490e-03 9.95947507e-01 1.68170616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:104.02, Z:16.82 [[-5.93398906e-01 8.03322957e-01 5.04971883e-02 1.00633914e+02] [-7.99876529e-01 -5.95531682e-01 7.44281872e-02 1.04022605e+02] [ 8.98625468e-02 3.77408920e-03 9.95947026e-01 1.68198410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:104.01, Z:16.82 [[-5.93002177e-01 8.03560205e-01 5.13752433e-02 1.00622487e+02] [-8.00166942e-01 -5.95217519e-01 7.38171413e-02 1.04008401e+02] [ 8.98959620e-02 2.66495412e-03 9.95947596e-01 1.68223087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:104.02, Z:16.82 [[-5.85939663e-01 8.08721871e-01 5.14164066e-02 1.00636205e+02] [-8.05350648e-01 -5.88188402e-01 7.37884585e-02 1.04021789e+02] [ 8.99168742e-02 1.82734809e-03 9.95947597e-01 1.68153548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.716875 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:100.33, Y:103.60, Z:16.86 [[-5.93694290e-01 8.03071748e-01 5.10182175e-02 1.00332692e+02] [-7.99655152e-01 -5.95873879e-01 7.40672592e-02 1.03596833e+02] [ 8.98817464e-02 3.17632836e-03 9.95947379e-01 1.68634624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:103.39, Z:17.37 [[-4.95866403e-01 -8.66898871e-01 -5.10182175e-02 1.01427166e+02] [-8.63760134e-01 4.98430007e-01 -7.40672592e-02 1.03390107e+02] [ 8.96378339e-02 7.34003702e-03 -9.95947379e-01 1.73736882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:103.91, Z:16.83 [[-5.30519787e-01 8.46404506e-01 4.63483251e-02 1.00499170e+02] [-8.42907114e-01 -5.32537745e-01 7.68839905e-02 1.03906400e+02] [ 8.97571885e-02 1.72114535e-03 9.95962190e-01 1.68317792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:103.90, Z:16.83 [[-5.28594592e-01 8.47605385e-01 4.63990087e-02 1.00496125e+02] [-8.44115260e-01 -5.30625089e-01 7.68533912e-02 1.03904424e+02] [ 8.97618264e-02 1.45817570e-03 9.95962192e-01 1.68328882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:103.90, Z:16.83 [[-5.29149652e-01 8.47256446e-01 4.64452500e-02 1.00492856e+02] [-8.43767431e-01 -5.31182054e-01 7.68254359e-02 1.03899002e+02] [ 8.97617291e-02 1.46316337e-03 9.95962194e-01 1.68334878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:103.90, Z:16.83 [[-5.27111516e-01 8.48523184e-01 4.64957576e-02 1.00493768e+02] [-8.45041749e-01 -5.29156870e-01 7.67948561e-02 1.03902747e+02] [ 8.97657654e-02 1.18859664e-03 9.95962195e-01 1.68346274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:103.91, Z:16.83 [[-5.22860506e-01 8.51146729e-01 4.65417689e-02 1.00497035e+02] [-8.47678040e-01 -5.24927400e-01 7.67669608e-02 1.03911560e+02] [ 8.97709973e-02 6.85976594e-04 9.95962197e-01 1.68342684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:103.91, Z:16.84 [[-5.21294023e-01 8.52104548e-01 4.65873497e-02 1.00493404e+02] [-8.48642128e-01 -5.23371398e-01 7.67392895e-02 1.03907497e+02] [ 8.97723840e-02 4.67745336e-04 9.95962198e-01 1.68350390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:103.90, Z:16.84 [[-5.19845146e-01 8.52986764e-01 4.66326583e-02 1.00490660e+02] [-8.49530338e-01 -5.21932479e-01 7.67117468e-02 1.03904131e+02] [ 8.97732036e-02 2.62371324e-04 9.95962200e-01 1.68354783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:103.91, Z:16.83 [[-5.17757208e-01 8.54253268e-01 4.66779133e-02 1.00492788e+02] [-8.50804431e-01 -5.19857052e-01 7.66842001e-02 1.03910297e+02] [ 8.97735709e-02 -9.97805520e-06 9.95962201e-01 1.68340860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:103.90, Z:16.84 [[-5.17108277e-01 8.54643784e-01 4.67229365e-02 1.00485009e+02] [-8.51199011e-01 -5.19214778e-01 7.66567582e-02 1.03898651e+02] [ 8.97734610e-02 -1.30673179e-04 9.95962202e-01 1.68350071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:103.90, Z:16.83 [[-5.16869419e-01 8.54785589e-01 4.67717955e-02 1.00487623e+02] [-8.51344091e-01 -5.18981264e-01 7.66269357e-02 1.03904168e+02] [ 8.97732859e-02 -2.12771927e-04 9.95962204e-01 1.68345941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:103.90, Z:16.84 [[-5.16242951e-01 8.55161632e-01 4.68166548e-02 1.00482786e+02] [-8.51724157e-01 -5.18361336e-01 7.65995184e-02 1.03896062e+02] [ 8.97729128e-02 -3.30914421e-04 9.95962205e-01 1.68358099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:103.88, Z:16.84 [[-5.16440355e-01 8.55039983e-01 4.68613604e-02 1.00476584e+02] [-8.51604491e-01 -5.18561950e-01 7.65721592e-02 1.03884974e+02] [ 8.97727761e-02 -3.62391908e-04 9.95962207e-01 1.68363318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:103.89, Z:16.84 [[-5.17135306e-01 8.54617388e-01 4.69062343e-02 1.00478378e+02] [-8.51182655e-01 -5.19258128e-01 7.65446608e-02 1.03886860e+02] [ 8.97728415e-02 -3.41826388e-04 9.95962208e-01 1.68358896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:103.86, Z:16.84 [[-5.18198482e-01 8.53970685e-01 4.69510737e-02 1.00463185e+02] [-8.50535794e-01 -5.20321045e-01 7.65171474e-02 1.03861052e+02] [ 8.97730325e-02 -2.82499049e-04 9.95962210e-01 1.68385734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:103.88, Z:16.84 [[-5.20668137e-01 8.52464691e-01 4.69961850e-02 1.00474461e+02] [-8.49026161e-01 -5.22784798e-01 7.64894305e-02 1.03876583e+02] [ 8.97734298e-02 -7.53812668e-05 9.95962211e-01 1.68359406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:103.85, Z:16.84 [[-5.22598124e-01 8.51280184e-01 4.70451908e-02 1.00461662e+02] [-8.47839569e-01 -5.24711391e-01 7.64592776e-02 1.03854918e+02] [ 8.97734154e-02 7.07007746e-05 9.95962213e-01 1.68377939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:103.86, Z:16.84 [[-5.24462987e-01 8.50130260e-01 4.70862617e-02 1.00464794e+02] [-8.46687283e-01 -5.26572400e-01 7.64339765e-02 1.03857803e+02] [ 8.97731621e-02 2.19452701e-04 9.95962214e-01 1.68367374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:103.86, Z:16.84 [[-5.26476577e-01 8.48882233e-01 4.71313897e-02 1.00464679e+02] [-8.45436746e-01 -5.28581886e-01 7.64061392e-02 1.03855352e+02] [ 8.97726130e-02 3.79433922e-04 9.95962215e-01 1.68363674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:103.85, Z:16.84 [[-5.30380339e-01 8.46446156e-01 4.71762862e-02 1.00463083e+02] [-8.42993465e-01 -5.32473809e-01 7.63784083e-02 1.03849194e+02] [ 8.97703470e-02 7.40305084e-04 9.95962217e-01 1.68367980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:103.85, Z:16.84 [[-5.32276631e-01 8.45252480e-01 4.72211113e-02 1.00462323e+02] [-8.41797551e-01 -5.34366405e-01 7.63506852e-02 1.03846760e+02] [ 8.97689815e-02 8.89069619e-04 9.95962218e-01 1.68369323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:103.83, Z:16.84 [[-5.34314659e-01 8.43963140e-01 4.72658736e-02 1.00452982e+02] [-8.40505620e-01 -5.36400138e-01 7.63229647e-02 1.03830972e+02] [ 8.97671901e-02 1.05324651e-03 9.95962219e-01 1.68391002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:103.81, Z:16.84 [[-5.37067726e-01 8.42211561e-01 4.73069201e-02 1.00443626e+02] [-8.38749478e-01 -5.39145622e-01 7.62975146e-02 1.03812649e+02] [ 8.97639677e-02 1.29827818e-03 9.95962220e-01 1.68416327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:103.79, Z:16.84 [[-5.38658362e-01 8.41192562e-01 4.73523260e-02 1.00433464e+02] [-8.37729024e-01 -5.40733828e-01 7.62693242e-02 1.03794348e+02] [ 8.97621927e-02 1.41469137e-03 9.95962222e-01 1.68442184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:103.79, Z:16.85 [[-5.40272821e-01 8.40154189e-01 4.73942799e-02 1.00429097e+02] [-8.36688947e-01 -5.42345437e-01 7.62432450e-02 1.03785691e+02] [ 8.97601531e-02 1.53788291e-03 9.95962223e-01 1.68455106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:103.80, Z:16.84 [[-5.42610391e-01 8.38643761e-01 4.74405560e-02 1.00441675e+02] [-8.35175264e-01 -5.44677554e-01 7.62144400e-02 1.03802480e+02] [ 8.97565706e-02 1.73356823e-03 9.95962225e-01 1.68440658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:103.79, Z:16.85 [[-5.44211222e-01 8.37603238e-01 4.74864316e-02 1.00435432e+02] [-8.34133280e-01 -5.46275927e-01 7.61858461e-02 1.03791719e+02] [ 8.97542058e-02 1.85117948e-03 9.95962226e-01 1.68452338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:103.79, Z:16.85 [[-5.45609463e-01 8.36690521e-01 4.75319426e-02 1.00435012e+02] [-8.33219578e-01 -5.47672510e-01 7.61574415e-02 1.03790545e+02] [ 8.97521478e-02 1.94767555e-03 9.95962227e-01 1.68452031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:103.76, Z:16.85 [[-5.47061591e-01 8.35739193e-01 4.75774850e-02 1.00416912e+02] [-8.32267132e-01 -5.49122754e-01 7.61289796e-02 1.03761500e+02] [ 8.97498515e-02 2.05006370e-03 9.95962229e-01 1.68481176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:103.75, Z:16.85 [[-5.48381816e-01 8.34871110e-01 4.76194701e-02 1.00409460e+02] [-8.31398063e-01 -5.50441313e-01 7.61027085e-02 1.03749711e+02] [ 8.97476764e-02 2.14260634e-03 9.95962230e-01 1.68489832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:103.75, Z:16.85 [[-5.50255200e-01 8.33634907e-01 4.76660985e-02 1.00407473e+02] [-8.30159758e-01 -5.52311145e-01 7.60734923e-02 1.03746895e+02] [ 8.97440361e-02 2.28935794e-03 9.95962232e-01 1.68485392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:103.76, Z:16.85 [[-5.50080917e-01 8.33747247e-01 4.77128106e-02 1.00417070e+02] [-8.30275053e-01 -5.52141846e-01 7.60441836e-02 1.03762921e+02] [ 8.97458681e-02 2.21569796e-03 9.95962233e-01 1.68463513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:103.75, Z:16.85 [[-5.50213651e-01 8.33657011e-01 4.77590439e-02 1.00409611e+02] [-8.30186994e-01 -5.52278240e-01 7.60151361e-02 1.03751110e+02] [ 8.97468319e-02 2.17562849e-03 9.95962235e-01 1.68464624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:103.74, Z:16.85 [[-5.50786793e-01 8.33275821e-01 4.78049746e-02 1.00403582e+02] [-8.29806876e-01 -5.52853181e-01 7.59862401e-02 1.03741898e+02] [ 8.97466288e-02 2.18332079e-03 9.95962236e-01 1.68465130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:103.73, Z:16.85 [[-5.51837144e-01 8.32578175e-01 4.78471393e-02 1.00396106e+02] [-8.29108915e-01 -5.53903000e-01 7.59596806e-02 1.03731292e+02] [ 8.97450463e-02 2.24688340e-03 9.95962237e-01 1.68461837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:103.73, Z:16.85 [[-5.52632162e-01 8.32048017e-01 4.78935304e-02 1.00393503e+02] [-8.28579305e-01 -5.54698934e-01 7.59304193e-02 1.03727449e+02] [ 8.97442451e-02 2.27800365e-03 9.95962239e-01 1.68458308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:103.73, Z:16.85 [[-5.53645715e-01 8.31371263e-01 4.79400134e-02 1.00392889e+02] [-8.27902559e-01 -5.55712499e-01 7.59010602e-02 1.03726533e+02] [ 8.97428250e-02 2.33263696e-03 9.95962240e-01 1.68456297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.856875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.39, Y:103.72, Z:16.85 [[-5.54844441e-01 8.30569054e-01 4.79863884e-02 1.00388900e+02] [-8.27099891e-01 -5.56910451e-01 7.58717297e-02 1.03719949e+02] [ 8.97408320e-02 2.40747081e-03 9.95962242e-01 1.68462482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:103.71, Z:16.84 [[-5.50652446e-01 8.33351280e-01 4.80367387e-02 1.00388918e+02] [-8.29895336e-01 -5.52740490e-01 7.58398382e-02 1.03712866e+02] [ 8.97530767e-02 1.89592699e-03 9.95962244e-01 1.68438597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:103.73, Z:16.85 [[-5.54651583e-01 8.30720266e-01 4.75968485e-02 1.00392963e+02] [-8.27230448e-01 -5.56682801e-01 7.61186252e-02 1.03726620e+02] [ 8.97296315e-02 2.84575368e-03 9.95962095e-01 1.68464895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:103.70, Z:16.85 [[-5.54101574e-01 8.31056916e-01 4.81232518e-02 1.00377641e+02] [-8.27597134e-01 -5.56183164e-01 7.57843786e-02 1.03703454e+02] [ 8.97464744e-02 2.16557819e-03 9.95962289e-01 1.68497854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:103.70, Z:16.85 [[-5.53768072e-01 8.31276744e-01 4.81653043e-02 1.00377797e+02] [-8.27820108e-01 -5.55854880e-01 7.57576425e-02 1.03704636e+02] [ 8.97484859e-02 2.07995615e-03 9.95962290e-01 1.68514873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:103.72, Z:16.85 [[-5.51361222e-01 8.32872404e-01 4.82116311e-02 1.00384889e+02] [-8.29424382e-01 -5.53462231e-01 7.57281492e-02 1.03716663e+02] [ 8.97552025e-02 1.76566258e-03 9.95962291e-01 1.68520672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:103.72, Z:16.85 [[-5.50212345e-01 8.33629169e-01 4.82574759e-02 1.00387333e+02] [-8.30186597e-01 -5.52322268e-01 7.56989236e-02 1.03720730e+02] [ 8.97585093e-02 1.58777255e-03 9.95962293e-01 1.68514649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:103.72, Z:16.85 [[-5.49421385e-01 8.34148058e-01 4.83027815e-02 1.00385174e+02] [-8.30710018e-01 -5.51538681e-01 7.56700036e-02 1.03717259e+02] [ 8.97608390e-02 1.44911368e-03 9.95962294e-01 1.68508094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:103.72, Z:16.85 [[-5.47483206e-01 8.35418831e-01 4.83478611e-02 1.00387835e+02] [-8.31988248e-01 -5.49612560e-01 7.56411900e-02 1.03722364e+02] [ 8.97646663e-02 1.18742897e-03 9.95962296e-01 1.68494095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:103.71, Z:16.85 [[-5.46652317e-01 8.35960161e-01 4.83927068e-02 1.00382301e+02] [-8.32534224e-01 -5.48789137e-01 7.56124885e-02 1.03714311e+02] [ 8.97664199e-02 1.04515743e-03 9.95962297e-01 1.68506664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:103.72, Z:16.85 [[-5.45570523e-01 8.36663983e-01 4.84374144e-02 1.00383256e+02] [-8.33243345e-01 -5.47715813e-01 7.55838381e-02 1.03715659e+02] [ 8.97682129e-02 8.76160867e-04 9.95962299e-01 1.68501544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:103.70, Z:16.85 [[-5.44461189e-01 8.37383725e-01 4.84820583e-02 1.00374983e+02] [-8.33968472e-01 -5.46615038e-01 7.55551913e-02 1.03702200e+02] [ 8.97697097e-02 7.04361209e-04 9.95962300e-01 1.68514930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:103.70, Z:16.85 [[-5.41873436e-01 8.39058227e-01 4.85228867e-02 1.00376048e+02] [-8.35651978e-01 -5.44041494e-01 7.55289616e-02 1.03703385e+02] [ 8.97716604e-02 3.78891680e-04 9.95962301e-01 1.68512757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:103.71, Z:16.85 [[-5.41047054e-01 8.39588751e-01 4.85676287e-02 1.00382732e+02] [-8.36187210e-01 -5.43222489e-01 7.55001801e-02 1.03713902e+02] [ 8.97721301e-02 2.37520049e-04 9.95962303e-01 1.68509813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:103.71, Z:16.85 [[-5.41023548e-01 8.39601334e-01 4.86119378e-02 1.00381129e+02] [-8.36202406e-01 -5.43203063e-01 7.54716405e-02 1.03711347e+02] [ 8.97722435e-02 1.82515405e-04 9.95962304e-01 1.68517513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:103.70, Z:16.85 [[-5.41338269e-01 8.39395903e-01 4.86559029e-02 1.00372979e+02] [-8.35998696e-01 -5.43520461e-01 7.54432860e-02 1.03696016e+02] [ 8.97722640e-02 1.64066484e-04 9.95962305e-01 1.68535108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:103.69, Z:16.85 [[-5.42614069e-01 8.38569408e-01 4.86962028e-02 1.00370531e+02] [-8.35171211e-01 -5.44794717e-01 7.54172649e-02 1.03690766e+02] [ 8.97720452e-02 2.52802257e-04 9.95962307e-01 1.68539954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:103.68, Z:16.85 [[-5.44196073e-01 8.37541264e-01 4.87366864e-02 1.00366660e+02] [-8.34141290e-01 -5.46373948e-01 7.53910943e-02 1.03682966e+02] [ 8.97716082e-02 3.74254999e-04 9.95962308e-01 1.68545998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:103.68, Z:16.86 [[-5.46609121e-01 8.35965835e-01 4.87810684e-02 1.00362963e+02] [-8.32562146e-01 -5.48781183e-01 7.53623666e-02 1.03675700e+02] [ 8.97704961e-02 5.80485951e-04 9.95962309e-01 1.68551486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:103.67, Z:16.85 [[-5.51967623e-01 8.32434870e-01 4.88255163e-02 1.00364264e+02] [-8.29019835e-01 -5.54121799e-01 7.53335589e-02 1.03674153e+02] [ 8.97655643e-02 1.10436392e-03 9.95962310e-01 1.68546024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:103.67, Z:16.85 [[-5.55145661e-01 8.30316446e-01 4.88660894e-02 1.00362526e+02] [-8.26895507e-01 -5.57290446e-01 7.53072316e-02 1.03669222e+02] [ 8.97614377e-02 1.39933309e-03 9.95962312e-01 1.68547565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:103.64, Z:16.86 [[-5.58674936e-01 8.27943514e-01 4.89065890e-02 1.00346798e+02] [-8.24515767e-01 -5.60808821e-01 7.52809210e-02 1.03642519e+02] [ 8.97555968e-02 1.73330992e-03 9.95962313e-01 1.68563686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:103.63, Z:16.86 [[-5.64650013e-01 8.23875479e-01 4.89852909e-02 1.00343730e+02] [-8.20436799e-01 -5.66766227e-01 7.52296753e-02 1.03634451e+02] [ 8.97430932e-02 2.28910187e-03 9.95962317e-01 1.68559327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:103.63, Z:16.86 [[-5.67422257e-01 8.21965940e-01 4.90303631e-02 1.00343317e+02] [-8.18522671e-01 -5.69530994e-01 7.52002885e-02 1.03632838e+02] [ 8.97363872e-02 2.53785354e-03 9.95962319e-01 1.68564681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:103.63, Z:16.86 [[-5.70433303e-01 8.19876486e-01 4.90753990e-02 1.00342341e+02] [-8.16428016e-01 -5.72533520e-01 7.51708869e-02 1.03630697e+02] [ 8.97281536e-02 2.81344667e-03 9.95962320e-01 1.68570262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:103.60, Z:16.86 [[-5.72635848e-01 8.18335389e-01 4.91464811e-02 1.00325311e+02] [-8.14885242e-01 -5.74733302e-01 7.51243853e-02 1.03604631e+02] [ 8.97230625e-02 2.97017391e-03 9.95962324e-01 1.68603043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:103.61, Z:16.86 [[-5.75336507e-01 8.16436676e-01 4.91839237e-02 1.00325936e+02] [-8.12981696e-01 -5.77425989e-01 7.50998637e-02 1.03606315e+02] [ 8.97143589e-02 3.22206361e-03 9.95962325e-01 1.68624458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:103.60, Z:16.86 [[-5.76441075e-01 8.15654426e-01 4.92295049e-02 1.00320085e+02] [-8.12199151e-01 -5.78530067e-01 7.50699726e-02 1.03597643e+02] [ 8.97119041e-02 3.28925364e-03 9.95962326e-01 1.68630720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.57, Z:16.87 [[-5.77097860e-01 8.15187352e-01 4.92710978e-02 1.00304009e+02] [-8.11732707e-01 -5.79187890e-01 7.50426639e-02 1.03573472e+02] [ 8.97110536e-02 3.31199919e-03 9.95962327e-01 1.68659488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.57, Z:16.87 [[-5.77594033e-01 8.14833324e-01 4.93131590e-02 1.00302522e+02] [-8.11379746e-01 -5.79685824e-01 7.50150139e-02 1.03571452e+02] [ 8.97108724e-02 3.31652597e-03 9.95962329e-01 1.68652779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.57, Z:16.87 [[-5.78052240e-01 8.14505518e-01 4.93595816e-02 1.00299951e+02] [-8.11053351e-01 -5.80146355e-01 7.49844557e-02 1.03567498e+02] [ 8.97110344e-02 3.31167854e-03 9.95962330e-01 1.68657319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:103.55, Z:16.87 [[-5.78120012e-01 8.14454850e-01 4.94019209e-02 1.00286152e+02] [-8.11004872e-01 -5.80217729e-01 7.49565512e-02 1.03547749e+02] [ 8.97125970e-02 3.26868373e-03 9.95962331e-01 1.68683799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.59, Z:16.86 [[-5.77542091e-01 8.14862178e-01 4.94445596e-02 1.00311693e+02] [-8.11416077e-01 -5.79646170e-01 7.49284144e-02 1.03586900e+02] [ 8.97166805e-02 3.15420258e-03 9.95962333e-01 1.68633670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:103.60, Z:16.86 [[-5.69141777e-01 8.20748631e-01 4.94906268e-02 1.00328514e+02] [-8.17326955e-01 -5.71285343e-01 7.48979746e-02 1.03603479e+02] [ 8.97456798e-02 2.17754312e-03 9.95962334e-01 1.68616008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:103.61, Z:16.86 [[-5.67836533e-01 8.21707184e-01 4.85692819e-02 1.00332010e+02] [-8.18236654e-01 -5.69901288e-01 7.55069487e-02 1.03607977e+02] [ 8.97242986e-02 3.13443727e-03 9.95961709e-01 1.68599028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.58, Z:16.86 [[-5.72354877e-01 8.18560576e-01 4.86670080e-02 1.00309099e+02] [-8.15084176e-01 -5.74409478e-01 7.54422830e-02 1.03584023e+02] [ 8.97088693e-02 3.51205047e-03 9.95961839e-01 1.68637301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:103.59, Z:16.86 [[-5.71584988e-01 8.19041797e-01 4.96098435e-02 1.00315278e+02] [-8.15620716e-01 -5.73729238e-01 7.48171757e-02 1.03594209e+02] [ 8.97410117e-02 2.30155838e-03 9.95962476e-01 1.68649485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.59, Z:16.87 [[-5.71179310e-01 8.19322299e-01 4.96504406e-02 1.00313757e+02] [-8.15904608e-01 -5.73328956e-01 7.47902249e-02 1.03591830e+02] [ 8.97433343e-02 2.20860574e-03 9.95962477e-01 1.68660900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.58, Z:16.87 [[-5.70642196e-01 8.19694036e-01 4.96907476e-02 1.00307561e+02] [-8.16280074e-01 -5.72797757e-01 7.47634354e-02 1.03581325e+02] [ 8.97458909e-02 2.10160383e-03 9.95962478e-01 1.68670163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.59, Z:16.86 [[-5.69545505e-01 8.20453980e-01 4.97311154e-02 1.00313197e+02] [-8.17045235e-01 -5.71709304e-01 7.47365740e-02 1.03587747e+02] [ 8.97496610e-02 1.93330889e-03 9.95962480e-01 1.68632897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:103.59, Z:16.86 [[-5.58207586e-01 8.28207160e-01 4.97713827e-02 1.00327551e+02] [-8.24830878e-01 -5.60421695e-01 7.47097482e-02 1.03593673e+02] [ 8.97681111e-02 6.50574981e-04 9.95962481e-01 1.68586333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.57, Z:16.86 [[-5.68992867e-01 8.20908527e-01 4.85418110e-02 1.00304903e+02] [-8.17433221e-01 -5.71050198e-01 7.55287996e-02 1.03572979e+02] [ 8.97220465e-02 3.29565930e-03 9.95961391e-01 1.68623633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.57, Z:16.86 [[-5.68769756e-01 8.20984286e-01 4.98574612e-02 1.00305405e+02] [-8.17585113e-01 -5.70948268e-01 7.46502372e-02 1.03574596e+02] [ 8.97527029e-02 1.69607916e-03 9.95962638e-01 1.68624788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:103.56, Z:16.87 [[-5.68322605e-01 8.21291218e-01 4.99014163e-02 1.00293598e+02] [-8.17895799e-01 -5.70506961e-01 7.46208432e-02 1.03556988e+02] [ 8.97545485e-02 1.59455330e-03 9.95962639e-01 1.68657138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.57, Z:16.87 [[-5.66344735e-01 8.22653918e-01 4.99416961e-02 1.00302980e+02] [-8.19266130e-01 -5.68540906e-01 7.45938754e-02 1.03569440e+02] [ 8.97588410e-02 1.33030846e-03 9.95962640e-01 1.68658982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:103.55, Z:16.87 [[-5.64882358e-01 8.23656088e-01 4.99857001e-02 1.00288795e+02] [-8.20274805e-01 -5.67088528e-01 7.45643766e-02 1.03547079e+02] [ 8.97617198e-02 1.11809047e-03 9.95962642e-01 1.68697682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.56, Z:16.87 [[-5.63387323e-01 8.24676987e-01 5.00259013e-02 1.00296206e+02] [-8.21302096e-01 -5.65603257e-01 7.45373956e-02 1.03557488e+02] [ 8.97640875e-02 9.07046225e-04 9.95962643e-01 1.68704452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.56, Z:16.87 [[-5.58851778e-01 8.27754607e-01 5.00699542e-02 1.00296915e+02] [-8.24394572e-01 -5.61090170e-01 7.45077917e-02 1.03557473e+02] [ 8.97679271e-02 3.61413408e-04 9.95962644e-01 1.68735269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:103.54, Z:16.88 [[-5.56634675e-01 8.29244287e-01 5.01173819e-02 1.00288154e+02] [-8.25893113e-01 -5.58886311e-01 7.44758762e-02 1.03543730e+02] [ 8.97686135e-02 6.42545544e-05 9.95962646e-01 1.68768567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:103.53, Z:16.88 [[-5.54065267e-01 8.30960618e-01 5.01610614e-02 1.00282125e+02] [-8.27619083e-01 -5.56331179e-01 7.44464457e-02 1.03533098e+02] [ 8.97682269e-02 -2.66061864e-04 9.95962647e-01 1.68799673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:103.55, Z:16.88 [[-5.51632594e-01 8.32575112e-01 5.02012310e-02 1.00292739e+02] [-8.29242673e-01 -5.53911861e-01 7.44193485e-02 1.03547052e+02] [ 8.97667547e-02 -5.76864659e-04 9.95962648e-01 1.68789449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:103.54, Z:16.88 [[-5.45857347e-01 8.36370254e-01 5.02449407e-02 1.00293521e+02] [-8.33056373e-01 -5.48163510e-01 7.43898259e-02 1.03541406e+02] [ 8.97598807e-02 -1.25063496e-03 9.95962650e-01 1.68794503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.54, Z:16.88 [[-5.43858093e-01 8.37702028e-01 4.97361778e-02 1.00298006e+02] [-8.34362205e-01 -5.46126894e-01 7.47337065e-02 1.03544639e+02] [ 8.97668418e-02 -8.53455901e-04 9.95962442e-01 1.68790028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.54, Z:16.88 [[-5.41770282e-01 8.39018774e-01 5.03235395e-02 1.00297931e+02] [-8.35721142e-01 -5.44099547e-01 7.43361057e-02 1.03541219e+02] [ 8.97504033e-02 -1.78335291e-03 9.95962692e-01 1.68797482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.54, Z:16.88 [[-5.38167749e-01 8.41331722e-01 5.03627557e-02 1.00299709e+02] [-8.38046579e-01 -5.40514594e-01 7.43095273e-02 1.03535088e+02] [ 8.97407670e-02 -2.21534405e-03 9.95962694e-01 1.68787273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.53, Z:16.88 [[-5.37225377e-01 8.41930874e-01 5.04112949e-02 1.00300744e+02] [-8.38651431e-01 -5.39580176e-01 7.42765841e-02 1.03531258e+02] [ 8.97366848e-02 -2.37423878e-03 9.95962695e-01 1.68791786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.52, Z:16.88 [[-5.36778408e-01 8.42213575e-01 5.04503221e-02 1.00300166e+02] [-8.38937857e-01 -5.39138386e-01 7.42500666e-02 1.03524080e+02] [ 8.97341193e-02 -2.46885262e-03 9.95962696e-01 1.68794518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.51, Z:16.88 [[-5.37025585e-01 8.42053430e-01 5.04929965e-02 1.00298570e+02] [-8.38779730e-01 -5.39388359e-01 7.42210351e-02 1.03514957e+02] [ 8.97334117e-02 -2.49390714e-03 9.95962698e-01 1.68805369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.51, Z:16.88 [[-5.37673230e-01 8.41637696e-01 5.05320400e-02 1.00302370e+02] [-8.38364662e-01 -5.40036923e-01 7.41944437e-02 1.03512924e+02] [ 8.97340080e-02 -2.47191047e-03 9.95962699e-01 1.68809557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.50, Z:16.88 [[-5.38933626e-01 8.40828827e-01 5.05710391e-02 1.00301180e+02] [-8.37554734e-01 -5.41295850e-01 7.41678524e-02 1.03503367e+02] [ 8.97363620e-02 -2.38446362e-03 9.95962700e-01 1.68825139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.49, Z:16.88 [[-5.40230663e-01 8.39993725e-01 5.06100091e-02 1.00304601e+02] [-8.36718466e-01 -5.42591268e-01 7.41412510e-02 1.03489852e+02] [ 8.97387346e-02 -2.29295205e-03 9.95962701e-01 1.68835779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.49, Z:16.88 [[-5.44807167e-01 8.37070419e-01 4.99826384e-02 1.00307648e+02] [-8.33742975e-01 -5.47094158e-01 7.45696601e-02 1.03488394e+02] [ 8.97652661e-02 -1.04658836e-03 9.95962400e-01 1.68832421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.48, Z:16.88 [[-5.47008742e-01 8.35591409e-01 5.06797104e-02 1.00307153e+02] [-8.32301611e-01 -5.49348951e-01 7.40929000e-02 1.03479781e+02] [ 8.97522365e-02 -1.65134056e-03 9.95962755e-01 1.68842846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.746875 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:100.31, Y:103.48, Z:16.88 [[-5.49386555e-01 8.34027810e-01 5.07151331e-02 1.00310382e+02] [-8.30733588e-01 -5.51720529e-01 7.40686460e-02 1.03476479e+02] [ 8.97558907e-02 -1.43844623e-03 9.95962756e-01 1.68844404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.776875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.31, Y:103.46, Z:16.89 [[-5.53491618e-01 8.31307050e-01 5.07505443e-02 1.00312239e+02] [-8.28003575e-01 -5.55812477e-01 7.40443751e-02 1.03463022e+02] [ 8.97613967e-02 -1.03869114e-03 9.95962757e-01 1.68866106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.46, Z:16.89 [[-5.55855226e-01 8.29725862e-01 5.07933341e-02 1.00313645e+02] [-8.26418466e-01 -5.58170491e-01 7.40150104e-02 1.03457226e+02] [ 8.97635085e-02 -8.34918912e-04 9.95962758e-01 1.68862813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.45, Z:16.89 [[-5.57732536e-01 8.28463168e-01 5.08251692e-02 1.00312638e+02] [-8.25152522e-01 -5.60043150e-01 7.39931432e-02 1.03448183e+02] [ 8.97648817e-02 -6.70133179e-04 9.95962759e-01 1.68877582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.44, Z:16.89 [[-5.59525450e-01 8.27250922e-01 5.08643627e-02 1.00313937e+02] [-8.23937718e-01 -5.61832394e-01 7.39661912e-02 1.03442925e+02] [ 8.97658465e-02 -5.23100482e-04 9.95962760e-01 1.68871841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:103.43, Z:16.89 [[-5.62656491e-01 8.25122338e-01 5.08999053e-02 1.00316401e+02] [-8.21802619e-01 -5.64954048e-01 7.39417245e-02 1.03434179e+02] [ 8.97670761e-02 -2.25884292e-04 9.95962761e-01 1.68866883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:103.43, Z:16.89 [[-5.64391749e-01 8.23934405e-01 5.09318136e-02 1.00317470e+02] [-8.20611834e-01 -5.66685178e-01 7.39197393e-02 1.03430082e+02] [ 8.97673202e-02 -7.55580442e-05 9.95962762e-01 1.68866661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:103.42, Z:16.89 [[-5.66481838e-01 8.22496598e-01 5.09673856e-02 1.00316413e+02] [-8.19170412e-01 -5.68770019e-01 7.38952045e-02 1.03423299e+02] [ 8.97672752e-02 1.09316937e-04 9.95962763e-01 1.68866541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.42, Z:16.89 [[-5.68567232e-01 8.21054428e-01 5.09993092e-02 1.00314888e+02] [-8.17724414e-01 -5.70849838e-01 7.38731657e-02 1.03416094e+02] [ 8.97668372e-02 2.98481090e-04 9.95962763e-01 1.68872817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.41, Z:16.89 [[-5.72791291e-01 8.18110582e-01 5.10412914e-02 1.00314299e+02] [-8.14771422e-01 -5.75060494e-01 7.38441476e-02 1.03405673e+02] [ 8.97645088e-02 7.10299034e-04 9.95962765e-01 1.68857348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.40, Z:16.89 [[-5.74931897e-01 8.16605897e-01 5.10697803e-02 1.00314505e+02] [-8.13262549e-01 -5.77194922e-01 7.38244398e-02 1.03402141e+02] [ 8.97626908e-02 9.10885555e-04 9.95962765e-01 1.68863014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.40, Z:16.89 [[-5.77804291e-01 8.14574221e-01 5.10983329e-02 1.00311881e+02] [-8.11224663e-01 -5.80058115e-01 7.38046716e-02 1.03395106e+02] [ 8.97593855e-02 1.19242802e-03 9.95962766e-01 1.68857554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.39, Z:16.89 [[-5.80194585e-01 8.12871626e-01 5.11269306e-02 1.00313718e+02] [-8.09517199e-01 -5.82441155e-01 7.37848558e-02 1.03394364e+02] [ 8.97560442e-02 1.42144420e-03 9.95962766e-01 1.68864165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.38, Z:16.89 [[-5.84625198e-01 8.09688675e-01 5.11627539e-02 1.00309101e+02] [-8.06324192e-01 -5.86856677e-01 7.37600075e-02 1.03382900e+02] [ 8.97478465e-02 1.86819273e-03 9.95962767e-01 1.68871870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.38, Z:16.89 [[-5.86455765e-01 8.08361515e-01 5.11986041e-02 1.00310142e+02] [-8.04994151e-01 -5.88682894e-01 7.37351147e-02 1.03382355e+02] [ 8.97443714e-02 2.02780622e-03 9.95962768e-01 1.68878470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.38, Z:16.89 [[-5.88514384e-01 8.06862185e-01 5.12272805e-02 1.00306917e+02] [-8.03490879e-01 -5.90735540e-01 7.37151865e-02 1.03376611e+02] [ 8.97397717e-02 2.22179501e-03 9.95962769e-01 1.68881003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:103.38, Z:16.89 [[-5.90051703e-01 8.05736588e-01 5.12595140e-02 1.00306658e+02] [-8.02362989e-01 -5.92269373e-01 7.36927655e-02 1.03376343e+02] [ 8.97363977e-02 2.35380494e-03 9.95962770e-01 1.68883351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.37, Z:16.89 [[-5.91832934e-01 8.04427318e-01 5.12880960e-02 1.00303552e+02] [-8.01050533e-01 -5.94045749e-01 7.36728679e-02 1.03373443e+02] [ 8.97319429e-02 2.51767296e-03 9.95962770e-01 1.68914937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28687499999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.30, Y:103.37, Z:16.89 [[-5.92538708e-01 8.03905532e-01 5.13203239e-02 1.00299122e+02] [-8.00528738e-01 -5.94751508e-01 7.36504113e-02 1.03368045e+02] [ 8.97308131e-02 2.55732542e-03 9.95962771e-01 1.68933525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.37, Z:16.89 [[-5.93124987e-01 8.03471235e-01 5.13490542e-02 1.00298199e+02] [-8.00094551e-01 -5.95337953e-01 7.36303752e-02 1.03367064e+02] [ 8.97299292e-02 2.58791686e-03 9.95962772e-01 1.68937744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:103.37, Z:16.89 [[-5.93981057e-01 8.02836737e-01 5.13778058e-02 1.00296758e+02] [-7.99459420e-01 -5.96193055e-01 7.36103075e-02 1.03366054e+02] [ 8.97281500e-02 2.64865743e-03 9.95962772e-01 1.68926558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37687499999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.29, Y:103.36, Z:16.89 [[-5.94389284e-01 8.02532707e-01 5.14065398e-02 1.00294983e+02] [-7.99155990e-01 -5.96602197e-01 7.35902354e-02 1.03364652e+02] [ 8.97278254e-02 2.65940312e-03 9.95962773e-01 1.68910961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40687499999999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:100.29, Y:103.36, Z:16.89 [[-5.94935506e-01 8.02125796e-01 5.14388029e-02 1.00289216e+02] [-7.98749510e-01 -5.97149075e-01 7.35676770e-02 1.03358377e+02] [ 8.97271650e-02 2.68130456e-03 9.95962774e-01 1.68919022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:103.36, Z:16.89 [[-5.95228461e-01 8.01906121e-01 5.14747865e-02 1.00285528e+02] [-7.98531189e-01 -5.97444092e-01 7.35424910e-02 1.03355995e+02] [ 8.97274807e-02 2.67036123e-03 9.95962775e-01 1.68918756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.466875 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:100.29, Y:103.36, Z:16.89 [[-5.95407583e-01 8.01770819e-01 5.15108110e-02 1.00285293e+02] [-7.98397561e-01 -5.97625760e-01 7.35172500e-02 1.03358593e+02] [ 8.97281734e-02 2.64662228e-03 9.95962776e-01 1.68903213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:103.36, Z:16.89 [[-5.94517805e-01 8.02428746e-01 5.15430655e-02 1.00281727e+02] [-7.99059898e-01 -5.96742674e-01 7.34946295e-02 1.03359733e+02] [ 8.97321501e-02 2.50786914e-03 9.95962776e-01 1.68901347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:103.36, Z:16.89 [[-5.93682199e-01 8.03045333e-01 5.15716915e-02 1.00279125e+02] [-7.99680538e-01 -5.95913190e-01 7.34745370e-02 1.03358868e+02] [ 8.97356352e-02 2.37964668e-03 9.95962777e-01 1.68914843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:103.36, Z:16.89 [[-5.92698217e-01 8.03770013e-01 5.16002904e-02 1.00276583e+02] [-8.00409690e-01 -5.94935939e-01 7.34544469e-02 1.03358567e+02] [ 8.97393489e-02 2.23494723e-03 9.95962778e-01 1.68909381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:103.36, Z:16.89 [[-5.88862261e-01 8.06582501e-01 5.16324098e-02 1.00272471e+02] [-8.03234847e-01 -5.91118890e-01 7.34318627e-02 1.03361372e+02] [ 8.97497483e-02 1.76830191e-03 9.95962778e-01 1.68926040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:103.36, Z:16.89 [[-5.86494026e-01 8.08304114e-01 5.16644601e-02 1.00269669e+02] [-8.04965070e-01 -5.88763373e-01 7.34093062e-02 1.03361795e+02] [ 8.97551861e-02 1.46603378e-03 9.95962779e-01 1.68948406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:103.36, Z:16.90 [[-5.86925228e-01 8.07989018e-01 5.16964543e-02 1.00266942e+02] [-8.04650739e-01 -5.89195698e-01 7.33867684e-02 1.03357870e+02] [ 8.97550315e-02 1.47495558e-03 9.95962780e-01 1.68952881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:103.36, Z:16.90 [[-5.84385278e-01 8.09825450e-01 5.17357581e-02 1.00263256e+02] [-8.06496758e-01 -5.86669779e-01 7.33590499e-02 1.03356858e+02] [ 8.97598314e-02 1.14522758e-03 9.95962781e-01 1.68963671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:103.36, Z:16.90 [[-5.79217252e-01 8.13527333e-01 5.17750159e-02 1.00259942e+02] [-8.10215721e-01 -5.81526441e-01 7.33313324e-02 1.03357613e+02] [ 8.97655840e-02 5.25840968e-04 9.95962782e-01 1.68976776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:103.36, Z:16.90 [[-5.76792892e-01 8.15245281e-01 5.18178735e-02 1.00257558e+02] [-8.11943267e-01 -5.79115783e-01 7.33010357e-02 1.03357427e+02] [ 8.97668718e-02 2.06342851e-04 9.95962784e-01 1.68987941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:103.35, Z:16.90 [[-5.74089719e-01 8.17148844e-01 5.18532657e-02 1.00252409e+02] [-8.13856793e-01 -5.76426707e-01 7.32759908e-02 1.03353168e+02] [ 8.97669983e-02 -1.34139548e-04 9.95962784e-01 1.69004855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:103.36, Z:16.90 [[-5.71723181e-01 8.18804111e-01 5.18886457e-02 1.00252302e+02] [-8.15521100e-01 -5.74072850e-01 7.32509288e-02 1.03355912e+02] [ 8.97660243e-02 -4.37031377e-04 9.95962785e-01 1.69011122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:103.36, Z:16.90 [[-5.69737686e-01 8.20184425e-01 5.19276138e-02 1.00250587e+02] [-8.16909624e-01 -5.72098781e-01 7.32232940e-02 1.03355823e+02] [ 8.97643299e-02 -7.02097405e-04 9.95962787e-01 1.69016309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:103.35, Z:16.90 [[-5.66741829e-01 8.22255172e-01 5.19627859e-02 1.00247302e+02] [-8.18991284e-01 -5.69117985e-01 7.31983257e-02 1.03353644e+02] [ 8.97606580e-02 -1.07251581e-03 9.95962787e-01 1.69023620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:103.35, Z:16.90 [[-5.66376118e-01 8.22505128e-01 5.19943044e-02 1.00246953e+02] [-8.19244343e-01 -5.68756530e-01 7.31759307e-02 1.03353941e+02] [ 8.97596784e-02 -1.15094013e-03 9.95962788e-01 1.69022090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:103.35, Z:16.90 [[-5.66637485e-01 8.22323098e-01 5.20257907e-02 1.00245941e+02] [-8.19063603e-01 -5.69019661e-01 7.31535382e-02 1.03352332e+02] [ 8.97595419e-02 -1.16089465e-03 9.95962789e-01 1.69022398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:103.35, Z:16.90 [[-5.67778632e-01 8.21533610e-01 5.20572102e-02 1.00242383e+02] [-8.18272851e-01 -5.70159077e-01 7.31311728e-02 1.03346497e+02] [ 8.97606073e-02 -1.07468451e-03 9.95962790e-01 1.69022780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:103.34, Z:16.90 [[-5.71378620e-01 8.19031895e-01 5.20886537e-02 1.00240789e+02] [-8.15762754e-01 -5.73747538e-01 7.31087700e-02 1.03341419e+02] [ 8.97641513e-02 -7.19195463e-04 9.95962790e-01 1.69003570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00687499999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.24, Y:103.34, Z:16.90 [[-5.73736299e-01 8.17380052e-01 5.21201447e-02 1.00238066e+02] [-8.14106129e-01 -5.76098604e-01 7.30863128e-02 1.03336398e+02] [ 8.97656368e-02 -4.99058672e-04 9.95962791e-01 1.68989971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:103.33, Z:16.90 [[-5.76165390e-01 8.15667608e-01 5.21516723e-02 1.00236716e+02] [-8.12388700e-01 -5.78520769e-01 7.30638091e-02 1.03333412e+02] [ 8.97666079e-02 -2.70591161e-04 9.95962792e-01 1.68986463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:103.33, Z:16.90 [[-5.78909927e-01 8.13719751e-01 5.21868206e-02 1.00233715e+02] [-8.10435180e-01 -5.81257402e-01 7.30386954e-02 1.03328445e+02] [ 8.97670048e-02 -1.12096105e-05 9.95962793e-01 1.68986615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09687499999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:100.23, Y:103.32, Z:16.90 [[-5.83403866e-01 8.10501337e-01 5.22255941e-02 1.00229106e+02] [-8.07206298e-01 -5.85736623e-01 7.30109604e-02 1.03318880e+02] [ 8.97659241e-02 4.38048015e-04 9.95962794e-01 1.68985612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:103.31, Z:16.90 [[-5.85339961e-01 8.09099862e-01 5.22928724e-02 1.00224794e+02] [-8.05803543e-01 -5.87670902e-01 7.29627420e-02 1.03311320e+02] [ 8.97651439e-02 5.70226690e-04 9.95962797e-01 1.68994630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:103.31, Z:16.90 [[-5.87203533e-01 8.07746343e-01 5.23245197e-02 1.00224562e+02] [-8.04446674e-01 -5.89529727e-01 7.29400394e-02 1.03310392e+02] [ 8.97639100e-02 7.38363026e-04 9.95962798e-01 1.69000812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.186875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.22, Y:103.30, Z:16.90 [[-5.88434695e-01 8.06847607e-01 5.23598021e-02 1.00215777e+02] [-8.03546638e-01 -5.90759043e-01 7.29147033e-02 1.03298080e+02] [ 8.97630805e-02 8.31998221e-04 9.95962799e-01 1.69011249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:103.30, Z:16.90 [[-5.90629312e-01 8.05240424e-01 5.23915564e-02 1.00215502e+02] [-8.01935154e-01 -5.92947539e-01 7.28918798e-02 1.03298662e+02] [ 8.97609326e-02 1.03744997e-03 9.95962800e-01 1.69022125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:103.30, Z:16.90 [[-5.91402959e-01 8.04669847e-01 5.24306933e-02 1.00215490e+02] [-8.01364835e-01 -5.93721551e-01 7.28637181e-02 1.03298543e+02] [ 8.97604695e-02 1.07570458e-03 9.95962801e-01 1.69025011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:103.29, Z:16.90 [[-5.92417945e-01 8.03920813e-01 5.24624140e-02 1.00211993e+02] [-8.00614891e-01 -5.94735238e-01 7.28408719e-02 1.03293935e+02] [ 8.97595393e-02 1.15004975e-03 9.95962802e-01 1.69035887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:103.29, Z:16.90 [[-5.93083188e-01 8.03427135e-01 5.25087706e-02 1.00208451e+02] [-8.00122241e-01 -5.95401945e-01 7.28074397e-02 1.03288992e+02] [ 8.97592968e-02 1.16743329e-03 9.95962803e-01 1.69041679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:103.28, Z:16.90 [[-5.94866657e-01 8.02105455e-01 5.25404552e-02 1.00205937e+02] [-7.98797428e-01 -5.97180940e-01 7.27845678e-02 1.03284770e+02] [ 8.97570574e-02 1.32793198e-03 9.95962804e-01 1.69045669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:103.28, Z:16.90 [[-5.96251550e-01 8.01074437e-01 5.25721883e-02 1.00205210e+02] [-7.97764428e-01 -5.98562997e-01 7.27616399e-02 1.03283889e+02] [ 8.97552563e-02 1.44401880e-03 9.95962805e-01 1.69049018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:103.28, Z:16.90 [[-5.97724716e-01 7.99973507e-01 5.26075259e-02 1.00200915e+02] [-7.96661488e-01 -6.00033279e-01 7.27360816e-02 1.03278518e+02] [ 8.97532045e-02 1.56576381e-03 9.95962806e-01 1.69044453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:103.27, Z:16.91 [[-6.00678661e-01 7.97754798e-01 5.26538631e-02 1.00190871e+02] [-7.94437190e-01 -6.02979182e-01 7.27025226e-02 1.03266289e+02] [ 8.97479696e-02 1.84066684e-03 9.95962808e-01 1.69053876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:103.27, Z:16.90 [[-6.02301798e-01 7.96526972e-01 5.27003522e-02 1.00191259e+02] [-7.93207620e-01 -6.04599799e-01 7.26688083e-02 1.03266825e+02] [ 8.97452882e-02 1.96623296e-03 9.95962809e-01 1.69027549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:103.27, Z:16.90 [[-6.04090062e-01 7.95169489e-01 5.27321635e-02 1.00190061e+02] [-7.91846985e-01 -6.06383502e-01 7.26457172e-02 1.03265803e+02] [ 8.97415718e-02 2.12875104e-03 9.95962810e-01 1.69033831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:103.26, Z:16.91 [[-6.05889634e-01 7.93797028e-01 5.27639060e-02 1.00183183e+02] [-7.90471333e-01 -6.08178445e-01 7.26226548e-02 1.03258021e+02] [ 8.97375178e-02 2.29295863e-03 9.95962811e-01 1.69054723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:103.26, Z:16.91 [[-6.07747619e-01 7.92373057e-01 5.27993339e-02 1.00180514e+02] [-7.89044234e-01 -6.10031875e-01 7.25968884e-02 1.03256738e+02] [ 8.97330950e-02 2.45957613e-03 9.95962812e-01 1.69057095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:103.26, Z:16.91 [[-6.11171311e-01 7.89733180e-01 5.28311726e-02 1.00176529e+02] [-7.86396491e-01 -6.13444061e-01 7.25737110e-02 1.03256021e+02] [ 8.97228366e-02 2.80872137e-03 9.95962812e-01 1.69082737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.606875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.17, Y:103.25, Z:16.91 [[-6.12893858e-01 7.88394965e-01 5.28630011e-02 1.00171365e+02] [-7.85055308e-01 -6.15162243e-01 7.25505196e-02 1.03251213e+02] [ 8.97177867e-02 2.96538823e-03 9.95962813e-01 1.69088461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:103.25, Z:16.91 [[-6.14256417e-01 7.87331688e-01 5.28948670e-02 1.00166496e+02] [-7.83990099e-01 -6.16521953e-01 7.25272796e-02 1.03246939e+02] [ 8.97138722e-02 3.08129489e-03 9.95962814e-01 1.69091784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:103.25, Z:16.91 [[-6.15517299e-01 7.86343959e-01 5.29304464e-02 1.00163905e+02] [-7.83000960e-01 -6.17780752e-01 7.25013046e-02 1.03246280e+02] [ 8.97103738e-02 3.18121685e-03 9.95962815e-01 1.69069091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:103.25, Z:16.91 [[-6.16394077e-01 7.85654713e-01 5.29623731e-02 1.00161777e+02] [-7.82311180e-01 -6.18656739e-01 7.24779746e-02 1.03245832e+02] [ 8.97081914e-02 3.24193766e-03 9.95962816e-01 1.69076411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:103.24, Z:16.91 [[-6.17149356e-01 7.85059413e-01 5.29942547e-02 1.00152393e+02] [-7.81715691e-01 -6.19411738e-01 7.24546561e-02 1.03239467e+02] [ 8.97064732e-02 3.28890393e-03 9.95962816e-01 1.69092589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:103.24, Z:16.91 [[-6.17418940e-01 7.84845255e-01 5.30261970e-02 1.00152422e+02] [-7.81502749e-01 -6.19683116e-01 7.24312715e-02 1.03243117e+02] [ 8.97067788e-02 3.28032014e-03 9.95962817e-01 1.69092140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:103.24, Z:16.91 [[-6.17018591e-01 7.85157877e-01 5.30581524e-02 1.00147910e+02] [-7.81818523e-01 -6.19287413e-01 7.24078557e-02 1.03243939e+02] [ 8.97098442e-02 3.19514678e-03 9.95962818e-01 1.69081965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:103.24, Z:16.91 [[-6.16854738e-01 7.85284214e-01 5.30936458e-02 1.00142175e+02] [-7.81947558e-01 -6.19127523e-01 7.23818206e-02 1.03239166e+02] [ 8.97120385e-02 3.13262232e-03 9.95962819e-01 1.69097462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:103.24, Z:16.91 [[-6.16885921e-01 7.85257563e-01 5.31255083e-02 1.00141619e+02] [-7.81922815e-01 -6.19161505e-01 7.23584273e-02 1.03242083e+02] [ 8.97132720e-02 3.09684809e-03 9.95962820e-01 1.69102045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:103.24, Z:16.91 [[-6.16876750e-01 7.85262368e-01 5.31609775e-02 1.00138671e+02] [-7.81929876e-01 -6.19155634e-01 7.23323592e-02 1.03242022e+02] [ 8.97147983e-02 3.05199414e-03 9.95962821e-01 1.69105080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:103.24, Z:16.91 [[-6.16986070e-01 7.85174328e-01 5.31927116e-02 1.00131437e+02] [-7.81843516e-01 -6.19267408e-01 7.23090147e-02 1.03239970e+02] [ 8.97156946e-02 3.02527815e-03 9.95962822e-01 1.69137917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:103.23, Z:16.91 [[-6.17536572e-01 7.84738539e-01 5.32354012e-02 1.00122928e+02] [-7.81408818e-01 -6.19819500e-01 7.22775722e-02 1.03231362e+02] [ 8.97153361e-02 3.03543232e-03 9.95962823e-01 1.69137154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:103.23, Z:16.91 [[-6.18059948e-01 7.84323489e-01 5.32781874e-02 1.00120655e+02] [-7.80994945e-01 -6.20344589e-01 7.22460194e-02 1.03230879e+02] [ 8.97150853e-02 3.04237599e-03 9.95962824e-01 1.69140740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:103.23, Z:16.91 [[-6.18732960e-01 7.83790265e-01 5.33136423e-02 1.00114724e+02] [-7.80461999e-01 -6.21018004e-01 7.22198463e-02 1.03225819e+02] [ 8.97139442e-02 3.07552738e-03 9.95962825e-01 1.69135181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:103.23, Z:16.91 [[-6.19456639e-01 7.83215778e-01 5.33527707e-02 1.00109425e+02] [-7.79887874e-01 -6.21742208e-01 7.21909285e-02 1.03225199e+02] [ 8.97127437e-02 3.10997099e-03 9.95962826e-01 1.69114739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:103.22, Z:16.91 [[-6.20128834e-01 7.82681241e-01 5.33882375e-02 1.00106067e+02] [-7.79353618e-01 -6.22414810e-01 7.21646899e-02 1.03223946e+02] [ 8.97115788e-02 3.14308898e-03 9.95962827e-01 1.69110166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:103.23, Z:16.91 [[-6.20321885e-01 7.82525828e-01 5.34236660e-02 1.00105387e+02] [-7.79199883e-01 -6.22610300e-01 7.21384527e-02 1.03225635e+02] [ 8.97123271e-02 3.12134665e-03 9.95962828e-01 1.69092801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:103.22, Z:16.91 [[-6.19692592e-01 7.83021856e-01 5.34590021e-02 1.00097393e+02] [-7.79699994e-01 -6.21986930e-01 7.21122571e-02 1.03223035e+02] [ 8.97162739e-02 3.00544791e-03 9.95962829e-01 1.69094497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:103.21, Z:16.91 [[-6.18695561e-01 7.83807478e-01 5.34942982e-02 1.00084171e+02] [-7.80490788e-01 -6.20997366e-01 7.20860643e-02 1.03209856e+02] [ 8.97214146e-02 2.84752102e-03 9.95962830e-01 1.69131278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:103.22, Z:16.91 [[-6.17737758e-01 7.84560145e-01 5.35298208e-02 1.00088038e+02] [-7.81248540e-01 -6.20046871e-01 7.20596763e-02 1.03219043e+02] [ 8.97261480e-02 2.69388858e-03 9.95962831e-01 1.69124293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:103.22, Z:16.91 [[-6.16962236e-01 7.85167221e-01 5.35727016e-02 1.00085556e+02] [-7.81860650e-01 -6.19278549e-01 7.20277827e-02 1.03219307e+02] [ 8.97302789e-02 2.55203456e-03 9.95962833e-01 1.69128831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:103.21, Z:16.91 [[-6.15708501e-01 7.86148102e-01 5.36115906e-02 1.00076377e+02] [-7.82847738e-01 -6.18033647e-01 7.19988254e-02 1.03213880e+02] [ 8.97355068e-02 2.36057645e-03 9.95962834e-01 1.69139136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:103.21, Z:16.91 [[-6.15808016e-01 7.86067747e-01 5.36468447e-02 1.00071896e+02] [-7.82769363e-01 -6.18135969e-01 7.19725478e-02 1.03211832e+02] [ 8.97363429e-02 2.32816546e-03 9.95962835e-01 1.69147984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:103.21, Z:16.91 [[-6.15767417e-01 7.86096890e-01 5.36858233e-02 1.00068755e+02] [-7.82801146e-01 -6.18099105e-01 7.19434612e-02 1.03210761e+02] [ 8.97376905e-02 2.27511525e-03 9.95962836e-01 1.69148129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:103.21, Z:16.91 [[-6.16149761e-01 7.85794581e-01 5.37247395e-02 1.00068503e+02] [-7.82500223e-01 -6.18483404e-01 7.19143885e-02 1.03213530e+02] [ 8.97377965e-02 2.27041265e-03 9.95962837e-01 1.69146910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:103.08, Z:16.93 [[-6.16525236e-01 7.85497370e-01 5.37635103e-02 9.99648008e+01] [-7.82204410e-01 -6.18860849e-01 7.18853917e-02 1.03080997e+02] [ 8.97379177e-02 2.26510317e-03 9.95962838e-01 1.69266013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:103.20, Z:16.92 [[-6.17447966e-01 7.84774917e-01 5.37246607e-02 1.00050590e+02] [-7.81476699e-01 -6.19776152e-01 7.19144580e-02 1.03197812e+02] [ 8.97339263e-02 2.41886526e-03 9.95962836e-01 1.69173488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:103.20, Z:16.92 [[-6.18489318e-01 7.83946325e-01 5.38435066e-02 1.00046150e+02] [-7.80652720e-01 -6.20824006e-01 7.18253670e-02 1.03195272e+02] [ 8.97345740e-02 2.39014238e-03 9.95962847e-01 1.69181977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.44687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:103.18, Z:16.92 [[-6.19411916e-01 7.83215131e-01 5.38789123e-02 1.00032758e+02] [-7.79921076e-01 -6.21745967e-01 7.17987982e-02 1.03182477e+02] [ 8.97329015e-02 2.45173193e-03 9.95962848e-01 1.69203367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:103.18, Z:16.92 [[-6.20077772e-01 7.82685622e-01 5.39145051e-02 1.00026882e+02] [-7.79391893e-01 -6.22412282e-01 7.17720613e-02 1.03176558e+02] [ 8.97320106e-02 2.48373175e-03 9.95962849e-01 1.69210620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:103.17, Z:16.92 [[-6.20790427e-01 7.82117770e-01 5.39540414e-02 1.00018368e+02] [-7.78824484e-01 -6.23125559e-01 7.17423280e-02 1.03167067e+02] [ 8.97310918e-02 2.51622207e-03 9.95962851e-01 1.69218612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:103.16, Z:16.92 [[-6.21485336e-01 7.81562956e-01 5.39937397e-02 1.00012402e+02] [-7.78270175e-01 -6.23821178e-01 7.17124386e-02 1.03161694e+02] [ 8.97302237e-02 2.54651176e-03 9.95962852e-01 1.69222524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:103.16, Z:16.92 [[-6.21918438e-01 7.81215609e-01 5.40335902e-02 1.00009585e+02] [-7.77924126e-01 -6.24256108e-01 7.16823997e-02 1.03157909e+02] [ 8.97302082e-02 2.54657268e-03 9.95962853e-01 1.69227038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:103.15, Z:16.92 [[-6.22450797e-01 7.80788746e-01 5.40734731e-02 1.00001652e+02] [-7.77498268e-01 -6.24789878e-01 7.16523016e-02 1.03153469e+02] [ 8.97298693e-02 2.55800052e-03 9.95962854e-01 1.69246910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:103.15, Z:16.93 [[-6.22926821e-01 7.80405989e-01 5.41171643e-02 9.99954093e+01] [-7.77116935e-01 -6.25267901e-01 7.16192877e-02 1.03147639e+02] [ 8.97298468e-02 2.55821045e-03 9.95962856e-01 1.69258463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:103.14, Z:16.93 [[-6.23638074e-01 7.79834953e-01 5.41571660e-02 9.99866283e+01] [-7.76546376e-01 -6.25979822e-01 7.15890265e-02 1.03138583e+02] [ 8.97289183e-02 2.59009171e-03 9.95962857e-01 1.69270639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:103.12, Z:16.93 [[-6.24892905e-01 7.78827008e-01 5.41973171e-02 9.99669607e+01] [-7.75537284e-01 -6.27233040e-01 7.15586169e-02 1.03116585e+02] [ 8.97261314e-02 2.68443190e-03 9.95962858e-01 1.69290258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:103.13, Z:16.93 [[-6.25699764e-01 7.78175566e-01 5.42456765e-02 9.99742908e+01] [-7.74886577e-01 -6.28040927e-01 7.15219390e-02 1.03127574e+02] [ 8.97251303e-02 2.71701384e-03 9.95962860e-01 1.69272091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:103.13, Z:16.93 [[-6.26575439e-01 7.77467819e-01 5.42863591e-02 9.99734962e+01] [-7.74178854e-01 -6.28916634e-01 7.14910470e-02 1.03127804e+02] [ 8.97235827e-02 2.76718297e-03 9.95962861e-01 1.69264091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:103.11, Z:16.92 [[-6.21482586e-01 7.81542070e-01 5.43266784e-02 9.99625454e+01] [-7.78271135e-01 -6.23848902e-01 7.14603950e-02 1.03107315e+02] [ 8.97409438e-02 2.13050539e-03 9.95962863e-01 1.69223370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:103.12, Z:16.93 [[-6.26894622e-01 7.77239028e-01 5.38760317e-02 9.99619110e+01] [-7.73922352e-01 -6.29196702e-01 7.18032254e-02 1.03115524e+02] [ 8.97068906e-02 3.31719069e-03 9.95962685e-01 1.69264671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:103.11, Z:16.93 [[-6.25961902e-01 7.77953831e-01 5.44015962e-02 9.99560252e+01] [-7.74674327e-01 -6.28316261e-01 7.14028241e-02 1.03111327e+02] [ 8.97295081e-02 2.55192763e-03 9.95962902e-01 1.69269861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:103.11, Z:16.93 [[-6.25774740e-01 7.78101003e-01 5.44500130e-02 9.99516128e+01] [-7.74825258e-01 -6.28134324e-01 7.13658838e-02 1.03106713e+02] [ 8.97317878e-02 2.46972199e-03 9.95962904e-01 1.69282131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:103.10, Z:16.93 [[-6.25469577e-01 7.78343230e-01 5.44942612e-02 9.99473689e+01] [-7.75071338e-01 -6.27834497e-01 7.13320804e-02 1.03102238e+02] [ 8.97342190e-02 2.37910621e-03 9.95962906e-01 1.69286422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:103.11, Z:16.93 [[-6.25399217e-01 7.78396933e-01 5.45347106e-02 9.99507120e+01] [-7.75127935e-01 -6.27768135e-01 7.13011428e-02 1.03108040e+02] [ 8.97357444e-02 2.32030123e-03 9.95962907e-01 1.69282349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:103.10, Z:16.93 [[-6.25487989e-01 7.78322512e-01 5.45787836e-02 9.99415992e+01] [-7.75056171e-01 -6.27860567e-01 7.12673906e-02 1.03098476e+02] [ 8.97368804e-02 2.27527381e-03 9.95962909e-01 1.69295636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:103.10, Z:16.93 [[-6.21949320e-01 7.81150313e-01 5.46189599e-02 9.99398005e+01] [-7.77897464e-01 -6.24340359e-01 7.12365865e-02 1.03100357e+02] [ 8.97473029e-02 1.81759617e-03 9.95962910e-01 1.69297874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:103.11, Z:16.93 [[-6.20145436e-01 7.82580355e-01 5.46591805e-02 9.99437916e+01] [-7.79335738e-01 -6.22547632e-01 7.12057123e-02 1.03106591e+02] [ 8.97521350e-02 1.56004480e-03 9.95962911e-01 1.69302342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:103.11, Z:16.93 [[-6.19290478e-01 7.83254309e-01 5.46991051e-02 9.99435348e+01] [-7.80015013e-01 -6.21699843e-01 7.11750298e-02 1.03107687e+02] [ 8.97545738e-02 1.41189498e-03 9.95962912e-01 1.69307843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:103.11, Z:16.93 [[-6.17642400e-01 7.84551805e-01 5.47387491e-02 9.99477457e+01] [-7.81320272e-01 -6.20062165e-01 7.11445277e-02 1.03113997e+02] [ 8.97579949e-02 1.17338252e-03 9.95962914e-01 1.69307861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:103.12, Z:16.93 [[-6.17466043e-01 7.84687604e-01 5.47818338e-02 9.99531049e+01] [-7.81459546e-01 -6.19890439e-01 7.11113369e-02 1.03122053e+02] [ 8.97589196e-02 1.09904885e-03 9.95962915e-01 1.69298344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:103.01, Z:16.94 [[-6.13357764e-01 7.87900080e-01 5.48244178e-02 9.98694934e+01] [-7.84687656e-01 -6.15802835e-01 7.10784911e-02 1.03008384e+02] [ 8.97637807e-02 5.76500468e-04 9.95962917e-01 1.69374616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:103.11, Z:16.93 [[-6.17914378e-01 7.84350641e-01 5.45517490e-02 9.99438558e+01] [-7.81105559e-01 -6.20316047e-01 7.12889005e-02 1.03110884e+02] [ 8.97548202e-02 1.43976218e-03 9.95962850e-01 1.69293228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:103.11, Z:16.93 [[-6.17411590e-01 7.84720161e-01 5.49290173e-02 9.99380802e+01] [-7.81502384e-01 -6.19849535e-01 7.09970283e-02 1.03105060e+02] [ 8.97605253e-02 9.07230148e-04 9.95962964e-01 1.69287896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:103.09, Z:16.93 [[-6.17315710e-01 7.84792618e-01 5.49714522e-02 9.99236639e+01] [-7.81578052e-01 -6.19757885e-01 7.09641568e-02 1.03087225e+02] [ 8.97611374e-02 8.42808311e-04 9.95962965e-01 1.69321097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:103.10, Z:16.93 [[-6.17740293e-01 7.84455200e-01 5.50179101e-02 9.99336748e+01] [-7.81242508e-01 -6.20184929e-01 7.09281203e-02 1.03100708e+02] [ 8.97612114e-02 8.32827806e-04 9.95962967e-01 1.69318809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:103.07, Z:16.94 [[-6.17955830e-01 7.84280687e-01 5.50853553e-02 9.99128524e+01] [-7.81071973e-01 -6.20405680e-01 7.08757016e-02 1.03074372e+02] [ 8.97617112e-02 7.72425815e-04 9.95962970e-01 1.69361673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:103.08, Z:16.94 [[-6.18357305e-01 7.83961448e-01 5.51243231e-02 9.99171248e+01] [-7.80754171e-01 -6.20809033e-01 7.08453812e-02 1.03080371e+02] [ 8.97617253e-02 7.69213800e-04 9.95962972e-01 1.69369926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:103.07, Z:16.94 [[-6.18888331e-01 7.83539285e-01 5.51672264e-02 9.99085338e+01] [-7.80333313e-01 -6.21341763e-01 7.08119568e-02 1.03068729e+02] [ 8.97616517e-02 7.75869187e-04 9.95962973e-01 1.69374100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:103.07, Z:16.94 [[-6.19354612e-01 7.83168005e-01 5.52063504e-02 9.99146495e+01] [-7.79963281e-01 -6.21809672e-01 7.07814420e-02 1.03074843e+02] [ 8.97616033e-02 7.79886334e-04 9.95962974e-01 1.69360194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:103.07, Z:16.94 [[-6.19987493e-01 7.82664071e-01 5.52490788e-02 9.99079127e+01] [-7.79460323e-01 -6.22443825e-01 7.07480744e-02 1.03065228e+02] [ 8.97614238e-02 7.98456495e-04 9.95962976e-01 1.69380278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:103.07, Z:16.94 [[-6.20865739e-01 7.81964815e-01 5.52879921e-02 9.99098877e+01] [-7.78761008e-01 -6.23321992e-01 7.07176515e-02 1.03066749e+02] [ 8.97609367e-02 8.50034496e-04 9.95962977e-01 1.69376424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:103.07, Z:16.94 [[-6.21733563e-01 7.81272240e-01 5.53268887e-02 9.99108086e+01] [-7.78068405e-01 -6.24189776e-01 7.06872073e-02 1.03067118e+02] [ 8.97604311e-02 9.00505247e-04 9.95962978e-01 1.69372605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:103.06, Z:16.94 [[-6.23040868e-01 7.80227358e-01 5.53655741e-02 9.99024164e+01] [-7.77022096e-01 -6.25495217e-01 7.06568942e-02 1.03056138e+02] [ 8.97593437e-02 1.00185823e-03 9.95962980e-01 1.69403635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:103.05, Z:16.94 [[-6.23922441e-01 7.79519821e-01 5.54043006e-02 9.98996574e+01] [-7.76314471e-01 -6.26376674e-01 7.06265146e-02 1.03052145e+02] [ 8.97587296e-02 1.05430710e-03 9.95962981e-01 1.69405561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:103.04, Z:16.94 [[-6.24720849e-01 7.78877344e-01 5.54431577e-02 9.98883872e+01] [-7.75672177e-01 -6.27175318e-01 7.05959980e-02 1.03036976e+02] [ 8.97582035e-02 1.09707702e-03 9.95962982e-01 1.69409703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:103.05, Z:16.94 [[-6.25359235e-01 7.78362096e-01 5.54822101e-02 9.99007184e+01] [-7.75157628e-01 -6.27814615e-01 7.05652931e-02 1.03051706e+02] [ 8.97578918e-02 1.12119927e-03 9.95962983e-01 1.69396179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:103.04, Z:16.94 [[-6.26435323e-01 7.77493271e-01 5.55247623e-02 9.98880840e+01] [-7.74288365e-01 -6.28890129e-01 7.05317949e-02 1.03035443e+02] [ 8.97569708e-02 1.19143034e-03 9.95962985e-01 1.69404826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:103.05, Z:16.94 [[-6.27122516e-01 7.76936323e-01 5.55634829e-02 9.98985038e+01] [-7.73731938e-01 -6.29578000e-01 7.05012785e-02 1.03048492e+02] [ 8.97565505e-02 1.22169791e-03 9.95962986e-01 1.69392226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:103.03, Z:16.94 [[-6.27971553e-01 7.76247209e-01 5.56057540e-02 9.98827152e+01] [-7.73043080e-01 -6.30427369e-01 7.04679228e-02 1.03028034e+02] [ 8.97559176e-02 1.26620754e-03 9.95962987e-01 1.69408818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:103.02, Z:16.94 [[-6.29225536e-01 7.75228570e-01 5.56407136e-02 9.98771923e+01] [-7.72022906e-01 -6.31679345e-01 7.04403084e-02 1.03019670e+02] [ 8.97544291e-02 1.36693540e-03 9.95962988e-01 1.69410629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:103.02, Z:16.94 [[-6.29999786e-01 7.74596696e-01 5.56796906e-02 9.98782498e+01] [-7.71391292e-01 -6.32453934e-01 7.04094856e-02 1.03020400e+02] [ 8.97537943e-02 1.40713247e-03 9.95962989e-01 1.69395544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.766875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.87, Y:103.01, Z:16.94 [[-6.30418402e-01 7.74252970e-01 5.57223116e-02 9.98731871e+01] [-7.71049208e-01 -6.32874690e-01 7.03757392e-02 1.03012868e+02] [ 8.97538658e-02 1.40151685e-03 9.95962991e-01 1.69400078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:103.02, Z:16.94 [[-6.30796704e-01 7.73941728e-01 5.57648583e-02 9.98788794e+01] [-7.70739733e-01 -6.33255293e-01 7.03420097e-02 1.03019364e+02] [ 8.97540082e-02 1.39131593e-03 9.95962992e-01 1.69391989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:102.99, Z:16.94 [[-6.30659084e-01 7.74051085e-01 5.58035587e-02 9.98538984e+01] [-7.70852232e-01 -6.33121756e-01 7.03112948e-02 1.02987180e+02] [ 8.97549811e-02 1.32615901e-03 9.95962994e-01 1.69443992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:103.02, Z:16.94 [[-6.30712149e-01 7.74005033e-01 5.58425867e-02 9.98798572e+01] [-7.70808743e-01 -6.33178146e-01 7.02802844e-02 1.03019895e+02] [ 8.97555993e-02 1.28267511e-03 9.95962995e-01 1.69416300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:103.00, Z:16.95 [[-6.30793393e-01 7.73935753e-01 5.58851115e-02 9.98610428e+01] [-7.70742187e-01 -6.33262913e-01 7.02464536e-02 1.02996538e+02] [ 8.97562105e-02 1.23798578e-03 9.95962996e-01 1.69454228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:103.02, Z:16.95 [[-6.27802443e-01 7.76361414e-01 5.59199998e-02 9.98813379e+01] [-7.73179864e-01 -6.30287424e-01 7.02186698e-02 1.03021331e+02] [ 8.97607384e-02 8.47234659e-04 9.95962997e-01 1.69450895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:103.02, Z:16.95 [[-6.20086033e-01 7.82535348e-01 5.59619594e-02 9.98785614e+01] [-7.79381560e-01 -6.22606152e-01 7.01852136e-02 1.03020097e+02] [ 8.97646707e-02 -9.48484830e-05 9.95962999e-01 1.69546747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:103.03, Z:16.96 [[-6.10301030e-01 7.90185794e-01 5.60273525e-02 9.98862141e+01] [-7.87068379e-01 -6.12866000e-01 7.01329732e-02 1.03025604e+02] [ 8.97553385e-02 -1.29513173e-03 9.95963002e-01 1.69586231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:103.02, Z:16.95 [[-6.08194116e-01 7.91805811e-01 5.60667049e-02 9.98861181e+01] [-7.88698125e-01 -6.10770864e-01 7.01014996e-02 1.03020225e+02] [ 8.97506845e-02 -1.58438548e-03 9.95963004e-01 1.69539233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:103.01, Z:16.95 [[-6.07044608e-01 7.92684549e-01 5.61074793e-02 9.98849404e+01] [-7.89583607e-01 -6.09629465e-01 7.00688497e-02 1.03011961e+02] [ 8.97472671e-02 -1.76662846e-03 9.95963005e-01 1.69472121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:103.01, Z:16.94 [[-6.07019566e-01 7.92701090e-01 5.61447136e-02 9.98894080e+01] [-7.89602974e-01 -6.09607809e-01 7.00390020e-02 1.03010934e+02] [ 8.97462491e-02 -1.81698825e-03 9.95963006e-01 1.69401689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:103.00, Z:16.93 [[-6.08852959e-01 7.91291143e-01 5.61818492e-02 9.98895545e+01] [-7.88189780e-01 -6.11437308e-01 7.00092011e-02 1.03004622e+02] [ 8.97493395e-02 -1.65665011e-03 9.95963007e-01 1.69342724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:103.00, Z:16.94 [[-6.10666485e-01 7.89890027e-01 5.62155593e-02 9.98860618e+01] [-7.86785224e-01 -6.13246698e-01 6.99821225e-02 1.03000596e+02] [ 8.97521868e-02 -1.49383465e-03 9.95963008e-01 1.69364889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:103.00, Z:16.94 [[-6.12400147e-01 7.88544043e-01 5.62525823e-02 9.98837517e+01] [-7.85436300e-01 -6.14976818e-01 6.99523504e-02 1.02998130e+02] [ 8.97545432e-02 -1.34399045e-03 9.95963009e-01 1.69406021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:102.99, Z:16.95 [[-6.14423388e-01 7.86965934e-01 5.62895895e-02 9.98765766e+01] [-7.83854301e-01 -6.16995357e-01 6.99225587e-02 1.02988424e+02] [ 8.97570871e-02 -1.16078140e-03 9.95963010e-01 1.69463368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:102.98, Z:16.95 [[-6.19708337e-01 7.82808581e-01 5.63231999e-02 9.98782575e+01] [-7.79682151e-01 -6.22262297e-01 6.98954748e-02 1.02984111e+02] [ 8.97625812e-02 -5.99385130e-04 9.95963011e-01 1.69499688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:102.98, Z:16.95 [[-6.22928239e-01 7.80246062e-01 5.63603712e-02 9.98765274e+01] [-7.77111837e-01 -6.25472626e-01 6.98654889e-02 1.02976379e+02] [ 8.97641420e-02 -2.77125583e-04 9.95963012e-01 1.69485095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:102.96, Z:16.95 [[-6.26336892e-01 7.77509754e-01 5.63975265e-02 9.98692113e+01] [-7.74367114e-01 -6.28870876e-01 6.98354833e-02 1.02962933e+02] [ 8.97645313e-02 6.81497153e-05 9.95963014e-01 1.69498117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:102.96, Z:16.95 [[-6.31974775e-01 7.72931683e-01 5.64313423e-02 9.98715419e+01] [-7.69773128e-01 -6.34488892e-01 6.98081474e-02 1.02961739e+02] [ 8.97619888e-02 6.77657371e-04 9.95963014e-01 1.69490760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.336875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:99.87, Y:102.96, Z:16.95 [[-6.34502310e-01 7.70855691e-01 5.64652331e-02 9.98703537e+01] [-7.67691350e-01 -6.37009138e-01 6.97807238e-02 1.02959694e+02] [ 8.97597375e-02 9.28159454e-04 9.95963015e-01 1.69512001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:102.95, Z:16.95 [[-6.36727592e-01 7.69016146e-01 5.64990352e-02 9.98660354e+01] [-7.65846990e-01 -6.39228330e-01 6.97533448e-02 1.02953576e+02] [ 8.97572323e-02 1.14426321e-03 9.95963016e-01 1.69539015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:102.94, Z:16.96 [[-6.38740512e-01 7.67342554e-01 5.65328478e-02 9.98535994e+01] [-7.64169271e-01 -6.41236009e-01 6.97259301e-02 1.02937058e+02] [ 8.97545710e-02 1.33611115e-03 9.95963017e-01 1.69568092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:102.94, Z:16.96 [[-6.42402444e-01 7.64276969e-01 5.65669113e-02 9.98564430e+01] [-7.61094211e-01 -6.44885844e-01 6.96982843e-02 1.02937264e+02] [ 8.97479938e-02 1.72159943e-03 9.95963018e-01 1.69568218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:102.93, Z:16.96 [[-6.42775028e-01 7.63961111e-01 5.66011015e-02 9.98539991e+01] [-7.60779576e-01 -6.45259992e-01 6.96705079e-02 1.02934191e+02] [ 8.97479850e-02 1.72150069e-03 9.95963019e-01 1.69571982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:102.93, Z:16.96 [[-6.44252302e-01 7.62713200e-01 5.66352013e-02 9.98495874e+01] [-7.59529286e-01 -6.46734217e-01 6.96427773e-02 1.02927554e+02] [ 8.97453881e-02 1.85142555e-03 9.95963020e-01 1.69568926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:102.89, Z:16.96 [[-6.45182947e-01 7.61923586e-01 5.66693380e-02 9.98237031e+01] [-7.58739072e-01 -6.47664090e-01 6.96149888e-02 1.02894951e+02] [ 8.97439971e-02 1.91716273e-03 9.95963021e-01 1.69593830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:102.92, Z:16.96 [[-6.46226602e-01 7.61036293e-01 5.67004444e-02 9.98419196e+01] [-7.57850593e-01 -6.48706220e-01 6.95896439e-02 1.02917438e+02] [ 8.97421756e-02 2.00021365e-03 9.95963022e-01 1.69550929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.576875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.85, Y:102.92, Z:16.95 [[-6.47877262e-01 7.59628433e-01 5.67423723e-02 9.98468686e+01] [-7.56440336e-01 -6.50353795e-01 6.95554399e-02 1.02924589e+02] [ 8.97389070e-02 2.14116879e-03 9.95963023e-01 1.69508455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.606875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:99.85, Y:102.92, Z:16.95 [[-6.49101419e-01 7.58579846e-01 5.67799701e-02 9.98451150e+01] [-7.55390429e-01 -6.51576251e-01 6.95247344e-02 1.02923395e+02] [ 8.97365423e-02 2.23755784e-03 9.95963025e-01 1.69496302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:102.92, Z:16.95 [[-6.50284436e-01 7.57563424e-01 5.68138223e-02 9.98413921e+01] [-7.54372553e-01 -6.52757390e-01 6.94970603e-02 1.02920137e+02] [ 8.97340734e-02 2.33406849e-03 9.95963026e-01 1.69492512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.666875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:99.82, Y:102.90, Z:16.95 [[-6.52633735e-01 7.55537660e-01 5.68511345e-02 9.98241550e+01] [-7.52341768e-01 -6.55100195e-01 6.94665243e-02 1.02902240e+02] [ 8.97277646e-02 2.56471416e-03 9.95963027e-01 1.69516502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69687499999998 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:99.81, Y:102.89, Z:16.96 [[-6.54015307e-01 7.54339216e-01 5.68887093e-02 9.98087217e+01] [-7.51141476e-01 -6.56479369e-01 6.94357394e-02 1.02885366e+02] [ 8.97243652e-02 2.68056735e-03 9.95963028e-01 1.69560638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:102.90, Z:16.96 [[-6.55330486e-01 7.53194059e-01 5.69268275e-02 9.98180352e+01] [-7.49994722e-01 -6.57792472e-01 6.94044743e-02 1.02898692e+02] [ 8.97210763e-02 2.78804763e-03 9.95963029e-01 1.69565849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:102.88, Z:16.96 [[-6.56489396e-01 7.52181278e-01 5.69648822e-02 9.98036513e+01] [-7.48980846e-01 -6.58949958e-01 6.93732263e-02 1.02882591e+02] [ 8.97182488e-02 2.87718178e-03 9.95963030e-01 1.69578741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:102.88, Z:16.96 [[-6.58237955e-01 7.50648968e-01 5.69993115e-02 9.97969937e+01] [-7.47445253e-01 -6.60694237e-01 6.93449267e-02 1.02877110e+02] [ 8.97128143e-02 3.04159790e-03 9.95963031e-01 1.69605391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81687499999998 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:99.79, Y:102.87, Z:16.96 [[-6.59055409e-01 7.49928722e-01 5.70340138e-02 9.97874023e+01] [-7.46724786e-01 -6.61511402e-01 6.93163735e-02 1.02866814e+02] [ 8.97109898e-02 3.09461912e-03 9.95963032e-01 1.69616970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:102.86, Z:16.96 [[-6.59739839e-01 7.49324019e-01 5.70689011e-02 9.97840342e+01] [-7.46120309e-01 -6.62196125e-01 6.92876386e-02 1.02864465e+02] [ 8.97096970e-02 3.13154948e-03 9.95963033e-01 1.69620242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.77, Y:102.84, Z:16.97 [[-6.60543615e-01 7.48612625e-01 5.71075352e-02 9.97652024e+01] [-7.45409015e-01 -6.63000028e-01 6.92557815e-02 1.02844005e+02] [ 8.97080499e-02 3.17799264e-03 9.95963035e-01 1.69651261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:102.85, Z:16.96 [[-6.61166956e-01 7.48059458e-01 5.71428393e-02 9.97709243e+01] [-7.44856302e-01 -6.63623961e-01 6.92266400e-02 1.02852591e+02] [ 8.97070001e-02 3.20716286e-03 9.95963036e-01 1.69644934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.936875 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:99.77, Y:102.85, Z:16.96 [[-6.58378600e-01 7.50511723e-01 5.71819237e-02 9.97653775e+01] [-7.47320519e-01 -6.60851106e-01 6.91943409e-02 1.02849218e+02] [ 8.97199016e-02 2.82284834e-03 9.95963037e-01 1.69641324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:102.85, Z:16.96 [[-6.57047421e-01 7.51674165e-01 5.72244429e-02 9.97658134e+01] [-7.48490392e-01 -6.59529487e-01 6.91591594e-02 1.02851232e+02] [ 8.97263608e-02 2.60890160e-03 9.95963038e-01 1.69640725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.996875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.77, Y:102.86, Z:16.96 [[-6.56425935e-01 7.52214013e-01 5.72631707e-02 9.97675618e+01] [-7.49035074e-01 -6.58914186e-01 6.91270785e-02 1.02855065e+02] [ 8.97298726e-02 2.48468380e-03 9.95963040e-01 1.69627861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:102.84, Z:16.96 [[-6.56274222e-01 7.52343450e-01 5.73016568e-02 9.97579963e+01] [-7.49167782e-01 -6.58766645e-01 6.90951614e-02 1.02844407e+02] [ 8.97317123e-02 2.41681811e-03 9.95963041e-01 1.69628096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:102.87, Z:16.95 [[-6.49069766e-01 7.58565067e-01 5.73365269e-02 9.97820860e+01] [-7.55415857e-01 -6.51595535e-01 6.90662136e-02 1.02865517e+02] [ 8.97514418e-02 1.51586949e-03 9.95963042e-01 1.69494273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.086875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.77, Y:102.86, Z:16.95 [[-6.55260841e-01 7.53272063e-01 5.66959269e-02 9.97730021e+01] [-7.50056254e-01 -6.57701842e-01 6.95981541e-02 1.02864217e+02] [ 8.97153607e-02 3.07981043e-03 9.95962684e-01 1.69540865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.116875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:99.76, Y:102.85, Z:16.96 [[-6.54854896e-01 7.53571918e-01 5.73971312e-02 9.97619530e+01] [-7.50407935e-01 -6.57362043e-01 6.90150382e-02 1.02853047e+02] [ 8.97384901e-02 2.12357290e-03 9.95963099e-01 1.69557432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:102.85, Z:16.96 [[-6.53870447e-01 7.54423402e-01 5.74349158e-02 9.97545645e+01] [-7.51265444e-01 -6.56385176e-01 6.89835793e-02 1.02848677e+02] [ 8.97422539e-02 1.95745633e-03 9.95963100e-01 1.69594252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.176875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.74, Y:102.84, Z:16.96 [[-6.53283007e-01 7.54929255e-01 5.74728835e-02 9.97434962e+01] [-7.51776024e-01 -6.55803660e-01 6.89519327e-02 1.02837451e+02] [ 8.97447585e-02 1.83839010e-03 9.95963101e-01 1.69626170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:102.85, Z:16.96 [[-6.52761816e-01 7.55377324e-01 5.75074819e-02 9.97554098e+01] [-7.52228363e-01 -6.55287800e-01 6.89230648e-02 1.02853759e+02] [ 8.97468715e-02 1.73158595e-03 9.95963102e-01 1.69623677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:102.85, Z:16.96 [[-6.51946079e-01 7.56078587e-01 5.75454625e-02 9.97504794e+01] [-7.52935141e-01 -6.54478920e-01 6.88913394e-02 1.02849991e+02] [ 8.97495587e-02 1.58543767e-03 9.95963103e-01 1.69640941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:102.86, Z:16.96 [[-6.49382396e-01 7.58279036e-01 5.75795748e-02 9.97591481e+01] [-7.55146701e-01 -6.51928963e-01 6.88628167e-02 1.02862598e+02] [ 8.97550227e-02 1.23727494e-03 9.95963104e-01 1.69631085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:102.85, Z:16.96 [[-6.48086694e-01 7.59383910e-01 5.76169524e-02 9.97469111e+01] [-7.56258697e-01 -6.50641994e-01 6.88315290e-02 1.02849111e+02] [ 8.97575645e-02 1.03547682e-03 9.95963105e-01 1.69637940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:102.85, Z:16.96 [[-6.46973190e-01 7.60329983e-01 5.76542131e-02 9.97490766e+01] [-7.57211287e-01 -6.49536439e-01 6.88003049e-02 1.02852748e+02] [ 8.97594469e-02 8.55531834e-04 9.95963107e-01 1.69645614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:102.85, Z:16.97 [[-6.46104288e-01 7.61065392e-01 5.76950411e-02 9.97435275e+01] [-7.57952671e-01 -6.48674787e-01 6.87660502e-02 1.02846758e+02] [ 8.97607795e-02 6.99929325e-04 9.95963108e-01 1.69656235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:102.85, Z:16.96 [[-6.45410730e-01 7.61650825e-01 5.77322367e-02 9.97495834e+01] [-7.58543229e-01 -6.47987420e-01 6.87348088e-02 1.02853710e+02] [ 8.97616869e-02 5.69785908e-04 9.95963109e-01 1.69623237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:102.84, Z:16.96 [[-6.45862818e-01 7.61264693e-01 5.77692667e-02 9.97378638e+01] [-7.58158340e-01 -6.48441005e-01 6.87036723e-02 1.02839487e+02] [ 8.97616414e-02 5.74896027e-04 9.95963110e-01 1.69622396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.44687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:102.86, Z:16.95 [[-6.37128795e-01 7.68586842e-01 5.78028065e-02 9.97613046e+01] [-7.65512679e-01 -6.39745279e-01 6.86754426e-02 1.02856363e+02] [ 8.97621142e-02 -4.93679226e-04 9.95963111e-01 1.69498280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:102.83, Z:16.96 [[-6.47516274e-01 7.59921406e-01 5.69397118e-02 9.97299905e+01] [-7.56747856e-01 -6.50012334e-01 6.94020772e-02 1.02829634e+02] [ 8.97516391e-02 1.84996964e-03 9.95962460e-01 1.69621001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:102.82, Z:16.96 [[-6.48145640e-01 7.59313782e-01 5.78775401e-02 9.97246472e+01] [-7.56207932e-01 -6.50724278e-01 6.86110511e-02 1.02823285e+02] [ 8.97596373e-02 7.02498636e-04 9.95963209e-01 1.69644946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:102.84, Z:16.96 [[-6.48959971e-01 7.58615071e-01 5.79148611e-02 9.97393386e+01] [-7.55509256e-01 -6.51538650e-01 6.85795340e-02 1.02839799e+02] [ 8.97592384e-02 7.50158702e-04 9.95963210e-01 1.69621910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:102.82, Z:16.96 [[-6.50084118e-01 7.57648876e-01 5.79553296e-02 9.97262982e+01] [-7.54542277e-01 -6.52661851e-01 6.85453179e-02 1.02823494e+02] [ 8.97585157e-02 8.30476110e-04 9.95963212e-01 1.69648918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:102.81, Z:16.97 [[-6.51801830e-01 7.56169085e-01 5.79886918e-02 9.97147388e+01] [-7.53059145e-01 -6.54375529e-01 6.85170822e-02 1.02807459e+02] [ 8.97568803e-02 9.90644916e-04 9.95963213e-01 1.69661760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:102.81, Z:16.97 [[-6.52628709e-01 7.55452144e-01 5.80329795e-02 9.97215124e+01] [-7.52342711e-01 -6.55203019e-01 6.84795509e-02 1.02814540e+02] [ 8.97564068e-02 1.03103176e-03 9.95963214e-01 1.69656790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:102.81, Z:16.97 [[-6.53339156e-01 7.54834952e-01 5.80701589e-02 9.97146220e+01] [-7.51725889e-01 -6.55913910e-01 6.84480086e-02 1.02805947e+02] [ 8.97559743e-02 1.06692230e-03 9.95963216e-01 1.69678342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:102.79, Z:16.97 [[-6.54175355e-01 7.54107524e-01 5.81072118e-02 9.96993629e+01] [-7.50998392e-01 -6.56750023e-01 6.84165391e-02 1.02787239e+02] [ 8.97553396e-02 1.11799112e-03 9.95963217e-01 1.69705168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:102.77, Z:16.97 [[-6.55452263e-01 7.52994477e-01 5.81519451e-02 9.96857812e+01] [-7.49884346e-01 -6.58025721e-01 6.83784963e-02 1.02770134e+02] [ 8.97541057e-02 1.21160678e-03 9.95963218e-01 1.69743168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:102.78, Z:16.97 [[-6.56264619e-01 7.52283654e-01 5.81898109e-02 9.96992372e+01] [-7.49173591e-01 -6.58838159e-01 6.83462576e-02 1.02784729e+02] [ 8.97534402e-02 1.25896106e-03 9.95963220e-01 1.69731443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:102.77, Z:16.97 [[-6.58137560e-01 7.50642728e-01 5.82275453e-02 9.96921367e+01] [-7.47529092e-01 -6.60706774e-01 6.83140948e-02 1.02773407e+02] [ 8.97508121e-02 1.43328763e-03 9.95963221e-01 1.69738681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:102.78, Z:16.97 [[-6.59378400e-01 7.49549798e-01 5.82685643e-02 9.96948614e+01] [-7.46434994e-01 -6.61946195e-01 6.82790899e-02 1.02775363e+02] [ 8.97492324e-02 1.52806161e-03 9.95963222e-01 1.69735026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:102.76, Z:16.97 [[-6.60288313e-01 7.48745725e-01 5.83025141e-02 9.96838785e+01] [-7.45630353e-01 -6.62855416e-01 6.82500884e-02 1.02761607e+02] [ 8.97480992e-02 1.59261162e-03 9.95963223e-01 1.69742986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:102.76, Z:16.97 [[-6.61451724e-01 7.47715499e-01 5.83365270e-02 9.96791955e+01] [-7.44598690e-01 -6.64017082e-01 6.82210037e-02 1.02755442e+02] [ 8.97463522e-02 1.68759886e-03 9.95963224e-01 1.69746349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:102.74, Z:16.98 [[-6.62554187e-01 7.46736101e-01 5.83707584e-02 9.96689466e+01] [-7.43618079e-01 -6.65118068e-01 6.81917025e-02 1.02742196e+02] [ 8.97446521e-02 1.77514678e-03 9.95963225e-01 1.69755593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:102.74, Z:16.98 [[-6.64733947e-01 7.44793112e-01 5.84123368e-02 9.96707225e+01] [-7.41670723e-01 -6.67292506e-01 6.81560684e-02 1.02741753e+02] [ 8.97402848e-02 1.98293228e-03 9.95963227e-01 1.69750155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:102.74, Z:16.98 [[-6.65920232e-01 7.43729934e-01 5.84468122e-02 9.96672553e+01] [-7.40606053e-01 -6.68476967e-01 6.81264914e-02 1.02737056e+02] [ 8.97380588e-02 2.08074609e-03 9.95963228e-01 1.69758252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:102.73, Z:16.97 [[-6.61920542e-01 7.47288917e-01 5.84847982e-02 9.96687932e+01] [-7.44181665e-01 -6.64497460e-01 6.80938660e-02 1.02731746e+02] [ 8.97487912e-02 1.54941414e-03 9.95963229e-01 1.69708687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:102.73, Z:16.98 [[-6.67848791e-01 7.42030600e-01 5.80394798e-02 9.96623869e+01] [-7.38869732e-01 -6.70359960e-01 6.84765919e-02 1.02730692e+02] [ 8.97190699e-02 2.84839419e-03 9.95963039e-01 1.69760396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:102.73, Z:16.98 [[-6.69254865e-01 7.40722141e-01 5.85545560e-02 9.96651390e+01] [-7.37594906e-01 -6.71807431e-01 6.80333061e-02 1.02734855e+02] [ 8.97311620e-02 2.34207891e-03 9.95963269e-01 1.69754906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:102.73, Z:16.98 [[-6.69717054e-01 7.40301572e-01 5.85888238e-02 9.96566085e+01] [-7.37175312e-01 -6.72270813e-01 6.80037827e-02 1.02725075e+02] [ 8.97308634e-02 2.35305854e-03 9.95963270e-01 1.69780118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:102.72, Z:16.98 [[-6.70473278e-01 7.39614032e-01 5.86230903e-02 9.96532683e+01] [-7.36487732e-01 -6.73026987e-01 6.79742303e-02 1.02721867e+02] [ 8.97296164e-02 2.39971821e-03 9.95963271e-01 1.69776908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:102.72, Z:16.98 [[-6.71044250e-01 7.39093307e-01 5.86574737e-02 9.96498941e+01] [-7.35967614e-01 -6.73598701e-01 6.79445468e-02 1.02718584e+02] [ 8.97289578e-02 2.42379643e-03 9.95963272e-01 1.69779351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:102.71, Z:16.98 [[-6.70996924e-01 7.39132977e-01 5.86989814e-02 9.96387013e+01] [-7.36010568e-01 -6.73555385e-01 6.79086685e-02 1.02706579e+02] [ 8.97305513e-02 2.36343693e-03 9.95963274e-01 1.69793655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:102.71, Z:16.98 [[-6.69853924e-01 7.40166265e-01 5.87334781e-02 9.96419049e+01] [-7.37050416e-01 -6.72420368e-01 6.78788197e-02 1.02712837e+02] [ 8.97351994e-02 2.17935930e-03 9.95963275e-01 1.69778607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:102.71, Z:16.98 [[-6.70066555e-01 7.39970754e-01 5.87715460e-02 9.96400567e+01] [-7.36857043e-01 -6.72635592e-01 6.78458435e-02 1.02711481e+02] [ 8.97357736e-02 2.15500302e-03 9.95963276e-01 1.69783850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:102.71, Z:16.98 [[-6.70366820e-01 7.39695736e-01 5.88093909e-02 9.96381072e+01] [-7.36583846e-01 -6.72938059e-01 6.78130234e-02 1.02709403e+02] [ 8.97360817e-02 2.14155357e-03 9.95963277e-01 1.69781507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:102.71, Z:16.97 [[-6.65286221e-01 7.44265862e-01 5.88436132e-02 9.96467727e+01] [-7.41174266e-01 -6.67881824e-01 6.77833147e-02 1.02714140e+02] [ 8.97493869e-02 1.48193343e-03 9.95963278e-01 1.69711970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:102.70, Z:16.98 [[-6.70545661e-01 7.39567938e-01 5.83762081e-02 9.96317610e+01] [-7.36422723e-01 -6.73076361e-01 6.81893256e-02 1.02704536e+02] [ 8.97222846e-02 2.73449029e-03 9.95963069e-01 1.69777307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:102.70, Z:16.98 [[-6.70506381e-01 7.39560954e-01 5.89133928e-02 9.96299715e+01] [-7.36456525e-01 -6.73086555e-01 6.77220430e-02 1.02703831e+02] [ 8.97383914e-02 2.02090937e-03 9.95963321e-01 1.69789365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:102.70, Z:16.98 [[-6.70915871e-01 7.39186771e-01 5.89475307e-02 9.96268991e+01] [-7.36083511e-01 -6.73497450e-01 6.76923153e-02 1.02700257e+02] [ 8.97382756e-02 2.02554334e-03 9.95963322e-01 1.69793855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:102.71, Z:16.98 [[-6.70935485e-01 7.39165966e-01 5.89851602e-02 9.96359103e+01] [-7.36065507e-01 -6.73520423e-01 6.76595103e-02 1.02712239e+02] [ 8.97393174e-02 1.97822450e-03 9.95963323e-01 1.69776935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:102.71, Z:16.98 [[-6.69901984e-01 7.40099213e-01 5.90295453e-02 9.96299268e+01] [-7.37005764e-01 -6.72495305e-01 6.76207645e-02 1.02708854e+02] [ 8.97431667e-02 1.79416913e-03 9.95963325e-01 1.69798570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:102.71, Z:16.98 [[-6.69659540e-01 7.40315914e-01 5.90630909e-02 9.96313101e+01] [-7.37225886e-01 -6.72256936e-01 6.75914516e-02 1.02712119e+02] [ 8.97445998e-02 1.72042084e-03 9.95963326e-01 1.69800828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:102.71, Z:16.98 [[-6.69192717e-01 7.40734970e-01 5.91000104e-02 9.96245881e+01] [-7.37649419e-01 -6.71795427e-01 6.75591550e-02 1.02705692e+02] [ 8.97465454e-02 1.61500612e-03 9.95963327e-01 1.69813136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:102.71, Z:16.98 [[-6.66623357e-01 7.43045173e-01 5.91368724e-02 9.96275597e+01] [-7.39971504e-01 -6.69240087e-01 6.75268731e-02 1.02711806e+02] [ 8.97522828e-02 1.25539041e-03 9.95963329e-01 1.69804832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:102.69, Z:16.98 [[-6.66140539e-01 7.43475127e-01 5.91736178e-02 9.96091590e+01] [-7.40406007e-01 -6.68762601e-01 6.74946580e-02 1.02692523e+02] [ 8.97537020e-02 1.14842581e-03 9.95963330e-01 1.69829432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:102.70, Z:16.98 [[-6.66080012e-01 7.43526693e-01 5.92070507e-02 9.96135271e+01] [-7.40460382e-01 -6.68705357e-01 6.74653177e-02 1.02698869e+02] [ 8.97543365e-02 1.09682422e-03 9.95963331e-01 1.69828483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:102.70, Z:16.98 [[-6.66340104e-01 7.43290661e-01 5.92440710e-02 9.96134268e+01] [-7.40226309e-01 -6.68967734e-01 6.74327931e-02 1.02699667e+02] [ 8.97545373e-02 1.07915430e-03 9.95963332e-01 1.69820052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:102.69, Z:16.98 [[-6.66278387e-01 7.43343054e-01 5.92808195e-02 9.96048915e+01] [-7.40281783e-01 -6.68909604e-01 6.74004718e-02 1.02691915e+02] [ 8.97551820e-02 1.02296686e-03 9.95963333e-01 1.69816887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:102.69, Z:16.98 [[-6.66541411e-01 7.43104280e-01 5.93175800e-02 9.95995647e+01] [-7.40044946e-01 -6.69174877e-01 6.73681043e-02 1.02686642e+02] [ 8.97553610e-02 1.00595606e-03 9.95963334e-01 1.69815651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:102.69, Z:16.98 [[-6.67265673e-01 7.42451056e-01 5.93544470e-02 9.96009356e+01] [-7.39392033e-01 -6.69899499e-01 6.73356072e-02 1.02688475e+02] [ 8.97549070e-02 1.04453408e-03 9.95963335e-01 1.69811821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:102.68, Z:16.98 [[-6.67704841e-01 7.42052625e-01 5.93981996e-02 9.95963295e+01] [-7.38995463e-01 -6.70340824e-01 6.72969902e-02 1.02682929e+02] [ 8.97549463e-02 1.03952621e-03 9.95963337e-01 1.69808207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:102.68, Z:16.98 [[-6.68284494e-01 7.41527977e-01 5.94314331e-02 9.95920273e+01] [-7.38471355e-01 -6.70921101e-01 6.72676282e-02 1.02678197e+02] [ 8.97546309e-02 1.06550192e-03 9.95963338e-01 1.69807577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:102.69, Z:16.97 [[-6.56976883e-01 7.51561923e-01 5.94647147e-02 9.96087568e+01] [-7.48548237e-01 -6.59662461e-01 6.72381945e-02 1.02686159e+02] [ 8.97603068e-02 -3.38267986e-04 9.95963339e-01 1.69731212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:102.67, Z:16.98 [[-6.65797020e-01 7.43843545e-01 5.84046903e-02 9.95895597e+01] [-7.40715748e-01 -6.68350390e-01 6.81757876e-02 1.02674993e+02] [ 8.97469171e-02 2.12996242e-03 9.95962326e-01 1.69825923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:102.68, Z:16.98 [[-6.65248100e-01 7.44244847e-01 5.95363194e-02 9.95936606e+01] [-7.41207460e-01 -6.67906653e-01 6.71729461e-02 1.02679251e+02] [ 8.97578228e-02 5.57910654e-04 9.95963464e-01 1.69833706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:102.67, Z:16.98 [[-6.64753210e-01 7.44683997e-01 5.95727642e-02 9.95839544e+01] [-7.41651264e-01 -6.67417067e-01 6.71406094e-02 1.02665689e+02] [ 8.97584169e-02 4.49719779e-04 9.95963465e-01 1.69846590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:102.68, Z:16.98 [[-6.64407397e-01 7.44989632e-01 5.96092159e-02 9.95965583e+01] [-7.41961028e-01 -6.67075947e-01 6.71082311e-02 1.02678125e+02] [ 8.97588105e-02 3.59490074e-04 9.95963467e-01 1.69819920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:102.67, Z:16.98 [[-6.64239860e-01 7.45136110e-01 5.96455039e-02 9.95947147e+01] [-7.42110990e-01 -6.66912358e-01 6.70759631e-02 1.02674757e+02] [ 8.97590458e-02 2.90944411e-04 9.95963468e-01 1.69809810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:102.66, Z:16.98 [[-6.63788173e-01 7.45535366e-01 5.96848384e-02 9.95826657e+01] [-7.42515001e-01 -6.66466042e-01 6.70409448e-02 1.02659840e+02] [ 8.97593133e-02 1.84098385e-04 9.95963469e-01 1.69814250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:102.67, Z:16.98 [[-6.63722642e-01 7.45591086e-01 5.97175532e-02 9.95891420e+01] [-7.42573569e-01 -6.66403717e-01 6.70117911e-02 1.02666191e+02] [ 8.97593935e-02 1.32566452e-04 9.95963470e-01 1.69803097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:102.66, Z:16.98 [[-6.64221091e-01 7.45144176e-01 5.97536540e-02 9.95861843e+01] [-7.42127751e-01 -6.66903393e-01 6.69795851e-02 1.02661352e+02] [ 8.97593623e-02 1.44408237e-04 9.95963471e-01 1.69812554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:102.65, Z:16.98 [[-6.64844162e-01 7.44585690e-01 5.97862055e-02 9.95812816e+01] [-7.41569625e-01 -6.67526868e-01 6.69505170e-02 1.02654035e+02] [ 8.97592954e-02 1.76026431e-04 9.95963472e-01 1.69827082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:102.65, Z:16.98 [[-6.65807897e-01 7.43721150e-01 5.98221918e-02 9.95776566e+01] [-7.40704492e-01 -6.68489933e-01 6.69183468e-02 1.02647651e+02] [ 8.97591229e-02 2.44197589e-04 9.95963473e-01 1.69828285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:102.62, Z:16.99 [[-6.66904245e-01 7.42735567e-01 5.98548699e-02 9.95509902e+01] [-7.39717568e-01 -6.69584772e-01 6.68891054e-02 1.02615198e+02] [ 8.97588270e-02 3.32929487e-04 9.95963474e-01 1.69855580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:102.63, Z:16.98 [[-6.69204969e-01 7.40660606e-01 5.98880393e-02 9.95638492e+01] [-7.37636954e-01 -6.71879115e-01 6.68593946e-02 1.02626838e+02] [ 8.97576426e-02 5.67008164e-04 9.95963475e-01 1.69839509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:102.63, Z:16.98 [[-6.70238454e-01 7.39722534e-01 5.99248515e-02 9.95687253e+01] [-7.36698089e-01 -6.72911703e-01 6.68263844e-02 1.02631086e+02] [ 8.97571163e-02 6.43088945e-04 9.95963477e-01 1.69835064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:102.64, Z:16.98 [[-6.71285215e-01 7.38769799e-01 5.99611908e-02 9.95759974e+01] [-7.35744473e-01 -6.73957464e-01 6.67937625e-02 1.02637916e+02] [ 8.97565066e-02 7.21550463e-04 9.95963478e-01 1.69827406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:102.63, Z:16.98 [[-6.73106464e-01 7.37107606e-01 6.00005469e-02 9.95682776e+01] [-7.34078833e-01 -6.75774803e-01 6.67583906e-02 1.02627683e+02] [ 8.97549752e-02 8.90372836e-04 9.95963479e-01 1.69834692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:102.62, Z:16.98 [[-6.66325964e-01 7.43240031e-01 6.00330385e-02 9.95742838e+01] [-7.40238451e-01 -6.69024854e-01 6.67291596e-02 1.02624756e+02] [ 8.97593774e-02 2.46081655e-05 9.95963480e-01 1.69769326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:102.61, Z:16.98 [[-6.75024137e-01 7.35414253e-01 5.92308181e-02 9.95545704e+01] [-7.32317646e-01 -6.77614367e-01 6.74509764e-02 1.02610346e+02] [ 8.97400628e-02 2.15526389e-03 9.95962889e-01 1.69838770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:102.61, Z:16.98 [[-6.76576856e-01 7.33916372e-01 6.00875746e-02 9.95565649e+01] [-7.30882060e-01 -6.79238785e-01 6.66789933e-02 1.02612408e+02] [ 8.97506160e-02 1.19653339e-03 9.95963551e-01 1.69840883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:102.58, Z:16.99 [[-6.79575151e-01 7.31137978e-01 6.01238045e-02 9.95324733e+01] [-7.28095673e-01 -6.82227939e-01 6.66463093e-02 1.02584552e+02] [ 8.97457870e-02 1.51529383e-03 9.95963552e-01 1.69860090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:102.58, Z:16.98 [[-6.77467441e-01 7.33088957e-01 6.01535380e-02 9.95332560e+01] [-7.30056674e-01 -6.80131679e-01 6.66194617e-02 1.02579160e+02] [ 8.97503185e-02 1.21702432e-03 9.95963553e-01 1.69827432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:102.60, Z:16.98 [[-6.76944142e-01 7.33603795e-01 5.97670499e-02 9.95516222e+01] [-7.30542626e-01 -6.79575366e-01 6.69685973e-02 1.02596211e+02] [ 8.97446319e-02 1.67162205e-03 9.95963406e-01 1.69763898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:102.57, Z:16.98 [[-6.84891284e-01 7.26206357e-01 5.95672329e-02 9.95239991e+01] [-7.23101077e-01 -6.87470595e-01 6.71491925e-02 1.02571877e+02] [ 8.97148915e-02 2.91676646e-03 9.95963218e-01 1.69844334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:102.57, Z:16.98 [[-6.82686103e-01 7.28224815e-01 6.02353988e-02 9.95314776e+01] [-7.25180167e-01 -6.85336097e-01 6.65444241e-02 1.02571738e+02] [ 8.97407940e-02 1.74743706e-03 9.95963622e-01 1.69782919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:102.55, Z:16.98 [[-6.89819554e-01 7.21520033e-01 5.96475031e-02 9.95085507e+01] [-7.18403468e-01 -6.92385114e-01 6.70769048e-02 1.02552453e+02] [ 8.96963738e-02 3.41998752e-03 9.95963285e-01 1.69846940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:102.56, Z:16.98 [[-6.91079247e-01 7.20258571e-01 6.03080856e-02 9.95177917e+01] [-7.17189207e-01 -6.93700483e-01 6.64776772e-02 1.02563085e+02] [ 8.97168649e-02 2.68903508e-03 9.95963681e-01 1.69839408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:102.55, Z:16.99 [[-6.92159192e-01 7.19217988e-01 6.03418411e-02 9.95095460e+01] [-7.16147350e-01 -6.94778934e-01 6.64470233e-02 1.02554662e+02] [ 8.97141344e-02 2.77826839e-03 9.95963682e-01 1.69852016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:102.57, Z:16.98 [[-6.86060045e-01 7.25035748e-01 6.03720089e-02 9.95256168e+01] [-7.21989745e-01 -6.88708389e-01 6.64196024e-02 1.02565337e+02] [ 8.97352951e-02 1.97986413e-03 9.95963683e-01 1.69787248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:102.55, Z:16.99 [[-6.90993690e-01 7.20384434e-01 5.97828337e-02 9.95024696e+01] [-7.17274129e-01 -6.93566730e-01 6.69553291e-02 1.02547324e+02] [ 8.96969613e-02 3.38502995e-03 9.95963351e-01 1.69859980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:102.55, Z:16.98 [[-6.85942639e-01 7.25141593e-01 6.04348001e-02 9.95079085e+01] [-7.22101100e-01 -6.88597222e-01 6.63616378e-02 1.02549411e+02] [ 8.97368192e-02 1.88024137e-03 9.95963738e-01 1.69830888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:102.54, Z:16.99 [[-6.87854241e-01 7.23359242e-01 6.00662124e-02 9.94929569e+01] [-7.20282494e-01 -6.90466927e-01 6.66974629e-02 1.02541398e+02] [ 8.97199593e-02 2.61349145e-03 9.95963603e-01 1.69904545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:102.55, Z:16.99 [[-6.86847840e-01 7.24278714e-01 6.05011502e-02 9.94990205e+01] [-7.21240256e-01 -6.89504695e-01 6.63005910e-02 1.02549006e+02] [ 8.97359339e-02 1.90255267e-03 9.95963776e-01 1.69896314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:102.56, Z:16.98 [[-6.79016993e-01 7.31622484e-01 6.05348157e-02 9.95107142e+01] [-7.28615511e-01 -6.81709429e-01 6.62698391e-02 1.02555083e+02] [ 8.97516589e-02 8.91741145e-04 9.95963777e-01 1.69822316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:102.56, Z:16.99 [[-6.84868930e-01 7.26203775e-01 5.98550333e-02 9.95066198e+01] [-7.23120980e-01 -6.87474859e-01 6.68907147e-02 1.02560299e+02] [ 8.97251201e-02 2.52894189e-03 9.95963356e-01 1.69879837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:102.57, Z:16.98 [[-6.77881470e-01 7.32669637e-01 6.05963294e-02 9.95168674e+01] [-7.29671960e-01 -6.80584128e-01 6.62123556e-02 1.02566172e+02] [ 8.97526825e-02 6.68686532e-04 9.95963859e-01 1.69812364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:102.55, Z:16.99 [[-6.82454908e-01 7.28459353e-01 6.00189069e-02 9.94923586e+01] [-7.25398308e-01 -6.85086075e-01 6.67410247e-02 1.02550278e+02] [ 8.97362410e-02 2.01012635e-03 9.95963537e-01 1.69897294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:102.56, Z:16.98 [[-6.75161815e-01 7.35171336e-01 6.06599476e-02 9.95038082e+01] [-7.32188980e-01 -6.77881290e-01 6.61532615e-02 1.02556952e+02] [ 8.97542252e-02 2.49610953e-04 9.95963913e-01 1.69832088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:102.57, Z:16.99 [[-6.81877759e-01 7.29004948e-01 5.99542114e-02 9.95062395e+01] [-7.25940796e-01 -6.84505427e-01 6.68003068e-02 1.02569228e+02] [ 8.97367372e-02 2.02643555e-03 9.95963459e-01 1.69885588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:102.57, Z:16.99 [[-6.80048325e-01 7.30648804e-01 6.07173844e-02 9.95059374e+01] [-7.27653176e-01 -6.82753054e-01 6.60993384e-02 1.02570575e+02] [ 8.97503822e-02 7.69546802e-04 9.95963994e-01 1.69892011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:102.56, Z:16.99 [[-6.79831518e-01 7.30847853e-01 6.07496745e-02 9.94940159e+01] [-7.27855669e-01 -6.82540055e-01 6.60696485e-02 1.02558283e+02] [ 8.97509469e-02 6.99234411e-04 9.95963995e-01 1.69905718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:102.57, Z:16.99 [[-6.79794194e-01 7.30879878e-01 6.07820580e-02 9.95025025e+01] [-7.27890485e-01 -6.82505810e-01 6.60398433e-02 1.02568275e+02] [ 8.97513003e-02 6.50820306e-04 9.95963996e-01 1.69895126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:102.56, Z:16.99 [[-6.79940329e-01 7.30740963e-01 6.08177106e-02 9.94980525e+01] [-7.27753953e-01 -6.82654569e-01 6.60069937e-02 1.02564373e+02] [ 8.97515021e-02 6.20487689e-04 9.95963997e-01 1.69897116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.056875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:99.47, Y:102.54, Z:16.99 [[-6.80069450e-01 7.30617570e-01 6.08564737e-02 9.94733897e+01] [-7.27633266e-01 -6.82786662e-01 6.59712361e-02 1.02538445e+02] [ 8.97517327e-02 5.83827519e-04 9.95963998e-01 1.69921768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:102.55, Z:16.99 [[-6.80550333e-01 7.30166955e-01 6.08889300e-02 9.94884075e+01] [-7.27183533e-01 -6.83268512e-01 6.59412667e-02 1.02554874e+02] [ 8.97516225e-02 5.98923819e-04 9.95963999e-01 1.69898886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:102.53, Z:16.99 [[-6.75392514e-01 7.34937495e-01 6.09247972e-02 9.94690327e+01] [-7.31976263e-01 -6.78134848e-01 6.59081116e-02 1.02526023e+02] [ 8.97535705e-02 -8.16601871e-05 9.95964000e-01 1.69866908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:102.54, Z:16.99 [[-6.81666545e-01 7.29166345e-01 6.03917485e-02 9.94793493e+01] [-7.26138042e-01 -6.84335044e-01 6.64009932e-02 1.02544739e+02] [ 8.97455593e-02 1.41058970e-03 9.95963727e-01 1.69906766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:102.54, Z:16.99 [[-6.82138621e-01 7.28674596e-01 6.09937245e-02 9.94708439e+01] [-7.25693970e-01 -6.84859773e-01 6.58433967e-02 1.02537290e+02] [ 8.97505588e-02 6.51545789e-04 9.95964062e-01 1.69927377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:102.52, Z:16.99 [[-6.74161380e-01 7.36058592e-01 6.10260822e-02 9.94627993e+01] [-7.33110487e-01 -6.76917729e-01 6.58133929e-02 1.02519361e+02] [ 8.97521503e-02 -3.70013092e-04 9.95964063e-01 1.69876491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:102.53, Z:16.99 [[-6.82783994e-01 7.28138056e-01 6.01746451e-02 9.94673601e+01] [-7.25087915e-01 -6.85428021e-01 6.66028765e-02 1.02533912e+02] [ 8.97414770e-02 1.84347013e-03 9.95963387e-01 1.69940601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:102.53, Z:17.00 [[-6.83177154e-01 7.27692640e-01 6.10933565e-02 9.94639696e+01] [-7.24716509e-01 -6.85903060e-01 6.57493189e-02 1.02530708e+02] [ 8.97494157e-02 6.43068510e-04 9.95964170e-01 1.69951630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:102.54, Z:16.99 [[-6.83651659e-01 7.27243872e-01 6.11290423e-02 9.94759167e+01] [-7.24268919e-01 -6.86378849e-01 6.57161242e-02 1.02543223e+02] [ 8.97493303e-02 6.53071903e-04 9.95964172e-01 1.69935206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:102.53, Z:17.00 [[-6.84223442e-01 7.26702963e-01 6.11644021e-02 9.94607408e+01] [-7.23728797e-01 -6.86951488e-01 6.56831972e-02 1.02525933e+02] [ 8.97491511e-02 6.75544197e-04 9.95964173e-01 1.69960331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:102.52, Z:17.00 [[-6.84455217e-01 7.26481973e-01 6.11964065e-02 9.94589578e+01] [-7.23509591e-01 -6.87185206e-01 6.56533656e-02 1.02523936e+02] [ 8.97492517e-02 6.60601531e-04 9.95964174e-01 1.69969707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:102.52, Z:16.99 [[-6.76409906e-01 7.33975674e-01 6.12319307e-02 9.94686194e+01] [-7.31036537e-01 -6.79175653e-01 6.56202171e-02 1.02524921e+02] [ 8.97508796e-02 -3.76613731e-04 9.95964175e-01 1.69897029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:102.51, Z:16.99 [[-6.76699357e-01 7.33776751e-01 6.04124135e-02 9.94577481e+01] [-7.30768054e-01 -6.79390226e-01 6.63850274e-02 1.02513586e+02] [ 8.97553930e-02 7.75243536e-04 9.95963538e-01 1.69913752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.44687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:102.50, Z:17.00 [[-6.85672629e-01 7.25399682e-01 6.04015527e-02 9.94357789e+01] [-7.22357229e-01 -6.88325297e-01 6.63951777e-02 1.02501036e+02] [ 8.97389575e-02 1.89385783e-03 9.95963520e-01 1.70019788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:102.50, Z:17.00 [[-6.86208926e-01 7.24812620e-01 6.13512520e-02 9.94355975e+01] [-7.21846773e-01 -6.88945734e-01 6.55058151e-02 1.02500797e+02] [ 8.97471248e-02 6.64471637e-04 9.95964363e-01 1.70025045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:102.50, Z:17.00 [[-6.87151390e-01 7.23916430e-01 6.13837962e-02 9.94344386e+01] [-7.20949738e-01 -6.89887281e-01 6.54753047e-02 1.02498989e+02] [ 8.97465490e-02 7.36814825e-04 9.95964364e-01 1.70030521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:102.49, Z:17.00 [[-6.88093470e-01 7.23018271e-01 6.14162638e-02 9.94273802e+01] [-7.20050726e-01 -6.90828434e-01 6.54448358e-02 1.02490201e+02] [ 8.97459133e-02 8.09338774e-04 9.95964365e-01 1.70037352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:102.49, Z:17.00 [[-6.88972145e-01 7.22178254e-01 6.14487776e-02 9.94288625e+01] [-7.19210098e-01 -6.91706445e-01 6.54142931e-02 1.02490377e+02] [ 8.97452955e-02 8.74044490e-04 9.95964366e-01 1.70033900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:102.48, Z:17.00 [[-6.89222782e-01 7.21936289e-01 6.14813143e-02 9.94214384e+01] [-7.18969901e-01 -6.91958997e-01 6.53836985e-02 1.02480732e+02] [ 8.97454133e-02 8.60720189e-04 9.95964367e-01 1.70043279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:102.48, Z:17.00 [[-6.88322920e-01 7.22791534e-01 6.15138719e-02 9.94232591e+01] [-7.19831283e-01 -6.91065773e-01 6.53530536e-02 1.02482584e+02] [ 8.97467653e-02 7.04395398e-04 9.95964368e-01 1.70046575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.44, Y:102.50, Z:17.00 [[-6.87448091e-01 7.23620293e-01 6.15531856e-02 9.94366618e+01] [-7.20666664e-01 -6.90198072e-01 6.53160049e-02 1.02496645e+02] [ 8.97478766e-02 5.42033927e-04 9.95964369e-01 1.70046607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:102.50, Z:17.01 [[-6.86260254e-01 7.24743888e-01 6.15886456e-02 9.94391505e+01] [-7.21797763e-01 -6.89018271e-01 6.52825515e-02 1.02498132e+02] [ 8.97488323e-02 3.46273705e-04 9.95964370e-01 1.70080482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:102.48, Z:17.01 [[-6.86095046e-01 7.24897590e-01 6.16203958e-02 9.94242855e+01] [-7.21954775e-01 -6.88856592e-01 6.52525688e-02 1.02480248e+02] [ 8.97490457e-02 2.82325212e-04 9.95964371e-01 1.70105653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:102.48, Z:17.01 [[-6.86146870e-01 7.24845824e-01 6.16522840e-02 9.94258538e+01] [-7.21905509e-01 -6.88911077e-01 6.52224262e-02 1.02479377e+02] [ 8.97491446e-02 2.45040160e-04 9.95964372e-01 1.70099717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:102.48, Z:17.01 [[-6.86304663e-01 7.24693696e-01 6.16843362e-02 9.94280174e+01] [-7.21755493e-01 -6.89071113e-01 6.51920987e-02 1.02479602e+02] [ 8.97491972e-02 2.20632844e-04 9.95964373e-01 1.70090224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:102.48, Z:17.01 [[-6.86790668e-01 7.24230407e-01 6.17162542e-02 9.94297577e+01] [-7.21293054e-01 -6.89558019e-01 6.51618686e-02 1.02478199e+02] [ 8.97491446e-02 2.37057748e-04 9.95964374e-01 1.70086400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:102.47, Z:17.01 [[-6.87382885e-01 7.23665634e-01 6.17480390e-02 9.94268272e+01] [-7.20728713e-01 -6.90150693e-01 6.51317352e-02 1.02473653e+02] [ 8.97490504e-02 2.66855381e-04 9.95964375e-01 1.70094488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:102.47, Z:17.01 [[-6.88186639e-01 7.22898616e-01 6.17797744e-02 9.94281577e+01] [-7.19961314e-01 -6.90954041e-01 6.51016192e-02 1.02473613e+02] [ 8.97488552e-02 3.23016983e-04 9.95964376e-01 1.70100108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:102.45, Z:17.01 [[-6.89025554e-01 7.22096344e-01 6.18114589e-02 9.94072296e+01] [-7.19158518e-01 -6.91792399e-01 6.50715223e-02 1.02450323e+02] [ 8.97486057e-02 3.83704495e-04 9.95964377e-01 1.70135775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:102.47, Z:17.01 [[-6.90243147e-01 7.20928955e-01 6.18533759e-02 9.94289489e+01] [-7.17990021e-01 -6.93008812e-01 6.50316541e-02 1.02468841e+02] [ 8.97481370e-02 4.77546891e-04 9.95964379e-01 1.70118641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:102.46, Z:17.01 [[-6.90880102e-01 7.20315840e-01 6.18851804e-02 9.94194817e+01] [-7.17377163e-01 -6.93646039e-01 6.50013744e-02 1.02456395e+02] [ 8.97479298e-02 5.13141051e-04 9.95964380e-01 1.70124579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:102.45, Z:17.01 [[-6.91399921e-01 7.19813910e-01 6.19199886e-02 9.94183861e+01] [-7.16876195e-01 -6.94166878e-01 6.49681995e-02 1.02453238e+02] [ 8.97478188e-02 5.30042244e-04 9.95964381e-01 1.70121033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:102.44, Z:17.01 [[-6.91926444e-01 7.19304794e-01 6.19548944e-02 9.94092990e+01] [-7.16368024e-01 -6.94694403e-01 6.49348957e-02 1.02442108e+02] [ 8.97477002e-02 5.47666228e-04 9.95964382e-01 1.70124092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:102.45, Z:17.01 [[-6.92300799e-01 7.18941767e-01 6.19866029e-02 9.94183168e+01] [-7.16006256e-01 -6.95070092e-01 6.49046129e-02 1.02449626e+02] [ 8.97476709e-02 5.50719870e-04 9.95964383e-01 1.70112948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:102.44, Z:17.01 [[-6.92742243e-01 7.18513691e-01 6.20182379e-02 9.94079737e+01] [-7.15579175e-01 -6.95512588e-01 6.48743708e-02 1.02435257e+02] [ 8.97475887e-02 5.62257552e-04 9.95964384e-01 1.70120679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:102.43, Z:17.01 [[-6.93355002e-01 7.17919954e-01 6.20466024e-02 9.94052903e+01] [-7.14985494e-01 -6.96125405e-01 6.48472314e-02 1.02430845e+02] [ 8.97473376e-02 5.99731598e-04 9.95964385e-01 1.70123562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:102.42, Z:17.01 [[-6.93644871e-01 7.17636859e-01 6.20816524e-02 9.93970206e+01] [-7.14704272e-01 -6.96417255e-01 6.48136589e-02 1.02420473e+02] [ 8.97474046e-02 5.87639909e-04 9.95964386e-01 1.70132669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:102.44, Z:17.01 [[-6.94214331e-01 7.17083523e-01 6.21102546e-02 9.94136215e+01] [-7.14151178e-01 -6.96986971e-01 6.47862383e-02 1.02435014e+02] [ 8.97471822e-02 6.19423613e-04 9.95964387e-01 1.70094995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:102.42, Z:17.01 [[-6.94751205e-01 7.16560636e-01 6.21419268e-02 9.94042480e+01] [-7.13628922e-01 -6.97524510e-01 6.47558446e-02 1.02424073e+02] [ 8.97470062e-02 6.42924818e-04 9.95964388e-01 1.70098605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:102.41, Z:17.01 [[-6.95308169e-01 7.16017751e-01 6.21701769e-02 9.93931411e+01] [-7.13086297e-01 -6.98081748e-01 6.47287112e-02 1.02411296e+02] [ 8.97467720e-02 6.73700437e-04 9.95964388e-01 1.70106505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:102.42, Z:17.01 [[-6.96003079e-01 7.15339807e-01 6.21986780e-02 9.94020165e+01] [-7.12408099e-01 -6.98776388e-01 6.47013127e-02 1.02419389e+02] [ 8.97463921e-02 7.21470861e-04 9.95964389e-01 1.70088518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:102.42, Z:17.01 [[-6.96867543e-01 7.14494929e-01 6.22304024e-02 9.94020242e+01] [-7.11562585e-01 -6.99640177e-01 6.46707856e-02 1.02417501e+02] [ 8.97458381e-02 7.86145511e-04 9.95964390e-01 1.70077009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:102.42, Z:17.01 [[-6.97554974e-01 7.13821066e-01 6.22618890e-02 9.94025859e+01] [-7.10888749e-01 -7.00327636e-01 6.46404577e-02 1.02417531e+02] [ 8.97454420e-02 8.28996502e-04 9.95964391e-01 1.70070930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:102.41, Z:17.01 [[-6.98022627e-01 7.13360463e-01 6.22997781e-02 9.93915438e+01] [-7.10429575e-01 -7.00796798e-01 6.46039201e-02 1.02405419e+02] [ 8.97453674e-02 8.35393185e-04 9.95964393e-01 1.70083709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:102.40, Z:17.01 [[-6.98413191e-01 7.12975622e-01 6.23279833e-02 9.93913656e+01] [-7.10045634e-01 -7.01188311e-01 6.45766972e-02 1.02404959e+02] [ 8.97452642e-02 8.45504668e-04 9.95964393e-01 1.70086092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:102.41, Z:17.01 [[-6.98894573e-01 7.12501276e-01 6.23562913e-02 9.93963838e+01] [-7.09571844e-01 -7.01670279e-01 6.45493510e-02 1.02409758e+02] [ 8.97450513e-02 8.66922495e-04 9.95964394e-01 1.70080215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:102.40, Z:17.01 [[-6.99465719e-01 7.11938121e-01 6.23844513e-02 9.93876879e+01] [-7.09008881e-01 -7.02241626e-01 6.45221241e-02 1.02400117e+02] [ 8.97447183e-02 8.99883879e-04 9.95964395e-01 1.70088191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:102.40, Z:17.01 [[-7.00612764e-01 7.10806881e-01 6.24125994e-02 9.93918064e+01] [-7.07875584e-01 -7.03386499e-01 6.44948849e-02 1.02401274e+02] [ 8.97435877e-02 1.00558435e-03 9.95964396e-01 1.70066360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:102.40, Z:17.01 [[-7.01607046e-01 7.09822726e-01 6.24439763e-02 9.93896010e+01] [-7.06890243e-01 -7.04379524e-01 6.44644916e-02 1.02397382e+02] [ 8.97426195e-02 1.08770394e-03 9.95964397e-01 1.70061423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:102.39, Z:17.01 [[-7.02347687e-01 7.09087421e-01 6.24720474e-02 9.93827174e+01] [-7.06154454e-01 -7.05119653e-01 6.44372766e-02 1.02389037e+02] [ 8.97419307e-02 1.14245766e-03 9.95964397e-01 1.70067232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:102.39, Z:17.01 [[-7.03225057e-01 7.08214829e-01 6.25002002e-02 9.93833957e+01] [-7.05280849e-01 -7.05995950e-01 6.44099587e-02 1.02388111e+02] [ 8.97409761e-02 1.21450263e-03 9.95964398e-01 1.70067820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:102.39, Z:17.01 [[-7.03512882e-01 7.07925857e-01 6.25348426e-02 9.93860362e+01] [-7.04993728e-01 -7.06285731e-01 6.43763074e-02 1.02390009e+02] [ 8.97411196e-02 1.20288966e-03 9.95964399e-01 1.70059965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:102.39, Z:17.01 [[-7.03661698e-01 7.07775459e-01 6.25628854e-02 9.93828861e+01] [-7.04845161e-01 -7.06436480e-01 6.43490430e-02 1.02386309e+02] [ 8.97413780e-02 1.18280984e-03 9.95964400e-01 1.70068294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:102.38, Z:17.01 [[-7.03771837e-01 7.07663186e-01 6.25940657e-02 9.93813176e+01] [-7.04735142e-01 -7.06548997e-01 6.43186989e-02 1.02384371e+02] [ 8.97417497e-02 1.15345103e-03 9.95964401e-01 1.70082594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:102.38, Z:17.01 [[-7.04213922e-01 7.07220497e-01 6.26252313e-02 9.93755123e+01] [-7.04293406e-01 -7.06992085e-01 6.42883397e-02 1.02377018e+02] [ 8.97415744e-02 1.16620636e-03 9.95964402e-01 1.70104930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:102.37, Z:17.01 [[-7.05120014e-01 7.06314334e-01 6.26564279e-02 9.93646509e+01] [-7.03386373e-01 -7.07897259e-01 6.42579207e-02 1.02365136e+02] [ 8.97406040e-02 1.23786842e-03 9.95964403e-01 1.70128795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:102.36, Z:17.01 [[-7.05978833e-01 7.05453135e-01 6.26878175e-02 9.93632820e+01] [-7.02524505e-01 -7.08755371e-01 6.42272836e-02 1.02362731e+02] [ 8.97396659e-02 1.30337473e-03 9.95964404e-01 1.70134084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:102.37, Z:17.01 [[-7.06795427e-01 7.04632182e-01 6.27193214e-02 9.93704144e+01] [-7.01703056e-01 -7.09571441e-01 6.41965048e-02 1.02369540e+02] [ 8.97387625e-02 1.36345652e-03 9.95964405e-01 1.70116445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:102.36, Z:17.01 [[-7.07691886e-01 7.03729034e-01 6.27506228e-02 9.93629898e+01] [-7.00799078e-01 -7.10467022e-01 6.41658938e-02 1.02361045e+02] [ 8.97376507e-02 1.43410380e-03 9.95964406e-01 1.70119775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:102.36, Z:17.01 [[-7.09039840e-01 7.02368384e-01 6.27786468e-02 9.93605624e+01] [-6.99435530e-01 -7.11811912e-01 6.41384641e-02 1.02357469e+02] [ 8.97354180e-02 1.56711030e-03 9.95964406e-01 1.70136083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:102.36, Z:17.01 [[-7.09817241e-01 7.01580213e-01 6.28067524e-02 9.93627017e+01] [-6.98646715e-01 -7.12588630e-01 6.41109304e-02 1.02359479e+02] [ 8.97343379e-02 1.62731252e-03 9.95964407e-01 1.70144636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:102.36, Z:17.01 [[-7.10352382e-01 7.01035577e-01 6.28379899e-02 9.93611598e+01] [-6.98102661e-01 -7.13124386e-01 6.40802985e-02 1.02357774e+02] [ 8.97338720e-02 1.65222473e-03 9.95964408e-01 1.70147756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:102.35, Z:17.02 [[-7.10707768e-01 7.00672205e-01 6.28723271e-02 9.93547187e+01] [-6.97740851e-01 -7.13481422e-01 6.40465911e-02 1.02351166e+02] [ 8.97339035e-02 1.64981878e-03 9.95964409e-01 1.70172232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:102.34, Z:17.02 [[-7.10803699e-01 7.00572378e-01 6.29002777e-02 9.93458574e+01] [-6.97643062e-01 -7.13579504e-01 6.40191291e-02 1.02343182e+02] [ 8.97343825e-02 1.62309142e-03 9.95964410e-01 1.70190944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:102.35, Z:17.02 [[-7.11086787e-01 7.00282516e-01 6.29283717e-02 9.93478078e+01] [-6.97354511e-01 -7.13863974e-01 6.39915019e-02 1.02345465e+02] [ 8.97344274e-02 1.62012760e-03 9.95964411e-01 1.70216453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:102.33, Z:17.03 [[-7.11280284e-01 7.00083452e-01 6.29564853e-02 9.93365581e+01] [-6.97157117e-01 -7.14059229e-01 6.39638312e-02 1.02333761e+02] [ 8.97346790e-02 1.60565021e-03 9.95964412e-01 1.70250504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03687499999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:99.34, Y:102.34, Z:17.03 [[-7.11553364e-01 6.99803069e-01 6.29878839e-02 9.93409657e+01] [-6.96878376e-01 -7.14334036e-01 6.39328968e-02 1.02337682e+02] [ 8.97348267e-02 1.59677361e-03 9.95964413e-01 1.70258202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:102.34, Z:17.03 [[-7.11898009e-01 6.99449926e-01 6.30160764e-02 9.93416468e+01] [-6.96526312e-01 -7.14679814e-01 6.39050966e-02 1.02337740e+02] [ 8.97347328e-02 1.60155570e-03 9.95964413e-01 1.70263063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:102.32, Z:17.03 [[-7.12429300e-01 6.98906239e-01 6.30441316e-02 9.93258517e+01] [-6.95982949e-01 -7.15211445e-01 6.38774074e-02 1.02321427e+02] [ 8.97342030e-02 1.63049599e-03 9.95964414e-01 1.70281020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:102.33, Z:17.03 [[-7.12988745e-01 6.98332964e-01 6.30723419e-02 9.93304143e+01] [-6.95409901e-01 -7.15771127e-01 6.38495406e-02 1.02325588e+02] [ 8.97336002e-02 1.66287277e-03 9.95964415e-01 1.70263515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:102.33, Z:17.02 [[-7.13748938e-01 6.97553120e-01 6.31038714e-02 9.93359115e+01] [-6.94629771e-01 -7.16531017e-01 6.38183643e-02 1.02330835e+02] [ 8.97325803e-02 1.71646197e-03 9.95964416e-01 1.70247733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:102.33, Z:17.03 [[-7.14122934e-01 6.97167406e-01 6.31351281e-02 9.93325985e+01] [-6.94245286e-01 -7.16906303e-01 6.37874273e-02 1.02327444e+02] [ 8.97324865e-02 1.72079961e-03 9.95964417e-01 1.70252225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.216875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.33, Y:102.32, Z:17.02 [[-7.15004131e-01 6.96260520e-01 6.31694627e-02 9.93293356e+01] [-6.93337872e-01 -7.17786945e-01 6.37534074e-02 1.02323733e+02] [ 8.97311962e-02 1.78616879e-03 9.95964418e-01 1.70232362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:102.30, Z:17.03 [[-7.15320628e-01 6.95932530e-01 6.32005717e-02 9.93065488e+01] [-6.93011330e-01 -7.18104960e-01 6.37225533e-02 1.02301248e+02] [ 8.97312417e-02 1.78334468e-03 9.95964419e-01 1.70255671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:102.32, Z:17.02 [[-7.15358929e-01 6.95890880e-01 6.32256761e-02 9.93259645e+01] [-6.92971718e-01 -7.18145396e-01 6.36976350e-02 1.02321656e+02] [ 8.97318315e-02 1.75306659e-03 9.95964420e-01 1.70234294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:102.32, Z:17.02 [[-7.15483395e-01 6.95760054e-01 6.32570836e-02 9.93227561e+01] [-6.92843138e-01 -7.18272213e-01 6.36664296e-02 1.02319353e+02] [ 8.97323639e-02 1.72503688e-03 9.95964421e-01 1.70247083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:102.31, Z:17.02 [[-7.14926224e-01 6.96330032e-01 6.32849194e-02 9.93156596e+01] [-6.93417788e-01 -7.17719918e-01 6.36387486e-02 1.02312506e+02] [ 8.97344190e-02 1.61412133e-03 9.95964421e-01 1.70248893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:102.32, Z:17.02 [[-7.14751403e-01 6.96506940e-01 6.33128261e-02 9.93180910e+01] [-6.93597846e-01 -7.17548376e-01 6.36109728e-02 1.02315078e+02] [ 8.97354996e-02 1.55239231e-03 9.95964422e-01 1.70234558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:102.31, Z:17.02 [[-7.14471986e-01 6.96791026e-01 6.33407206e-02 9.93089091e+01] [-6.93885506e-01 -7.17272670e-01 6.35831848e-02 1.02306829e+02] [ 8.97367604e-02 1.47719643e-03 9.95964423e-01 1.70240844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:102.30, Z:17.03 [[-7.13999209e-01 6.97272935e-01 6.33686231e-02 9.93038297e+01] [-6.94371773e-01 -7.16804406e-01 6.35553644e-02 1.02303193e+02] [ 8.97383437e-02 1.37709675e-03 9.95964424e-01 1.70251936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:102.30, Z:17.03 [[-7.13300807e-01 6.97984831e-01 6.33966490e-02 9.92993406e+01] [-6.95088952e-01 -7.16111457e-01 6.35273962e-02 1.02300286e+02] [ 8.97402256e-02 1.24783265e-03 9.95964424e-01 1.70253921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:102.31, Z:17.03 [[-7.11310964e-01 7.00009431e-01 6.34311370e-02 9.93039100e+01] [-6.97124624e-01 -7.14132975e-01 6.34929420e-02 1.02307939e+02] [ 8.97439247e-02 9.43818290e-04 9.95964426e-01 1.70258638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:102.31, Z:17.02 [[-7.10783960e-01 7.00541724e-01 6.34622342e-02 9.93093160e+01] [-6.97661805e-01 -7.13610959e-01 6.34618447e-02 1.02314814e+02] [ 8.97450159e-02 8.32484486e-04 9.95964427e-01 1.70249308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:102.31, Z:17.03 [[-7.09832234e-01 7.01503553e-01 6.34898783e-02 9.93012224e+01] [-6.98629939e-01 -7.12665640e-01 6.34341764e-02 1.02307804e+02] [ 8.97463549e-02 6.71693405e-04 9.95964427e-01 1.70256115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:102.31, Z:17.03 [[-7.08107310e-01 7.03242185e-01 6.35174596e-02 9.92977791e+01] [-7.00378005e-01 -7.10950251e-01 6.34065470e-02 1.02306419e+02] [ 8.97479125e-02 4.12407771e-04 9.95964428e-01 1.70253175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:102.29, Z:17.03 [[-7.07502565e-01 7.03847810e-01 6.35482612e-02 9.92852584e+01] [-7.00988838e-01 -7.10350741e-01 6.33756616e-02 1.02294699e+02] [ 8.97483751e-02 2.91821314e-04 9.95964429e-01 1.70261832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:102.31, Z:17.02 [[-7.07010980e-01 7.04339096e-01 6.35760323e-02 9.92995651e+01] [-7.01484609e-01 -7.09863650e-01 6.33477906e-02 1.02309919e+02] [ 8.97486399e-02 1.89975373e-04 9.95964430e-01 1.70241293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:102.30, Z:17.03 [[-7.06612684e-01 7.04735898e-01 6.36068405e-02 9.92844511e+01] [-7.01885797e-01 -7.09469735e-01 6.33168413e-02 1.02295623e+02] [ 8.97487793e-02 9.57452040e-05 9.95964431e-01 1.70260038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:102.31, Z:17.03 [[-7.05643898e-01 7.05703445e-01 6.36344016e-02 9.92929649e+01] [-7.02859761e-01 -7.08507335e-01 6.32891300e-02 1.02306373e+02] [ 8.97487973e-02 -6.64718294e-05 9.95964432e-01 1.70252140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:102.31, Z:17.03 [[-7.05726745e-01 7.05617826e-01 6.36651011e-02 9.92910080e+01] [-7.02776581e-01 -7.08592600e-01 6.32582332e-02 1.02305700e+02] [ 8.97487565e-02 -9.93150722e-05 9.95964433e-01 1.70263495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:102.30, Z:17.02 [[-7.01996170e-01 7.09326899e-01 6.36924452e-02 9.92863176e+01] [-7.06503293e-01 -7.04879406e-01 6.32306895e-02 1.02296549e+02] [ 8.97467218e-02 -6.11220399e-04 9.95964433e-01 1.70219415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:102.30, Z:17.03 [[-7.06378136e-01 7.04994497e-01 6.33457828e-02 9.92847566e+01] [-7.02121797e-01 -7.09212640e-01 6.35799712e-02 1.02301231e+02] [ 8.97491598e-02 4.35046632e-04 9.95964306e-01 1.70279378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:102.29, Z:17.03 [[-7.07236559e-01 7.04098197e-01 6.37352261e-02 9.92720082e+01] [-7.01257194e-01 -7.10102619e-01 6.31871696e-02 1.02289225e+02] [ 8.97485231e-02 -6.50940678e-06 9.95964458e-01 1.70298822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:102.30, Z:17.03 [[-7.08939939e-01 7.02380579e-01 6.37627207e-02 9.92786350e+01] [-6.99535129e-01 -7.11801582e-01 6.31594125e-02 1.02296172e+02] [ 8.97483502e-02 1.71967024e-04 9.95964459e-01 1.70295048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:102.29, Z:17.03 [[-7.10135195e-01 7.01169318e-01 6.37933572e-02 9.92764711e+01] [-6.98321767e-01 -7.12994746e-01 6.31284534e-02 1.02294235e+02] [ 8.97480632e-02 2.81446628e-04 9.95964460e-01 1.70294796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:102.29, Z:17.03 [[-7.11667642e-01 6.99611383e-01 6.38206951e-02 9.92673126e+01] [-6.96760051e-01 -7.14523422e-01 6.31008037e-02 1.02285792e+02] [ 8.97474220e-02 4.39089365e-04 9.95964461e-01 1.70307888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:102.28, Z:17.03 [[-7.12759522e-01 6.98493616e-01 6.38790406e-02 9.92619052e+01] [-6.95643101e-01 -7.15616113e-01 6.30416837e-02 1.02281159e+02] [ 8.97470844e-02 4.96546386e-04 9.95964464e-01 1.70306970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:102.26, Z:17.04 [[-7.14315171e-01 6.96899847e-01 6.39096200e-02 9.92398227e+01] [-6.94045733e-01 -7.17168165e-01 6.30106681e-02 1.02261372e+02] [ 8.97460699e-02 6.53277171e-04 9.95964465e-01 1.70351309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:102.28, Z:17.03 [[-7.14969041e-01 6.96226741e-01 6.39342966e-02 9.92613032e+01] [-6.93372181e-01 -7.17821587e-01 6.29856199e-02 1.02283172e+02] [ 8.97456912e-02 7.02505651e-04 9.95964466e-01 1.70326691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:102.26, Z:17.04 [[-7.15696325e-01 6.95475972e-01 6.39682986e-02 9.92372598e+01] [-6.92621506e-01 -7.18548964e-01 6.29510686e-02 1.02260449e+02] [ 8.97453103e-02 7.48029167e-04 9.95964467e-01 1.70350971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:102.27, Z:17.03 [[-7.16494731e-01 6.94651147e-01 6.39928438e-02 9.92430863e+01] [-6.91795625e-01 -7.19346313e-01 6.29261074e-02 1.02266891e+02] [ 8.97447089e-02 8.16255019e-04 9.95964468e-01 1.70344727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:102.27, Z:17.03 [[-7.17271186e-01 6.93846818e-01 6.40206123e-02 9.92466026e+01] [-6.90990620e-01 -7.20122090e-01 6.28978434e-02 1.02272949e+02] [ 8.97441256e-02 8.77168120e-04 9.95964469e-01 1.70343762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:102.26, Z:17.04 [[-7.17404918e-01 6.93705713e-01 6.40512916e-02 9.92326619e+01] [-6.90851744e-01 -7.20258051e-01 6.28665860e-02 1.02260820e+02] [ 8.97443683e-02 8.50851379e-04 9.95964469e-01 1.70365626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:102.25, Z:17.04 [[-7.17492267e-01 6.93612239e-01 6.40851661e-02 9.92245677e+01] [-6.90760983e-01 -7.20348110e-01 6.28320361e-02 1.02254682e+02] [ 8.97446975e-02 8.13967689e-04 9.95964471e-01 1.70367969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:102.26, Z:17.04 [[-7.17098056e-01 6.94016936e-01 6.41160765e-02 9.92275603e+01] [-6.91170112e-01 -7.19958315e-01 6.28004783e-02 1.02258615e+02] [ 8.97454979e-02 7.18985111e-04 9.95964472e-01 1.70357742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:102.26, Z:17.04 [[-7.16087462e-01 6.95056479e-01 6.41501191e-02 9.92264218e+01] [-6.92216923e-01 -7.18954936e-01 6.27656849e-02 1.02261404e+02] [ 8.97467407e-02 5.39921959e-04 9.95964473e-01 1.70350136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:102.26, Z:17.04 [[-7.15858155e-01 6.95290106e-01 6.41776426e-02 9.92238580e+01] [-6.92454010e-01 -7.18729050e-01 6.27375298e-02 1.02261061e+02] [ 8.97471198e-02 4.71106397e-04 9.95964474e-01 1.70353970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:102.25, Z:17.04 [[-7.15469791e-01 6.95686033e-01 6.42177688e-02 9.92080100e+01] [-6.92855214e-01 -7.18345885e-01 6.26964301e-02 1.02247838e+02] [ 8.97476007e-02 3.63785808e-04 9.95964475e-01 1.70361434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:102.25, Z:17.04 [[-7.15197372e-01 6.95963258e-01 6.42484520e-02 9.92080150e+01] [-6.93136378e-01 -7.18077338e-01 6.26649717e-02 1.02250264e+02] [ 8.97478752e-02 2.84883776e-04 9.95964476e-01 1.70362675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:102.25, Z:17.04 [[-7.14518310e-01 6.96657272e-01 6.42824211e-02 9.92037438e+01] [-6.93836326e-01 -7.17404086e-01 6.26301066e-02 1.02251313e+02] [ 8.97481908e-02 1.48879075e-04 9.95964477e-01 1.70368206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:102.25, Z:17.04 [[-7.14444646e-01 6.96727407e-01 6.43410251e-02 9.91954264e+01] [-6.93912169e-01 -7.17335986e-01 6.25698441e-02 1.02245190e+02] [ 8.97482579e-02 5.56698198e-05 9.95964481e-01 1.70376919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:102.26, Z:17.04 [[-7.14765422e-01 6.96395783e-01 6.43685136e-02 9.92061670e+01] [-6.93581750e-01 -7.17657934e-01 6.25415527e-02 1.02256985e+02] [ 8.97482480e-02 5.77130201e-05 9.95964482e-01 1.70372942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:102.25, Z:17.04 [[-7.15421327e-01 6.95718536e-01 6.44053077e-02 9.91959527e+01] [-6.92905177e-01 -7.18314493e-01 6.25036393e-02 1.02248494e+02] [ 8.97482064e-02 8.96654141e-05 9.95964483e-01 1.70388433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.44687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:102.24, Z:17.04 [[-7.16265542e-01 6.94846547e-01 6.44356143e-02 9.91827747e+01] [-6.92032478e-01 -7.19158016e-01 6.24723804e-02 1.02236942e+02] [ 8.97481064e-02 1.55275613e-04 9.95964484e-01 1.70393429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:102.22, Z:17.04 [[-7.17457489e-01 6.93612021e-01 6.44757039e-02 9.91665519e+01] [-6.90796694e-01 -7.20348736e-01 6.24309781e-02 1.02223512e+02] [ 8.97478686e-02 2.51969701e-04 9.95964486e-01 1.70396938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:102.22, Z:17.04 [[-7.15389009e-01 6.95742094e-01 6.45097144e-02 9.91660552e+01] [-6.92938546e-01 -7.18291677e-01 6.23958155e-02 1.02220406e+02] [ 8.97481863e-02 -6.39870515e-05 9.95964487e-01 1.70364565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:102.22, Z:17.03 [[-7.15228303e-01 6.95923020e-01 6.43399160e-02 9.91686182e+01] [-6.93104383e-01 -7.18116373e-01 6.25714701e-02 1.02223164e+02] [ 8.97484735e-02 1.58608543e-04 9.95964450e-01 1.70339852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:102.22, Z:17.03 [[-7.16363798e-01 6.94762832e-01 6.42457471e-02 9.91656522e+01] [-6.91930769e-01 -7.19238774e-01 6.26689548e-02 1.02221274e+02] [ 8.97480928e-02 4.40161322e-04 9.95964400e-01 1.70349582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:102.21, Z:17.04 [[-7.17736189e-01 6.93340142e-01 6.42978248e-02 9.91490852e+01] [-6.90507212e-01 -7.20610264e-01 6.26149887e-02 1.02205494e+02] [ 8.97471577e-02 5.42931655e-04 9.95964434e-01 1.70362694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:102.20, Z:17.04 [[-7.22261068e-01 6.88622423e-01 6.43281271e-02 9.91374979e+01] [-6.85773521e-01 -7.25119284e-01 6.25835549e-02 1.02199991e+02] [ 8.97420047e-02 1.08713900e-03 9.95964453e-01 1.70440871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:102.21, Z:17.04 [[-7.22583121e-01 6.88253841e-01 6.46551206e-02 9.91509614e+01] [-6.85433790e-01 -7.25469652e-01 6.22439086e-02 1.02213812e+02] [ 8.97449370e-02 6.59593425e-04 9.95964563e-01 1.70431353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:102.20, Z:17.05 [[-7.22859804e-01 6.87960314e-01 6.46862433e-02 9.91358710e+01] [-6.85141986e-01 -7.25748016e-01 6.22115481e-02 1.02200660e+02] [ 8.97449889e-02 6.50966227e-04 9.95964564e-01 1.70455004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:102.20, Z:17.05 [[-7.23026029e-01 6.87782995e-01 6.47140914e-02 9.91391691e+01] [-6.84966551e-01 -7.25916078e-01 6.21825664e-02 1.02204079e+02] [ 8.97451111e-02 6.32626048e-04 9.95964565e-01 1.70459895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:102.20, Z:17.05 [[-7.23231748e-01 6.87563740e-01 6.47452060e-02 9.91398681e+01] [-6.84749322e-01 -7.26123767e-01 6.21501527e-02 1.02204974e+02] [ 8.97452243e-02 6.14727688e-04 9.95964566e-01 1.70450940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:102.08, Z:17.06 [[-7.20145598e-01 6.90792566e-01 6.47761398e-02 9.90131469e+01] [-6.87994015e-01 -7.23052973e-01 6.21178952e-02 1.02078979e+02] [ 8.97471607e-02 1.68332257e-04 9.95964567e-01 1.70595328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:102.20, Z:17.05 [[-7.23607424e-01 6.87185419e-01 6.45638978e-02 9.91332352e+01] [-6.84352592e-01 -7.26481483e-01 6.23392736e-02 1.02198986e+02] [ 8.97431161e-02 9.24690390e-04 9.95964516e-01 1.70473463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:102.13, Z:17.06 [[-7.20730180e-01 6.90175418e-01 6.48529101e-02 9.90672533e+01] [-6.87381639e-01 -7.23642090e-01 6.20371549e-02 1.02131731e+02] [ 8.97468148e-02 1.33350254e-04 9.95964604e-01 1.70561310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.866875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:99.12, Y:102.19, Z:17.05 [[-7.24022508e-01 6.86738232e-01 6.46684554e-02 9.91225414e+01] [-6.83913377e-01 -7.26904336e-01 6.22300403e-02 1.02188259e+02] [ 8.97435285e-02 8.28328090e-04 9.95964564e-01 1.70478567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:102.19, Z:17.05 [[-7.24702673e-01 6.85997089e-01 6.49155570e-02 9.91249099e+01] [-6.83192425e-01 -7.27604068e-01 6.19712068e-02 1.02190200e+02] [ 8.97448908e-02 5.60882347e-04 9.95964628e-01 1.70488843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:102.19, Z:17.05 [[-7.25526463e-01 6.85122846e-01 6.49464258e-02 9.91244495e+01] [-6.82317583e-01 -7.28427276e-01 6.19388392e-02 1.02189517e+02] [ 8.97444619e-02 6.24178642e-04 9.95964629e-01 1.70477280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:102.19, Z:17.05 [[-7.22121057e-01 6.88708318e-01 6.49771620e-02 9.91324112e+01] [-6.85920361e-01 -7.25038506e-01 6.19065787e-02 1.02194863e+02] [ 8.97465201e-02 1.34885675e-04 9.95964630e-01 1.70474838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:102.20, Z:17.05 [[-7.20732801e-01 6.90158120e-01 6.50076855e-02 9.91385947e+01] [-6.87378923e-01 -7.23658594e-01 6.18745096e-02 1.02200844e+02] [ 8.97465656e-02 -8.99242306e-05 9.95964631e-01 1.70484702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:102.18, Z:17.05 [[-7.19515458e-01 6.91423721e-01 6.50441697e-02 9.91203673e+01] [-6.88653139e-01 -7.22449408e-01 6.18361328e-02 1.02183487e+02] [ 8.97460910e-02 -3.00818269e-04 9.95964632e-01 1.70519045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:102.20, Z:17.05 [[-7.18634203e-01 6.92336768e-01 6.50744315e-02 9.91375781e+01] [-6.89572798e-01 -7.21574382e-01 6.18042700e-02 1.02198882e+02] [ 8.97454112e-02 -4.58895480e-04 9.95964633e-01 1.70497426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:102.20, Z:17.05 [[-7.18967542e-01 6.91987468e-01 6.51077329e-02 9.91347690e+01] [-6.89225247e-01 -7.21909363e-01 6.17691688e-02 1.02196162e+02] [ 8.97453727e-02 -4.63865774e-04 9.95964634e-01 1.70501215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:102.18, Z:17.05 [[-7.16293275e-01 6.94752503e-01 6.51375842e-02 9.91257891e+01] [-6.92004500e-01 -7.19248380e-01 6.17376737e-02 1.02184773e+02] [ 8.97425052e-02 -8.53220943e-04 9.95964635e-01 1.70494295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:102.19, Z:17.05 [[-7.15368832e-01 6.95701823e-01 6.51644670e-02 9.91342726e+01] [-6.92960326e-01 -7.18329974e-01 6.17092858e-02 1.02192382e+02] [ 8.97408525e-02 -1.01149051e-03 9.95964636e-01 1.70484499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:102.18, Z:17.05 [[-7.14840218e-01 6.96242169e-01 6.51943670e-02 9.91261702e+01] [-6.93505791e-01 -7.17806089e-01 6.16776812e-02 1.02184054e+02] [ 8.97395161e-02 -1.12298406e-03 9.95964637e-01 1.70489996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:102.18, Z:17.05 [[-7.14646813e-01 6.96437607e-01 6.52272327e-02 9.91269549e+01] [-6.93705213e-01 -7.17616353e-01 6.16429046e-02 1.02183961e+02] [ 8.97385658e-02 -1.19556603e-03 9.95964638e-01 1.70510151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:102.19, Z:17.05 [[-7.15260769e-01 6.95804249e-01 6.52570343e-02 9.91307821e+01] [-6.93072103e-01 -7.18230536e-01 6.16113397e-02 1.02187314e+02] [ 8.97390266e-02 -1.15965581e-03 9.95964639e-01 1.70520930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:102.18, Z:17.05 [[-7.15823157e-01 6.95222884e-01 6.52866778e-02 9.91274166e+01] [-6.92491191e-01 -7.18793339e-01 6.15799119e-02 1.02182819e+02] [ 8.97393931e-02 -1.13012238e-03 9.95964640e-01 1.70531864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:102.18, Z:17.05 [[-7.16596662e-01 6.94422793e-01 6.53162204e-02 9.91229167e+01] [-6.91690641e-01 -7.19566420e-01 6.15485610e-02 1.02176339e+02] [ 8.97400825e-02 -1.07312497e-03 9.95964641e-01 1.70533968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:102.16, Z:17.05 [[-7.17562147e-01 6.93422588e-01 6.53427858e-02 9.91114146e+01] [-6.90688864e-01 -7.20530458e-01 6.15203451e-02 1.02162441e+02] [ 8.97410643e-02 -9.86863540e-04 9.95964642e-01 1.70536388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:102.16, Z:17.05 [[-7.20355415e-01 6.90517850e-01 6.53695246e-02 9.91180115e+01] [-6.87774735e-01 -7.23315048e-01 6.14919203e-02 1.02164590e+02] [ 8.97440294e-02 -6.63469681e-04 9.95964642e-01 1.70518956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:102.15, Z:17.05 [[-7.22120994e-01 6.88668422e-01 6.53993515e-02 9.91049828e+01] [-6.85920600e-01 -7.25076256e-01 6.14601818e-02 1.02151447e+02] [ 8.97452033e-02 -4.77074825e-04 9.95964643e-01 1.70544720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:102.15, Z:17.05 [[-7.23693324e-01 6.87013093e-01 6.54292181e-02 9.91080477e+01] [-6.84261386e-01 -7.26644969e-01 6.14283701e-02 1.02152751e+02] [ 8.97459067e-02 -3.15386136e-04 9.95964644e-01 1.70548180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:102.14, Z:17.06 [[-7.25361837e-01 6.85248646e-01 6.54560853e-02 9.90987281e+01] [-6.82492343e-01 -7.28309189e-01 6.13997280e-02 1.02141752e+02] [ 8.97463489e-02 -1.36257593e-04 9.95964645e-01 1.70558321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:102.15, Z:17.05 [[-7.27849843e-01 6.82602507e-01 6.54860562e-02 9.91075827e+01] [-6.79838366e-01 -7.30789844e-01 6.13677460e-02 1.02145218e+02] [ 8.97463220e-02 1.46570870e-04 9.95964646e-01 1.70525367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.496875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.10, Y:102.14, Z:17.05 [[-7.28684456e-01 6.81708897e-01 6.55129260e-02 9.90991992e+01] [-6.78943730e-01 -7.31623491e-01 6.13390478e-02 1.02135522e+02] [ 8.97461703e-02 2.17220337e-04 9.95964647e-01 1.70529970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:102.14, Z:17.05 [[-7.29677445e-01 6.80643348e-01 6.55397542e-02 9.91063960e+01] [-6.77876465e-01 -7.32614863e-01 6.13103691e-02 1.02141323e+02] [ 8.97458929e-02 3.08936627e-04 9.95964648e-01 1.70520518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:102.14, Z:17.05 [[-7.30381823e-01 6.79883968e-01 6.55757788e-02 9.91027461e+01] [-6.77117491e-01 -7.33319622e-01 6.12718142e-02 1.02136928e+02] [ 8.97457295e-02 3.49312602e-04 9.95964649e-01 1.70525222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.586875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.11, Y:102.14, Z:17.05 [[-7.31076224e-01 6.79134654e-01 6.56024095e-02 9.91064136e+01] [-6.76367725e-01 -7.34013597e-01 6.12432881e-02 1.02138483e+02] [ 8.97454998e-02 4.02159385e-04 9.95964650e-01 1.70521909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.616875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.10, Y:102.12, Z:17.05 [[-7.27667118e-01 6.82783279e-01 6.56320064e-02 9.90950758e+01] [-6.80033940e-01 -7.30620959e-01 6.12115539e-02 1.02122253e+02] [ 8.97463450e-02 -9.03569430e-05 9.95964651e-01 1.70510923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:102.13, Z:17.05 [[-7.31666138e-01 6.78529320e-01 6.52887805e-02 9.90950877e+01] [-6.75729870e-01 -7.34572721e-01 6.15797076e-02 1.02125650e+02] [ 8.97429942e-02 9.38207636e-04 9.95964515e-01 1.70539690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:102.13, Z:17.05 [[-7.31964456e-01 6.78170081e-01 6.56763015e-02 9.90979589e+01] [-6.75406426e-01 -7.34904873e-01 6.11636164e-02 1.02127413e+02] [ 8.97451687e-02 4.11397107e-04 9.95964676e-01 1.70542193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:102.12, Z:17.05 [[-7.32178813e-01 6.77935776e-01 6.57059369e-02 9.90938828e+01] [-6.75174037e-01 -7.35121029e-01 6.11317637e-02 1.02121328e+02] [ 8.97452255e-02 3.96439475e-04 9.95964677e-01 1.70546356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:102.12, Z:17.06 [[-7.32091945e-01 6.78027009e-01 6.57324875e-02 9.90911874e+01] [-6.75268201e-01 -7.35036908e-01 6.11032016e-02 1.02118451e+02] [ 8.97454254e-02 3.46103130e-04 9.95964678e-01 1.70569329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:102.10, Z:17.06 [[-7.31841484e-01 6.78294764e-01 6.57590746e-02 9.90699812e+01] [-6.75539605e-01 -7.34789860e-01 6.10745754e-02 1.02098743e+02] [ 8.97456659e-02 2.74048666e-04 9.95964678e-01 1.70593405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:102.11, Z:17.06 [[-7.31515843e-01 6.78643628e-01 6.57829641e-02 9.90817943e+01] [-6.75892189e-01 -7.34467691e-01 6.10488334e-02 1.02109969e+02] [ 8.97458635e-02 1.95997221e-04 9.95964679e-01 1.70589566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:102.11, Z:17.06 [[-7.31130752e-01 6.79055580e-01 6.58129402e-02 9.90863226e+01] [-6.76308714e-01 -7.34086854e-01 6.10165010e-02 1.02113960e+02] [ 8.97460097e-02 1.01175250e-04 9.95964680e-01 1.70593645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:102.10, Z:17.06 [[-7.30627041e-01 6.79594940e-01 6.58395385e-02 9.90721764e+01] [-6.76852844e-01 -7.33587567e-01 6.09877869e-02 1.02100606e+02] [ 8.97460582e-02 -4.35254301e-06 9.95964681e-01 1.70619359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:102.11, Z:17.06 [[-7.29451089e-01 6.80854713e-01 6.58632616e-02 9.90870388e+01] [-6.78120044e-01 -7.32418475e-01 6.09621566e-02 1.02113293e+02] [ 8.97458412e-02 -1.94286375e-04 9.95964681e-01 1.70609640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:102.11, Z:17.06 [[-7.29178739e-01 6.81143518e-01 6.58928973e-02 9.90790778e+01] [-6.78412920e-01 -7.32149870e-01 6.09301072e-02 1.02105353e+02] [ 8.97456238e-02 -2.73654065e-04 9.95964682e-01 1.70622118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:102.11, Z:17.06 [[-7.28822373e-01 6.81521675e-01 6.59253770e-02 9.90845672e+01] [-6.78795797e-01 -7.31797835e-01 6.08949445e-02 1.02109920e+02] [ 8.97452727e-02 -3.68270844e-04 9.95964683e-01 1.70622009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:102.10, Z:17.06 [[-7.28257530e-01 6.82122672e-01 6.59517374e-02 9.90774402e+01] [-6.79401836e-01 -7.31237601e-01 6.08663818e-02 1.02102690e+02] [ 8.97447292e-02 -4.81330586e-04 9.95964684e-01 1.70632133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:102.09, Z:17.06 [[-7.28128884e-01 6.82257157e-01 6.59810553e-02 9.90600249e+01] [-6.79539752e-01 -7.31112084e-01 6.08345838e-02 1.02085923e+02] [ 8.97443770e-02 -5.41332397e-04 9.95964685e-01 1.70648854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:102.09, Z:17.06 [[-7.28060123e-01 6.82328108e-01 6.60061440e-02 9.90702878e+01] [-6.79613462e-01 -7.31045832e-01 6.08073502e-02 1.02094607e+02] [ 8.97440807e-02 -5.87257258e-04 9.95964686e-01 1.70634723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:102.10, Z:17.06 [[-7.28089991e-01 6.82293663e-01 6.60327394e-02 9.90722738e+01] [-6.79581495e-01 -7.31077951e-01 6.07784557e-02 1.02095660e+02] [ 8.97438350e-02 -6.22442480e-04 9.95964686e-01 1.70630749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:102.09, Z:17.06 [[-7.27954316e-01 6.82435573e-01 6.60621115e-02 9.90706199e+01] [-6.79726886e-01 -7.30945430e-01 6.07465136e-02 1.02092684e+02] [ 8.97433803e-02 -6.83506655e-04 9.95964687e-01 1.70639795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:102.09, Z:17.06 [[-7.28157441e-01 6.82216289e-01 6.60883982e-02 9.90725806e+01] [-6.79509297e-01 -7.31150088e-01 6.07179020e-02 1.02093995e+02] [ 8.97432799e-02 -6.95488909e-04 9.95964688e-01 1.70640621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:102.09, Z:17.07 [[-7.28281768e-01 6.82081024e-01 6.61146245e-02 9.90673999e+01] [-6.79376069e-01 -7.31276255e-01 6.06893313e-02 1.02088860e+02] [ 8.97430962e-02 -7.17760241e-04 9.95964689e-01 1.70660044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:102.09, Z:17.07 [[-7.28600394e-01 6.81738115e-01 6.61408290e-02 9.90692813e+01] [-6.79034343e-01 -7.31595949e-01 6.06607595e-02 1.02090025e+02] [ 8.97431144e-02 -7.14441166e-04 9.95964690e-01 1.70668501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:102.08, Z:17.07 [[-7.29039347e-01 6.81266142e-01 6.61670109e-02 9.90644898e+01] [-6.78563024e-01 -7.32035491e-01 6.06321877e-02 1.02084906e+02] [ 8.97432569e-02 -6.95236514e-04 9.95964690e-01 1.70678529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:102.08, Z:17.07 [[-7.30429937e-01 6.79772442e-01 6.61931618e-02 9.90649438e+01] [-6.77065784e-01 -7.33422882e-01 6.06036250e-02 1.02083411e+02] [ 8.97442537e-02 -5.50423039e-04 9.95964691e-01 1.70658602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:102.08, Z:17.07 [[-7.31643604e-01 6.78463440e-01 6.62193190e-02 9.90580006e+01] [-6.75754015e-01 -7.34634043e-01 6.05750306e-02 1.02076212e+02] [ 8.97449097e-02 -4.28636978e-04 9.95964692e-01 1.70664276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:102.07, Z:17.06 [[-7.32577772e-01 6.77452096e-01 6.62455023e-02 9.90564229e+01] [-6.74741132e-01 -7.35566816e-01 6.05463828e-02 1.02073772e+02] [ 8.97452671e-02 -3.43630981e-04 9.95964693e-01 1.70649522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:102.07, Z:17.07 [[-7.33892065e-01 6.76025514e-01 6.62717305e-02 9.90531991e+01] [-6.73311333e-01 -7.36878186e-01 6.05176610e-02 1.02070577e+02] [ 8.97456754e-02 -2.08076024e-04 9.95964693e-01 1.70663869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.366875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:99.05, Y:102.07, Z:17.06 [[-7.36353219e-01 6.73341308e-01 6.62979566e-02 9.90521681e+01] [-6.70618830e-01 -7.39331777e-01 6.04889163e-02 1.02068043e+02] [ 8.97458721e-02 8.05501925e-05 9.95964694e-01 1.70649121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:102.06, Z:17.07 [[-7.37974782e-01 6.71561110e-01 6.63241796e-02 9.90444287e+01] [-6.68834031e-01 -7.40949127e-01 6.04601500e-02 1.02059725e+02] [ 8.97455284e-02 2.58197553e-04 9.95964695e-01 1.70653770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:102.06, Z:17.07 [[-7.39360993e-01 6.70031446e-01 6.63564809e-02 9.90427274e+01] [-6.67301397e-01 -7.42332610e-01 6.04246779e-02 1.02056739e+02] [ 8.97450140e-02 3.95877525e-04 9.95964696e-01 1.70669734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:102.05, Z:17.07 [[-7.41780558e-01 6.67349180e-01 6.63828009e-02 9.90411944e+01] [-6.64610973e-01 -7.44744660e-01 6.03957489e-02 1.02054253e+02] [ 8.97432899e-02 6.81654451e-04 9.95964697e-01 1.70672207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:102.05, Z:17.07 [[-7.43236894e-01 6.65724980e-01 6.64015827e-02 9.90405263e+01] [-6.62982141e-01 -7.46196709e-01 6.03750924e-02 1.02053691e+02] [ 8.97418497e-02 8.49932641e-04 9.95964697e-01 1.70682865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:102.05, Z:17.07 [[-7.44417773e-01 6.64401624e-01 6.64278716e-02 9.90394283e+01] [-6.61656105e-01 -7.47375100e-01 6.03461542e-02 1.02052481e+02] [ 8.97406201e-02 9.70342872e-04 9.95964698e-01 1.70697436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:102.05, Z:17.07 [[-7.45692686e-01 6.62968063e-01 6.64512272e-02 9.90379817e+01] [-6.60219151e-01 -7.48646859e-01 6.03204249e-02 1.02051087e+02] [ 8.97390178e-02 1.10812692e-03 9.95964699e-01 1.70707672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:102.04, Z:17.07 [[-7.48224483e-01 6.60106712e-01 6.64774534e-02 9.90321114e+01] [-6.57349071e-01 -7.51170509e-01 6.02915079e-02 1.02044603e+02] [ 8.97347316e-02 1.41269010e-03 9.95964699e-01 1.70720365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:102.03, Z:17.07 [[-7.49864651e-01 6.58240568e-01 6.65008191e-02 9.90199574e+01] [-6.55477881e-01 -7.52805945e-01 6.02657249e-02 1.02032685e+02] [ 8.97315570e-02 1.60132085e-03 9.95964700e-01 1.70734624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:102.04, Z:17.07 [[-7.51263180e-01 6.56641565e-01 6.65243601e-02 9.90297691e+01] [-6.53874918e-01 -7.54200747e-01 6.02397281e-02 1.02040757e+02] [ 8.97286314e-02 1.75727916e-03 9.95964701e-01 1.70719367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:102.04, Z:17.07 [[-7.52804351e-01 6.54871439e-01 6.65507942e-02 9.90281448e+01] [-6.52100465e-01 -7.55737837e-01 6.02105105e-02 1.02039288e+02] [ 8.97250969e-02 1.92893051e-03 9.95964701e-01 1.70727411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:102.02, Z:17.07 [[-7.54960991e-01 6.52381623e-01 6.65741636e-02 9.90114602e+01] [-6.49603253e-01 -7.57887472e-01 6.01846601e-02 1.02023313e+02] [ 8.97190908e-02 2.19027741e-03 9.95964702e-01 1.70744990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:102.02, Z:17.07 [[-7.55992822e-01 6.51183230e-01 6.65977048e-02 9.90142861e+01] [-6.48402514e-01 -7.58917072e-01 6.01585993e-02 1.02024842e+02] [ 8.97164062e-02 2.29735002e-03 9.95964703e-01 1.70737742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:102.03, Z:17.07 [[-7.56698254e-01 6.50357562e-01 6.66542881e-02 9.90186412e+01] [-6.47579174e-01 -7.59624712e-01 6.00958414e-02 1.02028279e+02] [ 8.97160293e-02 2.31048943e-03 9.95964706e-01 1.70734712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:102.02, Z:17.08 [[-7.57364773e-01 6.49578849e-01 6.66777270e-02 9.90065782e+01] [-6.46799740e-01 -7.60290545e-01 6.00698241e-02 1.02017003e+02] [ 8.97145327e-02 2.36763222e-03 9.95964707e-01 1.70757684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:102.02, Z:17.08 [[-7.57912387e-01 6.48937111e-01 6.67041163e-02 9.90060688e+01] [-6.46158101e-01 -7.60838252e-01 6.00405062e-02 1.02016158e+02] [ 8.97135559e-02 2.40403829e-03 9.95964707e-01 1.70763706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:102.01, Z:17.08 [[-7.58583009e-01 6.48150626e-01 6.67276887e-02 9.89960041e+01] [-6.45370884e-01 -7.61508179e-01 6.00142970e-02 1.02006554e+02] [ 8.97119848e-02 2.46171855e-03 9.95964708e-01 1.70782561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:102.01, Z:17.08 [[-7.59227661e-01 6.47392939e-01 6.67513391e-02 9.90055989e+01] [-6.44612588e-01 -7.62152251e-01 5.99879802e-02 1.02014433e+02] [ 8.97104781e-02 2.51578045e-03 9.95964709e-01 1.70776121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:102.00, Z:17.08 [[-7.61092172e-01 6.45197498e-01 6.67749550e-02 9.89900608e+01] [-6.42411015e-01 -7.64010919e-01 5.99616810e-02 1.01999626e+02] [ 8.97039213e-02 2.73939938e-03 9.95964709e-01 1.70796847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:102.01, Z:17.08 [[-7.61959554e-01 6.44165731e-01 6.68442220e-02 9.90014115e+01] [-6.41382064e-01 -7.64880979e-01 5.98843643e-02 1.02009420e+02] [ 8.97033293e-02 2.75677842e-03 9.95964715e-01 1.70785667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:101.99, Z:17.08 [[-7.62991338e-01 6.42940842e-01 6.68677171e-02 9.89826424e+01] [-6.40154781e-01 -7.65910479e-01 5.98581179e-02 1.01992294e+02] [ 8.96999140e-02 2.86553671e-03 9.95964715e-01 1.70807324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:101.99, Z:17.08 [[-7.63244800e-01 6.42636551e-01 6.69002110e-02 9.89809622e+01] [-6.39852505e-01 -7.66165861e-01 5.98217794e-02 1.01990708e+02] [ 8.97003198e-02 2.85239449e-03 9.95964716e-01 1.70809652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:102.00, Z:17.08 [[-7.63694366e-01 6.42099765e-01 6.69238944e-02 9.89940308e+01] [-6.39315983e-01 -7.66615679e-01 5.97952726e-02 1.02001281e+02] [ 8.96994372e-02 2.87979744e-03 9.95964717e-01 1.70785996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:101.19, Z:17.61 [[-6.65238486e-01 -7.43623166e-01 -6.69503004e-02 9.95566799e+01] [-7.41283283e-01 6.68526107e-01 -5.97656924e-02 1.01191718e+02] [ 8.92011771e-02 9.87069974e-03 -9.95964718e-01 1.76130922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:101.27, Z:17.61 [[-6.13759552e-01 -7.86649140e-01 -6.69503004e-02 9.95837581e+01] [-7.84535491e-01 6.17196991e-01 -5.97656924e-02 1.01269405e+02] [ 8.83361545e-02 1.58431222e-02 -9.95964718e-01 1.76075053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:101.87, Z:17.09 [[-6.62122523e-01 7.47231591e-01 5.69097066e-02 9.87763893e+01] [-7.44121720e-01 -6.64557906e-01 6.81590388e-02 1.01871522e+02] [ 8.87503824e-02 2.78188591e-03 9.96050014e-01 1.70909656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:101.87, Z:17.09 [[-6.61509505e-01 7.47772029e-01 5.69400337e-02 9.87756797e+01] [-7.44666324e-01 -6.63950198e-01 6.81336941e-02 1.01871436e+02] [ 8.87538174e-02 2.66976063e-03 9.96050015e-01 1.70910785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:101.89, Z:17.09 [[-6.58356570e-01 7.50546872e-01 5.69738578e-02 9.87858245e+01] [-7.47453901e-01 -6.60813378e-01 6.81053986e-02 1.01885055e+02] [ 8.87653813e-02 2.25230431e-03 9.96050016e-01 1.70896673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:101.88, Z:17.09 [[-6.56896939e-01 7.51822169e-01 5.70073515e-02 9.87817469e+01] [-7.48736399e-01 -6.59362783e-01 6.80773514e-02 1.01881160e+02] [ 8.87705879e-02 2.03632463e-03 9.96050017e-01 1.70908072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.236875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.78, Y:101.88, Z:17.09 [[-6.55098092e-01 7.53387590e-01 5.70405936e-02 9.87818100e+01] [-7.50310135e-01 -6.57574306e-01 6.80494872e-02 1.01881527e+02] [ 8.87760679e-02 1.78095373e-03 9.96050018e-01 1.70902247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:101.88, Z:17.09 [[-6.53972513e-01 7.54362077e-01 5.70772221e-02 9.87808102e+01] [-7.51290992e-01 -6.56456620e-01 6.80187509e-02 1.01881598e+02] [ 8.87794866e-02 1.60079063e-03 9.96050019e-01 1.70916652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:101.87, Z:17.09 [[-6.52279171e-01 7.55824250e-01 5.71102892e-02 9.87729707e+01] [-7.52761165e-01 -6.54773134e-01 6.79909757e-02 1.01872775e+02] [ 8.87835113e-02 1.35868947e-03 9.96050020e-01 1.70921460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:101.87, Z:17.09 [[-6.49604707e-01 7.58121597e-01 5.71434041e-02 9.87701687e+01] [-7.55069780e-01 -6.52112444e-01 6.79631329e-02 1.01872414e+02] [ 8.87882437e-02 1.00191348e-03 9.96050021e-01 1.70928054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.356875 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:98.77, Y:101.87, Z:17.09 [[-6.49158365e-01 7.58499044e-01 5.72067900e-02 9.87662306e+01] [-7.55453387e-01 -6.51673574e-01 6.79097373e-02 1.01871853e+02] [ 8.87896242e-02 8.67110778e-04 9.96050024e-01 1.70932932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.386875 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:98.76, Y:101.87, Z:17.09 [[-6.48098913e-01 7.59401745e-01 5.72432365e-02 9.87593961e+01] [-7.56362304e-01 -6.50621630e-01 6.78790016e-02 1.01865327e+02] [ 8.87911201e-02 6.95680925e-04 9.96050025e-01 1.70938999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.416875 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:98.75, Y:101.86, Z:17.09 [[-6.47373687e-01 7.60017589e-01 5.72762968e-02 9.87548441e+01] [-7.56983016e-01 -6.49902256e-01 6.78510940e-02 1.01864668e+02] [ 8.87920193e-02 5.67829040e-04 9.96050026e-01 1.70908667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.44687499999998 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:98.63, Y:101.72, Z:17.11 [[-6.44701139e-01 7.62283203e-01 5.73128183e-02 9.86326448e+01] [-7.59260260e-01 -6.47243597e-01 6.78202309e-02 1.01716027e+02] [ 8.87935776e-02 2.08434742e-04 9.96050027e-01 1.71052834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47687499999998 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:98.74, Y:101.85, Z:17.09 [[-6.47874801e-01 7.59603020e-01 5.71094971e-02 9.87433825e+01] [-7.56554383e-01 -6.50386454e-01 6.79921040e-02 1.01851181e+02] [ 8.87902509e-02 8.43930510e-04 9.96049988e-01 1.70926992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.50687499999998 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:98.75, Y:101.86, Z:17.09 [[-6.48516575e-01 7.59033129e-01 5.74017475e-02 9.87523576e+01] [-7.56004144e-01 -6.51051780e-01 6.77444808e-02 1.01863245e+02] [ 8.87918152e-02 5.37459682e-04 9.96050061e-01 1.70918555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53687499999998 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:98.74, Y:101.85, Z:17.09 [[-6.49577418e-01 7.58122967e-01 5.74347045e-02 9.87377920e+01] [-7.55092900e-01 -6.52111328e-01 6.77165281e-02 1.01847960e+02] [ 8.87912766e-02 6.18589862e-04 9.96050062e-01 1.70932541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56687499999998 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:98.73, Y:101.85, Z:17.09 [[-6.50357311e-01 7.57451543e-01 5.74676245e-02 9.87343225e+01] [-7.54421328e-01 -6.52891044e-01 6.76885790e-02 1.01845199e+02] [ 8.87909160e-02 6.66960648e-04 9.96050063e-01 1.70930863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59687499999998 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:98.74, Y:101.85, Z:17.09 [[-6.51266477e-01 7.56667457e-01 5.75007381e-02 9.87406481e+01] [-7.53636676e-01 -6.53799530e-01 6.76604378e-02 1.01853653e+02] [ 8.87904070e-02 7.30309847e-04 9.96050064e-01 1.70929636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62687499999998 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:98.73, Y:101.84, Z:17.09 [[-6.43351970e-01 7.63405606e-01 5.75336666e-02 9.87346623e+01] [-7.60403861e-01 -6.45919363e-01 6.76324262e-02 1.01835755e+02] [ 8.87930827e-02 -2.37367594e-04 9.96050065e-01 1.70880164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65687499999999 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:98.75, Y:101.85, Z:17.09 [[-6.43809117e-01 7.63092163e-01 5.65700624e-02 9.87473182e+01] [-7.60016547e-01 -6.46288785e-01 6.84518441e-02 1.01851014e+02] [ 8.87956626e-02 1.07573780e-03 9.96049282e-01 1.70872303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.686875 meters Centerline goodness : 0.996832 Centerline is valid? [True, True] Translation: X:98.73, Y:101.84, Z:17.10 [[-6.55060427e-01 7.53469972e-01 5.63811846e-02 9.87276340e+01] [-7.50344110e-01 -6.57477019e-01 6.86125813e-02 1.01840540e+02] [ 8.87668529e-02 2.64009707e-03 9.96048932e-01 1.70972488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.716875 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:99.46, Y:101.15, Z:17.63 [[-5.83183742e-01 -8.10381321e-01 -5.63811846e-02 9.94605156e+01] [-8.07490308e-01 5.85876877e-01 -6.86125813e-02 1.01146378e+02] [ 8.86347867e-02 5.51351824e-03 -9.96048932e-01 1.76290679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.746875 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:98.59, Y:101.71, Z:17.11 [[-6.05253391e-01 7.94277136e-01 5.28409278e-02 9.85861032e+01] [-7.91077003e-01 -6.07554193e-01 7.12395884e-02 1.01712210e+02] [ 8.86877035e-02 1.31675968e-03 9.96058611e-01 1.71111316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.776875 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:98.60, Y:101.72, Z:17.11 [[-6.07431720e-01 7.92609907e-01 5.28794904e-02 9.85950720e+01] [-7.89405949e-01 -6.09727191e-01 7.12109529e-02 1.01722077e+02] [ 8.86845699e-02 1.51240729e-03 9.96058613e-01 1.71091262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.806875 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:98.59, Y:101.72, Z:17.11 [[-6.08638368e-01 7.91681136e-01 5.29180067e-02 9.85933940e+01] [-7.88476162e-01 -6.10932418e-01 7.11823194e-02 1.01719340e+02] [ 8.86830253e-02 1.59970395e-03 9.96058614e-01 1.71085585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.836875 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:98.60, Y:101.71, Z:17.10 [[-5.95812669e-01 8.01375393e-01 5.29598265e-02 9.86009270e+01] [-7.98210525e-01 -5.98161739e-01 7.11511919e-02 1.01712872e+02] [ 8.86973562e-02 1.19690610e-04 9.96058615e-01 1.71044676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.866875 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:98.57, Y:101.69, Z:17.11 [[-6.10893276e-01 7.90036099e-01 5.15011446e-02 9.85711805e+01] [-7.86734971e-01 -6.13049689e-01 7.22368696e-02 1.01687586e+02] [ 8.86424953e-02 3.61126637e-03 9.96056960e-01 1.71106483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.896875 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:98.58, Y:101.70, Z:17.11 [[-6.11935052e-01 7.89126789e-01 5.30509513e-02 9.85825726e+01] [-7.85921064e-01 -6.14227696e-01 7.10803758e-02 1.01702148e+02] [ 8.86767923e-02 1.80271344e-03 9.96058822e-01 1.71095024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.926875 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:98.58, Y:101.70, Z:17.11 [[-6.12721212e-01 7.88513923e-01 5.30896294e-02 9.85815693e+01] [-7.85308406e-01 -6.15014143e-01 7.10514757e-02 1.01699839e+02] [ 8.86759508e-02 1.84301416e-03 9.96058823e-01 1.71083738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.956875 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:98.58, Y:101.70, Z:17.11 [[-6.13464310e-01 7.87933351e-01 5.31279160e-02 9.85804766e+01] [-7.84728139e-01 -6.15757667e-01 7.10228359e-02 1.01697279e+02] [ 8.86751827e-02 1.87900430e-03 9.96058824e-01 1.71085184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.986875 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:98.58, Y:101.69, Z:17.11 [[-6.14383394e-01 7.87214334e-01 5.31661313e-02 9.85763325e+01] [-7.84008911e-01 -6.16676454e-01 7.09942174e-02 1.01691395e+02] [ 8.86739669e-02 1.93494762e-03 9.96058825e-01 1.71080323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.016875 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:98.60, Y:101.71, Z:17.10 [[-5.99738196e-01 7.98425811e-01 5.32007610e-02 9.86028268e+01] [-7.95265582e-01 -6.02093149e-01 7.09682576e-02 1.01707657e+02] [ 8.86947024e-02 2.53640654e-04 9.96058826e-01 1.70972919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.046875 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:98.57, Y:101.69, Z:17.10 [[-6.15899971e-01 7.86145289e-01 5.14082675e-02 9.85742995e+01] [-7.82824371e-01 -6.18026827e-01 7.23107575e-02 1.01686368e+02] [ 8.86184498e-02 4.29254882e-03 9.96056396e-01 1.71044867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.076875 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:98.57, Y:101.68, Z:17.11 [[-6.16127391e-01 7.85842771e-01 5.32745490e-02 9.85668376e+01] [-7.82639613e-01 -6.18423126e-01 7.09089042e-02 1.01676873e+02] [ 8.86694629e-02 1.99414571e-03 9.96059110e-01 1.71072116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.106875 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:98.57, Y:101.68, Z:17.11 [[-6.16606344e-01 7.85464425e-01 5.33127893e-02 9.85666215e+01] [-7.82262341e-01 -6.18903575e-01 7.08801418e-02 1.01677055e+02] [ 8.86693057e-02 2.00055777e-03 9.96059111e-01 1.71068648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.136875 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:98.57, Y:101.68, Z:17.11 [[-6.16339962e-01 7.85670871e-01 5.33510445e-02 9.85668873e+01] [-7.82472046e-01 -6.18641726e-01 7.08513358e-02 1.01677084e+02] [ 8.86710129e-02 1.92280868e-03 9.96059112e-01 1.71097508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.166875 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:98.56, Y:101.67, Z:17.11 [[-6.16967313e-01 7.85175734e-01 5.33891522e-02 9.85623501e+01] [-7.81977543e-01 -6.19269957e-01 7.08226087e-02 1.01671371e+02] [ 8.86704917e-02 1.94611655e-03 9.96059113e-01 1.71116553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19687499999998 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:98.56, Y:101.67, Z:17.11 [[-6.17005415e-01 7.85142960e-01 5.34308038e-02 9.85607597e+01] [-7.81947365e-01 -6.19311657e-01 7.07911716e-02 1.01669382e+02] [ 8.86715096e-02 1.89845989e-03 9.96059114e-01 1.71119932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.22687499999998 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:98.56, Y:101.67, Z:17.11 [[-6.16711362e-01 7.85371606e-01 5.34652704e-02 9.85586977e+01] [-7.82179121e-01 -6.19021905e-01 7.07651311e-02 1.01667022e+02] [ 8.86730982e-02 1.82224215e-03 9.96059115e-01 1.71121956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25687499999998 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:98.56, Y:101.67, Z:17.11 [[-6.16751716e-01 7.85337572e-01 5.34996981e-02 9.85577565e+01] [-7.82147215e-01 -6.19065195e-01 7.07390937e-02 1.01665775e+02] [ 8.86738691e-02 1.78381756e-03 9.96059116e-01 1.71126267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28687499999998 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:98.55, Y:101.65, Z:17.11 [[-6.17044501e-01 7.85105208e-01 5.35340757e-02 9.85476152e+01] [-7.81916233e-01 -6.19359884e-01 7.07130679e-02 1.01652621e+02] [ 8.86740567e-02 1.77394685e-03 9.96059117e-01 1.71137878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31687499999998 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:98.54, Y:101.64, Z:17.11 [[-6.17269238e-01 7.84926172e-01 5.35685681e-02 9.85402539e+01] [-7.81738792e-01 -6.19586814e-01 7.06869286e-02 1.01641877e+02] [ 8.86743987e-02 1.75623886e-03 9.96059118e-01 1.71133063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34687499999998 meters Centerline goodness : 0.996131 Centerline is valid? [True, True] Translation: X:98.55, Y:101.65, Z:17.11 [[-6.18171877e-01 7.84213117e-01 5.36033324e-02 9.85492620e+01] [-7.81025347e-01 -6.20488914e-01 7.06605564e-02 1.01653426e+02] [ 8.86732088e-02 1.81480741e-03 9.96059119e-01 1.71142746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37687499999998 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:98.55, Y:101.65, Z:17.11 [[-6.19016242e-01 7.83544177e-01 5.36415403e-02 9.85472298e+01] [-7.80356413e-01 -6.21333287e-01 7.06315393e-02 1.01650807e+02] [ 8.86722059e-02 1.86255004e-03 9.96059120e-01 1.71133114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40687499999999 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:98.53, Y:101.62, Z:17.12 [[-6.19618957e-01 7.83065046e-01 5.36794339e-02 9.85263306e+01] [-7.79877983e-01 -6.21936963e-01 7.06027288e-02 1.01622591e+02] [ 8.86717532e-02 1.88338052e-03 9.96059121e-01 1.71164223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.436875 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:98.54, Y:101.64, Z:17.12 [[-6.19856817e-01 7.82874394e-01 5.37141434e-02 9.85405641e+01] [-7.79688904e-01 -6.22176982e-01 7.05763123e-02 1.01641219e+02] [ 8.86720914e-02 1.86688671e-03 9.96059122e-01 1.71164635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.466875 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:98.55, Y:101.64, Z:17.11 [[-6.06090175e-01 7.93577577e-01 5.37524747e-02 9.85535213e+01] [-7.90435671e-01 -6.08469026e-01 7.05471063e-02 1.01638913e+02] [ 8.86913177e-02 2.70034602e-04 9.96059123e-01 1.71082636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.496875 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:98.55, Y:101.63, Z:17.11 [[-6.05455271e-01 7.94167061e-01 5.21784897e-02 9.85506782e+01] [-7.90922618e-01 -6.07695625e-01 7.17456581e-02 1.01633921e+02] [ 8.86866783e-02 2.16963915e-03 9.96057210e-01 1.71062537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.526875 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:98.54, Y:101.64, Z:17.11 [[-6.18233211e-01 7.84271269e-01 5.20218521e-02 9.85387309e+01] [-7.80980981e-01 -6.20406420e-01 7.18650192e-02 1.01635527e+02] [ 8.86363609e-02 3.80126447e-03 9.96056799e-01 1.71143080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.556875 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:98.55, Y:101.63, Z:17.11 [[-6.06895041e-01 7.92965568e-01 5.37030476e-02 9.85478735e+01] [-7.89818297e-01 -6.09266307e-01 7.05806347e-02 1.01632854e+02] [ 8.86874706e-02 4.19387617e-04 9.96059414e-01 1.71057098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.586875 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:98.57, Y:101.65, Z:17.10 [[-6.02645775e-01 7.96298014e-01 5.22258913e-02 9.85650469e+01] [-7.93064770e-01 -6.04901850e-01 7.17078925e-02 1.01652035e+02] [ 8.86923906e-02 1.79594395e-03 9.96057445e-01 1.71016815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.616875 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:98.53, Y:101.63, Z:17.11 [[-6.20900588e-01 7.82161600e-01 5.20162601e-02 9.85288217e+01] [-7.78863686e-01 -6.23062071e-01 7.18680300e-02 1.01628083e+02] [ 8.86217721e-02 4.10932598e-03 9.96056873e-01 1.71115087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.646875 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:98.56, Y:101.65, Z:17.10 [[-6.02775810e-01 7.96085062e-01 5.39434551e-02 9.85620582e+01] [-7.92966950e-01 -6.05184645e-01 7.03914823e-02 1.01652425e+02] [ 8.86833583e-02 -3.45094277e-04 9.96059809e-01 1.70984995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.676875 meters Centerline goodness : 0.996138 Centerline is valid? [True, True] Translation: X:98.52, Y:101.62, Z:17.11 [[-6.21019632e-01 7.82079761e-01 5.18253307e-02 9.85237174e+01] [-7.78769474e-01 -6.23163080e-01 7.20130601e-02 1.01624350e+02] [ 8.86155895e-02 4.36153851e-03 9.96056351e-01 1.71113061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.706875 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:98.52, Y:101.62, Z:17.12 [[-6.21146622e-01 7.81830589e-01 5.40167009e-02 9.85197351e+01] [-7.78662534e-01 -6.23488805e-01 7.03304230e-02 1.01621101e+02] [ 8.86652844e-02 1.62472351e-03 9.96060153e-01 1.71152664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.736875 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:98.51, Y:101.61, Z:17.12 [[-6.21261328e-01 7.81736840e-01 5.40543778e-02 9.85134269e+01] [-7.78570949e-01 -6.23606433e-01 7.03014536e-02 1.01613127e+02] [ 8.86658939e-02 1.59040623e-03 9.96060154e-01 1.71159555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.766875 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:98.51, Y:101.61, Z:17.12 [[-6.21371374e-01 7.81647004e-01 5.40885926e-02 9.85073484e+01] [-7.78483063e-01 -6.23719110e-01 7.02751196e-02 1.01607102e+02] [ 8.86664255e-02 1.55989435e-03 9.96060155e-01 1.71171600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.796875 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:98.50, Y:101.60, Z:17.12 [[-6.22040431e-01 7.81112290e-01 5.41229350e-02 9.85011203e+01] [-7.77948631e-01 -6.24388544e-01 7.02486607e-02 1.01599900e+02] [ 8.86658328e-02 1.59264404e-03 9.96060156e-01 1.71184586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.826875 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:98.50, Y:101.60, Z:17.12 [[-6.22480591e-01 7.80758643e-01 5.41650717e-02 9.85000359e+01] [-7.77596474e-01 -6.24830709e-01 7.02161564e-02 1.01598590e+02] [ 8.86658711e-02 1.58962582e-03 9.96060157e-01 1.71181964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.856875 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:98.51, Y:101.59, Z:17.11 [[-6.11173383e-01 7.89638605e-01 5.42030389e-02 9.85107763e+01] [-7.86513195e-01 -6.13572166e-01 7.01868356e-02 1.01594827e+02] [ 8.86797110e-02 2.64920452e-04 9.96060158e-01 1.71111057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.886875 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:98.51, Y:101.59, Z:17.11 [[-6.11603860e-01 7.89399772e-01 5.28083243e-02 9.85087550e+01] [-7.86179203e-01 -6.13875982e-01 7.12638707e-02 1.01591359e+02] [ 8.86734452e-02 2.06845204e-03 9.96058604e-01 1.71105610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.916875 meters Centerline goodness : 0.996165 Centerline is valid? [True, True] Translation: X:98.50, Y:101.60, Z:17.12 [[-6.25471672e-01 7.78457694e-01 5.28091581e-02 9.84989294e+01] [-7.75197492e-01 -6.27686547e-01 7.12632263e-02 1.01596292e+02] [ 8.86230049e-02 3.63560245e-03 9.96058605e-01 1.71170581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.94687499999998 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:98.50, Y:101.57, Z:17.11 [[-6.12630167e-01 7.88500976e-01 5.43184117e-02 9.84967328e+01] [-7.85379348e-01 -6.15033440e-01 7.00938523e-02 1.01574665e+02] [ 8.86767106e-02 2.81049637e-04 9.96060421e-01 1.71101910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97687499999998 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:98.48, Y:101.57, Z:17.12 [[-6.27605538e-01 7.76742097e-01 5.27541816e-02 9.84781845e+01] [-7.73472269e-01 -6.29806421e-01 7.13058306e-02 1.01568972e+02] [ 8.86111627e-02 3.94803761e-03 9.96058470e-01 1.71184381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00687499999998 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:98.49, Y:101.58, Z:17.12 [[-6.28612945e-01 7.75813323e-01 5.44008574e-02 9.84885482e+01] [-7.72649016e-01 -6.30959380e-01 7.00268427e-02 1.01583855e+02] [ 8.86524888e-02 1.98701085e-03 9.96060635e-01 1.71193132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03687499999998 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:98.48, Y:101.58, Z:17.12 [[-6.29352842e-01 7.75210563e-01 5.44388034e-02 9.84815639e+01] [-7.72046557e-01 -6.31699682e-01 6.99973312e-02 1.01575860e+02] [ 8.86516453e-02 2.02372857e-03 9.96060636e-01 1.71197799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06687499999998 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:98.47, Y:101.56, Z:17.12 [[-6.29875427e-01 7.74783609e-01 5.44729725e-02 9.84678701e+01] [-7.71620309e-01 -6.32223216e-01 6.99707303e-02 1.01558320e+02] [ 8.86512529e-02 2.04039177e-03 9.96060637e-01 1.71226587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09687499999998 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:98.48, Y:101.57, Z:17.12 [[-6.30846038e-01 7.73991094e-01 5.45074601e-02 9.84774367e+01] [-7.70827162e-01 -6.33192975e-01 6.99438541e-02 1.01570547e+02] [ 8.86496610e-02 2.10797249e-03 9.96060638e-01 1.71224641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12687499999998 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:98.46, Y:101.55, Z:17.13 [[-6.31115656e-01 7.73766622e-01 5.45732865e-02 9.84581875e+01] [-7.70606291e-01 -6.33467433e-01 6.98924561e-02 1.01545308e+02] [ 8.86508494e-02 2.05570536e-03 9.96060641e-01 1.71264026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15687499999999 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:98.45, Y:101.54, Z:17.13 [[-6.31234259e-01 7.73667438e-01 5.46077487e-02 9.84503350e+01] [-7.70509064e-01 -6.33588662e-01 6.98655201e-02 1.01535017e+02] [ 8.86515283e-02 2.02574446e-03 9.96060642e-01 1.71276881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.186875 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:98.47, Y:101.56, Z:17.13 [[-6.30758082e-01 7.74052986e-01 5.46462881e-02 9.84712369e+01] [-7.70898659e-01 -6.33117903e-01 6.98353631e-02 1.01563419e+02] [ 8.86538147e-02 1.92246945e-03 9.96060643e-01 1.71273615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.216875 meters Centerline goodness : 0.996696 Centerline is valid? [True, True] Translation: X:98.46, Y:101.55, Z:17.13 [[-6.30016575e-01 7.74653693e-01 5.46879455e-02 9.84636676e+01] [-7.71504445e-01 -6.32383167e-01 6.98027262e-02 1.01554551e+02] [ 8.86566758e-02 1.78488143e-03 9.96060645e-01 1.71292123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.246875 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:98.46, Y:101.56, Z:17.13 [[-6.29298484e-01 7.75234753e-01 5.47219934e-02 9.84638103e+01] [-7.72090009e-01 -6.31671057e-01 6.97760241e-02 1.01555471e+02] [ 8.86590982e-02 1.65964183e-03 9.96060646e-01 1.71292695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.276875 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:98.47, Y:101.56, Z:17.13 [[-6.25201010e-01 7.78540355e-01 5.47595818e-02 9.84668342e+01] [-7.75410742e-01 -6.27593503e-01 6.97465127e-02 1.01556157e+02] [ 8.86672326e-02 1.14442229e-03 9.96060647e-01 1.71280681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.306875 meters Centerline goodness : 0.996436 Centerline is valid? [True, True] Translation: X:98.48, Y:101.56, Z:17.13 [[-6.17777826e-01 7.84471158e-01 5.43650710e-02 9.84778737e+01] [-7.81337151e-01 -6.20164784e-01 7.00563801e-02 1.01561548e+02] [ 8.86725122e-02 8.01828443e-04 9.96060512e-01 1.71283415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.336875 meters Centerline goodness : 0.996236 Centerline is valid? [True, True] Translation: X:98.45, Y:101.54, Z:17.13 [[-6.25960726e-01 7.78003118e-01 5.37058515e-02 9.84479894e+01] [-7.74799775e-01 -6.28255177e-01 7.05743744e-02 1.01535417e+02] [ 8.86480625e-02 2.56550499e-03 9.96059707e-01 1.71303778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.366875 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:98.46, Y:101.55, Z:17.13 [[-6.25434312e-01 7.78345930e-01 5.48592268e-02 9.84571444e+01] [-7.75222605e-01 -6.27834790e-01 6.96662618e-02 1.01547855e+02] [ 8.86669825e-02 1.04355778e-03 9.96060780e-01 1.71308002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.396875 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:98.45, Y:101.54, Z:17.13 [[-6.24920644e-01 7.78755761e-01 5.48967560e-02 9.84502149e+01] [-7.75636608e-01 -6.27326539e-01 6.96366765e-02 1.01539207e+02] [ 8.86681549e-02 9.37463079e-04 9.96060781e-01 1.71319896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.426875 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:98.46, Y:101.54, Z:17.13 [[-6.17424534e-01 7.84709868e-01 5.49305844e-02 9.84563199e+01] [-7.81616293e-01 -6.19863228e-01 6.96099820e-02 1.01538092e+02] [ 8.86730891e-02 4.42709305e-05 9.96060782e-01 1.71330958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.456875 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:98.45, Y:101.53, Z:17.13 [[-6.16338991e-01 7.85621429e-01 5.40852939e-02 9.84546061e+01] [-7.82472465e-01 -6.18706702e-01 7.02770218e-02 1.01533443e+02] [ 8.86740680e-02 9.94215531e-04 9.96060200e-01 1.71316249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.486875 meters Centerline goodness : 0.996193 Centerline is valid? [True, True] Translation: X:98.45, Y:101.53, Z:17.13 [[-6.26493663e-01 7.77556719e-01 5.39558981e-02 9.84468918e+01] [-7.74368488e-01 -6.28808564e-01 7.03792177e-02 1.01533201e+02] [ 8.86517645e-02 2.31038662e-03 9.96060002e-01 1.71293518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.516875 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:98.45, Y:101.52, Z:17.13 [[-6.17616722e-01 7.84550831e-01 5.50416058e-02 9.84474095e+01] [-7.81464663e-01 -6.20064503e-01 6.95197271e-02 1.01520601e+02] [ 8.86711056e-02 -7.65239120e-05 9.96060957e-01 1.71261017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.546875 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:98.45, Y:101.53, Z:17.13 [[-6.18607178e-01 7.83842807e-01 5.39964304e-02 9.84540999e+01] [-7.80680915e-01 -6.20957805e-01 7.03470938e-02 1.01529080e+02] [ 8.86705684e-02 1.36323446e-03 9.96060074e-01 1.71279365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.576875 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:98.44, Y:101.52, Z:17.13 [[-6.30055294e-01 7.74689376e-01 5.37279909e-02 9.84387596e+01] [-7.71475210e-01 -6.32334825e-01 7.05596897e-02 1.01522793e+02] [ 8.86359217e-02 3.00669304e-03 9.96059553e-01 1.71303583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.606875 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:98.44, Y:101.51, Z:17.13 [[-6.22096861e-01 7.80996084e-01 5.51417465e-02 9.84395293e+01] [-7.77903241e-01 -6.24535848e-01 6.94371765e-02 1.01512341e+02] [ 8.86681604e-02 3.01706208e-04 9.96061176e-01 1.71303113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.636875 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:98.43, Y:101.51, Z:17.13 [[-6.33135360e-01 7.72158288e-01 5.39554866e-02 9.84254497e+01] [-7.68950323e-01 -6.35422812e-01 7.03793371e-02 1.01506450e+02] [ 8.86285355e-02 3.07055806e-03 9.96060015e-01 1.71329869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.666875 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:98.42, Y:101.50, Z:17.14 [[-6.34334775e-01 7.71083224e-01 5.52273015e-02 9.84204340e+01] [-7.67958395e-01 -6.36732389e-01 6.93669161e-02 1.01501271e+02] [ 8.86526770e-02 1.58957733e-03 9.96061332e-01 1.71369085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69687499999998 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:98.41, Y:101.49, Z:17.14 [[-6.35448580e-01 7.70162652e-01 5.52683685e-02 9.84112206e+01] [-7.67037193e-01 -6.37845370e-01 6.93341806e-02 1.01490525e+02] [ 8.86512693e-02 1.66541235e-03 9.96061333e-01 1.71377938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.72687499999998 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:98.41, Y:101.49, Z:17.14 [[-6.36318107e-01 7.69441940e-01 5.53025044e-02 9.84113876e+01] [-7.66316131e-01 -6.38714439e-01 6.93069424e-02 1.01491072e+02] [ 8.86501763e-02 1.72206126e-03 9.96061334e-01 1.71394718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75687499999998 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:98.41, Y:101.49, Z:17.14 [[-6.37777665e-01 7.68229854e-01 5.53402315e-02 9.84071689e+01] [-7.65102102e-01 -6.40171460e-01 6.92768051e-02 1.01486637e+02] [ 8.86477466e-02 1.84227163e-03 9.96061335e-01 1.71405722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78687499999998 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:98.41, Y:101.49, Z:17.14 [[-6.38725988e-01 7.67439113e-01 5.53743654e-02 9.84111720e+01] [-7.64310761e-01 -6.41118995e-01 6.92495106e-02 1.01491334e+02] [ 8.86463405e-02 1.90823871e-03 9.96061336e-01 1.71405528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81687499999998 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:98.40, Y:101.48, Z:17.14 [[-6.40256018e-01 7.66160396e-01 5.54119047e-02 9.84021921e+01] [-7.63029861e-01 -6.42646168e-01 6.92194595e-02 1.01478343e+02] [ 8.86434567e-02 2.03723752e-03 9.96061337e-01 1.71416438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84687499999998 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:98.40, Y:101.47, Z:17.14 [[-6.33281204e-01 7.71932566e-01 5.54529613e-02 9.84023313e+01] [-7.68826704e-01 -6.35703327e-01 6.91865528e-02 1.01467365e+02] [ 8.86589852e-02 1.18082599e-03 9.96061338e-01 1.71398090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87687499999998 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:98.40, Y:101.47, Z:17.14 [[-6.41729000e-01 7.64986191e-01 5.45895519e-02 9.83954873e+01] [-7.61794891e-01 -6.44038446e-01 6.98786420e-02 1.01468807e+02] [ 8.86139663e-02 3.25710932e-03 9.96060719e-01 1.71418860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90687499999999 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:98.38, Y:101.45, Z:17.14 [[-6.41772234e-01 7.64882319e-01 5.55287056e-02 9.83826435e+01] [-7.61755243e-01 -6.44166735e-01 6.91242865e-02 1.01452954e+02] [ 8.86416896e-02 2.06276514e-03 9.96061442e-01 1.71437107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.936875 meters Centerline goodness : 0.996196 Centerline is valid? [True, True] Translation: X:98.40, Y:101.47, Z:17.14 [[-6.41242383e-01 7.65323825e-01 5.55666187e-02 9.83985841e+01] [-7.62201035e-01 -6.43642470e-01 6.90937962e-02 1.01473311e+02] [ 8.86441641e-02 1.95293628e-03 9.96061443e-01 1.71445852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.966875 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:98.40, Y:101.47, Z:17.14 [[-6.33510050e-01 7.71733878e-01 5.56043005e-02 9.84029301e+01] [-7.68638044e-01 -6.35944806e-01 6.90634580e-02 1.01468387e+02] [ 8.86598763e-02 1.01281395e-03 9.96061444e-01 1.71411001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.996875 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:98.39, Y:101.45, Z:17.14 [[-6.34704106e-01 7.70810804e-01 5.47850495e-02 9.83876091e+01] [-7.67654094e-01 -6.37060338e-01 6.97231539e-02 1.01450184e+02] [ 8.86447425e-02 2.19760455e-03 9.96060882e-01 1.71437209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.026875 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:98.38, Y:101.45, Z:17.15 [[-6.40528308e-01 7.65959307e-01 5.50438699e-02 9.83803286e+01] [-7.62802619e-01 -6.42884046e-01 6.95145104e-02 1.01449310e+02] [ 8.86321119e-02 2.53840357e-03 9.96061196e-01 1.71460733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.056875 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:98.39, Y:101.45, Z:17.14 [[-6.34775789e-01 7.70685754e-01 5.57060718e-02 9.83873254e+01] [-7.67593236e-01 -6.37214575e-01 6.89797765e-02 1.01448815e+02] [ 8.86584519e-02 1.02708813e-03 9.96061556e-01 1.71429197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.086875 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:98.39, Y:101.46, Z:17.15 [[-6.40710481e-01 7.65800291e-01 5.51361482e-02 9.83873034e+01] [-7.62649406e-01 -6.43073833e-01 6.94401139e-02 1.01456520e+02] [ 8.86338736e-02 2.44145808e-03 9.96061281e-01 1.71462799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.116875 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:98.38, Y:101.44, Z:17.15 [[-6.41154008e-01 7.65382946e-01 5.57717074e-02 9.83783195e+01] [-7.62274947e-01 -6.43572939e-01 6.89258863e-02 1.01444980e+02] [ 8.86478596e-02 1.67873294e-03 9.96061614e-01 1.71472959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.146875 meters Centerline goodness : 0.996302 Centerline is valid? [True, True] Translation: X:98.38, Y:101.44, Z:17.15 [[-6.41472515e-01 7.65112784e-01 5.58161258e-02 9.83757920e+01] [-7.62006894e-01 -6.43894150e-01 6.88898977e-02 1.01440621e+02] [ 8.86482183e-02 1.65870332e-03 9.96061616e-01 1.71463950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.176875 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:98.37, Y:101.44, Z:17.15 [[-6.42160082e-01 7.64532810e-01 5.58570637e-02 9.83729002e+01] [-7.61427617e-01 -6.44582609e-01 6.88566888e-02 1.01436553e+02] [ 8.86476896e-02 1.68590600e-03 9.96061617e-01 1.71474944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.206875 meters Centerline goodness : 0.995946 Centerline is valid? [True, True] Translation: X:98.37, Y:101.43, Z:17.15 [[-6.42931517e-01 7.63881454e-01 5.58944449e-02 9.83662938e+01] [-7.60776443e-01 -6.45354275e-01 6.88263313e-02 1.01427074e+02] [ 8.86468770e-02 1.72744062e-03 9.96061618e-01 1.71497587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.236875 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:98.36, Y:101.42, Z:17.15 [[-6.43512285e-01 7.63389777e-01 5.59284072e-02 9.83598083e+01] [-7.60285311e-01 -6.45935741e-01 6.87987225e-02 1.01417315e+02] [ 8.86463986e-02 1.75127670e-03 9.96061619e-01 1.71491216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.266875 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:98.38, Y:101.44, Z:17.15 [[-6.44544543e-01 7.62516351e-01 5.59566482e-02 9.83788601e+01] [-7.59410593e-01 -6.46966342e-01 6.87757454e-02 1.01437508e+02] [ 8.86446984e-02 1.83496002e-03 9.96061620e-01 1.71479739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.296875 meters Centerline goodness : 0.996040 Centerline is valid? [True, True] Translation: X:98.37, Y:101.42, Z:17.15 [[-6.45221843e-01 7.61940579e-01 5.59940004e-02 9.83686737e+01] [-7.58835296e-01 -6.47644249e-01 6.87453216e-02 1.01423924e+02] [ 8.86440425e-02 1.86575920e-03 9.96061621e-01 1.71499182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.326875 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:98.37, Y:101.42, Z:17.15 [[-6.46110193e-01 7.61184950e-01 5.60275815e-02 9.83652557e+01] [-7.58079206e-01 -6.48532005e-01 6.87179422e-02 1.01418574e+02] [ 8.86427432e-02 1.92601840e-03 9.96061622e-01 1.71521070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.356875 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:98.37, Y:101.42, Z:17.15 [[-6.47048806e-01 7.60384493e-01 5.60648324e-02 9.83724957e+01] [-7.57278383e-01 -6.49470148e-01 6.86875371e-02 1.01424259e+02] [ 8.86413730e-02 1.98750323e-03 9.96061623e-01 1.71497534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.386875 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:98.37, Y:101.42, Z:17.15 [[-6.47659191e-01 7.59862184e-01 5.60984348e-02 9.83721124e+01] [-7.56756496e-01 -6.50081072e-01 6.86600825e-02 1.01421698e+02] [ 8.86407308e-02 2.01547851e-03 9.96061624e-01 1.71509149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.416875 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:98.37, Y:101.42, Z:17.15 [[-6.48243445e-01 7.59361090e-01 5.61352841e-02 9.83703126e+01] [-7.56256136e-01 -6.50666265e-01 6.86299420e-02 1.01417907e+02] [ 8.86402432e-02 2.03625703e-03 9.96061625e-01 1.71509339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.44687499999998 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:98.36, Y:101.41, Z:17.15 [[-6.48483956e-01 7.59153241e-01 5.61686356e-02 9.83642329e+01] [-7.56049872e-01 -6.50908803e-01 6.86026355e-02 1.01408502e+02] [ 8.86405725e-02 2.02141869e-03 9.96061626e-01 1.71516966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47687499999998 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:98.35, Y:101.39, Z:17.15 [[-6.48926297e-01 7.58772686e-01 5.62020610e-02 9.83525148e+01] [-7.55670263e-01 -6.51352355e-01 6.85752412e-02 1.01393289e+02] [ 8.86403647e-02 2.03005109e-03 9.96061627e-01 1.71526646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50687499999998 meters Centerline goodness : 0.995857 Centerline is valid? [True, True] Translation: X:98.36, Y:101.40, Z:17.15 [[-6.49605106e-01 7.58188865e-01 5.62392345e-02 9.83625069e+01] [-7.55086898e-01 -6.52031744e-01 6.85447414e-02 1.01404063e+02] [ 8.86396258e-02 2.06150496e-03 9.96061628e-01 1.71513400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53687499999998 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:98.36, Y:101.40, Z:17.15 [[-6.50294050e-01 7.57595031e-01 5.62798141e-02 9.83563776e+01] [-7.54493728e-01 -6.52721534e-01 6.85114068e-02 1.01395706e+02] [ 8.86389480e-02 2.08979343e-03 9.96061629e-01 1.71517626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56687499999998 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:98.36, Y:101.39, Z:17.15 [[-6.50582026e-01 7.57345264e-01 5.63132187e-02 9.83570789e+01] [-7.54245402e-01 -6.53011350e-01 6.84839388e-02 1.01393958e+02] [ 8.86391577e-02 2.08043338e-03 9.96061630e-01 1.71546488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59687499999998 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:98.35, Y:101.38, Z:17.16 [[-6.50690430e-01 7.57249384e-01 5.63501103e-02 9.83479437e+01] [-7.54151790e-01 -6.53122642e-01 6.84535703e-02 1.01382764e+02] [ 8.86399569e-02 2.04554647e-03 9.96061632e-01 1.71565679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62687499999998 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:98.34, Y:101.37, Z:17.16 [[-6.50476274e-01 7.57430602e-01 5.63870643e-02 9.83397341e+01] [-7.54336321e-01 -6.52912698e-01 6.84231168e-02 1.01372424e+02] [ 8.86415929e-02 1.97280339e-03 9.96061633e-01 1.71586656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65687499999999 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:98.35, Y:101.38, Z:17.16 [[-6.49911169e-01 7.57913035e-01 5.64207772e-02 9.83485174e+01] [-7.54822974e-01 -6.52352942e-01 6.83953065e-02 1.01382594e+02] [ 8.86439542e-02 1.86317476e-03 9.96061634e-01 1.71604673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.686875 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:98.35, Y:101.38, Z:17.16 [[-6.49789276e-01 7.58015039e-01 5.64543874e-02 9.83480543e+01] [-7.54927769e-01 -6.52234576e-01 6.83675530e-02 1.01381280e+02] [ 8.86451367e-02 1.80551808e-03 9.96061635e-01 1.71598614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.716875 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:98.35, Y:101.38, Z:17.16 [[-6.49755824e-01 7.58040973e-01 5.64911722e-02 9.83479274e+01] [-7.54956441e-01 -6.52204575e-01 6.83371448e-02 1.01379726e+02] [ 8.86461567e-02 1.75408351e-03 9.96061636e-01 1.71597199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.746875 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:98.34, Y:101.37, Z:17.16 [[-6.49928171e-01 7.57890477e-01 5.65278480e-02 9.83437141e+01] [-7.54808014e-01 -6.52379524e-01 6.83067936e-02 1.01373297e+02] [ 8.86466789e-02 1.72683671e-03 9.96061637e-01 1.71595251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.776875 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:98.35, Y:101.37, Z:17.16 [[-6.49452043e-01 7.58296043e-01 5.65610676e-02 9.83463328e+01] [-7.55217506e-01 -6.51908322e-01 6.82792753e-02 1.01373403e+02] [ 8.86485350e-02 1.62820641e-03 9.96061638e-01 1.71582864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.806875 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:98.34, Y:101.37, Z:17.16 [[-6.49818158e-01 7.57979594e-01 5.65976687e-02 9.83438540e+01] [-7.54902501e-01 -6.52276244e-01 6.82489227e-02 1.01370350e+02] [ 8.86486055e-02 1.62366759e-03 9.96061639e-01 1.71586604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.836875 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:98.31, Y:101.31, Z:17.16 [[-6.37805138e-01 7.68112989e-01 5.66307485e-02 9.83064558e+01] [-7.65077402e-01 -6.40314299e-01 6.82214633e-02 1.01309900e+02] [ 8.86632701e-02 1.85093835e-04 9.96061640e-01 1.71586101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.866875 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:98.34, Y:101.36, Z:17.16 [[-6.50343635e-01 7.57612531e-01 5.54653891e-02 9.83387369e+01] [-7.54453210e-01 -6.52696966e-01 6.91883281e-02 1.01362952e+02] [ 8.86200355e-02 3.15014795e-03 9.96060523e-01 1.71597361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.896875 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:98.34, Y:101.36, Z:17.16 [[-6.50146621e-01 7.57690145e-01 5.67011139e-02 9.83350558e+01] [-7.54619660e-01 -6.52612683e-01 6.81605069e-02 1.01358316e+02] [ 8.86484104e-02 1.52654792e-03 9.96061810e-01 1.71612252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.926875 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:98.33, Y:101.35, Z:17.16 [[-6.50687687e-01 7.57223059e-01 5.67342244e-02 9.83292614e+01] [-7.54153206e-01 -6.53154534e-01 6.81329359e-02 1.01350171e+02] [ 8.86480460e-02 1.54696529e-03 9.96061811e-01 1.71639114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.956875 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:98.33, Y:101.35, Z:17.16 [[-6.50979459e-01 7.56969751e-01 5.67674208e-02 9.83302213e+01] [-7.53901348e-01 -6.53448108e-01 6.81052660e-02 1.01350360e+02] [ 8.86481899e-02 1.53809410e-03 9.96061812e-01 1.71614452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.986875 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:98.33, Y:101.35, Z:17.16 [[-6.51688349e-01 7.56357049e-01 5.68006272e-02 9.83302190e+01] [-7.53288737e-01 -6.54157110e-01 6.80775603e-02 1.01349827e+02] [ 8.86474767e-02 1.57808012e-03 9.96061813e-01 1.71646003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.016875 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:98.24, Y:101.24, Z:17.18 [[-6.52592609e-01 7.55574494e-01 5.68337099e-02 9.82362522e+01] [-7.52505626e-01 -6.55060677e-01 6.80499304e-02 1.01236724e+02] [ 8.86463202e-02 1.64119515e-03 9.96061814e-01 1.71755969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.046875 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:99.02, Y:100.67, Z:17.68 [[-5.69370635e-01 -8.20114022e-01 -5.68337099e-02 9.90162733e+01] [-8.17322211e-01 5.72148242e-01 -6.80499304e-02 1.00667277e+02] [ 8.83260094e-02 7.70582141e-03 -9.96061814e-01 1.76780052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.076875 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:98.19, Y:101.22, Z:17.18 [[-6.01944804e-01 7.96845546e-01 5.19579553e-02 9.81883879e+01] [-7.93625270e-01 -6.04180207e-01 7.15905686e-02 1.01223711e+02] [ 8.84385939e-02 1.85842441e-03 9.96079897e-01 1.71753076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.106875 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:98.19, Y:101.23, Z:17.17 [[-6.03151737e-01 7.95929844e-01 5.19967801e-02 9.81911326e+01] [-7.92708602e-01 -6.05385746e-01 7.15623588e-02 1.01226991e+02] [ 8.84367266e-02 1.94466614e-03 9.96079898e-01 1.71739248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.136875 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:98.09, Y:101.07, Z:17.18 [[-5.91551632e-01 8.04586461e-01 5.20316600e-02 9.80916577e+01] [-8.01400160e-01 -5.93835198e-01 7.15369894e-02 1.01071668e+02] [ 8.84559243e-02 6.19642180e-04 9.96079899e-01 1.71816029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.166875 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:98.18, Y:101.21, Z:17.18 [[-6.06418613e-01 7.93505081e-01 5.10504931e-02 9.81828119e+01] [-7.90216573e-01 -6.08553715e-01 7.22505619e-02 1.01213185e+02] [ 8.83981552e-02 3.47313987e-03 9.96079165e-01 1.71760119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19687499999998 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:98.18, Y:101.21, Z:17.18 [[-6.09051911e-01 7.91415722e-01 5.21241227e-02 9.81771752e+01] [-7.88186017e-01 -6.11273410e-01 7.14676186e-02 1.01205374e+02] [ 8.84226872e-02 2.44398503e-03 9.96080045e-01 1.71771558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.22687499999998 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:98.20, Y:101.22, Z:17.17 [[-5.94761191e-01 8.02208548e-01 5.21590994e-02 9.81991641e+01] [-7.99021431e-01 -5.97043367e-01 7.14420826e-02 1.01215233e+02] [ 8.84526937e-02 8.14739913e-04 9.96080046e-01 1.71667926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25687499999998 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:98.17, Y:101.20, Z:17.18 [[-6.12099805e-01 7.89147363e-01 5.07963427e-02 9.81734242e+01] [-7.85828254e-01 -6.14187995e-01 7.24366069e-02 1.01199182e+02] [ 8.83616612e-02 4.42123168e-03 9.96078646e-01 1.71776446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28687499999998 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:98.17, Y:101.20, Z:17.18 [[-6.13412343e-01 7.88033846e-01 5.22298341e-02 9.81730306e+01] [-7.84798661e-01 -6.15625549e-01 7.13879897e-02 1.01198541e+02] [ 8.84101723e-02 2.80037012e-03 9.96080217e-01 1.71790475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31687499999998 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:98.18, Y:101.20, Z:17.17 [[-6.01488674e-01 7.97169847e-01 5.22648120e-02 9.81846455e+01] [-7.93970536e-01 -6.03753426e-01 7.13623724e-02 1.01195978e+02] [ 8.84429908e-02 1.42693792e-03 9.96080218e-01 1.71689992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34687499999998 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:98.17, Y:101.20, Z:17.18 [[-6.16623925e-01 7.85602518e-01 5.10256706e-02 9.81710422e+01] [-7.82285138e-01 -6.18714065e-01 7.22694163e-02 1.01195328e+02] [ 8.83453355e-02 4.64642739e-03 9.96079069e-01 1.71771529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37687499999998 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:98.16, Y:101.18, Z:17.18 [[-6.17331182e-01 7.84961268e-01 5.23260933e-02 9.81573944e+01] [-7.81721206e-01 -6.19536979e-01 7.13154027e-02 1.01177818e+02] [ 8.83977787e-02 3.12080505e-03 9.96080365e-01 1.71795390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40687499999999 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:98.16, Y:101.19, Z:17.18 [[-6.18155144e-01 7.84310224e-01 5.23611664e-02 9.81624409e+01] [-7.81070013e-01 -6.20360720e-01 7.12896422e-02 1.01185684e+02] [ 8.83960060e-02 3.17032210e-03 9.96080366e-01 1.71795592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.436875 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:98.16, Y:101.19, Z:17.18 [[-6.18751891e-01 7.83836937e-01 5.23999316e-02 9.81614490e+01] [-7.80597444e-01 -6.20958518e-01 7.12611374e-02 1.01185176e+02] [ 8.83952955e-02 3.18971088e-03 9.96080367e-01 1.71790020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.466875 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:98.15, Y:101.17, Z:17.18 [[-6.18920130e-01 7.83701769e-01 5.24348205e-02 9.81518635e+01] [-7.80463960e-01 -6.21129227e-01 7.12354565e-02 1.01173588e+02] [ 8.83961528e-02 3.16557035e-03 9.96080368e-01 1.71805217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.496875 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:98.14, Y:101.17, Z:17.18 [[-6.18883267e-01 7.83728538e-01 5.24698003e-02 9.81446982e+01] [-7.80493002e-01 -6.21095689e-01 7.12096823e-02 1.01165469e+02] [ 8.83978270e-02 3.11816889e-03 9.96080369e-01 1.71820338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.526875 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:98.15, Y:101.17, Z:17.18 [[-6.18789264e-01 7.83800159e-01 5.25086368e-02 9.81477699e+01] [-7.80567301e-01 -6.21005595e-01 7.11810336e-02 1.01173988e+02] [ 8.83998627e-02 3.05953453e-03 9.96080370e-01 1.71812238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.556875 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:98.14, Y:101.17, Z:17.18 [[-6.18741620e-01 7.83835176e-01 5.25473534e-02 9.81436074e+01] [-7.80604863e-01 -6.20961656e-01 7.11524408e-02 1.01170525e+02] [ 8.84016776e-02 3.00625693e-03 9.96080371e-01 1.71830878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.586875 meters Centerline goodness : 0.996005 Centerline is valid? [True, True] Translation: X:98.14, Y:101.17, Z:17.18 [[-6.18544683e-01 7.83988252e-01 5.25822674e-02 9.81389610e+01] [-7.80760675e-01 -6.20768694e-01 7.11266298e-02 1.01166145e+02] [ 8.84038677e-02 2.94083210e-03 9.96080372e-01 1.71830524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.616875 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:98.14, Y:101.17, Z:17.18 [[-6.18454466e-01 7.84057079e-01 5.26172072e-02 9.81366192e+01] [-7.80831941e-01 -6.20682012e-01 7.11007732e-02 1.01166985e+02] [ 8.84056186e-02 2.88739469e-03 9.96080373e-01 1.71827586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.646875 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:98.16, Y:101.18, Z:17.17 [[-6.04392728e-01 7.94944529e-01 5.26557351e-02 9.81586327e+01] [-7.91762049e-01 -6.06680803e-01 7.10722289e-02 1.01181464e+02] [ 8.84437032e-02 1.26472555e-03 9.96080374e-01 1.71718812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.676875 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:98.15, Y:101.18, Z:17.17 [[-6.04745577e-01 7.94790194e-01 5.09051627e-02 9.81542160e+01] [-7.91496335e-01 -6.06874360e-01 7.23675551e-02 1.01176720e+02] [ 8.84100611e-02 3.47270907e-03 9.96078110e-01 1.71716889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.706875 meters Centerline goodness : 0.995829 Centerline is valid? [True, True] Translation: X:98.16, Y:101.18, Z:17.17 [[-6.04901080e-01 7.94668322e-01 5.09601953e-02 9.81553757e+01] [-7.91377459e-01 -6.07034224e-01 7.23268083e-02 1.01180045e+02] [ 8.84104060e-02 3.42181461e-03 9.96078256e-01 1.71718331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.736875 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:98.15, Y:101.18, Z:17.17 [[-6.05380778e-01 7.94301228e-01 5.09869746e-02 9.81501685e+01] [-7.91010741e-01 -6.07514371e-01 7.23069592e-02 1.01176668e+02] [ 8.84088264e-02 3.44199869e-03 9.96078326e-01 1.71719789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.766875 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:98.12, Y:101.15, Z:17.18 [[-6.20067782e-01 7.82884926e-01 5.10601458e-02 9.81191301e+01] [-7.79559706e-01 -6.22146463e-01 7.22526336e-02 1.01153697e+02] [ 8.83323868e-02 4.99709796e-03 9.96078520e-01 1.71821624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.796875 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:98.12, Y:101.16, Z:17.18 [[-6.20475762e-01 7.82444083e-01 5.28307165e-02 9.81186705e+01] [-7.79227297e-01 -6.22714347e-01 7.09342082e-02 1.01155424e+02] [ 8.84004967e-02 2.84582049e-03 9.96080947e-01 1.71842730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.826875 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:98.12, Y:101.14, Z:17.18 [[-6.06937764e-01 7.92988908e-01 5.28690975e-02 9.81217473e+01] [-7.89813548e-01 -6.09234730e-01 7.09055904e-02 1.01143947e+02] [ 8.84370371e-02 1.27855103e-03 9.96080948e-01 1.71762662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.856875 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:98.10, Y:101.14, Z:17.19 [[-6.21069200e-01 7.82080352e-01 5.12188620e-02 9.81020145e+01] [-7.78762026e-01 -6.23158228e-01 7.21354953e-02 1.01136654e+02] [ 8.83332089e-02 4.91382953e-03 9.96078862e-01 1.71850662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.886875 meters Centerline goodness : 0.996450 Centerline is valid? [True, True] Translation: X:98.11, Y:101.13, Z:17.18 [[-6.08080250e-01 7.92107203e-01 5.29583539e-02 9.81105385e+01] [-7.88934635e-01 -6.10380625e-01 7.08352646e-02 1.01133832e+02] [ 8.84338765e-02 1.29284582e-03 9.96081211e-01 1.71782814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.916875 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:98.12, Y:101.15, Z:17.18 [[-6.08269844e-01 7.92068575e-01 5.13338986e-02 9.81207523e+01] [-7.88791940e-01 -6.10423018e-01 7.20486958e-02 1.01148361e+02] [ 8.84029011e-02 3.33328351e-03 9.96079222e-01 1.71765690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.94687499999998 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:98.11, Y:101.13, Z:17.18 [[-6.09714572e-01 7.90954313e-01 5.13752470e-02 9.81055303e+01] [-7.87676342e-01 -6.11865524e-01 7.20177837e-02 1.01132049e+02] [ 8.83975191e-02 3.44322554e-03 9.96079326e-01 1.71792244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97687499999998 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:98.10, Y:101.14, Z:17.19 [[-6.23012784e-01 7.80512219e-01 5.15339388e-02 9.81009082e+01] [-7.77208043e-01 -6.25122544e-01 7.18989775e-02 1.01143479e+02] [ 8.83330573e-02 4.74139037e-03 9.96079711e-01 1.71856866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00687499999998 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:98.10, Y:101.14, Z:17.19 [[-6.23436606e-01 7.80068244e-01 5.31068102e-02 9.80956490e+01] [-7.76861278e-01 -6.25688035e-01 7.07180188e-02 1.01138518e+02] [ 8.83931765e-02 2.83157722e-03 9.96081637e-01 1.71874032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03687499999998 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:98.04, Y:101.05, Z:17.19 [[-6.12862479e-01 7.88400404e-01 5.31449466e-02 9.80370790e+01] [-7.85226558e-01 -6.15160361e-01 7.06893476e-02 1.01049667e+02] [ 8.84241747e-02 1.59202536e-03 9.96081639e-01 1.71908089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06687499999998 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:98.08, Y:101.13, Z:17.19 [[-6.23787236e-01 7.79871724e-01 5.18611465e-02 9.80827621e+01] [-7.76585556e-01 -6.25923746e-01 7.16542954e-02 1.01126528e+02] [ 8.83422820e-02 4.42241755e-03 9.96080360e-01 1.71869756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09687499999998 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:98.02, Y:101.04, Z:17.20 [[-6.14051569e-01 7.87467969e-01 5.32434736e-02 9.80223717e+01] [-7.84297322e-01 -6.16353498e-01 7.06121493e-02 1.01037176e+02] [ 8.84216070e-02 1.60078733e-03 9.96081853e-01 1.71951236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12687499999998 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:98.08, Y:101.11, Z:17.18 [[-6.10988860e-01 7.89925410e-01 5.20620746e-02 9.80815202e+01] [-7.86687359e-01 -6.13196861e-01 7.15025085e-02 1.01113964e+02] [ 8.84059491e-02 2.73066021e-03 9.96080786e-01 1.71812789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15687499999999 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:98.06, Y:101.10, Z:17.19 [[-6.23819820e-01 7.79854617e-01 5.17262920e-02 9.80565684e+01] [-7.76560023e-01 -6.25943825e-01 7.17555476e-02 1.01098530e+02] [ 8.83366482e-02 4.59396225e-03 9.96080083e-01 1.71907138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.186875 meters Centerline goodness : 0.996848 Centerline is valid? [True, True] Translation: X:98.07, Y:101.11, Z:17.18 [[-6.09583111e-01 7.90926536e-01 5.33258304e-02 9.80710314e+01] [-7.87774677e-01 -6.11910307e-01 7.05466887e-02 1.01105535e+02] [ 8.84278734e-02 9.95331183e-04 9.96082085e-01 1.71822545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.216875 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:98.04, Y:101.07, Z:17.19 [[-6.12462690e-01 7.88797482e-01 5.18457884e-02 9.80387131e+01] [-7.85541558e-01 -6.14645029e-01 7.16655315e-02 1.01065536e+02] [ 8.83963469e-02 3.16544280e-03 9.96080351e-01 1.71876861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.246875 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:98.06, Y:101.09, Z:17.18 [[-6.09502702e-01 7.91061843e-01 5.22265898e-02 9.80559338e+01] [-7.87838619e-01 -6.11731638e-01 7.13772588e-02 1.01089496e+02] [ 8.84124833e-02 2.35850766e-03 9.96081156e-01 1.71836529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.276875 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:98.04, Y:101.09, Z:17.19 [[-6.20747180e-01 7.82288326e-01 5.19414423e-02 9.80448111e+01] [-7.79015574e-01 -6.22903805e-01 7.15931893e-02 1.01094084e+02] [ 8.83610382e-02 3.97807786e-03 9.96080570e-01 1.71933317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.306875 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:98.04, Y:101.10, Z:17.19 [[-6.20379860e-01 7.82476097e-01 5.34788367e-02 9.80449636e+01] [-7.79302949e-01 -6.22677363e-01 7.04259563e-02 1.01096663e+02] [ 8.84066885e-02 2.01462979e-03 9.96082426e-01 1.71943219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.336875 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:98.07, Y:101.12, Z:17.18 [[-6.08215343e-01 7.91965887e-01 5.35175687e-02 9.80719543e+01] [-7.88831197e-01 -6.10565045e-01 7.03965112e-02 1.01118779e+02] [ 8.84275922e-02 5.99910504e-04 9.96082427e-01 1.71836183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.366875 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:98.04, Y:101.09, Z:17.19 [[-6.19687391e-01 7.83110770e-01 5.22021028e-02 9.80387581e+01] [-7.79857385e-01 -6.21872205e-01 7.13962177e-02 1.01090395e+02] [ 8.83741838e-02 3.53314060e-03 9.96081081e-01 1.71948769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.396875 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:98.04, Y:101.09, Z:17.20 [[-6.18533508e-01 7.83928439e-01 5.35957292e-02 9.80352525e+01] [-7.80768606e-01 -6.20848978e-01 7.03344273e-02 1.01089806e+02] [ 8.84120114e-02 1.65833735e-03 9.96082610e-01 1.71969413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.426875 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:98.05, Y:101.10, Z:17.19 [[-6.08289087e-01 7.91901351e-01 5.36342903e-02 9.80508306e+01] [-7.88774472e-01 -6.10648867e-01 7.03050099e-02 1.01098881e+02] [ 8.84263509e-02 4.60411259e-04 9.96082611e-01 1.71890266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.456875 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:98.02, Y:101.08, Z:17.20 [[-6.18005945e-01 7.84415034e-01 5.25519452e-02 9.80223951e+01] [-7.81188696e-01 -6.20229480e-01 7.11309586e-02 1.01075299e+02] [ 8.83904590e-02 2.90636980e-03 9.96081663e-01 1.71973760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.486875 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:97.98, Y:101.01, Z:17.20 [[-6.09933014e-01 7.90630110e-01 5.37191553e-02 9.79787497e+01] [-7.87504177e-01 -6.12293836e-01 7.02383826e-02 1.01008862e+02] [ 8.84244878e-02 5.36649264e-04 9.96082739e-01 1.72017117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.516875 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:97.98, Y:101.02, Z:17.20 [[-6.11129787e-01 7.89761089e-01 5.28942812e-02 9.79828991e+01] [-7.86576748e-01 -6.13412190e-01 7.08696387e-02 1.01015679e+02] [ 8.84160799e-02 1.70513557e-03 9.96082170e-01 1.72027889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.546875 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:97.97, Y:101.00, Z:17.20 [[-6.08299094e-01 7.91929169e-01 5.31074691e-02 9.79711210e+01] [-7.88767198e-01 -6.10611934e-01 7.07062548e-02 1.01002335e+02] [ 8.84224000e-02 1.12112117e-03 9.96082438e-01 1.72035298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.576875 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:98.02, Y:101.07, Z:17.19 [[-6.06548044e-01 7.93285052e-01 5.28989341e-02 9.80227359e+01] [-7.90114280e-01 -6.08849256e-01 7.08661277e-02 1.01070772e+02] [ 8.84245165e-02 1.18750788e-03 9.96082173e-01 1.71902535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.606875 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:98.02, Y:101.07, Z:17.19 [[-6.03815657e-01 7.95374266e-01 5.27866363e-02 9.80224787e+01] [-7.92203918e-01 -6.06117751e-01 7.09522643e-02 1.01070632e+02] [ 8.84285224e-02 1.02430798e-03 9.96081998e-01 1.71874420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.636875 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:98.03, Y:101.08, Z:17.19 [[-6.03645292e-01 7.95509244e-01 5.27010860e-02 9.80270234e+01] [-7.92333673e-01 -6.05940430e-01 7.10179259e-02 1.01079693e+02] [ 8.84291353e-02 1.11279164e-03 9.96081849e-01 1.71882831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.666875 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:98.03, Y:101.09, Z:17.19 [[-6.00721931e-01 7.97717552e-01 5.27244661e-02 9.80307937e+01] [-7.94551995e-01 -6.03030788e-01 7.09999661e-02 1.01087911e+02] [ 8.84323955e-02 7.58907005e-04 9.96081892e-01 1.71873785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69687499999998 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:98.03, Y:101.08, Z:17.19 [[-6.01191151e-01 7.97363517e-01 5.27316017e-02 9.80279501e+01] [-7.94197082e-01 -6.03498781e-01 7.09944782e-02 1.01084180e+02] [ 8.84318641e-02 8.01967872e-04 9.96081905e-01 1.71877999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.72687499999998 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:97.96, Y:101.00, Z:17.21 [[-6.03771580e-01 7.95402579e-01 5.28641415e-02 9.79607828e+01] [-7.92237589e-01 -6.06080760e-01 7.08922795e-02 1.01000570e+02] [ 8.84278411e-02 9.21783579e-04 9.96082159e-01 1.72050908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75687499999998 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:98.03, Y:101.09, Z:17.19 [[-5.98548447e-01 7.99316985e-01 5.32176065e-02 9.80281353e+01] [-7.96191281e-01 -6.00909599e-01 7.06193854e-02 1.01088004e+02] [ 8.84262448e-02 -1.02270820e-04 9.96082722e-01 1.71885152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78687499999998 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:98.02, Y:101.07, Z:17.19 [[-5.97580051e-01 8.00062692e-01 5.28939595e-02 9.80177305e+01] [-7.96917741e-01 -5.99916368e-01 7.08693510e-02 1.01074760e+02] [ 8.84318759e-02 1.97975612e-04 9.96082208e-01 1.71895248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81687499999998 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:98.01, Y:101.07, Z:17.19 [[-6.01305600e-01 7.97269096e-01 5.28541734e-02 9.80088117e+01] [-7.94110586e-01 -6.03623684e-01 7.09001122e-02 1.01066692e+02] [ 8.84304993e-02 6.60575863e-04 9.96082130e-01 1.71937300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84687499999998 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:97.99, Y:101.06, Z:17.20 [[-6.09679212e-01 7.90849528e-01 5.33693060e-02 9.79909346e+01] [-7.87701379e-01 -6.12009913e-01 7.05010961e-02 1.01056840e+02] [ 8.84183029e-02 9.43976793e-04 9.96082985e-01 1.72014269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87687499999998 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:98.01, Y:101.06, Z:17.19 [[-6.00144696e-01 7.98052101e-01 5.42142750e-02 9.80050419e+01] [-7.94990686e-01 -6.02587293e-01 6.98452908e-02 1.01061826e+02] [ 8.84090143e-02 -1.18256286e-03 9.96083555e-01 1.71929883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90687499999999 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:97.99, Y:101.05, Z:17.19 [[-6.01484160e-01 7.97111529e-01 5.31978922e-02 9.79948217e+01] [-7.93975858e-01 -6.03832053e-01 7.06341914e-02 1.01047577e+02] [ 8.84259208e-02 2.47505181e-04 9.96082725e-01 1.71933262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.936875 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:98.00, Y:101.06, Z:17.19 [[-6.03399437e-01 7.95663040e-01 5.31925345e-02 9.80005300e+01] [-7.92521366e-01 -6.05739307e-01 7.06383548e-02 1.01055045e+02] [ 8.84251371e-02 4.66923420e-04 9.96082716e-01 1.71935360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.966875 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:98.00, Y:101.05, Z:17.19 [[-6.03852543e-01 7.95306827e-01 5.33775051e-02 9.79958555e+01] [-7.92176473e-01 -6.06207036e-01 7.04944327e-02 1.01048815e+02] [ 8.84225228e-02 2.83838717e-04 9.96083017e-01 1.71924663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.996875 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:98.00, Y:101.06, Z:17.20 [[-6.06258243e-01 7.93481187e-01 5.32780378e-02 9.80024694e+01] [-7.90336929e-01 -6.08594403e-01 7.05718891e-02 1.01057257e+02] [ 8.84221820e-02 6.77188676e-04 9.96082858e-01 1.71972977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.026875 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:97.98, Y:101.04, Z:17.20 [[-6.17531018e-01 7.84735083e-01 5.33506450e-02 9.79812040e+01] [-7.81562641e-01 -6.19828551e-01 7.05152874e-02 1.01042319e+02] [ 8.84040729e-02 1.84850624e-03 9.96082980e-01 1.71998358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.056875 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:97.97, Y:101.03, Z:17.20 [[-6.19332563e-01 7.83239010e-01 5.44410580e-02 9.79726856e+01] [-7.80135137e-01 -6.21720355e-01 6.96632492e-02 1.01031003e+02] [ 8.84100882e-02 6.73336440e-04 9.96083934e-01 1.72014907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.086875 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:97.97, Y:101.03, Z:17.20 [[-6.23031859e-01 7.80296992e-01 5.44785002e-02 9.79743501e+01] [-7.77184404e-01 -6.25408278e-01 6.96339562e-02 1.01030967e+02] [ 8.84064715e-02 1.04433250e-03 9.96083935e-01 1.72026448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.116875 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:97.96, Y:101.02, Z:17.20 [[-6.24961402e-01 7.78749803e-01 5.45159665e-02 9.79646112e+01] [-7.75633890e-01 -6.27333457e-01 6.96046119e-02 1.01017188e+02] [ 8.84042675e-02 1.21576472e-03 9.96083936e-01 1.72044475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.146875 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:97.96, Y:101.01, Z:17.20 [[-6.26543716e-01 7.77474685e-01 5.45535167e-02 9.79598200e+01] [-7.74356506e-01 -6.28912790e-01 6.95751691e-02 1.01009591e+02] [ 8.84023370e-02 1.34801438e-03 9.96083937e-01 1.72048537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.176875 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:97.93, Y:100.96, Z:17.21 [[-6.19260245e-01 7.83285734e-01 5.45912774e-02 9.79331911e+01] [-7.80192403e-01 -6.21661671e-01 6.95455281e-02 1.00962170e+02] [ 8.84113248e-02 4.75080818e-04 9.96083938e-01 1.72078731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.206875 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:97.95, Y:100.99, Z:17.21 [[-6.21132813e-01 7.81862421e-01 5.37139063e-02 9.79529097e+01] [-7.78703543e-01 -6.23448413e-01 7.02343830e-02 1.00985662e+02] [ 8.84014743e-02 1.79767071e-03 9.96083304e-01 1.72076948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.236875 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:97.95, Y:101.00, Z:17.21 [[-6.30793628e-01 7.74094587e-01 5.36373932e-02 9.79522519e+01] [-7.70902112e-01 -6.33062886e-01 7.02944998e-02 1.00995644e+02] [ 8.83704347e-02 2.99214289e-03 9.96083186e-01 1.72077832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.266875 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:97.94, Y:100.98, Z:17.21 [[-6.31296789e-01 7.73609910e-01 5.46998256e-02 9.79388954e+01] [-7.70487373e-01 -6.33659851e-01 6.94579109e-02 1.00978540e+02] [ 8.83944115e-02 1.70303109e-03 9.96084097e-01 1.72085964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.296875 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:97.94, Y:100.97, Z:17.21 [[-6.31601971e-01 7.73358077e-01 5.47378644e-02 9.79366878e+01] [-7.70237194e-01 -6.33967215e-01 6.94279207e-02 1.00974335e+02] [ 8.83946547e-02 1.68967255e-03 9.96084098e-01 1.72106765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.326875 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:97.94, Y:100.98, Z:17.21 [[-6.32664026e-01 7.72487014e-01 5.47726514e-02 9.79405070e+01] [-7.69365248e-01 -6.35028103e-01 6.94004660e-02 1.00977169e+02] [ 8.83931317e-02 1.76700374e-03 9.96084099e-01 1.72084527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.356875 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:97.94, Y:100.98, Z:17.21 [[-6.33255278e-01 7.71997196e-01 5.48459902e-02 9.79400198e+01] [-7.68878616e-01 -6.35623549e-01 6.93424596e-02 1.00975277e+02] [ 8.83935874e-02 1.74156947e-03 9.96084103e-01 1.72095924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.386875 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:97.94, Y:100.97, Z:17.21 [[-6.34280211e-01 7.71152381e-01 5.48873258e-02 9.79395043e+01] [-7.68033476e-01 -6.36648052e-01 6.93097256e-02 1.00973032e+02] [ 8.83922690e-02 1.80648373e-03 9.96084105e-01 1.72078198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.416875 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:97.93, Y:100.95, Z:17.21 [[-6.35120881e-01 7.70454986e-01 5.49598221e-02 9.79255527e+01] [-7.67338450e-01 -6.37491832e-01 6.92521916e-02 1.00954086e+02] [ 8.83921340e-02 1.81072820e-03 9.96084109e-01 1.72114576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.44687499999998 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:97.92, Y:100.94, Z:17.21 [[-6.36299922e-01 7.69479087e-01 5.49940319e-02 9.79159140e+01] [-7.66361262e-01 -6.38669174e-01 6.92250147e-02 1.00938554e+02] [ 8.83901941e-02 1.90257582e-03 9.96084110e-01 1.72126556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47687499999998 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:97.92, Y:100.95, Z:17.21 [[-6.36758272e-01 7.69097103e-01 5.50322479e-02 9.79230750e+01] [-7.65980479e-01 -6.39129103e-01 6.91946207e-02 1.00946539e+02] [ 8.83900936e-02 1.90661951e-03 9.96084111e-01 1.72113965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50687499999998 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:97.93, Y:100.95, Z:17.21 [[-6.37016604e-01 7.68880417e-01 5.50704160e-02 9.79297141e+01] [-7.65765609e-01 -6.39389819e-01 6.91642303e-02 1.00953882e+02] [ 8.83904856e-02 1.88773247e-03 9.96084112e-01 1.72110347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53687499999998 meters Centerline goodness : 0.997729 Centerline is valid? [True, True] Translation: X:97.92, Y:100.95, Z:17.21 [[-6.36263967e-01 7.69500655e-01 5.51081356e-02 9.79243341e+01] [-7.66390761e-01 -6.38643617e-01 6.91341635e-02 1.00946147e+02] [ 8.83932431e-02 1.75321116e-03 9.96084113e-01 1.72129204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56687499999998 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:97.91, Y:100.93, Z:17.22 [[-6.35768360e-01 7.69907491e-01 5.51456971e-02 9.79125236e+01] [-7.66801717e-01 -6.38153381e-01 6.91041892e-02 1.00931143e+02] [ 8.83952460e-02 1.64844186e-03 9.96084114e-01 1.72154084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59687499999998 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:97.94, Y:100.96, Z:17.21 [[-6.25597697e-01 7.78191687e-01 5.51835113e-02 9.79413521e+01] [-7.75120171e-01 -6.28026676e-01 6.90739794e-02 1.00955221e+02] [ 8.84095137e-02 4.38669715e-04 9.96084116e-01 1.72093582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62687499999998 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:97.93, Y:100.95, Z:17.21 [[-6.26038770e-01 7.77911288e-01 5.41247327e-02 9.79332716e+01] [-7.74764872e-01 -6.28371426e-01 6.99195531e-02 1.00946017e+02] [ 8.84016451e-02 1.83840942e-03 9.96083214e-01 1.72130246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65687499999999 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:97.92, Y:100.94, Z:17.22 [[-6.32376505e-01 7.72757014e-01 5.42821666e-02 9.79244813e+01] [-7.69602377e-01 -6.34697587e-01 6.97936605e-02 1.00943826e+02] [ 8.83863008e-02 2.36018664e-03 9.96083476e-01 1.72182986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.686875 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:97.92, Y:100.93, Z:17.22 [[-6.31754248e-01 7.73194740e-01 5.52853015e-02 9.79157281e+01] [-7.70111368e-01 -6.34167862e-01 6.89898883e-02 1.00932024e+02] [ 8.84027801e-02 1.00881583e-03 9.96084299e-01 1.72189024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.716875 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:97.94, Y:100.95, Z:17.21 [[-6.21111765e-01 7.81766966e-01 5.53225744e-02 9.79400492e+01] [-7.78719571e-01 -6.23570645e-01 6.89599865e-02 1.00948867e+02] [ 8.84081728e-02 -2.48912472e-04 9.96084300e-01 1.72112344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.746875 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:97.92, Y:100.93, Z:17.22 [[-6.30548780e-01 7.74256281e-01 5.41797696e-02 9.79192991e+01] [-7.71100052e-01 -6.32868076e-01 6.98763779e-02 1.00934904e+02] [ 8.83908710e-02 2.28244166e-03 9.96083252e-01 1.72185934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.776875 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:97.91, Y:100.92, Z:17.22 [[-6.28829222e-01 7.75568272e-01 5.53865063e-02 9.79085033e+01] [-7.72501345e-01 -6.31263462e-01 6.89065489e-02 1.00921428e+02] [ 8.84052109e-02 5.44300856e-04 9.96084445e-01 1.72206545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.806875 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:97.92, Y:100.93, Z:17.22 [[-6.28463630e-01 7.75861894e-01 5.54237044e-02 9.79197232e+01] [-7.72798743e-01 -6.30902619e-01 6.88766165e-02 1.00934950e+02] [ 8.84057024e-02 4.55079296e-04 9.96084447e-01 1.72193263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.836875 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:97.94, Y:100.94, Z:17.21 [[-6.16687941e-01 7.85251608e-01 5.54607480e-02 9.79372957e+01] [-7.82228271e-01 -6.19176109e-01 6.88467754e-02 1.00941777e+02] [ 8.84020113e-02 -9.25988791e-04 9.96084448e-01 1.72100541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.866875 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:97.91, Y:100.92, Z:17.22 [[-6.27614593e-01 7.76636750e-01 5.41782274e-02 9.79104065e+01] [-7.73489032e-01 -6.29945673e-01 6.98796598e-02 1.00922177e+02] [ 8.84004518e-02 1.95122957e-03 9.96083105e-01 1.72192843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.896875 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:97.90, Y:100.91, Z:17.22 [[-6.28294624e-01 7.75991208e-01 5.55293582e-02 9.78977984e+01] [-7.72936284e-01 -6.30743652e-01 6.87891440e-02 1.00907155e+02] [ 8.84045612e-02 2.99193632e-04 9.96084607e-01 1.72222060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.926875 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:97.90, Y:100.91, Z:17.22 [[-6.29085029e-01 7.75348168e-01 5.55629729e-02 9.79036691e+01] [-7.72293138e-01 -6.31533925e-01 6.87619818e-02 1.00914030e+02] [ 8.84043790e-02 3.46230651e-04 9.96084608e-01 1.72209719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.956875 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:97.93, Y:100.93, Z:17.21 [[-6.15235955e-01 7.86379902e-01 5.56000828e-02 9.79342097e+01] [-7.83371482e-01 -6.17741887e-01 6.87319622e-02 1.00933828e+02] [ 8.83959338e-02 -1.26914481e-03 9.96084609e-01 1.72080887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.986875 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:97.92, Y:100.91, Z:17.21 [[-6.18636508e-01 7.83828567e-01 5.38669420e-02 9.79178962e+01] [-7.80685870e-01 -6.20975844e-01 7.01325384e-02 1.00912105e+02] [ 8.84219569e-02 1.33338822e-03 9.96082215e-01 1.72088735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.016875 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:97.90, Y:100.91, Z:17.22 [[-6.35318355e-01 7.70349631e-01 5.41482658e-02 9.78981878e+01] [-7.67176717e-01 -6.37615250e-01 6.99047830e-02 1.00905010e+02] [ 8.83768838e-02 2.87050292e-03 9.96082972e-01 1.72206200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.046875 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:97.92, Y:100.91, Z:17.21 [[-6.22321364e-01 7.80775869e-01 5.57239854e-02 9.79167651e+01] [-7.77754392e-01 -6.24810885e-01 6.86255320e-02 1.00910355e+02] [ 8.83981120e-02 -6.32439669e-04 9.96085023e-01 1.72092381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.076875 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:97.91, Y:100.89, Z:17.21 [[-6.23587344e-01 7.79887939e-01 5.39780188e-02 9.79062760e+01] [-7.76738274e-01 -6.25916717e-01 7.00422487e-02 1.00894733e+02] [ 8.84108494e-02 1.75066663e-03 9.96082555e-01 1.72087313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.106875 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:97.90, Y:100.89, Z:17.21 [[-6.25914896e-01 7.78022264e-01 5.39620226e-02 9.79009265e+01] [-7.74864536e-01 -6.28233407e-01 7.00552464e-02 1.00888380e+02] [ 8.84052868e-02 2.03536469e-03 9.96082508e-01 1.72098855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.136875 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:97.87, Y:100.87, Z:17.22 [[-6.44118100e-01 7.63011315e-01 5.40888819e-02 9.78710156e+01] [-7.59808309e-01 -6.46372997e-01 6.99520100e-02 1.00870814e+02] [ 8.83357678e-02 3.96017384e-03 9.96082883e-01 1.72235851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.166875 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:97.88, Y:100.88, Z:17.22 [[-6.45544576e-01 7.61674368e-01 5.58959594e-02 9.78772315e+01] [-7.58592089e-01 -6.47957489e-01 6.84772565e-02 1.00879394e+02] [ 8.83755765e-02 1.80288884e-03 9.96085592e-01 1.72245232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19687499999998 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:97.88, Y:100.88, Z:17.23 [[-6.46365337e-01 7.60975245e-01 5.59332486e-02 9.78755824e+01] [-7.57892990e-01 -6.48778278e-01 6.84467847e-02 1.00876791e+02] [ 8.83745854e-02 1.85021206e-03 9.96085593e-01 1.72258401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.22687499999998 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:97.87, Y:100.87, Z:17.23 [[-6.47305039e-01 7.60173345e-01 5.59702821e-02 9.78703948e+01] [-7.57090717e-01 -6.49717501e-01 6.84164884e-02 1.00870476e+02] [ 8.83732626e-02 1.91175668e-03 9.96085595e-01 1.72276339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25687499999998 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:97.87, Y:100.87, Z:17.23 [[-6.47962120e-01 7.59610860e-01 5.60038651e-02 9.78690928e+01] [-7.56528511e-01 -6.50374937e-01 6.83889873e-02 1.00868891e+02] [ 8.83725277e-02 1.94495256e-03 9.96085595e-01 1.72268238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28687499999998 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:97.86, Y:100.86, Z:17.23 [[-6.48473669e-01 7.59171208e-01 5.60444185e-02 9.78575849e+01] [-7.56090093e-01 -6.50888059e-01 6.83557379e-02 1.00855758e+02] [ 8.83723510e-02 1.95226659e-03 9.96085597e-01 1.72264990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31687499999998 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:97.86, Y:100.84, Z:17.22 [[-6.35537274e-01 7.70030922e-01 5.60780975e-02 9.78583565e+01] [-7.66993522e-01 -6.38006433e-01 6.83280972e-02 1.00842099e+02] [ 8.83929346e-02 4.13515125e-04 9.96085598e-01 1.72189131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34687499999998 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:97.86, Y:100.84, Z:17.22 [[-6.36604584e-01 7.69255972e-01 5.45880336e-02 9.78556929e+01] [-7.66109315e-01 -6.38936005e-01 6.95506991e-02 1.00838457e+02] [ 8.83805507e-02 2.45589284e-03 9.96083755e-01 1.72182349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37687499999998 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:97.85, Y:100.85, Z:17.23 [[-6.49173804e-01 7.58666598e-01 5.47573349e-02 9.78498911e+01] [-7.55493649e-01 -6.51468623e-01 6.94116669e-02 1.00847619e+02] [ 8.83329987e-02 3.69141716e-03 9.96084161e-01 1.72278998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40687499999999 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:97.85, Y:100.85, Z:17.23 [[-6.49721079e-01 7.58092922e-01 5.61928933e-02 9.78530865e+01] [-7.55018694e-01 -6.52143771e-01 6.82295594e-02 1.00852267e+02] [ 8.83701914e-02 1.90349805e-03 9.96085883e-01 1.72284214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.436875 meters Centerline goodness : 0.997385 Centerline is valid? [True, True] Translation: X:97.84, Y:100.84, Z:17.23 [[-6.50160726e-01 7.57713150e-01 5.62300026e-02 9.78444599e+01] [-7.54640149e-01 -6.52584973e-01 6.81989630e-02 1.00841377e+02] [ 8.83701058e-02 1.90686968e-03 9.96085884e-01 1.72298316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.466875 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:97.84, Y:100.84, Z:17.23 [[-6.50529664e-01 7.57393670e-01 5.62670852e-02 9.78398269e+01] [-7.54322123e-01 -6.52955749e-01 6.81683547e-02 1.00836156e+02] [ 8.83701971e-02 1.90202971e-03 9.96085885e-01 1.72315926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.496875 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:97.82, Y:100.82, Z:17.23 [[-6.51003069e-01 7.56984035e-01 5.63043012e-02 9.78223423e+01] [-7.53913617e-01 -6.53430582e-01 6.81376020e-02 1.00815824e+02] [ 8.83700292e-02 1.90920867e-03 9.96085886e-01 1.72340893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.526875 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:97.85, Y:100.84, Z:17.22 [[-6.40401005e-01 7.65971633e-01 5.63383436e-02 9.78529364e+01] [-7.62937776e-01 -6.42874058e-01 6.81094431e-02 1.00839728e+02] [ 8.83883610e-02 6.34705324e-04 9.96085887e-01 1.72240791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.556875 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:97.83, Y:100.82, Z:17.23 [[-6.52065885e-01 7.56155667e-01 5.51243061e-02 9.78270404e+01] [-7.52998929e-01 -6.54382112e-01 6.91134214e-02 1.00822538e+02] [ 8.83328650e-02 3.55796085e-03 9.96084658e-01 1.72344204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.586875 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:97.82, Y:100.82, Z:17.24 [[-6.52584138e-01 7.55613764e-01 5.64072930e-02 9.78244985e+01] [-7.52545801e-01 -6.55014504e-01 6.80501022e-02 1.00819697e+02] [ 8.83671890e-02 1.95934575e-03 9.96086041e-01 1.72350368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.616875 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:97.82, Y:100.82, Z:17.24 [[-6.52996965e-01 7.55254240e-01 5.64446306e-02 9.78215114e+01] [-7.52187614e-01 -6.55429015e-01 6.80191183e-02 1.00816050e+02] [ 8.83671762e-02 1.95932585e-03 9.96086042e-01 1.72354814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.646875 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:97.82, Y:100.81, Z:17.23 [[-6.53814736e-01 7.54543625e-01 5.64819360e-02 9.78190261e+01] [-7.51477028e-01 -6.56246822e-01 6.79881266e-02 1.00813220e+02] [ 8.83660985e-02 2.00676163e-03 9.96086043e-01 1.72347506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.676875 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:97.82, Y:100.81, Z:17.23 [[-6.43264375e-01 7.63555186e-01 5.65192093e-02 9.78241622e+01] [-7.60525400e-01 -6.45742166e-01 6.79571269e-02 1.00806598e+02] [ 8.83858533e-02 7.30104537e-04 9.96086044e-01 1.72253933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.706875 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:97.80, Y:100.79, Z:17.23 [[-6.55318467e-01 7.53325627e-01 5.53010476e-02 9.78001528e+01] [-7.50170883e-01 -6.57637223e-01 6.89704903e-02 1.00792375e+02] [ 8.83252652e-02 3.71240024e-03 9.96084768e-01 1.72336568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.736875 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:97.82, Y:100.80, Z:17.22 [[-6.43330819e-01 7.63492895e-01 5.66043946e-02 9.78197716e+01] [-7.60469311e-01 -6.45815924e-01 6.78838710e-02 1.00802047e+02] [ 8.83848726e-02 6.25881313e-04 9.96086202e-01 1.72242931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.766875 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:97.79, Y:100.78, Z:17.24 [[-6.56439203e-01 7.52349046e-01 5.53035713e-02 9.77901704e+01] [-7.49191035e-01 -6.58753491e-01 6.89683350e-02 1.00781314e+02] [ 8.83196818e-02 3.84057908e-03 9.96084777e-01 1.72353283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.796875 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:97.78, Y:100.77, Z:17.24 [[-6.57481036e-01 7.51335752e-01 5.66857540e-02 9.77831172e+01] [-7.48272342e-01 -6.59916571e-01 6.78131401e-02 1.00774707e+02] [ 8.83583051e-02 2.16947168e-03 9.96086394e-01 1.72379221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.826875 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:97.79, Y:100.78, Z:17.24 [[-6.58473557e-01 7.50463184e-01 5.67237546e-02 9.77888755e+01] [-7.47399281e-01 -6.60908470e-01 6.77813389e-02 1.00781649e+02] [ 8.83566093e-02 2.23692595e-03 9.96086395e-01 1.72368392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.856875 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:97.78, Y:100.77, Z:17.24 [[-6.59635550e-01 7.49438894e-01 5.67651758e-02 9.77791348e+01] [-7.46374191e-01 -6.62069454e-01 6.77466321e-02 1.00770404e+02] [ 8.83544500e-02 2.32002477e-03 9.96086396e-01 1.72378496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.886875 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:97.78, Y:100.77, Z:17.24 [[-6.60645194e-01 7.48546429e-01 5.67993996e-02 9.77752927e+01] [-7.45480901e-01 -6.63078057e-01 6.77179265e-02 1.00765916e+02] [ 8.83524476e-02 2.39465514e-03 9.96086397e-01 1.72370479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.916875 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:97.77, Y:100.76, Z:17.24 [[-6.62184240e-01 7.47182408e-01 5.68373310e-02 9.77728719e+01] [-7.44114596e-01 -6.64614221e-01 6.76860749e-02 1.00764034e+02] [ 8.83487429e-02 2.52716441e-03 9.96086398e-01 1.72365216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.94687499999998 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:97.77, Y:100.76, Z:17.24 [[-6.63090454e-01 7.46375413e-01 5.68752289e-02 9.77698339e+01] [-7.43307371e-01 -6.65520142e-01 6.76542152e-02 1.00761190e+02] [ 8.83470533e-02 2.58508746e-03 9.96086400e-01 1.72369571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97687499999998 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:97.78, Y:100.76, Z:17.23 [[-6.53295530e-01 7.54960828e-01 5.69130826e-02 9.77780107e+01] [-7.51927510e-01 -6.55768432e-01 6.76223565e-02 1.00757783e+02] [ 8.83740332e-02 1.38287076e-03 9.96086401e-01 1.72295102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00687499999998 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:97.75, Y:100.74, Z:17.24 [[-6.64767794e-01 7.44963048e-01 5.58017669e-02 9.77470558e+01] [-7.41813482e-01 -6.67092632e-01 6.85578378e-02 1.00735058e+02] [ 8.82980033e-02 4.18053956e-03 9.96085331e-01 1.72394704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03687499999998 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:97.75, Y:100.74, Z:17.24 [[-6.65303868e-01 7.44394417e-01 5.69887271e-02 9.77512179e+01] [-7.41327474e-01 -6.67734730e-01 6.75566945e-02 1.00741262e+02] [ 8.83421785e-02 2.69842106e-03 9.96086531e-01 1.72398604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06687499999998 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:97.76, Y:100.73, Z:17.23 [[-6.55135882e-01 7.53355748e-01 5.70271314e-02 9.77557491e+01] [-7.50324900e-01 -6.57611602e-01 6.75242605e-02 1.00734499e+02] [ 8.83714930e-02 1.44868923e-03 9.96086533e-01 1.72339092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09687499999998 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:97.75, Y:100.74, Z:17.24 [[-6.65376413e-01 7.44403637e-01 5.60129900e-02 9.77457908e+01] [-7.41266954e-01 -6.67718054e-01 6.83805830e-02 1.00735901e+02] [ 8.83036393e-02 3.97824859e-03 9.96085659e-01 1.72417790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12687499999998 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:97.74, Y:100.72, Z:17.24 [[-6.66077376e-01 7.43693603e-01 5.71030177e-02 9.77350833e+01] [-7.40632542e-01 -6.68515412e-01 6.74579954e-02 1.00724878e+02] [ 8.83423271e-02 2.63989136e-03 9.96086675e-01 1.72431560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15687499999999 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:97.75, Y:100.73, Z:17.23 [[-6.54750876e-01 7.53682008e-01 5.71377373e-02 9.77542964e+01] [-7.50660735e-01 -6.57238045e-01 6.74285748e-02 1.00732936e+02] [ 8.83727984e-02 1.25786249e-03 9.96086676e-01 1.72346181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.186875 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:97.75, Y:100.74, Z:17.24 [[-6.66810377e-01 7.43141920e-01 5.57136280e-02 9.77491742e+01] [-7.39979603e-01 -6.69118437e-01 6.86345721e-02 1.00739416e+02] [ 8.82842433e-02 4.53929657e-03 9.96084980e-01 1.72395539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.216875 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:97.74, Y:100.72, Z:17.23 [[-6.55121755e-01 7.53354205e-01 5.72095100e-02 9.77432327e+01] [-7.50337289e-01 -6.57613860e-01 6.73644113e-02 1.00718188e+02] [ 8.83710292e-02 1.20546273e-03 9.96086898e-01 1.72344229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.246875 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:97.74, Y:100.73, Z:17.24 [[-6.66403320e-01 7.43490988e-01 5.59264257e-02 9.77408001e+01] [-7.40344965e-01 -6.68732683e-01 6.84538691e-02 1.00729530e+02] [ 8.82946635e-02 4.21303801e-03 9.96085490e-01 1.72404184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.276875 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:97.74, Y:100.72, Z:17.24 [[-6.66607802e-01 7.43203311e-01 5.72963948e-02 9.77351303e+01] [-7.40155077e-01 -6.69061174e-01 6.72875062e-02 1.00723491e+02] [ 8.83430906e-02 2.44615909e-03 9.96087102e-01 1.72421896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.306875 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:97.73, Y:100.71, Z:17.24 [[-6.54550324e-01 7.53841279e-01 5.73341005e-02 9.77349004e+01] [-7.50835760e-01 -6.57055841e-01 6.72553629e-02 1.00707348e+02] [ 8.83715744e-02 9.73526665e-04 9.96087103e-01 1.72352990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.336875 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:97.75, Y:100.72, Z:17.23 [[-6.55106731e-01 7.53464128e-01 5.59193983e-02 9.77501435e+01] [-7.50352998e-01 -6.57482666e-01 6.84611045e-02 1.00722491e+02] [ 8.83490215e-02 2.89004220e-03 9.96085387e-01 1.72314514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.366875 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:97.73, Y:100.71, Z:17.24 [[-6.68037118e-01 7.42019832e-01 5.59730100e-02 9.77314032e+01] [-7.38871886e-01 -6.70363835e-01 6.84153856e-02 1.00714851e+02] [ 8.82878546e-02 4.34713356e-03 9.96085517e-01 1.72406482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.396875 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:97.72, Y:100.70, Z:17.24 [[-6.68794129e-01 7.41225874e-01 5.74335948e-02 9.77223977e+01] [-7.38180741e-01 -6.71250946e-01 6.71666678e-02 1.00704932e+02] [ 8.83380269e-02 2.52429945e-03 9.96087356e-01 1.72422571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.426875 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:97.72, Y:100.71, Z:17.24 [[-6.69642337e-01 7.40457022e-01 5.74677221e-02 9.77244905e+01] [-7.37411570e-01 -6.72098756e-01 6.71374560e-02 1.00706585e+02] [ 8.83363853e-02 2.58071970e-03 9.96087357e-01 1.72420432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.456875 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:97.68, Y:100.65, Z:17.24 [[-6.58901210e-01 7.50026100e-01 5.75329913e-02 9.76845386e+01] [-7.47021231e-01 -6.61407104e-01 6.70814777e-02 1.00645984e+02] [ 8.83655883e-02 1.22170090e-03 9.96087361e-01 1.72410587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.486875 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:97.71, Y:100.69, Z:17.24 [[-6.70505145e-01 7.39765495e-01 5.63015411e-02 9.77097462e+01] [-7.36632882e-01 -6.72851590e-01 6.81376184e-02 1.00689534e+02] [ 8.82884405e-02 4.21305721e-03 9.96086041e-01 1.72424252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.516875 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:97.72, Y:100.70, Z:17.24 [[-6.70293643e-01 7.39855535e-01 5.76213501e-02 9.77162344e+01] [-7.36819426e-01 -6.72761296e-01 6.70027798e-02 1.00697728e+02] [ 8.83377916e-02 2.45500729e-03 9.96087550e-01 1.72430304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.546875 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:97.71, Y:100.69, Z:17.24 [[-6.70163091e-01 7.39970861e-01 5.76589689e-02 9.77090376e+01] [-7.36937958e-01 -6.72634680e-01 6.69703916e-02 1.00689885e+02] [ 8.83395604e-02 2.39000185e-03 9.96087551e-01 1.72437084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.576875 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:97.71, Y:100.67, Z:17.24 [[-6.57433637e-01 7.51300295e-01 5.76964395e-02 9.77057948e+01] [-7.48312848e-01 -6.59959979e-01 6.69380944e-02 1.00671615e+02] [ 8.83679510e-02 8.32367927e-04 9.96087553e-01 1.72406024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.606875 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:97.71, Y:100.69, Z:17.24 [[-6.67938613e-01 7.42081789e-01 5.63260833e-02 9.77068900e+01] [-7.38958896e-01 -6.70298136e-01 6.81187069e-02 1.00688447e+02] [ 8.83049205e-02 3.87645422e-03 9.96085947e-01 1.72447483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.636875 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:97.71, Y:100.69, Z:17.25 [[-6.67303993e-01 7.42541785e-01 5.77674544e-02 9.77103880e+01] [-7.39526755e-01 -6.69797037e-01 6.68738225e-02 1.00694542e+02] [ 8.83490773e-02 1.90459077e-03 9.96087754e-01 1.72450777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.666875 meters Centerline goodness : 0.998269 Centerline is valid? [True, True] Translation: X:97.71, Y:100.69, Z:17.25 [[-6.66079674e-01 7.43637339e-01 5.78046397e-02 9.77093084e+01] [-7.40629197e-01 -6.68581023e-01 6.68416649e-02 1.00694099e+02] [ 8.83530429e-02 1.71007049e-03 9.96087755e-01 1.72462598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69687499999998 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:97.71, Y:100.69, Z:17.25 [[-6.65075357e-01 7.44532820e-01 5.78415939e-02 9.77057324e+01] [-7.41530826e-01 -6.67584079e-01 6.68096713e-02 1.00691271e+02] [ 8.83561201e-02 1.54214109e-03 9.96087756e-01 1.72463160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.72687499999998 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:97.72, Y:100.70, Z:17.24 [[-6.48183974e-01 7.59280987e-01 5.78784749e-02 9.77240344e+01] [-7.56338943e-01 -6.50762738e-01 6.67777054e-02 1.00696897e+02] [ 8.83681969e-02 -4.91506134e-04 9.96087757e-01 1.72364097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75687499999998 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:97.71, Y:100.70, Z:17.24 [[-6.61328781e-01 7.47985559e-01 5.62302971e-02 9.77118551e+01] [-7.44876389e-01 -6.63707184e-01 6.82051305e-02 1.00699486e+02] [ 8.83369048e-02 3.22139513e-03 9.96085445e-01 1.72448190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78687499999998 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:97.71, Y:100.69, Z:17.24 [[-6.48387816e-01 7.59101681e-01 5.79471984e-02 9.77144682e+01] [-7.56164597e-01 -6.50971830e-01 6.67141510e-02 1.00688359e+02] [ 8.83648180e-02 -5.60977226e-04 9.96088020e-01 1.72379780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81687499999998 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:97.69, Y:100.68, Z:17.25 [[-6.59988176e-01 7.49139816e-01 5.66139946e-02 9.76933791e+01] [-7.46063245e-01 -6.62406972e-01 6.78722161e-02 1.00680290e+02] [ 8.83472842e-02 2.55723953e-03 9.96086451e-01 1.72479677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84687499999998 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:97.72, Y:100.71, Z:17.25 [[-6.59559321e-01 7.49408998e-01 5.80315044e-02 9.77159228e+01] [-7.46440639e-01 -6.62107054e-01 6.66379886e-02 1.00707424e+02] [ 8.83621767e-02 6.34633305e-04 9.96088210e-01 1.72461301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87687499999998 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:97.70, Y:100.69, Z:17.25 [[-6.60123144e-01 7.48909329e-01 5.80710927e-02 9.76976820e+01] [-7.45942076e-01 -6.62672164e-01 6.66034721e-02 1.00686507e+02] [ 8.83620582e-02 6.48822017e-04 9.96088212e-01 1.72477515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90687499999999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:97.69, Y:100.68, Z:17.25 [[-6.61602115e-01 7.47600307e-01 5.81069933e-02 9.76909503e+01] [-7.44630762e-01 -6.64148462e-01 6.65721366e-02 1.00678693e+02] [ 8.83610200e-02 7.76011696e-04 9.96088213e-01 1.72495497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.936875 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:97.67, Y:100.66, Z:17.25 [[-6.62724693e-01 7.46602533e-01 5.81432684e-02 9.76735774e+01] [-7.43631933e-01 -6.65269808e-01 6.65404395e-02 1.00659216e+02] [ 8.83602216e-02 8.60801268e-04 9.96088214e-01 1.72516409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.966875 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:97.70, Y:100.69, Z:17.25 [[-6.64001740e-01 7.45464410e-01 5.81764748e-02 9.77008824e+01] [-7.42491992e-01 -6.66544729e-01 6.65113944e-02 1.00690151e+02] [ 8.83591001e-02 9.68114993e-04 9.96088215e-01 1.72488622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.996875 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:97.69, Y:100.67, Z:17.25 [[-6.65437821e-01 7.44179670e-01 5.82161957e-02 9.76861244e+01] [-7.41205383e-01 -6.67978623e-01 6.64766094e-02 1.00672650e+02] [ 8.83577155e-02 1.08589250e-03 9.96088216e-01 1.72502045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.026875 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:97.68, Y:100.67, Z:17.25 [[-6.67551001e-01 7.42282122e-01 5.82487147e-02 9.76830992e+01] [-7.39303100e-01 -6.70086246e-01 6.64481033e-02 1.00667766e+02] [ 8.83549016e-02 1.29404248e-03 9.96088217e-01 1.72494950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.056875 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:97.68, Y:100.66, Z:17.25 [[-6.68375569e-01 7.41536900e-01 5.82848540e-02 9.76792163e+01] [-7.38557814e-01 -6.70910738e-01 6.64163887e-02 1.00662586e+02] [ 8.83541374e-02 1.34435729e-03 9.96088219e-01 1.72503950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.086875 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:97.65, Y:100.62, Z:17.25 [[-6.60937585e-01 7.48171215e-01 5.83210196e-02 9.76541108e+01] [-7.45220385e-01 -6.63505585e-01 6.63846162e-02 1.00622450e+02] [ 8.83633812e-02 4.14075253e-04 9.96088220e-01 1.72489537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.116875 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:97.66, Y:100.65, Z:17.25 [[-6.71022846e-01 7.39209248e-01 5.74284689e-02 9.76649340e+01] [-7.36156534e-01 -6.73470024e-01 6.71690803e-02 1.00645048e+02] [ 8.83283576e-02 2.79564483e-03 9.96087489e-01 1.72517235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.146875 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:97.66, Y:100.64, Z:17.25 [[-6.73120718e-01 7.37222957e-01 5.84021409e-02 9.76636827e+01] [-7.34236701e-01 -6.75647269e-01 6.63116448e-02 1.00641319e+02] [ 8.83457139e-02 1.75474671e-03 9.96088327e-01 1.72512228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.176875 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:97.63, Y:100.59, Z:17.25 [[-6.65295549e-01 7.44289700e-01 5.84352201e-02 9.76315680e+01] [-7.41332850e-01 -6.67856451e-01 6.62824820e-02 1.00592277e+02] [ 8.83597073e-02 7.77491998e-04 9.96088328e-01 1.72504214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.206875 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:97.62, Y:100.58, Z:17.25 [[-6.67931430e-01 7.41997213e-01 5.75129609e-02 9.76208944e+01] [-7.38961006e-01 -6.70398967e-01 6.70958814e-02 1.00580142e+02] [ 8.83415866e-02 2.31561263e-03 9.96087547e-01 1.72527158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.236875 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:97.66, Y:100.62, Z:17.25 [[-6.68240073e-01 7.41710365e-01 5.76275814e-02 9.76617460e+01] [-7.38681808e-01 -6.70716701e-01 6.69947205e-02 1.00623774e+02] [ 8.83424599e-02 2.20011090e-03 9.96087732e-01 1.72476343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.266875 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:97.66, Y:100.62, Z:17.25 [[-6.65949402e-01 7.43779728e-01 5.74726824e-02 9.76559917e+01] [-7.40747055e-01 -6.68421397e-01 6.71314825e-02 1.00616723e+02] [ 8.83470065e-02 2.13345041e-03 9.96087474e-01 1.72498202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.296875 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:97.66, Y:100.63, Z:17.25 [[-6.64360462e-01 7.45198695e-01 5.74811371e-02 9.76645711e+01] [-7.42171949e-01 -6.66839685e-01 6.71240102e-02 1.00625537e+02] [ 8.83514282e-02 1.93365092e-03 9.96087489e-01 1.72491384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.326875 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:97.69, Y:100.65, Z:17.25 [[-6.61270492e-01 7.47934479e-01 5.75790928e-02 9.76901923e+01] [-7.44925528e-01 -6.63771006e-01 6.70373706e-02 1.00652275e+02] [ 8.83588931e-02 1.43769889e-03 9.96087666e-01 1.72462172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.356875 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:97.66, Y:100.63, Z:17.25 [[-6.69071036e-01 7.40981197e-01 5.73656245e-02 9.76638690e+01] [-7.37930059e-01 -6.71520556e-01 6.72262727e-02 1.00631161e+02] [ 8.83356001e-02 2.64733328e-03 9.96087252e-01 1.72535762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.386875 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:97.67, Y:100.64, Z:17.25 [[-6.68671185e-01 7.41242915e-01 5.86326416e-02 9.76732672e+01] [-7.38290145e-01 -6.71236253e-01 6.61026049e-02 1.00639297e+02] [ 8.83544422e-02 9.13005685e-04 9.96088680e-01 1.72509036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.416875 meters Centerline goodness : 0.997459 Centerline is valid? [True, True] Translation: X:97.67, Y:100.62, Z:17.25 [[-6.58464764e-01 7.50321393e-01 5.86682340e-02 9.76736769e+01] [-7.47406806e-01 -6.61073135e-01 6.60710005e-02 1.00623575e+02] [ 8.83584785e-02 -3.43611664e-04 9.96088681e-01 1.72454074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.44687499999998 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:97.67, Y:100.63, Z:17.25 [[-6.68299921e-01 7.41665073e-01 5.75163891e-02 9.76688597e+01] [-7.38627838e-01 -6.70766257e-01 6.70935523e-02 1.00628852e+02] [ 8.83409974e-02 2.35540960e-03 9.96087506e-01 1.72462726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47687499999998 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:97.66, Y:100.62, Z:17.25 [[-6.68662306e-01 7.41242800e-01 5.87352751e-02 9.76608199e+01] [-7.38298233e-01 -6.71236555e-01 6.60091387e-02 1.00619728e+02] [ 8.83540625e-02 7.73673096e-04 9.96088832e-01 1.72489765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50687499999998 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:97.66, Y:100.62, Z:17.25 [[-6.69098200e-01 7.40846540e-01 5.87707651e-02 9.76571576e+01] [-7.37903224e-01 -6.71673878e-01 6.59775253e-02 1.00615588e+02] [ 8.83540091e-02 7.78306396e-04 9.96088833e-01 1.72494924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53687499999998 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:97.66, Y:100.61, Z:17.25 [[-6.69663584e-01 7.40332427e-01 5.88097083e-02 9.76565625e+01] [-7.37390182e-01 -6.72240483e-01 6.59427949e-02 1.00614593e+02] [ 8.83538561e-02 7.93786854e-04 9.96088834e-01 1.72503605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56687499999998 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:97.66, Y:100.62, Z:17.25 [[-6.70369478e-01 7.39690478e-01 5.88452287e-02 9.76599395e+01] [-7.36748547e-01 -6.72946734e-01 6.59110825e-02 1.00617877e+02] [ 8.83535046e-02 8.30641204e-04 9.96088836e-01 1.72516949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59687499999998 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:97.66, Y:100.61, Z:17.25 [[-6.72193289e-01 7.38030665e-01 5.88805581e-02 9.76561132e+01] [-7.35085135e-01 -6.74766430e-01 6.58795065e-02 1.00611122e+02] [ 8.83517200e-02 1.00153915e-03 9.96088837e-01 1.72535074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62687499999998 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:97.65, Y:100.60, Z:17.25 [[-6.73386965e-01 7.36939153e-01 5.89124876e-02 9.76507470e+01] [-7.33991950e-01 -6.75958187e-01 6.58509414e-02 1.00603152e+02] [ 8.83505153e-02 1.10187392e-03 9.96088838e-01 1.72538302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65687499999999 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:97.68, Y:100.62, Z:17.24 [[-6.63876988e-01 7.45515183e-01 5.89445214e-02 9.76822423e+01] [-7.42603747e-01 -6.66488639e-01 6.58222550e-02 1.00623851e+02] [ 8.83573443e-02 -7.45420375e-05 9.96088838e-01 1.72444419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.686875 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:97.67, Y:100.60, Z:17.24 [[-6.64368607e-01 7.45177819e-01 5.76573638e-02 9.76682623e+01] [-7.42163946e-01 -6.66863639e-01 6.69743600e-02 1.00604853e+02] [ 8.83574070e-02 1.70444564e-03 9.96087377e-01 1.72437882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.716875 meters Centerline goodness : 0.997459 Centerline is valid? [True, True] Translation: X:97.64, Y:100.59, Z:17.25 [[-6.77995549e-01 7.32805185e-01 5.76072572e-02 9.76423935e+01] [-7.29742023e-01 -6.80430010e-01 6.70192601e-02 1.00589606e+02] [ 8.83097679e-02 3.40032365e-03 9.96087257e-01 1.72548903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.746875 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:97.63, Y:100.58, Z:17.26 [[-6.78987452e-01 7.31771508e-01 5.90465937e-02 9.76345822e+01] [-7.28815557e-01 -6.81548180e-01 6.57264269e-02 1.00580713e+02] [ 8.83398250e-02 1.59334303e-03 9.96089121e-01 1.72566614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.776875 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:97.62, Y:100.57, Z:17.26 [[-6.79899992e-01 7.30920854e-01 5.90821964e-02 9.76232662e+01] [-7.27964478e-01 -6.82460229e-01 6.56944078e-02 1.00567314e+02] [ 8.83386619e-02 1.65588705e-03 9.96089122e-01 1.72582553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.806875 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:97.65, Y:100.59, Z:17.25 [[-6.70481006e-01 7.39567897e-01 5.91146845e-02 9.76531281e+01] [-7.36647129e-01 -6.73081789e-01 6.56651607e-02 1.00586559e+02] [ 8.83528624e-02 4.80580337e-04 9.96089123e-01 1.72489255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.836875 meters Centerline goodness : 0.997632 Centerline is valid? [True, True] Translation: X:97.63, Y:100.57, Z:17.26 [[-6.81839529e-01 7.29203878e-01 5.79358374e-02 9.76270216e+01] [-7.26152635e-01 -6.84287925e-01 6.67261999e-02 1.00569726e+02] [ 8.83017977e-02 3.42629968e-03 9.96087874e-01 1.72584063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.866875 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:97.62, Y:100.57, Z:17.26 [[-6.83338737e-01 7.27699330e-01 5.91764888e-02 9.76239330e+01] [-7.24738418e-01 -6.85893508e-01 6.56073233e-02 1.00566538e+02] [ 8.83311747e-02 1.94455053e-03 9.96089264e-01 1.72605660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.896875 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:97.61, Y:100.54, Z:17.26 [[-6.75025921e-01 7.35414387e-01 5.92088228e-02 9.76087834e+01] [-7.32485246e-01 -6.77617055e-01 6.55781299e-02 1.00537360e+02] [ 8.83480084e-02 8.97348390e-04 9.96089265e-01 1.72569995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.926875 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:97.56, Y:100.48, Z:17.26 [[-6.76095922e-01 7.34508941e-01 5.82316060e-02 9.75612919e+01] [-7.31499625e-01 -6.78594981e-01 6.64616417e-02 1.00483658e+02] [ 8.83323457e-02 2.33804693e-03 9.96088314e-01 1.72616239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.956875 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:97.61, Y:100.55, Z:17.26 [[-6.85366653e-01 7.25863938e-01 5.82588610e-02 9.76094939e+01] [-7.22825220e-01 -6.87829796e-01 6.64369883e-02 1.00548736e+02] [ 8.82963945e-02 3.42272232e-03 9.96088365e-01 1.72595108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.986875 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:97.61, Y:100.54, Z:17.25 [[-6.75663153e-01 7.34817091e-01 5.93561009e-02 9.76087467e+01] [-7.31897610e-01 -6.78264877e-01 6.54419179e-02 1.00536383e+02] [ 8.83469982e-02 7.74104181e-04 9.96089458e-01 1.72533343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.016875 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:97.61, Y:100.54, Z:17.25 [[-6.76784517e-01 7.33872577e-01 5.82559696e-02 9.76118749e+01] [-7.30862741e-01 -6.79282957e-01 6.64403435e-02 1.00541288e+02] [ 8.83310334e-02 2.38867820e-03 9.96088311e-01 1.72524439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.046875 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:97.52, Y:100.44, Z:17.27 [[-6.79859182e-01 7.31012716e-01 5.84114812e-02 9.75210326e+01] [-7.28004502e-01 -6.82359074e-01 6.62988651e-02 1.00444018e+02] [ 8.83229177e-02 2.55007100e-03 9.96088630e-01 1.72657040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.076875 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:97.59, Y:100.52, Z:17.26 [[-6.77978310e-01 7.32733508e-01 5.87113021e-02 9.75938681e+01] [-7.29755211e-01 -6.80512985e-01 6.60258180e-02 1.00524250e+02] [ 8.83331326e-02 1.91919384e-03 9.96089140e-01 1.72550098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.106875 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:97.59, Y:100.53, Z:17.26 [[-6.86518890e-01 7.24757649e-01 5.84650767e-02 9.75897485e+01] [-7.21730827e-01 -6.88996048e-01 6.62499733e-02 1.00532742e+02] [ 8.82973817e-02 3.28580996e-03 9.96088739e-01 1.72606475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.136875 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:97.60, Y:100.53, Z:17.25 [[-6.77798917e-01 7.32831888e-01 5.95487445e-02 9.76005149e+01] [-7.29920632e-01 -6.80409314e-01 6.52612914e-02 1.00534916e+02] [ 8.83430758e-02 7.68175401e-04 9.96089811e-01 1.72530955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.166875 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:97.59, Y:100.52, Z:17.25 [[-6.78254031e-01 7.32484603e-01 5.86325491e-02 9.75886422e+01] [-7.29499160e-01 -6.80780485e-01 6.60977096e-02 1.00524229e+02] [ 8.83314498e-02 2.05864263e-03 9.96089011e-01 1.72540933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19687499999998 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:97.59, Y:100.54, Z:17.26 [[-6.85100756e-01 7.26078477e-01 5.87111590e-02 9.75907017e+01] [-7.23075566e-01 -6.87606215e-01 6.60258974e-02 1.00541468e+02] [ 8.83101408e-02 2.78178764e-03 9.96089143e-01 1.72603447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22687499999998 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:97.58, Y:100.53, Z:17.26 [[-6.84487927e-01 7.26579364e-01 5.96548866e-02 9.75769371e+01] [-7.23652912e-01 -6.87081053e-01 6.51620265e-02 1.00529264e+02] [ 8.83331261e-02 1.43318806e-03 9.96089958e-01 1.72631897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25687499999998 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:97.58, Y:100.53, Z:17.26 [[-6.75996046e-01 7.34484041e-01 5.96870134e-02 9.75821579e+01] [-7.31590516e-01 -6.78625863e-01 6.51325859e-02 1.00527157e+02] [ 8.83439959e-02 3.62917632e-04 9.96089959e-01 1.72563589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28687499999998 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:97.58, Y:100.54, Z:17.26 [[-6.81577479e-01 7.29369377e-01 5.89275187e-02 9.75770750e+01] [-7.26395572e-01 -6.84116991e-01 6.58286862e-02 1.00537253e+02] [ 8.83267446e-02 2.06266132e-03 9.96089420e-01 1.72628643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31687499999998 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:97.57, Y:100.52, Z:17.26 [[-6.74907910e-01 7.35478391e-01 5.97565786e-02 9.75677667e+01] [-7.32594513e-01 -6.77548166e-01 6.50673700e-02 1.00521826e+02] [ 8.83436049e-02 1.37141124e-04 9.96090050e-01 1.72599639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34687499999998 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:97.57, Y:100.53, Z:17.26 [[-6.80655620e-01 7.30210299e-01 5.91679492e-02 9.75688776e+01] [-7.27258751e-01 -6.83220517e-01 6.56081864e-02 1.00533851e+02] [ 8.83325302e-02 1.62617202e-03 9.96089715e-01 1.72649073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37687499999998 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:97.57, Y:100.52, Z:17.26 [[-6.73345630e-01 7.36903556e-01 5.98231744e-02 9.75672085e+01] [-7.34030782e-01 -6.75997877e-01 6.50052417e-02 1.00524500e+02] [ 8.83429327e-02 -1.41056046e-04 9.96090110e-01 1.72581141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40687499999999 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:97.56, Y:100.53, Z:17.26 [[-6.81357777e-01 7.29562124e-01 5.90820294e-02 9.75648129e+01] [-7.26601236e-01 -6.83912104e-01 6.56877331e-02 1.00533579e+02] [ 8.83301971e-02 1.82777229e-03 9.96089572e-01 1.72631110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.436875 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:97.53, Y:100.50, Z:17.27 [[-6.81536975e-01 7.29327165e-01 5.99102456e-02 9.75300420e+01] [-7.26432086e-01 -6.84164715e-01 6.49235468e-02 1.00499125e+02] [ 8.83389825e-02 7.27073038e-04 9.96090205e-01 1.72673522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.466875 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:97.56, Y:100.53, Z:17.26 [[-6.73527800e-01 7.36727629e-01 5.99391628e-02 9.75627269e+01] [-7.33863799e-01 -6.76189562e-01 6.48968388e-02 1.00525763e+02] [ 8.83415304e-02 -2.77356652e-04 9.96090205e-01 1.72572283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.496875 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:97.56, Y:100.52, Z:17.26 [[-6.72626242e-01 7.37614420e-01 5.91515567e-02 9.75599101e+01] [-7.34689691e-01 -6.75221817e-01 6.56243568e-02 1.00523201e+02] [ 8.83458935e-02 6.82625575e-04 9.96089623e-01 1.72574619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.526875 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:97.56, Y:100.52, Z:17.26 [[-6.70116395e-01 7.39895099e-01 5.91545438e-02 9.75594015e+01] [-7.36979448e-01 -6.72722156e-01 6.56215951e-02 1.00524935e+02] [ 8.83476688e-02 3.78423722e-04 9.96089628e-01 1.72594007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.556875 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:97.55, Y:100.52, Z:17.27 [[-6.76886376e-01 7.33701241e-01 5.92226576e-02 9.75474031e+01] [-7.30767263e-01 -6.79471327e-01 6.55585533e-02 1.00523007e+02] [ 8.83404896e-02 1.09771219e-03 9.96089731e-01 1.72690490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.586875 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:97.56, Y:100.52, Z:17.26 [[-6.69440506e-01 7.40432242e-01 6.00791571e-02 9.75552842e+01] [-7.37595035e-01 -6.72130328e-01 6.47640939e-02 1.00521708e+02] [ 8.83344467e-02 -9.58380145e-04 9.96090411e-01 1.72620991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.616875 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:97.55, Y:100.51, Z:17.26 [[-6.69828948e-01 7.40139721e-01 5.93495947e-02 9.75459258e+01] [-7.37240982e-01 -6.72453112e-01 6.54411708e-02 1.00510108e+02] [ 8.83454295e-02 7.94371101e-05 9.96089895e-01 1.72624261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.646875 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:97.54, Y:100.51, Z:17.26 [[-6.71290294e-01 7.38808722e-01 5.94223348e-02 9.75436145e+01] [-7.35910758e-01 -6.73915164e-01 6.53736017e-02 1.00505127e+02] [ 8.83441996e-02 1.55128858e-04 9.96089995e-01 1.72632971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.676875 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:97.54, Y:100.50, Z:17.26 [[-6.71222938e-01 7.38863470e-01 5.95024397e-02 9.75425638e+01] [-7.35972318e-01 -6.73855156e-01 6.52991226e-02 1.00501718e+02] [ 8.83431621e-02 3.81204314e-05 9.96090098e-01 1.72623899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.706875 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:97.55, Y:100.51, Z:17.27 [[-6.79943122e-01 7.30853905e-01 5.94131414e-02 9.75465486e+01] [-7.27924485e-01 -6.82532865e-01 6.53822064e-02 1.00514234e+02] [ 8.83362624e-02 1.20790114e-03 9.96089979e-01 1.72691033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.736875 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:97.56, Y:100.51, Z:17.26 [[-6.74720246e-01 7.35610887e-01 6.02429451e-02 9.75553582e+01] [-7.32768324e-01 -6.77404103e-01 6.46085504e-02 1.00514096e+02] [ 8.83355712e-02 -5.51424923e-04 9.96090620e-01 1.72637159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.766875 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:97.54, Y:100.50, Z:17.27 [[-6.83124326e-01 7.27863620e-01 5.96297417e-02 9.75358783e+01] [-7.24940447e-01 -6.85720690e-01 6.51803909e-02 1.00499025e+02] [ 8.83317829e-02 1.29829903e-03 9.96090262e-01 1.72717775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.796875 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:97.53, Y:100.49, Z:17.27 [[-6.84189478e-01 7.26807572e-01 6.02952063e-02 9.75264143e+01] [-7.23934847e-01 -6.86840944e-01 6.45589262e-02 1.00488019e+02] [ 8.83351328e-02 5.20737024e-04 9.96090675e-01 1.72732720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.826875 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:97.53, Y:100.49, Z:17.27 [[-6.85414403e-01 7.25649904e-01 6.03267276e-02 9.75278080e+01] [-7.22775293e-01 -6.88063823e-01 6.45294580e-02 1.00488183e+02] [ 8.83344338e-02 6.26751707e-04 9.96090676e-01 1.72749231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.856875 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:97.54, Y:100.49, Z:17.27 [[-6.78411780e-01 7.32198287e-01 6.03583052e-02 9.75414204e+01] [-7.29351879e-01 -6.81091476e-01 6.44999081e-02 1.00490977e+02] [ 8.83362494e-02 -2.64945824e-04 9.96090677e-01 1.72661745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.886875 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:97.52, Y:100.48, Z:17.27 [[-6.89047776e-01 7.22269351e-01 5.94991364e-02 9.75222122e+01] [-7.19314416e-01 -6.91608379e-01 6.53040716e-02 1.00476730e+02] [ 8.83172307e-02 2.19903880e-03 9.96089971e-01 1.72736287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.916875 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:97.53, Y:100.49, Z:17.27 [[-6.90238497e-01 7.21054690e-01 6.04230989e-02 9.75320792e+01] [-7.18170463e-01 -6.92877305e-01 6.44377720e-02 1.00485527e+02] [ 8.83289517e-02 1.08334601e-03 9.96090770e-01 1.72729289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.94687499999998 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:97.53, Y:100.48, Z:17.27 [[-6.91434805e-01 7.19904698e-01 6.04577294e-02 9.75257046e+01] [-7.17018922e-01 -6.94071918e-01 6.44052642e-02 1.00477150e+02] [ 8.83276645e-02 1.18270533e-03 9.96090771e-01 1.72738913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97687499999998 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:97.53, Y:100.48, Z:17.27 [[-6.92434730e-01 7.18940352e-01 6.04889674e-02 9.75255000e+01] [-7.16053466e-01 -6.95070626e-01 6.43759125e-02 1.00475048e+02] [ 8.83265456e-02 1.26278281e-03 9.96090772e-01 1.72744917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00687499999998 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:97.52, Y:100.47, Z:17.27 [[-6.93974261e-01 7.17451487e-01 6.05234593e-02 9.75188910e+01] [-7.14561773e-01 -6.96607056e-01 6.43434684e-02 1.00465967e+02] [ 8.83243859e-02 1.40496050e-03 9.96090773e-01 1.72748171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03687499999998 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:97.50, Y:100.44, Z:17.28 [[-6.94786446e-01 7.16662344e-01 6.05547590e-02 9.74994490e+01] [-7.13772207e-01 -6.97418774e-01 6.43139984e-02 1.00444872e+02] [ 8.83234466e-02 1.46219038e-03 9.96090774e-01 1.72778036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06687499999998 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:97.51, Y:100.46, Z:17.28 [[-6.95456516e-01 7.16009165e-01 6.05896846e-02 9.75125694e+01] [-7.13119421e-01 -6.98089274e-01 6.42810785e-02 1.00457867e+02] [ 8.83228503e-02 1.49701412e-03 9.96090776e-01 1.72768451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09687499999998 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:97.53, Y:100.46, Z:17.27 [[-6.89254121e-01 7.21978818e-01 6.06246064e-02 9.75269592e+01] [-7.19114778e-01 -6.91914817e-01 6.42481264e-02 1.00463536e+02] [ 8.83328498e-02 6.87235510e-04 9.96090777e-01 1.72703042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12687499999998 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:97.49, Y:100.43, Z:17.28 [[-6.97833833e-01 7.13754718e-01 5.98510119e-02 9.74929842e+01] [-7.10796365e-01 -7.00390141e-01 6.49782823e-02 1.00433193e+02] [ 8.82976143e-02 2.80216208e-03 9.96090196e-01 1.72794344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15687499999999 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:97.51, Y:100.44, Z:17.27 [[-6.91517696e-01 7.19805575e-01 6.06894656e-02 9.75066789e+01] [-7.16938660e-01 -6.94175172e-01 6.41855792e-02 1.00437542e+02] [ 8.83302579e-02 8.74839694e-04 9.96090859e-01 1.72717874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.186875 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:97.51, Y:100.44, Z:17.27 [[-6.91904625e-01 7.19498814e-01 5.99119860e-02 9.75113587e+01] [-7.16566651e-01 -6.94490823e-01 6.49209650e-02 1.00441203e+02] [ 8.83188818e-02 1.98818478e-03 9.96090268e-01 1.72701724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.216875 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:97.49, Y:100.43, Z:17.28 [[-7.00146003e-01 7.11483508e-01 5.98898312e-02 9.74909812e+01] [-7.08519966e-01 -7.02696238e-01 6.49419447e-02 1.00427807e+02] [ 8.82894817e-02 3.03570187e-03 9.96090233e-01 1.72783742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.246875 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:97.51, Y:100.43, Z:17.27 [[-6.91302641e-01 7.20002947e-01 6.07981486e-02 9.75059675e+01] [-7.17146047e-01 -6.93970654e-01 6.40802455e-02 1.00433177e+02] [ 8.83300966e-02 6.97690993e-04 9.96091014e-01 1.72701849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.276875 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:97.48, Y:100.42, Z:17.28 [[-7.00240312e-01 7.11395853e-01 5.98284683e-02 9.74834109e+01] [-7.08427025e-01 -7.02784557e-01 6.50001284e-02 1.00419009e+02] [ 8.82873454e-02 3.13160632e-03 9.96090125e-01 1.72793787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.306875 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:97.50, Y:100.42, Z:17.27 [[-6.91071629e-01 7.20219531e-01 6.08591039e-02 9.74957752e+01] [-7.17368726e-01 -6.93745981e-01 6.40205100e-02 1.00421793e+02] [ 8.83295804e-02 5.84340379e-04 9.96091132e-01 1.72727398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.336875 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:97.51, Y:100.43, Z:17.27 [[-6.90257461e-01 7.21085570e-01 5.98350929e-02 9.75089026e+01] [-7.18153054e-01 -6.92843433e-01 6.49936006e-02 1.00433049e+02] [ 8.83222987e-02 1.89156295e-03 9.96090153e-01 1.72712037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.366875 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:97.50, Y:100.42, Z:17.27 [[-6.90059908e-01 7.21265252e-01 5.99479778e-02 9.75009840e+01] [-7.18342727e-01 -6.92656845e-01 6.48862244e-02 1.00423840e+02] [ 8.83235561e-02 1.71218817e-03 9.96090366e-01 1.72723836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.396875 meters Centerline goodness : 0.997181 Centerline is valid? [True, True] Translation: X:97.49, Y:100.41, Z:17.27 [[-6.89088968e-01 7.22188460e-01 6.00018568e-02 9.74857250e+01] [-7.19273880e-01 -6.91694673e-01 6.48349083e-02 1.00406141e+02] [ 8.83259873e-02 1.51925168e-03 9.96090464e-01 1.72746726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.426875 meters Centerline goodness : 0.997181 Centerline is valid? [True, True] Translation: X:97.48, Y:100.40, Z:17.28 [[-6.89475608e-01 7.21814782e-01 6.00566907e-02 9.74830517e+01] [-7.18903342e-01 -6.92084675e-01 6.47826219e-02 1.00403309e+02] [ 8.83253693e-02 1.49108198e-03 9.96090561e-01 1.72750576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.456875 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:97.51, Y:100.43, Z:17.27 [[-6.86211618e-01 7.24918010e-01 6.00624189e-02 9.75107501e+01] [-7.22018849e-01 -6.88834307e-01 6.47771565e-02 1.00429289e+02] [ 8.83311820e-02 1.08463880e-03 9.96090571e-01 1.72708552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.486875 meters Centerline goodness : 0.997089 Centerline is valid? [True, True] Translation: X:97.50, Y:100.42, Z:17.27 [[-6.85200076e-01 7.25878125e-01 6.00150306e-02 9.75044265e+01] [-7.22978674e-01 -6.87822574e-01 6.48224066e-02 1.00421437e+02] [ 8.83328598e-02 1.02673070e-03 9.96090484e-01 1.72711715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.516875 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:97.49, Y:100.42, Z:17.28 [[-6.92936644e-01 7.18495159e-01 6.00292786e-02 9.74913971e+01] [-7.15568955e-01 -6.95529217e-01 6.48087860e-02 1.00417265e+02] [ 8.83169161e-02 1.95329451e-03 9.96090511e-01 1.72787166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.546875 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:97.50, Y:100.42, Z:17.27 [[-6.81864245e-01 7.28922250e-01 6.11024172e-02 9.75034078e+01] [-7.26127001e-01 -6.84595926e-01 6.37808481e-02 1.00416645e+02] [ 8.83217452e-02 -8.78235163e-04 9.96091611e-01 1.72699910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.576875 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:97.49, Y:100.41, Z:17.28 [[-6.90549032e-01 7.20782746e-01 6.01187847e-02 9.74873948e+01] [-7.17872582e-01 -6.93159341e-01 6.47231322e-02 1.00409452e+02] [ 8.83232141e-02 1.53686906e-03 9.96090683e-01 1.72792575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.606875 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:97.50, Y:100.41, Z:17.27 [[-6.81923599e-01 7.28861762e-01 6.11615724e-02 9.75019230e+01] [-7.26071509e-01 -6.84660224e-01 6.37223788e-02 1.00413674e+02] [ 8.83197011e-02 -9.53881270e-04 9.96091723e-01 1.72708524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.636875 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:97.48, Y:100.40, Z:17.28 [[-6.90586060e-01 7.20737260e-01 6.02386624e-02 9.74847503e+01] [-7.17836945e-01 -6.93206974e-01 6.46081371e-02 1.00404859e+02] [ 8.83233526e-02 1.37594141e-03 9.96090906e-01 1.72800173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.666875 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:97.49, Y:100.40, Z:17.27 [[-6.82644303e-01 7.28181492e-01 6.12247465e-02 9.74905163e+01] [-7.25394111e-01 -6.85383690e-01 6.36598877e-02 1.00399430e+02] [ 8.83183947e-02 -9.55010857e-04 9.96091838e-01 1.72718621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69687499999998 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:97.49, Y:100.40, Z:17.28 [[-6.91680114e-01 7.19681721e-01 6.03062169e-02 9.74850319e+01] [-7.16783082e-01 -6.94302681e-01 6.45430081e-02 1.00400510e+02] [ 8.83211913e-02 1.41663917e-03 9.96091040e-01 1.72793839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72687499999998 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:97.48, Y:100.39, Z:17.28 [[-6.92097208e-01 7.19197916e-01 6.12846821e-02 9.74772496e+01] [-7.16380248e-01 -6.94805256e-01 6.36002806e-02 1.00392229e+02] [ 8.83221086e-02 1.14440847e-04 9.96091960e-01 1.72803597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75687499999998 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:97.47, Y:100.39, Z:17.28 [[-6.92561925e-01 7.18748062e-01 6.13123435e-02 9.74731363e+01] [-7.15930997e-01 -6.95270598e-01 6.35736032e-02 1.00387839e+02] [ 8.83220739e-02 1.33249769e-04 9.96091960e-01 1.72806282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78687499999998 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:97.47, Y:100.39, Z:17.28 [[-6.92865501e-01 7.18452783e-01 6.13432683e-02 9.74715605e+01] [-7.15637205e-01 -6.95575721e-01 6.35437495e-02 1.00385805e+02] [ 8.83220717e-02 1.27746726e-04 9.96091961e-01 1.72807038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81687499999998 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:97.50, Y:100.40, Z:17.27 [[-6.83854629e-01 7.27032362e-01 6.13741904e-02 9.74987958e+01] [-7.24253461e-01 -6.86602441e-01 6.35138692e-02 1.00402286e+02] [ 8.83163073e-02 -1.01621631e-03 9.96091962e-01 1.72718903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84687499999998 meters Centerline goodness : 0.996994 Centerline is valid? [True, True] Translation: X:97.47, Y:100.39, Z:17.28 [[-6.93847074e-01 7.17591032e-01 6.03270184e-02 9.74733786e+01] [-7.14686019e-01 -6.96462755e-01 6.45253874e-02 1.00385960e+02] [ 8.83183607e-02 1.65587460e-03 9.96090922e-01 1.72810665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87687499999998 meters Centerline goodness : 0.997178 Centerline is valid? [True, True] Translation: X:97.47, Y:100.38, Z:17.28 [[-6.94629383e-01 7.16739754e-01 6.14340695e-02 9.74699629e+01] [-7.13925450e-01 -6.97340718e-01 6.34537182e-02 1.00382455e+02] [ 8.83202805e-02 2.17471416e-04 9.96092105e-01 1.72835358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90687499999999 meters Centerline goodness : 0.997288 Centerline is valid? [True, True] Translation: X:97.46, Y:100.38, Z:17.28 [[-6.95692525e-01 7.15704700e-01 6.14710752e-02 9.74639118e+01] [-7.12889530e-01 -6.98402960e-01 6.34178486e-02 1.00375458e+02] [ 8.83200332e-02 2.97237290e-04 9.96092106e-01 1.72838208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.936875 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:97.46, Y:100.37, Z:17.28 [[-6.97035214e-01 7.14393913e-01 6.15081203e-02 9.74616581e+01] [-7.11576817e-01 -6.99743645e-01 6.33818989e-02 1.00372206e+02] [ 8.83195590e-02 4.11662929e-04 9.96092107e-01 1.72844393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.966875 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:97.46, Y:100.37, Z:17.28 [[-6.99525666e-01 7.11952821e-01 6.15388048e-02 9.74585052e+01] [-7.09128895e-01 -7.02226974e-01 6.33520928e-02 1.00366877e+02] [ 8.83179098e-02 6.77470209e-04 9.96092108e-01 1.72838793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.996875 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:97.47, Y:100.36, Z:17.28 [[-6.91889260e-01 7.19373379e-01 6.15726758e-02 9.74655479e+01] [-7.16581356e-01 -6.94623527e-01 6.33191562e-02 1.00362132e+02] [ 8.83199445e-02 -3.11987427e-04 9.96092109e-01 1.72771289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.026875 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:97.46, Y:100.36, Z:17.28 [[-7.02163066e-01 7.09439897e-01 6.05149646e-02 9.74563201e+01] [-7.06519844e-01 -7.04761762e-01 6.43472514e-02 1.00362014e+02] [ 8.82991405e-02 2.42723994e-03 9.96091045e-01 1.72837590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.056875 meters Centerline goodness : 0.996748 Centerline is valid? [True, True] Translation: X:97.46, Y:100.36, Z:17.27 [[-6.95032663e-01 7.16332023e-01 6.16281633e-02 9.74620788e+01] [-7.13533015e-01 -6.97759581e-01 6.32629683e-02 1.00355425e+02] [ 8.83189314e-02 -3.89986115e-06 9.96092248e-01 1.72747683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.086875 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:97.46, Y:100.36, Z:17.28 [[-6.96385639e-01 7.15096925e-01 6.06912712e-02 9.74621195e+01] [-7.12212938e-01 -6.99023776e-01 6.41754784e-02 1.00355197e+02] [ 8.83163288e-02 1.46577296e-03 9.96091400e-01 1.72750023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.116875 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:97.46, Y:100.35, Z:17.28 [[-6.97340762e-01 7.14176961e-01 6.05568316e-02 9.74556874e+01] [-7.11278103e-01 -6.99962951e-01 6.43065162e-02 1.00347916e+02] [ 8.83137708e-02 1.77080675e-03 9.96091131e-01 1.72755947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.146875 meters Centerline goodness : 0.996941 Centerline is valid? [True, True] Translation: X:97.45, Y:100.34, Z:17.28 [[-6.99040999e-01 7.12510226e-01 6.05876148e-02 9.74521215e+01] [-7.09607718e-01 -7.01659049e-01 6.42764805e-02 1.00344363e+02] [ 8.83094978e-02 1.93845606e-03 9.96091198e-01 1.72766264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.176875 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:97.45, Y:100.35, Z:17.28 [[-7.08719790e-01 7.02872118e-01 6.07210484e-02 9.74455409e+01] [-6.99945176e-01 -7.11310075e-01 6.41461442e-02 1.00347291e+02] [ 8.82780297e-02 2.96023691e-03 9.96091475e-01 1.72840489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.206875 meters Centerline goodness : 0.996660 Centerline is valid? [True, True] Translation: X:97.45, Y:100.34, Z:17.28 [[-6.98782511e-01 7.12661646e-01 6.17768660e-02 9.74505010e+01] [-7.09861575e-01 -7.01507888e-01 6.31128106e-02 1.00340063e+02] [ 8.83150382e-02 2.49104881e-04 9.96092562e-01 1.72758776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.236875 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:97.45, Y:100.34, Z:17.28 [[-7.00323402e-01 7.11248865e-01 6.05985512e-02 9.74477612e+01] [-7.08342585e-01 -7.02937207e-01 6.42655891e-02 1.00338125e+02] [ 8.83058036e-02 2.08216161e-03 9.96091236e-01 1.72765665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.266875 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:97.44, Y:100.33, Z:17.28 [[-7.01449757e-01 7.10124670e-01 6.07551762e-02 9.74366956e+01] [-7.07227466e-01 -7.04073105e-01 6.41122015e-02 1.00327647e+02] [ 8.83037415e-02 2.00375883e-03 9.96091579e-01 1.72792390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.296875 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:97.44, Y:100.34, Z:17.29 [[-7.09139341e-01 7.02428910e-01 6.09509804e-02 9.74350874e+01] [-6.99519707e-01 -7.11748818e-01 6.39202540e-02 1.00335753e+02] [ 8.82812226e-02 2.69195481e-03 9.96091953e-01 1.72865262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.326875 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:97.43, Y:100.33, Z:17.29 [[-7.09366413e-01 7.02118024e-01 6.18835398e-02 9.74326700e+01] [-6.99286908e-01 -7.12059174e-01 6.30043906e-02 1.00333208e+02] [ 8.83012604e-02 1.41884942e-03 9.96092804e-01 1.72875820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.356875 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:97.43, Y:100.33, Z:17.29 [[-7.09700278e-01 7.01777569e-01 6.19173587e-02 9.74295002e+01] [-6.98948060e-01 -7.12394726e-01 6.29711377e-02 1.00329045e+02] [ 8.83013317e-02 1.41361625e-03 9.96092805e-01 1.72892251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.386875 meters Centerline goodness : 0.996942 Centerline is valid? [True, True] Translation: X:97.43, Y:100.32, Z:17.28 [[-7.03895821e-01 7.07597253e-01 6.19419160e-02 9.74326226e+01] [-7.04792151e-01 -7.06615669e-01 6.29469726e-02 1.00320411e+02] [ 8.83102333e-02 6.51934768e-04 9.96092806e-01 1.72828538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41687499999998 meters Centerline goodness : 0.996877 Centerline is valid? [True, True] Translation: X:97.43, Y:100.31, Z:17.28 [[-7.04582910e-01 7.06974070e-01 6.12420460e-02 9.74270992e+01] [-7.04106357e-01 -7.07237386e-01 6.36358130e-02 1.00313497e+02] [ 8.83015343e-02 1.71579238e-03 9.96092313e-01 1.72832292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.44687499999998 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:97.41, Y:100.30, Z:17.29 [[-7.10719562e-01 7.00801877e-01 6.12734326e-02 9.74087242e+01] [-6.97913784e-01 -7.13351784e-01 6.36048896e-02 1.00301603e+02] [ 8.82839385e-02 2.44166614e-03 9.96092357e-01 1.72895668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47687499999998 meters Centerline goodness : 0.996744 Centerline is valid? [True, True] Translation: X:97.41, Y:100.30, Z:17.29 [[-7.10902286e-01 7.00549449e-01 6.20355520e-02 9.74099209e+01] [-6.97725603e-01 -7.13602490e-01 6.28527502e-02 1.00302697e+02] [ 8.83001839e-02 1.39837087e-03 9.96092928e-01 1.72892215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50687499999998 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:97.42, Y:100.32, Z:17.29 [[-7.10443805e-01 7.01011649e-01 6.20666436e-02 9.74234350e+01] [-6.98192242e-01 -7.13148642e-01 6.28220326e-02 1.00315027e+02] [ 8.83017193e-02 1.29707480e-03 9.96092929e-01 1.72862388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53687499999998 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:97.42, Y:100.31, Z:17.29 [[-7.10443643e-01 7.01008807e-01 6.21005806e-02 9.74212008e+01] [-6.98192321e-01 -7.13151520e-01 6.27884676e-02 1.00312438e+02] [ 8.83023922e-02 1.24951916e-03 9.96092931e-01 1.72856848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56687499999998 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:97.42, Y:100.31, Z:17.29 [[-7.10292585e-01 7.01159166e-01 6.21310451e-02 9.74186664e+01] [-6.98345890e-01 -7.13003796e-01 6.27583076e-02 1.00310076e+02] [ 8.83032337e-02 1.18780061e-03 9.96092931e-01 1.72858314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59687499999998 meters Centerline goodness : 0.996714 Centerline is valid? [True, True] Translation: X:97.41, Y:100.29, Z:17.29 [[-7.06424078e-01 7.05054154e-01 6.21583597e-02 9.74068933e+01] [-7.02258209e-01 -7.09153156e-01 6.27312426e-02 1.00293586e+02] [ 8.83087202e-02 6.63641912e-04 9.96092932e-01 1.72875311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62687499999998 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:97.41, Y:100.31, Z:17.29 [[-7.08819536e-01 7.02676998e-01 6.18053570e-02 9.74094254e+01] [-6.99841316e-01 -7.11507489e-01 6.30811044e-02 1.00305093e+02] [ 8.83006154e-02 1.45917678e-03 9.96092803e-01 1.72884443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65687499999999 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:97.41, Y:100.31, Z:17.29 [[-7.08358957e-01 7.03105293e-01 6.22136262e-02 9.74118826e+01] [-7.00306700e-01 -7.11085270e-01 6.26758668e-02 1.00309974e+02] [ 8.83069268e-02 8.28392323e-04 9.96092968e-01 1.72895051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.686875 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:97.41, Y:100.31, Z:17.29 [[-7.07936001e-01 7.03528184e-01 6.22471840e-02 9.74058682e+01] [-7.00734151e-01 -7.10666985e-01 6.26425209e-02 1.00305814e+02] [ 8.83077976e-02 7.28168097e-04 9.96092969e-01 1.72900059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.716875 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:97.40, Y:100.30, Z:17.29 [[-7.07139323e-01 7.04325712e-01 6.22837838e-02 9.73982161e+01] [-7.01537965e-01 -7.09876721e-01 6.26061098e-02 1.00302336e+02] [ 8.83089010e-02 5.76803208e-04 9.96092970e-01 1.72915140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.746875 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:97.39, Y:100.29, Z:17.29 [[-7.07108671e-01 7.04354076e-01 6.23110222e-02 9.73881826e+01] [-7.01568828e-01 -7.09848611e-01 6.25789881e-02 1.00294481e+02] [ 8.83091578e-02 5.34674274e-04 9.96092971e-01 1.72926210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.776875 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:97.39, Y:100.30, Z:17.29 [[-7.07612651e-01 7.03845339e-01 6.23383999e-02 9.73910534e+01] [-7.01060524e-01 -7.10353029e-01 6.25517038e-02 1.00299581e+02] [ 8.83089964e-02 5.59385667e-04 9.96092972e-01 1.72924206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.806875 meters Centerline goodness : 0.997759 Centerline is valid? [True, True] Translation: X:97.38, Y:100.29, Z:17.29 [[-7.08022239e-01 7.03430336e-01 6.23720380e-02 9.73771918e+01] [-7.00646871e-01 -7.10763986e-01 6.25181444e-02 1.00287476e+02] [ 8.83089577e-02 5.63463323e-04 9.96092973e-01 1.72936643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.836875 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:97.38, Y:100.30, Z:17.29 [[-7.08521621e-01 7.02924906e-01 6.23994298e-02 9.73847397e+01] [-7.00141893e-01 -7.11263826e-01 6.24907928e-02 1.00296687e+02] [ 8.83087919e-02 5.87622887e-04 9.96092974e-01 1.72913738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.866875 meters Centerline goodness : 0.997488 Centerline is valid? [True, True] Translation: X:97.38, Y:100.30, Z:17.29 [[-7.09718594e-01 7.01713632e-01 6.24299303e-02 9.73807752e+01] [-6.98928619e-01 -7.12458767e-01 6.24603072e-02 1.00295881e+02] [ 8.83080002e-02 6.95176414e-04 9.96092975e-01 1.72909095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.896875 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:97.36, Y:100.28, Z:17.29 [[-7.10821738e-01 7.00593723e-01 6.24571248e-02 9.73638214e+01] [-6.97806782e-01 -7.13559950e-01 6.24331023e-02 1.00280274e+02] [ 8.83071425e-02 7.95800994e-04 9.96092975e-01 1.72935161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.926875 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:97.36, Y:100.28, Z:17.29 [[-7.11803719e-01 6.99593283e-01 6.24876421e-02 9.73629168e+01] [-6.96805175e-01 -7.14540741e-01 6.24025435e-02 1.00280231e+02] [ 8.83063664e-02 8.76650108e-04 9.96092976e-01 1.72935534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.956875 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:97.36, Y:100.27, Z:17.29 [[-7.10821434e-01 7.00588854e-01 6.25151762e-02 9.73558241e+01] [-6.97807006e-01 -7.13564817e-01 6.23749477e-02 1.00269707e+02] [ 8.83078234e-02 7.13921791e-04 9.96092977e-01 1.72888432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.986875 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:97.37, Y:100.29, Z:17.29 [[-7.15173486e-01 6.96163396e-01 6.23170131e-02 9.73673618e+01] [-6.93347242e-01 -7.17881705e-01 6.25736302e-02 1.00285888e+02] [ 8.82977145e-02 1.54367214e-03 9.96092933e-01 1.72920574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.016875 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:97.35, Y:100.27, Z:17.29 [[-7.16205720e-01 6.95079940e-01 6.25559284e-02 9.73531675e+01] [-6.92280580e-01 -7.18931212e-01 6.23338709e-02 1.00271771e+02] [ 8.83004327e-02 1.33762046e-03 9.96092990e-01 1.72934815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.046875 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:97.36, Y:100.28, Z:17.29 [[-7.14603356e-01 6.96724749e-01 6.25832901e-02 9.73607193e+01] [-6.93934068e-01 -7.17337734e-01 6.23063877e-02 1.00275870e+02] [ 8.83037578e-02 1.09567671e-03 9.96092991e-01 1.72887186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.076875 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:97.36, Y:100.28, Z:17.29 [[-7.17469757e-01 6.93785538e-01 6.24401680e-02 9.73585370e+01] [-6.90971128e-01 -7.20179745e-01 6.24502600e-02 1.00277173e+02] [ 8.82952315e-02 1.66181953e-03 9.96092963e-01 1.72918026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.106875 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:97.34, Y:100.26, Z:17.30 [[-7.17905663e-01 6.93316685e-01 6.26373083e-02 9.73378982e+01] [-6.90517774e-01 -7.20631601e-01 6.22519042e-02 1.00257275e+02] [ 8.82987076e-02 1.43881987e-03 9.96093002e-01 1.72957995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.136875 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:97.36, Y:100.28, Z:17.29 [[-7.18110610e-01 6.93101925e-01 6.26647758e-02 9.73569983e+01] [-6.90304611e-01 -7.20838184e-01 6.22242423e-02 1.00276187e+02] [ 8.82989053e-02 1.42610489e-03 9.96093002e-01 1.72933986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16687499999998 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:97.36, Y:100.28, Z:17.29 [[-7.13030267e-01 6.98324238e-01 6.26984658e-02 9.73633343e+01] [-6.95549890e-01 -7.15781196e-01 6.21902771e-02 1.00276663e+02] [ 8.83073607e-02 7.33638856e-04 9.96093004e-01 1.72865669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19687499999998 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:97.37, Y:100.28, Z:17.29 [[-7.13776454e-01 6.97601731e-01 6.22494964e-02 9.73657947e+01] [-6.94784983e-01 -7.16484253e-01 6.26429723e-02 1.00278975e+02] [ 8.83006298e-02 1.46306330e-03 9.96092796e-01 1.72899226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22687499999998 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:97.34, Y:100.26, Z:17.30 [[-7.18623844e-01 6.92602200e-01 6.23054103e-02 9.73396940e+01] [-6.89771506e-01 -7.21316986e-01 6.25865444e-02 1.00258373e+02] [ 8.82895291e-02 1.99968643e-03 9.96092847e-01 1.72963362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25687499999998 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:97.35, Y:100.27, Z:17.29 [[-7.13847573e-01 6.97482065e-01 6.27727026e-02 9.73539270e+01] [-6.94711146e-01 -7.16601866e-01 6.21143268e-02 1.00266210e+02] [ 8.83066647e-02 7.31265273e-04 9.96093067e-01 1.72898618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28687499999998 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:97.34, Y:100.26, Z:17.29 [[-7.19472731e-01 6.91723936e-01 6.22654415e-02 9.73449573e+01] [-6.88886452e-01 -7.22158785e-01 6.26270352e-02 1.00261921e+02] [ 8.82861549e-02 2.16462500e-03 9.96092802e-01 1.72946771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31687499999998 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:97.34, Y:100.26, Z:17.30 [[-7.19807174e-01 6.91325290e-01 6.28249620e-02 9.73420865e+01] [-6.88535498e-01 -7.22542277e-01 6.20606638e-02 1.00259296e+02] [ 8.82977976e-02 1.41449454e-03 9.96093117e-01 1.72954394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34687499999998 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:97.34, Y:100.25, Z:17.30 [[-7.20267362e-01 6.90843078e-01 6.28551501e-02 9.73359782e+01] [-6.88054121e-01 -7.23003317e-01 6.20300743e-02 1.00252864e+02] [ 8.82975294e-02 1.43049289e-03 9.96093118e-01 1.72965308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37687499999998 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:97.34, Y:100.25, Z:17.29 [[-7.14632212e-01 6.96667384e-01 6.28916390e-02 9.73375012e+01] [-6.93903986e-01 -7.17393978e-01 6.19930567e-02 1.00246638e+02] [ 8.83066237e-02 6.61476301e-04 9.96093119e-01 1.72922606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40687499999999 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:97.35, Y:100.26, Z:17.29 [[-7.14854133e-01 6.96496827e-01 6.22554302e-02 9.73490152e+01] [-6.93676289e-01 -7.17558106e-01 6.26384159e-02 1.00256970e+02] [ 8.82993464e-02 1.59221476e-03 9.96092712e-01 1.72904363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.436875 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:97.34, Y:100.25, Z:17.29 [[-7.14844401e-01 6.96511028e-01 6.22082810e-02 9.73394062e+01] [-6.93686379e-01 -7.17544172e-01 6.26862646e-02 1.00246304e+02] [ 8.82988641e-02 1.65788805e-03 9.96092647e-01 1.72910259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.466875 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:97.33, Y:100.24, Z:17.30 [[-7.23353675e-01 6.87673087e-01 6.21706196e-02 9.73279674e+01] [-6.84812188e-01 -7.26015084e-01 6.27245110e-02 1.00241128e+02] [ 8.82707657e-02 2.79680749e-03 9.96092591e-01 1.72994506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.496875 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:97.33, Y:100.24, Z:17.30 [[-7.24475623e-01 6.86417479e-01 6.29771021e-02 9.73264421e+01] [-6.83622745e-01 -7.27205487e-01 6.19041332e-02 1.00238332e+02] [ 8.82893733e-02 1.79545602e-03 9.96093250e-01 1.72993410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.526875 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:97.32, Y:100.23, Z:17.30 [[-7.25882289e-01 6.84927272e-01 6.30042345e-02 9.73219920e+01] [-6.82129330e-01 -7.28608863e-01 6.18765064e-02 1.00232692e+02] [ 8.82863504e-02 1.93802390e-03 9.96093251e-01 1.72998693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.556875 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:97.32, Y:100.23, Z:17.30 [[-7.28535590e-01 6.82101852e-01 6.30313952e-02 9.73176918e+01] [-6.79295728e-01 -7.31253743e-01 6.18488265e-02 1.00225389e+02] [ 8.82791428e-02 2.24211380e-03 9.96093252e-01 1.73006675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.586875 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:97.31, Y:100.21, Z:17.30 [[-7.29886897e-01 6.80653162e-01 6.30586339e-02 9.73077933e+01] [-6.77844040e-01 -7.32601949e-01 6.18210426e-02 1.00214015e+02] [ 8.82755662e-02 2.37844973e-03 9.96093252e-01 1.73013461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.616875 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:97.32, Y:100.23, Z:17.30 [[-7.31294485e-01 6.79138078e-01 6.30860345e-02 9.73211016e+01] [-6.76325740e-01 -7.34006206e-01 6.17930688e-02 1.00225316e+02] [ 8.82715667e-02 2.52222146e-03 9.96093253e-01 1.72990568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.646875 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:97.32, Y:100.22, Z:17.30 [[-7.33350403e-01 6.76914982e-01 6.31133303e-02 9.73191824e+01] [-6.74096821e-01 -7.36056070e-01 6.17651772e-02 1.00220545e+02] [ 8.82647238e-02 2.75102227e-03 9.96093254e-01 1.72975953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.676875 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:97.30, Y:100.20, Z:17.30 [[-7.34335441e-01 6.75843730e-01 6.31404214e-02 9.73019627e+01] [-6.73023999e-01 -7.37039470e-01 6.17374706e-02 1.00202900e+02] [ 8.82618652e-02 2.84099373e-03 9.96093255e-01 1.73009121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.706875 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:97.31, Y:100.20, Z:17.29 [[-7.25416897e-01 6.85405108e-01 6.31677337e-02 9.73090196e+01] [-6.82623473e-01 -7.28160099e-01 6.17095130e-02 1.00197621e+02] [ 8.82922387e-02 1.64534569e-03 9.96093255e-01 1.72932837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.736875 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:97.31, Y:100.21, Z:17.30 [[-7.35499876e-01 6.74675997e-01 6.20663548e-02 9.73122290e+01] [-6.71758699e-01 -7.38100160e-01 6.28363241e-02 1.00210405e+02] [ 8.82053460e-02 4.52249478e-03 9.96092046e-01 1.72986026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.766875 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:97.30, Y:100.18, Z:17.30 [[-7.28566707e-01 6.82051289e-01 6.32186079e-02 9.72950512e+01] [-6.79261754e-01 -7.31301667e-01 6.16550218e-02 1.00180912e+02] [ 8.82837604e-02 1.97781374e-03 9.96093402e-01 1.72960374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.796875 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:97.30, Y:100.19, Z:17.30 [[-7.36834082e-01 6.73196943e-01 6.23009791e-02 9.73000778e+01] [-6.70294652e-01 -7.39450365e-01 6.25958235e-02 1.00193875e+02] [ 8.82077988e-02 4.36272306e-03 9.96092541e-01 1.73006693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.826875 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:97.30, Y:100.20, Z:17.30 [[-7.37014181e-01 6.72908442e-01 6.32797372e-02 9.73049891e+01] [-6.70090546e-01 -7.39719737e-01 6.15903432e-02 1.00197844e+02] [ 8.82539325e-02 2.98980268e-03 9.96093522e-01 1.73003585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.856875 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:97.30, Y:100.19, Z:17.30 [[-7.37136336e-01 6.72772061e-01 6.33070043e-02 9.72994829e+01] [-6.69956067e-01 -7.39843870e-01 6.15623034e-02 1.00191631e+02] [ 8.82546968e-02 2.96689909e-03 9.96093523e-01 1.73015171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.886875 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:97.30, Y:100.18, Z:17.30 [[-7.30645376e-01 6.79812416e-01 6.33436122e-02 9.72970075e+01] [-6.77025788e-01 -7.33383123e-01 6.15246134e-02 1.00178928e+02] [ 8.82803322e-02 2.06741533e-03 9.96093524e-01 1.72961610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91687499999998 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:97.28, Y:100.17, Z:17.30 [[-7.36455082e-01 6.73572434e-01 6.27223152e-02 9.72778657e+01] [-6.70707819e-01 -7.39111886e-01 6.21662426e-02 1.00168659e+02] [ 8.82322760e-02 3.71429804e-03 9.96093002e-01 1.73032155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.94687499999998 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:97.28, Y:100.17, Z:17.30 [[-7.35476576e-01 6.74569467e-01 6.34841711e-02 9.72826632e+01] [-6.71775925e-01 -7.38207158e-01 6.13783243e-02 1.00173326e+02] [ 8.82684130e-02 2.49518207e-03 9.96093601e-01 1.73030174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97687499999998 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:97.29, Y:100.18, Z:17.30 [[-7.34518550e-01 6.75609940e-01 6.35114876e-02 9.72861885e+01] [-6.72822707e-01 -7.37255571e-01 6.13500455e-02 1.00176351e+02] [ 8.82728986e-02 2.33077545e-03 9.96093601e-01 1.73026069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00687499999998 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:97.29, Y:100.18, Z:17.30 [[-7.32552140e-01 6.77739041e-01 6.35386075e-02 9.72897556e+01] [-6.74962198e-01 -7.35299701e-01 6.13219454e-02 1.00179204e+02] [ 8.82801955e-02 2.03536422e-03 9.96093602e-01 1.73011974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03687499999998 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:97.29, Y:100.18, Z:17.30 [[-7.32005622e-01 6.78325886e-01 6.35748522e-02 9.72903963e+01] [-6.75554508e-01 -7.34758692e-01 6.12843462e-02 1.00179305e+02] [ 8.82829337e-02 1.91220786e-03 9.96093604e-01 1.73005968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06687499999998 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:97.28, Y:100.17, Z:17.30 [[-7.31400638e-01 6.78975655e-01 6.36016232e-02 9.72837084e+01] [-6.76209137e-01 -7.34158592e-01 6.12565504e-02 1.00172371e+02] [ 8.82853846e-02 1.79508127e-03 9.96093604e-01 1.73009152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09687499999998 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:97.29, Y:100.17, Z:17.30 [[-7.30538382e-01 6.79901076e-01 6.36254682e-02 9.72863452e+01] [-6.77140208e-01 -7.33301990e-01 6.12317733e-02 1.00174348e+02] [ 8.82882310e-02 1.64879776e-03 9.96093605e-01 1.72985450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12687499999998 meters Centerline goodness : 0.997284 Centerline is valid? [True, True] Translation: X:97.28, Y:100.17, Z:17.30 [[-7.30424662e-01 6.80020738e-01 6.36522560e-02 9.72820742e+01] [-6.77262749e-01 -7.33191142e-01 6.12039140e-02 1.00169660e+02] [ 8.82892010e-02 1.59554634e-03 9.96093606e-01 1.72980566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15687499999999 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:97.28, Y:100.17, Z:17.30 [[-7.30295923e-01 6.80156489e-01 6.36790015e-02 9.72836129e+01] [-6.77401440e-01 -7.33065329e-01 6.11760744e-02 1.00170989e+02] [ 8.82901722e-02 1.54039036e-03 9.96093606e-01 1.72978396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.186875 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:97.28, Y:100.17, Z:17.30 [[-7.30107266e-01 6.80356496e-01 6.37057155e-02 9.72807333e+01] [-6.77604632e-01 -7.32879837e-01 6.11482432e-02 1.00167795e+02] [ 8.82912389e-02 1.47748882e-03 9.96093607e-01 1.72984859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.216875 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:97.27, Y:100.16, Z:17.30 [[-7.29928904e-01 6.80545354e-01 6.37323777e-02 9.72695831e+01] [-6.77796633e-01 -7.32704590e-01 6.11204417e-02 1.00156918e+02] [ 8.82922383e-02 1.41598602e-03 9.96093608e-01 1.72994533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.246875 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:97.27, Y:100.16, Z:17.30 [[-7.28891129e-01 6.81654232e-01 6.37591566e-02 9.72696128e+01] [-6.78912177e-01 -7.31673399e-01 6.10924940e-02 1.00156915e+02] [ 8.82948359e-02 1.24290917e-03 9.96093609e-01 1.72995799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.276875 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:97.30, Y:100.17, Z:17.29 [[-7.18929351e-01 6.92150223e-01 6.37860227e-02 9.72956598e+01] [-6.89451284e-01 -7.21753464e-01 6.10644306e-02 1.00170851e+02] [ 8.83035421e-02 -7.63437531e-05 9.96093609e-01 1.72920558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.306875 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:97.28, Y:100.16, Z:17.30 [[-7.28101512e-01 6.82601740e-01 6.26342813e-02 9.72761214e+01] [-6.79761462e-01 -7.30785364e-01 6.22664118e-02 1.00162761e+02] [ 8.82753770e-02 2.75989795e-03 9.96092285e-01 1.72986371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.336875 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:97.26, Y:100.15, Z:17.30 [[-7.28084322e-01 6.82510295e-01 6.38194111e-02 9.72644672e+01] [-6.79777228e-01 -7.30875225e-01 6.10272469e-02 1.00151994e+02] [ 8.82957507e-02 1.04999935e-03 9.96093750e-01 1.73018665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.366875 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:97.27, Y:100.16, Z:17.30 [[-7.27984435e-01 6.82614617e-01 6.38431388e-02 9.72734525e+01] [-6.79884127e-01 -7.30777859e-01 6.10024143e-02 1.00158771e+02] [ 8.82962919e-02 1.00287139e-03 9.96093750e-01 1.72999266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.396875 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:97.27, Y:100.15, Z:17.30 [[-7.28369666e-01 6.82201055e-01 6.38697865e-02 9.72693967e+01] [-6.79471426e-01 -7.31163929e-01 6.09745013e-02 1.00154667e+02] [ 8.82961532e-02 1.01428224e-03 9.96093751e-01 1.73009896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.426875 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:97.27, Y:100.15, Z:17.30 [[-7.22431983e-01 6.88483598e-01 6.38933906e-02 9.72742617e+01] [-6.85780459e-01 -7.25251880e-01 6.09497574e-02 1.00151068e+02] [ 8.83017099e-02 2.15215359e-04 9.96093751e-01 1.72992341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.456875 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:97.27, Y:100.15, Z:17.30 [[-7.29326109e-01 6.81249554e-01 6.31068248e-02 9.72667036e+01] [-6.78446690e-01 -7.32047834e-01 6.17742451e-02 1.00151054e+02] [ 8.82808914e-02 2.23895344e-03 9.96093104e-01 1.73009922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.486875 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:97.24, Y:100.13, Z:17.30 [[-7.30714246e-01 6.79681767e-01 6.39483169e-02 9.72448430e+01] [-6.76949843e-01 -7.33506133e-01 6.08905913e-02 1.00129266e+02] [ 8.82927073e-02 1.20381945e-03 9.96093845e-01 1.73025770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.516875 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:97.27, Y:100.15, Z:17.30 [[-7.26426887e-01 6.84259851e-01 6.39721316e-02 9.72701502e+01] [-6.81547728e-01 -7.29238012e-01 6.08655612e-02 1.00145702e+02] [ 8.82987699e-02 6.14319210e-04 9.96093846e-01 1.72972517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.546875 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:97.27, Y:100.14, Z:17.29 [[-7.25863218e-01 6.84916874e-01 6.33361215e-02 9.72707607e+01] [-6.82148694e-01 -7.28619752e-01 6.15338731e-02 1.00142938e+02] [ 8.82935371e-02 1.46052263e-03 9.96093428e-01 1.72938913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.576875 meters Centerline goodness : 0.997385 Centerline is valid? [True, True] Translation: X:97.25, Y:100.13, Z:17.30 [[-7.34179248e-01 6.76017697e-01 6.30944120e-02 9.72472224e+01] [-6.73194259e-01 -7.36879725e-01 6.17880332e-02 1.00128833e+02] [ 8.82627968e-02 2.88869585e-03 9.96093035e-01 1.72990188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.606875 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:97.26, Y:100.13, Z:17.30 [[-7.28745945e-01 6.81782386e-01 6.40478322e-02 9.72588587e+01] [-6.79067912e-01 -7.31554600e-01 6.07835338e-02 1.00132783e+02] [ 8.82956290e-02 8.02926107e-04 9.96093990e-01 1.72951941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.636875 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:97.25, Y:100.13, Z:17.30 [[-7.34913102e-01 6.75198771e-01 6.33194401e-02 9.72516561e+01] [-6.72392712e-01 -7.37631039e-01 6.15507192e-02 1.00133429e+02] [ 8.82653543e-02 2.65889988e-03 9.96093448e-01 1.72982901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66687499999998 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:97.25, Y:100.12, Z:17.30 [[-7.28647249e-01 6.81884991e-01 6.40784353e-02 9.72481728e+01] [-6.79173841e-01 -7.31459025e-01 6.07502203e-02 1.00122739e+02] [ 8.82954132e-02 7.45083907e-04 9.96094054e-01 1.72962181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69687499999998 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:97.25, Y:100.12, Z:17.30 [[-7.28182342e-01 6.82455932e-01 6.32801569e-02 9.72465606e+01] [-6.79673342e-01 -7.30924424e-01 6.15924901e-02 1.00120647e+02] [ 8.82871724e-02 1.84072795e-03 9.96093363e-01 1.72958841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72687499999998 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:97.26, Y:100.13, Z:17.29 [[-7.29552014e-01 6.81002619e-01 6.31608446e-02 9.72574056e+01] [-6.78203660e-01 -7.32277702e-01 6.17184118e-02 1.00131669e+02] [ 8.82816782e-02 2.19087565e-03 9.96093141e-01 1.72944681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75687499999998 meters Centerline goodness : 0.997192 Centerline is valid? [True, True] Translation: X:97.26, Y:100.13, Z:17.29 [[-7.28392321e-01 6.82224218e-01 6.33620068e-02 9.72568434e+01] [-6.79448278e-01 -7.31140928e-01 6.15059458e-02 1.00130339e+02] [ 8.82874022e-02 1.74925219e-03 9.96093507e-01 1.72935206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78687499999998 meters Centerline goodness : 0.997279 Centerline is valid? [True, True] Translation: X:97.26, Y:100.13, Z:17.29 [[-7.28113416e-01 6.82541989e-01 6.31449722e-02 9.72583471e+01] [-6.79747331e-01 -7.30843569e-01 6.17352750e-02 1.00130809e+02] [ 8.82860142e-02 2.02765561e-03 9.96093102e-01 1.72929413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81687499999998 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:97.25, Y:100.12, Z:17.29 [[-7.28968615e-01 6.81624615e-01 6.31873593e-02 9.72481554e+01] [-6.78830404e-01 -7.31699098e-01 6.16904498e-02 1.00121370e+02] [ 8.82838629e-02 2.07690109e-03 9.96093191e-01 1.72947208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84687499999998 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:97.24, Y:100.12, Z:17.30 [[-7.35901410e-01 6.74120198e-01 6.33330268e-02 9.72393142e+01] [-6.71311402e-01 -7.38616473e-01 6.15362334e-02 1.00121549e+02] [ 8.82616347e-02 2.76841795e-03 9.96093479e-01 1.72984774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87687499999998 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:97.24, Y:100.12, Z:17.30 [[-7.35716157e-01 6.74236530e-01 6.42404674e-02 9.72406616e+01] [-6.71511525e-01 -7.38514093e-01 6.05739787e-02 1.00123006e+02] [ 8.82836797e-02 1.42704065e-03 9.96094351e-01 1.72983257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90687499999999 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:97.23, Y:100.11, Z:17.30 [[-7.35008123e-01 6.75005795e-01 6.42669086e-02 9.72288358e+01] [-6.72286171e-01 -7.37811288e-01 6.05459126e-02 1.00112472e+02] [ 8.82856925e-02 1.29598363e-03 9.96094351e-01 1.72978673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.936875 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:97.23, Y:100.11, Z:17.30 [[-7.35225946e-01 6.74766286e-01 6.42904927e-02 9.72294110e+01] [-6.72047938e-01 -7.38030348e-01 6.05208596e-02 1.00113868e+02] [ 8.82857704e-02 1.29021319e-03 9.96094352e-01 1.72977587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.966875 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:97.23, Y:100.12, Z:17.30 [[-7.35611649e-01 6.74343247e-01 6.43170771e-02 9.72311668e+01] [-6.71625756e-01 -7.38416881e-01 6.04925945e-02 1.00115638e+02] [ 8.82855881e-02 1.30205168e-03 9.96094353e-01 1.72971603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.996875 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:97.23, Y:100.11, Z:17.30 [[-7.37205697e-01 6.72597702e-01 6.43435508e-02 9.72312784e+01] [-6.69876026e-01 -7.40006867e-01 6.04644225e-02 1.00114840e+02] [ 8.82829011e-02 1.47251460e-03 9.96094354e-01 1.72958555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.026875 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:97.23, Y:100.11, Z:17.30 [[-7.38446989e-01 6.71232118e-01 6.43699337e-02 9.72281933e+01] [-6.68507710e-01 -7.41245501e-01 6.04363226e-02 1.00111663e+02] [ 8.82807245e-02 1.59722344e-03 9.96094354e-01 1.72959188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.056875 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:97.23, Y:100.11, Z:17.30 [[-7.39752780e-01 6.69790502e-01 6.43933881e-02 9.72261399e+01] [-6.67062815e-01 -7.42548095e-01 6.04113222e-02 1.00109695e+02] [ 8.82781175e-02 1.73500878e-03 9.96094355e-01 1.72957729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.086875 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:97.21, Y:100.10, Z:17.30 [[-7.40934772e-01 6.68479896e-01 6.44227636e-02 9.72118147e+01] [-6.65749987e-01 -7.43727916e-01 6.03799800e-02 1.00096371e+02] [ 8.82758104e-02 1.84817278e-03 9.96094356e-01 1.72967361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.116875 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:97.21, Y:100.09, Z:17.29 [[-7.35604552e-01 6.74338648e-01 6.44463465e-02 9.72101287e+01] [-6.71633195e-01 -7.38421390e-01 6.03547985e-02 1.00087302e+02] [ 8.82881339e-02 1.11295891e-03 9.96094356e-01 1.72921537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.146875 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:97.21, Y:100.10, Z:17.30 [[-7.42659518e-01 6.66638001e-01 6.36444484e-02 9.72137196e+01] [-6.63829585e-01 -7.45374719e-01 6.12111985e-02 1.00099901e+02] [ 8.82446738e-02 3.21001142e-03 9.96093657e-01 1.72959939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.176875 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:97.22, Y:100.10, Z:17.29 [[-7.35800101e-01 6.74119489e-01 6.45067930e-02 9.72187391e+01] [-6.71418996e-01 -7.38621563e-01 6.02886219e-02 1.00097792e+02] [ 8.82878433e-02 1.04928785e-03 9.96094451e-01 1.72917222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.206875 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:97.22, Y:100.10, Z:17.29 [[-7.35860207e-01 6.74126760e-01 6.37406317e-02 9.72154117e+01] [-6.71354920e-01 -7.38612472e-01 6.11079920e-02 1.00096136e+02] [ 8.82741582e-02 2.17435286e-03 9.96093844e-01 1.72925869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.236875 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:97.21, Y:100.09, Z:17.29 [[-7.36135655e-01 6.73820115e-01 6.38024355e-02 9.72137580e+01] [-6.71052855e-01 -7.38892386e-01 6.10418575e-02 1.00094531e+02] [ 8.82743651e-02 2.12028124e-03 9.96093942e-01 1.72928361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.266875 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:97.20, Y:100.09, Z:17.30 [[-7.41891573e-01 6.67474625e-01 6.38319619e-02 9.72009871e+01] [-6.64686514e-01 -7.44627148e-01 6.10102347e-02 1.00092672e+02] [ 8.82537953e-02 2.83473469e-03 9.96093988e-01 1.72986494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.296875 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:97.20, Y:100.10, Z:17.30 [[-7.41410533e-01 6.67936773e-01 6.45824213e-02 9.72034247e+01] [-6.65220010e-01 -7.44216138e-01 6.02052928e-02 1.00097019e+02] [ 8.82766092e-02 1.67531927e-03 9.96094591e-01 1.72988869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.326875 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:97.19, Y:100.09, Z:17.30 [[-7.40371105e-01 6.69086188e-01 6.46088275e-02 9.71916846e+01] [-6.66376253e-01 -7.43183305e-01 6.01769419e-02 1.00090565e+02] [ 8.82797626e-02 1.49948050e-03 9.96094591e-01 1.72986812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.356875 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:97.20, Y:100.10, Z:17.29 [[-7.33649036e-01 6.76447894e-01 6.46323390e-02 9.72033575e+01] [-6.73768409e-01 -7.36490263e-01 6.01516791e-02 1.00095676e+02] [ 8.82905650e-02 5.82993176e-04 9.96094592e-01 1.72920424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.386875 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:97.20, Y:100.10, Z:17.30 [[-7.39960897e-01 6.69609997e-01 6.38774044e-02 9.71957681e+01] [-6.66833888e-01 -7.42708644e-01 6.09625805e-02 1.00098483e+02] [ 8.82634538e-02 2.51430783e-03 9.96093992e-01 1.72960123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41687499999998 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:97.20, Y:100.10, Z:17.29 [[-7.32763277e-01 6.77402859e-01 6.46788006e-02 9.71986569e+01] [-6.74731617e-01 -7.35612132e-01 6.01002218e-02 1.00097954e+02] [ 8.82905725e-02 3.98403738e-04 9.96094682e-01 1.72902787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.44687499999998 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:97.19, Y:100.10, Z:17.29 [[-7.33188793e-01 6.77019006e-01 6.38706481e-02 9.71935257e+01] [-6.74270029e-01 -7.35963713e-01 6.09699977e-02 1.00095486e+02] [ 8.82843265e-02 1.63645526e-03 9.96093971e-01 1.72896300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47687499999998 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:97.19, Y:100.10, Z:17.29 [[-7.33998258e-01 6.76134351e-01 6.39444802e-02 9.71938822e+01] [-6.73388951e-01 -7.36776540e-01 6.08904887e-02 1.00098394e+02] [ 8.82829439e-02 1.63400622e-03 9.96094098e-01 1.72897714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50687499999998 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:97.16, Y:100.08, Z:17.30 [[-7.41972227e-01 6.67365200e-01 6.40383065e-02 9.71619561e+01] [-6.64595696e-01 -7.44726269e-01 6.07893490e-02 1.00081191e+02] [ 8.82597051e-02 2.54442577e-03 9.96094248e-01 1.72972637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53687499999998 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:97.16, Y:100.07, Z:17.30 [[-7.37656131e-01 6.72062015e-01 6.47771571e-02 9.71596335e+01] [-6.69379677e-01 -7.40494329e-01 5.99916372e-02 1.00073704e+02] [ 8.82852181e-02 8.92686482e-04 9.96094837e-01 1.72950346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56687499999998 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:97.17, Y:100.08, Z:17.30 [[-7.38961687e-01 6.70679864e-01 6.42195093e-02 9.71655725e+01] [-6.67939666e-01 -7.41744551e-01 6.05939234e-02 1.00080966e+02] [ 8.82735954e-02 1.88183027e-03 9.96094489e-01 1.72962067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59687499999998 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:97.16, Y:100.08, Z:17.30 [[-7.46111105e-01 6.62726688e-01 6.41214112e-02 9.71602178e+01] [-6.59947737e-01 -7.48855462e-01 6.06999208e-02 1.00084168e+02] [ 8.82451265e-02 2.97210477e-03 9.96094355e-01 1.72988338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62687499999998 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:97.15, Y:100.07, Z:17.30 [[-7.42634482e-01 6.66549735e-01 6.48496461e-02 9.71482532e+01] [-6.63853306e-01 -7.45459168e-01 5.99117399e-02 1.00067518e+02] [ 8.82769176e-02 1.44187189e-03 9.96094929e-01 1.72970651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65687499999999 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:97.15, Y:100.07, Z:17.30 [[-7.43150181e-01 6.66051334e-01 6.40580108e-02 9.71525009e+01] [-6.63278744e-01 -7.45901120e-01 6.07686379e-02 1.00071044e+02] [ 8.82559743e-02 2.67190731e-03 9.96094245e-01 1.72954171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.686875 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:97.14, Y:100.06, Z:17.30 [[-7.42344601e-01 6.66955607e-01 6.39899437e-02 9.71424346e+01] [-6.64180015e-01 -7.45092689e-01 6.08423557e-02 1.00061948e+02] [ 8.82575895e-02 2.66515243e-03 9.96094119e-01 1.72968611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.716875 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:97.13, Y:100.05, Z:17.30 [[-7.44335591e-01 6.64743130e-01 6.38834834e-02 9.71308211e+01] [-6.61949467e-01 -7.47065627e-01 6.09577835e-02 1.00052968e+02] [ 8.82464224e-02 3.08541004e-03 9.96093896e-01 1.72998771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.746875 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:97.13, Y:100.05, Z:17.30 [[-7.42203093e-01 6.67096911e-01 6.41582358e-02 9.71336679e+01] [-6.64337620e-01 -7.44967084e-01 6.06594645e-02 1.00054206e+02] [ 8.82615152e-02 2.39891251e-03 9.96094448e-01 1.72975718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.776875 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:97.13, Y:100.05, Z:17.30 [[-7.43056349e-01 6.66168271e-01 6.39304111e-02 9.71275112e+01] [-6.63384209e-01 -7.45796038e-01 6.09069869e-02 1.00049547e+02] [ 8.82533494e-02 2.84689807e-03 9.96093992e-01 1.72962207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.806875 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:97.14, Y:100.06, Z:17.29 [[-7.43279860e-01 6.65904840e-01 6.40764768e-02 9.71359169e+01] [-6.63133473e-01 -7.46031943e-01 6.07481433e-02 1.00057940e+02] [ 8.82555811e-02 2.66161483e-03 9.96094307e-01 1.72949972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.836875 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:97.13, Y:100.06, Z:17.29 [[-7.43254378e-01 6.65927126e-01 6.41404110e-02 9.71347479e+01] [-6.63161837e-01 -7.46012392e-01 6.06785718e-02 1.00057200e+02] [ 8.82570483e-02 2.56414133e-03 9.96094433e-01 1.72946443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.866875 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:97.11, Y:100.04, Z:17.30 [[-7.42502710e-01 6.66755571e-01 6.42396666e-02 9.71139392e+01] [-6.64002701e-01 -7.45272859e-01 6.05704518e-02 1.00038268e+02] [ 8.82617662e-02 2.31841255e-03 9.96094617e-01 1.72966704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.896875 meters Centerline goodness : 0.998173 Centerline is valid? [True, True] Translation: X:97.13, Y:100.05, Z:17.29 [[-7.42227268e-01 6.67069115e-01 6.41675822e-02 9.71292797e+01] [-6.64310623e-01 -7.44992008e-01 6.06490199e-02 1.00053211e+02] [ 8.82614240e-02 2.38814977e-03 9.96094482e-01 1.72949569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.926875 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:97.12, Y:100.05, Z:17.30 [[-7.41253913e-01 6.68143009e-01 6.42460542e-02 9.71203322e+01] [-6.65395933e-01 -7.44029787e-01 6.05634334e-02 1.00047094e+02] [ 8.82660127e-02 2.14381886e-03 9.96094632e-01 1.72966137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.956875 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:97.14, Y:100.07, Z:17.29 [[-7.40835948e-01 6.68604120e-01 6.42699702e-02 9.71445130e+01] [-6.65861034e-01 -7.43615704e-01 6.05373357e-02 1.00070471e+02] [ 8.82676711e-02 2.05336569e-03 9.96094675e-01 1.72942586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.986875 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:97.14, Y:100.06, Z:17.30 [[-7.41073935e-01 6.68337603e-01 6.42982987e-02 9.71358820e+01] [-6.65596200e-01 -7.43855278e-01 6.05064016e-02 1.00063145e+02] [ 8.82673323e-02 2.04301386e-03 9.96094727e-01 1.72959257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.016875 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:97.13, Y:100.06, Z:17.30 [[-7.40734448e-01 6.68703090e-01 6.44100578e-02 9.71279400e+01] [-6.65973666e-01 -7.43527281e-01 6.03842614e-02 1.00055966e+02] [ 8.82697773e-02 1.83330018e-03 9.96094918e-01 1.72971819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.046875 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:97.13, Y:100.06, Z:17.30 [[-7.40013873e-01 6.69487926e-01 6.45397913e-02 9.71321567e+01] [-6.66773829e-01 -7.42821328e-01 6.02423144e-02 1.00059871e+02] [ 8.82730356e-02 1.54670465e-03 9.96095115e-01 1.72981577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.076875 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:97.12, Y:100.04, Z:17.30 [[-7.39863969e-01 6.69658613e-01 6.44875953e-02 9.71150142e+01] [-6.66940181e-01 -7.42667335e-01 6.02994652e-02 1.00044063e+02] [ 8.82728867e-02 1.60403316e-03 9.96095038e-01 1.73003434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.106875 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:97.10, Y:100.03, Z:17.30 [[-7.39839732e-01 6.69683686e-01 6.45052851e-02 9.71033725e+01] [-6.66967040e-01 -7.42644788e-01 6.02800719e-02 1.00033651e+02] [ 8.82730945e-02 1.57469317e-03 9.96095066e-01 1.73024321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.136875 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:97.12, Y:100.05, Z:17.30 [[-7.39380077e-01 6.70185223e-01 6.45667842e-02 9.71244633e+01] [-6.67476367e-01 -7.42192523e-01 6.02126079e-02 1.00054175e+02] [ 8.82745845e-02 1.42320017e-03 9.96095162e-01 1.72996427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16687499999998 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:97.13, Y:100.06, Z:17.30 [[-7.38313671e-01 6.71356570e-01 6.46009209e-02 9.71321608e+01] [-6.68655454e-01 -7.41133481e-01 6.01751393e-02 1.00060506e+02] [ 8.82768805e-02 1.23236989e-03 9.96095213e-01 1.72976493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19687499999998 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:97.12, Y:100.05, Z:17.30 [[-7.38519877e-01 6.71137857e-01 6.45164179e-02 9.71249589e+01] [-6.68427793e-01 -7.41331276e-01 6.02679451e-02 1.00053703e+02] [ 8.82761379e-02 1.38450857e-03 9.96095079e-01 1.72971315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22687499999998 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:97.12, Y:100.05, Z:17.30 [[-7.39057004e-01 6.70533050e-01 6.46542604e-02 9.71184446e+01] [-6.67833930e-01 -7.41878604e-01 6.01163753e-02 1.00048636e+02] [ 8.82756290e-02 1.25111937e-03 9.96095301e-01 1.72989953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25687499999998 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:97.12, Y:100.05, Z:17.30 [[-7.38583092e-01 6.71050022e-01 6.47061353e-02 9.71204741e+01] [-6.68357877e-01 -7.41411243e-01 6.00592853e-02 1.00050961e+02] [ 8.82766410e-02 1.11191742e-03 9.96095376e-01 1.72986861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28687499999998 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:97.10, Y:100.03, Z:17.30 [[-7.38212727e-01 6.71448044e-01 6.48035069e-02 9.70996650e+01] [-6.68766831e-01 -7.41051064e-01 5.99520310e-02 1.00032243e+02] [ 8.82773817e-02 9.18916352e-04 9.96095507e-01 1.73011264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31687499999998 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:97.12, Y:100.05, Z:17.30 [[-7.37684892e-01 6.72027107e-01 6.48117900e-02 9.71189538e+01] [-6.69348924e-01 -7.40526074e-01 5.99428993e-02 1.00050118e+02] [ 8.82780736e-02 8.37269260e-04 9.96095518e-01 1.72989285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34687499999998 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:97.12, Y:100.05, Z:17.30 [[-7.36948307e-01 6.72835617e-01 6.48029781e-02 9.71180868e+01] [-6.70159696e-01 -7.39791636e-01 5.99526223e-02 1.00049681e+02] [ 8.82789608e-02 7.53639337e-04 9.96095506e-01 1.73001152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37687499999998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:97.10, Y:100.04, Z:17.31 [[-7.43384812e-01 6.65715415e-01 6.48228939e-02 9.70991397e+01] [-6.63014184e-01 -7.46204069e-01 5.99306239e-02 1.00040228e+02] [ 8.82678473e-02 1.57301745e-03 9.96095534e-01 1.73085938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40687499999999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:97.10, Y:100.04, Z:17.30 [[-7.37895244e-01 6.71730085e-01 6.54927589e-02 9.71034858e+01] [-6.69117280e-01 -7.40795971e-01 5.91894886e-02 1.00037035e+02] [ 8.82761322e-02 -1.46694588e-04 9.96096031e-01 1.73038700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.436875 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:97.11, Y:100.05, Z:17.31 [[-7.44240553e-01 6.64751689e-01 6.48936944e-02 9.71061595e+01] [-6.62053621e-01 -7.47062709e-01 5.98524134e-02 1.00045969e+02] [ 8.82666520e-02 1.58148786e-03 9.96095626e-01 1.73096561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.466875 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:97.10, Y:100.04, Z:17.31 [[-7.39642426e-01 6.69800755e-01 6.55441063e-02 9.71013850e+01] [-6.67185517e-01 -7.42540873e-01 5.91315291e-02 1.00035014e+02] [ 8.82755208e-02 6.10918483e-06 9.96096096e-01 1.73055443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.496875 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:97.09, Y:100.03, Z:17.31 [[-7.41306551e-01 6.68010755e-01 6.50094576e-02 9.70920371e+01] [-6.65336314e-01 -7.44150918e-01 5.97243665e-02 1.00025990e+02] [ 8.82733667e-02 1.02091124e-03 9.96095764e-01 1.73066393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.526875 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:97.11, Y:100.04, Z:17.30 [[-7.41669901e-01 6.67603512e-01 6.50485116e-02 9.71079816e+01] [-6.64931309e-01 -7.44516305e-01 5.96810323e-02 1.00039287e+02] [ 8.82729443e-02 1.01083332e-03 9.96095811e-01 1.73044658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.556875 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:97.10, Y:100.04, Z:17.30 [[-7.42815301e-01 6.66335096e-01 6.49843665e-02 9.71046626e+01] [-6.63651800e-01 -7.45651365e-01 5.97522428e-02 1.00035729e+02] [ 8.82706980e-02 1.25788847e-03 9.96095729e-01 1.73041476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.586875 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:97.11, Y:100.04, Z:17.30 [[-7.43946125e-01 6.65070793e-01 6.50000363e-02 9.71081129e+01] [-6.62384198e-01 -7.46779033e-01 5.97348316e-02 1.00038786e+02] [ 8.82685560e-02 1.38449958e-03 9.96095751e-01 1.73047923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.616875 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:97.10, Y:100.03, Z:17.31 [[-7.45320673e-01 6.63529085e-01 6.50096001e-02 9.70962871e+01] [-6.60837558e-01 -7.48148877e-01 5.97241939e-02 1.00027560e+02] [ 8.82655991e-02 1.55289099e-03 9.96095765e-01 1.73056358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.646875 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:97.07, Y:100.01, Z:17.31 [[-7.52551239e-01 6.55313807e-01 6.50418950e-02 9.70696564e+01] [-6.52594524e-01 -7.55352700e-01 5.96882304e-02 1.00011186e+02] [ 8.82440925e-02 2.47246725e-03 9.96095812e-01 1.73127888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.676875 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:97.09, Y:100.02, Z:17.31 [[-7.48005436e-01 6.60429781e-01 6.57295359e-02 9.70891773e+01] [-6.57796692e-01 -7.50887345e-01 5.89212029e-02 1.00021932e+02] [ 8.82687938e-02 8.36708735e-04 9.96096341e-01 1.73097025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.706875 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:97.07, Y:100.01, Z:17.31 [[-7.53944056e-01 6.53700229e-01 6.51488303e-02 9.70696661e+01] [-6.50985243e-01 -7.56749468e-01 5.95689272e-02 1.00010630e+02] [ 8.82415640e-02 2.50071152e-03 9.96095966e-01 1.73122650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.736875 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:97.09, Y:100.02, Z:17.30 [[-7.47039542e-01 6.61518693e-01 6.57642900e-02 9.70878124e+01] [-6.58893292e-01 -7.49928389e-01 5.88815823e-02 1.00017360e+02] [ 8.82697755e-02 6.55220739e-04 9.96096390e-01 1.73037886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.766875 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:97.08, Y:100.01, Z:17.30 [[-7.48895701e-01 6.59502186e-01 6.49006653e-02 9.70795529e+01] [-6.56784906e-01 -7.51699448e-01 5.98458692e-02 1.00010235e+02] [ 8.82542759e-02 2.19253681e-03 9.96095566e-01 1.73047591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.796875 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:97.07, Y:100.01, Z:17.31 [[-7.55950440e-01 6.51388022e-01 6.50582676e-02 9.70706284e+01] [-6.48655786e-01 -7.58739214e-01 5.96697260e-02 1.00009932e+02] [ 8.82304036e-02 2.90693395e-03 9.96095852e-01 1.73105971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.826875 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:97.06, Y:100.00, Z:17.31 [[-7.56265995e-01 6.50943119e-01 6.58392095e-02 9.70619754e+01] [-6.48284838e-01 -7.59124416e-01 5.87953155e-02 1.00001826e+02] [ 8.82525575e-02 1.78233645e-03 9.96096536e-01 1.73129590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.856875 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:97.07, Y:100.01, Z:17.31 [[-7.56292062e-01 6.50910205e-01 6.58651895e-02 9.70734787e+01] [-6.48254333e-01 -7.59152721e-01 5.87661972e-02 1.00012405e+02] [ 8.82532553e-02 1.74701396e-03 9.96096537e-01 1.73127806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.886875 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:97.08, Y:100.01, Z:17.31 [[-7.49230779e-01 6.59023222e-01 6.58910693e-02 9.70754405e+01] [-6.56400887e-01 -7.52122211e-01 5.87371654e-02 1.00005360e+02] [ 8.82672928e-02 7.56735809e-04 9.96096538e-01 1.73071586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91687499999998 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:97.07, Y:100.00, Z:17.31 [[-7.49703254e-01 6.58561315e-01 6.51308263e-02 9.70688387e+01] [-6.55862692e-01 -7.52524525e-01 5.95900009e-02 9.99994769e+01] [ 8.82562135e-02 1.95793854e-03 9.96095883e-01 1.73084916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94687499999998 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:97.07, Y:100.00, Z:17.32 [[-7.54017706e-01 6.53605607e-01 6.52457599e-02 9.70661928e+01] [-6.50899596e-01 -7.56831627e-01 5.94609462e-02 1.00004610e+02] [ 8.82440625e-02 2.36616750e-03 9.96096073e-01 1.73153195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97687499999998 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:97.06, Y:100.00, Z:17.32 [[-7.53373641e-01 6.54275378e-01 6.59688323e-02 9.70639938e+01] [-6.51642654e-01 -7.56255446e-01 5.86476895e-02 1.00003799e+02] [ 8.82610280e-02 1.19551845e-03 9.96096663e-01 1.73163426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00687499999998 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:97.07, Y:100.01, Z:17.32 [[-7.52431080e-01 6.55355943e-01 6.60004401e-02 9.70697489e+01] [-6.52730477e-01 -7.55319499e-01 5.86120976e-02 1.00008821e+02] [ 8.82632058e-02 1.02106518e-03 9.96096664e-01 1.73165723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03687499999998 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:97.06, Y:99.99, Z:17.31 [[-7.45618484e-01 6.63093703e-01 6.60289180e-02 9.70602501e+01] [-6.60501057e-01 -7.48536397e-01 5.85799986e-02 9.99921415e+01] [ 8.82690765e-02 6.61595873e-05 9.96096665e-01 1.73126431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06687499999998 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:97.07, Y:100.00, Z:17.31 [[-7.46687852e-01 6.61956048e-01 6.53562659e-02 9.70666869e+01] [-6.59292255e-01 -7.49541664e-01 5.93381538e-02 9.99989122e+01] [ 8.82664941e-02 1.21819872e-03 9.96096151e-01 1.73122548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09687499999998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:97.06, Y:99.99, Z:17.31 [[-7.43964905e-01 6.64994163e-01 6.55666389e-02 9.70591514e+01] [-6.62362905e-01 -7.46848359e-01 5.91008490e-02 9.99899992e+01] [ 8.82700562e-02 5.40048082e-04 9.96096434e-01 1.73103836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12687499999998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:97.06, Y:99.99, Z:17.31 [[-7.44272137e-01 6.64661330e-01 6.54545882e-02 9.70568921e+01] [-6.62017647e-01 -7.47144401e-01 5.92273543e-02 9.99878620e+01] [ 8.82701612e-02 7.49177091e-04 9.96096289e-01 1.73105701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15687499999999 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:97.04, Y:99.98, Z:17.32 [[-7.49664683e-01 6.58570119e-01 6.54848140e-02 9.70431562e+01] [-6.55906086e-01 -7.52518021e-01 5.91931961e-02 9.99833760e+01] [ 8.82613729e-02 1.42316060e-03 9.96096333e-01 1.73167531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.186875 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:97.04, Y:99.98, Z:17.32 [[-7.49173704e-01 6.59061380e-01 6.61578348e-02 9.70448002e+01] [-6.56466153e-01 -7.52089076e-01 5.84312481e-02 9.99849128e+01] [ 8.82663639e-02 3.44775169e-04 9.96096848e-01 1.73163846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.216875 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:97.05, Y:99.99, Z:17.32 [[-7.47627903e-01 6.60811222e-01 6.61894816e-02 9.70487651e+01] [-6.58225995e-01 -7.50552143e-01 5.83953775e-02 9.99886551e+01] [ 8.82669781e-02 9.03762051e-05 9.96096849e-01 1.73171306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.246875 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:97.05, Y:99.99, Z:17.32 [[-7.47165392e-01 6.61331277e-01 6.62179704e-02 9.70498764e+01] [-6.58750948e-01 -7.50093955e-01 5.83630547e-02 9.99899225e+01] [ 8.82670128e-02 -1.42961728e-05 9.96096850e-01 1.73167387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.276875 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:97.04, Y:99.98, Z:17.32 [[-7.46517151e-01 6.62060098e-01 6.62462856e-02 9.70376169e+01] [-6.59485482e-01 -7.49450736e-01 5.83308972e-02 9.99787483e+01] [ 8.82668870e-02 -1.43448428e-04 9.96096851e-01 1.73188460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.306875 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:97.04, Y:99.98, Z:17.32 [[-7.46277267e-01 6.62328217e-01 6.62689565e-02 9.70392314e+01] [-6.59756942e-01 -7.49213781e-01 5.83051298e-02 9.99795786e+01] [ 8.82667481e-02 -2.09611210e-04 9.96096851e-01 1.73194321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.336875 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:97.04, Y:99.98, Z:17.32 [[-7.41490465e-01 6.67680259e-01 6.62945100e-02 9.70446312e+01] [-6.65132776e-01 -7.44447642e-01 5.82760603e-02 9.99774638e+01] [ 8.82625667e-02 -8.83508400e-04 9.96096852e-01 1.73164376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.366875 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:97.03, Y:99.97, Z:17.32 [[-7.46656850e-01 6.61945704e-01 6.58136280e-02 9.70302568e+01] [-6.59327100e-01 -7.49551603e-01 5.88232008e-02 9.99694473e+01] [ 8.82684755e-02 5.28037263e-04 9.96096580e-01 1.73225982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.396875 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:97.04, Y:99.98, Z:17.32 [[-7.47427747e-01 6.61022064e-01 6.63445098e-02 9.70419128e+01] [-6.58453364e-01 -7.50366445e-01 5.82182606e-02 9.99791500e+01] [ 8.82662487e-02 -1.70822287e-04 9.96096903e-01 1.73213209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.426875 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:97.03, Y:99.97, Z:17.32 [[-7.48449298e-01 6.59862325e-01 6.63728903e-02 9.70330386e+01] [-6.57291942e-01 -7.51386522e-01 5.81858869e-02 9.99706466e+01] [ 8.82663699e-02 -7.71797409e-05 9.96096904e-01 1.73228101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.456875 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:97.04, Y:99.97, Z:17.32 [[-7.50425438e-01 6.57611538e-01 6.63982506e-02 9.70389666e+01] [-6.55034906e-01 -7.53357181e-01 5.81569330e-02 9.99731830e+01] [ 8.82662691e-02 1.49270087e-04 9.96096905e-01 1.73220079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.486875 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:97.04, Y:99.97, Z:17.32 [[-7.51633664e-01 6.56227659e-01 6.64235982e-02 9.70398759e+01] [-6.53648189e-01 -7.54562909e-01 5.81279681e-02 9.99726457e+01] [ 8.82659639e-02 2.73272977e-04 9.96096905e-01 1.73214548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.516875 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:97.03, Y:99.97, Z:17.32 [[-7.52737527e-01 6.54958017e-01 6.64545791e-02 9.70333820e+01] [-6.52376734e-01 -7.55665174e-01 5.80925278e-02 9.99655236e+01] [ 8.82655779e-02 3.75004499e-04 9.96096907e-01 1.73226003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.546875 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:97.03, Y:99.96, Z:17.32 [[-7.53853771e-01 6.53670636e-01 6.64770065e-02 9.70339120e+01] [-6.51086617e-01 -7.56779002e-01 5.80668522e-02 9.99647110e+01] [ 8.82649988e-02 4.91626221e-04 9.96096907e-01 1.73217076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.576875 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:97.03, Y:99.96, Z:17.32 [[-7.55487534e-01 6.51779133e-01 6.65022401e-02 9.70338591e+01] [-6.49190335e-01 -7.58408535e-01 5.80379386e-02 9.99626494e+01] [ 8.82637838e-02 6.74327612e-04 9.96096908e-01 1.73212866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.606875 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:97.03, Y:99.96, Z:17.32 [[-7.56393988e-01 6.50724677e-01 6.65246464e-02 9.70262429e+01] [-6.48134066e-01 -7.59313382e-01 5.80122446e-02 9.99552134e+01] [ 8.82630534e-02 7.63223449e-04 9.96096908e-01 1.73221451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.636875 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:97.02, Y:99.95, Z:17.32 [[-7.57429025e-01 6.49517040e-01 6.65498753e-02 9.70249364e+01] [-6.46924318e-01 -7.60346543e-01 5.79832884e-02 9.99536935e+01] [ 8.82621015e-02 8.65492934e-04 9.96096909e-01 1.73219143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66687499999998 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:97.01, Y:99.94, Z:17.32 [[-7.58722652e-01 6.48003130e-01 6.65723694e-02 9.70077840e+01] [-6.45406853e-01 -7.61637006e-01 5.79574508e-02 9.99380737e+01] [ 8.82605896e-02 1.00736735e-03 9.96096910e-01 1.73242285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69687499999998 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:97.02, Y:99.94, Z:17.32 [[-7.60673231e-01 6.45709058e-01 6.66036631e-02 9.70171653e+01] [-6.43107141e-01 -7.63582549e-01 5.79214664e-02 9.99442754e+01] [ 8.82578104e-02 1.22601766e-03 9.96096911e-01 1.73229961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72687499999998 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:97.00, Y:99.93, Z:17.32 [[-7.61707248e-01 6.44486327e-01 6.66291335e-02 9.70017577e+01] [-6.41882303e-01 -7.64614679e-01 5.78921523e-02 9.99302706e+01] [ 8.82563141e-02 1.32881037e-03 9.96096912e-01 1.73247916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75687499999998 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:97.02, Y:99.94, Z:17.32 [[-7.62879069e-01 6.43096464e-01 6.66518167e-02 9.70156439e+01] [-6.40489424e-01 -7.65783796e-01 5.78660251e-02 9.99418847e+01] [ 8.82543173e-02 1.45499569e-03 9.96096912e-01 1.73235743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78687499999998 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:97.00, Y:99.93, Z:17.33 [[-7.64166192e-01 6.41563547e-01 6.66801832e-02 9.70021261e+01] [-6.38953532e-01 -7.67068244e-01 5.78333195e-02 9.99301427e+01] [ 8.82520006e-02 1.58872896e-03 9.96096913e-01 1.73260039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81687499999998 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:97.00, Y:99.93, Z:17.33 [[-7.66356194e-01 6.38943601e-01 6.67027592e-02 9.70012519e+01] [-6.36325931e-01 -7.69251343e-01 5.78072695e-02 9.99289113e+01] [ 8.82467721e-02 1.85626367e-03 9.96096914e-01 1.73266733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84687499999998 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.67471798e-01 6.37600485e-01 6.67282546e-02 9.69874479e+01] [-6.34980307e-01 -7.70364676e-01 5.77778247e-02 9.99163377e+01] [ 8.82442593e-02 1.97172351e-03 9.96096914e-01 1.73282396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87687499999998 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.68383869e-01 6.36498043e-01 6.67568017e-02 9.69903748e+01] [-6.33876578e-01 -7.71275579e-01 5.77448225e-02 9.99184351e+01] [ 8.82423575e-02 2.05461710e-03 9.96096915e-01 1.73269496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90687499999999 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:97.01, Y:99.93, Z:17.32 [[-7.69140352e-01 6.35581307e-01 6.67796516e-02 9.70056762e+01] [-6.32958687e-01 -7.72031015e-01 5.77183854e-02 9.99313094e+01] [ 8.82406891e-02 2.12477862e-03 9.96096916e-01 1.73247052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.936875 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:97.01, Y:99.93, Z:17.32 [[-7.63349798e-01 6.42521729e-01 6.68050419e-02 9.70098717e+01] [-6.39927972e-01 -7.66266385e-01 5.76889831e-02 9.99265210e+01] [ 8.82568831e-02 1.28645865e-03 9.96096917e-01 1.73181906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.966875 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:96.99, Y:99.91, Z:17.32 [[-7.65307136e-01 6.40258771e-01 6.61339067e-02 9.69885592e+01] [-6.37588928e-01 -7.68154970e-01 5.84662335e-02 9.99092346e+01] [ 8.82346079e-02 2.57837898e-03 9.96096384e-01 1.73229219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.996875 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.70576898e-01 6.33891181e-01 6.62813345e-02 9.69913329e+01] [-6.31212476e-01 -7.73416100e-01 5.82953362e-02 9.99191513e+01] [ 8.82159507e-02 3.08343407e-03 9.96096601e-01 1.73274773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.026875 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:97.00, Y:99.92, Z:17.32 [[-7.63529844e-01 6.42300390e-01 6.68758968e-02 9.70016894e+01] [-6.39713126e-01 -7.66452062e-01 5.76051435e-02 9.99193888e+01] [ 8.82569751e-02 1.20185725e-03 9.96097014e-01 1.73204671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.056875 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:97.00, Y:99.92, Z:17.32 [[-7.69107795e-01 6.35691478e-01 6.61025256e-02 9.69968435e+01] [-6.33001587e-01 -7.71936791e-01 5.85028381e-02 9.99230063e+01] [ 8.82167271e-02 3.15198525e-03 9.96096318e-01 1.73242225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.086875 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.68247648e-01 6.36645421e-01 6.69190437e-02 9.69864517e+01] [-6.34041143e-01 -7.71154600e-01 5.75535570e-02 9.99150516e+01] [ 8.82461370e-02 1.78595789e-03 9.96097099e-01 1.73251304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.116875 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.67061913e-01 6.38070912e-01 6.69442483e-02 9.69869322e+01] [-6.35474594e-01 -7.69975977e-01 5.75242251e-02 9.99161057e+01] [ 8.82499977e-02 1.58327319e-03 9.96097099e-01 1.73264479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.146875 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.65462554e-01 6.39986358e-01 6.69667149e-02 9.69877819e+01] [-6.37399620e-01 -7.68385124e-01 5.74980588e-02 9.99175798e+01] [ 8.82542008e-02 1.32805233e-03 9.96097100e-01 1.73269617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.176875 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.61176932e-01 6.45075296e-01 6.69891108e-02 9.69894675e+01] [-6.42510397e-01 -7.64118685e-01 5.74719543e-02 9.99199327e+01] [ 8.82613692e-02 7.05125716e-04 9.96097100e-01 1.73275978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.206875 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:96.98, Y:99.91, Z:17.33 [[-7.58785544e-01 6.47883939e-01 6.70141777e-02 9.69780453e+01] [-6.45332511e-01 -7.61738988e-01 5.74427107e-02 9.99099654e+01] [ 8.82635216e-02 3.40270954e-04 9.96097101e-01 1.73294985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.236875 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.56527091e-01 6.50517097e-01 6.70392972e-02 9.69900036e+01] [-6.47978547e-01 -7.59491611e-01 5.74133798e-02 9.99207309e+01] [ 8.82641689e-02 -5.24920912e-06 9.96097102e-01 1.73289507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.266875 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.52053880e-01 6.55680819e-01 6.70643386e-02 9.69925566e+01] [-6.53165232e-01 -7.55037908e-01 5.73841143e-02 9.99236485e+01] [ 8.82617810e-02 -6.48148487e-04 9.96097103e-01 1.73298103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.296875 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.50281517e-01 6.57705629e-01 6.70891207e-02 9.69918821e+01] [-6.55200686e-01 -7.53274486e-01 5.73551263e-02 9.99228067e+01] [ 8.82593123e-02 -9.24346689e-04 9.96097103e-01 1.73298081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.326875 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:96.98, Y:99.91, Z:17.33 [[-7.48721489e-01 6.59478481e-01 6.71138178e-02 9.69831489e+01] [-6.56983214e-01 -7.51722530e-01 5.73262126e-02 9.99145614e+01] [ 8.82563725e-02 -1.17128448e-03 9.96097104e-01 1.73315845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.356875 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:97.00, Y:99.92, Z:17.32 [[-7.39702656e-01 6.69576280e-01 6.71385564e-02 9.70019826e+01] [-6.67124588e-01 -7.42739397e-01 5.72972251e-02 9.99203329e+01] [ 8.82313137e-02 -2.40687216e-03 9.96097105e-01 1.73221117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.386875 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.45584199e-01 6.63102543e-01 6.63266132e-02 9.69900731e+01] [-6.60539368e-01 -7.48528471e-01 5.82483689e-02 9.99166444e+01] [ 8.82719999e-02 -3.82275708e-04 9.96096335e-01 1.73291559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41687499999998 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:96.99, Y:99.92, Z:17.33 [[-7.45706524e-01 6.62878884e-01 6.71815848e-02 9.69899569e+01] [-6.60404597e-01 -7.48724760e-01 5.72451115e-02 9.99151818e+01] [ 8.82470916e-02 -1.67897432e-03 9.96097200e-01 1.73299092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44687499999998 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:96.99, Y:99.91, Z:17.33 [[-7.46264104e-01 6.62248888e-01 6.72034044e-02 9.69867471e+01] [-6.59774358e-01 -7.49282141e-01 5.72194848e-02 9.99105972e+01] [ 8.82478509e-02 -1.63823543e-03 9.96097201e-01 1.73295248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47687499999998 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:96.98, Y:99.91, Z:17.33 [[-7.47306702e-01 6.61069379e-01 6.72307209e-02 9.69846807e+01] [-6.58592973e-01 -7.50323198e-01 5.71873711e-02 9.99062403e+01] [ 8.82495894e-02 -1.54117471e-03 9.96097201e-01 1.73301751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50687499999998 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:96.98, Y:99.90, Z:17.33 [[-7.51487287e-01 6.56310865e-01 6.72525509e-02 9.69834258e+01] [-6.53817653e-01 -7.54489906e-01 5.71616875e-02 9.98993562e+01] [ 8.82572074e-02 -1.01462348e-03 9.96097202e-01 1.73308660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53687499999998 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:96.98, Y:99.89, Z:17.33 [[-7.54421774e-01 6.52933336e-01 6.72744107e-02 9.69818988e+01] [-6.50428974e-01 -7.57415099e-01 5.71359489e-02 9.98943497e+01] [ 8.82606201e-02 -6.52622057e-04 9.96097203e-01 1.73311770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56687499999998 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:96.98, Y:99.88, Z:17.33 [[-7.60290437e-01 6.46087683e-01 6.72990133e-02 9.69751424e+01] [-6.43558933e-01 -7.63263189e-01 5.71069554e-02 9.98814181e+01] [ 8.82629600e-02 1.06990857e-04 9.96097203e-01 1.73310976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59687499999998 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:96.97, Y:99.87, Z:17.33 [[-7.63326377e-01 6.42495701e-01 6.73209903e-02 9.69660136e+01] [-6.39955249e-01 -7.66289132e-01 5.70810360e-02 9.98707696e+01] [ 8.82616635e-02 4.89039351e-04 9.96097204e-01 1.73316605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62687499999998 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:96.97, Y:99.87, Z:17.33 [[-7.66144266e-01 6.39130266e-01 6.73458775e-02 9.69656188e+01] [-6.36579382e-01 -7.69098043e-01 5.70516583e-02 9.98677871e+01] [ 8.82590241e-02 8.38803806e-04 9.96097205e-01 1.73321426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65687499999999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:96.97, Y:99.87, Z:17.33 [[-7.68505119e-01 6.36287217e-01 6.73680919e-02 9.69697130e+01] [-6.33727705e-01 -7.71451423e-01 5.70254150e-02 9.98687098e+01] [ 8.82557529e-02 1.13129707e-03 9.96097205e-01 1.73320125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.686875 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:96.97, Y:99.86, Z:17.33 [[-7.70716934e-01 6.33603948e-01 6.73902475e-02 9.69664023e+01] [-6.31036468e-01 -7.73656296e-01 5.69992204e-02 9.98637713e+01] [ 8.82518204e-02 1.40456058e-03 9.96097206e-01 1.73320215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.716875 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:96.96, Y:99.86, Z:17.33 [[-7.74242623e-01 6.29288140e-01 6.74151081e-02 9.69609416e+01] [-6.26706838e-01 -7.77169853e-01 5.69698019e-02 9.98551772e+01] [ 8.82434103e-02 1.85893960e-03 9.96097207e-01 1.73333623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.746875 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:96.95, Y:99.85, Z:17.33 [[-7.76122361e-01 6.26965647e-01 6.74400387e-02 9.69532084e+01] [-6.24378149e-01 -7.79044115e-01 5.69402741e-02 9.98469809e+01] [ 8.82383610e-02 2.08453347e-03 9.96097207e-01 1.73342664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.776875 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:96.95, Y:99.85, Z:17.33 [[-7.77834402e-01 6.24837959e-01 6.74623411e-02 9.69540527e+01] [-6.22244760e-01 -7.80751096e-01 5.69138383e-02 9.98456646e+01] [ 8.82332233e-02 2.29145312e-03 9.96097208e-01 1.73339705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.806875 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:96.96, Y:99.85, Z:17.33 [[-7.79309061e-01 6.22995358e-01 6.74846024e-02 9.69564150e+01] [-6.20397547e-01 -7.82221647e-01 5.68874301e-02 9.98460553e+01] [ 8.82285217e-02 2.46560793e-03 9.96097208e-01 1.73332589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.836875 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:96.96, Y:99.84, Z:17.33 [[-7.81011220e-01 6.20857410e-01 6.75096359e-02 9.69566429e+01] [-6.18254192e-01 -7.83918973e-01 5.68577069e-02 9.98441523e+01] [ 8.82226131e-02 2.66839160e-03 9.96097209e-01 1.73315029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.866875 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:96.96, Y:99.84, Z:17.33 [[-7.81587501e-01 6.20129066e-01 6.75345817e-02 9.69560778e+01] [-6.17525695e-01 -7.84495117e-01 5.68280614e-02 9.98429727e+01] [ 8.82212821e-02 2.71176303e-03 9.96097210e-01 1.73308781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.896875 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:96.94, Y:99.83, Z:17.33 [[-7.82004235e-01 6.19601060e-01 6.75566636e-02 9.69446787e+01] [-6.16997990e-01 -7.84912120e-01 5.68017985e-02 9.98330787e+01] [ 8.82204986e-02 2.73692131e-03 9.96097211e-01 1.73323543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.926875 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:96.95, Y:99.84, Z:17.33 [[-7.81995918e-01 6.19609139e-01 6.75788323e-02 9.69510269e+01] [-6.17008376e-01 -7.84905865e-01 5.67754115e-02 9.98381268e+01] [ 8.82215857e-02 2.70143453e-03 9.96097211e-01 1.73302406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.956875 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:96.94, Y:99.83, Z:17.33 [[-7.82108839e-01 6.19464169e-01 6.76010889e-02 9.69439626e+01] [-6.16865154e-01 -7.85020347e-01 5.67488989e-02 9.98325382e+01] [ 8.82221397e-02 2.68305928e-03 9.96097212e-01 1.73325043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.986875 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:96.95, Y:99.84, Z:17.33 [[-7.81697721e-01 6.19980155e-01 6.76260432e-02 9.69458208e+01] [-6.17385631e-01 -7.84613230e-01 5.67191461e-02 9.98353889e+01] [ 8.82250331e-02 2.58587986e-03 9.96097213e-01 1.73314506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.016875 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:96.94, Y:99.83, Z:17.33 [[-7.81637776e-01 6.20053315e-01 6.76481646e-02 9.69367149e+01] [-6.17461345e-01 -7.84555555e-01 5.66927500e-02 9.98285409e+01] [ 8.82262709e-02 2.54306829e-03 9.96097213e-01 1.73326309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.046875 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:96.93, Y:99.83, Z:17.33 [[-7.81910681e-01 6.19706710e-01 6.76703775e-02 9.69343516e+01] [-6.17115739e-01 -7.84829347e-01 5.66662236e-02 9.98264917e+01] [ 8.82261372e-02 2.54747046e-03 9.96097214e-01 1.73329249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.076875 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:96.94, Y:99.83, Z:17.33 [[-7.82054557e-01 6.19522397e-01 6.76954158e-02 9.69422178e+01] [-6.16933325e-01 -7.84974906e-01 5.66362962e-02 9.98339048e+01] [ 8.82266567e-02 2.52911562e-03 9.96097214e-01 1.73317546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.106875 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:96.93, Y:99.83, Z:17.33 [[-7.81690125e-01 6.19979740e-01 6.77175765e-02 9.69344712e+01] [-6.17394669e-01 -7.84614016e-01 5.66097873e-02 9.98291170e+01] [ 8.82290809e-02 2.44284100e-03 9.96097215e-01 1.73324227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.136875 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:96.93, Y:99.83, Z:17.33 [[-7.81684913e-01 6.19983898e-01 6.77396745e-02 9.69320625e+01] [-6.17401132e-01 -7.84610839e-01 5.65833324e-02 9.98283829e+01] [ 8.82300378e-02 2.40778554e-03 9.96097216e-01 1.73325289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16687499999998 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:96.93, Y:99.82, Z:17.33 [[-7.75918406e-01 6.27183366e-01 6.77617354e-02 9.69307789e+01] [-6.24630064e-01 -7.78870079e-01 5.65569010e-02 9.98212891e+01] [ 8.82491357e-02 1.55752328e-03 9.96097216e-01 1.73301929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19687499999998 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:96.93, Y:99.83, Z:17.33 [[-7.81625418e-01 6.20133205e-01 6.70560532e-02 9.69327349e+01] [-6.17480507e-01 -7.84488897e-01 5.74020463e-02 9.98317704e+01] [ 8.82016441e-02 3.46109270e-03 9.96096627e-01 1.73321449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22687499999998 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:96.93, Y:99.83, Z:17.33 [[-7.81781072e-01 6.19857252e-01 6.77889531e-02 9.69264258e+01] [-6.17279223e-01 -7.84711089e-01 5.65231602e-02 9.98296869e+01] [ 8.82310340e-02 2.34402450e-03 9.96097280e-01 1.73341052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25687499999998 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:96.93, Y:99.83, Z:17.33 [[-7.82250848e-01 6.19261883e-01 6.78109949e-02 9.69262669e+01] [-6.16683915e-01 -7.85180917e-01 5.64967043e-02 9.98311006e+01] [ 8.82301546e-02 2.37664501e-03 9.96097280e-01 1.73335525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28687499999998 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:96.91, Y:99.82, Z:17.34 [[-7.82858972e-01 6.18490509e-01 6.78330339e-02 9.69105995e+01] [-6.15911944e-01 -7.85788515e-01 5.64702308e-02 9.98195371e+01] [ 8.82287207e-02 2.42905107e-03 9.96097281e-01 1.73351600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31687499999998 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:96.92, Y:99.83, Z:17.33 [[-7.84302707e-01 6.16656265e-01 6.78550990e-02 9.69210321e+01] [-6.14073141e-01 -7.87228230e-01 5.64437047e-02 9.98309373e+01] [ 8.82238136e-02 2.60095668e-03 9.96097281e-01 1.73346621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34687499999998 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:96.91, Y:99.82, Z:17.34 [[-7.85110600e-01 6.15624909e-01 6.78772255e-02 9.69115982e+01] [-6.13040239e-01 -7.88034757e-01 5.64170838e-02 9.98240067e+01] [ 8.82213749e-02 2.68217991e-03 9.96097282e-01 1.73354607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37687499999998 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:96.92, Y:99.83, Z:17.33 [[-7.85974421e-01 6.14519250e-01 6.78991957e-02 9.69152254e+01] [-6.11932749e-01 -7.88896956e-01 5.63906299e-02 9.98282613e+01] [ 8.82185964e-02 2.77185118e-03 9.96097282e-01 1.73346314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40687499999999 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:96.91, Y:99.83, Z:17.34 [[-7.86531896e-01 6.13803129e-01 6.79212415e-02 9.69132779e+01] [-6.11216256e-01 -7.89454103e-01 5.63640637e-02 9.98277849e+01] [ 8.82171414e-02 2.81756690e-03 9.96097283e-01 1.73354483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.436875 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:96.91, Y:99.83, Z:17.34 [[-7.87575445e-01 6.12461140e-01 6.79431357e-02 9.69088325e+01] [-6.09871562e-01 -7.90495254e-01 5.63376594e-02 9.98270758e+01] [ 8.82133534e-02 2.93357096e-03 9.96097284e-01 1.73355486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.466875 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:96.90, Y:99.82, Z:17.34 [[-7.88135149e-01 6.11737986e-01 6.79678172e-02 9.68981454e+01] [-6.09148292e-01 -7.91054854e-01 5.63078671e-02 9.98193772e+01] [ 8.82119329e-02 2.97572946e-03 9.96097284e-01 1.73371281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.496875 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:96.89, Y:99.81, Z:17.34 [[-7.89103956e-01 6.10485329e-01 6.79897855e-02 9.68882835e+01] [-6.07893282e-01 -7.92021571e-01 5.62813287e-02 9.98122121e+01] [ 8.82083022e-02 3.08128527e-03 9.96097285e-01 1.73389207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.526875 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:96.89, Y:99.81, Z:17.34 [[-7.90458117e-01 6.08727188e-01 6.80233480e-02 9.68879754e+01] [-6.06132138e-01 -7.93373059e-01 5.62407349e-02 9.98138537e+01] [ 8.82031562e-02 3.22480808e-03 9.96097286e-01 1.73372574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.556875 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:96.88, Y:99.81, Z:17.34 [[-7.91097294e-01 6.07893803e-01 6.80455416e-02 9.68835329e+01] [-6.05297987e-01 -7.94011554e-01 5.62138702e-02 9.98109117e+01] [ 8.82010096e-02 3.28281127e-03 9.96097287e-01 1.73383118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.586875 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:96.87, Y:99.80, Z:17.34 [[-7.91854275e-01 6.06904928e-01 6.80677245e-02 9.68713630e+01] [-6.04307777e-01 -7.94767344e-01 5.61869968e-02 9.98017996e+01] [ 8.81981699e-02 3.35805830e-03 9.96097288e-01 1.73397219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.616875 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:96.86, Y:99.79, Z:17.34 [[-7.92314640e-01 6.06300984e-01 6.80927850e-02 9.68586443e+01] [-6.03704218e-01 -7.95228051e-01 5.61566098e-02 9.97922245e+01] [ 8.81971005e-02 3.38580262e-03 9.96097288e-01 1.73396499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.646875 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:96.87, Y:99.80, Z:17.34 [[-7.92610541e-01 6.05911263e-01 6.81180703e-02 9.68685419e+01] [-6.03315694e-01 -7.95525018e-01 5.61259221e-02 9.98028287e+01] [ 8.81969574e-02 3.38929662e-03 9.96097289e-01 1.73392233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.676875 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:96.87, Y:99.80, Z:17.34 [[-7.92517758e-01 6.06030093e-01 6.81405211e-02 9.68677388e+01] [-6.03437300e-01 -7.95434703e-01 5.60986521e-02 9.98031242e+01] [ 8.81988065e-02 3.34064592e-03 9.96097290e-01 1.73395861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.706875 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:96.88, Y:99.82, Z:17.34 [[-7.92167636e-01 6.06485176e-01 6.81628030e-02 9.68814423e+01] [-6.03896384e-01 -7.95088132e-01 5.60715655e-02 9.98154211e+01] [ 8.82020089e-02 3.25480923e-03 9.96097290e-01 1.73384818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.736875 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:96.87, Y:99.81, Z:17.34 [[-7.91797675e-01 6.06965619e-01 6.81848883e-02 9.68681991e+01] [-6.04380907e-01 -7.94721782e-01 5.60446962e-02 9.98060436e+01] [ 8.82052197e-02 3.16641554e-03 9.96097291e-01 1.73390218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.766875 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:96.87, Y:99.81, Z:17.34 [[-7.90034944e-01 6.09255779e-01 6.82069067e-02 9.68703174e+01] [-6.06681855e-01 -7.92968551e-01 5.60178868e-02 9.98114126e+01] [ 8.82151533e-02 2.87619538e-03 9.96097292e-01 1.73398971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.796875 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:96.85, Y:99.80, Z:17.34 [[-7.89189537e-01 6.10348002e-01 6.82289634e-02 9.68539068e+01] [-6.07780458e-01 -7.92128728e-01 5.59910094e-02 9.97999173e+01] [ 8.82201227e-02 2.71928811e-03 9.96097292e-01 1.73422373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.826875 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:96.84, Y:99.79, Z:17.34 [[-7.88019500e-01 6.11855429e-01 6.82510201e-02 9.68445585e+01] [-6.09295834e-01 -7.90965616e-01 5.59641102e-02 9.97936942e+01] [ 8.82261548e-02 2.51574797e-03 9.96097293e-01 1.73425561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.856875 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:96.87, Y:99.82, Z:17.34 [[-7.86770626e-01 6.13458008e-01 6.82733752e-02 9.68723886e+01] [-6.10906780e-01 -7.89723989e-01 5.59368249e-02 9.98180312e+01] [ 8.82320154e-02 2.30078298e-03 9.96097293e-01 1.73386235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.886875 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:96.85, Y:99.80, Z:17.34 [[-7.83989368e-01 6.17005696e-01 6.82981836e-02 9.68459628e+01] [-6.14470471e-01 -7.86956480e-01 5.59065178e-02 9.98002560e+01] [ 8.82423380e-02 1.86289848e-03 9.96097294e-01 1.73419602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91687499999998 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:96.86, Y:99.81, Z:17.34 [[-7.82503208e-01 6.18886974e-01 6.83201552e-02 9.68600428e+01] [-6.16361227e-01 -7.85478391e-01 5.58796547e-02 9.98138256e+01] [ 8.82471960e-02 1.61611439e-03 9.96097295e-01 1.73401624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94687499999998 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:96.86, Y:99.81, Z:17.34 [[-7.80947810e-01 6.20845789e-01 6.83449010e-02 9.68558462e+01] [-6.18330154e-01 -7.83931546e-01 5.58493726e-02 9.98128560e+01] [ 8.82515716e-02 1.35573205e-03 9.96097296e-01 1.73400915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97687499999998 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:96.85, Y:99.81, Z:17.34 [[-7.79393105e-01 6.22794009e-01 6.83667351e-02 9.68520286e+01] [-6.20288177e-01 -7.82385079e-01 5.58226321e-02 9.98124384e+01] [ 8.82551142e-02 1.10069710e-03 9.96097296e-01 1.73406790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00687499999998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:96.86, Y:99.82, Z:17.34 [[-7.77405709e-01 6.25270339e-01 6.83912817e-02 9.68612806e+01] [-6.22776684e-01 -7.80407838e-01 5.57925426e-02 9.98233530e+01] [ 8.82585143e-02 7.80945550e-04 9.96097297e-01 1.73412740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03687499999998 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:96.84, Y:99.81, Z:17.34 [[-7.77037048e-01 6.25725454e-01 6.84184385e-02 9.68439631e+01] [-6.23236491e-01 -7.80043066e-01 5.57592204e-02 9.98093545e+01] [ 8.82592921e-02 6.86112411e-04 9.96097298e-01 1.73435631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06687499999998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:96.84, Y:99.80, Z:17.35 [[-7.76791187e-01 6.26028275e-01 6.84401238e-02 9.68370930e+01] [-6.23542830e-01 -7.79800114e-01 5.57325908e-02 9.98043191e+01] [ 8.82597940e-02 6.17236899e-04 9.96097298e-01 1.73455219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09687499999998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:96.85, Y:99.81, Z:17.34 [[-7.76674478e-01 6.26170670e-01 6.84620195e-02 9.68462312e+01] [-6.23688148e-01 -7.79685816e-01 5.57056811e-02 9.98112981e+01] [ 8.82601292e-02 5.66230679e-04 9.96097299e-01 1.73439981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12687499999998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:96.84, Y:99.81, Z:17.34 [[-7.77036012e-01 6.25719290e-01 6.84865325e-02 9.68417830e+01] [-6.23237676e-01 -7.80048098e-01 5.56755278e-02 9.98070921e+01] [ 8.82600411e-02 5.78502794e-04 9.96097300e-01 1.73434104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15687499999999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:96.85, Y:99.81, Z:17.34 [[-7.77580542e-01 6.25040096e-01 6.85082435e-02 9.68456982e+01] [-6.22558205e-01 -7.80592398e-01 5.56487998e-02 9.98096468e+01] [ 8.82597453e-02 6.21054822e-04 9.96097300e-01 1.73425804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.186875 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:96.84, Y:99.81, Z:17.34 [[-7.78548645e-01 6.23831434e-01 6.85299185e-02 9.68427584e+01] [-6.21347217e-01 -7.81558583e-01 5.56220949e-02 9.98069596e+01] [ 8.82589572e-02 7.23632480e-04 9.96097301e-01 1.73426723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.216875 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:96.82, Y:99.79, Z:17.34 [[-7.79454875e-01 6.22696382e-01 6.85515431e-02 9.68171457e+01] [-6.20210127e-01 -7.82463128e-01 5.55954310e-02 9.97857049e+01] [ 8.82581286e-02 8.17768465e-04 9.96097301e-01 1.73443959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.246875 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:96.84, Y:99.81, Z:17.34 [[-7.80644777e-01 6.21201592e-01 6.85734183e-02 9.68430512e+01] [-6.18711947e-01 -7.83650225e-01 5.55684363e-02 9.98070556e+01] [ 8.82567758e-02 9.52016371e-04 9.96097302e-01 1.73421983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.276875 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:96.83, Y:99.80, Z:17.34 [[-7.81116040e-01 6.20606200e-01 6.85979343e-02 9.68331334e+01] [-6.18116923e-01 -7.84121791e-01 5.55381554e-02 9.97995770e+01] [ 8.82564588e-02 9.80199945e-04 9.96097303e-01 1.73425091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.306875 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:96.84, Y:99.81, Z:17.34 [[-7.81838154e-01 6.19693550e-01 6.86221930e-02 9.68407165e+01] [-6.17203395e-01 -7.84843177e-01 5.55081656e-02 9.98071595e+01] [ 8.82557122e-02 1.04455122e-03 9.96097304e-01 1.73416330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.336875 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:96.83, Y:99.80, Z:17.34 [[-7.82479324e-01 6.18881071e-01 6.86463939e-02 9.68261814e+01] [-6.16390422e-01 -7.85483937e-01 5.54782206e-02 9.97966027e+01] [ 8.82550603e-02 1.09758086e-03 9.96097304e-01 1.73422117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.366875 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:96.82, Y:99.79, Z:17.34 [[-7.82913710e-01 6.18329069e-01 6.86679299e-02 9.68213116e+01] [-6.15838639e-01 -7.85918504e-01 5.54515517e-02 9.97931825e+01] [ 8.82547032e-02 1.12541558e-03 9.96097305e-01 1.73433442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.396875 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:96.81, Y:99.79, Z:17.34 [[-7.82512073e-01 6.18834867e-01 6.86896157e-02 9.68121808e+01] [-6.16348738e-01 -7.85520426e-01 5.54246759e-02 9.97868763e+01] [ 8.82558181e-02 1.03372009e-03 9.96097306e-01 1.73448870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.426875 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:96.82, Y:99.80, Z:17.35 [[-7.82194228e-01 6.19233854e-01 6.87140781e-02 9.68243697e+01] [-6.16751924e-01 -7.85206045e-01 5.53943316e-02 9.97978011e+01] [ 8.82567549e-02 9.49586510e-04 9.96097306e-01 1.73453426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.456875 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:96.82, Y:99.79, Z:17.35 [[-7.81941541e-01 6.19550204e-01 6.87384264e-02 9.68174375e+01] [-6.17072149e-01 -7.84956546e-01 5.53641015e-02 9.97938825e+01] [ 8.82575182e-02 8.74922323e-04 9.96097307e-01 1.73466679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.486875 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:96.82, Y:99.80, Z:17.35 [[-7.82015424e-01 6.19454258e-01 6.87626265e-02 9.68229051e+01] [-6.16978476e-01 -7.85032296e-01 5.53340286e-02 9.97982564e+01] [ 8.82577822e-02 8.47003321e-04 9.96097308e-01 1.73461642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.516875 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:96.81, Y:99.79, Z:17.35 [[-7.82210499e-01 6.19205229e-01 6.87867689e-02 9.68138356e+01] [-6.16731127e-01 -7.85228747e-01 5.53040006e-02 9.97902843e+01] [ 8.82578747e-02 8.36428414e-04 9.96097308e-01 1.73463479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.546875 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:96.80, Y:99.78, Z:17.35 [[-7.82006055e-01 6.19461021e-01 6.88082372e-02 9.68015922e+01] [-6.16990257e-01 -7.85027035e-01 5.52772773e-02 9.97789679e+01] [ 8.82584450e-02 7.73153606e-04 9.96097309e-01 1.73459481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.576875 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:96.81, Y:99.79, Z:17.35 [[-7.82071873e-01 6.19375221e-01 6.88325615e-02 9.68099048e+01] [-6.16906792e-01 -7.85094760e-01 5.52469716e-02 9.97853308e+01] [ 8.82586886e-02 7.43827854e-04 9.96097310e-01 1.73453215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.606875 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:96.81, Y:99.79, Z:17.34 [[-7.82147731e-01 6.19276722e-01 6.88568724e-02 9.68120532e+01] [-6.16810580e-01 -7.85172484e-01 5.52166552e-02 9.97872932e+01] [ 8.82589108e-02 7.15934130e-04 9.96097311e-01 1.73443578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.636875 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:96.81, Y:99.78, Z:17.34 [[-7.82155323e-01 6.19264745e-01 6.88783393e-02 9.68078304e+01] [-6.16800916e-01 -7.85181959e-01 5.51898641e-02 9.97840410e+01] [ 8.82591665e-02 6.82823294e-04 9.96097311e-01 1.73435235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66687499999998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:96.80, Y:99.78, Z:17.35 [[-7.81968908e-01 6.19497444e-01 6.89024282e-02 9.68016685e+01] [-6.17037166e-01 -7.84998430e-01 5.51597737e-02 9.97788850e+01] [ 8.82596368e-02 6.17868954e-04 9.96097312e-01 1.73454946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69687499999998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:96.80, Y:99.78, Z:17.35 [[-7.82116937e-01 6.19307859e-01 6.89265661e-02 9.67977951e+01] [-6.16849506e-01 -7.85148021e-01 5.51295951e-02 9.97759063e+01] [ 8.82597485e-02 6.00471862e-04 9.96097313e-01 1.73459737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72687499999998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:96.81, Y:99.78, Z:17.35 [[-7.82004127e-01 6.19447906e-01 6.89480858e-02 9.68083140e+01] [-6.16992468e-01 -7.85037572e-01 5.51026682e-02 9.97840660e+01] [ 8.82600703e-02 5.50064270e-04 9.96097313e-01 1.73455741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75687499999998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:96.80, Y:99.78, Z:17.35 [[-7.81726220e-01 6.19795902e-01 6.89721454e-02 9.68011274e+01] [-6.17344473e-01 -7.84762905e-01 5.50725364e-02 9.97784619e+01] [ 8.82605136e-02 4.72072924e-04 9.96097314e-01 1.73468623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78687499999998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:96.80, Y:99.78, Z:17.35 [[-7.80860431e-01 6.20883958e-01 6.89934630e-02 9.68036931e+01] [-6.18439121e-01 -7.83902425e-01 5.50458175e-02 9.97805826e+01] [ 8.82612079e-02 3.14844159e-04 9.96097315e-01 1.73476748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81687499999998 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:96.81, Y:99.78, Z:17.35 [[-7.80549311e-01 6.21272673e-01 6.90147773e-02 9.68055752e+01] [-6.18831714e-01 -7.83594417e-01 5.50190813e-02 9.97816409e+01] [ 8.82614459e-02 2.36573043e-04 9.96097315e-01 1.73487270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84687499999998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:96.80, Y:99.78, Z:17.35 [[-7.80223438e-01 6.21679513e-01 6.90360031e-02 9.67985488e+01] [-6.19242499e-01 -7.83271702e-01 5.49924351e-02 9.97759899e+01] [ 8.82616179e-02 1.56359656e-04 9.96097316e-01 1.73500690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87687499999998 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:96.78, Y:99.76, Z:17.35 [[-7.79595642e-01 6.22463951e-01 6.90598642e-02 9.67831094e+01] [-6.20032660e-01 -7.82648471e-01 5.49624539e-02 9.97630233e+01] [ 8.82617433e-02 2.91181600e-05 9.96097316e-01 1.73527761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90687499999999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:96.80, Y:99.77, Z:17.35 [[-7.79225761e-01 6.22924547e-01 6.90812717e-02 9.67955114e+01] [-6.20497447e-01 -7.82281922e-01 5.49355341e-02 9.97721476e+01] [ 8.82617227e-02 -5.75694166e-05 9.96097317e-01 1.73534161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.936875 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:96.79, Y:99.77, Z:17.35 [[-7.79526433e-01 6.22545577e-01 6.91053201e-02 9.67924714e+01] [-6.20119674e-01 -7.82583543e-01 5.49052663e-02 9.97696784e+01] [ 8.82617169e-02 -5.34621947e-05 9.96097318e-01 1.73537838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.966875 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:96.78, Y:99.76, Z:17.36 [[-7.79463623e-01 6.22621264e-01 6.91319172e-02 9.67763141e+01] [-6.20198629e-01 -7.82523323e-01 5.48717572e-02 9.97566836e+01] [ 8.82616604e-02 -1.04981545e-04 9.96097319e-01 1.73562421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.996875 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:96.77, Y:99.75, Z:17.36 [[-7.79504930e-01 6.22566271e-01 6.91614210e-02 9.67674713e+01] [-6.20146721e-01 -7.82567068e-01 5.48345449e-02 9.97495193e+01] [ 8.82615887e-02 -1.46430388e-04 9.96097320e-01 1.73579909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.026875 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:96.77, Y:99.75, Z:17.36 [[-7.79192635e-01 6.22954095e-01 6.91883813e-02 9.67712890e+01] [-6.20539091e-01 -7.82258359e-01 5.48005063e-02 9.97516578e+01] [ 8.82613895e-02 -2.33944358e-04 9.96097321e-01 1.73583345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.056875 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:96.78, Y:99.76, Z:17.36 [[-7.79608043e-01 6.22431153e-01 6.92153145e-02 9.67834749e+01] [-6.20017114e-01 -7.82674525e-01 5.47664676e-02 9.97600083e+01] [ 8.82614190e-02 -2.18300973e-04 9.96097322e-01 1.73563006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.086875 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:96.78, Y:99.75, Z:17.36 [[-7.80007708e-01 6.21926961e-01 6.92447187e-02 9.67765327e+01] [-6.19514242e-01 -7.83075227e-01 5.47292649e-02 9.97527948e+01] [ 8.82614292e-02 -2.08840987e-04 9.96097323e-01 1.73559533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.116875 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:96.77, Y:99.74, Z:17.36 [[-7.80596781e-01 6.21184788e-01 6.92685006e-02 9.67661017e+01] [-6.18771824e-01 -7.83664107e-01 5.46991487e-02 9.97430026e+01] [ 8.82615167e-02 -1.63417113e-04 9.96097324e-01 1.73562846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.146875 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:96.77, Y:99.74, Z:17.36 [[-7.81809625e-01 6.19654349e-01 6.92979036e-02 9.67679544e+01] [-6.17238684e-01 -7.84874822e-01 5.46618730e-02 9.97423256e+01] [ 8.82616471e-02 -3.81684606e-05 9.96097325e-01 1.73551318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.176875 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:96.77, Y:99.74, Z:17.35 [[-7.82724771e-01 6.18495578e-01 6.93192119e-02 9.67688114e+01] [-6.16077770e-01 -7.85788277e-01 5.46348377e-02 9.97416604e+01] [ 8.82616296e-02 5.80153676e-05 9.96097325e-01 1.73545444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.206875 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:96.78, Y:99.75, Z:17.35 [[-7.83532847e-01 6.17469173e-01 6.93404595e-02 9.67773428e+01] [-6.15049738e-01 -7.86595068e-01 5.46078579e-02 9.97466078e+01] [ 8.82615323e-02 1.39218881e-04 9.96097326e-01 1.73528727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.236875 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:96.78, Y:99.74, Z:17.35 [[-7.85053204e-01 6.15532646e-01 6.93615794e-02 9.67756423e+01] [-6.13108029e-01 -7.88111323e-01 5.45810188e-02 9.97425194e+01] [ 8.82610450e-02 3.22862443e-04 9.96097326e-01 1.73538347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.266875 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:96.76, Y:99.73, Z:17.36 [[-7.85895689e-01 6.14453952e-01 6.93852100e-02 9.67648782e+01] [-6.12027790e-01 -7.88952582e-01 5.45509623e-02 9.97335125e+01] [ 8.82606949e-02 4.05689345e-04 9.96097327e-01 1.73551639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.296875 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:96.77, Y:99.74, Z:17.35 [[-7.86607179e-01 6.13539869e-01 6.94116353e-02 9.67709583e+01] [-6.11113123e-01 -7.89663607e-01 5.45173176e-02 9.97374437e+01] [ 8.82603902e-02 4.65352211e-04 9.96097328e-01 1.73549239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.326875 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:96.77, Y:99.73, Z:17.36 [[-7.87281174e-01 6.12672089e-01 6.94353250e-02 9.67681026e+01] [-6.10244637e-01 -7.90337040e-01 5.44871289e-02 9.97344716e+01] [ 8.82600523e-02 5.24156100e-04 9.96097329e-01 1.73566702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.356875 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:96.76, Y:99.72, Z:17.36 [[-7.87966968e-01 6.11787149e-01 6.94589234e-02 9.67570519e+01] [-6.09358917e-01 -7.91022214e-01 5.44570297e-02 9.97242337e+01] [ 8.82596623e-02 5.84926254e-04 9.96097330e-01 1.73566232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.386875 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:96.76, Y:99.73, Z:17.36 [[-7.88423608e-01 6.11196165e-01 6.94799422e-02 9.67620895e+01] [-6.08768006e-01 -7.91478912e-01 5.44301994e-02 9.97274728e+01] [ 8.82594381e-02 6.16888325e-04 9.96097330e-01 1.73563408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41687499999998 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:96.76, Y:99.72, Z:17.35 [[-7.82700690e-01 6.18505207e-01 6.95049550e-02 9.67578322e+01] [-6.16108418e-01 -7.85780662e-01 5.43982404e-02 9.97157700e+01] [ 8.82612445e-02 -2.45047533e-04 9.96097331e-01 1.73501980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44687499999998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:96.75, Y:99.72, Z:17.36 [[-7.89081346e-01 6.10415722e-01 6.88714364e-02 9.67521009e+01] [-6.07916414e-01 -7.92079398e-01 5.52074354e-02 9.97170476e+01] [ 8.82511324e-02 1.69508077e-03 9.96096815e-01 1.73552974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47687499999998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:96.76, Y:99.72, Z:17.36 [[-7.89402045e-01 6.09925454e-01 6.95366924e-02 9.67579010e+01] [-6.07498869e-01 -7.92458515e-01 5.43564759e-02 9.97212181e+01] [ 8.82583422e-02 6.65651318e-04 9.96097396e-01 1.73560570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50687499999998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:96.76, Y:99.72, Z:17.36 [[-7.89705258e-01 6.09530411e-01 6.95577713e-02 9.67582456e+01] [-6.07104674e-01 -7.92762399e-01 5.43294887e-02 9.97207172e+01] [ 8.82582613e-02 6.75434794e-04 9.96097396e-01 1.73558039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53687499999998 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:96.75, Y:99.71, Z:17.36 [[-7.90374870e-01 6.08659480e-01 6.95787449e-02 9.67514341e+01] [-6.06232739e-01 -7.93431214e-01 5.43026151e-02 9.97148417e+01] [ 8.82577495e-02 7.38509196e-04 9.96097397e-01 1.73566748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56687499999998 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:96.76, Y:99.71, Z:17.35 [[-7.84892500e-01 6.15710384e-01 6.96023413e-02 9.67568734e+01] [-6.13313784e-01 -7.87972534e-01 5.42723537e-02 9.97088759e+01] [ 8.82607850e-02 -9.01118752e-05 9.96097398e-01 1.73484143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59687499999998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:96.73, Y:99.70, Z:17.36 [[-7.92190556e-01 6.06369025e-01 6.89255278e-02 9.67317561e+01] [-6.03860219e-01 -7.95180709e-01 5.51405078e-02 9.96973788e+01] [ 8.82437461e-02 2.06040525e-03 9.96096780e-01 1.73580922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62687499999998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:96.72, Y:99.69, Z:17.36 [[-7.92612167e-01 6.05734962e-01 6.96499026e-02 9.67235977e+01] [-6.03305085e-01 -7.95665922e-01 5.42099176e-02 9.96911947e+01] [ 8.82548963e-02 9.47299798e-04 9.96097473e-01 1.73587395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65687499999999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:96.74, Y:99.71, Z:17.36 [[-7.93065149e-01 6.05139306e-01 6.96712942e-02 9.67411970e+01] [-6.02709552e-01 -7.96119000e-01 5.41824111e-02 9.97052020e+01] [ 8.82545477e-02 9.78627461e-04 9.96097474e-01 1.73574278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.686875 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:96.74, Y:99.71, Z:17.36 [[-7.93191689e-01 6.04970985e-01 6.96925479e-02 9.67445612e+01] [-6.02542985e-01 -7.96246934e-01 5.41550596e-02 9.97091043e+01] [ 8.82547174e-02 9.62587288e-04 9.96097474e-01 1.73553763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.716875 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:96.74, Y:99.71, Z:17.36 [[-7.93182383e-01 6.04980769e-01 6.97135311e-02 9.67398000e+01] [-6.02555181e-01 -7.96239543e-01 5.41280345e-02 9.97066744e+01] [ 8.82550901e-02 9.27154081e-04 9.96097475e-01 1.73562552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.746875 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:96.73, Y:99.70, Z:17.36 [[-7.92809029e-01 6.05465995e-01 6.97479184e-02 9.67291215e+01] [-6.03046178e-01 -7.95870757e-01 5.40836879e-02 9.96996267e+01] [ 8.82561625e-02 8.16820445e-04 9.96097476e-01 1.73566545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.776875 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:96.73, Y:99.70, Z:17.36 [[-7.92404071e-01 6.05993177e-01 6.97714713e-02 9.67302331e+01] [-6.03578074e-01 -7.95469516e-01 5.40532862e-02 9.97021577e+01] [ 8.82570012e-02 7.19513770e-04 9.96097477e-01 1.73572440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.806875 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:96.72, Y:99.70, Z:17.36 [[-7.91271233e-01 6.07468610e-01 6.97977321e-02 9.67188692e+01] [-6.05062214e-01 -7.94343519e-01 5.40193550e-02 9.96967149e+01] [ 8.82584387e-02 5.11991330e-04 9.96097478e-01 1.73586621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.836875 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:96.71, Y:99.69, Z:17.36 [[-7.91236024e-01 6.07512059e-01 6.98187190e-02 9.67067243e+01] [-6.05108226e-01 -7.94310314e-01 5.39922165e-02 9.96889151e+01] [ 8.82586512e-02 4.72705494e-04 9.96097479e-01 1.73603703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.866875 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:96.72, Y:99.70, Z:17.36 [[-7.91327943e-01 6.07389900e-01 6.98397903e-02 9.67153667e+01] [-6.04987999e-01 -7.94403742e-01 5.39649468e-02 9.96964688e+01] [ 8.82587543e-02 4.51735344e-04 9.96097479e-01 1.73598977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.896875 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:96.72, Y:99.70, Z:17.36 [[-7.91733589e-01 6.06858313e-01 6.98635279e-02 9.67223581e+01] [-6.04457060e-01 -7.94809892e-01 5.39341984e-02 9.97031484e+01] [ 8.82586397e-02 4.72013724e-04 9.96097480e-01 1.73600463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.926875 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:96.71, Y:99.70, Z:17.36 [[-7.92304814e-01 6.06109930e-01 6.98844360e-02 9.67142822e+01] [-6.03708161e-01 -7.95380715e-01 5.39070935e-02 9.96971511e+01] [ 8.82583573e-02 5.21045358e-04 9.96097481e-01 1.73602349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.956875 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:96.72, Y:99.70, Z:17.36 [[-7.93043316e-01 6.05140932e-01 6.99052951e-02 9.67153744e+01] [-6.02737790e-01 -7.96118143e-01 5.38800305e-02 9.96978396e+01] [ 8.82578856e-02 5.94635012e-04 9.96097481e-01 1.73609580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.986875 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:96.72, Y:99.70, Z:17.36 [[-7.93563354e-01 6.04456095e-01 6.99287592e-02 9.67156863e+01] [-6.02052984e-01 -7.96638205e-01 5.38495603e-02 9.96973052e+01] [ 8.82576161e-02 6.32219533e-04 9.96097482e-01 1.73615641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.016875 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:96.71, Y:99.69, Z:17.36 [[-7.93914032e-01 6.03993019e-01 6.99495716e-02 9.67111273e+01] [-6.01590497e-01 -7.96989342e-01 5.38225118e-02 9.96930295e+01] [ 8.82574844e-02 6.49449834e-04 9.96097483e-01 1.73625155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.046875 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:96.71, Y:99.69, Z:17.36 [[-7.94404807e-01 6.03344966e-01 6.99703875e-02 9.67066654e+01] [-6.00942319e-01 -7.97480018e-01 5.37954371e-02 9.96883581e+01] [ 8.82571921e-02 6.87186856e-04 9.96097483e-01 1.73632207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.076875 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:96.69, Y:99.68, Z:17.36 [[-7.95129056e-01 6.02387756e-01 6.99912558e-02 9.66922728e+01] [-5.99983798e-01 -7.98203242e-01 5.37682726e-02 9.96760630e+01] [ 8.82565963e-02 7.59096359e-04 9.96097484e-01 1.73648687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.106875 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:96.70, Y:99.68, Z:17.36 [[-7.95241231e-01 6.02229994e-01 7.00743760e-02 9.66973490e+01] [-5.99834984e-01 -7.98322382e-01 5.36597270e-02 9.96790152e+01] [ 8.82574398e-02 6.39365165e-04 9.96097493e-01 1.73640351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.136875 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:96.70, Y:99.68, Z:17.36 [[-7.94658865e-01 6.02995806e-01 7.00952616e-02 9.66992361e+01] [-6.00606173e-01 -7.97744187e-01 5.36324305e-02 9.96790367e+01] [ 8.82582181e-02 5.19839627e-04 9.96097494e-01 1.73635824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16687499999998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:96.69, Y:99.67, Z:17.36 [[-7.93944051e-01 6.03934255e-01 7.01160422e-02 9.66929799e+01] [-6.01550669e-01 -7.97034046e-01 5.36052495e-02 9.96734006e+01] [ 8.82589192e-02 3.81216892e-04 9.96097494e-01 1.73643595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19687499999998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:96.69, Y:99.67, Z:17.36 [[-7.93395013e-01 6.04652941e-01 7.01368296e-02 9.66928026e+01] [-6.02274559e-01 -7.96489014e-01 5.35780376e-02 9.96724855e+01] [ 8.82593323e-02 2.66919766e-04 9.96097495e-01 1.73649700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22687499999998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:96.69, Y:99.67, Z:17.36 [[-7.92902127e-01 6.05296116e-01 7.01628791e-02 9.66936134e+01] [-6.02923263e-01 -7.96000370e-01 5.35439029e-02 9.96719844e+01] [ 8.82595942e-02 1.52242458e-04 9.96097496e-01 1.73641276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25687499999998 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:96.70, Y:99.67, Z:17.36 [[-7.91689331e-01 6.06878821e-01 7.01861799e-02 9.66975022e+01] [-6.04514871e-01 -7.94794371e-01 5.35133426e-02 9.96727786e+01] [ 8.82596950e-02 -6.26471118e-05 9.96097496e-01 1.73643942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28687499999998 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:96.70, Y:99.67, Z:17.36 [[-7.91360362e-01 6.07305342e-01 7.02068313e-02 9.66991078e+01] [-6.04945470e-01 -7.94468502e-01 5.34862354e-02 9.96729955e+01] [ 8.82595925e-02 -1.44417896e-04 9.96097497e-01 1.73648474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31687499999998 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:96.69, Y:99.67, Z:17.37 [[-7.91159103e-01 6.07565129e-01 7.02273966e-02 9.66943066e+01] [-6.05208676e-01 -7.94269835e-01 5.34592195e-02 9.96679379e+01] [ 8.82594603e-02 -2.07481566e-04 9.96097498e-01 1.73657362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34687499999998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:96.69, Y:99.67, Z:17.37 [[-7.91199566e-01 6.07510058e-01 7.02479585e-02 9.66940616e+01] [-6.05155788e-01 -7.94311950e-01 5.34321867e-02 9.96661503e+01] [ 8.82593837e-02 -2.35435744e-04 9.96097498e-01 1.73653906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37687499999998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:96.69, Y:99.66, Z:17.36 [[-7.91714484e-01 6.06836475e-01 7.02685407e-02 9.66907402e+01] [-6.04481960e-01 -7.94826682e-01 5.34051054e-02 9.96604113e+01] [ 8.82594770e-02 -1.94469790e-04 9.96097499e-01 1.73649070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40687499999999 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:96.69, Y:99.66, Z:17.37 [[-7.92446708e-01 6.05877598e-01 7.02890571e-02 9.66855056e+01] [-6.03521713e-01 -7.95557868e-01 5.33780891e-02 9.96554516e+01] [ 8.82596009e-02 -1.21681180e-04 9.96097499e-01 1.73660359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.436875 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:96.68, Y:99.65, Z:17.37 [[-7.93615193e-01 6.04343539e-01 7.03122514e-02 9.66755488e+01] [-6.01984348e-01 -7.96723846e-01 5.33475191e-02 9.96451105e+01] [ 8.82596758e-02 1.05268929e-05 9.96097500e-01 1.73673460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.466875 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:96.69, Y:99.66, Z:17.37 [[-7.94505773e-01 6.03169840e-01 7.03329244e-02 9.66914495e+01] [-6.00808471e-01 -7.97612771e-01 5.33202501e-02 9.96558885e+01] [ 8.82596055e-02 1.06629766e-04 9.96097501e-01 1.73664396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.496875 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:96.69, Y:99.65, Z:17.37 [[-7.95621897e-01 6.01694415e-01 7.03535943e-02 9.66878565e+01] [-5.99329697e-01 -7.98726345e-01 5.32929633e-02 9.96520885e+01] [ 8.82593476e-02 2.36050221e-04 9.96097501e-01 1.73663737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.526875 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:96.69, Y:99.65, Z:17.37 [[-7.96757266e-01 6.00187757e-01 7.03741091e-02 9.66875968e+01] [-5.97819562e-01 -7.99859063e-01 5.32658594e-02 9.96507194e+01] [ 8.82588857e-02 3.68941466e-04 9.96097502e-01 1.73668196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.556875 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:96.68, Y:99.64, Z:17.37 [[-7.98151360e-01 5.98330188e-01 7.03945484e-02 9.66776003e+01] [-5.95957156e-01 -8.01249458e-01 5.32388340e-02 9.96423682e+01] [ 8.82579953e-02 5.40512879e-04 9.96097502e-01 1.73677671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.586875 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:96.68, Y:99.64, Z:17.37 [[-8.00557604e-01 5.95104397e-01 7.04150520e-02 9.66801267e+01] [-5.92721269e-01 -8.03647941e-01 5.32117015e-02 9.96427595e+01] [ 8.82554291e-02 8.62533270e-04 9.96097503e-01 1.73671325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.616875 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:96.66, Y:99.63, Z:17.37 [[-8.01849095e-01 5.93360335e-01 7.04382081e-02 9.66601132e+01] [-5.90973178e-01 -8.04936321e-01 5.31810314e-02 9.96271163e+01] [ 8.82537867e-02 1.01607022e-03 9.96097504e-01 1.73691896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.646875 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:96.67, Y:99.64, Z:17.37 [[-8.02898669e-01 5.91936876e-01 7.04589386e-02 9.66727629e+01] [-5.89546657e-01 -8.05983523e-01 5.31535517e-02 9.96359726e+01] [ 8.82522909e-02 1.13808422e-03 9.96097504e-01 1.73675021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.676875 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:96.65, Y:99.62, Z:17.37 [[-8.04054276e-01 5.90363730e-01 7.04796969e-02 9.66527107e+01] [-5.87969889e-01 -8.07136319e-01 5.31260128e-02 9.96204209e+01] [ 8.82503942e-02 1.27625819e-03 9.96097505e-01 1.73693918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.706875 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:96.66, Y:99.62, Z:17.37 [[-8.05512365e-01 5.88370225e-01 7.05004088e-02 9.66586659e+01] [-5.85971161e-01 -8.08590345e-01 5.30985131e-02 9.96245084e+01] [ 8.82475340e-02 1.46030248e-03 9.96097505e-01 1.73668668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.736875 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:96.66, Y:99.63, Z:17.37 [[-8.06082431e-01 5.87586481e-01 7.05212153e-02 9.66632705e+01] [-5.85186842e-01 -8.09159961e-01 5.30708652e-02 9.96284485e+01] [ 8.82466668e-02 1.51140473e-03 9.96097506e-01 1.73653076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.766875 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:96.66, Y:99.63, Z:17.36 [[-8.05968380e-01 5.87740422e-01 7.05419483e-02 9.66641793e+01] [-5.85343783e-01 -8.09048246e-01 5.30432926e-02 9.96298651e+01] [ 8.82475268e-02 1.45992577e-03 9.96097507e-01 1.73637632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.796875 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:96.66, Y:99.63, Z:17.36 [[-8.05746599e-01 5.88041967e-01 7.05624714e-02 9.66622812e+01] [-5.85648872e-01 -8.08829219e-01 5.30159773e-02 9.96288423e+01] [ 8.82486082e-02 1.39261166e-03 9.96097507e-01 1.73635407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.826875 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:96.66, Y:99.63, Z:17.36 [[-8.05682426e-01 5.88127114e-01 7.05855931e-02 9.66585781e+01] [-5.85737041e-01 -8.08767389e-01 5.29851752e-02 9.96274211e+01] [ 8.82493440e-02 1.34462806e-03 9.96097508e-01 1.73632712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.856875 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:96.66, Y:99.63, Z:17.36 [[-8.05909338e-01 5.87812408e-01 7.06166592e-02 9.66567646e+01] [-5.85424759e-01 -8.08996175e-01 5.29437392e-02 9.96259856e+01] [ 8.82495940e-02 1.32711313e-03 9.96097509e-01 1.73635024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.886875 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:96.58, Y:99.56, Z:17.36 [[-7.97665850e-01 5.98948731e-01 7.06371658e-02 9.65812479e+01] [-5.96606609e-01 -8.00787371e-01 5.29163654e-02 9.95609340e+01] [ 8.82595402e-02 6.69776244e-05 9.96097510e-01 1.73646805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91687499999998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:96.65, Y:99.62, Z:17.37 [[-8.03768790e-01 5.90826181e-01 6.98581134e-02 9.66481869e+01] [-5.88361697e-01 -8.06795692e-01 5.39557681e-02 9.96213107e+01] [ 8.82397054e-02 2.26612432e-03 9.96096692e-01 1.73651968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94687499999998 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:96.64, Y:99.62, Z:17.37 [[-8.01010289e-01 5.94463205e-01 7.06824911e-02 9.66412917e+01] [-5.92109154e-01 -8.04122667e-01 5.28534429e-02 9.96194752e+01] [ 8.82568203e-02 4.84401622e-04 9.96097635e-01 1.73684464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97687499999998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:96.65, Y:99.63, Z:17.37 [[-7.99690530e-01 5.96234035e-01 7.07109009e-02 9.66505541e+01] [-5.93890239e-01 -8.02810636e-01 5.28154072e-02 9.96278348e+01] [ 8.82578066e-02 2.41467175e-04 9.96097636e-01 1.73675847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00687499999998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:96.65, Y:99.63, Z:17.37 [[-7.98450509e-01 5.97891178e-01 7.07313509e-02 9.66483733e+01] [-5.95556284e-01 -8.01577282e-01 5.27880060e-02 9.96274560e+01] [ 8.82581271e-02 2.41097674e-05 9.96097637e-01 1.73681534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03687499999998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:96.65, Y:99.63, Z:17.37 [[-7.96424961e-01 6.00584292e-01 7.07516066e-02 9.66456387e+01] [-5.98262384e-01 -7.99561388e-01 5.27608434e-02 9.96273920e+01] [ 8.82575866e-02 -3.07972202e-04 9.96097638e-01 1.73677455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06687499999998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:96.64, Y:99.63, Z:17.37 [[-7.95937228e-01 6.01228130e-01 7.07719165e-02 9.66416844e+01] [-5.98911183e-01 -7.99077321e-01 5.27335863e-02 9.96253209e+01] [ 8.82571489e-02 -4.13467625e-04 9.96097638e-01 1.73675294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09687499999998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:96.64, Y:99.63, Z:17.37 [[-7.95938946e-01 6.01223465e-01 7.07922294e-02 9.66412906e+01] [-5.98908925e-01 -7.99080813e-01 5.27063032e-02 9.96256402e+01] [ 8.82569784e-02 -4.47098502e-04 9.96097639e-01 1.73676404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12687499999998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:96.64, Y:99.62, Z:17.37 [[-7.96220795e-01 6.00847158e-01 7.08176376e-02 9.66350173e+01] [-5.98534171e-01 -7.99363804e-01 5.26721420e-02 9.96214089e+01] [ 8.82569631e-02 -4.48121224e-04 9.96097640e-01 1.73676782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15687499999999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:96.64, Y:99.62, Z:17.37 [[-7.96689139e-01 6.00223332e-01 7.08404329e-02 9.66357795e+01] [-5.97910611e-01 -7.99832343e-01 5.26414662e-02 9.96220904e+01] [ 8.82571057e-02 -4.17362093e-04 9.96097640e-01 1.73685717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.186875 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:96.63, Y:99.62, Z:17.37 [[-7.97475461e-01 5.99175808e-01 7.08607103e-02 9.66300818e+01] [-5.96861384e-01 -8.00617411e-01 5.26141567e-02 9.96184272e+01] [ 8.82574482e-02 -3.35522733e-04 9.96097641e-01 1.73694918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.216875 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:96.63, Y:99.62, Z:17.37 [[-7.98246158e-01 5.98146277e-01 7.08809127e-02 9.66261265e+01] [-5.95830218e-01 -8.01386902e-01 5.25869263e-02 9.96154051e+01] [ 8.82577092e-02 -2.55677802e-04 9.96097642e-01 1.73700667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.246875 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:96.62, Y:99.61, Z:17.37 [[-8.00651262e-01 5.94920652e-01 7.09011583e-02 9.66205334e+01] [-5.92594358e-01 -8.03784432e-01 5.25596157e-02 9.96113314e+01] [ 8.82580481e-02 6.62962969e-05 9.96097642e-01 1.73693692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.276875 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:96.61, Y:99.60, Z:17.37 [[-8.02292674e-01 5.92702803e-01 7.09214510e-02 9.66103776e+01] [-5.90370269e-01 -8.05421201e-01 5.25322196e-02 9.96040122e+01] [ 8.82576340e-02 2.76298815e-04 9.96097643e-01 1.73711456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.306875 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:96.61, Y:99.61, Z:17.37 [[-8.05424790e-01 5.88435782e-01 7.09523661e-02 9.66145575e+01] [-5.86090355e-01 -8.08543660e-01 5.24904312e-02 9.96068432e+01] [ 8.82553337e-02 6.92597108e-04 9.96097644e-01 1.73697319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.336875 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:96.62, Y:99.61, Z:17.37 [[-8.07062210e-01 5.86185205e-01 7.09753090e-02 9.66158995e+01] [-5.83833810e-01 -8.10176583e-01 5.24593906e-02 9.96076068e+01] [ 8.82534519e-02 9.00206649e-04 9.96097645e-01 1.73694378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.366875 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:96.60, Y:99.59, Z:17.37 [[-8.08851899e-01 5.83710748e-01 7.09955493e-02 9.65974062e+01] [-5.81352230e-01 -8.11960881e-01 5.24319842e-02 9.95941038e+01] [ 8.82507215e-02 1.13628915e-03 9.96097645e-01 1.73709474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.396875 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:96.59, Y:99.59, Z:17.37 [[-8.11554996e-01 5.79944161e-01 7.10159048e-02 9.65935660e+01] [-5.77573627e-01 -8.14654825e-01 5.24043996e-02 9.95908917e+01] [ 8.82450750e-02 1.51213856e-03 9.96097646e-01 1.73707511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.426875 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:96.59, Y:99.58, Z:17.36 [[-8.08160654e-01 5.84662453e-01 7.10364251e-02 9.65914493e+01] [-5.82312465e-01 -8.11276087e-01 5.23765687e-02 9.95826490e+01] [ 8.82527661e-02 9.63286207e-04 9.96097647e-01 1.73649048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.456875 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:96.59, Y:99.59, Z:17.37 [[-8.13820494e-01 5.76815600e-01 7.05688842e-02 9.65900272e+01] [-5.74380452e-01 -8.16870224e-01 5.30106838e-02 9.95876279e+01] [ 8.82230097e-02 2.60779329e-03 9.96097335e-01 1.73692580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.486875 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:96.58, Y:99.58, Z:17.37 [[-8.14611480e-01 5.75635996e-01 7.10727555e-02 9.65816201e+01] [-5.73255875e-01 -8.17703892e-01 5.23263497e-02 9.95824017e+01] [ 8.82373992e-02 1.88277054e-03 9.96097694e-01 1.73701676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.516875 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:96.58, Y:99.59, Z:17.37 [[-8.14875679e-01 5.75257743e-01 7.11066551e-02 9.65832792e+01] [-5.72880206e-01 -8.17970076e-01 5.22802429e-02 9.95858574e+01] [ 8.82377306e-02 1.86630329e-03 9.96097696e-01 1.73693361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.546875 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:96.58, Y:99.59, Z:17.37 [[-8.14754694e-01 5.75426228e-01 7.11297715e-02 9.65815943e+01] [-5.73052076e-01 -8.17851688e-01 5.22487731e-02 9.95856466e+01] [ 8.82389181e-02 1.80886986e-03 9.96097697e-01 1.73696616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.576875 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:96.57, Y:99.58, Z:17.37 [[-8.14369905e-01 5.75968148e-01 7.11501928e-02 9.65749403e+01] [-5.73598486e-01 -8.17470335e-01 5.22209494e-02 9.95811222e+01] [ 8.82407756e-02 1.71552673e-03 9.96097697e-01 1.73704837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.606875 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:96.57, Y:99.58, Z:17.37 [[-8.13173368e-01 5.77653714e-01 7.11706413e-02 9.65670575e+01] [-5.75292918e-01 -8.16280554e-01 5.21930659e-02 9.95768110e+01] [ 8.82447289e-02 1.49804535e-03 9.96097698e-01 1.73708028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.636875 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:96.59, Y:99.59, Z:17.36 [[-8.06497842e-01 5.86934983e-01 7.11937964e-02 9.65941656e+01] [-5.84612740e-01 -8.09633946e-01 5.21614623e-02 9.95904651e+01] [ 8.82563012e-02 4.47306381e-04 9.96097699e-01 1.73616116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66687499999998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:96.57, Y:99.58, Z:17.37 [[-8.11692572e-01 5.79804015e-01 7.05866364e-02 9.65715145e+01] [-5.77381858e-01 -8.14752854e-01 5.29903527e-02 9.95830347e+01] [ 8.82346827e-02 2.25643237e-03 9.96097159e-01 1.73701446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69687499999998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:96.57, Y:99.58, Z:17.37 [[-8.10710750e-01 5.81096723e-01 7.12367740e-02 9.65701536e+01] [-5.78757162e-01 -8.13833876e-01 5.21015308e-02 9.95837110e+01] [ 8.82509287e-02 1.01047789e-03 9.96097763e-01 1.73707761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72687499999998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:96.58, Y:99.59, Z:17.37 [[-8.08968127e-01 5.83517777e-01 7.12570931e-02 9.65792535e+01] [-5.81190012e-01 -8.12100053e-01 5.20737265e-02 9.95927588e+01] [ 8.82538342e-02 7.12074172e-04 9.96097763e-01 1.73687926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75687499999998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:96.57, Y:99.58, Z:17.37 [[-8.08074975e-01 5.84751245e-01 7.12798454e-02 9.65675551e+01] [-5.82431009e-01 -8.11212482e-01 5.20425640e-02 9.95848796e+01] [ 8.82550544e-02 5.38701238e-04 9.96097764e-01 1.73697904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78687499999998 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:96.57, Y:99.59, Z:17.37 [[-8.07368758e-01 5.85723477e-01 7.13000467e-02 9.65742766e+01] [-5.83409464e-01 -8.10510858e-01 5.20148729e-02 9.95911290e+01] [ 8.82557942e-02 3.98061306e-04 9.96097764e-01 1.73685828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81687499999998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:96.55, Y:99.58, Z:17.37 [[-8.06686335e-01 5.86660533e-01 7.13202372e-02 9.65538745e+01] [-5.84352618e-01 -8.09832916e-01 5.19871740e-02 9.95776661e+01] [ 8.82562988e-02 2.61175449e-04 9.96097765e-01 1.73699285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84687499999998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:96.55, Y:99.58, Z:17.37 [[-8.05482788e-01 5.88309149e-01 7.13430020e-02 9.65523813e+01] [-5.86010443e-01 -8.08636101e-01 5.19559147e-02 9.95785384e+01] [ 8.82566670e-02 4.18508433e-05 9.96097766e-01 1.73702726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87687499999998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:96.56, Y:99.59, Z:17.37 [[-8.05188842e-01 5.88708922e-01 7.13633955e-02 9.65628102e+01] [-5.86414265e-01 -8.08345102e-01 5.19278884e-02 9.95867755e+01] [ 8.82566625e-02 -3.67568108e-05 9.96097766e-01 1.73689832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90687499999999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:96.56, Y:99.59, Z:17.37 [[-8.05062719e-01 5.88877995e-01 7.13913593e-02 9.65641247e+01] [-5.86587412e-01 -8.08221935e-01 5.18894151e-02 9.95883573e+01] [ 8.82565973e-02 -1.03039047e-04 9.96097768e-01 1.73692816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.936875 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:96.55, Y:99.58, Z:17.37 [[-8.04966170e-01 5.89007234e-01 7.14138898e-02 9.65507584e+01] [-5.86719910e-01 -8.08127746e-01 5.18583885e-02 9.95788603e+01] [ 8.82565118e-02 -1.55702673e-04 9.96097768e-01 1.73707700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.966875 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:96.55, Y:99.58, Z:17.37 [[-8.04563625e-01 5.89553928e-01 7.14390559e-02 9.65537339e+01] [-5.87271833e-01 -8.07728976e-01 5.18236971e-02 9.95815336e+01] [ 8.82562597e-02 -2.58683660e-04 9.96097769e-01 1.73718332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.996875 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:96.56, Y:99.59, Z:17.37 [[-8.04759928e-01 5.89283500e-01 7.14591823e-02 9.65596263e+01] [-5.87002806e-01 -8.07926289e-01 5.17959303e-02 9.95858308e+01] [ 8.82562390e-02 -2.63451303e-04 9.96097770e-01 1.73714005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.026875 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:96.56, Y:99.59, Z:17.37 [[-8.04952816e-01 5.89017564e-01 7.14791770e-02 9.65594162e+01] [-5.86738276e-01 -8.08120187e-01 5.17683227e-02 9.95852290e+01] [ 8.82562172e-02 -2.68511938e-04 9.96097770e-01 1.73713460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.056875 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:96.56, Y:99.58, Z:17.37 [[-8.05323191e-01 5.88508657e-01 7.14990813e-02 9.65584087e+01] [-5.86229808e-01 -8.08490878e-01 5.17408176e-02 9.95838269e+01] [ 8.82562741e-02 -2.46812455e-04 9.96097771e-01 1.73715557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.086875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:96.55, Y:99.58, Z:17.37 [[-8.06737636e-01 5.86565789e-01 7.15189552e-02 9.65505191e+01] [-5.84281748e-01 -8.09901581e-01 5.17133323e-02 9.95771044e+01] [ 8.82565864e-02 -6.81287145e-05 9.96097771e-01 1.73722843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.116875 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:96.52, Y:99.56, Z:17.37 [[-8.07563558e-01 5.85425742e-01 7.15388049e-02 9.65236653e+01] [-5.83139668e-01 -8.10726033e-01 5.16858583e-02 9.95573628e+01] [ 8.82566034e-02 2.25007593e-05 9.96097772e-01 1.73745515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.146875 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:96.56, Y:99.57, Z:17.37 [[-8.01974367e-01 5.93056234e-01 7.15640820e-02 9.65578327e+01] [-5.90803371e-01 -8.05160585e-01 5.16508361e-02 9.95735756e+01] [ 8.82524285e-02 -8.57654348e-04 9.96097773e-01 1.73656656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.176875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:96.54, Y:99.57, Z:17.37 [[-8.10331068e-01 5.81673989e-01 7.08444113e-02 9.65366473e+01] [-5.79288812e-01 -8.13420395e-01 5.26472608e-02 9.95652236e+01] [ 8.82498312e-02 1.62233630e-03 9.96097051e-01 1.73715776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.206875 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:96.53, Y:99.56, Z:17.37 [[-8.11511968e-01 5.79934042e-01 7.15879375e-02 9.65326309e+01] [-5.77632713e-01 -8.14663256e-01 5.16161649e-02 9.95624429e+01] [ 8.82540334e-02 5.35600982e-04 9.96097856e-01 1.73717568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.236875 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:96.52, Y:99.55, Z:17.37 [[-8.12930799e-01 5.77941016e-01 7.16079557e-02 9.65204519e+01] [-5.75634408e-01 -8.16078224e-01 5.15883784e-02 9.95532909e+01] [ 8.82527331e-02 7.17778473e-04 9.96097857e-01 1.73725031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.266875 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:96.52, Y:99.55, Z:17.37 [[-8.14394857e-01 5.75873628e-01 7.16280745e-02 9.65210503e+01] [-5.73561488e-01 -8.17538220e-01 5.15604294e-02 9.95530875e+01] [ 8.82509801e-02 9.07443562e-04 9.96097857e-01 1.73718624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.296875 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:96.52, Y:99.55, Z:17.37 [[-8.15799684e-01 5.73879258e-01 7.16482641e-02 9.65189463e+01] [-5.71561898e-01 -8.18939200e-01 5.15323588e-02 9.95510095e+01] [ 8.82489239e-02 1.08866421e-03 9.96097858e-01 1.73720766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.326875 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:96.51, Y:99.54, Z:17.37 [[-8.17675797e-01 5.71200419e-01 7.16684912e-02 9.65060147e+01] [-5.68875240e-01 -8.20809526e-01 5.15042127e-02 9.95416573e+01] [ 8.82454081e-02 1.34331804e-03 9.96097858e-01 1.73730444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.356875 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:96.52, Y:99.55, Z:17.37 [[-8.17853120e-01 5.70943953e-01 7.16887480e-02 9.65150025e+01] [-5.68620264e-01 -8.20987952e-01 5.14760019e-02 9.95487101e+01] [ 8.82455104e-02 1.33613392e-03 9.96097859e-01 1.73721790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.386875 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:96.51, Y:99.54, Z:17.37 [[-8.18015738e-01 5.70707743e-01 7.17141785e-02 9.65078698e+01] [-5.68386255e-01 -8.21152200e-01 5.14405489e-02 9.95436773e+01] [ 8.82457750e-02 1.31782525e-03 9.96097860e-01 1.73731417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41687499999998 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:96.50, Y:99.54, Z:17.37 [[-8.18166434e-01 5.70489143e-01 7.17344005e-02 9.65021884e+01] [-5.68169289e-01 -8.21304104e-01 5.14123338e-02 9.95398150e+01] [ 8.82459357e-02 1.30656253e-03 9.96097861e-01 1.73735203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44687499999998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:96.51, Y:99.55, Z:17.37 [[-8.17764653e-01 5.71062384e-01 7.17546211e-02 9.65107643e+01] [-5.68747206e-01 -8.20905774e-01 5.13840971e-02 9.95465805e+01] [ 8.82473077e-02 1.20985803e-03 9.96097861e-01 1.73721223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47687499999998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:96.50, Y:99.54, Z:17.37 [[-8.17511030e-01 5.71422863e-01 7.17748380e-02 9.65014580e+01] [-5.69111550e-01 -8.20654995e-01 5.13558421e-02 9.95403692e+01] [ 8.82482816e-02 1.13607806e-03 9.96097862e-01 1.73724143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50687499999998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:96.49, Y:99.53, Z:17.37 [[-8.17265631e-01 5.71771252e-01 7.17950129e-02 9.64853807e+01] [-5.69463758e-01 -8.20412399e-01 5.13276223e-02 9.95301712e+01] [ 8.82491776e-02 1.06364384e-03 9.96097862e-01 1.73740258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53687499999998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:96.49, Y:99.53, Z:17.37 [[-8.13441464e-01 5.77195960e-01 7.18178871e-02 9.64865026e+01] [-5.74912279e-01 -8.16605555e-01 5.12955967e-02 9.95264295e+01] [ 8.82544968e-02 4.36980073e-04 9.96097863e-01 1.73694876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56687499999998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:96.49, Y:99.54, Z:17.37 [[-8.17680420e-01 5.71225368e-01 7.14164568e-02 9.64918118e+01] [-5.68869371e-01 -8.20791340e-01 5.18576399e-02 9.95360567e+01] [ 8.82404087e-02 1.77634190e-03 9.96097623e-01 1.73730149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59687499999998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:96.48, Y:99.53, Z:17.37 [[-8.18186330e-01 5.70446639e-01 7.18453987e-02 9.64769746e+01] [-5.68140297e-01 -8.21333903e-01 5.12564398e-02 9.95261115e+01] [ 8.82481255e-02 1.11905218e-03 9.96097895e-01 1.73745571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62687499999998 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:96.48, Y:99.53, Z:17.37 [[-8.18821670e-01 5.69531725e-01 7.18657628e-02 9.64794603e+01] [-5.67224373e-01 -8.21968501e-01 5.12278718e-02 9.95285116e+01] [ 8.82472915e-02 1.18247931e-03 9.96097895e-01 1.73740185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65687499999999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:96.48, Y:99.53, Z:17.37 [[-8.18902489e-01 5.69412934e-01 7.18861927e-02 9.64772270e+01] [-5.67107642e-01 -8.22050829e-01 5.11991873e-02 9.95276773e+01] [ 8.82475838e-02 1.15993265e-03 9.96097896e-01 1.73744127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.686875 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:96.47, Y:99.52, Z:17.38 [[-8.18207314e-01 5.70408833e-01 7.19065656e-02 9.64713944e+01] [-5.68109889e-01 -8.21360291e-01 5.11705588e-02 9.95247672e+01] [ 8.82493364e-02 1.01729454e-03 9.96097897e-01 1.73751128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.716875 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:96.49, Y:99.54, Z:17.37 [[-8.17330893e-01 5.71661373e-01 7.19269551e-02 9.64868913e+01] [-5.69369783e-01 -8.20489219e-01 5.11418827e-02 9.95374854e+01] [ 8.82511300e-02 8.46805885e-04 9.96097897e-01 1.73741785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.746875 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:96.49, Y:99.54, Z:17.37 [[-8.17553637e-01 5.71340224e-01 7.19471971e-02 9.64850558e+01] [-5.69049900e-01 -8.20712881e-01 5.11133901e-02 9.95361023e+01] [ 8.82511271e-02 8.46392679e-04 9.96097898e-01 1.73744010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.776875 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:96.46, Y:99.52, Z:17.37 [[-8.14038868e-01 5.76334491e-01 7.19671879e-02 9.64647030e+01] [-5.74066040e-01 -8.17213853e-01 5.10852279e-02 9.95173178e+01] [ 8.82547617e-02 2.71442475e-04 9.96097899e-01 1.73723306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.806875 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:96.47, Y:99.52, Z:17.37 [[-8.13879555e-01 5.76602380e-01 7.16223742e-02 9.64677490e+01] [-5.74292111e-01 -8.17024472e-01 5.15711436e-02 9.95191677e+01] [ 8.82532766e-02 8.40534972e-04 9.96097712e-01 1.73707659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.836875 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:96.49, Y:99.54, Z:17.37 [[-8.14061526e-01 5.76348202e-01 7.16001527e-02 9.64931299e+01] [-5.74034195e-01 -8.17203725e-01 5.16024792e-02 9.95388159e+01] [ 8.82529076e-02 9.06657026e-04 9.96097687e-01 1.73685701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.866875 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:96.48, Y:99.53, Z:17.37 [[-8.17967380e-01 5.70787083e-01 7.16342863e-02 9.64755343e+01] [-5.68455932e-01 -8.21096831e-01 5.15543145e-02 9.95319275e+01] [ 8.82452223e-02 1.44881260e-03 9.96097727e-01 1.73739089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.896875 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:96.48, Y:99.54, Z:17.37 [[-8.18551314e-01 5.69898656e-01 7.20365722e-02 9.64796720e+01] [-5.67613974e-01 -8.21714553e-01 5.09859737e-02 9.95358777e+01] [ 8.82503376e-02 8.45670753e-04 9.96097968e-01 1.73742166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.926875 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:96.46, Y:99.51, Z:17.37 [[-8.14384269e-01 5.75834520e-01 7.20615628e-02 9.64564217e+01] [-5.73576023e-01 -8.17566254e-01 5.09506287e-02 9.95144348e+01] [ 8.82542328e-02 1.60605874e-04 9.96097969e-01 1.73723530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.956875 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:96.45, Y:99.52, Z:17.38 [[-8.19355152e-01 5.68795069e-01 7.16191669e-02 9.64502547e+01] [-5.66454351e-01 -8.22477544e-01 5.15767117e-02 9.95157755e+01] [ 8.82417358e-02 1.69065569e-03 9.96097655e-01 1.73785350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.986875 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:96.45, Y:99.51, Z:17.37 [[-8.14665403e-01 5.75430357e-01 7.21123193e-02 9.64533620e+01] [-5.73176726e-01 -8.17850776e-01 5.08777915e-02 9.95115532e+01] [ 8.82537420e-02 1.15273458e-04 9.96098019e-01 1.73736109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.016875 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:96.47, Y:99.53, Z:17.38 [[-8.20416659e-01 5.67269031e-01 7.15706025e-02 9.64650133e+01] [-5.64916518e-01 -8.23530258e-01 5.16453502e-02 9.95257587e+01] [ 8.82373645e-02 1.93929016e-03 9.96097589e-01 1.73771478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.046875 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:96.47, Y:99.52, Z:17.37 [[-8.15592522e-01 5.74111115e-01 7.21475217e-02 9.64669893e+01] [-5.71856869e-01 -8.18777375e-01 5.08264981e-02 9.95213331e+01] [ 8.82528159e-02 1.95655970e-04 9.96098089e-01 1.73716355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.076875 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:96.45, Y:99.51, Z:17.38 [[-8.20772683e-01 5.66742441e-01 7.16603767e-02 9.64452716e+01] [-5.64399046e-01 -8.23892968e-01 5.15179075e-02 9.95119219e+01] [ 8.82378650e-02 1.83944295e-03 9.96097734e-01 1.73786427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.106875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:96.46, Y:99.53, Z:17.38 [[-8.20669099e-01 5.66826872e-01 7.21770528e-02 9.64643316e+01] [-5.64548127e-01 -8.23836412e-01 5.07836351e-02 9.95253439e+01] [ 8.82476133e-02 9.29140025e-04 9.96098135e-01 1.73755539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.136875 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:96.46, Y:99.52, Z:17.38 [[-8.17608688e-01 5.71226386e-01 7.22249969e-02 9.64583082e+01] [-5.68970715e-01 -8.20792470e-01 5.07153573e-02 9.95210446e+01] [ 8.82516838e-02 3.71408625e-04 9.96098139e-01 1.73755787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16687499999998 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:96.47, Y:99.53, Z:17.38 [[-8.16722601e-01 5.72490073e-01 7.22447922e-02 9.64728121e+01] [-5.70241823e-01 -8.19911627e-01 5.06871430e-02 9.95323833e+01] [ 8.82522313e-02 2.00333217e-04 9.96098140e-01 1.73755426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19687499999998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:96.46, Y:99.52, Z:17.38 [[-8.16025717e-01 5.73480493e-01 7.22644669e-02 9.64613139e+01] [-5.71238599e-01 -8.19219214e-01 5.06590773e-02 9.95248274e+01] [ 8.82524324e-02 5.88570929e-05 9.96098140e-01 1.73779248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22687499999998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:96.46, Y:99.52, Z:17.38 [[-8.14194423e-01 5.76075042e-01 7.22840682e-02 9.64611690e+01] [-5.73845809e-01 -8.17396770e-01 5.06310934e-02 9.95234295e+01] [ 8.82520732e-02 -2.56355650e-04 9.96098141e-01 1.73777433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25687499999998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:96.45, Y:99.52, Z:17.38 [[-8.13564296e-01 5.76962137e-01 7.23037310e-02 9.64532381e+01] [-5.74738892e-01 -8.16770802e-01 5.06029985e-02 9.95174465e+01] [ 8.82515905e-02 -3.86973435e-04 9.96098141e-01 1.73787049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28687499999998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:96.43, Y:99.50, Z:17.38 [[-8.13156556e-01 5.77534197e-01 7.23233560e-02 9.64319979e+01] [-5.75315703e-01 -8.16366350e-01 5.05749344e-02 9.95022617e+01] [ 8.82511083e-02 -4.83422895e-04 9.96098142e-01 1.73816783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31687499999998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:96.46, Y:99.51, Z:17.37 [[-8.06058741e-01 5.87397453e-01 7.23432031e-02 9.64626373e+01] [-5.85220774e-01 -8.09297037e-01 5.05465289e-02 9.95141019e+01] [ 8.82380422e-02 -1.59327385e-03 9.96098142e-01 1.73713637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34687499999998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:96.46, Y:99.52, Z:17.38 [[-8.13198570e-01 5.77567604e-01 7.15803578e-02 9.64569069e+01] [-5.75255103e-01 -8.16342451e-01 5.16388328e-02 9.95174779e+01] [ 8.82590017e-02 8.15658941e-04 9.96097226e-01 1.73791589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37687499999998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:96.42, Y:99.48, Z:17.38 [[-8.06160087e-01 5.87251342e-01 7.24001057e-02 9.64177788e+01] [-5.85081579e-01 -8.09402893e-01 5.04628826e-02 9.94808106e+01] [ 8.82352506e-02 -1.67880634e-03 9.96098249e-01 1.73763638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40687499999999 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:96.45, Y:99.51, Z:17.38 [[-8.13393847e-01 5.77286127e-01 7.16322342e-02 9.64544964e+01] [-5.74979109e-01 -8.16541583e-01 5.15641987e-02 9.95146749e+01] [ 8.82579945e-02 7.54963680e-04 9.96097363e-01 1.73798925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.436875 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:96.46, Y:99.51, Z:17.37 [[-8.06888329e-01 5.86244980e-01 7.24434147e-02 9.64641035e+01] [-5.84076959e-01 -8.10132157e-01 5.03983503e-02 9.95116070e+01] [ 8.82345197e-02 -1.64668876e-03 9.96098368e-01 1.73715072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.466875 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:96.44, Y:99.50, Z:17.38 [[-8.15417206e-01 5.74425836e-01 7.16221965e-02 9.64406605e+01] [-5.72106545e-01 -8.18555916e-01 5.15782303e-02 9.95036246e+01] [ 8.82546407e-02 1.08224908e-03 9.96097358e-01 1.73815434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.496875 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:96.43, Y:99.50, Z:17.38 [[-8.16564578e-01 5.72686409e-01 7.24745989e-02 9.64329751e+01] [-5.70468671e-01 -8.19774496e-01 5.03514771e-02 9.94976661e+01] [ 8.82484344e-02 -2.29255511e-04 9.96098470e-01 1.73838792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.526875 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:96.45, Y:99.51, Z:17.38 [[-8.18069023e-01 5.70532792e-01 7.24941822e-02 9.64475732e+01] [-5.68309103e-01 -8.21274821e-01 5.03232661e-02 9.95066199e+01] [ 8.82487201e-02 -3.11985079e-05 9.96098470e-01 1.73814690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.556875 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:96.43, Y:99.49, Z:17.38 [[-8.20410373e-01 5.67158025e-01 7.25161610e-02 9.64340468e+01] [-5.64923950e-01 -8.23608941e-01 5.02915746e-02 9.94948038e+01] [ 8.82482288e-02 2.93613363e-04 9.96098471e-01 1.73815554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.586875 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:96.44, Y:99.50, Z:17.38 [[-8.21735734e-01 5.65233553e-01 7.25356000e-02 9.64426574e+01] [-5.62994463e-01 -8.24930793e-01 5.02635223e-02 9.94999752e+01] [ 8.82474793e-02 4.66191213e-04 9.96098472e-01 1.73803767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.616875 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:96.43, Y:99.49, Z:17.38 [[-8.23017875e-01 5.63362523e-01 7.25551199e-02 9.64316552e+01] [-5.61118654e-01 -8.26209579e-01 5.02353296e-02 9.94919121e+01] [ 8.82464371e-02 6.32543038e-04 9.96098472e-01 1.73813472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.646875 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:96.42, Y:99.49, Z:17.38 [[-8.24506994e-01 5.61178359e-01 7.25745501e-02 9.64241320e+01] [-5.58928507e-01 -8.27694482e-01 5.02072433e-02 9.94867971e+01] [ 8.82447731e-02 8.32238311e-04 9.96098473e-01 1.73817421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.676875 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:96.42, Y:99.48, Z:17.38 [[-8.27234209e-01 5.57147791e-01 7.25941002e-02 9.64174342e+01] [-5.54884891e-01 -8.30412446e-01 5.01789603e-02 9.94821246e+01] [ 8.82401412e-02 1.22838317e-03 9.96098473e-01 1.73839593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.706875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:96.38, Y:99.46, Z:17.39 [[-8.28681473e-01 5.54989999e-01 7.26162363e-02 9.63843707e+01] [-5.52721631e-01 -8.31855809e-01 5.01469057e-02 9.94591787e+01] [ 8.82372692e-02 1.41924712e-03 9.96098474e-01 1.73863764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.736875 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:96.40, Y:99.47, Z:17.39 [[-8.30162846e-01 5.52769063e-01 7.26361689e-02 9.63979463e+01] [-5.50494729e-01 -8.33332910e-01 5.01180174e-02 9.94679524e+01] [ 8.82337995e-02 1.62028784e-03 9.96098475e-01 1.73850129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.766875 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:96.41, Y:99.47, Z:17.38 [[-8.30521154e-01 5.52227917e-01 7.26563157e-02 9.64076015e+01] [-5.49954072e-01 -8.33691568e-01 5.00887936e-02 9.94741938e+01] [ 8.82333879e-02 1.64216603e-03 9.96098475e-01 1.73842676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.796875 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:96.40, Y:99.47, Z:17.38 [[-8.30795898e-01 5.51811875e-01 7.26761984e-02 9.64020599e+01] [-5.49538966e-01 -8.33966983e-01 5.00599283e-02 9.94707383e+01] [ 8.82332128e-02 1.65118014e-03 9.96098476e-01 1.73848037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.826875 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:96.40, Y:99.47, Z:17.38 [[-8.30904485e-01 5.51645744e-01 7.26960051e-02 9.63975582e+01] [-5.49374718e-01 -8.34076917e-01 5.00311491e-02 9.94678045e+01] [ 8.82335302e-02 1.63375891e-03 9.96098477e-01 1.73848163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.856875 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:96.40, Y:99.47, Z:17.38 [[-8.31034055e-01 5.51447259e-01 7.27208418e-02 9.64012421e+01] [-5.49178633e-01 -8.34208203e-01 4.99950226e-02 9.94702819e+01] [ 8.82339409e-02 1.61083381e-03 9.96098478e-01 1.73839551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.886875 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:96.40, Y:99.47, Z:17.38 [[-8.31006590e-01 5.51486037e-01 7.27406228e-02 9.63959429e+01] [-5.49220079e-01 -8.34182643e-01 4.99662257e-02 9.94665568e+01] [ 8.82346407e-02 1.57165224e-03 9.96098478e-01 1.73830646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91687499999998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:96.28, Y:99.38, Z:17.39 [[-8.25627637e-01 5.59504195e-01 7.27602975e-02 9.62844422e+01] [-5.57271612e-01 -8.28827238e-01 4.99375592e-02 9.93832884e+01] [ 8.82459902e-02 6.82580650e-04 9.96098479e-01 1.73923145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94687499999998 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:96.39, Y:99.46, Z:17.38 [[-8.29958218e-01 5.53125187e-01 7.22626094e-02 9.63861719e+01] [-5.50804714e-01 -8.33095125e-01 5.06624075e-02 9.94596798e+01] [ 8.82242812e-02 2.24509548e-03 9.96098106e-01 1.73829002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97687499999998 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:96.40, Y:99.47, Z:17.38 [[-8.29565490e-01 5.53644418e-01 7.27939306e-02 9.64015142e+01] [-5.51393656e-01 -8.32752247e-01 4.98871880e-02 9.94708159e+01] [ 8.82390724e-02 1.24657806e-03 9.96098545e-01 1.73809876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00687499999998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:96.39, Y:99.46, Z:17.38 [[-8.22306413e-01 5.64367202e-01 7.28136318e-02 9.63941391e+01] [-5.62160548e-01 -8.25523868e-01 4.98584164e-02 9.94585637e+01] [ 8.82478459e-02 6.59444027e-05 9.96098546e-01 1.73769602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03687499999998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:96.41, Y:99.48, Z:17.38 [[-8.28050462e-01 5.55990371e-01 7.21605219e-02 9.64106811e+01] [-5.53667733e-01 -8.31186024e-01 5.08117694e-02 9.94783435e+01] [ 8.82296718e-02 2.12175657e-03 9.96097898e-01 1.73813670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06687499999998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:96.39, Y:99.47, Z:17.38 [[-8.26871030e-01 5.57654538e-01 7.28403428e-02 9.63905539e+01] [-5.55425335e-01 -8.30072813e-01 4.98178948e-02 9.94650372e+01] [ 8.82439634e-02 7.35602168e-04 9.96098621e-01 1.73830494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09687499999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:96.39, Y:99.46, Z:17.38 [[-8.26434589e-01 5.58298605e-01 7.28597118e-02 9.63874783e+01] [-5.56074395e-01 -8.29639843e-01 4.97895511e-02 9.94630161e+01] [ 8.82447568e-02 6.32387109e-04 9.96098621e-01 1.73832256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12687499999998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:96.42, Y:99.47, Z:17.37 [[-8.17698266e-01 5.71015028e-01 7.28792371e-02 9.64177870e+01] [-5.68843211e-01 -8.20939248e-01 4.97609547e-02 9.94736948e+01] [ 8.82436791e-02 -7.67412823e-04 9.96098622e-01 1.73708268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15687499999999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:96.40, Y:99.47, Z:17.38 [[-8.26198753e-01 5.58764285e-01 7.19589718e-02 9.63966592e+01] [-5.56426362e-01 -8.29323639e-01 5.11077853e-02 9.94694371e+01] [ 8.82344815e-02 2.18531968e-03 9.96097335e-01 1.73808167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.186875 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:96.37, Y:99.45, Z:17.38 [[-8.26130318e-01 5.58742543e-01 7.29072530e-02 9.63707323e+01] [-5.56526420e-01 -8.29341017e-01 4.97174164e-02 9.94529443e+01] [ 8.82442110e-02 4.98252527e-04 9.96098746e-01 1.73845339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.216875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:96.40, Y:99.47, Z:17.38 [[-8.26344024e-01 5.58423897e-01 7.29267070e-02 9.63985573e+01] [-5.56209056e-01 -8.29555606e-01 4.96888644e-02 9.94717931e+01] [ 8.82442080e-02 4.97601318e-04 9.96098746e-01 1.73819950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.246875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:96.39, Y:99.47, Z:17.38 [[-8.26692031e-01 5.57906035e-01 7.29461604e-02 9.63940227e+01] [-5.55691702e-01 -8.29903963e-01 4.96602894e-02 9.94683290e+01] [ 8.82440828e-02 5.18189394e-04 9.96098747e-01 1.73815883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.276875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:96.39, Y:99.47, Z:17.38 [[-8.27311825e-01 5.56984021e-01 7.29653749e-02 9.63937869e+01] [-5.54768599e-01 -8.30523005e-01 4.96320417e-02 9.94678953e+01] [ 8.82436766e-02 5.82276151e-04 9.96098747e-01 1.73820009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.306875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:96.39, Y:99.46, Z:17.38 [[-8.28411368e-01 5.55344496e-01 7.29869563e-02 9.63863553e+01] [-5.53125517e-01 -8.31620090e-01 4.96002848e-02 9.94626610e+01] [ 8.82426643e-02 7.18491843e-04 9.96098748e-01 1.73828962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.336875 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:96.38, Y:99.46, Z:17.38 [[-8.28869873e-01 5.54657409e-01 7.30061149e-02 9.63812461e+01] [-5.52438254e-01 -8.32078473e-01 4.95720695e-02 9.94599153e+01] [ 8.82423322e-02 7.57424275e-04 9.96098749e-01 1.73838971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.366875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:96.38, Y:99.46, Z:17.39 [[-8.29149794e-01 5.54236339e-01 7.30253332e-02 9.63832901e+01] [-5.52018050e-01 -8.32358991e-01 4.95437426e-02 9.94618580e+01] [ 8.82422353e-02 7.67881990e-04 9.96098749e-01 1.73852389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.396875 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:96.36, Y:99.45, Z:17.39 [[-8.29423712e-01 5.53823856e-01 7.30441136e-02 9.63638914e+01] [-5.51606410e-01 -8.32633491e-01 4.95160386e-02 9.94483568e+01] [ 8.82421388e-02 7.78175242e-04 9.96098750e-01 1.73869834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.426875 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:96.38, Y:99.46, Z:17.39 [[-8.29824313e-01 5.53220883e-01 7.30634170e-02 9.63823967e+01] [-5.51003613e-01 -8.33034214e-01 4.94875392e-02 9.94613226e+01] [ 8.82418663e-02 8.07756488e-04 9.96098750e-01 1.73851744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.456875 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:96.39, Y:99.46, Z:17.38 [[-8.24018350e-01 5.61829441e-01 7.30851430e-02 9.63864385e+01] [-5.59648553e-01 -8.27253079e-01 4.94554327e-02 9.94571159e+01] [ 8.82454277e-02 -1.49810467e-04 9.96098751e-01 1.73787913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.486875 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:96.37, Y:99.46, Z:17.39 [[-8.30319459e-01 5.52556631e-01 7.24621622e-02 9.63722103e+01] [-5.50258958e-01 -8.33473063e-01 5.03759105e-02 9.94556130e+01] [ 8.82308037e-02 1.95514489e-03 9.96098139e-01 1.73867062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.516875 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:96.36, Y:99.45, Z:17.39 [[-8.30735445e-01 5.51844069e-01 7.31214326e-02 9.63598248e+01] [-5.49629165e-01 -8.33946883e-01 4.94001772e-02 9.94478271e+01] [ 8.82405856e-02 8.48806284e-04 9.96098830e-01 1.73883912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.546875 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:96.36, Y:99.45, Z:17.39 [[-8.31100217e-01 5.51292002e-01 7.31406746e-02 9.63620114e+01] [-5.49077473e-01 -8.34311912e-01 4.93716716e-02 9.94494843e+01] [ 8.82403438e-02 8.72910126e-04 9.96098830e-01 1.73873579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.576875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:96.37, Y:99.45, Z:17.38 [[-8.27449595e-01 5.56753794e-01 7.31599640e-02 9.63690326e+01] [-5.54562994e-01 -8.30677523e-01 4.93430718e-02 9.94490918e+01] [ 8.82442800e-02 2.57096094e-04 9.96098831e-01 1.73815854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.606875 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:96.37, Y:99.45, Z:17.38 [[-8.25813617e-01 5.59227309e-01 7.27783417e-02 9.63718337e+01] [-5.56996179e-01 -8.29014087e-01 4.99089082e-02 9.94490387e+01] [ 8.82446949e-02 6.78197676e-04 9.96098596e-01 1.73767048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.636875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:96.37, Y:99.45, Z:17.38 [[-8.31319517e-01 5.51034784e-01 7.25846244e-02 9.63681591e+01] [-5.48747007e-01 -8.34480115e-01 5.01962126e-02 9.94540872e+01] [ 8.82302849e-02 1.89849588e-03 9.96098295e-01 1.73821915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66687499999998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:96.37, Y:99.45, Z:17.38 [[-8.31530441e-01 5.50634505e-01 7.32036097e-02 9.63661570e+01] [-5.48425787e-01 -8.34746043e-01 4.92767696e-02 9.94530352e+01] [ 8.82399132e-02 8.28386629e-04 9.96098907e-01 1.73829938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69687499999998 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:96.35, Y:99.44, Z:17.38 [[-8.26363395e-01 5.58356507e-01 7.32226084e-02 9.63492538e+01] [-5.56180342e-01 -8.29601115e-01 4.92485226e-02 9.94357218e+01] [ 8.82437906e-02 -2.77990363e-05 9.96098907e-01 1.73786882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72687499999998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:96.34, Y:99.43, Z:17.39 [[-8.31329036e-01 5.51001706e-01 7.27265736e-02 9.63359654e+01] [-5.48732162e-01 -8.34502490e-01 4.99860830e-02 9.94346257e+01] [ 8.82329237e-02 1.64747218e-03 9.96098508e-01 1.73864425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75687499999998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:96.34, Y:99.44, Z:17.39 [[-8.31337263e-01 5.50919457e-01 7.32537151e-02 9.63361733e+01] [-5.48718488e-01 -8.34558118e-01 4.92013155e-02 9.94356076e+01] [ 8.82404446e-02 7.07219226e-04 9.96098953e-01 1.73875917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78687499999998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:96.35, Y:99.43, Z:17.38 [[-8.26110036e-01 5.58724662e-01 7.32731884e-02 9.63452217e+01] [-5.56556698e-01 -8.29353198e-01 4.91722978e-02 9.94344034e+01] [ 8.82431286e-02 -1.58955053e-04 9.96098953e-01 1.73812245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81687499999998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:96.33, Y:99.43, Z:17.39 [[-8.31166474e-01 5.51240357e-01 7.27761061e-02 9.63303290e+01] [-5.48978138e-01 -8.34345083e-01 4.99127931e-02 9.94307358e+01] [ 8.82343322e-02 1.53334899e-03 9.96098565e-01 1.73875233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84687499999998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:96.34, Y:99.43, Z:17.38 [[-8.26516614e-01 5.58120080e-01 7.32957199e-02 9.63379612e+01] [-5.55952804e-01 -8.29760181e-01 4.91377872e-02 9.94292185e+01] [ 8.82426555e-02 -1.35763524e-04 9.96098999e-01 1.73828721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87687499999998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:96.35, Y:99.44, Z:17.38 [[-8.27203633e-01 5.57168231e-01 7.27853788e-02 9.63529883e+01] [-5.54930034e-01 -8.30399168e-01 4.98986944e-02 9.94393228e+01] [ 8.82428852e-02 8.85588570e-04 9.96098594e-01 1.73813481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90687499999999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:96.35, Y:99.44, Z:17.39 [[-8.32889346e-01 5.48625607e-01 7.28373516e-02 9.63495586e+01] [-5.46361417e-01 -8.36066417e-01 4.98211738e-02 9.94426531e+01] [ 8.82300353e-02 1.70000626e-03 9.96098675e-01 1.73874094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.936875 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:96.32, Y:99.42, Z:17.39 [[-8.33800356e-01 5.47174569e-01 7.33277358e-02 9.63207467e+01] [-5.44969032e-01 -8.37017952e-01 4.90887093e-02 9.94229072e+01] [ 8.82367246e-02 9.68838022e-04 9.96099062e-01 1.73913203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.966875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:96.33, Y:99.43, Z:17.39 [[-8.34856105e-01 5.45559810e-01 7.33469699e-02 9.63256413e+01] [-5.43350576e-01 -8.38071162e-01 4.90599536e-02 9.94254005e+01] [ 8.82351192e-02 1.10488340e-03 9.96099063e-01 1.73902293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.996875 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:96.27, Y:99.39, Z:17.39 [[-8.36442356e-01 5.43122039e-01 7.33664439e-02 9.62749748e+01] [-5.40905990e-01 -8.39652719e-01 4.90308141e-02 9.93894557e+01] [ 8.82320498e-02 1.32710071e-03 9.96099063e-01 1.73937259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.026875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:96.31, Y:99.41, Z:17.39 [[-8.37292411e-01 5.41807974e-01 7.33862248e-02 9.63052773e+01] [-5.39589481e-01 -8.40501086e-01 4.90011894e-02 9.94090886e+01] [ 8.82304368e-02 1.42988909e-03 9.96099064e-01 1.73911134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.056875 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:96.29, Y:99.40, Z:17.39 [[-8.38131850e-01 5.40505807e-01 7.34062281e-02 9.62941750e+01] [-5.38284954e-01 -8.41338891e-01 4.89712052e-02 9.94011096e+01] [ 8.82287353e-02 1.53085869e-03 9.96099065e-01 1.73923060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.086875 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:96.27, Y:99.39, Z:17.39 [[-8.38955318e-01 5.39224077e-01 7.34259402e-02 9.62744860e+01] [-5.37000912e-01 -8.42160755e-01 4.89416317e-02 9.93875057e+01] [ 8.82269515e-02 1.63004532e-03 9.96099065e-01 1.73943287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.116875 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:96.31, Y:99.41, Z:17.39 [[-8.40557914e-01 5.36719742e-01 7.34459723e-02 9.63121964e+01] [-5.34489654e-01 -8.43758538e-01 4.89115515e-02 9.94114533e+01] [ 8.82224615e-02 1.85687941e-03 9.96099066e-01 1.73917100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.146875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:96.29, Y:99.39, Z:17.39 [[-8.41230926e-01 5.35661559e-01 7.34657921e-02 9.62872876e+01] [-5.33430044e-01 -8.44430555e-01 4.88817639e-02 9.93941993e+01] [ 8.82208414e-02 1.93199080e-03 9.96099067e-01 1.73949481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.176875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:96.31, Y:99.41, Z:17.39 [[-8.41587325e-01 5.35098750e-01 7.34853831e-02 9.63147706e+01] [-5.32867666e-01 -8.44787253e-01 4.88522945e-02 9.94116954e+01] [ 8.82203167e-02 1.95548724e-03 9.96099067e-01 1.73920631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.206875 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:96.32, Y:99.41, Z:17.39 [[-8.42037307e-01 5.34387853e-01 7.35037143e-02 9.63186668e+01] [-5.32156475e-01 -8.45237029e-01 4.88246976e-02 9.94138665e+01] [ 8.82193865e-02 1.99673937e-03 9.96099068e-01 1.73925759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.236875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:96.30, Y:99.40, Z:17.39 [[-8.42353980e-01 5.33885896e-01 7.35229458e-02 9.63001010e+01] [-5.31655137e-01 -8.45554134e-01 4.87957207e-02 9.94007107e+01] [ 8.82189778e-02 2.01441767e-03 9.96099068e-01 1.73946072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.266875 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:96.28, Y:99.39, Z:17.40 [[-8.42448917e-01 5.33733414e-01 7.35422678e-02 9.62846106e+01] [-5.31504617e-01 -8.45650437e-01 4.87665823e-02 9.93900825e+01] [ 8.82194054e-02 1.99529952e-03 9.96099069e-01 1.73953380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.296875 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:96.29, Y:99.39, Z:17.39 [[-8.39944545e-01 5.37663282e-01 7.35619221e-02 9.62870486e+01] [-5.35452064e-01 -8.43158230e-01 4.87369169e-02 9.93872893e+01] [ 8.82283907e-02 1.54742448e-03 9.96099070e-01 1.73936933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.326875 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:96.29, Y:99.39, Z:17.40 [[-8.42140342e-01 5.34243068e-01 7.33756735e-02 9.62911248e+01] [-5.31994283e-01 -8.45327928e-01 4.90181320e-02 9.93929763e+01] [ 8.82141033e-02 2.24470761e-03 9.96099008e-01 1.73959080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.356875 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:96.31, Y:99.40, Z:17.39 [[-8.41848265e-01 5.34674103e-01 7.35873845e-02 9.63071237e+01] [-5.32454854e-01 -8.45056395e-01 4.86982295e-02 9.94030913e+01] [ 8.82231721e-02 1.81455992e-03 9.96099081e-01 1.73941683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.386875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:96.28, Y:99.39, Z:17.40 [[-8.41384263e-01 5.35401319e-01 7.36067274e-02 9.62824424e+01] [-5.33187400e-01 -8.44596073e-01 4.86689754e-02 9.93864510e+01] [ 8.82253866e-02 1.70313038e-03 9.96099082e-01 1.73980834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41687499999998 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:96.28, Y:99.38, Z:17.40 [[-8.39804885e-01 5.37872617e-01 7.36261020e-02 9.62775097e+01] [-5.35670720e-01 -8.43024949e-01 4.86396481e-02 9.93832352e+01] [ 8.82305757e-02 1.40846698e-03 9.96099082e-01 1.73987732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44687499999998 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:96.30, Y:99.40, Z:17.40 [[-8.39023217e-01 5.39088447e-01 7.36456943e-02 9.63036046e+01] [-5.36893821e-01 -8.42248239e-01 4.86099653e-02 9.94007236e+01] [ 8.82330270e-02 1.24497123e-03 9.96099083e-01 1.73961570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47687499999998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:96.31, Y:99.41, Z:17.39 [[-8.38220237e-01 5.40333166e-01 7.36675208e-02 9.63131040e+01] [-5.38146237e-01 -8.41450483e-01 4.85768653e-02 9.94071195e+01] [ 8.82352623e-02 1.07421244e-03 9.96099084e-01 1.73947028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50687499999998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:96.30, Y:99.40, Z:17.40 [[-8.36969419e-01 5.42266069e-01 7.36865122e-02 9.62972536e+01] [-5.40089137e-01 -8.40206410e-01 4.85480400e-02 9.93964383e+01] [ 8.82378347e-02 8.35940064e-04 9.96099084e-01 1.73965293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53687499999998 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:96.31, Y:99.40, Z:17.40 [[-8.35781073e-01 5.44093279e-01 7.37055148e-02 9.63093661e+01] [-5.41925969e-01 -8.39024513e-01 4.85191733e-02 9.94048094e+01] [ 8.82396897e-02 6.08474162e-04 9.96099085e-01 1.73960576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56687499999998 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:96.32, Y:99.41, Z:17.40 [[-8.32886336e-01 5.48511658e-01 7.37245744e-02 9.63218108e+01] [-5.46364120e-01 -8.36142900e-01 4.84901952e-02 9.94142156e+01] [ 8.82417168e-02 1.06358779e-04 9.96099086e-01 1.73952048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59687499999998 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:96.31, Y:99.41, Z:17.40 [[-8.31395812e-01 5.50765756e-01 7.37433766e-02 9.63075344e+01] [-5.48629584e-01 -8.34659843e-01 4.84615841e-02 9.94056285e+01] [ 8.82416162e-02 -1.67040013e-04 9.96099086e-01 1.73975299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62687499999998 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:96.34, Y:99.43, Z:17.39 [[-8.23117262e-01 5.63060502e-01 7.37620795e-02 9.63441829e+01] [-5.60975625e-01 -8.26414293e-01 4.84331002e-02 9.94263208e+01] [ 8.82288025e-02 -1.51260776e-03 9.96099087e-01 1.73871424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65687499999999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:96.26, Y:99.37, Z:17.39 [[-8.18262088e-01 5.70158183e-01 7.32584587e-02 9.62641160e+01] [-5.68033008e-01 -8.21533817e-01 4.92005135e-02 9.93712176e+01] [ 8.82363766e-02 -1.35430771e-03 9.96098644e-01 1.73928728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.686875 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:96.32, Y:99.42, Z:17.40 [[-8.27391491e-01 5.56893246e-01 7.27546122e-02 9.63216990e+01] [-5.54647841e-01 -8.30583489e-01 4.99683924e-02 9.94184465e+01] [ 8.82558398e-02 9.90234074e-04 9.96097348e-01 1.73964003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.716875 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:96.31, Y:99.41, Z:17.40 [[-8.26840085e-01 5.57568578e-01 7.38427720e-02 9.63095522e+01] [-5.55473203e-01 -8.30130183e-01 4.83052746e-02 9.94118536e+01] [ 8.82326171e-02 -1.07694371e-03 9.96099315e-01 1.73984841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.746875 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:96.29, Y:99.40, Z:17.40 [[-8.26216709e-01 5.58489449e-01 7.38612601e-02 9.62916842e+01] [-5.56400268e-01 -8.29510744e-01 4.82769888e-02 9.94014319e+01] [ 8.82308977e-02 -1.20917014e-03 9.96099316e-01 1.74005342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.776875 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:96.33, Y:99.42, Z:17.39 [[-8.20196951e-01 5.67290680e-01 7.38799415e-02 9.63330319e+01] [-5.65239410e-01 -8.23514726e-01 4.82483832e-02 9.94213638e+01] [ 8.82120778e-02 -2.18667767e-03 9.96099316e-01 1.73881867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.806875 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:96.31, Y:99.41, Z:17.40 [[-8.26927343e-01 5.57516645e-01 7.32554408e-02 9.63077050e+01] [-5.55341111e-01 -8.30165761e-01 4.92042706e-02 9.94121346e+01] [ 8.82463586e-02 6.59891192e-06 9.96098680e-01 1.73984440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.836875 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:96.31, Y:99.41, Z:17.40 [[-8.27795020e-01 5.56140830e-01 7.39106340e-02 9.63097901e+01] [-5.54049200e-01 -8.31087404e-01 4.81996970e-02 9.94145738e+01] [ 8.82320164e-02 -1.05065850e-03 9.96099396e-01 1.73969387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.866875 meters Centerline goodness : 0.997336 Centerline is valid? [True, True] Translation: X:96.30, Y:99.41, Z:17.39 [[-8.31135500e-01 5.51133835e-01 7.39275091e-02 9.62984559e+01] [-5.49024672e-01 -8.34416679e-01 4.81738005e-02 9.94096126e+01] [ 8.82365581e-02 -5.49070613e-04 9.96099397e-01 1.73939755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.896875 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:96.39, Y:99.45, Z:17.37 [[-8.15448383e-01 5.74087037e-01 7.39459903e-02 9.63926617e+01] [-5.72072723e-01 -8.18788628e-01 4.81454156e-02 9.94547056e+01] [ 8.81857949e-02 -3.04238280e-03 9.96099397e-01 1.73716849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.926875 meters Centerline goodness : 0.996138 Centerline is valid? [True, True] Translation: X:96.29, Y:99.40, Z:17.39 [[-8.34460905e-01 5.46333320e-01 7.20756669e-02 9.62907166e+01] [-5.43956992e-01 -8.37561106e-01 5.10116112e-02 9.94042664e+01] [ 8.82371182e-02 3.36113233e-03 9.96093828e-01 1.73897312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.956875 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:96.36, Y:99.43, Z:17.37 [[-8.21332410e-01 5.65633201e-01 7.39740184e-02 9.63609658e+01] [-5.63589227e-01 -8.24654038e-01 4.80926298e-02 9.94321800e+01] [ 8.82057611e-02 -2.19092433e-03 9.96099866e-01 1.73730460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.986875 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:96.37, Y:99.44, Z:17.37 [[-8.21373774e-01 5.65764019e-01 7.24996410e-02 9.63728899e+01] [-5.63519078e-01 -8.24567051e-01 5.03530269e-02 9.94374608e+01] [ 8.82687460e-02 5.03724931e-04 9.96096569e-01 1.73675682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.016875 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:96.35, Y:99.42, Z:17.37 [[-8.24792018e-01 5.60813414e-01 7.21556829e-02 9.63461353e+01] [-5.58503037e-01 -8.27940540e-01 5.08804529e-02 9.94223707e+01] [ 8.82750555e-02 1.66662337e-03 9.96094743e-01 1.73690568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.046875 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:96.35, Y:99.43, Z:17.37 [[-8.27543729e-01 5.56732599e-01 7.22508736e-02 9.63506830e+01] [-5.54419453e-01 -8.30689531e-01 5.07343350e-02 9.94252773e+01] [ 8.82635025e-02 1.92759099e-03 9.96095296e-01 1.73682270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.076875 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:95.80, Y:99.09, Z:17.43 [[-8.51946111e-01 5.18489445e-01 7.31882410e-02 9.57954578e+01] [-5.16160071e-01 -8.55073712e-01 4.92719784e-02 9.90912354e+01] [ 8.81283417e-02 4.20022279e-03 9.96100273e-01 1.74280941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.106875 meters Centerline goodness : 0.991416 Centerline is valid? [True, True] Translation: X:96.85, Y:98.54, Z:17.99 [[-8.09394404e-01 -5.82687035e-01 -7.31882410e-02 9.68547038e+01] [-5.80605960e-01 8.12692433e-01 -4.92719784e-02 9.85421873e+01] [ 8.81896727e-02 2.61306530e-03 -9.96100273e-01 1.79896430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.136875 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:96.75, Y:98.50, Z:17.99 [[-7.62783949e-01 -6.42506376e-01 -7.31177420e-02 9.67514431e+01] [-6.40672678e-01 7.66225273e-01 -4.93695335e-02 9.85023784e+01] [ 8.77449019e-02 9.18625178e-03 -9.96100620e-01 1.79949242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16687499999998 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:96.67, Y:98.47, Z:18.00 [[-7.13182579e-01 -6.97154506e-01 -7.31177420e-02 9.66676057e+01] [-6.95580312e-01 7.16750081e-01 -4.93695335e-02 9.84710373e+01] [ 8.68253403e-02 1.56497705e-02 -9.96100620e-01 1.79991352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19687499999998 meters Centerline goodness : 0.989237 Centerline is valid? [True, True] Translation: X:96.58, Y:98.43, Z:18.01 [[-6.64059420e-01 -7.44096017e-01 -7.31177420e-02 9.65815323e+01] [-7.42768381e-01 6.67725828e-01 -4.93695335e-02 9.84331549e+01] [ 8.55582780e-02 2.15252430e-02 -9.96100620e-01 1.80092100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22687499999998 meters Centerline goodness : 0.990827 Centerline is valid? [True, True] Translation: X:96.47, Y:98.35, Z:18.02 [[-6.07122478e-01 -7.91237065e-01 -7.31177420e-02 9.64707992e+01] [-7.90184635e-01 6.10877149e-01 -4.93695335e-02 9.83490807e+01] [ 8.37289626e-02 2.78031627e-02 -9.96100620e-01 1.80248342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25687499999998 meters Centerline goodness : 0.989197 Centerline is valid? [True, True] Translation: X:96.40, Y:98.30, Z:18.03 [[-5.46693327e-01 -8.34134403e-01 -7.31177420e-02 9.63953906e+01] [-8.33363681e-01 5.50515780e-01 -4.93695335e-02 9.83042613e+01] [ 8.14332972e-02 3.39436760e-02 -9.96100620e-01 1.80311875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28687499999998 meters Centerline goodness : 0.989682 Centerline is valid? [True, True] Translation: X:96.31, Y:98.23, Z:18.04 [[-4.86189177e-01 -8.70789228e-01 -7.31177420e-02 9.63095070e+01] [-8.70291405e-01 4.90056649e-01 -4.93695335e-02 9.82300916e+01] [ 7.88222936e-02 3.96308095e-02 -9.96100620e-01 1.80416843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31687499999998 meters Centerline goodness : 0.989020 Centerline is valid? [True, True] Translation: X:96.22, Y:98.13, Z:18.06 [[-4.18157292e-01 -9.05427123e-01 -7.31177420e-02 9.62226034e+01] [-9.05226585e-01 4.22051512e-01 -4.93695335e-02 9.81334489e+01] [ 7.55599683e-02 4.55438934e-02 -9.96100620e-01 1.80606593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34687499999998 meters Centerline goodness : 0.991242 Centerline is valid? [True, True] Translation: X:96.17, Y:98.09, Z:18.06 [[-3.56842118e-01 -9.31298824e-01 -7.31177420e-02 9.61688032e+01] [-9.31358443e-01 3.60741042e-01 -4.93695335e-02 9.80932146e+01] [ 7.23543589e-02 5.04816974e-02 -9.96100620e-01 1.80614994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37687499999998 meters Centerline goodness : 0.988462 Centerline is valid? [True, True] Translation: X:96.10, Y:98.01, Z:18.07 [[-2.87782018e-01 -9.54900679e-01 -7.31177420e-02 9.61028024e+01] [-9.55245262e-01 2.91666143e-01 -4.93695335e-02 9.80141800e+01] [ 6.84689709e-02 5.56377125e-02 -9.96100620e-01 1.80691993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40687499999999 meters Centerline goodness : 0.987508 Centerline is valid? [True, True] Translation: X:96.03, Y:97.89, Z:18.09 [[-2.14000879e-01 -9.74093127e-01 -7.31177420e-02 9.60333080e+01] [-9.74733393e-01 2.17847335e-01 -4.93695335e-02 9.78868200e+01] [ 6.40190285e-02 6.07051811e-02 -9.96100620e-01 1.80858811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.436875 meters Centerline goodness : 0.989188 Centerline is valid? [True, True] Translation: X:95.98, Y:97.77, Z:18.09 [[-1.46199682e-01 -9.86549263e-01 -7.31177420e-02 9.59768794e+01] [-9.87453712e-01 1.49992720e-01 -4.93695335e-02 9.77664471e+01] [ 5.96726060e-02 6.49825756e-02 -9.96100620e-01 1.80920507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.466875 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:95.94, Y:97.71, Z:18.09 [[-7.83040300e-02 -9.94244575e-01 -7.31177420e-02 9.59406481e+01] [-9.95406623e-01 8.20262348e-02 -4.93695335e-02 9.77145532e+01] [ 5.50829640e-02 6.89160512e-02 -9.96100620e-01 1.80947234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.496875 meters Centerline goodness : 0.987314 Centerline is valid? [True, True] Translation: X:95.89, Y:97.58, Z:18.11 [[-6.00993775e-03 -9.97305207e-01 -7.31177420e-02 9.58944760e+01] [-9.98734077e-01 9.63809110e-03 -4.93695335e-02 9.75838910e+01] [ 4.99412083e-02 7.27284727e-02 -9.96100620e-01 1.81060470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.526875 meters Centerline goodness : 0.988628 Centerline is valid? [True, True] Translation: X:95.87, Y:97.41, Z:18.12 [[ 6.79055169e-02 -9.95008863e-01 -7.31177420e-02 9.58669927e+01] [-9.96702645e-01 -6.43932149e-02 -4.93695335e-02 9.74079025e+01] [ 4.44148369e-02 7.62291105e-02 -9.96100620e-01 1.81214692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.556875 meters Centerline goodness : 0.988628 Centerline is valid? [True, True] Translation: X:95.85, Y:97.43, Z:18.15 [[ 1.46217211e-01 -9.88960405e-01 -2.40384179e-02 9.58530372e+01] [-9.88286714e-01 -1.44957841e-01 -4.77136727e-02 9.74263896e+01] [ 4.37023759e-02 3.07334092e-02 -9.98571760e-01 1.81470755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.586875 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:95.85, Y:97.45, Z:18.15 [[ 2.21637092e-01 -9.75111782e-01 -5.83207566e-03 9.58464216e+01] [-9.74171458e-01 -2.21150428e-01 -4.56339589e-02 9.74470320e+01] [ 4.32084449e-02 1.57956196e-02 -9.98941204e-01 1.81483998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.616875 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:95.84, Y:97.47, Z:18.15 [[ 2.94401725e-01 -9.55680679e-01 1.43649184e-03 9.58374856e+01] [-9.54727476e-01 -2.94174577e-01 -4.42353417e-02 9.74675155e+01] [ 4.26974408e-02 1.16515027e-02 -9.99020105e-01 1.81504606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.646875 meters Centerline goodness : 0.990694 Centerline is valid? [True, True] Translation: X:95.83, Y:97.48, Z:18.15 [[ 3.64832548e-01 -9.31053259e-01 6.08605212e-03 9.58276366e+01] [-9.30115708e-01 -3.64745957e-01 -4.29552812e-02 9.74828853e+01] [ 4.22135175e-02 1.00107520e-02 -9.99058459e-01 1.81502063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.676875 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:95.82, Y:97.50, Z:18.15 [[ 4.35695531e-01 -9.00040241e-01 9.84730875e-03 9.58180105e+01] [-8.99126418e-01 -4.35708237e-01 -4.15934749e-02 9.74968465e+01] [ 4.17263547e-02 9.26811570e-03 -9.99086089e-01 1.81521138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.706875 meters Centerline goodness : 0.990113 Centerline is valid? [True, True] Translation: X:95.80, Y:97.51, Z:18.15 [[ 5.01849452e-01 -8.64853254e-01 1.32656054e-02 9.58046064e+01] [-8.63969005e-01 -5.01950511e-01 -4.00405165e-02 9.75114218e+01] [ 4.12878485e-02 8.63323937e-03 -9.99109994e-01 1.81528830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.736875 meters Centerline goodness : 0.989454 Centerline is valid? [True, True] Translation: X:95.79, Y:97.52, Z:18.15 [[ 5.66167461e-01 -8.24132322e-01 1.61345271e-02 9.57907827e+01] [-8.23278337e-01 -5.66333681e-01 -3.84570182e-02 9.75229591e+01] [ 4.08311978e-02 8.48990568e-03 -9.99129989e-01 1.81537746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.766875 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:95.78, Y:97.53, Z:18.16 [[ 6.28333921e-01 -7.77715188e-01 1.88565536e-02 9.57795507e+01] [-7.76895957e-01 -6.28560884e-01 -3.66590670e-02 9.75311532e+01] [ 4.03628052e-02 8.38455502e-03 -9.99149910e-01 1.81559550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.796875 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:95.77, Y:97.54, Z:18.16 [[ 6.84853975e-01 -7.28364819e-01 2.14411650e-02 9.57715749e+01] [-7.27585848e-01 -6.85141350e-01 -3.46433797e-02 9.75372218e+01] [ 3.99232477e-02 8.12536812e-03 -9.99169712e-01 1.81558873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.826875 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:95.76, Y:97.54, Z:18.16 [[ 7.40385167e-01 -6.71747095e-01 2.42000988e-02 9.57627399e+01] [-6.71021870e-01 -7.40742306e-01 -3.21011958e-02 9.75396199e+01] [ 3.94899219e-02 7.52845367e-03 -9.99191607e-01 1.81588629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.856875 meters Centerline goodness : 0.987597 Centerline is valid? [True, True] Translation: X:95.80, Y:97.57, Z:18.16 [[ 7.95029486e-01 -6.05962290e-01 2.71628440e-02 9.57958993e+01] [-6.05307030e-01 -7.95466368e-01 -2.89250053e-02 9.75733328e+01] [ 3.91345913e-02 6.55437164e-03 -9.99212452e-01 1.81571800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.886875 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:95.16, Y:96.68, Z:17.57 [[ 7.81677024e-01 6.22895766e-01 -3.13352017e-02 9.51553899e+01] [-6.22448282e-01 7.82304158e-01 2.36292415e-02 9.66841279e+01] [ 3.92322131e-02 1.03410729e-03 9.99229585e-01 1.75659650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91687499999998 meters Centerline goodness : 0.988248 Centerline is valid? [True, True] Translation: X:95.18, Y:96.66, Z:17.56 [[ 7.80557623e-01 6.24283072e-01 -3.16297671e-02 9.51828147e+01] [-6.23851570e-01 7.81196622e-01 2.32606316e-02 9.66642249e+01] [ 3.92302857e-02 1.57601654e-03 9.99228953e-01 1.75613509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94687499999998 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:95.21, Y:96.62, Z:17.58 [[ 7.74032694e-01 6.32360008e-01 -3.15310848e-02 9.52116771e+01] [-6.31930076e-01 7.74672506e-01 2.33856140e-02 9.66199135e+01] [ 3.92143915e-02 1.82421103e-03 9.99229155e-01 1.75750208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97687499999998 meters Centerline goodness : 0.992826 Centerline is valid? [True, True] Translation: X:95.89, Y:97.51, Z:18.17 [[ 8.36644023e-01 -5.46885993e-01 3.06999844e-02 9.58852142e+01] [-5.46352435e-01 -8.37199069e-01 -2.44281648e-02 9.75097594e+01] [ 3.90614195e-02 3.66466683e-03 -9.99230092e-01 1.81700443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00687499999998 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:95.87, Y:97.51, Z:18.17 [[ 8.77541822e-01 -4.78483059e-01 3.12139922e-02 9.58689945e+01] [-4.77933096e-01 -8.78077278e-01 -2.36695945e-02 9.75127271e+01] [ 3.87337973e-02 5.85285920e-03 -9.99232424e-01 1.81697298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03687499999998 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:95.85, Y:97.52, Z:18.17 [[ 9.13042404e-01 -4.06582972e-01 3.23087649e-02 9.58535610e+01] [-4.06056912e-01 -9.13589034e-01 -2.17453532e-02 9.75175283e+01] [ 3.83582236e-02 6.73523220e-03 -9.99241354e-01 1.81685669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06687499999998 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:95.84, Y:97.52, Z:18.17 [[ 9.42707108e-01 -3.31932981e-01 3.35231993e-02 9.58395452e+01] [-3.31452605e-01 -9.43277394e-01 -1.91553865e-02 9.75243543e+01] [ 3.79799806e-02 6.94656724e-03 -9.99254355e-01 1.81685613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09687499999998 meters Centerline goodness : 0.990644 Centerline is valid? [True, True] Translation: X:95.83, Y:97.53, Z:18.17 [[ 9.67290808e-01 -2.51290919e-01 3.46607332e-02 9.58299226e+01] [-2.50868258e-01 -9.67887041e-01 -1.61180652e-02 9.75316450e+01] [ 3.75979979e-02 6.89557855e-03 -9.99269154e-01 1.81653533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12687499999998 meters Centerline goodness : 0.991132 Centerline is valid? [True, True] Translation: X:95.81, Y:97.53, Z:18.17 [[ 9.84139440e-01 -1.73771938e-01 3.56773915e-02 9.58076447e+01] [-1.73428084e-01 -9.84766695e-01 -1.25401377e-02 9.75339113e+01] [ 3.73130310e-02 6.15378245e-03 -9.99284679e-01 1.81708300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15687499999999 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:95.79, Y:97.53, Z:18.17 [[ 9.94879060e-01 -9.43852992e-02 3.61534447e-02 9.57865294e+01] [-9.40745994e-02 -9.95512851e-01 -1.02045409e-02 9.75323197e+01] [ 3.69543774e-02 6.75116323e-03 -9.99294149e-01 1.81722115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.186875 meters Centerline goodness : 0.989249 Centerline is valid? [True, True] Translation: X:95.77, Y:97.53, Z:18.17 [[ 9.99273884e-01 -1.09923784e-02 3.64811275e-02 9.57711323e+01] [-1.07239225e-02 -9.99914022e-01 -7.54630305e-03 9.75328697e+01] [ 3.65609428e-02 7.14960277e-03 -9.99305849e-01 1.81721788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.216875 meters Centerline goodness : 0.987282 Centerline is valid? [True, True] Translation: X:95.75, Y:97.52, Z:18.18 [[ 9.97042807e-01 6.75562727e-02 3.66304740e-02 9.57499995e+01] [ 6.77388843e-02 -9.97695977e-01 -3.76587870e-03 9.75224669e+01] [ 3.62916678e-02 6.23604972e-03 -9.99321783e-01 1.81837952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.246875 meters Centerline goodness : 0.986860 Centerline is valid? [True, True] Translation: X:95.73, Y:97.52, Z:18.18 [[ 9.88410211e-01 1.47344597e-01 3.65352465e-02 9.57345757e+01] [ 1.47486364e-01 -9.89063360e-01 -1.20119280e-03 9.75173349e+01] [ 3.59586844e-02 6.57572189e-03 -9.99331643e-01 1.81842512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.276875 meters Centerline goodness : 0.988022 Centerline is valid? [True, True] Translation: X:95.72, Y:97.51, Z:18.18 [[ 9.74424144e-01 2.21786570e-01 3.61705085e-02 9.57184076e+01] [ 2.21864496e-01 -9.75075665e-01 1.89563118e-03 9.75120876e+01] [ 3.56894082e-02 6.17780287e-03 -9.99343835e-01 1.81779696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.306875 meters Centerline goodness : 0.990457 Centerline is valid? [True, True] Translation: X:95.70, Y:97.50, Z:18.18 [[ 9.52629964e-01 3.02041857e-01 3.55930842e-02 9.56992948e+01] [ 3.02067571e-01 -9.53274525e-01 4.78151745e-03 9.74995794e+01] [ 3.53741988e-02 6.19649967e-03 -9.99354927e-01 1.81804006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.336875 meters Centerline goodness : 0.988279 Centerline is valid? [True, True] Translation: X:96.01, Y:96.52, Z:17.58 [[ 9.63424076e-01 -2.65756612e-01 -3.44597386e-02 9.60059004e+01] [ 2.65616894e-01 9.64039812e-01 -8.65486066e-03 9.65205546e+01] [ 3.55206463e-02 -8.14787572e-04 9.99368611e-01 1.75796088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.366875 meters Centerline goodness : 0.991400 Centerline is valid? [True, True] Translation: X:96.03, Y:96.53, Z:17.58 [[ 9.63484305e-01 -2.65630504e-01 -3.37406338e-02 9.60259924e+01] [ 2.65404427e-01 9.64073354e-01 -1.10931939e-02 9.65281500e+01] [ 3.54751367e-02 1.73320464e-03 9.99369056e-01 1.75764719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.396875 meters Centerline goodness : 0.988928 Centerline is valid? [True, True] Translation: X:96.06, Y:96.53, Z:17.58 [[ 9.64514254e-01 -2.61889852e-01 -3.35553253e-02 9.60644059e+01] [ 2.61639705e-01 9.65094471e-01 -1.17186528e-02 9.65347402e+01] [ 3.54530552e-02 2.52340219e-03 9.99368157e-01 1.75792512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.426875 meters Centerline goodness : 0.988259 Centerline is valid? [True, True] Translation: X:96.11, Y:96.53, Z:17.58 [[ 9.67145533e-01 -2.51966222e-01 -3.38015029e-02 9.61128081e+01] [ 2.51738678e-01 9.67733902e-01 -1.08964803e-02 9.65311893e+01] [ 3.54564053e-02 2.02933658e-03 9.99369164e-01 1.75833402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.456875 meters Centerline goodness : 0.986602 Centerline is valid? [True, True] Translation: X:96.12, Y:96.55, Z:17.58 [[ 9.62597099e-01 -2.68757898e-01 -3.42931224e-02 9.61175624e+01] [ 2.68599040e-01 9.63207711e-01 -9.24451080e-03 9.65521198e+01] [ 3.55159352e-02 -3.12360477e-04 9.99369061e-01 1.75828553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.486875 meters Centerline goodness : 0.988297 Centerline is valid? [True, True] Translation: X:96.15, Y:96.56, Z:17.58 [[ 9.63551316e-01 -2.65384878e-01 -3.37598521e-02 9.61492082e+01] [ 2.65159883e-01 9.64141052e-01 -1.10575250e-02 9.65552340e+01] [ 3.54837592e-02 1.70273436e-03 9.99368803e-01 1.75814546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.516875 meters Centerline goodness : 0.990369 Centerline is valid? [True, True] Translation: X:96.17, Y:96.56, Z:17.58 [[ 9.62140921e-01 -2.70442746e-01 -3.38462605e-02 9.61658739e+01] [ 2.70231195e-01 9.62735300e-01 -1.07630183e-02 9.65642896e+01] [ 3.54957700e-02 1.20922495e-03 9.99369095e-01 1.75802596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.546875 meters Centerline goodness : 0.990913 Centerline is valid? [True, True] Translation: X:96.19, Y:96.57, Z:17.58 [[ 9.61899960e-01 -2.71327624e-01 -3.36123124e-02 9.61940493e+01] [ 2.71088568e-01 9.62484949e-01 -1.15633764e-02 9.65708510e+01] [ 3.54888082e-02 2.01089763e-03 9.99368051e-01 1.75832467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.576875 meters Centerline goodness : 0.987794 Centerline is valid? [True, True] Translation: X:96.23, Y:96.58, Z:17.57 [[ 9.61805153e-01 -2.71663385e-01 -3.36132886e-02 9.62263469e+01] [ 2.71424649e-01 9.62390267e-01 -1.15600450e-02 9.65805406e+01] [ 3.54895428e-02 1.99503576e-03 9.99368056e-01 1.75730948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.606875 meters Centerline goodness : 0.987606 Centerline is valid? [True, True] Translation: X:96.28, Y:96.58, Z:17.59 [[ 9.64190872e-01 -2.63051424e-01 -3.37625744e-02 9.62751455e+01] [ 2.62824929e-01 9.64780154e-01 -1.10594630e-02 9.65777116e+01] [ 3.54826692e-02 1.78978704e-03 9.99368689e-01 1.75889160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.636875 meters Centerline goodness : 0.990738 Centerline is valid? [True, True] Translation: X:96.28, Y:96.59, Z:17.59 [[ 9.61473340e-01 -2.72753708e-01 -3.42699731e-02 9.62810753e+01] [ 2.72593716e-01 9.62083826e-01 -9.34755805e-03 9.65904111e+01] [ 3.55201680e-02 -3.54351468e-04 9.99368897e-01 1.75850044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66687499999998 meters Centerline goodness : 0.978528 Centerline is valid? [True, True] Translation: X:96.34, Y:96.60, Z:17.59 [[ 9.62245780e-01 -2.70082229e-01 -3.37438748e-02 9.63385531e+01] [ 2.69859417e-01 9.62836007e-01 -1.10778507e-02 9.66032650e+01] [ 3.54817483e-02 1.55351274e-03 9.99369117e-01 1.75931246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69687499999998 meters Centerline goodness : 0.990295 Centerline is valid? [True, True] Translation: X:96.34, Y:96.60, Z:17.59 [[ 9.61029236e-01 -2.74269074e-01 -3.46306699e-02 9.63373166e+01] [ 2.74153201e-01 9.61651546e-01 -8.14415383e-03 9.66040650e+01] [ 3.55363267e-02 -1.66733907e-03 9.99366994e-01 1.75861757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72687499999998 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:96.36, Y:96.61, Z:17.58 [[ 9.60803784e-01 -2.75163128e-01 -3.37837563e-02 9.63620896e+01] [ 2.74944591e-01 9.61396643e-01 -1.10438686e-02 9.66118114e+01] [ 3.55184553e-02 1.32232967e-03 9.99368146e-01 1.75844086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75687499999998 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:96.39, Y:96.62, Z:17.59 [[ 9.60195223e-01 -2.77288664e-01 -3.37065318e-02 9.63903996e+01] [ 2.77062135e-01 9.60785453e-01 -1.13086508e-02 9.66193319e+01] [ 3.55205061e-02 1.51970883e-03 9.99367792e-01 1.75880021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78687499999998 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:96.44, Y:96.61, Z:17.59 [[ 9.63699393e-01 -2.64843455e-01 -3.37849669e-02 9.64379903e+01] [ 2.64618619e-01 9.64289920e-01 -1.10425287e-02 9.66137897e+01] [ 3.55030444e-02 1.70154690e-03 9.99368120e-01 1.75907961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81687499999998 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:96.44, Y:96.63, Z:17.59 [[ 9.60356199e-01 -2.76667024e-01 -3.42246950e-02 9.64412636e+01] [ 2.76502579e-01 9.60965800e-01 -9.54231400e-03 9.66279452e+01] [ 3.55288050e-02 -2.99196002e-04 9.99368608e-01 1.75890332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84687499999998 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:96.47, Y:96.64, Z:17.59 [[ 9.59675001e-01 -2.79082292e-01 -3.37189541e-02 9.64673794e+01] [ 2.78857169e-01 9.60266108e-01 -1.12996412e-02 9.66361128e+01] [ 3.55326985e-02 1.44121109e-03 9.99367475e-01 1.75892602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87687499999998 meters Centerline goodness : 0.991452 Centerline is valid? [True, True] Translation: X:96.50, Y:96.64, Z:17.59 [[ 9.60380485e-01 -2.76650075e-01 -3.36758118e-02 9.64984546e+01] [ 2.76418195e-01 9.60969245e-01 -1.14495763e-02 9.66413759e+01] [ 3.55289455e-02 1.68734254e-03 9.99367223e-01 1.75903747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90687499999999 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:96.52, Y:96.65, Z:17.59 [[ 9.59811541e-01 -2.78608326e-01 -3.37521326e-02 9.65206158e+01] [ 2.78386968e-01 9.60403878e-01 -1.11842367e-02 9.66496331e+01] [ 3.55317004e-02 1.33860558e-03 9.99367653e-01 1.75912559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.936875 meters Centerline goodness : 0.991271 Centerline is valid? [True, True] Translation: X:96.55, Y:96.66, Z:17.59 [[ 9.59927025e-01 -2.78222893e-01 -3.36471257e-02 9.65499192e+01] [ 2.77988431e-01 9.60514974e-01 -1.15506762e-02 9.66566426e+01] [ 3.55322306e-02 1.73429454e-03 9.99367026e-01 1.75918206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.966875 meters Centerline goodness : 0.989967 Centerline is valid? [True, True] Translation: X:96.60, Y:96.66, Z:17.60 [[ 9.62397766e-01 -2.69550093e-01 -3.36643369e-02 9.66045971e+01] [ 2.69312355e-01 9.62984304e-01 -1.14928489e-02 9.66571065e+01] [ 3.55161265e-02 1.99447027e-03 9.99367113e-01 1.76007009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.996875 meters Centerline goodness : 0.990122 Centerline is valid? [True, True] Translation: X:96.60, Y:96.67, Z:17.59 [[ 9.59676693e-01 -2.79008101e-01 -3.42800954e-02 9.66034064e+01] [ 2.78849966e-01 9.60288601e-01 -9.40737438e-03 9.66703299e+01] [ 3.55435185e-02 -5.30965507e-04 9.99367988e-01 1.75945157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.026875 meters Centerline goodness : 0.990889 Centerline is valid? [True, True] Translation: X:96.63, Y:96.68, Z:17.60 [[ 9.60282454e-01 -2.76984273e-01 -3.37242011e-02 9.66338119e+01] [ 2.76756051e-01 9.60873176e-01 -1.13502743e-02 9.66765093e+01] [ 3.55485277e-02 1.56609259e-03 9.99366724e-01 1.75973595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.056875 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:96.66, Y:96.68, Z:17.60 [[ 9.60987758e-01 -2.74523915e-01 -3.37512807e-02 9.66617733e+01] [ 2.74297513e-01 9.61579010e-01 -1.12553421e-02 9.66820734e+01] [ 3.55443837e-02 1.55835363e-03 9.99366884e-01 1.75981559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.086875 meters Centerline goodness : 0.991589 Centerline is valid? [True, True] Translation: X:96.71, Y:96.68, Z:17.61 [[ 9.63858235e-01 -2.64268242e-01 -3.37579545e-02 9.67123474e+01] [ 2.64036347e-01 9.64447321e-01 -1.12326422e-02 9.66816485e+01] [ 3.55261993e-02 1.91334767e-03 9.99366914e-01 1.76061633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.116875 meters Centerline goodness : 0.990450 Centerline is valid? [True, True] Translation: X:96.71, Y:96.70, Z:17.60 [[ 9.61718428e-01 -2.71886951e-01 -3.42804805e-02 9.67115609e+01] [ 2.71723113e-01 9.62329169e-01 -9.44032246e-03 9.66952259e+01] [ 3.55558068e-02 -2.35866775e-04 9.99367665e-01 1.76029201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.146875 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:96.74, Y:96.70, Z:17.60 [[ 9.62842310e-01 -2.67946965e-01 -3.37506988e-02 9.67447711e+01] [ 2.67714371e-01 9.63431868e-01 -1.13159695e-02 9.67012276e+01] [ 3.55485785e-02 1.85994715e-03 9.99366219e-01 1.76006893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.176875 meters Centerline goodness : 0.991651 Centerline is valid? [True, True] Translation: X:96.77, Y:96.71, Z:17.60 [[ 9.64058783e-01 -2.63520132e-01 -3.38792315e-02 9.67683433e+01] [ 2.63301008e-01 9.64652661e-01 -1.08546518e-02 9.67068845e+01] [ 3.55421101e-02 1.54408662e-03 9.99366987e-01 1.75997405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.206875 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:96.80, Y:96.71, Z:17.60 [[ 9.64572844e-01 -2.61641670e-01 -3.38063064e-02 9.68024174e+01] [ 2.61412206e-01 9.65163241e-01 -1.11164765e-02 9.67136128e+01] [ 3.55371377e-02 1.88527018e-03 9.99366578e-01 1.76031724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.236875 meters Centerline goodness : 0.992103 Centerline is valid? [True, True] Translation: X:96.85, Y:96.71, Z:17.61 [[ 9.68175954e-01 -2.47957186e-01 -3.39493327e-02 9.68491525e+01] [ 2.47736996e-01 9.68769198e-01 -1.06123276e-02 9.67104056e+01] [ 3.55204707e-02 1.86409468e-03 9.99367210e-01 1.76086401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.266875 meters Centerline goodness : 0.992046 Centerline is valid? [True, True] Translation: X:96.85, Y:96.72, Z:17.61 [[ 9.66028973e-01 -2.56134964e-01 -3.43933666e-02 9.68520724e+01] [ 2.55975458e-01 9.66641027e-01 -9.03823755e-03 9.67233680e+01] [ 3.55610479e-02 -7.26584453e-05 9.99367503e-01 1.76052146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.296875 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:96.88, Y:96.73, Z:17.61 [[ 9.66893016e-01 -2.52924698e-01 -3.38672848e-02 9.68842574e+01] [ 2.52696076e-01 9.67483860e-01 -1.09395463e-02 9.67309837e+01] [ 3.55329329e-02 2.01924092e-03 9.99366466e-01 1.76093725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.326875 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:96.91, Y:96.74, Z:17.61 [[ 9.66988224e-01 -2.52549373e-01 -3.39498044e-02 9.69054427e+01] [ 2.52331012e-01 9.67582476e-01 -1.06401580e-02 9.67391981e+01] [ 3.55364010e-02 1.72231903e-03 9.99366899e-01 1.76058363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.356875 meters Centerline goodness : 0.991081 Centerline is valid? [True, True] Translation: X:96.94, Y:96.74, Z:17.61 [[ 9.67978403e-01 -2.48744282e-01 -3.38244582e-02 9.69397117e+01] [ 2.48507688e-01 9.68566382e-01 -1.10947425e-02 9.67446501e+01] [ 3.55209869e-02 2.33383323e-03 9.99366206e-01 1.76118114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.386875 meters Centerline goodness : 0.991169 Centerline is valid? [True, True] Translation: X:96.97, Y:96.75, Z:17.61 [[ 9.68265032e-01 -2.47604035e-01 -3.39863205e-02 9.69690245e+01] [ 2.47387306e-01 9.68859703e-01 -1.05069945e-02 9.67520714e+01] [ 3.55295506e-02 1.76577111e-03 9.99367066e-01 1.76133974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41687499999998 meters Centerline goodness : 0.991313 Centerline is valid? [True, True] Translation: X:97.00, Y:96.76, Z:17.61 [[ 9.68825854e-01 -2.45391907e-01 -3.40481429e-02 9.69962314e+01] [ 2.45181726e-01 9.69422617e-01 -1.02816006e-02 9.67579589e+01] [ 3.55300614e-02 1.61309801e-03 9.99367306e-01 1.76130288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44687499999998 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:97.02, Y:96.77, Z:17.61 [[ 9.68854916e-01 -2.45277715e-01 -3.40440208e-02 9.70242127e+01] [ 2.45066936e-01 9.69451482e-01 -1.02966407e-02 9.67653820e+01] [ 3.55295629e-02 1.63288705e-03 9.99367292e-01 1.76133646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47687499999998 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:97.05, Y:96.77, Z:17.61 [[ 9.68905363e-01 -2.45077477e-01 -3.40503750e-02 9.70506499e+01] [ 2.44867389e-01 9.69502150e-01 -1.02734187e-02 9.67724381e+01] [ 3.55296953e-02 1.61614404e-03 9.99367314e-01 1.76143507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50687499999998 meters Centerline goodness : 0.992436 Centerline is valid? [True, True] Translation: X:97.08, Y:96.78, Z:17.62 [[ 9.68894029e-01 -2.45122524e-01 -3.40486161e-02 9.70776921e+01] [ 2.44912238e-01 9.69490753e-01 -1.02798470e-02 9.67791617e+01] [ 3.55296405e-02 1.62115957e-03 9.99367308e-01 1.76150573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53687499999998 meters Centerline goodness : 0.990891 Centerline is valid? [True, True] Translation: X:97.11, Y:96.79, Z:17.62 [[ 9.68832469e-01 -2.45364445e-01 -3.40578393e-02 9.71054899e+01] [ 2.45155495e-01 9.69429627e-01 -1.02460627e-02 9.67880950e+01] [ 3.55306979e-02 1.57725175e-03 9.99367341e-01 1.76156867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56687499999998 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:97.12, Y:96.80, Z:17.61 [[ 9.68053393e-01 -2.48415430e-01 -3.40940126e-02 9.71242491e+01] [ 2.48213041e-01 9.68652679e-01 -1.01130699e-02 9.67954572e+01] [ 3.55374992e-02 1.32741312e-03 9.99367462e-01 1.76123258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59687499999998 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:97.16, Y:96.80, Z:17.62 [[ 9.68652122e-01 -2.46098967e-01 -3.38875209e-02 9.71600152e+01] [ 2.45868549e-01 9.69242211e-01 -1.08717064e-02 9.68000219e+01] [ 3.55207314e-02 2.19902586e-03 9.99366520e-01 1.76196161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62687499999998 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:97.19, Y:96.81, Z:17.62 [[ 9.68340302e-01 -2.47304247e-01 -3.40245324e-02 9.71871380e+01] [ 2.47092141e-01 9.68936498e-01 -1.03699424e-02 9.68054048e+01] [ 3.55321421e-02 1.63443854e-03 9.99367198e-01 1.76223273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65687499999999 meters Centerline goodness : 0.992468 Centerline is valid? [True, True] Translation: X:97.21, Y:96.81, Z:17.62 [[ 9.68270590e-01 -2.47571488e-01 -3.40649696e-02 9.72125229e+01] [ 2.47364777e-01 9.68868514e-01 -1.02210617e-02 9.68117329e+01] [ 3.55349199e-02 1.47027985e-03 9.99367354e-01 1.76233096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.686875 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:97.24, Y:96.82, Z:17.62 [[ 9.68341814e-01 -2.47298943e-01 -3.40200494e-02 9.72427142e+01] [ 2.47086240e-01 9.68937822e-01 -1.03868543e-02 9.68194432e+01] [ 3.55319706e-02 1.65213925e-03 9.99367175e-01 1.76194427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.716875 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:97.27, Y:96.82, Z:17.63 [[ 9.67836164e-01 -2.49264002e-01 -3.40678368e-02 9.72688408e+01] [ 2.49058714e-01 9.68434564e-01 -1.02103768e-02 9.68240995e+01] [ 3.55375501e-02 1.39708027e-03 9.99367365e-01 1.76250086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.746875 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:97.30, Y:96.83, Z:17.62 [[ 9.67527919e-01 -2.50458605e-01 -3.40619141e-02 9.72953051e+01] [ 2.50253282e-01 9.68126332e-01 -1.02323340e-02 9.68305998e+01] [ 3.55390120e-02 1.37596300e-03 9.99367343e-01 1.76238701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.776875 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:97.32, Y:96.84, Z:17.62 [[ 9.67712658e-01 -2.49746025e-01 -3.40460648e-02 9.73235156e+01] [ 2.49538190e-01 9.68310272e-01 -1.02912509e-02 9.68360826e+01] [ 3.55373532e-02 1.46318039e-03 9.99367278e-01 1.76231707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.806875 meters Centerline goodness : 0.992473 Centerline is valid? [True, True] Translation: X:97.35, Y:96.84, Z:17.63 [[ 9.67247929e-01 -2.51537560e-01 -3.40631723e-02 9.73549899e+01] [ 2.51333070e-01 9.67846622e-01 -1.02276367e-02 9.68423550e+01] [ 3.55405610e-02 1.33145873e-03 9.99367348e-01 1.76251316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.836875 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:97.38, Y:96.85, Z:17.63 [[ 9.67075910e-01 -2.52188966e-01 -3.41307608e-02 9.73810648e+01] [ 2.51993733e-01 9.67677440e-01 -9.97646951e-03 9.68483484e+01] [ 3.55435228e-02 1.04726550e-03 9.99367581e-01 1.76274626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.866875 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:97.43, Y:96.84, Z:17.63 [[ 9.69032160e-01 -2.44569933e-01 -3.40913500e-02 9.74276732e+01] [ 2.44364914e-01 9.69630532e-01 -1.01202551e-02 9.68439859e+01] [ 3.55311240e-02 1.47612289e-03 9.99367480e-01 1.76296210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.896875 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:97.43, Y:96.86, Z:17.63 [[ 9.66427346e-01 -2.54611844e-01 -3.45107867e-02 9.74296025e+01] [ 2.54467601e-01 9.67043211e-01 -8.58302049e-03 9.68573539e+01] [ 3.55587607e-02 -4.87011380e-04 9.99367469e-01 1.76284603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.926875 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:97.47, Y:96.86, Z:17.63 [[ 9.67596858e-01 -2.50201928e-01 -3.39899342e-02 9.74671422e+01] [ 2.49985656e-01 9.68192183e-01 -1.05388678e-02 9.68611684e+01] [ 3.55456337e-02 1.70037935e-03 9.99366608e-01 1.76313867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.956875 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:97.49, Y:96.87, Z:17.63 [[ 9.67582926e-01 -2.50230275e-01 -3.41773385e-02 9.74929837e+01] [ 2.50038857e-01 9.68185866e-01 -9.83361369e-03 9.68674210e+01] [ 3.55506840e-02 9.69174063e-04 9.99367405e-01 1.76329902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.986875 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:97.52, Y:96.87, Z:17.62 [[ 9.68273015e-01 -2.47548449e-01 -3.41633537e-02 9.75214206e+01] [ 2.47353505e-01 9.68874866e-01 -9.88621545e-03 9.68746330e+01] [ 3.55473320e-02 1.12213035e-03 9.99367364e-01 1.76233212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.016875 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:97.55, Y:96.88, Z:17.63 [[ 9.67771782e-01 -2.49497069e-01 -3.41905139e-02 9.75482657e+01] [ 2.49306947e-01 9.68375093e-01 -9.78395647e-03 9.68815023e+01] [ 3.55503105e-02 9.44704350e-04 9.99367441e-01 1.76327868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.046875 meters Centerline goodness : 0.991901 Centerline is valid? [True, True] Translation: X:97.58, Y:96.89, Z:17.63 [[ 9.67472799e-01 -2.50656310e-01 -3.41730585e-02 9.75751321e+01] [ 2.50464591e-01 9.68075655e-01 -9.84963561e-03 9.68909005e+01] [ 3.55509793e-02 9.70113411e-04 9.99367393e-01 1.76331715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.076875 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:97.60, Y:96.89, Z:17.62 [[ 9.68902641e-01 -2.45067301e-01 -3.42007245e-02 9.76005159e+01] [ 2.44875790e-01 9.69505482e-01 -9.74519267e-03 9.68938441e+01] [ 3.55460179e-02 1.06721351e-03 9.99367471e-01 1.76241432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.106875 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:97.63, Y:96.90, Z:17.64 [[ 9.68273692e-01 -2.47547747e-01 -3.41492223e-02 9.76287119e+01] [ 2.47350926e-01 9.68874980e-01 -9.93944748e-03 9.69031885e+01] [ 3.55468149e-02 1.17726376e-03 9.99367319e-01 1.76369147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.136875 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:97.65, Y:96.91, Z:17.64 [[ 9.68141885e-01 -2.48058133e-01 -3.41826496e-02 9.76542578e+01] [ 2.47866077e-01 9.68744603e-01 -9.81336184e-03 9.69116860e+01] [ 3.55485415e-02 1.02800737e-03 9.99367422e-01 1.76397722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16687499999998 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:97.67, Y:96.92, Z:17.64 [[ 9.67241337e-01 -2.51549614e-01 -3.41611872e-02 9.76732046e+01] [ 2.51356868e-01 9.67843905e-01 -9.89450245e-03 9.69234004e+01] [ 3.55516551e-02 9.83722760e-04 9.99367356e-01 1.76396777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19687499999998 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:97.72, Y:96.93, Z:17.64 [[ 9.69361590e-01 -2.43276075e-01 -3.39832252e-02 9.77227358e+01] [ 2.43055331e-01 9.69955102e-01 -1.05454495e-02 9.69263851e+01] [ 3.55276582e-02 1.96254968e-03 9.99366766e-01 1.76444232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22687499999998 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:97.75, Y:96.93, Z:17.64 [[ 9.69493158e-01 -2.42685040e-01 -3.44527024e-02 9.77514216e+01] [ 2.42524933e-01 9.70105115e-01 -8.81602784e-03 9.69346071e+01] [ 3.55622609e-02 1.91439349e-04 9.99367444e-01 1.76446008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25687499999998 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:97.77, Y:96.95, Z:17.64 [[ 9.67916038e-01 -2.48902779e-01 -3.44376388e-02 9.77658053e+01] [ 2.48744635e-01 9.68528475e-01 -8.87131838e-03 9.69537892e+01] [ 3.55619296e-02 2.05134323e-05 9.99367474e-01 1.76401333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28687499999998 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:97.81, Y:96.96, Z:17.64 [[ 9.69359723e-01 -2.43255856e-01 -3.41806506e-02 9.78064271e+01] [ 2.43060894e-01 9.69961413e-01 -9.81119562e-03 9.69559383e+01] [ 3.55405429e-02 1.20259837e-03 9.99367512e-01 1.76399263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31687499999998 meters Centerline goodness : 0.991000 Centerline is valid? [True, True] Translation: X:97.81, Y:96.97, Z:17.64 [[ 9.67724143e-01 -2.49647151e-01 -3.44424627e-02 9.78099782e+01] [ 2.49490216e-01 9.68336873e-01 -8.85059199e-03 9.69702358e+01] [ 3.55614317e-02 -2.81259161e-05 9.99367492e-01 1.76366974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34687499999998 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:97.85, Y:96.97, Z:17.64 [[ 9.69530600e-01 -2.42600783e-01 -3.39893455e-02 9.78481911e+01] [ 2.42379283e-01 9.70124157e-01 -1.05547230e-02 9.69694356e+01] [ 3.55344692e-02 1.99481376e-03 9.99366460e-01 1.76423230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37687499999998 meters Centerline goodness : 0.993123 Centerline is valid? [True, True] Translation: X:97.87, Y:96.98, Z:17.65 [[ 9.69467276e-01 -2.42830394e-01 -3.41555320e-02 9.78749457e+01] [ 2.42631076e-01 9.70067839e-01 -9.92717741e-03 9.69766129e+01] [ 3.55438035e-02 1.33688017e-03 9.99367225e-01 1.76451329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40687499999999 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:97.90, Y:96.98, Z:17.65 [[ 9.69100528e-01 -2.44290465e-01 -3.41516408e-02 9.79019155e+01] [ 2.44091534e-01 9.69701234e-01 -9.94186394e-03 9.69845496e+01] [ 3.55455907e-02 1.29853922e-03 9.99367212e-01 1.76459502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.436875 meters Centerline goodness : 0.992678 Centerline is valid? [True, True] Translation: X:97.93, Y:96.99, Z:17.65 [[ 9.68926975e-01 -2.44975180e-01 -3.41713099e-02 9.79299010e+01] [ 2.44779292e-01 9.69528612e-01 -9.86758132e-03 9.69911096e+01] [ 3.55473752e-02 1.19653669e-03 9.99367276e-01 1.76472665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.466875 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:97.96, Y:97.00, Z:17.65 [[ 9.67774662e-01 -2.49488100e-01 -3.41744266e-02 9.79560019e+01] [ 2.49295432e-01 9.68377329e-01 -9.85581598e-03 9.69983505e+01] [ 3.55526487e-02 1.01868053e-03 9.99367286e-01 1.76494429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.496875 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:97.98, Y:97.01, Z:17.65 [[ 9.66322318e-01 -2.55055713e-01 -3.41725145e-02 9.79768257e+01] [ 2.54866262e-01 9.66926010e-01 -9.86305008e-03 9.70073881e+01] [ 3.55579203e-02 8.21464383e-04 9.99367280e-01 1.76494587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.526875 meters Centerline goodness : 0.991084 Centerline is valid? [True, True] Translation: X:98.02, Y:97.01, Z:17.65 [[ 9.67061395e-01 -2.52255666e-01 -3.40490403e-02 9.80236958e+01] [ 2.52048403e-01 9.67659614e-01 -1.03186430e-02 9.70107145e+01] [ 3.55508174e-02 1.39675506e-03 9.99366894e-01 1.76527428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.556875 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:98.05, Y:97.02, Z:17.65 [[ 9.66322582e-01 -2.55017090e-01 -3.44521650e-02 9.80507141e+01] [ 2.54864589e-01 9.66936512e-01 -8.82173938e-03 9.70202276e+01] [ 3.55627506e-02 -2.55990903e-04 9.99367413e-01 1.76545610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.586875 meters Centerline goodness : 0.991721 Centerline is valid? [True, True] Translation: X:98.06, Y:97.03, Z:17.65 [[ 9.64635831e-01 -2.61321751e-01 -3.44768801e-02 9.80559340e+01] [ 2.61176538e-01 9.65251575e-01 -8.73005739e-03 9.70276089e+01] [ 3.55602167e-02 -5.83226000e-04 9.99367365e-01 1.76524059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.616875 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:98.08, Y:97.04, Z:17.65 [[ 9.64413178e-01 -2.62196821e-01 -3.40594959e-02 9.80813314e+01] [ 2.61995327e-01 9.65013859e-01 -1.03295825e-02 9.70354560e+01] [ 3.55762693e-02 1.03855672e-03 9.99366425e-01 1.76516556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.646875 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:98.13, Y:97.04, Z:17.65 [[ 9.65699006e-01 -2.57428553e-01 -3.39995732e-02 9.81310986e+01] [ 2.57216280e-01 9.66296256e-01 -1.05513347e-02 9.70392440e+01] [ 3.55698751e-02 1.44416964e-03 9.99366148e-01 1.76520441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.676875 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:98.14, Y:97.05, Z:17.65 [[ 9.63920506e-01 -2.63950345e-01 -3.44597544e-02 9.81372001e+01] [ 2.63802858e-01 9.64536102e-01 -8.84080065e-03 9.70506802e+01] [ 3.55712095e-02 -5.68752675e-04 9.99366982e-01 1.76512662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.706875 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:98.19, Y:97.06, Z:17.65 [[ 9.65529116e-01 -2.58063423e-01 -3.40117015e-02 9.81861216e+01] [ 2.57853459e-01 9.66127013e-01 -1.04970363e-02 9.70570705e+01] [ 3.55685247e-02 1.36515929e-03 9.99366307e-01 1.76538006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.736875 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:98.20, Y:97.07, Z:17.66 [[ 9.64238074e-01 -2.62792056e-01 -3.44277962e-02 9.82008396e+01] [ 2.62639931e-01 9.64852406e-01 -8.94993001e-03 9.70691317e+01] [ 3.55697125e-02 -4.12250747e-04 9.99367113e-01 1.76552918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.766875 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:98.23, Y:97.08, Z:17.66 [[ 9.64053374e-01 -2.63501622e-01 -3.41758317e-02 9.82258320e+01] [ 2.63316218e-01 9.64658800e-01 -9.89793746e-03 9.70799416e+01] [ 3.55761394e-02 5.43089259e-04 9.99366821e-01 1.76560005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.796875 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:98.25, Y:97.09, Z:17.66 [[ 9.63864434e-01 -2.64194856e-01 -3.41530532e-02 9.82503713e+01] [ 2.64006843e-01 9.64469134e-01 -9.98382425e-03 9.70874311e+01] [ 3.55772406e-02 6.06413363e-04 9.99366746e-01 1.76567248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.826875 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:98.28, Y:97.09, Z:17.66 [[ 9.64319510e-01 -2.62536367e-01 -3.40960244e-02 9.82793603e+01] [ 2.62339699e-01 9.64921688e-01 -1.01989575e-02 9.70949262e+01] [ 3.55775907e-02 8.90312930e-04 9.99366521e-01 1.76593425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.856875 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:98.32, Y:97.10, Z:17.67 [[ 9.66283306e-01 -2.55208902e-01 -3.41319296e-02 9.83226551e+01] [ 2.55012355e-01 9.66885397e-01 -1.00661905e-02 9.70981429e+01] [ 3.55706457e-02 1.02272809e-03 9.99366641e-01 1.76651283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.886875 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:98.33, Y:97.11, Z:17.64 [[ 9.66232929e-01 -2.55357600e-01 -3.44444998e-02 9.83254918e+01] [ 2.55202160e-01 9.66846660e-01 -8.91035103e-03 9.71074024e+01] [ 3.55778755e-02 -1.80836168e-04 9.99366891e-01 1.76448028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91687499999998 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:98.37, Y:97.11, Z:17.67 [[ 9.66562227e-01 -2.54175943e-01 -3.39418782e-02 9.83652850e+01] [ 2.53951040e-01 9.67156189e-01 -1.08524812e-02 9.71124241e+01] [ 3.55855372e-02 1.87002316e-03 9.99364885e-01 1.76654059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94687499999998 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:98.39, Y:97.12, Z:17.67 [[ 9.66874665e-01 -2.52958767e-01 -3.41356872e-02 9.83919554e+01] [ 2.52759375e-01 9.67476384e-01 -1.01066581e-02 9.71206916e+01] [ 3.55820390e-02 1.14375669e-03 9.99366104e-01 1.76666429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97687499999998 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:98.42, Y:97.13, Z:17.67 [[ 9.67742798e-01 -2.49614618e-01 -3.41528876e-02 9.84184978e+01] [ 2.49415491e-01 9.68344519e-01 -1.00402201e-02 9.71289632e+01] [ 3.55779473e-02 1.19809145e-03 9.99366186e-01 1.76664605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00687499999998 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:98.45, Y:97.14, Z:17.67 [[ 9.67954580e-01 -2.48794478e-01 -3.41355948e-02 9.84477010e+01] [ 2.48592487e-01 9.68555432e-01 -1.01069541e-02 9.71374217e+01] [ 3.55767702e-02 1.29722012e-03 9.99366104e-01 1.76669647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03687499999998 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:98.48, Y:97.15, Z:17.67 [[ 9.68814830e-01 -2.45419879e-01 -3.41600501e-02 9.84761945e+01] [ 2.45219104e-01 9.69415973e-01 -1.00130585e-02 9.71464299e+01] [ 3.55727019e-02 1.32410263e-03 9.99366214e-01 1.76690356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06687499999998 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:98.50, Y:97.15, Z:17.67 [[ 9.69621263e-01 -2.42202380e-01 -3.42434526e-02 9.85001783e+01] [ 2.42011006e-01 9.70225118e-01 -9.68990789e-03 9.71525664e+01] [ 3.55707766e-02 1.10824832e-03 9.99366545e-01 1.76709162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09687499999998 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:98.53, Y:97.16, Z:17.67 [[ 9.69647670e-01 -2.42105953e-01 -3.41775185e-02 9.85305791e+01] [ 2.41905521e-01 9.70248842e-01 -9.94500917e-03 9.71606992e+01] [ 3.55684437e-02 1.37542454e-03 9.99366296e-01 1.76732077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12687499999998 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:98.56, Y:97.17, Z:17.67 [[ 9.70027517e-01 -2.40569071e-01 -3.42510985e-02 9.85552254e+01] [ 2.40377742e-01 9.70631356e-01 -9.65982485e-03 9.71675577e+01] [ 3.55690453e-02 1.13709421e-03 9.99366574e-01 1.76737118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15687499999999 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:98.58, Y:97.17, Z:17.67 [[ 9.70393087e-01 -2.39098069e-01 -3.41960415e-02 9.85831821e+01] [ 2.38898309e-01 9.70994398e-01 -9.87302825e-03 9.71747259e+01] [ 3.55647867e-02 1.41134189e-03 9.99366376e-01 1.76740621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.186875 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:98.61, Y:97.18, Z:17.67 [[ 9.70585522e-01 -2.38314287e-01 -3.42059239e-02 9.86125940e+01] [ 2.38115390e-01 9.71187078e-01 -9.83471676e-03 9.71823605e+01] [ 3.55641047e-02 1.40047681e-03 9.99366416e-01 1.76747084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.216875 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:98.64, Y:97.19, Z:17.66 [[ 9.71379205e-01 -2.35052253e-01 -3.42473171e-02 9.86403129e+01] [ 2.34856987e-01 9.71981792e-01 -9.67423561e-03 9.71873662e+01] [ 3.55617195e-02 1.35412959e-03 9.99366565e-01 1.76585791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.246875 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:98.66, Y:97.20, Z:17.66 [[ 9.72006427e-01 -2.32444340e-01 -3.42510576e-02 9.86641014e+01] [ 2.32247973e-01 9.72608642e-01 -9.65958312e-03 9.71950218e+01] [ 3.55581900e-02 1.43443817e-03 9.99366578e-01 1.76610524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.276875 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:98.70, Y:97.21, Z:17.67 [[ 9.70679840e-01 -2.37933630e-01 -3.41794572e-02 9.86952541e+01] [ 2.37730806e-01 9.71280222e-01 -9.93954069e-03 9.72054361e+01] [ 3.55627818e-02 1.52260187e-03 9.99366284e-01 1.76731084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.306875 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:98.72, Y:97.21, Z:17.67 [[ 9.70870673e-01 -2.37140125e-01 -3.42738588e-02 9.87237186e+01] [ 2.36949777e-01 9.71474749e-01 -9.57152857e-03 9.72104858e+01] [ 3.55659818e-02 1.17153318e-03 9.99366644e-01 1.76739704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.336875 meters Centerline goodness : 0.989890 Centerline is valid? [True, True] Translation: X:98.75, Y:97.22, Z:17.68 [[ 9.71037947e-01 -2.36452919e-01 -3.42829787e-02 9.87511371e+01] [ 2.36263399e-01 9.71642255e-01 -9.53597842e-03 9.72173734e+01] [ 3.55656006e-02 1.15998385e-03 9.99366671e-01 1.76774897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.366875 meters Centerline goodness : 0.989890 Centerline is valid? [True, True] Translation: X:98.78, Y:97.22, Z:17.68 [[ 9.71086666e-01 -2.36255077e-01 -3.42669704e-02 9.87776744e+01] [ 2.36063233e-01 9.71690291e-01 -9.59836193e-03 9.72240712e+01] [ 3.55645442e-02 1.23166946e-03 9.99366623e-01 1.76784306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.396875 meters Centerline goodness : 0.989688 Centerline is valid? [True, True] Translation: X:98.80, Y:97.23, Z:17.68 [[ 9.71095435e-01 -2.36217242e-01 -3.42793002e-02 9.88039648e+01] [ 2.36027075e-01 9.71699550e-01 -9.55013727e-03 9.72299735e+01] [ 3.55650876e-02 1.18325175e-03 9.99366662e-01 1.76789812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.426875 meters Centerline goodness : 0.988295 Centerline is valid? [True, True] Translation: X:98.83, Y:97.24, Z:17.68 [[ 9.70930100e-01 -2.36898306e-01 -3.42627102e-02 9.88338348e+01] [ 2.36706273e-01 9.71533680e-01 -9.61503863e-03 9.72375531e+01] [ 3.55651633e-02 1.22533199e-03 9.99366608e-01 1.76809326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.456875 meters Centerline goodness : 0.989974 Centerline is valid? [True, True] Translation: X:98.86, Y:97.24, Z:17.68 [[ 9.71079526e-01 -2.36271858e-01 -3.43534924e-02 9.88558071e+01] [ 2.36092065e-01 9.71686594e-01 -9.25747026e-03 9.72434454e+01] [ 3.55681077e-02 8.79152886e-04 9.99366868e-01 1.76805143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.486875 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:98.88, Y:97.25, Z:17.68 [[ 9.71335883e-01 -2.35233038e-01 -3.42347923e-02 9.88830151e+01] [ 2.35036114e-01 9.71937992e-01 -9.72447850e-03 9.72485220e+01] [ 3.55616139e-02 1.39932235e-03 9.99366506e-01 1.76802577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.516875 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:98.91, Y:97.25, Z:17.67 [[ 9.72058472e-01 -2.32232901e-01 -3.42082772e-02 9.89133562e+01] [ 2.32030464e-01 9.72658865e-01 -9.82834389e-03 9.72548424e+01] [ 3.55554489e-02 1.61636251e-03 9.99366398e-01 1.76675752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.546875 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:98.93, Y:97.27, Z:17.68 [[ 9.70784951e-01 -2.37491423e-01 -3.42695483e-02 9.89282906e+01] [ 2.37300710e-01 9.71388924e-01 -9.58810636e-03 9.72650383e+01] [ 3.55661527e-02 1.17580122e-03 9.99366633e-01 1.76776723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.576875 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:98.98, Y:97.27, Z:17.68 [[ 9.73299325e-01 -2.27003925e-01 -3.40241438e-02 9.89801045e+01] [ 2.26774281e-01 9.73890589e-01 -1.05140627e-02 9.72655466e+01] [ 3.55225269e-02 2.51752944e-03 9.99365705e-01 1.76840283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.606875 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:98.99, Y:97.28, Z:17.67 [[ 9.72702826e-01 -2.29468858e-01 -3.45435421e-02 9.89911096e+01] [ 2.29310287e-01 9.73315928e-01 -8.53794727e-03 9.72767796e+01] [ 3.55809727e-02 3.83695909e-04 9.99366723e-01 1.76689866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.636875 meters Centerline goodness : 0.991017 Centerline is valid? [True, True] Translation: X:99.01, Y:97.29, Z:17.68 [[ 9.70885334e-01 -2.37091847e-01 -3.41924588e-02 9.90083549e+01] [ 2.36889933e-01 9.71486065e-01 -9.89877463e-03 9.72867536e+01] [ 3.55644160e-02 1.51072583e-03 9.99366244e-01 1.76811742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66687499999998 meters Centerline goodness : 0.989869 Centerline is valid? [True, True] Translation: X:99.06, Y:97.29, Z:17.69 [[ 9.72370383e-01 -2.30959652e-01 -3.39628910e-02 9.90627650e+01] [ 2.30724064e-01 9.72959801e-01 -1.07532058e-02 9.72888461e+01] [ 3.55280843e-02 2.62004264e-03 9.99365244e-01 1.76891016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69687499999998 meters Centerline goodness : 0.989366 Centerline is valid? [True, True] Translation: X:99.09, Y:97.29, Z:17.68 [[ 9.73287137e-01 -2.26980335e-01 -3.45264661e-02 9.90949312e+01] [ 2.26816619e-01 9.73899171e-01 -8.63866514e-03 9.72922479e+01] [ 3.55861038e-02 5.76725357e-04 9.99366448e-01 1.76789942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72687499999998 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:99.09, Y:97.31, Z:17.69 [[ 9.69926124e-01 -2.40931829e-01 -3.45712139e-02 9.90935769e+01] [ 2.40782893e-01 9.70542035e-01 -8.47090180e-03 9.73060186e+01] [ 3.55937261e-02 -1.08007937e-04 9.99366337e-01 1.76895369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75687499999998 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:99.15, Y:97.31, Z:17.70 [[ 9.71396515e-01 -2.35016211e-01 -3.40028155e-02 9.91455427e+01] [ 2.34788700e-01 9.71988715e-01 -1.05926432e-02 9.73065880e+01] [ 3.55397958e-02 2.30617987e-03 9.99365601e-01 1.76954973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78687499999998 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:99.15, Y:97.32, Z:17.69 [[ 9.68272138e-01 -2.47510084e-01 -3.44648469e-02 9.91545968e+01] [ 2.47351634e-01 9.68885316e-01 -8.85513193e-03 9.73233358e+01] [ 3.55842186e-02 4.92413332e-05 9.99366680e-01 1.76937087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81687499999998 meters Centerline goodness : 0.990049 Centerline is valid? [True, True] Translation: X:99.18, Y:97.33, Z:17.69 [[ 9.69748580e-01 -2.41705970e-01 -3.41455012e-02 9.91819762e+01] [ 2.41500339e-01 9.70348324e-01 -1.00854470e-02 9.73282293e+01] [ 3.55707426e-02 1.53419781e-03 9.99365983e-01 1.76878025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84687499999998 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:99.21, Y:97.34, Z:17.69 [[ 9.68985062e-01 -2.44753264e-01 -3.41143577e-02 9.92053102e+01] [ 2.44545291e-01 9.69584163e-01 -1.02055111e-02 9.73371730e+01] [ 3.55745730e-02 1.54648226e-03 9.99365828e-01 1.76918830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87687499999998 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:99.25, Y:97.33, Z:17.70 [[ 9.71703117e-01 -2.33738255e-01 -3.40511479e-02 9.92531025e+01] [ 2.33515143e-01 9.72297075e-01 -1.04439867e-02 9.73343341e+01] [ 3.55489908e-02 2.19699577e-03 9.99365520e-01 1.76956398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90687499999999 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:99.26, Y:97.35, Z:17.69 [[ 9.69432969e-01 -2.42929745e-01 -3.44217540e-02 9.92608157e+01] [ 2.42761890e-01 9.70043800e-01 -9.03826297e-03 9.73490821e+01] [ 3.55862719e-02 4.05700056e-04 9.99366526e-01 1.76940845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.936875 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:99.28, Y:97.36, Z:17.69 [[ 9.69305557e-01 -2.43485030e-01 -3.40848523e-02 9.92827201e+01] [ 2.43271194e-01 9.69903094e-01 -1.03495670e-02 9.73568794e+01] [ 3.55789683e-02 1.74003007e-03 9.99365353e-01 1.76922359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.966875 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:99.31, Y:97.36, Z:17.69 [[ 9.69295634e-01 -2.43541543e-01 -3.39630908e-02 9.93112897e+01] [ 2.43310996e-01 9.69887901e-01 -1.08267533e-02 9.73647581e+01] [ 3.55771551e-02 2.23073121e-03 9.99364443e-01 1.76947078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.996875 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:99.34, Y:97.37, Z:17.70 [[ 9.69491897e-01 -2.42752883e-01 -3.40073565e-02 9.93379940e+01] [ 2.42527965e-01 9.70085931e-01 -1.06523906e-02 9.73713324e+01] [ 3.55759566e-02 2.07967140e-03 9.99364811e-01 1.76953081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.026875 meters Centerline goodness : 0.990068 Centerline is valid? [True, True] Translation: X:99.39, Y:97.37, Z:17.70 [[ 9.71217958e-01 -2.35753764e-01 -3.39976549e-02 9.93894572e+01] [ 2.35523293e-01 9.71809923e-01 -1.06888562e-02 9.73742708e+01] [ 3.55591965e-02 2.37396946e-03 9.99364752e-01 1.77032281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.056875 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:99.39, Y:97.38, Z:17.70 [[ 9.69254712e-01 -2.43632268e-01 -3.44763796e-02 9.93925103e+01] [ 2.43470613e-01 9.69867658e-01 -8.87618204e-03 9.73839196e+01] [ 3.56000499e-02 2.09295997e-04 9.99366095e-01 1.76992931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.086875 meters Centerline goodness : 0.991846 Centerline is valid? [True, True] Translation: X:99.42, Y:97.39, Z:17.70 [[ 9.69508228e-01 -2.42683795e-01 -3.40348460e-02 9.94221365e+01] [ 2.42459804e-01 9.70103285e-01 -1.06235725e-02 9.73910116e+01] [ 3.55954848e-02 2.04755884e-03 9.99364182e-01 1.76998906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.116875 meters Centerline goodness : 0.989713 Centerline is valid? [True, True] Translation: X:99.47, Y:97.39, Z:17.71 [[ 9.71488901e-01 -2.34626170e-01 -3.40569531e-02 9.94718900e+01] [ 2.34400191e-01 9.72083058e-01 -1.05394275e-02 9.73925835e+01] [ 3.55790126e-02 2.25598053e-03 9.99364320e-01 1.77080112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.146875 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:99.50, Y:97.40, Z:17.71 [[ 9.70698109e-01 -2.37809571e-01 -3.45223023e-02 9.94951052e+01] [ 2.37648538e-01 9.71311753e-01 -8.75504197e-03 9.74032325e+01] [ 3.56139507e-02 2.94328005e-04 9.99365579e-01 1.77093941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.176875 meters Centerline goodness : 0.990174 Centerline is valid? [True, True] Translation: X:99.53, Y:97.41, Z:17.71 [[ 9.71235762e-01 -2.35618911e-01 -3.44212632e-02 9.95274045e+01] [ 2.35442773e-01 9.71845218e-01 -9.14176873e-03 9.74082108e+01] [ 3.56061136e-02 7.74575054e-04 9.99365601e-01 1.77126312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.206875 meters Centerline goodness : 0.989811 Centerline is valid? [True, True] Translation: X:99.55, Y:97.42, Z:17.71 [[ 9.71103082e-01 -2.36149685e-01 -3.45272498e-02 9.95537317e+01] [ 2.35988290e-01 9.71716633e-01 -8.73572733e-03 9.74176976e+01] [ 3.56136422e-02 3.35265086e-04 9.99365577e-01 1.77142696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.236875 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:99.56, Y:97.43, Z:17.70 [[ 9.69700102e-01 -2.41851014e-01 -3.44934677e-02 9.95604326e+01] [ 2.41688628e-01 9.70313362e-01 -8.86493324e-03 9.74291601e+01] [ 3.56134657e-02 2.59647771e-04 9.99365606e-01 1.77036030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.266875 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:99.59, Y:97.44, Z:17.70 [[ 9.70316705e-01 -2.39421333e-01 -3.41015746e-02 9.95909110e+01] [ 2.39202409e-01 9.70913798e-01 -1.04213084e-02 9.74376700e+01] [ 3.56047729e-02 1.95479080e-03 9.99364037e-01 1.77049738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.296875 meters Centerline goodness : 0.991399 Centerline is valid? [True, True] Translation: X:99.62, Y:97.45, Z:17.70 [[ 9.70516382e-01 -2.38604290e-01 -3.41459460e-02 9.96169181e+01] [ 2.38391051e-01 9.71115205e-01 -1.02452533e-02 9.74458909e+01] [ 3.56042088e-02 1.80309824e-03 9.99364343e-01 1.77036481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.326875 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:99.64, Y:97.45, Z:17.70 [[ 9.70994850e-01 -2.36651411e-01 -3.41337154e-02 9.96443833e+01] [ 2.36435250e-01 9.71592715e-01 -1.02941367e-02 9.74532375e+01] [ 3.56001912e-02 1.92514016e-03 9.99364258e-01 1.77035634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.356875 meters Centerline goodness : 0.990630 Centerline is valid? [True, True] Translation: X:99.69, Y:97.45, Z:17.71 [[ 9.73428017e-01 -2.26433453e-01 -3.41436340e-02 9.96929579e+01] [ 2.26212368e-01 9.74024017e-01 -1.02556383e-02 9.74529775e+01] [ 3.55789392e-02 2.25941331e-03 9.99364315e-01 1.77109892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.386875 meters Centerline goodness : 0.992017 Centerline is valid? [True, True] Translation: X:99.70, Y:97.47, Z:17.70 [[ 9.72578832e-01 -2.29994446e-01 -3.45393993e-02 9.97026832e+01] [ 2.29830087e-01 9.73191796e-01 -8.70976593e-03 9.74656370e+01] [ 3.56166579e-02 5.32740823e-04 9.99365384e-01 1.77035634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41687499999998 meters Centerline goodness : 0.990633 Centerline is valid? [True, True] Translation: X:99.73, Y:97.47, Z:17.70 [[ 9.73219616e-01 -2.27316868e-01 -3.42143445e-02 9.97335519e+01] [ 2.27104765e-01 9.73818842e-01 -1.00144173e-02 9.74736697e+01] [ 3.55950193e-02 1.97598671e-03 9.99364343e-01 1.77032679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44687499999998 meters Centerline goodness : 0.990048 Centerline is valid? [True, True] Translation: X:99.78, Y:97.48, Z:17.71 [[ 9.74761732e-01 -2.20601212e-01 -3.42734850e-02 9.97755902e+01] [ 2.20393144e-01 9.75362077e-01 -9.78169373e-03 9.74756996e+01] [ 3.55869110e-02 1.98117960e-03 9.99364622e-01 1.77111941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47687499999998 meters Centerline goodness : 0.989527 Centerline is valid? [True, True] Translation: X:99.81, Y:97.48, Z:17.71 [[ 9.75262098e-01 -2.18338159e-01 -3.45295345e-02 9.98084591e+01] [ 2.18164321e-01 9.75872639e-01 -8.77051965e-03 9.74812976e+01] [ 3.56113670e-02 1.02044297e-03 9.99365193e-01 1.77135316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50687499999998 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:99.81, Y:97.49, Z:17.70 [[ 9.74407472e-01 -2.22104330e-01 -3.46373449e-02 9.98141073e+01] [ 2.21947921e-01 9.75022804e-01 -8.34575933e-03 9.74902737e+01] [ 3.56258305e-02 4.44483561e-04 9.99365100e-01 1.77020609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53687499999998 meters Centerline goodness : 0.990921 Centerline is valid? [True, True] Translation: X:99.86, Y:97.49, Z:17.70 [[ 9.77003466e-01 -2.10459753e-01 -3.42187079e-02 9.98619263e+01] [ 2.10237592e-01 9.77599112e-01 -1.00065527e-02 9.74896529e+01] [ 3.55581550e-02 2.58237793e-03 9.99364272e-01 1.76982151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56687499999998 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:99.87, Y:97.51, Z:17.71 [[ 9.72995860e-01 -2.28214058e-01 -3.46034707e-02 9.98676931e+01] [ 2.28057106e-01 9.73610919e-01 -8.46965251e-03 9.75074041e+01] [ 3.56232107e-02 3.49369447e-04 9.99365231e-01 1.77091998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59687499999998 meters Centerline goodness : 0.990915 Centerline is valid? [True, True] Translation: X:99.90, Y:97.51, Z:17.71 [[ 9.73217369e-01 -2.27337390e-01 -3.41418252e-02 9.98991958e+01] [ 2.27113053e-01 9.73813266e-01 -1.03626099e-02 9.75114812e+01] [ 3.56035710e-02 2.33101784e-03 9.99363273e-01 1.77111579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62687499999998 meters Centerline goodness : 0.989540 Centerline is valid? [True, True] Translation: X:99.95, Y:97.51, Z:17.72 [[ 9.75109649e-01 -2.19072654e-01 -3.41810566e-02 9.99517367e+01] [ 2.18848669e-01 9.75705413e-01 -1.02081648e-02 9.75117285e+01] [ 3.55869717e-02 2.47360127e-03 9.99363522e-01 1.77202663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65687499999999 meters Centerline goodness : 0.991876 Centerline is valid? [True, True] Translation: X:99.98, Y:97.52, Z:17.72 [[ 9.74670431e-01 -2.20941039e-01 -3.46786370e-02 9.99752262e+01] [ 2.20787890e-01 9.75287097e-01 -8.23322584e-03 9.75193418e+01] [ 3.56406847e-02 3.68058700e-04 9.99364601e-01 1.77200824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.686875 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:99.98, Y:97.53, Z:17.71 [[ 9.72786307e-01 -2.29113180e-01 -3.45536132e-02 9.99831850e+01] [ 2.28947601e-01 9.73399617e-01 -8.72819543e-03 9.75329505e+01] [ 3.56342185e-02 5.79702157e-04 9.99364731e-01 1.77134773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.716875 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:100.01, Y:97.54, Z:17.71 [[ 9.73100200e-01 -2.27829727e-01 -3.41996490e-02 1.00011770e+02] [ 2.27612343e-01 9.73698693e-01 -1.01723542e-02 9.75383164e+01] [ 3.56177183e-02 2.11445769e-03 9.99363251e-01 1.77132558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.746875 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:100.04, Y:97.54, Z:17.71 [[ 9.72997258e-01 -2.28265873e-01 -3.42202851e-02 1.00035460e+02] [ 2.28051735e-01 9.73596758e-01 -1.00876167e-02 9.75445817e+01] [ 3.56194172e-02 2.01122798e-03 9.99363403e-01 1.77129722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.776875 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:100.06, Y:97.55, Z:17.71 [[ 9.73686494e-01 -2.25311769e-01 -3.41938319e-02 1.00064570e+02] [ 2.25091952e-01 9.74284159e-01 -1.01975847e-02 9.75475739e+01] [ 3.56121446e-02 2.23249412e-03 9.99363193e-01 1.77125863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.806875 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:100.09, Y:97.55, Z:17.71 [[ 9.73259778e-01 -2.27142399e-01 -3.42306030e-02 1.00087722e+02] [ 2.26929086e-01 9.73859486e-01 -1.00444708e-02 9.75540741e+01] [ 3.56173226e-02 2.00795996e-03 9.99363485e-01 1.77131288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.836875 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:100.14, Y:97.56, Z:17.72 [[ 9.74478122e-01 -2.21873358e-01 -3.41262887e-02 1.00139890e+02] [ 2.21642414e-01 9.75071958e-01 -1.04554594e-02 9.75580242e+01] [ 3.55953750e-02 2.62478339e-03 9.99362837e-01 1.77197636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.866875 meters Centerline goodness : 0.988951 Centerline is valid? [True, True] Translation: X:100.17, Y:97.56, Z:17.72 [[ 9.74261441e-01 -2.22740689e-01 -3.46587800e-02 1.00166814e+02] [ 2.22585069e-01 9.74877644e-01 -8.33462519e-03 9.75640726e+01] [ 3.56445300e-02 4.05576996e-04 9.99364450e-01 1.77215890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.896875 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:100.17, Y:97.57, Z:17.72 [[ 9.72744606e-01 -2.29278583e-01 -3.46303680e-02 1.00172189e+02] [ 2.29123084e-01 9.73360802e-01 -8.44754289e-03 9.75736630e+01] [ 3.56446835e-02 2.82685058e-04 9.99364486e-01 1.77161079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.926875 meters Centerline goodness : 0.988599 Centerline is valid? [True, True] Translation: X:100.22, Y:97.58, Z:17.72 [[ 9.74260522e-01 -2.22813178e-01 -3.42158407e-02 1.00223395e+02] [ 2.22595684e-01 9.74858654e-01 -1.00879336e-02 9.75762759e+01] [ 3.56033330e-02 2.21197695e-03 9.99363552e-01 1.77174711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.956875 meters Centerline goodness : 0.986992 Centerline is valid? [True, True] Translation: X:100.25, Y:97.58, Z:17.72 [[ 9.74038298e-01 -2.23715797e-01 -3.46501843e-02 1.00251586e+02] [ 2.23559997e-01 9.74654342e-01 -8.35708921e-03 9.75843230e+01] [ 3.56415655e-02 3.93729869e-04 9.99364560e-01 1.77189749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.986875 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:100.28, Y:97.59, Z:17.72 [[ 9.73421306e-01 -2.26385169e-01 -3.46513431e-02 1.00276240e+02] [ 2.26231222e-01 9.74037818e-01 -8.35247330e-03 9.75887304e+01] [ 3.56425947e-02 2.91259781e-04 9.99364558e-01 1.77232062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.016875 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:100.30, Y:97.60, Z:17.72 [[ 9.73348230e-01 -2.26712343e-01 -3.45649552e-02 1.00303941e+02] [ 2.26546396e-01 9.73961556e-01 -8.69586318e-03 9.75960312e+01] [ 3.56363971e-02 6.33536985e-04 9.99364621e-01 1.77240385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.046875 meters Centerline goodness : 0.990437 Centerline is valid? [True, True] Translation: X:100.34, Y:97.60, Z:17.72 [[ 9.73204856e-01 -2.27327447e-01 -3.45621364e-02 1.00336601e+02] [ 2.27161491e-01 9.73818178e-01 -8.70705225e-03 9.75993850e+01] [ 3.56365887e-02 6.22559090e-04 9.99364621e-01 1.77225980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.076875 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:100.34, Y:97.61, Z:17.72 [[ 9.71143203e-01 -2.35966271e-01 -3.46525411e-02 1.00340154e+02] [ 2.35818542e-01 9.71761244e-01 -8.34868445e-03 9.76104251e+01] [ 3.56440044e-02 -6.39435571e-05 9.99364549e-01 1.77198285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.106875 meters Centerline goodness : 0.992208 Centerline is valid? [True, True] Translation: X:100.37, Y:97.61, Z:17.72 [[ 9.71493648e-01 -2.34583730e-01 -3.42135260e-02 1.00373577e+02] [ 2.34370960e-01 9.72094156e-01 -1.01589715e-02 9.76149201e+01] [ 3.56418981e-02 1.85071937e-03 9.99362912e-01 1.77238823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.136875 meters Centerline goodness : 0.992703 Centerline is valid? [True, True] Translation: X:100.40, Y:97.62, Z:17.72 [[ 9.71192228e-01 -2.35815554e-01 -3.43027681e-02 1.00396917e+02] [ 2.35616554e-01 9.71796785e-01 -9.79020999e-03 9.76219897e+01] [ 3.56440035e-02 1.42587585e-03 9.99363533e-01 1.77241091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16687499999998 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:100.43, Y:97.63, Z:17.72 [[ 9.71333647e-01 -2.35243733e-01 -3.42247312e-02 1.00425428e+02] [ 2.35032931e-01 9.71934779e-01 -1.01146519e-02 9.76279832e+01] [ 3.56436150e-02 1.78076285e-03 9.99362978e-01 1.77235745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19687499999998 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:100.46, Y:97.63, Z:17.73 [[ 9.71824920e-01 -2.33200793e-01 -3.42595414e-02 1.00456151e+02] [ 2.32993845e-01 9.72427107e-01 -9.96941296e-03 9.76331653e+01] [ 3.56397818e-02 1.70626166e-03 9.99363245e-01 1.77250911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22687499999998 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:100.49, Y:97.64, Z:17.73 [[ 9.71087966e-01 -2.36242561e-01 -3.43163896e-02 1.00485150e+02] [ 2.36045878e-01 9.71693176e-01 -9.73215192e-03 9.76417537e+01] [ 3.56441501e-02 1.35053327e-03 9.99363633e-01 1.77279386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25687499999998 meters Centerline goodness : 0.987263 Centerline is valid? [True, True] Translation: X:100.53, Y:97.64, Z:17.73 [[ 9.73824012e-01 -2.24694203e-01 -3.43410639e-02 1.00534930e+02] [ 2.24493855e-01 9.74427895e-01 -9.63258262e-03 9.76413947e+01] [ 3.56272761e-02 1.67108245e-03 9.99363750e-01 1.77256758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28687499999998 meters Centerline goodness : 0.987263 Centerline is valid? [True, True] Translation: X:100.56, Y:97.65, Z:17.73 [[ 9.73662347e-01 -2.25324301e-01 -3.47935874e-02 1.00562899e+02] [ 2.25189645e-01 9.74283787e-01 -7.79266720e-03 9.76483172e+01] [ 3.56547054e-02 -2.47728961e-04 9.99364138e-01 1.77277254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31687499999998 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:100.57, Y:97.66, Z:17.73 [[ 9.72125867e-01 -2.31865670e-01 -3.47794585e-02 1.00569173e+02] [ 2.31733146e-01 9.72747720e-01 -7.84993208e-03 9.76600350e+01] [ 3.56517688e-02 -4.28431332e-04 9.99364182e-01 1.77297015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34687499999998 meters Centerline goodness : 0.990252 Centerline is valid? [True, True] Translation: X:100.59, Y:97.67, Z:17.73 [[ 9.72223224e-01 -2.31515868e-01 -3.43861351e-02 1.00594272e+02] [ 2.31324901e-01 9.72830300e-01 -9.48667786e-03 9.76681994e+01] [ 3.56481905e-02 1.26879924e-03 9.99363596e-01 1.77295215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37687499999998 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:100.63, Y:97.67, Z:17.74 [[ 9.73634876e-01 -2.25515741e-01 -3.43187857e-02 1.00626530e+02] [ 2.25311116e-01 9.74237902e-01 -9.76790229e-03 9.76707082e+01] [ 3.56374775e-02 1.77796643e-03 9.99363202e-01 1.77355941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40687499999999 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:100.65, Y:97.68, Z:17.73 [[ 9.73631622e-01 -2.25514212e-01 -3.44209995e-02 1.00649338e+02] [ 2.25324725e-01 9.74238961e-01 -9.33889947e-03 9.76782145e+01] [ 3.56403334e-02 1.33674560e-03 9.99363788e-01 1.77304034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.436875 meters Centerline goodness : 0.988371 Centerline is valid? [True, True] Translation: X:100.70, Y:97.68, Z:17.73 [[ 9.75242911e-01 -2.18456050e-01 -3.43251809e-02 1.00695279e+02] [ 2.18248513e-01 9.75844750e-01 -9.72680290e-03 9.76848847e+01] [ 3.56209265e-02 1.99457590e-03 9.99363383e-01 1.77345441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.466875 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:100.71, Y:97.69, Z:17.73 [[ 9.74776073e-01 -2.20469780e-01 -3.47085534e-02 1.00707380e+02] [ 2.20318792e-01 9.75393756e-01 -8.16396705e-03 9.76939443e+01] [ 3.56544142e-02 3.11093191e-04 9.99364131e-01 1.77348532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.496875 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:100.73, Y:97.70, Z:17.73 [[ 9.75406676e-01 -2.17707227e-01 -3.44293452e-02 1.00732207e+02] [ 2.17513037e-01 9.76012783e-01 -9.33415234e-03 9.76982986e+01] [ 3.56355934e-02 1.61576309e-03 9.99363544e-01 1.77328397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.526875 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:100.76, Y:97.71, Z:17.73 [[ 9.75523255e-01 -2.17196091e-01 -3.43545797e-02 1.00759768e+02] [ 2.16990523e-01 9.76126030e-01 -9.64811387e-03 9.77058265e+01] [ 3.56299321e-02 1.95734122e-03 9.99363136e-01 1.77337354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.556875 meters Centerline goodness : 0.989866 Centerline is valid? [True, True] Translation: X:100.81, Y:97.71, Z:17.74 [[ 9.77170746e-01 -2.09655617e-01 -3.43781165e-02 1.00807633e+02] [ 2.09448759e-01 9.77772964e-01 -9.55240845e-03 9.77064434e+01] [ 3.56167090e-02 2.13388026e-03 9.99363246e-01 1.77360174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.586875 meters Centerline goodness : 0.975723 Centerline is valid? [True, True] Translation: X:100.84, Y:97.71, Z:17.75 [[ 9.77851225e-01 -2.06394120e-01 -3.47627506e-02 1.00842242e+02] [ 2.06241474e-01 9.78468748e-01 -7.96019334e-03 9.77069033e+01] [ 3.56572022e-02 6.14363886e-04 9.99363891e-01 1.77478771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.616875 meters Centerline goodness : 0.986974 Centerline is valid? [True, True] Translation: X:100.87, Y:97.71, Z:17.74 [[ 9.77434950e-01 -2.08310563e-01 -3.50375327e-02 1.00869060e+02] [ 2.08200061e-01 9.78062527e-01 -6.81380569e-03 9.77143650e+01] [ 3.56882855e-02 -6.34764637e-04 9.99362769e-01 1.77449458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.646875 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:100.87, Y:97.72, Z:17.74 [[ 9.76645929e-01 -2.11988233e-01 -3.49816820e-02 1.00872702e+02] [ 2.11871854e-01 9.77272073e-01 -7.04359861e-03 9.77174145e+01] [ 3.56797810e-02 -5.32531904e-04 9.99363132e-01 1.77407950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.676875 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:100.90, Y:97.72, Z:17.74 [[ 9.76211336e-01 -2.14064722e-01 -3.44633365e-02 1.00900836e+02] [ 2.13870644e-01 9.76818043e-01 -9.26596812e-03 9.77246691e+01] [ 3.56479258e-02 1.67484717e-03 9.99363007e-01 1.77406184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.706875 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:100.93, Y:97.73, Z:17.74 [[ 9.76176514e-01 -2.14225881e-01 -3.44483021e-02 1.00931361e+02] [ 2.14029627e-01 9.76782607e-01 -9.33048183e-03 9.77298087e+01] [ 3.56473331e-02 1.73523998e-03 9.99362925e-01 1.77429819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.736875 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:100.96, Y:97.74, Z:17.75 [[ 9.75646466e-01 -2.16619192e-01 -3.44978240e-02 1.00955120e+02] [ 2.16431947e-01 9.76255132e-01 -9.11750290e-03 9.77360919e+01] [ 3.56537038e-02 1.42902827e-03 9.99363183e-01 1.77472519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.766875 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:100.99, Y:97.74, Z:17.74 [[ 9.75985949e-01 -2.15096631e-01 -3.44218896e-02 1.00988361e+02] [ 2.14896861e-01 9.76591072e-01 -9.44551249e-03 9.77391251e+01] [ 3.56478080e-02 1.82153142e-03 9.99362755e-01 1.77437895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.796875 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:101.01, Y:97.75, Z:17.74 [[ 9.75598071e-01 -2.16837122e-01 -3.44973497e-02 1.01013782e+02] [ 2.16649955e-01 9.76206760e-01 -9.11912353e-03 9.77453848e+01] [ 3.56539104e-02 1.42275007e-03 9.99363184e-01 1.77446019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.826875 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:101.05, Y:97.75, Z:17.75 [[ 9.75780725e-01 -2.16020013e-01 -3.44576600e-02 1.01045535e+02] [ 2.15826267e-01 9.76387577e-01 -9.29099414e-03 9.77505242e+01] [ 3.56510719e-02 1.62910486e-03 9.99362971e-01 1.77470439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.856875 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:101.07, Y:97.76, Z:17.74 [[ 9.74958834e-01 -2.19689518e-01 -3.45222774e-02 1.01069795e+02] [ 2.19507972e-01 9.75569095e-01 -9.01063855e-03 9.77574175e+01] [ 3.56584097e-02 1.20708656e-03 9.99363308e-01 1.77443941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.886875 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:101.10, Y:97.76, Z:17.75 [[ 9.74715216e-01 -2.20777108e-01 -3.44632587e-02 1.01098141e+02] [ 2.20587150e-01 9.75323239e-01 -9.26761769e-03 9.77626157e+01] [ 3.56588949e-02 1.43113595e-03 9.99362995e-01 1.77455139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91687499999998 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:101.15, Y:97.76, Z:17.75 [[ 9.76279552e-01 -2.13751470e-01 -3.44752765e-02 1.01147918e+02] [ 2.13558930e-01 9.76886704e-01 -9.21684214e-03 9.77610917e+01] [ 3.56485528e-02 1.63571136e-03 9.99363050e-01 1.77484172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94687499999998 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:101.16, Y:97.77, Z:17.75 [[ 9.73717754e-01 -2.25068857e-01 -3.48962119e-02 1.01155343e+02] [ 2.24947229e-01 9.74342663e-01 -7.42426944e-03 9.77710856e+01] [ 3.56718398e-02 -6.20663198e-04 9.99363365e-01 1.77493033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97687499999998 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:101.20, Y:97.77, Z:17.75 [[ 9.75270915e-01 -2.18303714e-01 -3.44982801e-02 1.01204742e+02] [ 2.18117882e-01 9.75879934e-01 -9.10732831e-03 9.77696369e+01] [ 3.56543430e-02 1.35742061e-03 9.99363260e-01 1.77523752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00687499999998 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:101.21, Y:97.78, Z:17.75 [[ 9.73436795e-01 -2.26282720e-01 -3.48846336e-02 1.01211511e+02] [ 2.26160381e-01 9.74061468e-01 -7.46581375e-03 9.77803471e+01] [ 3.56691620e-02 -6.22024218e-04 9.99363459e-01 1.77528517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03687499999998 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:101.26, Y:97.78, Z:17.76 [[ 9.74829384e-01 -2.20271238e-01 -3.44710606e-02 1.01260646e+02] [ 2.20082895e-01 9.75437664e-01 -9.21319808e-03 9.77822021e+01] [ 3.56537734e-02 1.39480539e-03 9.99363229e-01 1.77574459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06687499999998 meters Centerline goodness : 0.991623 Centerline is valid? [True, True] Translation: X:101.29, Y:97.79, Z:17.76 [[ 9.75113936e-01 -2.18941049e-01 -3.48945390e-02 1.01289288e+02] [ 2.18816153e-01 9.75738001e-01 -7.40577824e-03 9.77866805e+01] [ 3.56693565e-02 -4.14011193e-04 9.99363560e-01 1.77578439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09687499999998 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:101.29, Y:97.80, Z:17.76 [[ 9.73558496e-01 -2.25758279e-01 -3.48863054e-02 1.01293090e+02] [ 2.25636496e-01 9.74183148e-01 -7.44083361e-03 9.77993929e+01] [ 3.56654806e-02 -6.27536935e-04 9.99363587e-01 1.77557508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12687499999998 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:101.34, Y:97.80, Z:17.76 [[ 9.75934578e-01 -2.15321236e-01 -3.44741178e-02 1.01341891e+02] [ 2.15130562e-01 9.76542037e-01 -9.19194330e-03 9.78001213e+01] [ 3.56446458e-02 1.55429897e-03 9.99363319e-01 1.77572593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15687499999999 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:101.35, Y:97.81, Z:17.76 [[ 9.74765480e-01 -2.20492241e-01 -3.48630370e-02 1.01347666e+02] [ 2.20363996e-01 9.75388667e-01 -7.52706642e-03 9.78089230e+01] [ 3.56646709e-02 -3.45433639e-04 9.99363754e-01 1.77563334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.186875 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:101.38, Y:97.81, Z:17.76 [[ 9.75324450e-01 -2.18068106e-01 -3.44748985e-02 1.01376536e+02] [ 2.17877474e-01 9.75932402e-01 -9.23869729e-03 9.78149285e+01] [ 3.56598357e-02 1.49942357e-03 9.99362861e-01 1.77566111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.216875 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:101.40, Y:97.82, Z:17.76 [[ 9.75997466e-01 -2.15029970e-01 -3.45117111e-02 1.01400212e+02] [ 2.14843212e-01 9.76606384e-01 -9.07549739e-03 9.78224760e+01] [ 3.56558613e-02 1.44305558e-03 9.99363086e-01 1.77572901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.246875 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:101.43, Y:97.84, Z:17.75 [[ 9.78126403e-01 -2.05135424e-01 -3.44702380e-02 1.01429671e+02] [ 2.04936022e-01 9.78731570e-01 -9.25964524e-03 9.78376867e+01] [ 3.56365914e-02 1.99291007e-03 9.99362828e-01 1.77514202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.276875 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:101.45, Y:97.86, Z:17.74 [[ 9.79750169e-01 -1.97225128e-01 -3.45232664e-02 1.01453354e+02] [ 1.97029123e-01 9.80356104e-01 -9.02408933e-03 9.78570057e+01] [ 3.56248721e-02 2.03926415e-03 9.99363152e-01 1.77413273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.306875 meters Centerline goodness : 0.990510 Centerline is valid? [True, True] Translation: X:101.48, Y:97.87, Z:17.74 [[ 9.81799511e-01 -1.86756745e-01 -3.45201255e-02 1.01478025e+02] [ 1.86553792e-01 9.82403173e-01 -9.03812020e-03 9.78735133e+01] [ 3.56006108e-02 2.43376166e-03 9.99363134e-01 1.77387737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.336875 meters Centerline goodness : 0.988686 Centerline is valid? [True, True] Translation: X:101.50, Y:97.90, Z:17.74 [[ 9.85679287e-01 -1.65060525e-01 -3.45161809e-02 1.01500408e+02] [ 1.64843695e-01 9.86278130e-01 -9.05576402e-03 9.79009304e+01] [ 3.55373035e-02 3.23630423e-03 9.99363110e-01 1.77364682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.366875 meters Centerline goodness : 0.986390 Centerline is valid? [True, True] Translation: X:101.53, Y:97.92, Z:17.74 [[ 9.87957122e-01 -1.50831846e-01 -3.45033155e-02 1.01526160e+02] [ 1.50604405e-01 9.88552102e-01 -9.11342222e-03 9.79186034e+01] [ 3.54829194e-02 3.80731907e-03 9.99363031e-01 1.77382153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.396875 meters Centerline goodness : 0.981567 Centerline is valid? [True, True] Translation: X:101.55, Y:97.95, Z:17.74 [[ 9.92283914e-01 -1.19086561e-01 -3.45112252e-02 1.01548692e+02] [ 1.18841379e-01 9.92871752e-01 -9.07802382e-03 9.79522171e+01] [ 3.53462912e-02 4.90661543e-03 9.99363080e-01 1.77391926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.426875 meters Centerline goodness : 0.979655 Centerline is valid? [True, True] Translation: X:101.57, Y:97.97, Z:17.74 [[ 9.94241873e-01 -1.01442512e-01 -3.45328093e-02 1.01573892e+02] [ 1.01190206e-01 9.94826553e-01 -8.98174439e-03 9.79740593e+01] [ 3.52652863e-02 5.43564430e-03 9.99363204e-01 1.77409387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.456875 meters Centerline goodness : 0.977093 Centerline is valid? [True, True] Translation: X:101.60, Y:98.00, Z:17.74 [[ 9.95992532e-01 -8.24899998e-02 -3.45582927e-02 1.01599134e+02] [ 8.22304351e-02 9.96573884e-01 -8.86849732e-03 9.79965603e+01] [ 3.51714543e-02 5.99121365e-03 9.99363334e-01 1.77436587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.486875 meters Centerline goodness : 0.977363 Centerline is valid? [True, True] Translation: X:101.62, Y:98.04, Z:17.75 [[ 9.98574134e-01 -4.06260141e-02 -3.46298465e-02 1.01616428e+02] [ 4.03529731e-02 9.99148926e-01 -8.54763212e-03 9.80403845e+01] [ 3.49476302e-02 7.13802708e-03 9.99363653e-01 1.77504191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.516875 meters Centerline goodness : 0.972157 Centerline is valid? [True, True] Translation: X:101.65, Y:98.07, Z:17.75 [[ 9.99229192e-01 -1.85514342e-02 -3.45957559e-02 1.01648920e+02] [ 1.82607220e-02 9.99795405e-01 -8.70026416e-03 9.80688748e+01] [ 3.47500802e-02 8.06181444e-03 9.99363517e-01 1.77528060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.546875 meters Centerline goodness : 0.978677 Centerline is valid? [True, True] Translation: X:101.66, Y:98.09, Z:17.75 [[ 9.99385436e-01 4.13636677e-03 -3.48086462e-02 1.01661171e+02] [-4.40844691e-03 9.99960302e-01 -7.74333680e-03 9.80944389e+01] [ 3.47752351e-02 7.89203009e-03 9.99363997e-01 1.77544893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.576875 meters Centerline goodness : 0.971829 Centerline is valid? [True, True] Translation: X:101.69, Y:98.13, Z:17.76 [[ 9.99030735e-01 2.72408159e-02 -3.45764142e-02 1.01693117e+02] [-2.75597341e-02 9.99581593e-01 -8.78064667e-03 9.81269310e+01] [ 3.43227552e-02 9.72505268e-03 9.99363483e-01 1.77593612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.606875 meters Centerline goodness : 0.978484 Centerline is valid? [True, True] Translation: X:101.71, Y:98.15, Z:17.76 [[ 9.97937883e-01 5.39314524e-02 -3.48048901e-02 1.01711984e+02] [-5.42322180e-02 9.98498233e-01 -7.75537343e-03 9.81534425e+01] [ 3.43343627e-02 9.62692733e-03 9.99364035e-01 1.77618951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.636875 meters Centerline goodness : 0.982828 Centerline is valid? [True, True] Translation: X:101.73, Y:98.21, Z:17.77 [[ 9.94078639e-01 1.02984790e-01 -3.46668661e-02 1.01734623e+02] [-1.03332021e-01 9.94611672e-01 -8.37344003e-03 9.82130219e+01] [ 3.36177327e-02 1.19060552e-02 9.99363845e-01 1.77695606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66687499999998 meters Centerline goodness : 0.988153 Centerline is valid? [True, True] Translation: X:101.75, Y:98.24, Z:17.77 [[ 9.91458781e-01 1.25690746e-01 -3.48040621e-02 1.01753260e+02] [-1.26031179e-01 9.91995945e-01 -7.75797982e-03 9.82397923e+01] [ 3.35503822e-02 1.20781142e-02 9.99364043e-01 1.77712394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69687499999998 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:101.78, Y:98.26, Z:17.78 [[ 9.90543220e-01 1.32761245e-01 -3.46205305e-02 1.01780177e+02] [-1.33130540e-01 9.91061381e-01 -8.57901931e-03 9.82638418e+01] [ 3.31721095e-02 1.31069393e-02 9.99363707e-01 1.77756142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72687499999998 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:101.81, Y:98.30, Z:17.78 [[ 9.92038708e-01 1.21071141e-01 -3.46551682e-02 1.01806780e+02] [-1.21429529e-01 9.92564317e-01 -8.42295737e-03 9.82972788e+01] [ 3.33777063e-02 1.25640605e-02 9.99363834e-01 1.77834230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75687499999998 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:101.83, Y:98.32, Z:17.79 [[ 9.93972171e-01 1.04005680e-01 -3.46719219e-02 1.01833953e+02] [-1.04352642e-01 9.94505328e-01 -8.34738007e-03 9.83180585e+01] [ 3.36132361e-02 1.19151701e-02 9.99363887e-01 1.77857349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78687499999998 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:101.86, Y:98.34, Z:17.79 [[ 9.96075095e-01 8.14413196e-02 -3.46657933e-02 1.01861433e+02] [-8.17769737e-02 9.96615465e-01 -8.37506288e-03 9.83377732e+01] [ 3.38663896e-02 1.11770552e-02 9.99363868e-01 1.77859353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81687499999998 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:101.89, Y:98.35, Z:17.79 [[ 9.97842175e-01 5.57631514e-02 -3.46621662e-02 1.01888167e+02] [-5.60853036e-02 9.98390716e-01 -8.39153198e-03 9.83547409e+01] [ 3.41384466e-02 1.03174626e-02 9.99363856e-01 1.77868795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84687499999998 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:101.92, Y:98.37, Z:17.79 [[ 9.99398823e-01 1.26008197e-03 -3.46468655e-02 1.01922611e+02] [-1.55411851e-03 9.99962997e-01 -8.46105030e-03 9.83651797e+01] [ 3.46349218e-02 8.50980904e-03 9.99363800e-01 1.77882896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87687499999998 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:101.95, Y:98.37, Z:17.79 [[ 9.98900180e-01 -3.13925095e-02 -3.48273137e-02 1.01950291e+02] [ 3.11445947e-02 9.99485703e-01 -7.63834979e-03 9.83715742e+01] [ 3.50491890e-02 6.54526641e-03 9.99364155e-01 1.77890828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90687499999999 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:101.98, Y:98.38, Z:17.79 [[ 9.97284393e-01 -6.48918822e-02 -3.48264796e-02 1.01977517e+02] [ 6.46636240e-02 9.97877855e-01 -7.64215079e-03 9.83759729e+01] [ 3.52484863e-02 5.36939133e-03 9.99364155e-01 1.77906236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.936875 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:102.01, Y:98.38, Z:17.79 [[ 9.94492192e-01 -9.88557328e-02 -3.48256180e-02 1.02005600e+02] [ 9.86477055e-02 9.95093045e-01 -7.64607497e-03 9.83795048e+01] [ 3.54105886e-02 4.16849455e-03 9.99364155e-01 1.77915330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.966875 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:102.03, Y:98.38, Z:17.79 [[ 9.86194181e-01 -1.61889664e-01 -3.48249106e-02 1.02034312e+02] [ 1.61720149e-01 9.86807013e-01 -7.64929579e-03 9.83796311e+01] [ 3.56038079e-02 1.91180128e-03 9.99364155e-01 1.77938490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.996875 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:102.06, Y:98.38, Z:17.80 [[ 9.81720797e-01 -1.87114028e-01 -3.48226692e-02 1.02061432e+02] [ 1.86959915e-01 9.82337682e-01 -7.65948589e-03 9.83835732e+01] [ 3.56408174e-02 1.00903331e-03 9.99364155e-01 1.77960134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.026875 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:102.09, Y:98.39, Z:17.80 [[ 9.73786294e-01 -2.24783636e-01 -3.48219865e-02 1.02088880e+02] [ 2.24653284e-01 9.74408634e-01 -7.66258845e-03 9.83887550e+01] [ 3.56532688e-02 -3.61150015e-04 9.99364155e-01 1.77992525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.056875 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:102.12, Y:98.39, Z:17.80 [[ 9.70658632e-01 -2.37927305e-01 -3.48197807e-02 1.02115745e+02] [ 2.37805019e-01 9.71282608e-01 -7.67259855e-03 9.83948785e+01] [ 3.56453681e-02 -8.32844603e-04 9.99364155e-01 1.78005091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.086875 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:102.14, Y:98.40, Z:17.80 [[ 9.68192495e-01 -2.47772129e-01 -3.48175793e-02 1.02141710e+02] [ 2.47655828e-01 9.68817614e-01 -7.68257563e-03 9.84010494e+01] [ 3.56354122e-02 -1.18456435e-03 9.99364155e-01 1.78020155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.116875 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:102.17, Y:98.41, Z:17.80 [[ 9.65513400e-01 -2.58014950e-01 -3.48160880e-02 1.02168727e+02] [ 2.57905035e-01 9.66139673e-01 -7.68932778e-03 9.84076701e+01] [ 3.56211654e-02 -1.55509538e-03 9.99364155e-01 1.78025788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.146875 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:102.20, Y:98.41, Z:17.80 [[ 9.65149341e-01 -2.59373544e-01 -3.48154284e-02 1.02196104e+02] [ 2.59264403e-01 9.65775749e-01 -7.69231322e-03 9.84140671e+01] [ 3.56190790e-02 -1.60217022e-03 9.99364155e-01 1.78028023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.176875 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:102.22, Y:98.42, Z:17.80 [[ 9.65077828e-01 -2.59639788e-01 -3.48133078e-02 1.02223916e+02] [ 2.59530475e-01 9.65704206e-01 -7.70189827e-03 9.84202944e+01] [ 3.56190770e-02 -1.60218306e-03 9.99364155e-01 1.78038179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.206875 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:102.25, Y:98.43, Z:17.80 [[ 9.65035758e-01 -2.59796397e-01 -3.48111819e-02 1.02250934e+02] [ 2.59686840e-01 9.65662093e-01 -7.71149535e-03 9.84285701e+01] [ 3.56192575e-02 -1.59813706e-03 9.99364155e-01 1.78042756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.236875 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:102.28, Y:98.44, Z:17.80 [[ 9.66655430e-01 -2.53703789e-01 -3.48090238e-02 1.02277057e+02] [ 2.53589933e-01 9.67280998e-01 -7.72122452e-03 9.84384350e+01] [ 3.56290112e-02 -1.36345441e-03 9.99364155e-01 1.78024132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.266875 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:102.30, Y:98.45, Z:17.80 [[ 9.67788389e-01 -2.49347379e-01 -3.48068794e-02 1.02304531e+02] [ 2.49230360e-01 9.68413373e-01 -7.73087926e-03 9.84460469e+01] [ 3.56351220e-02 -1.19307590e-03 9.99364155e-01 1.78017094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.296875 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:102.33, Y:98.45, Z:17.80 [[ 9.69111299e-01 -2.44155529e-01 -3.48047151e-02 1.02331153e+02] [ 2.44034812e-01 9.69735579e-01 -7.74061069e-03 9.84528036e+01] [ 3.56412835e-02 -9.92048816e-04 9.99364155e-01 1.78012860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.326875 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:102.36, Y:98.46, Z:17.80 [[ 9.70564042e-01 -2.38315167e-01 -3.48040449e-02 1.02358569e+02] [ 2.38190585e-01 9.71187563e-01 -7.74362276e-03 9.84592149e+01] [ 3.56466783e-02 -7.74314001e-04 9.99364155e-01 1.78006433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.356875 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:102.39, Y:98.46, Z:17.80 [[ 9.73505940e-01 -2.25997817e-01 -3.48018865e-02 1.02385788e+02] [ 2.25864998e-01 9.74127758e-01 -7.75331117e-03 9.84644484e+01] [ 3.56537151e-02 -3.12633551e-04 9.99364155e-01 1.77991691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.386875 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:102.41, Y:98.47, Z:17.80 [[ 9.74751842e-01 -2.20562527e-01 -3.47996885e-02 1.02412860e+02] [ 2.20425889e-01 9.75372832e-01 -7.76316433e-03 9.84704118e+01] [ 3.56549338e-02 -1.03593534e-04 9.99364155e-01 1.77992861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41687499999998 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:102.44, Y:98.48, Z:17.80 [[ 9.76040171e-01 -2.14789943e-01 -3.47974882e-02 1.02440594e+02] [ 2.14649280e-01 9.76660262e-01 -7.77301443e-03 9.84762062e+01] [ 3.56548892e-02 1.17518545e-04 9.99364155e-01 1.77995540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44687499999998 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:102.47, Y:98.48, Z:17.80 [[ 9.77931389e-01 -2.06008464e-01 -3.47952834e-02 1.02468241e+02] [ 2.05861883e-01 9.78550107e-01 -7.78287122e-03 9.84806734e+01] [ 3.56522657e-02 4.48091488e-04 9.99364155e-01 1.77995564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47687499999998 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:102.50, Y:98.49, Z:17.80 [[ 9.78563462e-01 -2.02985202e-01 -3.47930729e-02 1.02496062e+02] [ 2.02836359e-01 9.79181640e-01 -7.79274073e-03 9.84851276e+01] [ 3.56505493e-02 5.68391126e-04 9.99364156e-01 1.77997775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50687499999998 meters Centerline goodness : 0.992937 Centerline is valid? [True, True] Translation: X:102.52, Y:98.49, Z:17.80 [[ 9.79096125e-01 -2.00400535e-01 -3.47908492e-02 1.02523772e+02] [ 2.00249708e-01 9.79713822e-01 -7.80265592e-03 9.84882244e+01] [ 3.56487323e-02 6.72692784e-04 9.99364156e-01 1.78009059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53687499999998 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:102.55, Y:98.49, Z:17.80 [[ 9.79529684e-01 -1.98270902e-01 -3.47886252e-02 1.02551556e+02] [ 1.98118380e-01 9.80146964e-01 -7.81255947e-03 9.84904419e+01] [ 3.56469686e-02 7.60367826e-04 9.99364156e-01 1.78023037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56687499999998 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:102.58, Y:98.49, Z:17.80 [[ 9.79895397e-01 -1.96455890e-01 -3.47864013e-02 1.02579239e+02] [ 1.96301874e-01 9.80512307e-01 -7.82244895e-03 9.84922085e+01] [ 3.56452608e-02 8.36545941e-04 9.99364156e-01 1.78037671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59687499999998 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:102.61, Y:98.49, Z:17.80 [[ 9.80148795e-01 -1.95187893e-01 -3.47854364e-02 1.02607618e+02] [ 1.95032927e-01 9.80765466e-01 -7.82673744e-03 9.84937332e+01] [ 3.56440391e-02 8.87061783e-04 9.99364156e-01 1.78040080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62687499999998 meters Centerline goodness : 0.990329 Centerline is valid? [True, True] Translation: X:102.64, Y:98.49, Z:17.80 [[ 9.80296563e-01 -1.94444795e-01 -3.47832000e-02 1.02637048e+02] [ 1.94289010e-01 9.80913027e-01 -7.83666394e-03 9.84903559e+01] [ 3.56430925e-02 9.24261244e-04 9.99364156e-01 1.78032837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65687499999999 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:102.66, Y:98.49, Z:17.80 [[ 9.80139506e-01 -1.95235332e-01 -3.47809374e-02 1.02664422e+02] [ 1.95079689e-01 9.80756007e-01 -7.84669291e-03 9.84912291e+01] [ 3.56435650e-02 9.05799281e-04 9.99364156e-01 1.78028138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.686875 meters Centerline goodness : 0.989734 Centerline is valid? [True, True] Translation: X:102.69, Y:98.49, Z:17.80 [[ 9.79884552e-01 -1.96511118e-01 -3.47799568e-02 1.02693000e+02] [ 1.96356123e-01 9.80501216e-01 -7.85103690e-03 9.84924368e+01] [ 3.56446060e-02 8.63852322e-04 9.99364156e-01 1.78028015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.716875 meters Centerline goodness : 0.988144 Centerline is valid? [True, True] Translation: X:102.72, Y:98.49, Z:17.80 [[ 9.79234505e-01 -1.99725542e-01 -3.47777436e-02 1.02722461e+02] [ 1.99572223e-01 9.79851588e-01 -7.86082851e-03 9.84880291e+01] [ 3.56470355e-02 7.56922911e-04 9.99364156e-01 1.78022740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.746875 meters Centerline goodness : 0.982825 Centerline is valid? [True, True] Translation: X:102.74, Y:98.50, Z:17.81 [[ 9.76194715e-01 -2.14089837e-01 -3.47767098e-02 1.02738120e+02] [ 2.13945438e-01 9.76813946e-01 -7.86539964e-03 9.84985685e+01] [ 3.56542772e-02 2.37843164e-04 9.99364156e-01 1.78115829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.776875 meters Centerline goodness : 0.980896 Centerline is valid? [True, True] Translation: X:102.77, Y:98.50, Z:17.81 [[ 9.75505006e-01 -2.17248298e-01 -3.45421548e-02 1.02768586e+02] [ 2.17069116e-01 9.76115656e-01 -8.90087493e-03 9.85002284e+01] [ 3.56508380e-02 1.18481304e-03 9.99363605e-01 1.78129484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.806875 meters Centerline goodness : 0.979872 Centerline is valid? [True, True] Translation: X:102.80, Y:98.50, Z:17.82 [[ 9.75094416e-01 -2.19080610e-01 -3.45624874e-02 1.02796727e+02] [ 2.18905742e-01 9.75706223e-01 -8.81150498e-03 9.85021956e+01] [ 3.56532639e-02 1.02612236e-03 9.99363693e-01 1.78153106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.836875 meters Centerline goodness : 0.979462 Centerline is valid? [True, True] Translation: X:102.83, Y:98.50, Z:17.82 [[ 9.75104360e-01 -2.19038661e-01 -3.45478340e-02 1.02825671e+02] [ 2.18861481e-01 9.75715567e-01 -8.87600409e-03 9.85016942e+01] [ 3.56530475e-02 1.09384015e-03 9.99363629e-01 1.78161437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.866875 meters Centerline goodness : 0.977332 Centerline is valid? [True, True] Translation: X:102.85, Y:98.50, Z:17.82 [[ 9.74741664e-01 -2.20647030e-01 -3.45481873e-02 1.02853148e+02] [ 2.20470914e-01 9.75353177e-01 -8.87444665e-03 9.85010844e+01] [ 3.56548046e-02 1.03342244e-03 9.99363631e-01 1.78154525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.896875 meters Centerline goodness : 0.976556 Centerline is valid? [True, True] Translation: X:102.90, Y:98.50, Z:17.83 [[ 9.75813714e-01 -2.15859553e-01 -3.45289598e-02 1.02899036e+02] [ 2.15677560e-01 9.76423568e-01 -8.95581043e-03 9.85045365e+01] [ 3.56480873e-02 1.29208086e-03 9.99363570e-01 1.78271461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.926875 meters Centerline goodness : 0.978968 Centerline is valid? [True, True] Translation: X:102.92, Y:98.51, Z:17.82 [[ 9.75271174e-01 -2.18218764e-01 -3.50243905e-02 1.02920346e+02] [ 2.18113812e-01 9.75899394e-01 -6.83655258e-03 9.85099595e+01] [ 3.56721455e-02 -9.71810669e-04 9.99363074e-01 1.78165958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.956875 meters Centerline goodness : 0.975160 Centerline is valid? [True, True] Translation: X:102.96, Y:98.51, Z:17.83 [[ 9.76399517e-01 -2.13154532e-01 -3.47725404e-02 1.02957644e+02] [ 2.13008019e-01 9.77018447e-01 -7.90807052e-03 9.85078836e+01] [ 3.56590545e-02 3.14606306e-04 9.99363964e-01 1.78277413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.986875 meters Centerline goodness : 0.973872 Centerline is valid? [True, True] Translation: X:102.97, Y:98.51, Z:17.82 [[ 9.76310864e-01 -2.13521313e-01 -3.50106410e-02 1.02969321e+02] [ 2.13411330e-01 9.76938124e-01 -6.89248428e-03 9.85074432e+01] [ 3.56749222e-02 -7.42460185e-04 9.99363172e-01 1.78194345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.016875 meters Centerline goodness : 0.972532 Centerline is valid? [True, True] Translation: X:103.02, Y:98.51, Z:17.83 [[ 9.76979115e-01 -2.10521814e-01 -3.45307716e-02 1.03015655e+02] [ 2.10337728e-01 9.77588081e-01 -8.92099206e-03 9.85124927e+01] [ 3.56349341e-02 1.45249889e-03 9.99363819e-01 1.78297609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.046875 meters Centerline goodness : 0.972510 Centerline is valid? [True, True] Translation: X:103.04, Y:98.51, Z:17.83 [[ 9.77199679e-01 -2.09415008e-01 -3.50163148e-02 1.03044380e+02] [ 2.09303968e-01 9.77826646e-01 -6.84834002e-03 9.85114229e+01] [ 3.56740308e-02 -6.36857973e-04 9.99363276e-01 1.78287666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.076875 meters Centerline goodness : 0.971153 Centerline is valid? [True, True] Translation: X:103.07, Y:98.52, Z:17.83 [[ 9.76967253e-01 -2.10505972e-01 -3.49602867e-02 1.03073069e+02] [ 2.10387109e-01 9.77592476e-01 -7.08626632e-03 9.85151882e+01] [ 3.56686146e-02 -4.32143525e-04 9.99363579e-01 1.78290875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.106875 meters Centerline goodness : 0.971513 Centerline is valid? [True, True] Translation: X:103.10, Y:98.52, Z:17.83 [[ 9.77017807e-01 -2.10268797e-01 -3.49748162e-02 1.03100070e+02] [ 2.10151986e-01 9.77643491e-01 -7.02469835e-03 9.85180001e+01] [ 3.56699763e-02 -4.86771728e-04 9.99363505e-01 1.78285454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.136875 meters Centerline goodness : 0.971234 Centerline is valid? [True, True] Translation: X:103.13, Y:98.52, Z:17.83 [[ 9.76712781e-01 -2.11688424e-01 -3.49306990e-02 1.03128549e+02] [ 2.11565870e-01 9.77337143e-01 -7.21055988e-03 9.85221834e+01] [ 3.56654616e-02 -3.47497736e-04 9.99363725e-01 1.78300994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16687499999998 meters Centerline goodness : 0.969286 Centerline is valid? [True, True] Translation: X:103.16, Y:98.52, Z:17.83 [[ 9.76333454e-01 -2.13432346e-01 -3.49230783e-02 1.03158544e+02] [ 2.13309763e-01 9.76957773e-01 -7.24255220e-03 9.85234464e+01] [ 3.56641678e-02 -3.78287540e-04 9.99363760e-01 1.78287787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19687499999998 meters Centerline goodness : 0.970002 Centerline is valid? [True, True] Translation: X:103.19, Y:98.53, Z:17.83 [[ 9.76162513e-01 -2.14214139e-01 -3.49148954e-02 1.03186024e+02] [ 2.14090836e-01 9.76786652e-01 -7.27665256e-03 9.85259950e+01] [ 3.56631657e-02 -3.71763680e-04 9.99363798e-01 1.78273188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22687499999998 meters Centerline goodness : 0.969452 Centerline is valid? [True, True] Translation: X:103.22, Y:98.53, Z:17.83 [[ 9.75790566e-01 -2.15912056e-01 -3.48533410e-02 1.03216232e+02] [ 2.15780735e-01 9.76412799e-01 -7.53126428e-03 9.85302092e+01] [ 3.56573390e-02 -1.71742903e-04 9.99364060e-01 1.78304287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25687499999998 meters Centerline goodness : 0.969244 Centerline is valid? [True, True] Translation: X:103.24, Y:98.53, Z:17.83 [[ 9.75646226e-01 -2.16556902e-01 -3.48934033e-02 1.03243765e+02] [ 2.16431905e-01 9.76269929e-01 -7.36586330e-03 9.85301110e+01] [ 3.56605089e-02 -3.65569003e-04 9.99363895e-01 1.78321921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28687499999998 meters Centerline goodness : 0.968180 Centerline is valid? [True, True] Translation: X:103.27, Y:98.53, Z:17.83 [[ 9.75607319e-01 -2.16738774e-01 -3.48520247e-02 1.03272120e+02] [ 2.16607835e-01 9.76229617e-01 -7.53532409e-03 9.85343686e+01] [ 3.56567756e-02 -1.97704276e-04 9.99364075e-01 1.78335993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31687499999998 meters Centerline goodness : 0.968775 Centerline is valid? [True, True] Translation: X:103.30, Y:98.54, Z:17.84 [[ 9.75723167e-01 -2.16218291e-01 -3.48418197e-02 1.03298899e+02] [ 2.16085530e-01 9.76345038e-01 -7.57704374e-03 9.85371187e+01] [ 3.56559332e-02 -1.35715950e-04 9.99364116e-01 1.78351953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34687499999998 meters Centerline goodness : 0.970017 Centerline is valid? [True, True] Translation: X:103.33, Y:98.54, Z:17.84 [[ 9.75802053e-01 -2.15862656e-01 -3.48377290e-02 1.03327974e+02] [ 2.15729070e-01 9.76423731e-01 -7.59376948e-03 9.85404678e+01] [ 3.56555966e-02 -1.05495047e-04 9.99364132e-01 1.78374406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37687499999998 meters Centerline goodness : 0.971887 Centerline is valid? [True, True] Translation: X:103.36, Y:98.54, Z:17.84 [[ 9.76176448e-01 -2.14160215e-01 -3.48560461e-02 1.03357284e+02] [ 2.14028216e-01 9.76798540e-01 -7.51896191e-03 9.85392745e+01] [ 3.56575975e-02 -1.20343843e-04 9.99364058e-01 1.78388899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40687499999999 meters Centerline goodness : 0.972138 Centerline is valid? [True, True] Translation: X:103.39, Y:98.54, Z:17.84 [[ 9.76285793e-01 -2.13664371e-01 -3.48365716e-02 1.03386043e+02] [ 2.13529234e-01 9.76907128e-01 -7.59804506e-03 9.85432622e+01] [ 3.56555267e-02 -2.07630054e-05 9.99364139e-01 1.78402574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.436875 meters Centerline goodness : 0.969667 Centerline is valid? [True, True] Translation: X:103.41, Y:98.55, Z:17.84 [[ 9.75824354e-01 -2.15761909e-01 -3.48371643e-02 1.03405884e+02] [ 2.15628193e-01 9.76445999e-01 -7.59564670e-03 9.85498701e+01] [ 3.56554609e-02 -9.98577329e-05 9.99364137e-01 1.78363252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.466875 meters Centerline goodness : 0.974829 Centerline is valid? [True, True] Translation: X:103.44, Y:98.55, Z:17.84 [[ 9.77554494e-01 -2.07823901e-01 -3.45895619e-02 1.03443602e+02] [ 2.07649764e-01 9.78165500e-01 -8.59246523e-03 9.85472213e+01] [ 3.56200358e-02 1.21708863e-03 9.99364664e-01 1.78354876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.496875 meters Centerline goodness : 0.972729 Centerline is valid? [True, True] Translation: X:103.46, Y:98.55, Z:17.83 [[ 9.77129651e-01 -2.09773241e-01 -3.48257619e-02 1.03463591e+02] [ 2.09634223e-01 9.77750051e-01 -7.63749477e-03 9.85540836e+01] [ 3.56530325e-02 1.62151062e-04 9.99364215e-01 1.78328467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.526875 meters Centerline goodness : 0.973204 Centerline is valid? [True, True] Translation: X:103.49, Y:98.56, Z:17.83 [[ 9.77932636e-01 -2.06036442e-01 -3.45939748e-02 1.03492182e+02] [ 2.05861999e-01 9.78543509e-01 -8.56957585e-03 9.85561671e+01] [ 3.56173544e-02 1.25888309e-03 9.99364708e-01 1.78326218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.556875 meters Centerline goodness : 0.974531 Centerline is valid? [True, True] Translation: X:103.52, Y:98.56, Z:17.83 [[ 9.78447024e-01 -2.03581343e-01 -3.45840620e-02 1.03519024e+02] [ 2.03403962e-01 9.79057050e-01 -8.60939592e-03 9.85583555e+01] [ 3.56124821e-02 1.38930259e-03 9.99364709e-01 1.78328052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.586875 meters Centerline goodness : 0.974903 Centerline is valid? [True, True] Translation: X:103.55, Y:98.56, Z:17.83 [[ 9.79019536e-01 -2.00810293e-01 -3.45828763e-02 1.03547735e+02] [ 2.00631017e-01 9.79629007e-01 -8.61415628e-03 9.85571012e+01] [ 3.56082000e-02 1.49502964e-03 9.99364709e-01 1.78317864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.616875 meters Centerline goodness : 0.973467 Centerline is valid? [True, True] Translation: X:103.58, Y:98.56, Z:17.83 [[ 9.78979904e-01 -2.01008086e-01 -3.45557081e-02 1.03576327e+02] [ 2.00825094e-01 9.79588275e-01 -8.72310057e-03 9.85609321e+01] [ 3.56037803e-02 1.60008683e-03 9.99364703e-01 1.78329609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.646875 meters Centerline goodness : 0.972842 Centerline is valid? [True, True] Translation: X:103.60, Y:98.56, Z:17.84 [[ 9.78912425e-01 -2.01332396e-01 -3.45793460e-02 1.03604627e+02] [ 2.01152945e-01 9.79521845e-01 -8.62836923e-03 9.85640199e+01] [ 3.56083950e-02 1.49068056e-03 9.99364708e-01 1.78352646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.676875 meters Centerline goodness : 0.976695 Centerline is valid? [True, True] Translation: X:103.64, Y:98.56, Z:17.84 [[ 9.80033340e-01 -1.95803757e-01 -3.45765882e-02 1.03644176e+02] [ 1.95620480e-01 9.80641621e-01 -8.63940640e-03 9.85595353e+01] [ 3.55988698e-02 1.70301753e-03 9.99364708e-01 1.78375361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.706875 meters Centerline goodness : 0.973063 Centerline is valid? [True, True] Translation: X:103.66, Y:98.56, Z:17.84 [[ 9.78629696e-01 -2.02654280e-01 -3.48591652e-02 1.03663487e+02] [ 2.02515545e-01 9.79250306e-01 -7.50275001e-03 9.85618183e+01] [ 3.56563126e-02 2.82891110e-04 9.99364071e-01 1.78395815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.736875 meters Centerline goodness : 0.975993 Centerline is valid? [True, True] Translation: X:103.70, Y:98.56, Z:17.84 [[ 9.79812201e-01 -1.96907934e-01 -3.45733468e-02 1.03704104e+02] [ 1.96725120e-01 9.80420561e-01 -8.64580006e-03 9.85575758e+01] [ 3.55988467e-02 1.66981459e-03 9.99364765e-01 1.78418249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.766875 meters Centerline goodness : 0.976120 Centerline is valid? [True, True] Translation: X:103.73, Y:98.55, Z:17.85 [[ 9.79508917e-01 -1.98358692e-01 -3.48727900e-02 1.03733885e+02] [ 1.98219413e-01 9.80129424e-01 -7.44154881e-03 9.85544462e+01] [ 3.56559435e-02 3.76599445e-04 9.99364054e-01 1.78450091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.796875 meters Centerline goodness : 0.972210 Centerline is valid? [True, True] Translation: X:103.75, Y:98.56, Z:17.85 [[ 9.77955083e-01 -2.05882819e-01 -3.48729178e-02 1.03750632e+02] [ 2.05748333e-01 9.78576647e-01 -7.44103706e-03 9.85642433e+01] [ 3.56578046e-02 1.01955324e-04 9.99364053e-01 1.78456308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.826875 meters Centerline goodness : 0.972788 Centerline is valid? [True, True] Translation: X:103.78, Y:98.56, Z:17.85 [[ 9.78559428e-01 -2.03044386e-01 -3.45604195e-02 1.03780153e+02] [ 2.02864021e-01 9.79168405e-01 -8.68472760e-03 9.85636672e+01] [ 3.56038560e-02 1.48745641e-03 9.99364875e-01 1.78460929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.856875 meters Centerline goodness : 0.974717 Centerline is valid? [True, True] Translation: X:103.81, Y:98.56, Z:17.85 [[ 9.79295049e-01 -1.99466740e-01 -3.45575876e-02 1.03811985e+02] [ 1.99283754e-01 9.79903243e-01 -8.69598156e-03 9.85590979e+01] [ 3.55976513e-02 1.62916591e-03 9.99364875e-01 1.78474661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.886875 meters Centerline goodness : 0.974961 Centerline is valid? [True, True] Translation: X:103.85, Y:98.56, Z:17.85 [[ 9.80215582e-01 -1.94880494e-01 -3.46266787e-02 1.03852190e+02] [ 1.94704385e-01 9.80825830e-01 -8.41983097e-03 9.85593501e+01] [ 3.56036017e-02 1.51128333e-03 9.99364848e-01 1.78540884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91687499999998 meters Centerline goodness : 0.974569 Centerline is valid? [True, True] Translation: X:103.87, Y:98.56, Z:17.85 [[ 9.79918022e-01 -1.96314309e-01 -3.49480080e-02 1.03868059e+02] [ 1.96184878e-01 9.80541012e-01 -7.12867818e-03 9.85614101e+01] [ 3.56674167e-02 1.29249518e-04 9.99363707e-01 1.78487270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94687499999998 meters Centerline goodness : 0.976047 Centerline is valid? [True, True] Translation: X:103.91, Y:98.56, Z:17.85 [[ 9.80911288e-01 -1.91356244e-01 -3.45808281e-02 1.03911169e+02] [ 1.91171870e-01 9.81518968e-01 -8.59257060e-03 9.85609877e+01] [ 3.55859808e-02 1.81766791e-03 9.99364965e-01 1.78527563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97687499999998 meters Centerline goodness : 0.976407 Centerline is valid? [True, True] Translation: X:103.94, Y:98.56, Z:17.85 [[ 9.80841295e-01 -1.91645336e-01 -3.49631167e-02 1.03939785e+02] [ 1.91515485e-01 9.81464219e-01 -7.05725730e-03 9.85645878e+01] [ 3.56675385e-02 2.26071130e-04 9.99363685e-01 1.78531125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.006875 meters Centerline goodness : 0.974411 Centerline is valid? [True, True] Translation: X:103.96, Y:98.57, Z:17.85 [[ 9.79546662e-01 -1.98169852e-01 -3.48861970e-02 1.03956608e+02] [ 1.98033310e-01 9.80167648e-01 -7.36134197e-03 9.85726192e+01] [ 3.56531177e-02 3.02148885e-04 9.99364180e-01 1.78500364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.036875 meters Centerline goodness : 0.976917 Centerline is valid? [True, True] Translation: X:104.00, Y:98.57, Z:17.85 [[ 9.80218564e-01 -1.94884422e-01 -3.45199946e-02 1.04001069e+02] [ 1.94695020e-01 9.80824367e-01 -8.79829138e-03 9.85721033e+01] [ 3.55727018e-02 1.90337752e-03 9.99365279e-01 1.78539885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06687500000004 meters Centerline goodness : 0.979139 Centerline is valid? [True, True] Translation: X:104.02, Y:98.57, Z:17.85 [[ 9.78781963e-01 -2.01897035e-01 -3.49779445e-02 1.04022649e+02] [ 2.01776329e-01 9.79406728e-01 -6.98392296e-03 9.85730313e+01] [ 3.56676675e-02 -2.21983404e-04 9.99363682e-01 1.78497130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.096875 meters Centerline goodness : 0.979182 Centerline is valid? [True, True] Translation: X:104.06, Y:98.57, Z:17.85 [[ 9.79124553e-01 -2.00276304e-01 -3.47060747e-02 1.04058931e+02] [ 2.00116482e-01 9.79739004e-01 -8.05463978e-03 9.85726805e+01] [ 3.56160485e-02 9.41237993e-04 9.99365104e-01 1.78545675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12687500000004 meters Centerline goodness : 0.979182 Centerline is valid? [True, True] Translation: X:104.09, Y:98.58, Z:17.86 [[ 9.78891166e-01 -2.01367037e-01 -3.49771657e-02 1.04086592e+02] [ 2.01246070e-01 9.79515837e-01 -6.98173923e-03 9.85807618e+01] [ 3.56665799e-02 -2.04654294e-04 9.99363724e-01 1.78560716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.156875 meters Centerline goodness : 0.978446 Centerline is valid? [True, True] Translation: X:104.10, Y:98.59, Z:17.85 [[ 9.77939474e-01 -2.05941468e-01 -3.49642289e-02 1.04103127e+02] [ 2.05821598e-01 9.78564260e-01 -7.03276851e-03 9.85870474e+01] [ 3.56630834e-02 -3.18771525e-04 9.99363819e-01 1.78531746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18687500000004 meters Centerline goodness : 0.980931 Centerline is valid? [True, True] Translation: X:104.14, Y:98.58, Z:17.86 [[ 9.78576219e-01 -2.02948904e-01 -3.46457203e-02 1.04143994e+02] [ 2.02782853e-01 9.79188739e-01 -8.27817876e-03 9.85838959e+01] [ 3.56047465e-02 1.07527084e-03 9.99365372e-01 1.78594037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.216875 meters Centerline goodness : 0.980951 Centerline is valid? [True, True] Translation: X:104.17, Y:98.59, Z:17.86 [[ 9.78185959e-01 -2.04773393e-01 -3.49297442e-02 1.04173471e+02] [ 2.04647901e-01 9.78809399e-01 -7.16920345e-03 9.85892150e+01] [ 3.56576241e-02 -1.35484693e-04 9.99364056e-01 1.78609174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24687500000005 meters Centerline goodness : 0.980836 Centerline is valid? [True, True] Translation: X:104.20, Y:98.59, Z:17.86 [[ 9.78025425e-01 -2.05537546e-01 -3.49368683e-02 1.04200000e+02] [ 2.05413533e-01 9.78649212e-01 -7.14143884e-03 9.85932049e+01] [ 3.56587724e-02 -1.91996797e-04 9.99364005e-01 1.78603859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.276875 meters Centerline goodness : 0.980131 Centerline is valid? [True, True] Translation: X:104.22, Y:98.60, Z:17.86 [[ 9.76302814e-01 -2.13586810e-01 -3.48351986e-02 1.04217345e+02] [ 2.13454065e-01 9.76924085e-01 -7.52959563e-03 9.86011427e+01] [ 3.56395668e-02 -8.45493253e-05 9.99364705e-01 1.78566281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.306875 meters Centerline goodness : 0.981235 Centerline is valid? [True, True] Translation: X:104.26, Y:98.60, Z:17.86 [[ 9.77762075e-01 -2.06872623e-01 -3.44244535e-02 1.04258137e+02] [ 2.06680567e-01 9.78366285e-01 -9.08598376e-03 9.85992999e+01] [ 3.55593660e-02 1.76906478e-03 9.99366000e-01 1.78620573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.336875 meters Centerline goodness : 0.982174 Centerline is valid? [True, True] Translation: X:104.27, Y:98.61, Z:17.86 [[ 9.76061227e-01 -2.14674098e-01 -3.49215128e-02 1.04268908e+02] [ 2.14555160e-01 9.76685610e-01 -7.16260345e-03 9.86072172e+01] [ 3.56449645e-02 -5.01451260e-04 9.99364391e-01 1.78639250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.366875 meters Centerline goodness : 0.982389 Centerline is valid? [True, True] Translation: X:104.28, Y:98.62, Z:17.86 [[ 9.74912678e-01 -2.19905891e-01 -3.44480665e-02 1.04281388e+02] [ 2.19725690e-01 9.75520372e-01 -8.97919632e-03 9.86161206e+01] [ 3.55793688e-02 1.18480717e-03 9.99366152e-01 1.78590413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.396875 meters Centerline goodness : 0.982151 Centerline is valid? [True, True] Translation: X:104.33, Y:98.61, Z:17.87 [[ 9.76612809e-01 -2.12277083e-01 -3.41447234e-02 1.04326869e+02] [ 2.12051424e-01 9.77205886e-01 -1.01414837e-02 9.86137520e+01] [ 3.55192292e-02 2.66386567e-03 9.99365443e-01 1.78667289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.426875 meters Centerline goodness : 0.982151 Centerline is valid? [True, True] Translation: X:104.35, Y:98.62, Z:17.87 [[ 9.76542689e-01 -2.12549476e-01 -3.44542690e-02 1.04354590e+02] [ 2.12365731e-01 9.77149270e-01 -8.94994468e-03 9.86207641e+01] [ 3.55692698e-02 1.42309704e-03 9.99366200e-01 1.78683217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.456875 meters Centerline goodness : 0.986174 Centerline is valid? [True, True] Translation: X:104.36, Y:98.63, Z:17.87 [[ 9.75724701e-01 -2.16273924e-01 -3.44513805e-02 1.04364967e+02] [ 2.16092102e-01 9.76331861e-01 -8.96104956e-03 9.86260475e+01] [ 3.55740218e-02 1.29884617e-03 9.99366200e-01 1.78677582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.486875 meters Centerline goodness : 0.983855 Centerline is valid? [True, True] Translation: X:104.39, Y:98.64, Z:17.87 [[ 9.74289693e-01 -2.22706069e-01 -3.40822630e-02 1.04391705e+02] [ 2.22476578e-01 9.74882220e-01 -1.04321092e-02 9.86370776e+01] [ 3.55494863e-02 2.58139124e-03 9.99364583e-01 1.78661784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.516875 meters Centerline goodness : 0.984122 Centerline is valid? [True, True] Translation: X:104.42, Y:98.64, Z:17.87 [[ 9.75308922e-01 -2.18218904e-01 -3.39560922e-02 1.04423502e+02] [ 2.17969513e-01 9.75894419e-01 -1.09258609e-02 9.86395869e+01] [ 3.55217903e-02 3.25469667e-03 9.99363602e-01 1.78664199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.546875 meters Centerline goodness : 0.984615 Centerline is valid? [True, True] Translation: X:104.45, Y:98.65, Z:17.86 [[ 9.75693401e-01 -2.16478509e-01 -3.40506022e-02 1.04448213e+02] [ 2.16241031e-01 9.76282977e-01 -1.05529886e-02 9.86458284e+01] [ 3.55275185e-02 2.93334403e-03 9.99364393e-01 1.78634229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.57687500000003 meters Centerline goodness : 0.987171 Centerline is valid? [True, True] Translation: X:104.47, Y:98.65, Z:17.86 [[ 9.77195786e-01 -2.09588926e-01 -3.40716599e-02 1.04469244e+02] [ 2.09350246e-01 9.77784687e-01 -1.04680449e-02 9.86477484e+01] [ 3.55087336e-02 3.09641902e-03 9.99364569e-01 1.78639612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.606875 meters Centerline goodness : 0.984528 Centerline is valid? [True, True] Translation: X:104.53, Y:98.65, Z:17.86 [[ 9.79511594e-01 -1.98509978e-01 -3.39238202e-02 1.04525133e+02] [ 1.98245232e-01 9.80090375e-01 -1.10310845e-02 9.86478694e+01] [ 3.54381900e-02 4.07983955e-03 9.99363542e-01 1.78644588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.63687500000003 meters Centerline goodness : 0.985683 Centerline is valid? [True, True] Translation: X:104.53, Y:98.66, Z:17.86 [[ 9.78009358e-01 -2.05678437e-01 -3.45554162e-02 1.04529150e+02] [ 2.05502849e-01 9.78618758e-01 -8.59683455e-03 9.86583236e+01] [ 3.55847620e-02 1.30654818e-03 9.99365808e-01 1.78621820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.666875 meters Centerline goodness : 0.985742 Centerline is valid? [True, True] Translation: X:104.56, Y:98.66, Z:17.86 [[ 9.78903767e-01 -2.01457600e-01 -3.40918060e-02 1.04557850e+02] [ 2.01214604e-01 9.79491439e-01 -1.04500445e-02 9.86611839e+01] [ 3.54978730e-02 3.36981864e-03 9.99364070e-01 1.78634358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.69687500000003 meters Centerline goodness : 0.985511 Centerline is valid? [True, True] Translation: X:104.58, Y:98.67, Z:17.86 [[ 9.79166891e-01 -2.00178121e-01 -3.40722723e-02 1.04584410e+02] [ 1.99931642e-01 9.79753281e-01 -1.05284093e-02 9.86665651e+01] [ 3.54899777e-02 3.49694446e-03 9.99363914e-01 1.78638376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.726875 meters Centerline goodness : 0.985904 Centerline is valid? [True, True] Translation: X:104.61, Y:98.67, Z:17.86 [[ 9.79386595e-01 -1.99102617e-01 -3.40594420e-02 1.04614858e+02] [ 1.98853706e-01 9.79972074e-01 -1.05800635e-02 9.86725146e+01] [ 3.54838204e-02 3.58912610e-03 9.99363806e-01 1.78640086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.75687500000004 meters Centerline goodness : 0.985833 Centerline is valid? [True, True] Translation: X:104.64, Y:98.68, Z:17.87 [[ 9.79646863e-01 -1.97810538e-01 -3.41029986e-02 1.04642889e+02] [ 1.97566936e-01 9.80234183e-01 -1.04044137e-02 9.86762714e+01] [ 3.54870277e-02 3.45502631e-03 9.99364165e-01 1.78671239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.786875 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:104.67, Y:98.68, Z:17.87 [[ 9.80444648e-01 -1.93809377e-01 -3.41499320e-02 1.04668957e+02] [ 1.93570008e-01 9.81033305e-01 -1.02130554e-02 9.86750555e+01] [ 3.54816066e-02 3.40293287e-03 9.99364536e-01 1.78676052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81687500000004 meters Centerline goodness : 0.988326 Centerline is valid? [True, True] Translation: X:104.70, Y:98.68, Z:17.87 [[ 9.79958690e-01 -1.96262634e-01 -3.40872977e-02 1.04696836e+02] [ 1.96015905e-01 9.80544842e-01 -1.04679549e-02 9.86804169e+01] [ 3.54785923e-02 3.57651089e-03 9.99364037e-01 1.78719427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.846875 meters Centerline goodness : 0.988659 Centerline is valid? [True, True] Translation: X:104.72, Y:98.68, Z:17.87 [[ 9.80128668e-01 -1.95415656e-01 -3.40663428e-02 1.04724087e+02] [ 1.95165472e-01 9.80713551e-01 -1.05531759e-02 9.86835507e+01] [ 3.54715798e-02 3.69489634e-03 9.99363855e-01 1.78733270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87687500000004 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:104.76, Y:98.68, Z:17.88 [[ 9.80514601e-01 -1.93469497e-01 -3.40686265e-02 1.04755040e+02] [ 1.93218475e-01 9.81099102e-01 -1.05438480e-02 9.86842800e+01] [ 3.54646118e-02 3.75570881e-03 9.99363876e-01 1.78756109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.906875 meters Centerline goodness : 0.988370 Centerline is valid? [True, True] Translation: X:104.79, Y:98.69, Z:17.87 [[ 9.79477552e-01 -1.98646892e-01 -3.41047927e-02 1.04787610e+02] [ 1.98404079e-01 9.80065172e-01 -1.03961415e-02 9.86903857e+01] [ 3.54900807e-02 3.41625727e-03 9.99364190e-01 1.78744030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93687500000004 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:104.81, Y:98.69, Z:17.87 [[ 9.78720970e-01 -2.02320923e-01 -3.42272702e-02 1.04805683e+02] [ 2.02097943e-01 9.79315381e-01 -9.88970681e-03 9.86947356e+01] [ 3.55201868e-02 2.76200255e-03 9.99365142e-01 1.78731738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.966875 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:104.84, Y:98.70, Z:17.88 [[ 9.78156222e-01 -2.05062487e-01 -3.40555860e-02 1.04839381e+02] [ 2.04816480e-01 9.78743004e-01 -1.05991331e-02 9.86985301e+01] [ 3.55051512e-02 3.39246272e-03 9.99363735e-01 1.78775312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99687500000005 meters Centerline goodness : 0.990340 Centerline is valid? [True, True] Translation: X:104.86, Y:98.70, Z:17.88 [[ 9.76433670e-01 -2.13102436e-01 -3.41268236e-02 1.04863412e+02] [ 2.12871472e-01 9.77025854e-01 -1.03061745e-02 9.87029928e+01] [ 3.55390599e-02 2.79866864e-03 9.99364369e-01 1.78792523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.026875 meters Centerline goodness : 0.989971 Centerline is valid? [True, True] Translation: X:104.89, Y:98.71, Z:17.88 [[ 9.75832287e-01 -2.15851546e-01 -3.40508118e-02 1.04894305e+02] [ 2.15611271e-01 9.76421515e-01 -1.06210002e-02 9.87084193e+01] [ 3.55405045e-02 3.02257613e-03 9.99363666e-01 1.78799956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.056875 meters Centerline goodness : 0.990798 Centerline is valid? [True, True] Translation: X:104.92, Y:98.71, Z:17.88 [[ 9.75280999e-01 -2.18321195e-01 -3.41002921e-02 1.04922232e+02] [ 2.18089579e-01 9.75873174e-01 -1.04156046e-02 9.87128749e+01] [ 3.55515075e-02 2.72122288e-03 9.99364140e-01 1.78793371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.086875 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:104.95, Y:98.71, Z:17.88 [[ 9.75232240e-01 -2.18536838e-01 -3.41134542e-02 1.04947596e+02] [ 2.18307276e-01 9.75825083e-01 -1.03605483e-02 9.87141696e+01] [ 3.55529258e-02 2.65672549e-03 9.99364264e-01 1.78803623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.116875 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:104.99, Y:98.72, Z:17.88 [[ 9.75514569e-01 -2.17284917e-01 -3.40380698e-02 1.04986110e+02] [ 2.17043674e-01 9.76103538e-01 -1.06736527e-02 9.87188705e+01] [ 3.55439041e-02 3.02455601e-03 9.99363539e-01 1.78804326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.146875 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:105.01, Y:98.72, Z:17.88 [[ 9.75541278e-01 -2.17130686e-01 -3.42561030e-02 1.05011405e+02] [ 2.16921215e-01 9.76140301e-01 -9.76217290e-03 9.87248707e+01] [ 3.55584300e-02 2.09252715e-03 9.99365408e-01 1.78825606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.176875 meters Centerline goodness : 0.990173 Centerline is valid? [True, True] Translation: X:105.04, Y:98.73, Z:17.88 [[ 9.75715698e-01 -2.16352476e-01 -3.42123164e-02 1.05039633e+02] [ 2.16136102e-01 9.76312589e-01 -9.94550699e-03 9.87315483e+01] [ 3.55536502e-02 2.30947060e-03 9.99365101e-01 1.78837716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.206875 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:105.06, Y:98.73, Z:17.88 [[ 9.76236076e-01 -2.13991274e-01 -3.42178097e-02 1.05064211e+02] [ 2.13774262e-01 9.76832693e-01 -9.92246142e-03 9.87335659e+01] [ 3.55483953e-02 2.37177778e-03 9.99365142e-01 1.78838027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.236875 meters Centerline goodness : 0.990550 Centerline is valid? [True, True] Translation: X:105.09, Y:98.74, Z:17.88 [[ 9.76019339e-01 -2.14987990e-01 -3.41527959e-02 1.05090435e+02] [ 2.14762010e-01 9.76613186e-01 -1.01962737e-02 9.87448300e+01] [ 3.55461472e-02 2.61703719e-03 9.99364609e-01 1.78812723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.266875 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:105.14, Y:98.74, Z:17.89 [[ 9.78479126e-01 -2.03497407e-01 -3.41673081e-02 1.05141325e+02] [ 2.03266519e-01 9.79070969e-01 -1.01370991e-02 9.87429242e+01] [ 3.55150928e-02 2.97387007e-03 9.99364715e-01 1.78865647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.296875 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:105.15, Y:98.75, Z:17.88 [[ 9.77321229e-01 -2.08918755e-01 -3.45856709e-02 1.05151018e+02] [ 2.08751501e-01 9.77932481e-01 -8.41859716e-03 9.87547877e+01] [ 3.55812538e-02 1.00786301e-03 9.99366279e-01 1.78817410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.32687500000003 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:105.18, Y:98.76, Z:17.89 [[ 9.77224650e-01 -2.09422827e-01 -3.42646033e-02 1.05179050e+02] [ 2.09208295e-01 9.77822282e-01 -9.77113374e-03 9.87592142e+01] [ 3.55509910e-02 2.38015352e-03 9.99365029e-01 1.78904646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.356875 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:105.21, Y:98.76, Z:17.89 [[ 9.77311931e-01 -2.09017708e-01 -3.42488996e-02 1.05208494e+02] [ 2.08800618e-01 9.77908755e-01 -9.83715659e-03 9.87644069e+01] [ 3.55484387e-02 2.46277912e-03 9.99364920e-01 1.78921349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.38687500000003 meters Centerline goodness : 0.991570 Centerline is valid? [True, True] Translation: X:105.24, Y:98.77, Z:17.89 [[ 9.77399731e-01 -2.08602079e-01 -3.42773654e-02 1.05235579e+02] [ 2.08388929e-01 9.77997765e-01 -9.71729913e-03 9.87702844e+01] [ 3.55502355e-02 2.35466208e-03 9.99365117e-01 1.78928733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.416875 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:105.26, Y:98.78, Z:17.89 [[ 9.76957692e-01 -2.10661411e-01 -3.42846617e-02 1.05258921e+02] [ 2.10450601e-01 9.77556503e-01 -9.68650053e-03 9.87788710e+01] [ 3.55557659e-02 2.24807355e-03 9.99365165e-01 1.78932765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.44687500000003 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:105.29, Y:98.78, Z:17.90 [[ 9.77007546e-01 -2.10437502e-01 -3.42390503e-02 1.05287196e+02] [ 2.10219764e-01 9.77604229e-01 -9.88043647e-03 9.87819553e+01] [ 3.55514547e-02 2.45553594e-03 9.99364831e-01 1.78954783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.476875 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:105.32, Y:98.79, Z:17.90 [[ 9.77211502e-01 -2.09488663e-01 -3.42371144e-02 1.05319128e+02] [ 2.09270058e-01 9.77807884e-01 -9.88866139e-03 9.87857827e+01] [ 3.55488828e-02 2.49851074e-03 9.99364815e-01 1.78977276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.50687500000004 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:105.35, Y:98.79, Z:17.90 [[ 9.77163804e-01 -2.09699749e-01 -3.43062038e-02 1.05346483e+02] [ 2.09491564e-01 9.77763378e-01 -9.59482418e-03 9.87889974e+01] [ 3.55553820e-02 2.18885460e-03 9.99365310e-01 1.79013739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.536875 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:105.37, Y:98.80, Z:17.90 [[ 9.76490937e-01 -2.12814086e-01 -3.42872389e-02 1.05373222e+02] [ 2.12604973e-01 9.77090326e-01 -9.67577947e-03 9.87968015e+01] [ 3.55608716e-02 2.15867347e-03 9.99365181e-01 1.79006238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56687500000004 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:105.40, Y:98.80, Z:17.90 [[ 9.76109631e-01 -2.14554501e-01 -3.42980211e-02 1.05404286e+02] [ 2.14348072e-01 9.76709871e-01 -9.62976076e-03 9.87997995e+01] [ 3.55653243e-02 2.04798752e-03 9.99365255e-01 1.79020311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.596875 meters Centerline goodness : 0.991707 Centerline is valid? [True, True] Translation: X:105.44, Y:98.80, Z:17.91 [[ 9.76694881e-01 -2.11863082e-01 -3.43677772e-02 1.05436509e+02] [ 2.11665521e-01 9.77297629e-01 -9.33014881e-03 9.88033746e+01] [ 3.55642612e-02 1.83823512e-03 9.99365701e-01 1.79062736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62687500000004 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:105.46, Y:98.81, Z:17.90 [[ 9.76223233e-01 -2.14010493e-01 -3.44631338e-02 1.05460913e+02] [ 2.13828711e-01 9.76830444e-01 -8.91996418e-03 9.88103365e+01] [ 3.55736042e-02 1.33866880e-03 9.99366162e-01 1.79041519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.656875 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:105.49, Y:98.81, Z:17.91 [[ 9.76603120e-01 -2.12284046e-01 -3.43777475e-02 1.05492768e+02] [ 2.12088261e-01 9.77206386e-01 -9.28707194e-03 9.88146600e+01] [ 3.55656516e-02 1.77866677e-03 9.99365759e-01 1.79064990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68687500000004 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:105.52, Y:98.82, Z:17.91 [[ 9.76502272e-01 -2.12735102e-01 -3.44541519e-02 1.05518904e+02] [ 2.12551194e-01 9.77108873e-01 -8.95773818e-03 9.88204714e+01] [ 3.55710829e-02 1.42398056e-03 9.99366134e-01 1.79073836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.716875 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:105.54, Y:98.83, Z:17.90 [[ 9.75596339e-01 -2.16852067e-01 -3.44523560e-02 1.05537462e+02] [ 2.16670446e-01 9.76203635e-01 -8.96548839e-03 9.88303001e+01] [ 3.55766999e-02 1.28189031e-03 9.99366127e-01 1.79040470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74687500000005 meters Centerline goodness : 0.991604 Centerline is valid? [True, True] Translation: X:105.58, Y:98.83, Z:17.91 [[ 9.76765605e-01 -2.11550840e-01 -3.42811043e-02 1.05576039e+02] [ 2.11339959e-01 9.77364442e-01 -9.70405462e-03 9.88323732e+01] [ 3.55580333e-02 2.23361960e-03 9.99365117e-01 1.79081156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.776875 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:105.60, Y:98.84, Z:17.91 [[ 9.76121341e-01 -2.14473037e-01 -3.44738241e-02 1.05595483e+02] [ 2.14293373e-01 9.76729085e-01 -8.86815347e-03 9.88407541e+01] [ 3.55735665e-02 1.26888182e-03 9.99366255e-01 1.79066885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.806875 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:105.62, Y:98.85, Z:17.91 [[ 9.76377521e-01 -2.13327415e-01 -3.43271215e-02 1.05624293e+02] [ 2.13124635e-01 9.76978790e-01 -9.50436086e-03 9.88465486e+01] [ 3.55644104e-02 1.96388904e-03 9.99365457e-01 1.79074153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.836875 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:105.65, Y:98.85, Z:17.91 [[ 9.76632883e-01 -2.12152555e-01 -3.43439326e-02 1.05651051e+02] [ 2.11951617e-01 9.77234651e-01 -9.43133831e-03 9.88505631e+01] [ 3.55629635e-02 1.93170309e-03 9.99365571e-01 1.79079127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.866875 meters Centerline goodness : 0.990964 Centerline is valid? [True, True] Translation: X:105.68, Y:98.86, Z:17.91 [[ 9.76357559e-01 -2.13417863e-01 -3.43326834e-02 1.05679478e+02] [ 2.13215982e-01 9.76959092e-01 -9.48033653e-03 9.88592414e+01] [ 3.55649003e-02 1.93592142e-03 9.99365494e-01 1.79114806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.896875 meters Centerline goodness : 0.992609 Centerline is valid? [True, True] Translation: X:105.70, Y:98.86, Z:17.91 [[ 9.77352298e-01 -2.08804625e-01 -3.43964203e-02 1.05702213e+02] [ 2.08609815e-01 9.77955692e-01 -9.19833128e-03 9.88645812e+01] [ 3.55588291e-02 1.81457935e-03 9.99365937e-01 1.79109864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.926875 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:105.73, Y:98.87, Z:17.91 [[ 9.77179376e-01 -2.09621387e-01 -3.43415283e-02 1.05730648e+02] [ 2.09418561e-01 9.77780517e-01 -9.44073556e-03 9.88713685e+01] [ 3.55574574e-02 2.03353866e-03 9.99365565e-01 1.79125793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.956875 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:105.76, Y:98.88, Z:17.91 [[ 9.77599633e-01 -2.07652555e-01 -3.43420249e-02 1.05756181e+02] [ 2.07448595e-01 9.78200386e-01 -9.43854378e-03 9.88753785e+01] [ 3.55533197e-02 2.10291211e-03 9.99365568e-01 1.79141005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.986875 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:105.78, Y:98.88, Z:17.92 [[ 9.77743623e-01 -2.06979425e-01 -3.43063430e-02 1.05783517e+02] [ 2.06769527e-01 9.78342618e-01 -9.59607786e-03 9.88812397e+01] [ 3.55495481e-02 2.28899763e-03 9.99365294e-01 1.79150115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.016875 meters Centerline goodness : 0.992868 Centerline is valid? [True, True] Translation: X:105.82, Y:98.89, Z:17.92 [[ 9.78387085e-01 -2.03915176e-01 -3.43119855e-02 1.05816148e+02] [ 2.03704278e-01 9.78985680e-01 -9.57108444e-03 9.88863450e+01] [ 3.55426318e-02 2.37472719e-03 9.99365340e-01 1.79185647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.046875 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:105.84, Y:98.89, Z:17.92 [[ 9.78596286e-01 -2.02896215e-01 -3.43865488e-02 1.05843459e+02] [ 2.02696279e-01 9.79198054e-01 -9.24062159e-03 9.88942246e+01] [ 3.55461288e-02 2.07281249e-03 9.99365887e-01 1.79225196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.07687500000003 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:105.87, Y:98.90, Z:17.93 [[ 9.78758086e-01 -2.02111811e-01 -3.44009359e-02 1.05868120e+02] [ 2.01913632e-01 9.79360338e-01 -9.17681973e-03 9.88995831e+01] [ 3.55456558e-02 2.03586860e-03 9.99365980e-01 1.79250181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.106875 meters Centerline goodness : 0.992162 Centerline is valid? [True, True] Translation: X:105.90, Y:98.91, Z:17.92 [[ 9.79498558e-01 -1.98501149e-01 -3.43492268e-02 1.05903971e+02] [ 1.98292687e-01 9.80097710e-01 -9.40691406e-03 9.89074134e+01] [ 3.55328818e-02 2.40285828e-03 9.99365619e-01 1.79237100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.13687500000003 meters Centerline goodness : 0.992116 Centerline is valid? [True, True] Translation: X:105.93, Y:98.92, Z:17.92 [[ 9.79072881e-01 -2.00564229e-01 -3.45004913e-02 1.05926173e+02] [ 2.00380732e-01 9.79679189e-01 -8.73207397e-03 9.89163649e+01] [ 3.55507550e-02 1.63610312e-03 9.99366533e-01 1.79244468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.166875 meters Centerline goodness : 0.991278 Centerline is valid? [True, True] Translation: X:105.95, Y:98.92, Z:17.92 [[ 9.79361573e-01 -1.99163408e-01 -3.44215952e-02 1.05954049e+02] [ 1.98966628e-01 9.79964152e-01 -9.08529332e-03 9.89232366e+01] [ 3.55413873e-02 2.04903844e-03 9.99366105e-01 1.79249494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.19687500000003 meters Centerline goodness : 0.991722 Centerline is valid? [True, True] Translation: X:105.98, Y:98.93, Z:17.93 [[ 9.79532466e-01 -1.98320133e-01 -3.44278057e-02 1.05981917e+02] [ 1.98123811e-01 9.80135153e-01 -9.05747126e-03 9.89290462e+01] [ 3.55401815e-02 2.05111910e-03 9.99366143e-01 1.79259899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.226875 meters Centerline goodness : 0.991426 Centerline is valid? [True, True] Translation: X:106.01, Y:98.94, Z:17.93 [[ 9.79726626e-01 -1.97355198e-01 -3.44479990e-02 1.06007600e+02] [ 1.97161473e-01 9.80330023e-01 -8.96658751e-03 9.89353283e+01] [ 3.55400103e-02 1.99298628e-03 9.99366267e-01 1.79259535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.25687500000004 meters Centerline goodness : 0.987960 Centerline is valid? [True, True] Translation: X:106.06, Y:98.94, Z:17.93 [[ 9.80958542e-01 -1.91145234e-01 -3.44069597e-02 1.06056556e+02] [ 1.90941474e-01 9.81558831e-01 -9.14415244e-03 9.89392919e+01] [ 3.55203163e-02 2.40031882e-03 9.99366072e-01 1.79264757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.286875 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:106.07, Y:98.95, Z:17.93 [[ 9.80015094e-01 -1.95851509e-01 -3.48224328e-02 1.06066951e+02] [ 1.95714593e-01 9.80633494e-01 -7.33131024e-03 9.89499726e+01] [ 3.55838921e-02 3.69536418e-04 9.99366624e-01 1.79292163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31687500000004 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:106.09, Y:98.96, Z:17.93 [[ 9.80032133e-01 -1.95821817e-01 -3.45084774e-02 1.06094139e+02] [ 1.95635489e-01 9.80637835e-01 -8.72879154e-03 9.89560731e+01] [ 3.55496064e-02 1.80341334e-03 9.99366286e-01 1.79276102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.346875 meters Centerline goodness : 0.990647 Centerline is valid? [True, True] Translation: X:106.12, Y:98.96, Z:17.93 [[ 9.80145991e-01 -1.95252434e-01 -3.45010784e-02 1.06121031e+02] [ 1.95064597e-01 9.80751261e-01 -8.76167927e-03 9.89629896e+01] [ 3.55477154e-02 1.85778583e-03 9.99366253e-01 1.79296486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37687500000004 meters Centerline goodness : 0.992964 Centerline is valid? [True, True] Translation: X:106.15, Y:98.96, Z:17.93 [[ 9.80892005e-01 -1.91474322e-01 -3.44740151e-02 1.06146737e+02] [ 1.91279932e-01 9.81495338e-01 -8.88199031e-03 9.89646829e+01] [ 3.55367581e-02 2.11808601e-03 9.99366125e-01 1.79286726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.406875 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:106.17, Y:98.98, Z:17.93 [[ 9.80844567e-01 -1.91724272e-01 -3.44345511e-02 1.06172274e+02] [ 1.91523841e-01 9.81446157e-01 -9.05866317e-03 9.89751341e+01] [ 3.55324235e-02 2.29010305e-03 9.99365900e-01 1.79276921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43687500000004 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:106.20, Y:98.98, Z:17.93 [[ 9.81160719e-01 -1.90098606e-01 -3.44407200e-02 1.06200883e+02] [ 1.89898150e-01 9.81762260e-01 -9.03093878e-03 9.89795273e+01] [ 3.55293680e-02 2.32057339e-03 9.99365938e-01 1.79295585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.466875 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:106.23, Y:98.98, Z:17.93 [[ 9.81867169e-01 -1.86413902e-01 -3.44487885e-02 1.06232015e+02] [ 1.86212458e-01 9.82468329e-01 -8.99466491e-03 9.89827568e+01] [ 3.55215743e-02 2.41677258e-03 9.99365988e-01 1.79338990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49687500000005 meters Centerline goodness : 0.990363 Centerline is valid? [True, True] Translation: X:106.26, Y:98.99, Z:17.94 [[ 9.82531202e-01 -1.82871986e-01 -3.45003504e-02 1.06264910e+02] [ 1.82676505e-01 9.83134027e-01 -8.76239214e-03 9.89860242e+01] [ 3.55208645e-02 2.30692024e-03 9.99366272e-01 1.79408391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.526875 meters Centerline goodness : 0.990363 Centerline is valid? [True, True] Translation: X:106.29, Y:98.99, Z:17.94 [[ 9.82539990e-01 -1.82809089e-01 -3.45833106e-02 1.06292721e+02] [ 1.82626702e-01 9.83146545e-01 -8.38802800e-03 9.89919511e+01] [ 3.55338701e-02 1.92573697e-03 9.99366617e-01 1.79420511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.556875 meters Centerline goodness : 0.991978 Centerline is valid? [True, True] Translation: X:106.32, Y:99.00, Z:17.94 [[ 9.82928273e-01 -1.80709799e-01 -3.45829410e-02 1.06320075e+02] [ 1.80526058e-01 9.83534420e-01 -8.38969473e-03 9.89950020e+01] [ 3.55296129e-02 2.00334612e-03 9.99366616e-01 1.79430999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.586875 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:106.34, Y:99.00, Z:17.94 [[ 9.81789650e-01 -1.86798442e-01 -3.45749392e-02 1.06337636e+02] [ 1.86617193e-01 9.82396575e-01 -8.42578478e-03 9.90041873e+01] [ 3.55402253e-02 1.82007019e-03 9.99366589e-01 1.79381619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.616875 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:106.37, Y:99.01, Z:17.94 [[ 9.81995289e-01 -1.85745365e-01 -3.44080276e-02 1.06368361e+02] [ 1.85536956e-01 9.82594386e-01 -9.18205506e-03 9.90072517e+01] [ 3.55146589e-02 2.63277412e-03 9.99365688e-01 1.79410053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.646875 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:106.40, Y:99.01, Z:17.95 [[ 9.81424217e-01 -1.88731617e-01 -3.44511735e-02 1.06404064e+02] [ 1.88531882e-01 9.82025954e-01 -8.98638989e-03 9.90083091e+01] [ 3.55279624e-02 2.32431608e-03 9.99365980e-01 1.79479195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.676875 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:106.43, Y:99.01, Z:17.95 [[ 9.81105777e-01 -1.90356067e-01 -3.45835557e-02 1.06430336e+02] [ 1.90178548e-01 9.81713734e-01 -8.38239492e-03 9.90127110e+01] [ 3.55467913e-02 1.64696566e-03 9.99366656e-01 1.79503857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.706875 meters Centerline goodness : 0.992164 Centerline is valid? [True, True] Translation: X:106.46, Y:99.02, Z:17.95 [[ 9.80571958e-01 -1.93091707e-01 -3.45575912e-02 1.06456408e+02] [ 1.92911713e-01 9.81179294e-01 -8.50084110e-03 9.90183249e+01] [ 3.55486349e-02 1.66912229e-03 9.99366554e-01 1.79509311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.736875 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:106.48, Y:99.02, Z:17.95 [[ 9.79965767e-01 -1.96149606e-01 -3.45315556e-02 1.06484198e+02] [ 1.95967329e-01 9.80572542e-01 -8.61948709e-03 9.90249543e+01] [ 3.55514043e-02 1.67974555e-03 9.99366437e-01 1.79501460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.766875 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:106.51, Y:99.03, Z:17.95 [[ 9.79080886e-01 -2.00515956e-01 -3.45538734e-02 1.06512048e+02] [ 2.00339971e-01 9.79689412e-01 -8.51780053e-03 9.90299537e+01] [ 3.55600188e-02 1.41709372e-03 9.99366538e-01 1.79481702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.796875 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:106.54, Y:99.03, Z:17.95 [[ 9.78749179e-01 -2.02127793e-01 -3.45600864e-02 1.06539928e+02] [ 2.01953810e-01 9.79358253e-01 -8.48945386e-03 9.90339746e+01] [ 3.55626604e-02 1.32950488e-03 9.99366564e-01 1.79495660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.82687500000003 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:106.57, Y:99.04, Z:17.95 [[ 9.78405033e-01 -2.03784576e-01 -3.45751025e-02 1.06567439e+02] [ 2.03614046e-01 9.79015020e-01 -8.42091281e-03 9.90385482e+01] [ 3.55655968e-02 1.19908697e-03 9.99366625e-01 1.79512605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.856875 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:106.59, Y:99.04, Z:17.95 [[ 9.78066917e-01 -2.05403196e-01 -3.45634489e-02 1.06594914e+02] [ 2.05231797e-01 9.78676708e-01 -8.47406592e-03 9.90431944e+01] [ 3.55670427e-02 1.19468479e-03 9.99366579e-01 1.79526468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.88687500000003 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:106.62, Y:99.05, Z:17.95 [[ 9.76993888e-01 -2.10448288e-01 -3.45609838e-02 1.06617177e+02] [ 2.10279639e-01 9.77604456e-01 -8.48534369e-03 9.90512405e+01] [ 3.55726978e-02 1.02265771e-03 9.99366568e-01 1.79532076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.916875 meters Centerline goodness : 0.992561 Centerline is valid? [True, True] Translation: X:106.65, Y:99.06, Z:17.95 [[ 9.77116256e-01 -2.09894256e-01 -3.44706053e-02 1.06648413e+02] [ 2.09710662e-01 9.77722993e-01 -8.89870343e-03 9.90556329e+01] [ 3.55704901e-02 1.46621435e-03 9.99366094e-01 1.79546574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.94687500000003 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:106.67, Y:99.06, Z:17.96 [[ 9.76681375e-01 -2.11900158e-01 -3.45226650e-02 1.06674078e+02] [ 2.11726233e-01 9.77290644e-01 -8.66021246e-03 9.90620241e+01] [ 3.55737779e-02 1.14891442e-03 9.99366392e-01 1.79555141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.976875 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:106.70, Y:99.07, Z:17.96 [[ 9.76163202e-01 -2.14280994e-01 -3.44827363e-02 1.06698713e+02] [ 2.14102054e-01 9.76771259e-01 -8.84410535e-03 9.90690122e+01] [ 3.55768694e-02 1.25046551e-03 9.99366160e-01 1.79580807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.00687500000004 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:106.73, Y:99.07, Z:17.96 [[ 9.77400295e-01 -2.08572632e-01 -3.44400963e-02 1.06734792e+02] [ 2.08383209e-01 9.78005472e-01 -9.04079816e-03 9.90709129e+01] [ 3.55682657e-02 1.65974102e-03 9.99365871e-01 1.79619143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.036875 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:106.76, Y:99.08, Z:17.96 [[ 9.77539898e-01 -2.07895722e-01 -3.45704586e-02 1.06762219e+02] [ 2.07727144e-01 9.78150412e-01 -8.43825626e-03 9.90763048e+01] [ 3.55693857e-02 1.06750953e-03 9.99366639e-01 1.79640359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06687500000004 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:106.79, Y:99.08, Z:17.96 [[ 9.78319147e-01 -2.04195251e-01 -3.45824636e-02 1.06788378e+02] [ 2.04026327e-01 9.78929511e-01 -8.38271708e-03 9.90831829e+01] [ 3.55655052e-02 1.14523958e-03 9.99366691e-01 1.79644559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.096875 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:106.82, Y:99.09, Z:17.97 [[ 9.78910956e-01 -2.01339612e-01 -3.45789063e-02 1.06816817e+02] [ 2.01168324e-01 9.79520678e-01 -8.39922719e-03 9.90886345e+01] [ 3.55618509e-02 1.26591487e-03 9.99366676e-01 1.79653368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12687500000004 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:106.84, Y:99.10, Z:17.97 [[ 9.78966278e-01 -2.01069035e-01 -3.45871275e-02 1.06844634e+02] [ 2.00898926e-01 9.79576293e-01 -8.36110182e-03 9.90969246e+01] [ 3.55618888e-02 1.23671996e-03 9.99366711e-01 1.79659110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.156875 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:106.87, Y:99.10, Z:17.97 [[ 9.79707983e-01 -1.97419353e-01 -3.46102055e-02 1.06872134e+02] [ 1.97250754e-01 9.80318322e-01 -8.25394766e-03 9.91011599e+01] [ 3.55585076e-02 1.25956930e-03 9.99366803e-01 1.79664826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18687500000004 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:106.90, Y:99.11, Z:17.97 [[ 9.80302410e-01 -1.94447130e-01 -3.46048901e-02 1.06899101e+02] [ 1.94275808e-01 9.80912011e-01 -8.27868566e-03 9.91070930e+01] [ 3.55541190e-02 1.39272253e-03 9.99366782e-01 1.79672526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.216875 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:106.93, Y:99.11, Z:17.97 [[ 9.81339846e-01 -1.89144924e-01 -3.45876384e-02 1.06926502e+02] [ 1.88967482e-01 9.81947768e-01 -8.35894943e-03 9.91138938e+01] [ 3.55443072e-02 1.66703122e-03 9.99366711e-01 1.79658424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24687500000005 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:106.95, Y:99.12, Z:17.97 [[ 9.81826785e-01 -1.86597875e-01 -3.46034316e-02 1.06953655e+02] [ 1.86421439e-01 9.82434933e-01 -8.28553772e-03 9.91204384e+01] [ 3.55416837e-02 1.68414134e-03 9.99366776e-01 1.79654901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.276875 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:106.98, Y:99.13, Z:17.97 [[ 9.82706404e-01 -1.81911708e-01 -3.45869000e-02 1.06980835e+02] [ 1.81729671e-01 9.83312970e-01 -8.36242008e-03 9.91259179e+01] [ 3.55309695e-02 1.93233781e-03 9.99366708e-01 1.79661467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.306875 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:107.01, Y:99.13, Z:17.97 [[ 9.83041970e-01 -1.80084207e-01 -3.46145068e-02 1.07006292e+02] [ 1.79905579e-01 9.83649427e-01 -8.23330247e-03 9.91318494e+01] [ 3.55312275e-02 1.86633899e-03 9.99366824e-01 1.79675928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.336875 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:107.03, Y:99.14, Z:17.97 [[ 9.83328112e-01 -1.78520224e-01 -3.45883343e-02 1.07032333e+02] [ 1.78336313e-01 9.83934110e-01 -8.35623247e-03 9.91362684e+01] [ 3.55243985e-02 2.04856229e-03 9.99366710e-01 1.79686283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.366875 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:107.06, Y:99.14, Z:17.97 [[ 9.83280358e-01 -1.78788583e-01 -3.45598021e-02 1.07060569e+02] [ 1.78600139e-01 9.83885110e-01 -8.49007871e-03 9.91435078e+01] [ 3.55208038e-02 2.17574216e-03 9.99366569e-01 1.79698106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.396875 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:107.09, Y:99.15, Z:17.97 [[ 9.83419875e-01 -1.78015890e-01 -3.45787746e-02 1.07088856e+02] [ 1.77830087e-01 9.84025345e-01 -8.40126667e-03 9.91489238e+01] [ 3.55219496e-02 2.11282611e-03 9.99366663e-01 1.79722726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.426875 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:107.12, Y:99.15, Z:17.97 [[ 9.83201128e-01 -1.79219712e-01 -3.45808697e-02 1.07119991e+02] [ 1.79034995e-01 9.83806919e-01 -8.39145113e-03 9.91544195e+01] [ 3.55248124e-02 2.05929839e-03 9.99366673e-01 1.79734949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.456875 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:107.14, Y:99.16, Z:17.98 [[ 9.83367693e-01 -1.78291566e-01 -3.46424388e-02 1.07144707e+02] [ 1.78116441e-01 9.83976061e-01 -8.10217917e-03 9.91596390e+01] [ 3.55318807e-02 1.79703331e-03 9.99366928e-01 1.79753467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.486875 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:107.17, Y:99.16, Z:17.98 [[ 9.83481828e-01 -1.77668984e-01 -3.46009627e-02 1.07172053e+02] [ 1.77486636e-01 9.84088237e-01 -8.29676633e-03 9.91642537e+01] [ 3.55244784e-02 2.01851046e-03 9.99366768e-01 1.79778204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.516875 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:107.20, Y:99.17, Z:17.98 [[ 9.83008008e-01 -1.80269640e-01 -3.46137792e-02 1.07198917e+02] [ 1.80091012e-01 9.83615467e-01 -8.23658794e-03 9.91698802e+01] [ 3.55314553e-02 1.86300139e-03 9.99366822e-01 1.79779356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.546875 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:107.23, Y:99.18, Z:17.98 [[ 9.82594591e-01 -1.82510176e-01 -3.46107697e-02 1.07229378e+02] [ 1.82332436e-01 9.83202323e-01 -8.25072028e-03 9.91755181e+01] [ 3.55352296e-02 1.79644716e-03 9.99366810e-01 1.79794317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.57687500000003 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:107.26, Y:99.18, Z:17.98 [[ 9.82640770e-01 -1.82253393e-01 -3.46528315e-02 1.07255242e+02] [ 1.82082468e-01 9.83250289e-01 -8.05258271e-03 9.91802262e+01] [ 3.55400171e-02 1.60312300e-03 9.99366968e-01 1.79807300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.606875 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:107.28, Y:99.19, Z:17.98 [[ 9.82385697e-01 -1.83628441e-01 -3.46256738e-02 1.07282100e+02] [ 1.83453858e-01 9.82994282e-01 -8.18067355e-03 9.91869753e+01] [ 3.55390437e-02 1.68436326e-03 9.99366869e-01 1.79814790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.63687500000003 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:107.31, Y:99.19, Z:17.98 [[ 9.81985860e-01 -1.85755751e-01 -3.46203893e-02 1.07309013e+02] [ 1.85581609e-01 9.82594593e-01 -8.20560170e-03 9.91932449e+01] [ 3.55420451e-02 1.63287729e-03 9.99366848e-01 1.79820236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.666875 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:107.34, Y:99.20, Z:17.98 [[ 9.82131410e-01 -1.84983050e-01 -3.46289478e-02 1.07337014e+02] [ 1.84809850e-01 9.82740377e-01 -8.16525007e-03 9.91968067e+01] [ 3.55416981e-02 1.61957793e-03 9.99366882e-01 1.79828860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.69687500000003 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:107.36, Y:99.20, Z:17.98 [[ 9.82244305e-01 -1.84376267e-01 -3.46629156e-02 1.07361660e+02] [ 1.84208374e-01 9.82854624e-01 -8.00394895e-03 9.92015079e+01] [ 3.55443451e-02 1.47663397e-03 9.99367009e-01 1.79848137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.726875 meters Centerline goodness : 0.993274 Centerline is valid? [True, True] Translation: X:107.39, Y:99.21, Z:17.98 [[ 9.81668939e-01 -1.87424129e-01 -3.46163175e-02 1.07391811e+02] [ 1.87250343e-01 9.82277792e-01 -8.22485418e-03 9.92084860e+01] [ 3.55443760e-02 1.59216658e-03 9.99366831e-01 1.79849649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.75687500000004 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:107.42, Y:99.21, Z:17.99 [[ 9.81882796e-01 -1.86294513e-01 -3.46486561e-02 1.07417619e+02] [ 1.86125424e-01 9.82492837e-01 -8.07169069e-03 9.92138918e+01] [ 3.55457681e-02 1.47645843e-03 9.99366959e-01 1.79870061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.786875 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:107.45, Y:99.22, Z:17.99 [[ 9.81941988e-01 -1.85988138e-01 -3.46171132e-02 1.07446001e+02] [ 1.85813599e-01 9.82550621e-01 -8.22096127e-03 9.92191595e+01] [ 3.55420673e-02 1.64017668e-03 9.99366835e-01 1.79880464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81687500000004 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:107.47, Y:99.23, Z:17.99 [[ 9.81988617e-01 -1.85736943e-01 -3.46431081e-02 1.07473687e+02] [ 1.85566579e-01 9.82598324e-01 -8.09805101e-03 9.92253484e+01] [ 3.55443672e-02 1.52359087e-03 9.99366938e-01 1.79900128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.846875 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:107.50, Y:99.23, Z:17.99 [[ 9.82014257e-01 -1.85600912e-01 -3.46453549e-02 1.07500415e+02] [ 1.85430838e-01 9.82624037e-01 -8.08740246e-03 9.92313108e+01] [ 3.55443878e-02 1.51762731e-03 9.99366946e-01 1.79914753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87687500000004 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:107.53, Y:99.24, Z:17.99 [[ 9.82110376e-01 -1.85094084e-01 -3.46321923e-02 1.07528348e+02] [ 1.84921498e-01 9.82719503e-01 -8.14975990e-03 9.92363976e+01] [ 3.55422031e-02 1.59972689e-03 9.99366896e-01 1.79947398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.906875 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:107.56, Y:99.24, Z:18.00 [[ 9.82124778e-01 -1.85015042e-01 -3.46461269e-02 1.07558145e+02] [ 1.84844734e-01 9.82734490e-01 -8.08371602e-03 9.92417977e+01] [ 3.55435529e-02 1.53506368e-03 9.99366949e-01 1.79973239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93687500000004 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:107.59, Y:99.25, Z:18.00 [[ 9.82138568e-01 -1.84936043e-01 -3.46769829e-02 1.07585010e+02] [ 1.84770846e-01 9.82749578e-01 -7.93736570e-03 9.92473356e+01] [ 3.55466953e-02 1.38829751e-03 9.99367052e-01 1.79983799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.966875 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:107.62, Y:99.25, Z:18.00 [[ 9.83567010e-01 -1.77179539e-01 -3.46892987e-02 1.07623357e+02] [ 1.77011561e-01 9.84177230e-01 -7.87955179e-03 9.92452429e+01] [ 3.55365132e-02 1.60966027e-03 9.99367082e-01 1.80007431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99687500000005 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:107.64, Y:99.26, Z:18.00 [[ 9.82199393e-01 -1.84578756e-01 -3.48573424e-02 1.07637658e+02] [ 1.84443361e-01 9.82817581e-01 -7.08860480e-03 9.92580934e+01] [ 3.55668148e-02 5.33217968e-04 9.99367158e-01 1.80013224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.026875 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:107.67, Y:99.27, Z:18.00 [[ 9.82300204e-01 -1.84080016e-01 -3.46533752e-02 1.07665986e+02] [ 1.83909928e-01 9.82910047e-01 -8.06090932e-03 9.92653020e+01] [ 3.55450030e-02 1.54513313e-03 9.99366882e-01 1.80027787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.056875 meters Centerline goodness : 0.992325 Centerline is valid? [True, True] Translation: X:107.70, Y:99.27, Z:18.00 [[ 9.82335015e-01 -1.83893550e-01 -3.46566126e-02 1.07695768e+02] [ 1.83723889e-01 9.82944964e-01 -8.04549362e-03 9.92715541e+01] [ 3.55450572e-02 1.53612244e-03 9.99366894e-01 1.80023008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.086875 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:107.72, Y:99.28, Z:18.00 [[ 9.82364387e-01 -1.83727586e-01 -3.47042527e-02 1.07720329e+02] [ 1.83565857e-01 9.82976327e-01 -7.81768374e-03 9.92774097e+01] [ 3.55497830e-02 1.30929819e-03 9.99367049e-01 1.80035860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.116875 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:107.75, Y:99.28, Z:18.00 [[ 9.82374360e-01 -1.83682754e-01 -3.46592365e-02 1.07748737e+02] [ 1.83513402e-01 9.82984385e-01 -8.03301412e-03 9.92826167e+01] [ 3.55450144e-02 1.53099269e-03 9.99366904e-01 1.80031892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.146875 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:107.77, Y:99.29, Z:18.00 [[ 9.80979409e-01 -1.90992097e-01 -3.46614912e-02 1.07769737e+02] [ 1.90827672e-01 9.81590772e-01 -8.02223209e-03 9.92922570e+01] [ 3.55555828e-02 1.25527281e-03 9.99366912e-01 1.79986196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.176875 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:107.80, Y:99.30, Z:18.00 [[ 9.80703304e-01 -1.92425013e-01 -3.45491410e-02 1.07798046e+02] [ 1.92242559e-01 9.81310117e-01 -8.55881397e-03 9.92983436e+01] [ 3.55503515e-02 1.75184187e-03 9.99366351e-01 1.79985744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.206875 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:107.83, Y:99.30, Z:18.00 [[ 9.80577906e-01 -1.93061663e-01 -3.45566860e-02 1.07828153e+02] [ 1.92880876e-01 9.81185167e-01 -8.52264099e-03 9.93014972e+01] [ 3.55519030e-02 1.69178958e-03 9.99366399e-01 1.80002055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.236875 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:107.85, Y:99.31, Z:18.00 [[ 9.78868511e-01 -2.01542931e-01 -3.45960202e-02 1.07851324e+02] [ 2.01374090e-01 9.79478958e-01 -8.33345953e-03 9.93075400e+01] [ 3.55656237e-02 1.19061904e-03 9.99366634e-01 1.80000381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.266875 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:107.88, Y:99.31, Z:18.00 [[ 9.78450161e-01 -2.03575556e-01 -3.45293347e-02 1.07883103e+02] [ 2.03396610e-01 9.79058171e-01 -8.65541547e-03 9.93116340e+01] [ 3.55682584e-02 1.44574304e-03 9.99366204e-01 1.80033181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.296875 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:107.91, Y:99.32, Z:18.01 [[ 9.77745122e-01 -2.06925903e-01 -3.45853666e-02 1.07913290e+02] [ 2.06758610e-01 9.78356057e-01 -8.38469965e-03 9.93161250e+01] [ 3.55718145e-02 1.04727684e-03 9.99366574e-01 1.80066716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.32687500000003 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:107.94, Y:99.32, Z:18.01 [[ 9.76987051e-01 -2.10468207e-01 -3.46328825e-02 1.07939196e+02] [ 2.10311282e-01 9.77600464e-01 -8.15460986e-03 9.93206913e+01] [ 3.55734081e-02 6.83262320e-04 9.99366832e-01 1.80081890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.356875 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:107.97, Y:99.33, Z:18.01 [[ 9.75370313e-01 -2.17842958e-01 -3.46005564e-02 1.07966948e+02] [ 2.17685112e-01 9.75983666e-01 -8.31121382e-03 9.93268201e+01] [ 3.55801173e-02 5.74485211e-04 9.99366662e-01 1.80123937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.38687500000003 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:107.99, Y:99.33, Z:18.02 [[ 9.74178127e-01 -2.23115030e-01 -3.45927635e-02 1.07993256e+02] [ 2.22959160e-01 9.74792032e-01 -8.34905940e-03 9.93344352e+01] [ 3.55835509e-02 4.20697560e-04 9.99366616e-01 1.80150142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.416875 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:108.02, Y:99.34, Z:18.02 [[ 9.73869563e-01 -2.24462443e-01 -3.45642204e-02 1.08022230e+02] [ 2.24302523e-01 9.74482606e-01 -8.48697550e-03 9.93404773e+01] [ 3.55872388e-02 5.12365282e-04 9.99366442e-01 1.80169559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.44687500000003 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:108.04, Y:99.35, Z:18.01 [[ 9.73813788e-01 -2.24698496e-01 -3.46019042e-02 1.08044989e+02] [ 2.24545256e-01 9.74428287e-01 -8.30314232e-03 9.93456747e+01] [ 3.55827778e-02 3.16021055e-04 9.99366683e-01 1.80147379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.476875 meters Centerline goodness : 0.992183 Centerline is valid? [True, True] Translation: X:108.07, Y:99.36, Z:18.01 [[ 9.73483749e-01 -2.26135011e-01 -3.45303722e-02 1.08072343e+02] [ 2.25970269e-01 9.74095772e-01 -8.65247502e-03 9.93555225e+01] [ 3.55925170e-02 6.20206349e-04 9.99366193e-01 1.80129603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.50687500000004 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:108.11, Y:99.36, Z:18.02 [[ 9.73138325e-01 -2.27616896e-01 -3.45304162e-02 1.08109337e+02] [ 2.27453094e-01 9.73750599e-01 -8.65225971e-03 9.93636994e+01] [ 3.55934139e-02 5.65795546e-04 9.99366194e-01 1.80179295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.536875 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:108.13, Y:99.37, Z:18.02 [[ 9.73891573e-01 -2.24350664e-01 -3.46696470e-02 1.08130474e+02] [ 2.24209150e-01 9.74508481e-01 -7.96727023e-03 9.93691975e+01] [ 3.55733274e-02 -1.39947590e-05 9.99367069e-01 1.80162557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56687500000004 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:108.15, Y:99.38, Z:18.01 [[ 9.74248964e-01 -2.22801722e-01 -3.46171794e-02 1.08152233e+02] [ 2.22650001e-01 9.74863733e-01 -8.22670530e-03 9.93785723e+01] [ 3.55799569e-02 3.07344063e-04 9.99366786e-01 1.80139566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.596875 meters Centerline goodness : 0.991276 Centerline is valid? [True, True] Translation: X:108.18, Y:99.39, Z:18.02 [[ 9.74823015e-01 -2.20292701e-01 -3.45139778e-02 1.08181863e+02] [ 2.20121283e-01 9.75433380e-01 -8.73735041e-03 9.93853665e+01] [ 3.55908606e-02 9.20109188e-04 9.99366021e-01 1.80150325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62687500000004 meters Centerline goodness : 0.992071 Centerline is valid? [True, True] Translation: X:108.21, Y:99.39, Z:18.02 [[ 9.75016255e-01 -2.19428612e-01 -3.45599122e-02 1.08206138e+02] [ 2.19264742e-01 9.75628294e-01 -8.50913534e-03 9.93933545e+01] [ 3.55847759e-02 7.18775045e-04 9.99366403e-01 1.80154774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.656875 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:108.23, Y:99.40, Z:18.01 [[ 9.76396922e-01 -2.13204419e-01 -3.45387679e-02 1.08232451e+02] [ 2.13032887e-01 9.77007044e-01 -8.61536405e-03 9.94010479e+01] [ 3.55814532e-02 1.05412151e-03 9.99366224e-01 1.80136562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68687500000004 meters Centerline goodness : 0.989260 Centerline is valid? [True, True] Translation: X:108.27, Y:99.41, Z:18.02 [[ 9.76402598e-01 -2.13181035e-01 -3.45226438e-02 1.08266591e+02] [ 2.13006618e-01 9.77012053e-01 -8.69646194e-03 9.94103791e+01] [ 3.55829599e-02 1.13769641e-03 9.99366078e-01 1.80185086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.716875 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:108.29, Y:99.42, Z:18.02 [[ 9.76568716e-01 -2.12402474e-01 -3.46227119e-02 1.08287389e+02] [ 2.12245321e-01 9.77182051e-01 -8.19534198e-03 9.94179169e+01] [ 3.55734035e-02 6.54806008e-04 9.99366852e-01 1.80196963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74687500000005 meters Centerline goodness : 0.986541 Centerline is valid? [True, True] Translation: X:108.34, Y:99.42, Z:18.02 [[ 9.79790823e-01 -1.97022079e-01 -3.45288803e-02 1.08342665e+02] [ 1.96839518e-01 9.80397627e-01 -8.64276231e-03 9.94198341e+01] [ 3.55548473e-02 1.67145104e-03 9.99366329e-01 1.80220414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.776875 meters Centerline goodness : 0.987133 Centerline is valid? [True, True] Translation: X:108.37, Y:99.43, Z:18.03 [[ 9.79902645e-01 -1.96378349e-01 -3.50192929e-02 1.08367626e+02] [ 1.96279499e-01 9.80527927e-01 -6.27242071e-03 9.94284682e+01] [ 3.55691623e-02 -7.27207619e-04 9.99366953e-01 1.80250728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.806875 meters Centerline goodness : 0.990122 Centerline is valid? [True, True] Translation: X:108.37, Y:99.44, Z:18.02 [[ 9.79323414e-01 -1.99260050e-01 -3.49439985e-02 1.08367704e+02] [ 1.99150205e-01 9.79946538e-01 -6.63169865e-03 9.94433315e+01] [ 3.55646830e-02 -4.64526695e-04 9.99367269e-01 1.80225760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.836875 meters Centerline goodness : 0.986989 Centerline is valid? [True, True] Translation: X:108.42, Y:99.44, Z:18.03 [[ 9.81550205e-01 -1.88072942e-01 -3.44639457e-02 1.08422714e+02] [ 1.87875754e-01 9.82152455e-01 -8.90255506e-03 9.94449597e+01] [ 3.55231786e-02 2.26336496e-03 9.99366290e-01 1.80253827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.866875 meters Centerline goodness : 0.985293 Centerline is valid? [True, True] Translation: X:108.46, Y:99.45, Z:18.03 [[ 9.82341969e-01 -1.83797839e-01 -3.49658375e-02 1.08457716e+02] [ 1.83684471e-01 9.82964062e-01 -6.45503631e-03 9.94498562e+01] [ 3.55565834e-02 -8.16282616e-05 9.99367661e-01 1.80344830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.896875 meters Centerline goodness : 0.989172 Centerline is valid? [True, True] Translation: X:108.46, Y:99.46, Z:18.03 [[ 9.81853812e-01 -1.86355461e-01 -3.51387808e-02 1.08455315e+02] [ 1.86273841e-01 9.82481842e-01 -5.61132861e-03 9.94564683e+01] [ 3.55689158e-02 -1.03593128e-03 9.99366689e-01 1.80289860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.926875 meters Centerline goodness : 0.987147 Centerline is valid? [True, True] Translation: X:108.48, Y:99.47, Z:18.03 [[ 9.82396646e-01 -1.83569561e-01 -3.46272550e-02 1.08483352e+02] [ 1.83391053e-01 9.83005086e-01 -8.28989160e-03 9.94658826e+01] [ 3.55605396e-02 1.79363293e-03 9.99365914e-01 1.80282853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.956875 meters Centerline goodness : 0.989049 Centerline is valid? [True, True] Translation: X:108.51, Y:99.47, Z:18.03 [[ 9.82757122e-01 -1.81634628e-01 -3.46020357e-02 1.08510819e+02] [ 1.81450271e-01 9.83364057e-01 -8.42199273e-03 9.94718469e+01] [ 3.55561238e-02 1.99822457e-03 9.99365683e-01 1.80274393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.986875 meters Centerline goodness : 0.988072 Centerline is valid? [True, True] Translation: X:108.54, Y:99.48, Z:18.03 [[ 9.83097288e-01 -1.79784092e-01 -3.46035140e-02 1.08538329e+02] [ 1.79598868e-01 9.83703943e-01 -8.41416645e-03 9.94786919e+01] [ 3.55523465e-02 2.05719226e-03 9.99365698e-01 1.80285602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.016875 meters Centerline goodness : 0.986623 Centerline is valid? [True, True] Translation: X:108.57, Y:99.49, Z:18.03 [[ 9.83083361e-01 -1.79859586e-01 -3.46068481e-02 1.08566918e+02] [ 1.79675030e-01 9.83690186e-01 -8.39653546e-03 9.94864335e+01] [ 3.55526143e-02 2.03650783e-03 9.99365731e-01 1.80296623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.046875 meters Centerline goodness : 0.983960 Centerline is valid? [True, True] Translation: X:108.62, Y:99.49, Z:18.04 [[ 9.84637879e-01 -1.71133392e-01 -3.46642520e-02 1.08623161e+02] [ 1.70953463e-01 9.85245713e-01 -8.11168409e-03 9.94882179e+01] [ 3.55409857e-02 2.06109750e-03 9.99366094e-01 1.80388563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.07687500000003 meters Centerline goodness : 0.984729 Centerline is valid? [True, True] Translation: X:108.64, Y:99.50, Z:18.03 [[ 9.83473456e-01 -1.77593262e-01 -3.52220726e-02 1.08639330e+02] [ 1.77517368e-01 9.84103421e-01 -5.29544826e-03 9.95008409e+01] [ 3.56025980e-02 -1.04459682e-03 9.99365481e-01 1.80347931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.106875 meters Centerline goodness : 0.986115 Centerline is valid? [True, True] Translation: X:108.64, Y:99.51, Z:18.03 [[ 9.82266316e-01 -1.84204273e-01 -3.49524038e-02 1.08644811e+02] [ 1.84084720e-01 9.82887979e-01 -6.63605838e-03 9.95116347e+01] [ 3.55766879e-02 8.41731454e-05 9.99366946e-01 1.80318847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.13687500000003 meters Centerline goodness : 0.984920 Centerline is valid? [True, True] Translation: X:108.69, Y:99.51, Z:18.03 [[ 9.83614405e-01 -1.76931072e-01 -3.46135411e-02 1.08693055e+02] [ 1.76747246e-01 9.84221067e-01 -8.32483651e-03 9.95123080e+01] [ 3.55402986e-02 2.07058106e-03 9.99366099e-01 1.80326956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.166875 meters Centerline goodness : 0.984578 Centerline is valid? [True, True] Translation: X:108.70, Y:99.53, Z:18.03 [[ 9.82228815e-01 -1.84405887e-01 -3.49431509e-02 1.08700295e+02] [ 1.84285337e-01 9.82850170e-01 -6.66765891e-03 9.95251259e+01] [ 3.55734374e-02 1.09656348e-04 9.99367059e-01 1.80331928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.19687500000003 meters Centerline goodness : 0.983580 Centerline is valid? [True, True] Translation: X:108.73, Y:99.53, Z:18.03 [[ 9.82486781e-01 -1.83084319e-01 -3.46389661e-02 1.08732935e+02] [ 1.82906909e-01 9.83095621e-01 -8.24999522e-03 9.95308693e+01] [ 3.55638606e-02 1.76980502e-03 9.99365839e-01 1.80323768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.226875 meters Centerline goodness : 0.983942 Centerline is valid? [True, True] Translation: X:108.79, Y:99.53, Z:18.04 [[ 9.84078239e-01 -1.74314760e-01 -3.47042449e-02 1.08788510e+02] [ 1.74143305e-01 9.84688417e-01 -7.92663460e-03 9.95305093e+01] [ 3.55545973e-02 1.75691672e-03 9.99366191e-01 1.80402727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.25687500000004 meters Centerline goodness : 0.983113 Centerline is valid? [True, True] Translation: X:108.81, Y:99.54, Z:18.04 [[ 9.83657891e-01 -1.76566125e-01 -3.52357354e-02 1.08814967e+02] [ 1.76491312e-01 9.84288212e-01 -5.24706494e-03 9.95387533e+01] [ 3.56085729e-02 -1.05748434e-03 9.99365254e-01 1.80432883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.286875 meters Centerline goodness : 0.983053 Centerline is valid? [True, True] Translation: X:108.85, Y:99.55, Z:18.04 [[ 9.83190686e-01 -1.79157608e-01 -3.51941396e-02 1.08845016e+02] [ 1.79077004e-01 9.83819938e-01 -5.45501143e-03 9.95474471e+01] [ 3.56020030e-02 -9.39144641e-04 9.99365606e-01 1.80444573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31687500000004 meters Centerline goodness : 0.982647 Centerline is valid? [True, True] Translation: X:108.87, Y:99.55, Z:18.05 [[ 9.83077707e-01 -1.79772673e-01 -3.52137591e-02 1.08872553e+02] [ 1.79695951e-01 9.83707609e-01 -5.35765284e-03 9.95546589e+01] [ 3.56032024e-02 -1.06078088e-03 9.99365442e-01 1.80455750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.346875 meters Centerline goodness : 0.983076 Centerline is valid? [True, True] Translation: X:108.90, Y:99.56, Z:18.04 [[ 9.83175136e-01 -1.79242891e-01 -3.51942931e-02 1.08900035e+02] [ 1.79162384e-01 9.83804399e-01 -5.45383315e-03 9.95624438e+01] [ 3.56018612e-02 -9.43420305e-04 9.99365608e-01 1.80435116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37687500000004 meters Centerline goodness : 0.983076 Centerline is valid? [True, True] Translation: X:108.93, Y:99.57, Z:18.04 [[ 9.82990613e-01 -1.80260243e-01 -3.51525212e-02 1.08928007e+02] [ 1.80173056e-01 9.83618651e-01 -5.65863110e-03 9.95694853e+01] [ 3.55967017e-02 -7.71155908e-04 9.99365939e-01 1.80444341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.406875 meters Centerline goodness : 0.981088 Centerline is valid? [True, True] Translation: X:108.94, Y:99.58, Z:18.04 [[ 9.82028086e-01 -1.85436952e-01 -3.51279915e-02 1.08942404e+02] [ 1.85348825e-01 9.82655807e-01 -5.77731732e-03 9.95846388e+01] [ 3.55900530e-02 -8.37444082e-04 9.99366123e-01 1.80421251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43687500000004 meters Centerline goodness : 0.979559 Centerline is valid? [True, True] Translation: X:108.97, Y:99.60, Z:18.04 [[ 9.81523300e-01 -1.88148110e-01 -3.48181042e-02 1.08967581e+02] [ 1.88008773e-01 9.82140494e-01 -7.26307231e-03 9.95965871e+01] [ 3.55628033e-02 5.82765655e-04 9.99367274e-01 1.80432012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.466875 meters Centerline goodness : 0.983444 Centerline is valid? [True, True] Translation: X:109.01, Y:99.59, Z:18.04 [[ 9.83356879e-01 -1.78317305e-01 -3.48164724e-02 1.09011351e+02] [ 1.78171522e-01 9.83972582e-01 -7.27088587e-03 9.95918094e+01] [ 3.55549791e-02 9.46571744e-04 9.99367274e-01 1.80435488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49687500000005 meters Centerline goodness : 0.982883 Centerline is valid? [True, True] Translation: X:109.04, Y:99.60, Z:18.05 [[ 9.83195018e-01 -1.79145886e-01 -3.51327274e-02 1.09039741e+02] [ 1.79054871e-01 9.83822311e-01 -5.74570881e-03 9.95997637e+01] [ 3.55936811e-02 -6.41533688e-04 9.99366138e-01 1.80489357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.526875 meters Centerline goodness : 0.978310 Centerline is valid? [True, True] Translation: X:109.05, Y:99.62, Z:18.05 [[ 9.81571263e-01 -1.87844078e-01 -3.51063934e-02 1.09053262e+02] [ 1.87754127e-01 9.82198512e-01 -5.87125748e-03 9.96159618e+01] [ 3.55843283e-02 -8.28312615e-04 9.99366334e-01 1.80492374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.556875 meters Centerline goodness : 0.982666 Centerline is valid? [True, True] Translation: X:109.10, Y:99.61, Z:18.05 [[ 9.83180714e-01 -1.79291208e-01 -3.47900451e-02 1.09096762e+02] [ 1.79142689e-01 9.83795530e-01 -7.36565855e-03 9.96114339e+01] [ 3.55468886e-02 1.00939119e-03 9.99367500e-01 1.80514398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.586875 meters Centerline goodness : 0.978307 Centerline is valid? [True, True] Translation: X:109.11, Y:99.63, Z:18.05 [[ 9.80961493e-01 -1.90997584e-01 -3.51350639e-02 1.09107996e+02] [ 1.90914935e-01 9.81589898e-01 -5.72361747e-03 9.96313403e+01] [ 3.55814209e-02 -1.09316010e-03 9.99366183e-01 1.80516940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.616875 meters Centerline goodness : 0.983392 Centerline is valid? [True, True] Translation: X:109.15, Y:99.62, Z:18.05 [[ 9.82853304e-01 -1.81078518e-01 -3.47843884e-02 1.09152275e+02] [ 1.80930708e-01 9.83468176e-01 -7.37731410e-03 9.96233214e+01] [ 3.55452121e-02 9.57253496e-04 9.99367611e-01 1.80548962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.646875 meters Centerline goodness : 0.983145 Centerline is valid? [True, True] Translation: X:109.18, Y:99.63, Z:18.06 [[ 9.82657979e-01 -1.82065170e-01 -3.51506709e-02 1.09178122e+02] [ 1.81980065e-01 9.83286088e-01 -5.63248854e-03 9.96277114e+01] [ 3.55886457e-02 -8.61911582e-04 9.99366152e-01 1.80584067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.676875 meters Centerline goodness : 0.983523 Centerline is valid? [True, True] Translation: X:109.20, Y:99.63, Z:18.06 [[ 9.82303580e-01 -1.83970462e-01 -3.51361120e-02 1.09204568e+02] [ 1.83884077e-01 9.82931397e-01 -5.70227039e-03 9.96326078e+01] [ 3.55854370e-02 -8.59610910e-04 9.99366268e-01 1.80618318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.706875 meters Centerline goodness : 0.983040 Centerline is valid? [True, True] Translation: X:109.23, Y:99.64, Z:18.06 [[ 9.81941984e-01 -1.85900115e-01 -3.50868686e-02 1.09234159e+02] [ 1.85806624e-01 9.82568405e-01 -5.93540351e-03 9.96406538e+01] [ 3.55786407e-02 -6.91150689e-04 9.99366641e-01 1.80618372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.736875 meters Centerline goodness : 0.977131 Centerline is valid? [True, True] Translation: X:109.25, Y:99.66, Z:18.06 [[ 9.79673913e-01 -1.97501022e-01 -3.51051425e-02 1.09245244e+02] [ 1.97418029e-01 9.80301947e-01 -5.84938291e-03 9.96605695e+01] [ 3.55688987e-02 -1.19990019e-03 9.99366506e-01 1.80607617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.766875 meters Centerline goodness : 0.981621 Centerline is valid? [True, True] Translation: X:109.27, Y:99.66, Z:18.06 [[ 9.80557439e-01 -1.93129047e-01 -3.47603135e-02 1.09274978e+02] [ 1.92985975e-01 9.81173179e-01 -7.45700803e-03 9.96610679e+01] [ 3.55460521e-02 6.03771724e-04 9.99367857e-01 1.80586214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.796875 meters Centerline goodness : 0.981621 Centerline is valid? [True, True] Translation: X:109.30, Y:99.67, Z:18.06 [[ 9.80492416e-01 -1.93459288e-01 -3.47581247e-02 1.09302922e+02] [ 1.93316061e-01 9.81108119e-01 -7.46719658e-03 9.96672776e+01] [ 3.55460768e-02 6.02225848e-04 9.99367857e-01 1.80596347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.82687500000003 meters Centerline goodness : 0.983212 Centerline is valid? [True, True] Translation: X:109.33, Y:99.67, Z:18.06 [[ 9.80497014e-01 -1.93436434e-01 -3.47556069e-02 1.09330729e+02] [ 1.93292779e-01 9.81112617e-01 -7.47889682e-03 9.96718370e+01] [ 3.55458556e-02 6.15028137e-04 9.99367857e-01 1.80609801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.856875 meters Centerline goodness : 0.977953 Centerline is valid? [True, True] Translation: X:109.36, Y:99.68, Z:18.06 [[ 9.79411134e-01 -1.98861660e-01 -3.47544264e-02 1.09356821e+02] [ 1.98721220e-01 9.80027480e-01 -7.48437897e-03 9.96847997e+01] [ 3.55486489e-02 4.23842073e-04 9.99367857e-01 1.80628306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.88687500000003 meters Centerline goodness : 0.981319 Centerline is valid? [True, True] Translation: X:109.39, Y:99.68, Z:18.06 [[ 9.79937290e-01 -1.96252682e-01 -3.47533002e-02 1.09385753e+02] [ 1.96110417e-01 9.80553217e-01 -7.48960443e-03 9.96837559e+01] [ 3.55473153e-02 5.23858487e-04 9.99367857e-01 1.80610051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.916875 meters Centerline goodness : 0.978853 Centerline is valid? [True, True] Translation: X:109.41, Y:99.69, Z:18.06 [[ 9.79011600e-01 -2.00819982e-01 -3.47508461e-02 1.09412109e+02] [ 2.00680186e-01 9.79628092e-01 -7.50097430e-03 9.96939192e+01] [ 3.55492505e-02 3.69734593e-04 9.99367857e-01 1.80625234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.94687500000003 meters Centerline goodness : 0.983094 Centerline is valid? [True, True] Translation: X:109.45, Y:99.68, Z:18.07 [[ 9.80831606e-01 -1.91733956e-01 -3.47483881e-02 1.09451415e+02] [ 1.91588048e-01 9.81446679e-01 -7.51234336e-03 9.96829773e+01] [ 3.55440615e-02 7.10967941e-04 9.99367857e-01 1.80655011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.976875 meters Centerline goodness : 0.981812 Centerline is valid? [True, True] Translation: X:109.47, Y:99.70, Z:18.07 [[ 9.78982768e-01 -2.00910011e-01 -3.50415251e-02 1.09467420e+02] [ 2.00818849e-01 9.79609163e-01 -6.13829105e-03 9.96984230e+01] [ 3.55602432e-02 -1.02771757e-03 9.99367006e-01 1.80654218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.00687500000004 meters Centerline goodness : 0.982971 Centerline is valid? [True, True] Translation: X:109.50, Y:99.70, Z:18.07 [[ 9.79168658e-01 -2.00052099e-01 -3.47548106e-02 1.09495384e+02] [ 1.99912848e-01 9.79785192e-01 -7.47204663e-03 9.97014659e+01] [ 3.55470474e-02 3.68460697e-04 9.99367936e-01 1.80656040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.036875 meters Centerline goodness : 0.984618 Centerline is valid? [True, True] Translation: X:109.52, Y:99.70, Z:18.07 [[ 9.78972383e-01 -2.01010799e-01 -3.47524285e-02 1.09521846e+02] [ 2.00871759e-01 9.79588965e-01 -7.48310928e-03 9.97046619e+01] [ 3.55472813e-02 3.44975871e-04 9.99367936e-01 1.80678285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06687500000004 meters Centerline goodness : 0.983080 Centerline is valid? [True, True] Translation: X:109.55, Y:99.71, Z:18.07 [[ 9.78342036e-01 -2.04056860e-01 -3.47513926e-02 1.09548300e+02] [ 2.03919569e-01 9.78959009e-01 -7.48791724e-03 9.97137378e+01] [ 3.55481497e-02 2.39255219e-04 9.99367936e-01 1.80693567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.096875 meters Centerline goodness : 0.983927 Centerline is valid? [True, True] Translation: X:109.59, Y:99.71, Z:18.07 [[ 9.79549166e-01 -1.98181568e-01 -3.47490603e-02 1.09588493e+02] [ 1.98040192e-01 9.80165216e-01 -7.49872516e-03 9.97113189e+01] [ 3.55459293e-02 4.63659401e-04 9.99367936e-01 1.80710381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12687500000004 meters Centerline goodness : 0.982966 Centerline is valid? [True, True] Translation: X:109.62, Y:99.72, Z:18.07 [[ 9.78783948e-01 -2.01891237e-01 -3.49558565e-02 1.09623146e+02] [ 2.01785583e-01 9.79407744e-01 -6.56116600e-03 9.97222896e+01] [ 3.55606785e-02 -6.31623944e-04 9.99367319e-01 1.80701212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.156875 meters Centerline goodness : 0.983703 Centerline is valid? [True, True] Translation: X:109.65, Y:99.73, Z:18.07 [[ 9.78901134e-01 -2.01303669e-01 -3.50628510e-02 1.09647248e+02] [ 2.01214976e-01 9.79528258e-01 -6.07663218e-03 9.97281439e+01] [ 3.55683017e-02 -1.10674860e-03 9.99366635e-01 1.80716816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18687500000004 meters Centerline goodness : 0.984618 Centerline is valid? [True, True] Translation: X:109.67, Y:99.73, Z:18.07 [[ 9.79228129e-01 -1.99711797e-01 -3.50352717e-02 1.09674668e+02] [ 1.99617574e-01 9.79854250e-01 -6.20259967e-03 9.97337606e+01] [ 3.55681922e-02 -9.19895890e-04 9.99366828e-01 1.80725167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.216875 meters Centerline goodness : 0.984591 Centerline is valid? [True, True] Translation: X:109.69, Y:99.74, Z:18.07 [[ 9.78463693e-01 -2.03425605e-01 -3.50260633e-02 1.09693437e+02] [ 2.03332257e-01 9.79089883e-01 -6.24450898e-03 9.97447605e+01] [ 3.55639572e-02 -1.01190318e-03 9.99366890e-01 1.80697103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24687500000005 meters Centerline goodness : 0.984293 Centerline is valid? [True, True] Translation: X:109.73, Y:99.74, Z:18.08 [[ 9.79631161e-01 -1.97763559e-01 -3.48189968e-02 1.09725750e+02] [ 1.97633178e-01 9.80249739e-01 -7.18164233e-03 9.97446456e+01] [ 3.55515796e-02 1.53971634e-04 9.99367831e-01 1.80752035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.276875 meters Centerline goodness : 0.983571 Centerline is valid? [True, True] Translation: X:109.76, Y:99.75, Z:18.08 [[ 9.79988909e-01 -1.95953557e-01 -3.49848720e-02 1.09755538e+02] [ 1.95848929e-01 9.80613021e-01 -6.42651802e-03 9.97521219e+01] [ 3.55659201e-02 -5.53833316e-04 9.99367179e-01 1.80759996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.306875 meters Centerline goodness : 0.983903 Centerline is valid? [True, True] Translation: X:109.79, Y:99.76, Z:18.07 [[ 9.80082054e-01 -1.95493094e-01 -3.49516587e-02 1.09786371e+02] [ 1.95382874e-01 9.80705003e-01 -6.57499574e-03 9.97603647e+01] [ 3.55626328e-02 -3.84920184e-04 9.99367375e-01 1.80740310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.336875 meters Centerline goodness : 0.986687 Centerline is valid? [True, True] Translation: X:109.79, Y:99.77, Z:18.07 [[ 9.78844665e-01 -2.01590400e-01 -3.49918889e-02 1.09785354e+02] [ 2.01490449e-01 9.79469595e-01 -6.39625498e-03 9.97703337e+01] [ 3.55629148e-02 -7.89591324e-04 9.99367128e-01 1.80723688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.366875 meters Centerline goodness : 0.984292 Centerline is valid? [True, True] Translation: X:109.84, Y:99.77, Z:18.07 [[ 9.82008676e-01 -1.85668731e-01 -3.44395655e-02 1.09837683e+02] [ 1.85471575e-01 9.82609670e-01 -8.86174730e-03 9.97673485e+01] [ 3.54859995e-02 2.31475228e-03 9.99367493e-01 1.80711668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.396875 meters Centerline goodness : 0.984405 Centerline is valid? [True, True] Translation: X:109.87, Y:99.77, Z:18.07 [[ 9.82118320e-01 -1.85007712e-01 -3.48676318e-02 1.09865312e+02] [ 1.84878065e-01 9.82737001e-01 -6.93449199e-03 9.97740186e+01] [ 3.55486464e-02 3.64231331e-04 9.99367881e-01 1.80739776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.426875 meters Centerline goodness : 0.988451 Centerline is valid? [True, True] Translation: X:109.87, Y:99.78, Z:18.08 [[ 9.81057782e-01 -1.90558266e-01 -3.48306693e-02 1.09871535e+02] [ 1.90426229e-01 9.81675831e-01 -7.10035646e-03 9.97838598e+01] [ 3.55454578e-02 3.33186969e-04 9.99368005e-01 1.80786653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.456875 meters Centerline goodness : 0.987436 Centerline is valid? [True, True] Translation: X:109.90, Y:99.79, Z:18.07 [[ 9.81160446e-01 -1.90096903e-01 -3.44578914e-02 1.09897993e+02] [ 1.89903414e-01 9.81763035e-01 -8.83381430e-03 9.97904856e+01] [ 3.55087647e-02 2.12371799e-03 9.99367108e-01 1.80749889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.486875 meters Centerline goodness : 0.988490 Centerline is valid? [True, True] Translation: X:109.95, Y:99.79, Z:18.08 [[ 9.82966801e-01 -1.80531375e-01 -3.44193380e-02 1.09948273e+02] [ 1.80325964e-01 9.83565664e-01 -9.00730822e-03 9.97867487e+01] [ 3.54797808e-02 2.64718465e-03 9.99366888e-01 1.80777648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.516875 meters Centerline goodness : 0.991573 Centerline is valid? [True, True] Translation: X:109.95, Y:99.79, Z:18.08 [[ 9.81736353e-01 -1.87041210e-01 -3.47752517e-02 1.09953596e+02] [ 1.86896442e-01 9.82351772e-01 -7.39700927e-03 9.97934099e+01] [ 3.55450757e-02 7.62542100e-04 9.99367783e-01 1.80794872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.546875 meters Centerline goodness : 0.986398 Centerline is valid? [True, True] Translation: X:110.01, Y:99.80, Z:18.08 [[ 9.82502120e-01 -1.83054326e-01 -3.43612923e-02 1.10006667e+02] [ 1.82842590e-01 9.83098843e-01 -9.23317532e-03 9.97961412e+01] [ 3.54707194e-02 2.78890664e-03 9.99366825e-01 1.80804643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.57687500000003 meters Centerline goodness : 0.987904 Centerline is valid? [True, True] Translation: X:110.03, Y:99.80, Z:18.08 [[ 9.82520932e-01 -1.82860518e-01 -3.48518128e-02 1.10033889e+02] [ 1.82726316e-01 9.83138722e-01 -7.02475720e-03 9.97994436e+01] [ 3.55487174e-02 5.33627641e-04 9.99367802e-01 1.80837315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.606875 meters Centerline goodness : 0.992747 Centerline is valid? [True, True] Translation: X:110.04, Y:99.80, Z:18.08 [[ 9.81756075e-01 -1.86928341e-01 -3.48253378e-02 1.10037476e+02] [ 1.86792485e-01 9.82373420e-01 -7.14357898e-03 9.98027185e+01] [ 3.55468236e-02 5.08140681e-04 9.99367883e-01 1.80843982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.63687500000003 meters Centerline goodness : 0.989064 Centerline is valid? [True, True] Translation: X:110.07, Y:99.81, Z:18.08 [[ 9.81165863e-01 -1.90078231e-01 -3.44066253e-02 1.10067037e+02] [ 1.89875050e-01 9.81766002e-01 -9.10950308e-03 9.98127071e+01] [ 3.55107732e-02 2.40497374e-03 9.99366400e-01 1.80836035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.666875 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:110.09, Y:99.81, Z:18.08 [[ 9.82404941e-01 -1.83550636e-01 -3.44919652e-02 1.10087863e+02] [ 1.83357790e-01 9.83007743e-01 -8.70051655e-03 9.98088481e+01] [ 3.55028542e-02 2.22305994e-03 9.99367102e-01 1.80820040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.69687500000003 meters Centerline goodness : 0.987748 Centerline is valid? [True, True] Translation: X:110.14, Y:99.82, Z:18.08 [[ 9.83060372e-01 -1.80035509e-01 -3.43441373e-02 1.10142420e+02] [ 1.79817375e-01 9.83655448e-01 -9.36327463e-03 9.98152529e+01] [ 3.54685197e-02 3.02899163e-03 9.99366204e-01 1.80806323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.726875 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:110.15, Y:99.82, Z:18.08 [[ 9.81612552e-01 -1.87667575e-01 -3.48952633e-02 1.10146488e+02] [ 1.87542570e-01 9.82232584e-01 -6.85098751e-03 9.98238355e+01] [ 3.55609729e-02 1.80667972e-04 9.99367492e-01 1.80815599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.75687500000004 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:110.17, Y:99.83, Z:18.08 [[ 9.81525085e-01 -1.88197512e-01 -3.44993355e-02 1.10172793e+02] [ 1.88006325e-01 9.82128985e-01 -8.73373069e-03 9.98256198e+01] [ 3.55264638e-02 2.08628249e-03 9.99366558e-01 1.80844408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.786875 meters Centerline goodness : 0.993532 Centerline is valid? [True, True] Translation: X:110.20, Y:99.83, Z:18.09 [[ 9.81074511e-01 -1.90540738e-01 -3.44533246e-02 1.10197847e+02] [ 1.90343325e-01 9.81676769e-01 -8.95213104e-03 9.98275420e+01] [ 3.55277740e-02 2.22474720e-03 9.99366213e-01 1.80864938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81687500000004 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:110.23, Y:99.84, Z:18.09 [[ 9.80423683e-01 -1.93877506e-01 -3.43644298e-02 1.10226774e+02] [ 1.93667367e-01 9.81022471e-01 -9.37353758e-03 9.98366905e+01] [ 3.55295959e-02 2.53476960e-03 9.99365410e-01 1.80869771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.846875 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:110.26, Y:99.84, Z:18.09 [[ 9.80292309e-01 -1.94536102e-01 -3.43903289e-02 1.10255640e+02] [ 1.94330677e-01 9.80892459e-01 -9.25049034e-03 9.98405953e+01] [ 3.55327686e-02 2.38508863e-03 9.99365666e-01 1.80884082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87687500000004 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:110.29, Y:99.84, Z:18.09 [[ 9.79628703e-01 -1.97848465e-01 -3.44033370e-02 1.10289892e+02] [ 1.97647238e-01 9.80230145e-01 -9.18868475e-03 9.98414830e+01] [ 3.55411551e-02 2.20177479e-03 9.99365788e-01 1.80870063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.906875 meters Centerline goodness : 0.989876 Centerline is valid? [True, True] Translation: X:110.34, Y:99.83, Z:18.09 [[ 9.82097249e-01 -1.85182527e-01 -3.45314985e-02 1.10338627e+02] [ 1.84994320e-01 9.82701996e-01 -8.59580139e-03 9.98342996e+01] [ 3.55259647e-02 2.05378181e-03 9.99366643e-01 1.80933072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93687500000004 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:110.34, Y:99.84, Z:18.10 [[ 9.80762685e-01 -1.92052735e-01 -3.49328441e-02 1.10338735e+02] [ 1.91935079e-01 9.81384601e-01 -6.72240851e-03 9.98353283e+01] [ 3.55736122e-02 -1.11750794e-04 9.99367053e-01 1.80958070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.966875 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:110.39, Y:99.84, Z:18.10 [[ 9.80654973e-01 -1.92690036e-01 -3.44437800e-02 1.10393062e+02] [ 1.92492810e-01 9.81257252e-01 -8.98460640e-03 9.98403600e+01] [ 3.55294531e-02 2.18061893e-03 9.99366251e-01 1.80989422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99687500000005 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:110.40, Y:99.85, Z:18.10 [[ 9.78547398e-01 -2.03041623e-01 -3.49154542e-02 1.10400099e+02] [ 2.02929091e-01 9.79170001e-01 -6.77444485e-03 9.98508154e+01] [ 3.55636596e-02 -4.56245980e-04 9.99367309e-01 1.80989983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.026875 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:110.42, Y:99.86, Z:18.10 [[ 9.78128210e-01 -2.05108691e-01 -3.45778848e-02 1.10424766e+02] [ 2.04939256e-01 9.78738534e-01 -8.41323607e-03 9.98560450e+01] [ 3.55683361e-02 1.14285754e-03 9.99366593e-01 1.81006842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.056875 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:110.46, Y:99.86, Z:18.10 [[ 9.77530428e-01 -2.07948039e-01 -3.45235518e-02 1.10458881e+02] [ 2.07771012e-01 9.78138997e-01 -8.67813247e-03 9.98558661e+01] [ 3.55734329e-02 1.31014524e-03 9.99366206e-01 1.81045818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.086875 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:110.49, Y:99.86, Z:18.11 [[ 9.76924765e-01 -2.10761030e-01 -3.46091317e-02 1.10486559e+02] [ 2.10600520e-01 9.77537302e-01 -8.26099113e-03 9.98603456e+01] [ 3.55728123e-02 7.81665690e-04 9.99366782e-01 1.81063537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.116875 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:110.51, Y:99.86, Z:18.11 [[ 9.76484294e-01 -2.12792773e-01 -3.46072304e-02 1.10512535e+02] [ 2.12633208e-01 9.77097089e-01 -8.27026412e-03 9.98644299e+01] [ 3.55744766e-02 7.17136597e-04 9.99366771e-01 1.81078839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.146875 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:110.54, Y:99.87, Z:18.11 [[ 9.76412332e-01 -2.13124226e-01 -3.45980203e-02 1.10541222e+02] [ 2.12963267e-01 9.77024821e-01 -8.31547848e-03 9.98683567e+01] [ 3.55753544e-02 7.51228325e-04 9.99366714e-01 1.81110856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.176875 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:110.57, Y:99.87, Z:18.12 [[ 9.75795211e-01 -2.15928675e-01 -3.46195691e-02 1.10568853e+02] [ 2.15773233e-01 9.76408990e-01 -8.20957657e-03 9.98726923e+01] [ 3.55755415e-02 5.40889139e-04 9.99366844e-01 1.81151450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.206875 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:110.60, Y:99.88, Z:18.12 [[ 9.75786343e-01 -2.15966107e-01 -3.46360217e-02 1.10598797e+02] [ 2.15813561e-01 9.76400754e-01 -8.12865965e-03 9.98771869e+01] [ 3.55741526e-02 4.56911906e-04 9.99366935e-01 1.81181623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.236875 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:110.63, Y:99.88, Z:18.12 [[ 9.75093566e-01 -2.19066837e-01 -3.46736087e-02 1.10627809e+02] [ 2.18922821e-01 9.75709843e-01 -7.94364858e-03 9.98820933e+01] [ 3.55715712e-02 1.54956385e-04 9.99367119e-01 1.81166938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.266875 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:110.65, Y:99.89, Z:18.12 [[ 9.75231587e-01 -2.18446566e-01 -3.47051913e-02 1.10654081e+02] [ 2.18307698e-01 9.75848911e-01 -7.78789244e-03 9.98861890e+01] [ 3.55682615e-02 1.85882678e-05 9.99367249e-01 1.81180674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.296875 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:110.68, Y:99.89, Z:18.12 [[ 9.75120203e-01 -2.18946546e-01 -3.46842789e-02 1.10681570e+02] [ 2.18804328e-01 9.75736849e-01 -7.89095133e-03 9.98920015e+01] [ 3.55704255e-02 1.05555715e-04 9.99367167e-01 1.81172087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.32687500000003 meters Centerline goodness : 0.992778 Centerline is valid? [True, True] Translation: X:110.71, Y:99.90, Z:18.12 [[ 9.75332999e-01 -2.17999497e-01 -3.46664261e-02 1.10711486e+02] [ 2.17853546e-01 9.75948854e-01 -7.97909176e-03 9.98975240e+01] [ 3.55720968e-02 2.30067633e-04 9.99367086e-01 1.81176302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.356875 meters Centerline goodness : 0.992920 Centerline is valid? [True, True] Translation: X:110.74, Y:99.90, Z:18.12 [[ 9.75401981e-01 -2.17683565e-01 -3.47108302e-02 1.10738535e+02] [ 2.17545215e-01 9.76019398e-01 -7.75976089e-03 9.99028703e+01] [ 3.55676160e-02 1.77111224e-05 9.99367272e-01 1.81184781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.38687500000003 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:110.76, Y:99.91, Z:18.12 [[ 9.75374860e-01 -2.17805313e-01 -3.47091897e-02 1.10764508e+02] [ 2.17666753e-01 9.75992236e-01 -7.76786297e-03 9.99094142e+01] [ 3.55677815e-02 2.15416443e-05 9.99367266e-01 1.81184511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.416875 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:110.80, Y:99.92, Z:18.12 [[ 9.75671719e-01 -2.16474950e-01 -3.46885068e-02 1.10795012e+02] [ 2.16331908e-01 9.76288157e-01 -7.87017719e-03 9.99151974e+01] [ 3.55696746e-02 1.74478438e-04 9.99367184e-01 1.81187816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.44687500000003 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:110.82, Y:99.92, Z:18.12 [[ 9.76067219e-01 -2.14677294e-01 -3.47338885e-02 1.10823191e+02] [ 2.14541116e-01 9.76685036e-01 -7.64527371e-03 9.99218268e+01] [ 3.55653358e-02 1.04538388e-05 9.99367353e-01 1.81195383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.476875 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:110.85, Y:99.93, Z:18.12 [[ 9.76195271e-01 -2.14092970e-01 -3.47418077e-02 1.10850392e+02] [ 2.13957818e-01 9.76813288e-01 -7.60605048e-03 9.99281543e+01] [ 3.55646613e-02 -8.29086331e-06 9.99367377e-01 1.81204209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.50687500000004 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:110.87, Y:99.93, Z:18.12 [[ 9.76535342e-01 -2.12533622e-01 -3.47589460e-02 1.10874003e+02] [ 2.12400526e-01 9.77153753e-01 -7.52055975e-03 9.99341736e+01] [ 3.55632063e-02 -3.87260069e-05 9.99367428e-01 1.81196332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.536875 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:110.91, Y:99.94, Z:18.12 [[ 9.76470864e-01 -2.12841735e-01 -3.46849676e-02 1.10907716e+02] [ 2.12695730e-01 9.77086633e-01 -7.88906283e-03 9.99442233e+01] [ 3.55693400e-02 3.26095512e-04 9.99367158e-01 1.81187509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56687500000004 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:110.93, Y:99.95, Z:18.12 [[ 9.77177510e-01 -2.09558532e-01 -3.47755108e-02 1.10930065e+02] [ 2.09426462e-01 9.77796104e-01 -7.43878466e-03 9.99484129e+01] [ 3.55622197e-02 -1.38991176e-05 9.99367464e-01 1.81216248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.596875 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:110.96, Y:99.95, Z:18.12 [[ 9.77692227e-01 -2.07157326e-01 -3.46951189e-02 1.10958872e+02] [ 2.07009556e-01 9.78307524e-01 -7.83789257e-03 9.99549149e+01] [ 3.55661727e-02 4.80825492e-04 9.99367208e-01 1.81241093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62687500000004 meters Centerline goodness : 0.992056 Centerline is valid? [True, True] Translation: X:110.99, Y:99.96, Z:18.13 [[ 9.78074474e-01 -2.05341153e-01 -3.47179353e-02 1.10985045e+02] [ 2.05196263e-01 9.78690362e-01 -7.72456183e-03 9.99613432e+01] [ 3.55642791e-02 4.31206188e-04 9.99367298e-01 1.81255168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.656875 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:111.01, Y:99.97, Z:18.13 [[ 9.78838953e-01 -2.01667776e-01 -3.47046422e-02 1.11009080e+02] [ 2.01518225e-01 9.79453781e-01 -7.79082143e-03 9.99697555e+01] [ 3.55627507e-02 6.32341586e-04 9.99367245e-01 1.81265301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68687500000004 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:111.04, Y:99.98, Z:18.13 [[ 9.79209099e-01 -1.99870718e-01 -3.46588678e-02 1.11039595e+02] [ 1.99711950e-01 9.79821836e-01 -8.01917827e-03 9.99765331e+01] [ 3.55623144e-02 9.30662253e-04 9.99367028e-01 1.81277720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.716875 meters Centerline goodness : 0.990753 Centerline is valid? [True, True] Translation: X:111.07, Y:99.98, Z:18.13 [[ 9.79818472e-01 -1.96856691e-01 -3.46872472e-02 1.11067232e+02] [ 1.96701016e-01 9.80431864e-01 -7.87849287e-03 9.99836371e+01] [ 3.55594165e-02 8.96476064e-04 9.99367162e-01 1.81285002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74687500000005 meters Centerline goodness : 0.990753 Centerline is valid? [True, True] Translation: X:111.09, Y:99.99, Z:18.13 [[ 9.79860949e-01 -1.96643480e-01 -3.46967180e-02 1.11094088e+02] [ 1.96489337e-01 9.80474685e-01 -7.83145701e-03 9.99888894e+01] [ 3.55592586e-02 8.56203778e-04 9.99367203e-01 1.81294982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.776875 meters Centerline goodness : 0.991895 Centerline is valid? [True, True] Translation: X:111.12, Y:100.00, Z:18.13 [[ 9.80930958e-01 -1.91229648e-01 -3.47228775e-02 1.11115893e+02] [ 1.91076766e-01 9.81544894e-01 -7.70009537e-03 9.99956281e+01] [ 3.55545496e-02 9.18526805e-04 9.99367315e-01 1.81287248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.806875 meters Centerline goodness : 0.991742 Centerline is valid? [True, True] Translation: X:111.14, Y:100.00, Z:18.13 [[ 9.81545383e-01 -1.88065510e-01 -3.46413916e-02 1.11144872e+02] [ 1.87896228e-01 9.82155417e-01 -8.10835210e-03 1.00001141e+02] [ 3.55481318e-02 1.44972876e-03 9.99366914e-01 1.81296414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.836875 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:111.17, Y:100.01, Z:18.13 [[ 9.82043403e-01 -1.85439403e-01 -3.46840307e-02 1.11170255e+02] [ 1.85276076e-01 9.82654808e-01 -7.89334677e-03 1.00005904e+02] [ 3.55461671e-02 1.32548802e-03 9.99367156e-01 1.81311896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.866875 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:111.20, Y:100.01, Z:18.13 [[ 9.82222226e-01 -1.84494641e-01 -3.46587186e-02 1.11196884e+02] [ 1.84326219e-01 9.82832390e-01 -8.02105842e-03 1.00012893e+02] [ 3.55435535e-02 1.48995128e-03 9.99367018e-01 1.81327779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.896875 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:111.23, Y:100.02, Z:18.13 [[ 9.82528280e-01 -1.82860653e-01 -3.46433399e-02 1.11225198e+02] [ 1.82688475e-01 9.83137493e-01 -8.09883420e-03 1.00019809e+02] [ 3.55401244e-02 1.62839470e-03 9.99366924e-01 1.81319500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.926875 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:111.25, Y:100.03, Z:18.13 [[ 9.82755437e-01 -1.81637098e-01 -3.46369147e-02 1.11253709e+02] [ 1.81463025e-01 9.83364152e-01 -8.13109765e-03 1.00025073e+02] [ 3.55376092e-02 1.70556109e-03 9.99366884e-01 1.81316755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.956875 meters Centerline goodness : 0.990388 Centerline is valid? [True, True] Translation: X:111.28, Y:100.03, Z:18.13 [[ 9.82867863e-01 -1.81024380e-01 -3.46545373e-02 1.11281181e+02] [ 1.80853040e-01 9.83477245e-01 -8.04273678e-03 1.00029839e+02] [ 3.55378803e-02 1.63756910e-03 9.99366988e-01 1.81326765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.986875 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:111.30, Y:100.04, Z:18.13 [[ 9.81545626e-01 -1.88061532e-01 -3.46560863e-02 1.11295468e+02] [ 1.87894837e-01 9.82156286e-01 -8.03495130e-03 1.00039079e+02] [ 3.55487582e-02 1.37497162e-03 9.99366997e-01 1.81311971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.016875 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:111.33, Y:100.04, Z:18.14 [[ 9.82201968e-01 -1.84643654e-01 -3.44385626e-02 1.11331119e+02] [ 1.84436053e-01 9.82802033e-01 -9.13814417e-03 1.00041293e+02] [ 3.55335897e-02 2.62379064e-03 9.99365038e-01 1.81360827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.046875 meters Centerline goodness : 0.990179 Centerline is valid? [True, True] Translation: X:111.36, Y:100.05, Z:18.14 [[ 9.82383832e-01 -1.83652744e-01 -3.45496222e-02 1.11360035e+02] [ 1.83464400e-01 9.82988979e-01 -8.57209704e-03 1.00045241e+02] [ 3.55361870e-02 2.08246382e-03 9.99366221e-01 1.81381497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.07687500000003 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:111.39, Y:100.05, Z:18.14 [[ 9.83288580e-01 -1.78730671e-01 -3.46253525e-02 1.11388593e+02] [ 1.78553141e-01 9.83896280e-01 -8.17833754e-03 1.00046228e+02] [ 3.55294753e-02 1.85920046e-03 9.99366899e-01 1.81415907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.106875 meters Centerline goodness : 0.991248 Centerline is valid? [True, True] Translation: X:111.42, Y:100.05, Z:18.14 [[ 9.82852269e-01 -1.81109735e-01 -3.46508446e-02 1.11422773e+02] [ 1.80938333e-01 9.83461529e-01 -8.04615977e-03 1.00049269e+02] [ 3.55350105e-02 1.63852033e-03 9.99367089e-01 1.81442307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.13687500000003 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:111.44, Y:100.06, Z:18.14 [[ 9.81879912e-01 -1.86294178e-01 -3.47320784e-02 1.11439845e+02] [ 1.86140860e-01 9.82493478e-01 -7.62532751e-03 1.00057083e+02] [ 3.55445946e-02 1.02209696e-03 9.99367569e-01 1.81424502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.166875 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:111.48, Y:100.06, Z:18.15 [[ 9.82293969e-01 -1.84131309e-01 -3.45574778e-02 1.11478145e+02] [ 1.83944676e-01 9.82899570e-01 -8.53183435e-03 1.00057209e+02] [ 3.55375079e-02 2.02410538e-03 9.99366293e-01 1.81458594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.19687500000003 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:111.50, Y:100.06, Z:18.15 [[ 9.80916489e-01 -1.91308449e-01 -3.46975454e-02 1.11499153e+02] [ 1.91151923e-01 9.81529434e-01 -7.80462102e-03 1.00062902e+02] [ 3.55497521e-02 1.02317893e-03 9.99367384e-01 1.81452220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.226875 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:111.52, Y:100.06, Z:18.14 [[ 9.81271073e-01 -1.89490963e-01 -3.46447189e-02 1.11524028e+02] [ 1.89323356e-01 9.81881501e-01 -8.08606067e-03 1.00064856e+02] [ 3.55492440e-02 1.37556299e-03 9.99366979e-01 1.81441385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.25687500000004 meters Centerline goodness : 0.990670 Centerline is valid? [True, True] Translation: X:111.57, Y:100.07, Z:18.15 [[ 9.82024608e-01 -1.85555791e-01 -3.45936045e-02 1.11574634e+02] [ 1.85376707e-01 9.82632119e-01 -8.34234458e-03 1.00065298e+02] [ 3.55407572e-02 1.77953918e-03 9.99366643e-01 1.81490686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.286875 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:111.59, Y:100.08, Z:18.15 [[ 9.80087326e-01 -1.95460692e-01 -3.49850029e-02 1.11585203e+02] [ 1.95358456e-01 9.80711346e-01 -6.35048473e-03 1.00076584e+02] [ 3.55514594e-02 -6.10586550e-04 9.99367661e-01 1.81527093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31687500000004 meters Centerline goodness : 0.990789 Centerline is valid? [True, True] Translation: X:111.62, Y:100.08, Z:18.15 [[ 9.78980584e-01 -2.00974698e-01 -3.47302079e-02 1.11619293e+02] [ 2.00828895e-01 9.79596286e-01 -7.67281339e-03 1.00082327e+02] [ 3.55636241e-02 5.36706046e-04 9.99367270e-01 1.81543140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.346875 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:111.64, Y:100.09, Z:18.15 [[ 9.79465230e-01 -1.98583453e-01 -3.48206326e-02 1.11639668e+02] [ 1.98452998e-01 9.80083972e-01 -7.19825928e-03 1.00085739e+02] [ 3.55565991e-02 1.40185729e-04 9.99367654e-01 1.81534448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37687500000004 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:111.67, Y:100.09, Z:18.16 [[ 9.79170733e-01 -2.00048957e-01 -3.47144266e-02 1.11670118e+02] [ 1.99899705e-01 9.79785685e-01 -7.75366538e-03 1.00090678e+02] [ 3.55638109e-02 6.52758596e-04 9.99367194e-01 1.81562543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.406875 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:111.70, Y:100.10, Z:18.16 [[ 9.78956937e-01 -2.01088832e-01 -3.47361177e-02 1.11695680e+02] [ 2.00944236e-01 9.79572882e-01 -7.64084628e-03 1.00096807e+02] [ 3.55630478e-02 5.00036827e-04 9.99367310e-01 1.81583788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43687500000004 meters Centerline goodness : 0.989913 Centerline is valid? [True, True] Translation: X:111.74, Y:100.09, Z:18.16 [[ 9.80407138e-01 -1.93897617e-01 -3.47211613e-02 1.11741502e+02] [ 1.93745821e-01 9.81021412e-01 -7.71655511e-03 1.00094686e+02] [ 3.55584244e-02 8.38285792e-04 9.99367248e-01 1.81579880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.466875 meters Centerline goodness : 0.986555 Centerline is valid? [True, True] Translation: X:111.77, Y:100.10, Z:18.16 [[ 9.80619582e-01 -1.92768743e-01 -3.50063929e-02 1.11769285e+02] [ 1.92668576e-01 9.81244020e-01 -6.24451212e-03 1.00097312e+02] [ 3.55535604e-02 -6.21141003e-04 9.99367579e-01 1.81649083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49687500000005 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:111.78, Y:100.10, Z:18.16 [[ 9.80017862e-01 -1.95794662e-01 -3.50633746e-02 1.11775644e+02] [ 1.95706934e-01 9.80644374e-01 -5.95046101e-03 1.00099885e+02] [ 3.55497695e-02 -1.03058744e-03 9.99367376e-01 1.81598553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.526875 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:111.80, Y:100.11, Z:18.16 [[ 9.79314863e-01 -1.99340020e-01 -3.47268657e-02 1.11801026e+02] [ 1.99187982e-01 9.79930104e-01 -7.81917356e-03 1.00108853e+02] [ 3.55885753e-02 7.40258599e-04 9.99366252e-01 1.81609011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.556875 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:111.85, Y:100.10, Z:18.16 [[ 9.82212612e-01 -1.84543732e-01 -3.46698100e-02 1.11853416e+02] [ 1.84371289e-01 9.82823005e-01 -8.13443528e-03 1.00099369e+02] [ 3.55754459e-02 1.59762735e-03 9.99365716e-01 1.81633579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.586875 meters Centerline goodness : 0.990213 Centerline is valid? [True, True] Translation: X:111.89, Y:100.10, Z:18.16 [[ 9.82565006e-01 -1.82594373e-01 -3.50043487e-02 1.11887433e+02] [ 1.82486978e-01 9.83188304e-01 -6.26590506e-03 1.00101377e+02] [ 3.55599853e-02 -2.31178769e-04 9.99367517e-01 1.81633761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.616875 meters Centerline goodness : 0.991102 Centerline is valid? [True, True] Translation: X:111.90, Y:100.11, Z:18.16 [[ 9.81172143e-01 -1.89917271e-01 -3.51092163e-02 1.11897028e+02] [ 1.89835468e-01 9.81799489e-01 -5.67960091e-03 1.00114962e+02] [ 3.55488650e-02 -1.09230832e-03 9.99367342e-01 1.81625740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.646875 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:111.94, Y:100.11, Z:18.16 [[ 9.83738751e-01 -1.76191376e-01 -3.48521078e-02 1.11938442e+02] [ 1.76048303e-01 9.84355516e-01 -7.15636257e-03 1.00110719e+02] [ 3.55677539e-02 9.04336724e-04 9.99366858e-01 1.81637468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.676875 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:111.95, Y:100.13, Z:18.16 [[ 9.81723702e-01 -1.87057948e-01 -3.50413620e-02 1.11949483e+02] [ 1.86960637e-01 9.82348698e-01 -6.06262025e-03 1.00128880e+02] [ 3.55568976e-02 -5.99537369e-04 9.99367474e-01 1.81618449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.706875 meters Centerline goodness : 0.991277 Centerline is valid? [True, True] Translation: X:111.97, Y:100.14, Z:18.16 [[ 9.81696073e-01 -1.87243887e-01 -3.48216553e-02 1.11971892e+02] [ 1.87101612e-01 9.82313221e-01 -7.32956231e-03 1.00135998e+02] [ 3.55781881e-02 6.80214687e-04 9.99366664e-01 1.81610715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.736875 meters Centerline goodness : 0.990631 Centerline is valid? [True, True] Translation: X:112.01, Y:100.14, Z:18.16 [[ 9.82772844e-01 -1.81525657e-01 -3.47271183e-02 1.12008050e+02] [ 1.81360506e-01 9.83385154e-01 -7.87443595e-03 1.00141566e+02] [ 3.55795447e-02 1.44065408e-03 9.99365809e-01 1.81647671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.766875 meters Centerline goodness : 0.989749 Centerline is valid? [True, True] Translation: X:112.04, Y:100.15, Z:18.17 [[ 9.83141589e-01 -1.79492906e-01 -3.48555872e-02 1.12037540e+02] [ 1.79352791e-01 9.83758974e-01 -7.13140504e-03 1.00147149e+02] [ 3.55695333e-02 7.59734040e-04 9.99366915e-01 1.81674337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.796875 meters Centerline goodness : 0.985784 Centerline is valid? [True, True] Translation: X:112.09, Y:100.15, Z:18.17 [[ 9.84076912e-01 -1.74287501e-01 -3.48783317e-02 1.12086372e+02] [ 1.74148576e-01 9.84694468e-01 -7.00564053e-03 1.00150726e+02] [ 3.55654959e-02 8.20077301e-04 9.99367011e-01 1.81679477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.82687500000003 meters Centerline goodness : 0.985006 Centerline is valid? [True, True] Translation: X:112.11, Y:100.16, Z:18.17 [[ 9.84201763e-01 -1.73508905e-01 -3.52356388e-02 1.12114238e+02] [ 1.73440693e-01 9.84831589e-01 -5.00671845e-03 1.00158282e+02] [ 3.55698804e-02 -1.18367250e-03 9.99366491e-01 1.81708248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.856875 meters Centerline goodness : 0.990222 Centerline is valid? [True, True] Translation: X:112.12, Y:100.16, Z:18.17 [[ 9.83974882e-01 -1.74791890e-01 -3.52310608e-02 1.12115973e+02] [ 1.74723586e-01 9.84604664e-01 -5.03221223e-03 1.00161356e+02] [ 3.55682567e-02 -1.20412685e-03 9.99366524e-01 1.81703838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.88687500000003 meters Centerline goodness : 0.987948 Centerline is valid? [True, True] Translation: X:112.15, Y:100.17, Z:18.17 [[ 9.84841159e-01 -1.69917614e-01 -3.48697003e-02 1.12147666e+02] [ 1.69768598e-01 9.85457561e-01 -7.21239427e-03 1.00167593e+02] [ 3.55881226e-02 1.18328259e-03 9.99365842e-01 1.81701911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.916875 meters Centerline goodness : 0.988873 Centerline is valid? [True, True] Translation: X:112.17, Y:100.17, Z:18.17 [[ 9.85012420e-01 -1.68912064e-01 -3.49177306e-02 1.12173806e+02] [ 1.68772695e-01 9.85630691e-01 -6.92237522e-03 1.00172314e+02] [ 3.55852596e-02 9.25466064e-04 9.99366216e-01 1.81711358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.94687500000003 meters Centerline goodness : 0.987956 Centerline is valid? [True, True] Translation: X:112.20, Y:100.18, Z:18.17 [[ 9.85151594e-01 -1.68099080e-01 -3.49147032e-02 1.12202050e+02] [ 1.67958552e-01 9.85769624e-01 -6.94067855e-03 1.00177176e+02] [ 3.55845755e-02 9.73397543e-04 9.99366194e-01 1.81713730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.976875 meters Centerline goodness : 0.988563 Centerline is valid? [True, True] Translation: X:112.23, Y:100.18, Z:18.17 [[ 9.85016505e-01 -1.68887743e-01 -3.49201208e-02 1.12228789e+02] [ 1.68748872e-01 9.85634871e-01 -6.90789805e-03 1.00183102e+02] [ 3.55851481e-02 9.11662615e-04 9.99366232e-01 1.81729312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.00687500000004 meters Centerline goodness : 0.985105 Centerline is valid? [True, True] Translation: X:112.28, Y:100.18, Z:18.17 [[ 9.86873587e-01 -1.57672039e-01 -3.49292340e-02 1.12278531e+02] [ 1.57528028e-01 9.87490727e-01 -6.85459887e-03 1.00179158e+02] [ 3.55730733e-02 1.26228922e-03 9.99366281e-01 1.81736953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.036875 meters Centerline goodness : 0.988683 Centerline is valid? [True, True] Translation: X:112.28, Y:100.19, Z:18.18 [[ 9.85309947e-01 -1.67094869e-01 -3.52649125e-02 1.12284868e+02] [ 1.67027588e-01 9.85940214e-01 -4.86623581e-03 1.00192764e+02] [ 3.55822184e-02 -1.09546271e-03 9.99366152e-01 1.81771828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06687500000004 meters Centerline goodness : 0.984853 Centerline is valid? [True, True] Translation: X:112.34, Y:100.20, Z:18.18 [[ 9.86235925e-01 -1.61613610e-01 -3.49247902e-02 1.12339200e+02] [ 1.61473265e-01 9.86853514e-01 -6.82105665e-03 1.00195162e+02] [ 3.55680276e-02 1.08775122e-03 9.99366666e-01 1.81792874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.096875 meters Centerline goodness : 0.985084 Centerline is valid? [True, True] Translation: X:112.37, Y:100.20, Z:18.18 [[ 9.86243065e-01 -1.61481757e-01 -3.53307035e-02 1.12370190e+02] [ 1.61424271e-01 9.86874877e-01 -4.49245782e-03 1.00203445e+02] [ 3.55924336e-02 -1.27257767e-03 9.99365578e-01 1.81803335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12687500000004 meters Centerline goodness : 0.989117 Centerline is valid? [True, True] Translation: X:112.37, Y:100.21, Z:18.18 [[ 9.85081230e-01 -1.68428136e-01 -3.53119475e-02 1.12373919e+02] [ 1.68371331e-01 9.85712918e-01 -4.59763648e-03 1.00213858e+02] [ 3.55818141e-02 -1.41647421e-03 9.99365763e-01 1.81787727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.156875 meters Centerline goodness : 0.984878 Centerline is valid? [True, True] Translation: X:112.43, Y:100.22, Z:18.18 [[ 9.86411618e-01 -1.60553395e-01 -3.48529261e-02 1.12427497e+02] [ 1.60401436e-01 9.87026100e-01 -7.13144719e-03 1.00216169e+02] [ 3.55457258e-02 1.44408298e-03 9.99367008e-01 1.81804304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18687500000004 meters Centerline goodness : 0.987201 Centerline is valid? [True, True] Translation: X:112.44, Y:100.23, Z:18.18 [[ 9.85478978e-01 -1.66071254e-01 -3.53768516e-02 1.12439008e+02] [ 1.66028903e-01 9.86112146e-01 -4.15205810e-03 1.00228070e+02] [ 3.55750805e-02 -1.78181390e-03 9.99365418e-01 1.81816996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.216875 meters Centerline goodness : 0.987918 Centerline is valid? [True, True] Translation: X:112.47, Y:100.23, Z:18.18 [[ 9.86074026e-01 -1.62581300e-01 -3.50048069e-02 1.12466057e+02] [ 1.62462188e-01 9.86695041e-01 -6.23969217e-03 1.00232340e+02] [ 3.55535267e-02 4.65840866e-04 9.99367665e-01 1.81791810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24687500000005 meters Centerline goodness : 0.985061 Centerline is valid? [True, True] Translation: X:112.50, Y:100.23, Z:18.18 [[ 9.87268519e-01 -1.55163242e-01 -3.50034147e-02 1.12504178e+02] [ 1.55039188e-01 9.87888566e-01 -6.24749248e-03 1.00231684e+02] [ 3.55488544e-02 7.41051665e-04 9.99367665e-01 1.81773230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.276875 meters Centerline goodness : 0.985785 Centerline is valid? [True, True] Translation: X:112.53, Y:100.24, Z:18.18 [[ 9.87270296e-01 -1.55112759e-01 -3.51766142e-02 1.12527957e+02] [ 1.55023350e-01 9.87896741e-01 -5.27168121e-03 1.00238834e+02] [ 3.55685675e-02 -2.48622310e-04 9.99367207e-01 1.81788971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.306875 meters Centerline goodness : 0.987105 Centerline is valid? [True, True] Translation: X:112.53, Y:100.25, Z:18.18 [[ 9.86565627e-01 -1.59542806e-01 -3.51334120e-02 1.12532187e+02] [ 1.59447548e-01 9.87190998e-01 -5.51476053e-03 1.00252524e+02] [ 3.55632284e-02 -1.61263193e-04 9.99367415e-01 1.81781644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.336875 meters Centerline goodness : 0.985563 Centerline is valid? [True, True] Translation: X:112.58, Y:100.25, Z:18.18 [[ 9.88221515e-01 -1.49025969e-01 -3.47778422e-02 1.12583777e+02] [ 1.48854118e-01 9.88830771e-01 -7.49389068e-03 1.00250255e+02] [ 3.55061848e-02 2.22879897e-03 9.99366971e-01 1.81758961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.366875 meters Centerline goodness : 0.985144 Centerline is valid? [True, True] Translation: X:112.61, Y:100.25, Z:18.18 [[ 9.88553355e-01 -1.46725336e-01 -3.51274836e-02 1.12613607e+02] [ 1.46621417e-01 9.89177221e-01 -5.53033166e-03 1.00254353e+02] [ 3.55587464e-02 3.16586487e-04 9.99367538e-01 1.81798135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.396875 meters Centerline goodness : 0.987191 Centerline is valid? [True, True] Translation: X:112.61, Y:100.27, Z:18.18 [[ 9.87391216e-01 -1.54346262e-01 -3.51541963e-02 1.12611454e+02] [ 1.54252485e-01 9.88016811e-01 -5.38065102e-03 1.00265303e+02] [ 3.55634203e-02 -1.09814587e-04 9.99367415e-01 1.81790396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.426875 meters Centerline goodness : 0.988577 Centerline is valid? [True, True] Translation: X:112.63, Y:100.27, Z:18.18 [[ 9.88697211e-01 -1.45831095e-01 -3.48011161e-02 1.12634589e+02] [ 1.45655594e-01 9.89306626e-01 -7.53967726e-03 1.00268884e+02] [ 3.55284942e-02 2.38548062e-03 9.99365817e-01 1.81772392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.456875 meters Centerline goodness : 0.978380 Centerline is valid? [True, True] Translation: X:112.68, Y:100.28, Z:18.18 [[ 9.88859818e-01 -1.44742181e-01 -3.47269589e-02 1.12684672e+02] [ 1.44550126e-01 9.89465203e-01 -7.99209136e-03 1.00276298e+02] [ 3.55179102e-02 2.88327173e-03 9.99364881e-01 1.81757636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.486875 meters Centerline goodness : 0.986066 Centerline is valid? [True, True] Translation: X:112.69, Y:100.28, Z:18.18 [[ 9.89249462e-01 -1.41983090e-01 -3.50186291e-02 1.12692240e+02] [ 1.41852488e-01 9.89868398e-01 -6.19889511e-03 1.00276762e+02] [ 3.55439726e-02 1.16477398e-03 9.99367435e-01 1.81814220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.516875 meters Centerline goodness : 0.987306 Centerline is valid? [True, True] Translation: X:112.72, Y:100.28, Z:18.18 [[ 9.89753734e-01 -1.38480061e-01 -3.47968257e-02 1.12718940e+02] [ 1.38298824e-01 9.90361584e-01 -7.57414189e-03 1.00280133e+02] [ 3.55103071e-02 2.68417516e-03 9.99365706e-01 1.81820016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.546875 meters Centerline goodness : 0.986795 Centerline is valid? [True, True] Translation: X:112.75, Y:100.28, Z:18.18 [[ 9.89688012e-01 -1.38955950e-01 -3.47689949e-02 1.12748969e+02] [ 1.38768958e-01 9.90294486e-01 -7.74648719e-03 1.00284751e+02] [ 3.55079644e-02 2.84174832e-03 9.99365353e-01 1.81838244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.57687500000003 meters Centerline goodness : 0.986575 Centerline is valid? [True, True] Translation: X:112.78, Y:100.28, Z:18.18 [[ 9.90319175e-01 -1.34381300e-01 -3.47792825e-02 1.12782722e+02] [ 1.34193727e-01 9.90925332e-01 -7.68312448e-03 1.00284701e+02] [ 3.54961403e-02 2.94158395e-03 9.99365484e-01 1.81839363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.606875 meters Centerline goodness : 0.986575 Centerline is valid? [True, True] Translation: X:112.81, Y:100.29, Z:18.19 [[ 9.90396268e-01 -1.33792971e-01 -3.48521550e-02 1.12810469e+02] [ 1.33620862e-01 9.91006137e-01 -7.23203522e-03 1.00288687e+02] [ 3.55062949e-02 2.50560570e-03 9.99366312e-01 1.81851508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.63687500000003 meters Centerline goodness : 0.986106 Centerline is valid? [True, True] Translation: X:112.84, Y:100.29, Z:18.19 [[ 9.90197337e-01 -1.35255751e-01 -3.48585052e-02 1.12839236e+02] [ 1.35085929e-01 9.90807781e-01 -7.19258797e-03 1.00292598e+02] [ 3.55109171e-02 2.41318788e-03 9.99366375e-01 1.81881537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.666875 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:112.86, Y:100.30, Z:18.19 [[ 9.90314483e-01 -1.34385047e-01 -3.48982049e-02 1.12860580e+02] [ 1.34223570e-01 9.90926773e-01 -6.94006635e-03 1.00295690e+02] [ 3.55142067e-02 2.18868657e-03 9.99366775e-01 1.81852071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.69687500000003 meters Centerline goodness : 0.990176 Centerline is valid? [True, True] Translation: X:112.88, Y:100.30, Z:18.19 [[ 9.90033963e-01 -1.36459602e-01 -3.48070202e-02 1.12883958e+02] [ 1.36278997e-01 9.90641951e-01 -7.52061968e-03 1.00299278e+02] [ 3.55075551e-02 2.70220311e-03 9.99365755e-01 1.81906731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.726875 meters Centerline goodness : 0.987806 Centerline is valid? [True, True] Translation: X:112.92, Y:100.30, Z:18.19 [[ 9.90044555e-01 -1.36401238e-01 -3.47344364e-02 1.12920294e+02] [ 1.36204398e-01 9.90648595e-01 -7.98264291e-03 1.00301420e+02] [ 3.54984630e-02 3.17218916e-03 9.99364696e-01 1.81901972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.75687500000004 meters Centerline goodness : 0.988412 Centerline is valid? [True, True] Translation: X:112.95, Y:100.30, Z:18.19 [[ 9.89727508e-01 -1.38663035e-01 -3.48141050e-02 1.12947920e+02] [ 1.38485235e-01 9.90336256e-01 -7.47927248e-03 1.00304267e+02] [ 3.55147690e-02 2.58120219e-03 9.99365818e-01 1.81936648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.786875 meters Centerline goodness : 0.989263 Centerline is valid? [True, True] Translation: X:112.98, Y:100.31, Z:18.20 [[ 9.90022113e-01 -1.36541398e-01 -3.48233057e-02 1.12976174e+02] [ 1.36364355e-01 9.90630959e-01 -7.42059327e-03 1.00306091e+02] [ 3.55102629e-02 2.59789382e-03 9.99365935e-01 1.81952943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81687500000004 meters Centerline goodness : 0.988288 Centerline is valid? [True, True] Translation: X:113.01, Y:100.31, Z:18.20 [[ 9.90238626e-01 -1.34957149e-01 -3.48429634e-02 1.13005476e+02] [ 1.34783553e-01 9.90848213e-01 -7.29469812e-03 1.00308067e+02] [ 3.55085597e-02 2.52723342e-03 9.99366177e-01 1.81982174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.846875 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:113.03, Y:100.31, Z:18.20 [[ 9.90139363e-01 -1.35678924e-01 -3.48607454e-02 1.13030754e+02] [ 1.35509784e-01 9.90749987e-01 -7.18060544e-03 1.00308833e+02] [ 3.55125399e-02 2.38582803e-03 9.99366383e-01 1.82007985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87687500000004 meters Centerline goodness : 0.988507 Centerline is valid? [True, True] Translation: X:113.06, Y:100.32, Z:18.20 [[ 9.89665435e-01 -1.39106888e-01 -3.48080613e-02 1.13061046e+02] [ 1.38927944e-01 9.90273943e-01 -7.51959616e-03 1.00315548e+02] [ 3.55155438e-02 2.60607201e-03 9.99365726e-01 1.82011080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.906875 meters Centerline goodness : 0.990915 Centerline is valid? [True, True] Translation: X:113.08, Y:100.31, Z:18.20 [[ 9.89494526e-01 -1.40307449e-01 -3.48482922e-02 1.13084903e+02] [ 1.40138371e-01 9.90105312e-01 -7.26003108e-03 1.00314768e+02] [ 3.55221156e-02 2.30017810e-03 9.99366243e-01 1.82018844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93687500000004 meters Centerline goodness : 0.989511 Centerline is valid? [True, True] Translation: X:113.12, Y:100.32, Z:18.20 [[ 9.89450715e-01 -1.40632655e-01 -3.47813097e-02 1.13117942e+02] [ 1.40448526e-01 9.90058087e-01 -7.69389363e-03 1.00319169e+02] [ 3.55175296e-02 2.72774488e-03 9.99365331e-01 1.82043268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.966875 meters Centerline goodness : 0.987398 Centerline is valid? [True, True] Translation: X:113.17, Y:100.31, Z:18.21 [[ 9.90690576e-01 -1.31590033e-01 -3.48747246e-02 1.13166991e+02] [ 1.31420503e-01 9.91301146e-01 -7.11968788e-03 1.00314214e+02] [ 3.55082344e-02 2.47015384e-03 9.99366331e-01 1.82054201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99687500000005 meters Centerline goodness : 0.988895 Centerline is valid? [True, True] Translation: X:113.20, Y:100.32, Z:18.21 [[ 9.90597997e-01 -1.32212305e-01 -3.51498946e-02 1.13196299e+02] [ 1.32103523e-01 9.91221163e-01 -5.40968238e-03 1.00317132e+02] [ 3.55565460e-02 7.15395614e-04 9.99367410e-01 1.82084838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.026875 meters Centerline goodness : 0.990076 Centerline is valid? [True, True] Translation: X:113.20, Y:100.33, Z:18.20 [[ 9.89284748e-01 -1.41703670e-01 -3.51533264e-02 1.13200798e+02] [ 1.41601624e-01 9.89909059e-01 -5.38840228e-03 1.00325033e+02] [ 3.55621527e-02 3.52896096e-04 9.99367404e-01 1.82034799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.056875 meters Centerline goodness : 0.990158 Centerline is valid? [True, True] Translation: X:113.23, Y:100.33, Z:18.21 [[ 9.89723759e-01 -1.38678431e-01 -3.48593334e-02 1.13234499e+02] [ 1.38505803e-01 9.90334489e-01 -7.33087074e-03 1.00325949e+02] [ 3.55390338e-02 2.42731699e-03 9.99365341e-01 1.82050427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.086875 meters Centerline goodness : 0.989752 Centerline is valid? [True, True] Translation: X:113.26, Y:100.33, Z:18.20 [[ 9.89583074e-01 -1.39667456e-01 -3.49047497e-02 1.13264932e+02] [ 1.39506015e-01 9.90196264e-01 -7.03062918e-03 1.00329206e+02] [ 3.55445029e-02 2.08796910e-03 9.99365913e-01 1.82046132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.116875 meters Centerline goodness : 0.991203 Centerline is valid? [True, True] Translation: X:113.29, Y:100.33, Z:18.21 [[ 9.90016100e-01 -1.36551660e-01 -3.49537614e-02 1.13285556e+02] [ 1.36399939e-01 9.90631195e-01 -6.70022487e-03 1.00330412e+02] [ 3.55412132e-02 1.86563957e-03 9.99366470e-01 1.82065198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.146875 meters Centerline goodness : 0.991398 Centerline is valid? [True, True] Translation: X:113.32, Y:100.33, Z:18.21 [[ 9.90670375e-01 -1.31741876e-01 -3.48752898e-02 1.13319201e+02] [ 1.31568569e-01 9.91280717e-01 -7.22854403e-03 1.00330909e+02] [ 3.55235042e-02 2.57261246e-03 9.99365530e-01 1.82087942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.176875 meters Centerline goodness : 0.991030 Centerline is valid? [True, True] Translation: X:113.35, Y:100.33, Z:18.21 [[ 9.90788574e-01 -1.30836444e-01 -3.49260274e-02 1.13346277e+02] [ 1.30674598e-01 9.91401392e-01 -6.88694375e-03 1.00334172e+02] [ 3.55267754e-02 2.25956058e-03 9.99366170e-01 1.82104108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.206875 meters Centerline goodness : 0.992234 Centerline is valid? [True, True] Translation: X:113.37, Y:100.34, Z:18.21 [[ 9.90736109e-01 -1.31232889e-01 -3.49269408e-02 1.13369890e+02] [ 1.31071506e-01 9.91349038e-01 -6.88075578e-03 1.00337952e+02] [ 3.55277706e-02 2.23908647e-03 9.99366181e-01 1.82096537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.236875 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:113.40, Y:100.34, Z:18.21 [[ 9.91245181e-01 -1.27347357e-01 -3.48660633e-02 1.13403669e+02] [ 1.27169084e-01 9.91854242e-01 -7.29289540e-03 1.00339178e+02] [ 3.55107837e-02 2.79516209e-03 9.99365384e-01 1.82115190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.266875 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:113.45, Y:100.34, Z:18.21 [[ 9.92349012e-01 -1.18420380e-01 -3.49292288e-02 1.13452410e+02] [ 1.18250774e-01 9.92959863e-01 -6.88951940e-03 1.00335090e+02] [ 3.54991818e-02 2.70639942e-03 9.99366041e-01 1.82135538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.296875 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:113.46, Y:100.34, Z:18.21 [[ 9.91666966e-01 -1.23929464e-01 -3.51868922e-02 1.13461325e+02] [ 1.23821951e-01 9.92290686e-01 -5.22679982e-03 1.00343290e+02] [ 3.55633799e-02 8.26335086e-04 9.99367081e-01 1.82146119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.32687500000003 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:113.49, Y:100.35, Z:18.21 [[ 9.91523196e-01 -1.25136129e-01 -3.49671421e-02 1.13485032e+02] [ 1.24976652e-01 9.92136935e-01 -6.71848156e-03 1.00348822e+02] [ 3.55329180e-02 2.29145398e-03 9.99365879e-01 1.82145153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.356875 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:113.52, Y:100.35, Z:18.22 [[ 9.92120287e-01 -1.20329042e-01 -3.49035391e-02 1.13518552e+02] [ 1.20151230e-01 9.92729812e-01 -7.15554076e-03 1.00346677e+02] [ 3.55108032e-02 2.90545399e-03 9.99365069e-01 1.82174155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.38687500000003 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:113.54, Y:100.35, Z:18.22 [[ 9.92311441e-01 -1.18717072e-01 -3.49894312e-02 1.13539424e+02] [ 1.18559665e-01 9.92925346e-01 -6.54705769e-03 1.00350026e+02] [ 3.55191405e-02 2.34838502e-03 9.99366237e-01 1.82179131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.416875 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:113.57, Y:100.35, Z:18.22 [[ 9.91790310e-01 -1.23016388e-01 -3.49134502e-02 1.13573801e+02] [ 1.22842712e-01 9.92400863e-01 -7.08488703e-03 1.00353226e+02] [ 3.55196953e-02 2.73785939e-03 9.99365226e-01 1.82168291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.44687500000003 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:113.61, Y:100.36, Z:18.22 [[ 9.91018891e-01 -1.29076428e-01 -3.49404160e-02 1.13606221e+02] [ 1.28913077e-01 9.91631907e-01 -6.89773669e-03 1.00356550e+02] [ 3.55383665e-02 2.33151082e-03 9.99365593e-01 1.82192065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.476875 meters Centerline goodness : 0.992497 Centerline is valid? [True, True] Translation: X:113.63, Y:100.36, Z:18.22 [[ 9.90708130e-01 -1.31426812e-01 -3.49913472e-02 1.13631423e+02] [ 1.31277478e-01 9.91324080e-01 -6.54155878e-03 1.00356812e+02] [ 3.55475013e-02 1.88719964e-03 9.99366206e-01 1.82236755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.50687500000004 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:113.67, Y:100.36, Z:18.22 [[ 9.90449317e-01 -1.33371959e-01 -3.49581438e-02 1.13665169e+02] [ 1.33215666e-01 9.91063930e-01 -6.77303140e-03 1.00359435e+02] [ 3.55490878e-02 2.05137191e-03 9.99365826e-01 1.82246624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.536875 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:113.69, Y:100.36, Z:18.22 [[ 9.89820300e-01 -1.37956236e-01 -3.49835670e-02 1.13689083e+02] [ 1.37808977e-01 9.90436850e-01 -6.59786714e-03 1.00364891e+02] [ 3.55592309e-02 1.70965325e-03 9.99366108e-01 1.82246104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56687500000004 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:113.71, Y:100.37, Z:18.23 [[ 9.89950981e-01 -1.37018330e-01 -3.49718860e-02 1.13712497e+02] [ 1.36867540e-01 9.90566826e-01 -6.68127080e-03 1.00367870e+02] [ 3.55574467e-02 1.82761456e-03 9.99365963e-01 1.82250652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.596875 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:113.74, Y:100.37, Z:18.22 [[ 9.90099089e-01 -1.35956774e-01 -3.49220407e-02 1.13743241e+02] [ 1.35792698e-01 9.90712267e-01 -7.03902260e-03 1.00370411e+02] [ 3.55546969e-02 2.22717174e-03 9.99365250e-01 1.82248060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62687500000004 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:113.77, Y:100.37, Z:18.23 [[ 9.90776631e-01 -1.30921499e-01 -3.49460879e-02 1.13774954e+02] [ 1.30760404e-01 9.91390223e-01 -6.86606921e-03 1.00369645e+02] [ 3.55441259e-02 2.23317637e-03 9.99365613e-01 1.82309903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.656875 meters Centerline goodness : 0.992786 Centerline is valid? [True, True] Translation: X:113.80, Y:100.37, Z:18.23 [[ 9.90562394e-01 -1.32521694e-01 -3.49877760e-02 1.13800159e+02] [ 1.32372246e-01 9.91178340e-01 -6.56410173e-03 1.00374006e+02] [ 3.55490116e-02 1.87074182e-03 9.99366183e-01 1.82315592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68687500000004 meters Centerline goodness : 0.989247 Centerline is valid? [True, True] Translation: X:113.85, Y:100.38, Z:18.23 [[ 9.90405924e-01 -1.33695906e-01 -3.49501190e-02 1.13848431e+02] [ 1.33537568e-01 9.91020170e-01 -6.83664584e-03 1.00379625e+02] [ 3.55503044e-02 2.10390065e-03 9.99365674e-01 1.82276592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.716875 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:113.85, Y:100.38, Z:18.23 [[ 9.90827052e-01 -1.30484211e-01 -3.51514321e-02 1.13854780e+02] [ 1.30376112e-01 9.91450120e-01 -5.35988140e-03 1.00375062e+02] [ 3.55502715e-02 7.27808433e-04 9.99367624e-01 1.82314153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74687500000005 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:113.89, Y:100.38, Z:18.23 [[ 9.90812806e-01 -1.30647545e-01 -3.49457044e-02 1.13885808e+02] [ 1.30486158e-01 9.91426332e-01 -6.86949865e-03 1.00382445e+02] [ 3.55435747e-02 2.24645652e-03 9.99365603e-01 1.82306729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.776875 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:113.93, Y:100.38, Z:18.23 [[ 9.91699817e-01 -1.23728074e-01 -3.49690835e-02 1.13933207e+02] [ 1.23568103e-01 9.92313423e-01 -6.70774661e-03 1.00379799e+02] [ 3.55302275e-02 2.33100776e-03 9.99365884e-01 1.82321777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.806875 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:113.94, Y:100.39, Z:18.23 [[ 9.90981480e-01 -1.29295542e-01 -3.51904583e-02 1.13940337e+02] [ 1.29193918e-01 9.91605943e-01 -5.15615018e-03 1.00387134e+02] [ 3.55617348e-02 5.63256165e-04 9.99367323e-01 1.82310634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.836875 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:113.98, Y:100.39, Z:18.23 [[ 9.91133357e-01 -1.28184945e-01 -3.49755451e-02 1.13976368e+02] [ 1.28025394e-01 9.91747762e-01 -6.77313390e-03 1.00390504e+02] [ 3.55551323e-02 2.23532100e-03 9.99365216e-01 1.82323219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.866875 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:114.00, Y:100.39, Z:18.23 [[ 9.91076809e-01 -1.28606847e-01 -3.50290859e-02 1.14003768e+02] [ 1.28461580e-01 9.91693990e-01 -6.37596880e-03 1.00394446e+02] [ 3.55581272e-02 1.81918311e-03 9.99365954e-01 1.82349181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.896875 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:114.03, Y:100.40, Z:18.24 [[ 9.91157997e-01 -1.27975037e-01 -3.50458930e-02 1.14028360e+02] [ 1.27833831e-01 9.91775907e-01 -6.24992562e-03 1.00397820e+02] [ 3.55575068e-02 1.71461298e-03 9.99366161e-01 1.82369192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.926875 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:114.06, Y:100.40, Z:18.24 [[ 9.91819525e-01 -1.22747029e-01 -3.50313712e-02 1.14059123e+02] [ 1.22598652e-01 9.92435948e-01 -6.36080287e-03 1.00400419e+02] [ 3.55471617e-02 2.01396961e-03 9.99365971e-01 1.82392679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.956875 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:114.09, Y:100.41, Z:18.24 [[ 9.91681771e-01 -1.23846047e-01 -3.50631016e-02 1.14087753e+02] [ 1.23706911e-01 9.92299936e-01 -6.11855221e-03 1.00405737e+02] [ 3.55508720e-02 1.73010869e-03 9.99366370e-01 1.82411908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.986875 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:114.11, Y:100.41, Z:18.24 [[ 9.92134729e-01 -1.20157543e-01 -3.50833815e-02 1.14110951e+02] [ 1.20021666e-01 9.92753375e-01 -5.96129636e-03 1.00409424e+02] [ 3.55454401e-02 1.70364325e-03 9.99366609e-01 1.82404349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.016875 meters Centerline goodness : 0.992845 Centerline is valid? [True, True] Translation: X:114.14, Y:100.41, Z:18.24 [[ 9.92252442e-01 -1.19195359e-01 -3.50365299e-02 1.14143047e+02] [ 1.19046040e-01 9.92868589e-01 -6.32491972e-03 1.00413836e+02] [ 3.55405711e-02 2.10495688e-03 9.99366018e-01 1.82400239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.046875 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:114.17, Y:100.42, Z:18.24 [[ 9.92562265e-01 -1.16574465e-01 -3.50791145e-02 1.14167212e+02] [ 1.16435255e-01 9.93180206e-01 -5.99248783e-03 1.00417342e+02] [ 3.55384532e-02 1.86347166e-03 9.99366572e-01 1.82404991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.07687500000003 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:114.20, Y:100.42, Z:18.24 [[ 9.92657765e-01 -1.15770884e-01 -3.50380312e-02 1.14197090e+02] [ 1.15619822e-01 9.93273471e-01 -6.31409735e-03 1.00420608e+02] [ 3.55333355e-02 2.21664682e-03 9.99366033e-01 1.82420459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.106875 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:114.22, Y:100.43, Z:18.24 [[ 9.93094319e-01 -1.11954998e-01 -3.50678304e-02 1.14222518e+02] [ 1.11809892e-01 9.93711027e-01 -6.07814671e-03 1.00425168e+02] [ 3.55277687e-02 2.11524264e-03 9.99366451e-01 1.82428067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.13687500000003 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:114.25, Y:100.43, Z:18.24 [[ 9.93298843e-01 -1.10134470e-01 -3.50400771e-02 1.14249760e+02] [ 1.09980491e-01 9.93913794e-01 -6.29777006e-03 1.00425076e+02] [ 3.55204175e-02 2.40184283e-03 9.99366065e-01 1.82443534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.166875 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:114.28, Y:100.43, Z:18.24 [[ 9.93311794e-01 -1.10026705e-01 -3.50114736e-02 1.14283946e+02] [ 1.09864777e-01 9.93925148e-01 -6.52159150e-03 1.00430975e+02] [ 3.55163333e-02 2.63144603e-03 9.99365632e-01 1.82440066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.19687500000003 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:114.31, Y:100.43, Z:18.25 [[ 9.93518331e-01 -1.08120596e-01 -3.50893654e-02 1.14310237e+02] [ 1.07979147e-01 9.94135610e-01 -5.90700776e-03 1.00433878e+02] [ 3.55222569e-02 2.07980077e-03 9.99366721e-01 1.82456302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.226875 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:114.34, Y:100.44, Z:18.24 [[ 9.93028570e-01 -1.12534363e-01 -3.50752973e-02 1.14336411e+02] [ 1.12391748e-01 9.93645753e-01 -6.01775275e-03 1.00439176e+02] [ 3.55296242e-02 2.03362642e-03 9.99366554e-01 1.82449806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.25687500000004 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:114.36, Y:100.44, Z:18.25 [[ 9.92990887e-01 -1.12870084e-01 -3.50634065e-02 1.14364681e+02] [ 1.12724356e-01 9.93607500e-01 -6.11188028e-03 1.00441007e+02] [ 3.55291122e-02 2.11654150e-03 9.99366401e-01 1.82461977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.286875 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:114.39, Y:100.44, Z:18.24 [[ 9.93018452e-01 -1.12625046e-01 -3.50706875e-02 1.14390562e+02] [ 1.12481202e-01 9.93635409e-01 -6.05419003e-03 1.00443859e+02] [ 3.55293303e-02 2.06712932e-03 9.99366496e-01 1.82414726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31687500000004 meters Centerline goodness : 0.992636 Centerline is valid? [True, True] Translation: X:114.43, Y:100.44, Z:18.25 [[ 9.92992904e-01 -1.12858042e-01 -3.50450368e-02 1.14428781e+02] [ 1.12707209e-01 9.93608546e-01 -6.25642842e-03 1.00441164e+02] [ 3.55271363e-02 2.26276076e-03 9.99366150e-01 1.82513773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.346875 meters Centerline goodness : 0.993123 Centerline is valid? [True, True] Translation: X:114.45, Y:100.45, Z:18.25 [[ 9.92345451e-01 -1.18384936e-01 -3.51498716e-02 1.14450414e+02] [ 1.18266917e-01 9.92967020e-01 -5.42534784e-03 1.00447509e+02] [ 3.55449427e-02 1.22675230e-03 9.99367326e-01 1.82507749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37687500000004 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:114.47, Y:100.45, Z:18.25 [[ 9.92521256e-01 -1.16914740e-01 -3.51069786e-02 1.14474749e+02] [ 1.16783563e-01 9.93140621e-01 -5.77119482e-03 1.00450097e+02] [ 3.55409042e-02 1.62811549e-03 9.99366896e-01 1.82477064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.406875 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:114.50, Y:100.45, Z:18.25 [[ 9.92190115e-01 -1.19705670e-01 -3.50617882e-02 1.14501555e+02] [ 1.19563318e-01 9.92807613e-01 -6.13654088e-03 1.00453866e+02] [ 3.55441890e-02 1.89651148e-03 9.99366306e-01 1.82475963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43687500000004 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:114.53, Y:100.46, Z:18.25 [[ 9.91695197e-01 -1.23742123e-01 -3.50503055e-02 1.14529088e+02] [ 1.23598976e-01 9.92312692e-01 -6.23012755e-03 1.00456764e+02] [ 3.55517922e-02 1.84620569e-03 9.99366130e-01 1.82490403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.466875 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:114.55, Y:100.46, Z:18.25 [[ 9.91401536e-01 -1.26075812e-01 -3.50411766e-02 1.14552370e+02] [ 1.25931470e-01 9.92018907e-01 -6.30505620e-03 1.00461048e+02] [ 3.55564248e-02 1.83805552e-03 9.99365980e-01 1.82489553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49687500000005 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:114.59, Y:100.46, Z:18.26 [[ 9.91221694e-01 -1.27497039e-01 -3.49865576e-02 1.14586480e+02] [ 1.27337484e-01 9.91836408e-01 -6.76054956e-03 1.00463373e+02] [ 3.55628916e-02 2.24610316e-03 9.99364916e-01 1.82582870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.526875 meters Centerline goodness : 0.992274 Centerline is valid? [True, True] Translation: X:114.62, Y:100.47, Z:18.26 [[ 9.91590702e-01 -1.24582169e-01 -3.50308716e-02 1.14623392e+02] [ 1.24433630e-01 9.92207309e-01 -6.39745151e-03 1.00467227e+02] [ 3.55548952e-02 1.98463493e-03 9.99365754e-01 1.82587309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.556875 meters Centerline goodness : 0.992274 Centerline is valid? [True, True] Translation: X:114.65, Y:100.47, Z:18.26 [[ 9.91653552e-01 -1.24059545e-01 -3.51064523e-02 1.14651286e+02] [ 1.23932419e-01 9.92273810e-01 -5.78279104e-03 1.00470101e+02] [ 3.55526237e-02 1.38369770e-03 9.99366848e-01 1.82600504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.586875 meters Centerline goodness : 0.990834 Centerline is valid? [True, True] Translation: X:114.68, Y:100.48, Z:18.26 [[ 9.91316368e-01 -1.26724822e-01 -3.51095307e-02 1.14681698e+02] [ 1.26600252e-01 9.91937107e-01 -5.75771807e-03 1.00477977e+02] [ 3.55560922e-02 1.26284471e-03 9.99366884e-01 1.82562061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.616875 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:114.70, Y:100.48, Z:18.26 [[ 9.92234272e-01 -1.19314538e-01 -3.51452860e-02 1.14700292e+02] [ 1.19196008e-01 9.92855750e-01 -5.45623193e-03 1.00478884e+02] [ 3.55452071e-02 1.22468251e-03 9.99367319e-01 1.82586170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.646875 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:114.73, Y:100.48, Z:18.26 [[ 9.92473116e-01 -1.17330658e-01 -3.50803554e-02 1.14727830e+02] [ 1.17191626e-01 9.93091192e-01 -6.00063030e-03 1.00482652e+02] [ 3.55420498e-02 1.84434035e-03 9.99366480e-01 1.82581862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.676875 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:114.76, Y:100.49, Z:18.26 [[ 9.92789407e-01 -1.14624193e-01 -3.50782980e-02 1.14758144e+02] [ 1.14482869e-01 9.93406995e-01 -6.01783442e-03 1.00486558e+02] [ 3.55368160e-02 1.95857807e-03 9.99366449e-01 1.82580828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.706875 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:114.78, Y:100.49, Z:18.26 [[ 9.92966341e-01 -1.13068680e-01 -3.51186385e-02 1.14781488e+02] [ 1.12938540e-01 9.93585775e-01 -5.67400717e-03 1.00489829e+02] [ 3.55349322e-02 1.66785037e-03 9.99367043e-01 1.82594429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.736875 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:114.81, Y:100.49, Z:18.26 [[ 9.93451173e-01 -1.08741498e-01 -3.50721125e-02 1.14810454e+02] [ 1.08594579e-01 9.94067573e-01 -6.07277327e-03 1.00493872e+02] [ 3.55244122e-02 2.22436245e-03 9.99366333e-01 1.82560587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.766875 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:114.86, Y:100.49, Z:18.26 [[ 9.94443031e-01 -9.92595516e-02 -3.50798889e-02 1.14860658e+02] [ 9.91089265e-02 9.95058433e-01 -6.01121147e-03 1.00492702e+02] [ 3.55032095e-02 2.50107723e-03 9.99366433e-01 1.82636829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.796875 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:114.87, Y:100.50, Z:18.26 [[ 9.93464842e-01 -1.08531998e-01 -3.53328981e-02 1.14869953e+02] [ 1.08459244e-01 9.94092949e-01 -3.97498502e-03 1.00504679e+02] [ 3.55555980e-02 1.16828437e-04 9.99367693e-01 1.82634422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.82687500000003 meters Centerline goodness : 0.992979 Centerline is valid? [True, True] Translation: X:114.90, Y:100.51, Z:18.26 [[ 9.93673567e-01 -1.06667219e-01 -3.51418026e-02 1.14896575e+02] [ 1.06535773e-01 9.94293115e-01 -5.59731462e-03 1.00507673e+02] [ 3.55383023e-02 1.81804450e-03 9.99366661e-01 1.82643821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.856875 meters Centerline goodness : 0.992053 Centerline is valid? [True, True] Translation: X:114.92, Y:100.51, Z:18.27 [[ 9.93805190e-01 -1.05439580e-01 -3.51246408e-02 1.14921350e+02] [ 1.05302185e-01 9.94423680e-01 -5.74402253e-03 1.00512774e+02] [ 3.55344219e-02 2.00973797e-03 9.99366432e-01 1.82671710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.88687500000003 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:114.95, Y:100.51, Z:18.27 [[ 9.94006762e-01 -1.03531821e-01 -3.50958452e-02 1.14952375e+02] [ 1.03384479e-01 9.94623418e-01 -5.99223416e-03 1.00513850e+02] [ 3.55275364e-02 2.32795560e-03 9.99365986e-01 1.82688627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.916875 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:114.99, Y:100.52, Z:18.27 [[ 9.93666947e-01 -1.06737273e-01 -3.51162890e-02 1.14986568e+02] [ 1.06598153e-01 9.94285176e-01 -5.81574436e-03 1.00518549e+02] [ 3.55363623e-02 2.03558140e-03 9.99366311e-01 1.82669929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.94687500000003 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:115.01, Y:100.52, Z:18.27 [[ 9.94365435e-01 -1.00003032e-01 -3.51678238e-02 1.15013772e+02] [ 9.98754538e-02 9.94985454e-01 -5.37033360e-03 1.00520349e+02] [ 3.55285228e-02 1.82767174e-03 9.99366992e-01 1.82732599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.976875 meters Centerline goodness : 0.991673 Centerline is valid? [True, True] Translation: X:115.05, Y:100.52, Z:18.28 [[ 9.94659327e-01 -9.70365180e-02 -3.51672814e-02 1.15045547e+02] [ 9.69069253e-02 9.95278934e-01 -5.37502735e-03 1.00520248e+02] [ 3.55228283e-02 1.93836797e-03 9.99366985e-01 1.82750288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.00687500000004 meters Centerline goodness : 0.991721 Centerline is valid? [True, True] Translation: X:115.09, Y:100.51, Z:18.28 [[ 9.95387864e-01 -8.92369261e-02 -3.52103825e-02 1.15089140e+02] [ 8.91151394e-02 9.96008699e-01 -5.01631693e-03 1.00514907e+02] [ 3.55174879e-02 1.85540285e-03 9.99367333e-01 1.82773385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.036875 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:115.10, Y:100.53, Z:18.28 [[ 9.94671975e-01 -9.68356773e-02 -3.53626037e-02 1.15101887e+02] [ 9.67639720e-02 9.95300339e-01 -3.73759790e-03 1.00525487e+02] [ 3.55583443e-02 2.95857883e-04 9.99367558e-01 1.82783961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06687500000004 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:115.12, Y:100.53, Z:18.28 [[ 9.94162943e-01 -1.01977165e-01 -3.52235784e-02 1.15119920e+02] [ 1.01865797e-01 9.94785851e-01 -4.94671005e-03 1.00532738e+02] [ 3.55443689e-02 1.32975795e-03 9.99367215e-01 1.82766309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.096875 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:115.15, Y:100.53, Z:18.28 [[ 9.94284983e-01 -1.00816605e-01 -3.51195825e-02 1.15147506e+02] [ 1.00672500e-01 9.94902407e-01 -5.85222770e-03 1.00532025e+02] [ 3.55305589e-02 2.28320594e-03 9.99365982e-01 1.82779955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12687500000004 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:115.19, Y:100.53, Z:18.28 [[ 9.94729011e-01 -9.63422310e-02 -3.51051304e-02 1.15189070e+02] [ 9.61909077e-02 9.95344950e-01 -5.97823567e-03 1.00532721e+02] [ 3.55176708e-02 2.56993009e-03 9.99365744e-01 1.82821005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.156875 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:115.22, Y:100.53, Z:18.29 [[ 9.94610491e-01 -9.75121030e-02 -3.52329643e-02 1.15216125e+02] [ 9.74013999e-02 9.95233367e-01 -4.84899403e-03 1.00534981e+02] [ 3.55378572e-02 1.39112029e-03 9.99367363e-01 1.82850987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18687500000004 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:115.24, Y:100.54, Z:18.29 [[ 9.94532500e-01 -9.83053076e-02 -3.52302946e-02 1.15242741e+02] [ 9.81942654e-02 9.95155337e-01 -4.87260415e-03 1.00536765e+02] [ 3.55386185e-02 1.38655029e-03 9.99367342e-01 1.82867854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.216875 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:115.27, Y:100.54, Z:18.29 [[ 9.94590201e-01 -9.77228555e-02 -3.52218052e-02 1.15271850e+02] [ 9.76087914e-02 9.95212562e-01 -4.94767212e-03 1.00539092e+02] [ 3.55366837e-02 1.48294837e-03 9.99367272e-01 1.82879090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24687500000005 meters Centerline goodness : 0.991811 Centerline is valid? [True, True] Translation: X:115.30, Y:100.54, Z:18.29 [[ 9.94731181e-01 -9.62725290e-02 -3.52346131e-02 1.15299474e+02] [ 9.61615942e-02 9.95353999e-01 -4.83361688e-03 1.00541602e+02] [ 3.55362576e-02 1.41993287e-03 9.99367379e-01 1.82871039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.276875 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:115.33, Y:100.54, Z:18.28 [[ 9.94732381e-01 -9.62638404e-02 -3.52244660e-02 1.15330644e+02] [ 9.61496988e-02 9.95354705e-01 -4.92406795e-03 1.00544501e+02] [ 3.55348477e-02 1.51130803e-03 9.99367295e-01 1.82837721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.306875 meters Centerline goodness : 0.992080 Centerline is valid? [True, True] Translation: X:115.36, Y:100.55, Z:18.29 [[ 9.94901244e-01 -9.44919743e-02 -3.52531043e-02 1.15356501e+02] [ 9.43857695e-02 9.95524752e-01 -4.66851971e-03 1.00547795e+02] [ 3.55364755e-02 1.31732469e-03 9.99367512e-01 1.82865737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.336875 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:115.38, Y:100.55, Z:18.29 [[ 9.95203092e-01 -9.12583921e-02 -3.52521292e-02 1.15381360e+02] [ 9.11498483e-02 9.95826203e-01 -4.67737104e-03 1.00549767e+02] [ 3.55318434e-02 1.44170788e-03 9.99367505e-01 1.82880450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.366875 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:115.41, Y:100.55, Z:18.29 [[ 9.95271694e-01 -9.05207995e-02 -3.52170389e-02 1.15413998e+02] [ 9.04005133e-02 9.95892958e-01 -4.99629704e-03 1.00552197e+02] [ 3.55246699e-02 1.78903462e-03 9.99367198e-01 1.82896681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.396875 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:115.44, Y:100.56, Z:18.28 [[ 9.95907496e-01 -8.32223166e-02 -3.52463634e-02 1.15437953e+02] [ 8.31068415e-02 9.96529412e-01 -4.73126392e-03 1.00555117e+02] [ 3.55177845e-02 1.78268727e-03 9.99367454e-01 1.82848785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.426875 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:115.47, Y:100.56, Z:18.29 [[ 9.96064697e-01 -8.13408480e-02 -3.51963860e-02 1.15466988e+02] [ 8.12082724e-02 9.96683681e-01 -5.18242115e-03 1.00558073e+02] [ 3.55012061e-02 2.30378905e-03 9.99366978e-01 1.82855367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.456875 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:115.50, Y:100.56, Z:18.29 [[ 9.95955834e-01 -8.26625494e-02 -3.51977150e-02 1.15501256e+02] [ 8.25312188e-02 9.96575067e-01 -5.17041751e-03 1.00560722e+02] [ 3.55045651e-02 2.24459717e-03 9.99366993e-01 1.82918236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.486875 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:115.53, Y:100.56, Z:18.29 [[ 9.96042076e-01 -8.15881585e-02 -3.52640869e-02 1.15530116e+02] [ 8.14774302e-02 9.96664718e-01 -4.56811265e-03 1.00562846e+02] [ 3.55191752e-02 1.67680522e-03 9.99367588e-01 1.82930230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.516875 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:115.56, Y:100.56, Z:18.29 [[ 9.96225424e-01 -7.93103246e-02 -3.52813913e-02 1.15555976e+02] [ 7.92037959e-02 9.96848694e-01 -4.40907699e-03 1.00564041e+02] [ 3.55198941e-02 1.59801448e-03 9.99367692e-01 1.82935790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.546875 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:115.58, Y:100.56, Z:18.29 [[ 9.96224857e-01 -7.93245713e-02 -3.52653776e-02 1.15581867e+02] [ 7.92128561e-02 9.96847313e-01 -4.55601612e-03 1.00564849e+02] [ 3.55156009e-02 1.74534523e-03 9.99367598e-01 1.82900495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.57687500000003 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:115.61, Y:100.57, Z:18.29 [[ 9.95929934e-01 -8.29631451e-02 -3.52233370e-02 1.15609512e+02] [ 8.28402011e-02 9.96550609e-01 -4.93811218e-03 1.00567346e+02] [ 3.55115192e-02 2.00010542e-03 9.99367266e-01 1.82900479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.606875 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:115.64, Y:100.57, Z:18.29 [[ 9.95726085e-01 -8.53746639e-02 -3.52239978e-02 1.15638051e+02] [ 8.52534358e-02 9.96347091e-01 -4.93209667e-03 1.00568526e+02] [ 3.55164039e-02 1.90805047e-03 9.99367272e-01 1.82913434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.63687500000003 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:115.67, Y:100.57, Z:18.30 [[ 9.94976178e-01 -9.37092335e-02 -3.52276123e-02 1.15670154e+02] [ 9.35943720e-02 9.95598358e-01 -4.89923769e-03 1.00568402e+02] [ 3.55316568e-02 1.57751854e-03 9.99367306e-01 1.82990136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.666875 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:115.69, Y:100.57, Z:18.30 [[ 9.95011686e-01 -9.33126280e-02 -3.52774425e-02 1.15694948e+02] [ 9.32137007e-02 9.95636215e-01 -4.44222354e-03 1.00569309e+02] [ 3.55380149e-02 1.13172336e-03 9.99367684e-01 1.82966896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.69687500000003 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:115.73, Y:100.57, Z:18.30 [[ 9.94175455e-01 -1.01851856e-01 -3.52330013e-02 1.15725012e+02] [ 1.01743897e-01 9.94798811e-01 -4.84829848e-03 1.00570133e+02] [ 3.55435560e-02 1.23531647e-03 9.99367365e-01 1.83030130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.726875 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:115.76, Y:100.57, Z:18.30 [[ 9.93766696e-01 -1.05759568e-01 -3.52514868e-02 1.15758484e+02] [ 1.05660037e-01 9.94391300e-01 -4.67973937e-03 1.00573224e+02] [ 3.55486990e-02 9.25895719e-04 9.99367516e-01 1.83023373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.75687500000004 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:115.78, Y:100.57, Z:18.31 [[ 9.93791698e-01 -1.05509300e-01 -3.52965912e-02 1.15780518e+02] [ 1.05424308e-01 9.94418181e-01 -4.26568236e-03 1.00574066e+02] [ 3.55496412e-02 5.18080995e-04 9.99367777e-01 1.83065893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.786875 meters Centerline goodness : 0.993881 Centerline is valid? [True, True] Translation: X:115.81, Y:100.58, Z:18.30 [[ 9.93627326e-01 -1.07063145e-01 -3.52451404e-02 1.15809993e+02] [ 1.06962455e-01 9.94251783e-01 -4.73554724e-03 1.00577089e+02] [ 3.55495462e-02 9.35462402e-04 9.99367477e-01 1.83023843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81687500000004 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:115.84, Y:100.58, Z:18.31 [[ 9.93663190e-01 -1.06722791e-01 -3.52662784e-02 1.15835931e+02] [ 1.06628829e-01 9.94288531e-01 -4.53986473e-03 1.00577757e+02] [ 3.55493632e-02 7.50694498e-04 9.99367640e-01 1.83089667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.846875 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:115.86, Y:100.58, Z:18.31 [[ 9.93500073e-01 -1.08237622e-01 -3.52451658e-02 1.15863241e+02] [ 1.08137697e-01 9.94124650e-01 -4.73477395e-03 1.00580454e+02] [ 3.55505688e-02 8.92667190e-04 9.99367480e-01 1.83095736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87687500000004 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:115.89, Y:100.58, Z:18.31 [[ 9.93516807e-01 -1.08084837e-01 -3.52423467e-02 1.15890954e+02] [ 1.07983893e-01 9.94141244e-01 -4.76080844e-03 1.00582959e+02] [ 3.55504416e-02 9.24337415e-04 9.99367456e-01 1.83097338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.906875 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:115.92, Y:100.59, Z:18.31 [[ 9.93500630e-01 -1.08236253e-01 -3.52336803e-02 1.15919398e+02] [ 1.08132566e-01 9.94124698e-01 -4.84082420e-03 1.00586439e+02] [ 3.55506245e-02 9.99453624e-04 9.99367377e-01 1.83097734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93687500000004 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:115.94, Y:100.59, Z:18.31 [[ 9.93740907e-01 -1.06001403e-01 -3.52521277e-02 1.15943935e+02] [ 1.05902467e-01 9.94365569e-01 -4.66729386e-03 1.00589685e+02] [ 3.55482417e-02 9.04793539e-04 9.99367552e-01 1.83105230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.966875 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:115.97, Y:100.60, Z:18.31 [[ 9.93806543e-01 -1.05395711e-01 -3.52178752e-02 1.15972698e+02] [ 1.05285009e-01 9.94429577e-01 -4.98840897e-03 1.00595545e+02] [ 3.55474536e-02 1.24959917e-03 9.99367208e-01 1.83098002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99687500000005 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:116.00, Y:100.60, Z:18.30 [[ 9.94164050e-01 -1.01968359e-01 -3.52178205e-02 1.16000719e+02] [ 1.01855491e-01 9.94786696e-01 -4.98891737e-03 1.00599049e+02] [ 3.55429310e-02 1.37267389e-03 9.99367208e-01 1.83024443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.026875 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:116.03, Y:100.60, Z:18.30 [[ 9.94317149e-01 -1.00472731e-01 -3.51942794e-02 1.16028168e+02] [ 1.00351277e-01 9.94938455e-01 -5.20505662e-03 1.00602652e+02] [ 3.55391082e-02 1.64368619e-03 9.99366935e-01 1.83022420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.056875 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:116.06, Y:100.61, Z:18.30 [[ 9.94193621e-01 -1.01689960e-01 -3.51880015e-02 1.16061297e+02] [ 1.01567220e-01 9.94814758e-01 -5.26289311e-03 1.00606176e+02] [ 3.55407266e-02 1.65838729e-03 9.99366853e-01 1.83045068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.086875 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:116.09, Y:100.61, Z:18.32 [[ 9.94421495e-01 -9.94148677e-02 -3.52501789e-02 1.16085522e+02] [ 9.93114559e-02 9.95045407e-01 -4.67688532e-03 1.00608895e+02] [ 3.55404805e-02 1.15004870e-03 9.99367576e-01 1.83150493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.116875 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:116.11, Y:100.61, Z:18.32 [[ 9.94656195e-01 -9.70443320e-02 -3.52342344e-02 1.16112693e+02] [ 9.69340329e-02 9.95279092e-01 -4.82934483e-03 1.00612822e+02] [ 3.55365573e-02 1.38814132e-03 9.99367413e-01 1.83153784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.146875 meters Centerline goodness : 0.992941 Centerline is valid? [True, True] Translation: X:116.14, Y:100.62, Z:18.32 [[ 9.94710322e-01 -9.64911636e-02 -3.52254411e-02 1.16142185e+02] [ 9.63775458e-02 9.95332722e-01 -4.91329274e-03 1.00615818e+02] [ 3.55351236e-02 1.49236143e-03 9.99367314e-01 1.83168594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.176875 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:116.17, Y:100.62, Z:18.31 [[ 9.95032647e-01 -9.31042282e-02 -3.52368191e-02 1.16168555e+02] [ 9.29923310e-02 9.95655232e-01 -4.80482077e-03 1.00619279e+02] [ 3.55310724e-02 1.50419958e-03 9.99367440e-01 1.83092905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.206875 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:116.20, Y:100.62, Z:18.32 [[ 9.94680776e-01 -9.68027626e-02 -3.52048028e-02 1.16201099e+02] [ 9.66824238e-02 9.95302170e-01 -5.10871607e-03 1.00622110e+02] [ 3.55339544e-02 1.67785600e-03 9.99367061e-01 1.83156027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.236875 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:116.23, Y:100.62, Z:18.31 [[ 9.94863108e-01 -9.48955196e-02 -3.52453915e-02 1.16226443e+02] [ 9.47876683e-02 9.95486313e-01 -4.72222437e-03 1.00624848e+02] [ 3.55344227e-02 1.35713833e-03 9.99367531e-01 1.83082010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.266875 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:116.26, Y:100.63, Z:18.32 [[ 9.94594767e-01 -9.76779536e-02 -3.52174205e-02 1.16255926e+02] [ 9.75623528e-02 9.95216903e-01 -4.99028356e-03 1.00627780e+02] [ 3.55364128e-02 1.52741552e-03 9.99367215e-01 1.83165248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.296875 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:116.28, Y:100.63, Z:18.31 [[ 9.94762930e-01 -9.59430644e-02 -3.52369450e-02 1.16281778e+02] [ 9.58330307e-02 9.95385838e-01 -4.80238083e-03 1.00630238e+02] [ 3.55351112e-02 1.40036720e-03 9.99367447e-01 1.83096267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.32687500000003 meters Centerline goodness : 0.992748 Centerline is valid? [True, True] Translation: X:116.32, Y:100.63, Z:18.32 [[ 9.94538012e-01 -9.82575388e-02 -3.52079239e-02 1.16315091e+02] [ 9.81391388e-02 9.95159739e-01 -5.07961443e-03 1.00631797e+02] [ 3.55366188e-02 1.59659431e-03 9.99367100e-01 1.83208142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.356875 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:116.34, Y:100.63, Z:18.32 [[ 9.94535512e-01 -9.82651747e-02 -3.52572228e-02 1.16343141e+02] [ 9.81635573e-02 9.95159636e-01 -4.60591640e-03 1.00634298e+02] [ 3.55391662e-02 1.11977301e-03 9.99367657e-01 1.83242357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.38687500000003 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:116.37, Y:100.64, Z:18.32 [[ 9.94744081e-01 -9.61290901e-02 -3.52620432e-02 1.16368106e+02] [ 9.60277895e-02 9.95368212e-01 -4.55916265e-03 1.00637124e+02] [ 3.55369850e-02 1.14906400e-03 9.99367701e-01 1.83169440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.416875 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:116.40, Y:100.64, Z:18.32 [[ 9.94780012e-01 -9.57702494e-02 -3.52248012e-02 1.16395258e+02] [ 9.56559237e-02 9.95402297e-01 -4.92054631e-03 1.00639788e+02] [ 3.55340900e-02 1.52540022e-03 9.99367301e-01 1.83177203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.44687500000003 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:116.42, Y:100.64, Z:18.32 [[ 9.94795143e-01 -9.56138320e-02 -3.52224156e-02 1.16423352e+02] [ 9.54985888e-02 9.95417289e-01 -4.94370083e-03 1.00642018e+02] [ 3.55336876e-02 1.55427859e-03 9.99367270e-01 1.83191318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.476875 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:116.45, Y:100.64, Z:18.32 [[ 9.94748906e-01 -9.60919808e-02 -3.52270651e-02 1.16450345e+02] [ 9.59786340e-02 9.95371341e-01 -4.89858166e-03 1.00644358e+02] [ 3.55347255e-02 1.49181315e-03 9.99367329e-01 1.83204225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.50687500000004 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:116.48, Y:100.65, Z:18.33 [[ 9.94521978e-01 -9.84147867e-02 -3.52216592e-02 1.16483834e+02] [ 9.83010244e-02 9.95144408e-01 -4.95136888e-03 1.00646907e+02] [ 3.55379251e-02 1.46191999e-03 9.99367259e-01 1.83304909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.536875 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:116.51, Y:100.65, Z:18.33 [[ 9.94454525e-01 -9.90798629e-02 -3.52615865e-02 1.16514542e+02] [ 9.89804001e-02 9.95078937e-01 -4.55957869e-03 1.00649250e+02] [ 3.55398244e-02 1.04408772e-03 9.99367716e-01 1.83331466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56687500000004 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:116.54, Y:100.65, Z:18.33 [[ 9.94421746e-01 -9.94032002e-02 -3.52759875e-02 1.16544025e+02] [ 9.93089306e-02 9.95046838e-01 -4.41886756e-03 1.00652055e+02] [ 3.55405094e-02 8.90997395e-04 9.99367839e-01 1.83307553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.596875 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:116.56, Y:100.66, Z:18.32 [[ 9.94817760e-01 -9.53515411e-02 -3.52945938e-02 1.16563996e+02] [ 9.52613036e-02 9.95443299e-01 -4.23339635e-03 1.00655177e+02] [ 3.55374278e-02 8.49248854e-04 9.99367985e-01 1.83238120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62687500000004 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:116.60, Y:100.66, Z:18.33 [[ 9.94805707e-01 -9.55040701e-02 -3.52218267e-02 1.16596812e+02] [ 9.53882695e-02 9.95427798e-01 -4.95747703e-03 1.00657515e+02] [ 3.55342447e-02 1.57197734e-03 9.99367223e-01 1.83325125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.656875 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:116.62, Y:100.66, Z:18.33 [[ 9.94836862e-01 -9.51657310e-02 -3.52576371e-02 1.16623997e+02] [ 9.50623579e-02 9.95460689e-01 -4.60059799e-03 1.00659958e+02] [ 3.55354109e-02 1.22517036e-03 9.99367667e-01 1.83336744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68687500000004 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:116.65, Y:100.66, Z:18.33 [[ 9.95040471e-01 -9.30124407e-02 -3.52583025e-02 1.16653839e+02] [ 9.29079529e-02 9.95664104e-01 -4.59396110e-03 1.00663497e+02] [ 3.55327217e-02 1.29540050e-03 9.99367674e-01 1.83342777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.716875 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:116.68, Y:100.67, Z:18.33 [[ 9.95205240e-01 -9.12229346e-02 -3.52832284e-02 1.16680602e+02] [ 9.11261747e-02 9.95829879e-01 -4.34420020e-03 1.00665404e+02] [ 3.55323837e-02 1.10814517e-03 9.99367911e-01 1.83338302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74687500000005 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:116.71, Y:100.67, Z:18.33 [[ 9.95296280e-01 -9.02290590e-02 -3.52708368e-02 1.16708056e+02] [ 9.01272662e-02 9.95920231e-01 -4.46863774e-03 1.00668996e+02] [ 3.55301409e-02 1.26875442e-03 9.99367800e-01 1.83329011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.776875 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:116.74, Y:100.67, Z:18.33 [[ 9.95541448e-01 -8.74812995e-02 -3.52738896e-02 1.16735375e+02] [ 8.73788961e-02 9.96165267e-01 -4.43725709e-03 1.00670568e+02] [ 3.55268007e-02 1.33527981e-03 9.99367832e-01 1.83310590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.806875 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:116.77, Y:100.67, Z:18.33 [[ 9.95338528e-01 -8.97635668e-02 -3.52663585e-02 1.16765859e+02] [ 8.96598541e-02 9.95962213e-01 -4.51459717e-03 1.00674129e+02] [ 3.55292068e-02 1.33157595e-03 9.99367751e-01 1.83332939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.836875 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:116.79, Y:100.68, Z:18.33 [[ 9.95306356e-01 -9.01161304e-02 -3.52752045e-02 1.16794568e+02] [ 9.00158142e-02 9.95930506e-01 -4.42495969e-03 1.00675773e+02] [ 3.55304125e-02 1.22886425e-03 9.99367840e-01 1.83335619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.866875 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:116.82, Y:100.68, Z:18.33 [[ 9.95491914e-01 -8.80396300e-02 -3.52827491e-02 1.16820218e+02] [ 8.79407351e-02 9.96116219e-01 -4.34809175e-03 1.00678072e+02] [ 3.55285230e-02 1.22569929e-03 9.99367911e-01 1.83281958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.896875 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:116.85, Y:100.68, Z:18.34 [[ 9.95113126e-01 -9.22363609e-02 -3.52465705e-02 1.16851989e+02] [ 9.21270760e-02 9.95736092e-01 -4.71566374e-03 1.00679956e+02] [ 3.55312380e-02 1.44545541e-03 9.99367521e-01 1.83359023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.926875 meters Centerline goodness : 0.992203 Centerline is valid? [True, True] Translation: X:116.88, Y:100.68, Z:18.34 [[ 9.95054068e-01 -9.28582681e-02 -3.52809320e-02 1.16880150e+02] [ 9.27617809e-02 9.95678761e-01 -4.36547030e-03 1.00682741e+02] [ 3.55338447e-02 1.07115690e-03 9.99367899e-01 1.83374113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.956875 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:116.91, Y:100.68, Z:18.34 [[ 9.95099909e-01 -9.23619233e-02 -3.52908739e-02 1.16907334e+02] [ 9.22687654e-02 9.95725014e-01 -4.26278044e-03 1.00684462e+02] [ 3.55337245e-02 9.85647065e-04 9.99367992e-01 1.83369670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.986875 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:116.93, Y:100.69, Z:18.34 [[ 9.94735655e-01 -9.62033910e-02 -3.52970993e-02 1.16930560e+02] [ 9.61149576e-02 9.95361389e-01 -4.19767106e-03 1.00687984e+02] [ 3.55371999e-02 7.82993873e-04 9.99368048e-01 1.83385013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.016875 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:116.96, Y:100.69, Z:18.34 [[ 9.94549632e-01 -9.81229598e-02 -3.52550011e-02 1.16963172e+02] [ 9.80201925e-02 9.95173629e-01 -4.63581477e-03 1.00689328e+02] [ 3.55397272e-02 1.15484588e-03 9.99367597e-01 1.83432854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.046875 meters Centerline goodness : 0.986134 Centerline is valid? [True, True] Translation: X:117.01, Y:100.69, Z:18.35 [[ 9.94762204e-01 -9.59334779e-02 -3.52834916e-02 1.17009270e+02] [ 9.58389633e-02 9.95387285e-01 -4.36424145e-03 1.00689950e+02] [ 3.55394158e-02 9.59849181e-04 9.99367814e-01 1.83474189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.07687500000003 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:117.02, Y:100.69, Z:18.35 [[ 9.94168388e-01 -1.01835975e-01 -3.54774659e-02 1.17019040e+02] [ 1.01812122e-01 9.94800546e-01 -2.48298203e-03 1.00693732e+02] [ 3.55458593e-02 -1.14353384e-03 9.99367392e-01 1.83477679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.106875 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:117.03, Y:100.70, Z:18.34 [[ 9.93221845e-01 -1.10740289e-01 -3.53122443e-02 1.17033276e+02] [ 1.10659711e-01 9.93849334e-01 -4.23423044e-03 1.00702173e+02] [ 3.55639504e-02 2.97887409e-04 9.99367358e-01 1.83411296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.13687500000003 meters Centerline goodness : 0.992597 Centerline is valid? [True, True] Translation: X:117.07, Y:100.71, Z:18.34 [[ 9.93171641e-01 -1.11229545e-01 -3.51863560e-02 1.17067112e+02] [ 1.11102127e-01 9.93793430e-01 -5.56206203e-03 1.00705015e+02] [ 3.55866351e-02 1.61480327e-03 9.99365290e-01 1.83430095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.166875 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:117.10, Y:100.71, Z:18.34 [[ 9.93179771e-01 -1.11147181e-01 -3.52171396e-02 1.17100900e+02] [ 1.11031117e-01 9.93803113e-01 -5.24049489e-03 1.00705606e+02] [ 3.55813692e-02 1.29455516e-03 9.99365944e-01 1.83402522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.19687500000003 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:117.13, Y:100.71, Z:18.34 [[ 9.93155683e-01 -1.11349274e-01 -3.52580365e-02 1.17130278e+02] [ 1.11248561e-01 9.93780965e-01 -4.81162831e-03 1.00707955e+02] [ 3.55745369e-02 8.56290170e-04 9.99366659e-01 1.83406278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.226875 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:117.15, Y:100.72, Z:18.34 [[ 9.92346541e-01 -1.18337372e-01 -3.52790037e-02 1.17148351e+02] [ 1.18248998e-01 9.92973374e-01 -4.58845150e-03 1.00716055e+02] [ 3.55740966e-02 3.81627150e-04 9.99366969e-01 1.83441480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.25687500000004 meters Centerline goodness : 0.991926 Centerline is valid? [True, True] Translation: X:117.18, Y:100.72, Z:18.34 [[ 9.92232569e-01 -1.19313048e-01 -3.51983737e-02 1.17175694e+02] [ 1.19194458e-01 9.92855937e-01 -5.45606399e-03 1.00719471e+02] [ 3.55978940e-02 1.21823332e-03 9.99365452e-01 1.83397129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.286875 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:117.21, Y:100.72, Z:18.35 [[ 9.92046477e-01 -1.20855456e-01 -3.51816056e-02 1.17205288e+02] [ 1.20731398e-01 9.92669205e-01 -5.63734709e-03 1.00724530e+02] [ 3.56050006e-02 1.34498588e-03 9.99365036e-01 1.83452368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31687500000004 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:117.26, Y:100.70, Z:18.35 [[ 9.94280639e-01 -1.00838506e-01 -3.51796433e-02 1.17260946e+02] [ 1.00701187e-01 9.94900626e-01 -5.65814866e-03 1.00703980e+02] [ 3.55708084e-02 2.08315582e-03 9.99364987e-01 1.83478393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.346875 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:117.29, Y:100.71, Z:18.35 [[ 9.94171098e-01 -1.01836202e-01 -3.54007969e-02 1.17288751e+02] [ 1.01784961e-01 9.94801111e-01 -3.25137316e-03 1.00707858e+02] [ 3.55478596e-02 -3.70847497e-04 9.99367906e-01 1.83512185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37687500000004 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:117.29, Y:100.73, Z:18.35 [[ 9.92159277e-01 -1.19861642e-01 -3.53999295e-02 1.17294370e+02] [ 1.19821507e-01 9.92790096e-01 -3.26079017e-03 1.00733274e+02] [ 3.55355431e-02 -1.00644968e-03 9.99367906e-01 1.83512350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.406875 meters Centerline goodness : 0.989937 Centerline is valid? [True, True] Translation: X:117.32, Y:100.74, Z:18.35 [[ 9.92003657e-01 -1.21194243e-01 -3.52235846e-02 1.17322166e+02] [ 1.21087660e-01 9.92628451e-01 -5.15145159e-03 1.00739774e+02] [ 3.55882585e-02 8.45117377e-04 9.99366180e-01 1.83504309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43687500000004 meters Centerline goodness : 0.990018 Centerline is valid? [True, True] Translation: X:117.35, Y:100.74, Z:18.35 [[ 9.92294929e-01 -1.18790973e-01 -3.52062235e-02 1.17346894e+02] [ 1.18676166e-01 9.92918651e-01 -5.34040923e-03 1.00742625e+02] [ 3.55913084e-02 1.12112140e-03 9.99365800e-01 1.83487949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.466875 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:117.38, Y:100.74, Z:18.35 [[ 9.92663011e-01 -1.15682454e-01 -3.51812041e-02 1.17378817e+02] [ 1.15555907e-01 9.93285101e-01 -5.61615109e-03 1.00744940e+02] [ 3.55946560e-02 1.50954950e-03 9.99365169e-01 1.83498004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49687500000005 meters Centerline goodness : 0.989983 Centerline is valid? [True, True] Translation: X:117.41, Y:100.75, Z:18.35 [[ 9.92728481e-01 -1.15112347e-01 -3.52038573e-02 1.17405412e+02] [ 1.14994328e-01 9.93351656e-01 -5.36578731e-03 1.00748590e+02] [ 3.55874783e-02 1.27852598e-03 9.99365747e-01 1.83463428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.526875 meters Centerline goodness : 0.989271 Centerline is valid? [True, True] Translation: X:117.44, Y:100.74, Z:18.35 [[ 9.94081507e-01 -1.02769889e-01 -3.52179885e-02 1.17440387e+02] [ 1.02649880e-01 9.94703937e-01 -5.20374721e-03 1.00744896e+02] [ 3.55662604e-02 1.55782656e-03 9.99366106e-01 1.83514904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.556875 meters Centerline goodness : 0.987405 Centerline is valid? [True, True] Translation: X:117.48, Y:100.75, Z:18.35 [[ 9.93521206e-01 -1.08031645e-01 -3.52814053e-02 1.17475328e+02] [ 1.07940873e-01 9.94147252e-01 -4.47306198e-03 1.00751890e+02] [ 3.55581444e-02 6.35776223e-04 9.99367407e-01 1.83512614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.586875 meters Centerline goodness : 0.985843 Centerline is valid? [True, True] Translation: X:117.51, Y:100.75, Z:18.35 [[ 9.94865961e-01 -9.48430097e-02 -3.53061301e-02 1.17513368e+02] [ 9.47533550e-02 9.95491887e-01 -4.20774098e-03 1.00750535e+02] [ 3.55460409e-02 8.40763996e-04 9.99367686e-01 1.83548670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.616875 meters Centerline goodness : 0.989842 Centerline is valid? [True, True] Translation: X:117.53, Y:100.75, Z:18.35 [[ 9.95166177e-01 -9.16058647e-02 -3.53927486e-02 1.17528753e+02] [ 9.15474637e-02 9.95795343e-01 -3.27055927e-03 1.00751405e+02] [ 3.55435367e-02 1.46335899e-05 9.99368129e-01 1.83521390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.646875 meters Centerline goodness : 0.988221 Centerline is valid? [True, True] Translation: X:117.56, Y:100.76, Z:18.36 [[ 9.95264411e-01 -9.05730590e-02 -3.52884347e-02 1.17559722e+02] [ 9.04707204e-02 9.95888997e-01 -4.48942154e-03 1.00755154e+02] [ 3.55499844e-02 1.27559138e-03 9.99367085e-01 1.83554710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.676875 meters Centerline goodness : 0.987691 Centerline is valid? [True, True] Translation: X:117.60, Y:100.75, Z:18.36 [[ 9.95743957e-01 -8.51361567e-02 -3.52960033e-02 1.17602246e+02] [ 8.50332746e-02 9.96368359e-01 -4.40853049e-03 1.00754798e+02] [ 3.55431462e-02 1.38843286e-03 9.99367178e-01 1.83579573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.706875 meters Centerline goodness : 0.989101 Centerline is valid? [True, True] Translation: X:117.62, Y:100.76, Z:18.36 [[ 9.95990799e-01 -8.21529876e-02 -3.54007647e-02 1.17618379e+02] [ 8.20883802e-02 9.96619666e-01 -3.27709615e-03 1.00757578e+02] [ 3.55503216e-02 3.57966184e-04 9.99367823e-01 1.83579450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.736875 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:117.64, Y:100.76, Z:18.35 [[ 9.95835916e-01 -8.40457954e-02 -3.53147580e-02 1.17638668e+02] [ 8.39468797e-02 9.96461052e-01 -4.27707444e-03 1.00764959e+02] [ 3.55492510e-02 1.29470060e-03 9.99367087e-01 1.83538727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.766875 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:117.67, Y:100.77, Z:18.35 [[ 9.96122056e-01 -8.06114086e-02 -3.52512472e-02 1.17669267e+02] [ 8.04840306e-02 9.96743257e-01 -5.01996031e-03 1.00766606e+02] [ 3.55411091e-02 2.16333073e-03 9.99365874e-01 1.83487984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.796875 meters Centerline goodness : 0.990189 Centerline is valid? [True, True] Translation: X:117.70, Y:100.77, Z:18.35 [[ 9.96633575e-01 -7.40109622e-02 -3.52688980e-02 1.17698358e+02] [ 7.38869677e-02 9.97255032e-01 -4.80797070e-03 1.00767560e+02] [ 3.55279286e-02 2.18587310e-03 9.99366293e-01 1.83490461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.82687500000003 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:117.73, Y:100.77, Z:18.35 [[ 9.96690186e-01 -7.32378612e-02 -3.52829910e-02 1.17725156e+02] [ 7.31193929e-02 9.97312410e-01 -4.63811296e-03 1.00769732e+02] [ 3.55278503e-02 2.04289078e-03 9.99366599e-01 1.83532293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.856875 meters Centerline goodness : 0.991120 Centerline is valid? [True, True] Translation: X:117.76, Y:100.77, Z:18.35 [[ 9.96818095e-01 -7.14813944e-02 -3.52717463e-02 1.17755869e+02] [ 7.13570386e-02 9.97439415e-01 -4.77359158e-03 1.00770123e+02] [ 3.55226530e-02 2.24151510e-03 9.99366358e-01 1.83536776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.88687500000003 meters Centerline goodness : 0.990839 Centerline is valid? [True, True] Translation: X:117.78, Y:100.77, Z:18.35 [[ 9.96898608e-01 -7.03357242e-02 -3.52994641e-02 1.17780906e+02] [ 7.02227136e-02 9.97521489e-01 -4.43267474e-03 1.00772012e+02] [ 3.55237494e-02 1.94010312e-03 9.99366949e-01 1.83519460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.916875 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:117.81, Y:100.77, Z:18.35 [[ 9.96867368e-01 -7.07897247e-02 -3.52741541e-02 1.17814565e+02] [ 7.06660544e-02 9.97488758e-01 -4.74202318e-03 1.00772036e+02] [ 3.55212586e-02 2.23448287e-03 9.99366423e-01 1.83540499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.94687500000003 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:117.84, Y:100.77, Z:18.35 [[ 9.96841167e-01 -7.11384552e-02 -3.53130041e-02 1.17837625e+02] [ 7.10320518e-02 9.97464936e-01 -4.26022209e-03 1.00773096e+02] [ 3.55265490e-02 1.73840962e-03 9.99367221e-01 1.83519646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.976875 meters Centerline goodness : 0.990633 Centerline is valid? [True, True] Translation: X:117.87, Y:100.77, Z:18.35 [[ 9.96873451e-01 -7.06994314e-02 -3.52833335e-02 1.17869268e+02] [ 7.05796226e-02 9.97495398e-01 -4.63123671e-03 1.00773147e+02] [ 3.55223886e-02 2.12647256e-03 9.99366618e-01 1.83547055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.00687500000004 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:117.89, Y:100.77, Z:18.36 [[ 9.96569258e-01 -7.48561537e-02 -3.53025482e-02 1.17893433e+02] [ 7.47474494e-02 9.97192829e-01 -4.39088849e-03 1.00772002e+02] [ 3.55321330e-02 1.73704905e-03 9.99367025e-01 1.83569292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.036875 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:117.93, Y:100.77, Z:18.36 [[ 9.96689800e-01 -7.32507681e-02 -3.52670871e-02 1.17929418e+02] [ 7.31255084e-02 9.97311049e-01 -4.83033973e-03 1.00772298e+02] [ 3.55260818e-02 2.23542667e-03 9.99366249e-01 1.83567402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06687500000004 meters Centerline goodness : 0.990322 Centerline is valid? [True, True] Translation: X:117.95, Y:100.78, Z:18.36 [[ 9.96356790e-01 -7.76280247e-02 -3.53134011e-02 1.17954705e+02] [ 7.75259270e-02 9.96981263e-01 -4.25340903e-03 1.00776522e+02] [ 3.55369830e-02 1.50020881e-03 9.99367236e-01 1.83586734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.096875 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:117.98, Y:100.78, Z:18.36 [[ 9.96141551e-01 -8.03406309e-02 -3.53184453e-02 1.17975321e+02] [ 8.02425721e-02 9.96766570e-01 -4.18746525e-03 1.00777625e+02] [ 3.55406692e-02 1.33726524e-03 9.99367336e-01 1.83550303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12687500000004 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:118.01, Y:100.78, Z:18.36 [[ 9.95971463e-01 -8.24448278e-02 -3.52660540e-02 1.18010808e+02] [ 8.23236499e-02 9.96593715e-01 -4.87695775e-03 1.00778269e+02] [ 3.55480077e-02 1.95408046e-03 9.99366059e-01 1.83590734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.156875 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:118.04, Y:100.78, Z:18.36 [[ 9.96065607e-01 -8.12810985e-02 -3.53085033e-02 1.18035695e+02] [ 8.11794324e-02 9.96690202e-01 -4.30587376e-03 1.00777541e+02] [ 3.55416255e-02 1.42260851e-03 9.99367184e-01 1.83573832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18687500000004 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:118.06, Y:100.78, Z:18.36 [[ 9.95533672e-01 -8.75630144e-02 -3.52905985e-02 1.18064805e+02] [ 8.74567677e-02 9.96157943e-01 -4.54611816e-03 1.00780148e+02] [ 3.55530818e-02 1.43941204e-03 9.99366753e-01 1.83618982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.216875 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:118.09, Y:100.78, Z:18.36 [[ 9.95785690e-01 -8.46455174e-02 -3.52986800e-02 1.18091228e+02] [ 8.45413643e-02 9.96410098e-01 -4.43550683e-03 1.00780431e+02] [ 3.55474070e-02 1.43261566e-03 9.99366964e-01 1.83621004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24687500000005 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:118.12, Y:100.78, Z:18.37 [[ 9.95715582e-01 -8.54703125e-02 -3.52888843e-02 1.18121707e+02] [ 8.53619432e-02 9.96339532e-01 -4.56898235e-03 1.00782003e+02] [ 3.55502228e-02 1.53707918e-03 9.99366709e-01 1.83652328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.276875 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:118.15, Y:100.78, Z:18.37 [[ 9.95620528e-01 -8.65662269e-02 -3.52994736e-02 1.18147910e+02] [ 8.64636164e-02 9.96245178e-01 -4.42597746e-03 1.00783462e+02] [ 3.55500705e-02 1.35447387e-03 9.99366979e-01 1.83656430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.306875 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:118.18, Y:100.78, Z:18.36 [[ 9.95670320e-01 -8.59938282e-02 -3.52941404e-02 1.18175606e+02] [ 8.58882623e-02 9.96294617e-01 -4.49917808e-03 1.00784616e+02] [ 3.55502637e-02 1.44834568e-03 9.99366840e-01 1.83647900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.336875 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:118.20, Y:100.79, Z:18.37 [[ 9.95826222e-01 -8.41700804e-02 -3.52921011e-02 1.18204795e+02] [ 8.40623732e-02 9.96450210e-01 -4.52732396e-03 1.00787837e+02] [ 3.55478868e-02 1.54169015e-03 9.99366785e-01 1.83656248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.366875 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:118.23, Y:100.79, Z:18.37 [[ 9.95889867e-01 -8.34121721e-02 -3.52956383e-02 1.18232668e+02] [ 8.33057276e-02 9.96513974e-01 -4.47831815e-03 1.00789401e+02] [ 3.55461430e-02 1.51958284e-03 9.99366881e-01 1.83666419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.396875 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:118.26, Y:100.79, Z:18.37 [[ 9.95917413e-01 -8.30826764e-02 -3.52955504e-02 1.18261780e+02] [ 8.29759821e-02 9.96541479e-01 -4.47953970e-03 1.00791077e+02] [ 3.55456522e-02 1.53256862e-03 9.99366879e-01 1.83679053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.426875 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:118.29, Y:100.79, Z:18.37 [[ 9.95933842e-01 -8.28825523e-02 -3.53024842e-02 1.18289880e+02] [ 8.27791543e-02 9.96558278e-01 -4.38304566e-03 1.00794447e+02] [ 3.55442609e-02 1.44291372e-03 9.99367061e-01 1.83690237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.456875 meters Centerline goodness : 0.991974 Centerline is valid? [True, True] Translation: X:118.32, Y:100.80, Z:18.37 [[ 9.95925686e-01 -8.29803388e-02 -3.53028583e-02 1.18317480e+02] [ 8.28771885e-02 9.96550153e-01 -4.37779069e-03 1.00797006e+02] [ 3.55443393e-02 1.43415256e-03 9.99367071e-01 1.83706633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.486875 meters Centerline goodness : 0.989600 Centerline is valid? [True, True] Translation: X:118.37, Y:100.79, Z:18.38 [[ 9.96579225e-01 -7.47253005e-02 -3.52984005e-02 1.18370813e+02] [ 7.46150484e-02 9.97202562e-01 -4.43232524e-03 1.00791461e+02] [ 3.55308623e-02 1.78337140e-03 9.99366988e-01 1.83755629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.516875 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:118.38, Y:100.80, Z:18.38 [[ 9.96128777e-01 -8.04349560e-02 -3.54637595e-02 1.18376579e+02] [ 8.04020028e-02 9.96759732e-01 -2.35667561e-03 1.00801100e+02] [ 3.55384065e-02 -5.03804901e-04 9.99368184e-01 1.83750319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.546875 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:118.41, Y:100.80, Z:18.37 [[ 9.96453422e-01 -7.63659853e-02 -3.53385729e-02 1.18409061e+02] [ 7.62669599e-02 9.97078824e-01 -4.14373550e-03 1.00801572e+02] [ 3.55517832e-02 1.43387389e-03 9.99366807e-01 1.83746417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.57687500000003 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:118.43, Y:100.81, Z:18.37 [[ 9.96787083e-01 -7.18634329e-02 -3.53717089e-02 1.18432323e+02] [ 7.17792523e-02 9.97413880e-01 -3.64567847e-03 1.00805189e+02] [ 3.55422244e-02 1.09501038e-03 9.99367576e-01 1.83735039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.606875 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:118.45, Y:100.81, Z:18.37 [[ 9.96705204e-01 -7.30014063e-02 -3.53487015e-02 1.18454959e+02] [ 7.29055981e-02 9.97330851e-01 -3.99351724e-03 1.00809362e+02] [ 3.55458829e-02 1.40324119e-03 9.99367060e-01 1.83738923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.63687500000003 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:118.48, Y:100.81, Z:18.38 [[ 9.96695515e-01 -7.31503004e-02 -3.53140740e-02 1.18484632e+02] [ 7.30359551e-02 9.97319071e-01 -4.51889821e-03 1.00812796e+02] [ 3.55499583e-02 1.92476846e-03 9.99366047e-01 1.83761486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.666875 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:118.52, Y:100.82, Z:18.38 [[ 9.96814286e-01 -7.15148799e-02 -3.53114789e-02 1.18520432e+02] [ 7.13981508e-02 9.97437484e-01 -4.55730494e-03 1.00815479e+02] [ 3.55469078e-02 2.02161237e-03 9.99365964e-01 1.83797681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.69687500000003 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:118.55, Y:100.81, Z:18.38 [[ 9.97074819e-01 -6.77724396e-02 -3.53369870e-02 1.18553208e+02] [ 6.76662148e-02 9.97699197e-01 -4.19474622e-03 1.00814634e+02] [ 3.55399717e-02 1.79135568e-03 9.99366650e-01 1.83823818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.726875 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:118.58, Y:100.82, Z:18.38 [[ 9.97263068e-01 -6.49206816e-02 -3.53790716e-02 1.18575033e+02] [ 6.48350621e-02 9.97889632e-01 -3.56318426e-03 1.00816603e+02] [ 3.55357331e-02 1.25962776e-03 9.99367613e-01 1.83812352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.75687500000004 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:118.61, Y:100.82, Z:18.38 [[ 9.97365901e-01 -6.33380274e-02 -3.53490311e-02 1.18605565e+02] [ 6.32353450e-02 9.97990561e-01 -4.01642087e-03 1.00819123e+02] [ 3.55323916e-02 1.77053304e-03 9.99366957e-01 1.83818892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.786875 meters Centerline goodness : 0.991963 Centerline is valid? [True, True] Translation: X:118.63, Y:100.82, Z:18.38 [[ 9.97338502e-01 -6.37604992e-02 -3.53625548e-02 1.18630589e+02] [ 6.36653459e-02 9.97964026e-01 -3.81148132e-03 1.00823236e+02] [ 3.55335795e-02 1.54996779e-03 9.99367281e-01 1.83835459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81687500000004 meters Centerline goodness : 0.991033 Centerline is valid? [True, True] Translation: X:118.66, Y:100.83, Z:18.38 [[ 9.97494266e-01 -6.12864683e-02 -3.53434239e-02 1.18659775e+02] [ 6.11795269e-02 9.98118356e-01 -4.10038501e-03 1.00825052e+02] [ 3.55282183e-02 1.92781658e-03 9.99366814e-01 1.83834037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.846875 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:118.69, Y:100.83, Z:18.38 [[ 9.97626778e-01 -5.90819928e-02 -3.53571779e-02 1.18687910e+02] [ 5.89812078e-02 9.98251523e-01 -3.88766631e-03 1.00826510e+02] [ 3.55250478e-02 1.79303095e-03 9.99367178e-01 1.83828135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87687500000004 meters Centerline goodness : 0.990450 Centerline is valid? [True, True] Translation: X:118.71, Y:100.83, Z:18.39 [[ 9.97523242e-01 -6.08036440e-02 -3.53595690e-02 1.18711847e+02] [ 6.07052468e-02 9.98148308e-01 -3.85072008e-03 1.00830085e+02] [ 3.55282318e-02 1.69467142e-03 9.99367236e-01 1.83874408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.906875 meters Centerline goodness : 0.986390 Centerline is valid? [True, True] Translation: X:118.77, Y:100.83, Z:18.39 [[ 9.97805601e-01 -5.59942626e-02 -3.53359047e-02 1.18768307e+02] [ 5.58823975e-02 9.98428749e-01 -4.14627472e-03 1.00831169e+02] [ 3.55125507e-02 2.16252107e-03 9.99366891e-01 1.83858248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93687500000004 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:118.79, Y:100.84, Z:18.39 [[ 9.97645861e-01 -5.86483607e-02 -3.55402056e-02 1.18786198e+02] [ 5.86321986e-02 9.98278529e-01 -1.49771189e-03 1.00835949e+02] [ 3.55668626e-02 -5.89614324e-04 9.99367125e-01 1.83903162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.966875 meters Centerline goodness : 0.989615 Centerline is valid? [True, True] Translation: X:118.79, Y:100.85, Z:18.39 [[ 9.96634793e-01 -7.39132165e-02 -3.54390441e-02 1.18794998e+02] [ 7.38608895e-02 9.97264665e-01 -2.78525189e-03 1.00853997e+02] [ 3.55479733e-02 1.58319624e-04 9.99367959e-01 1.83860427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99687500000005 meters Centerline goodness : 0.989934 Centerline is valid? [True, True] Translation: X:118.82, Y:100.86, Z:18.39 [[ 9.96636622e-01 -7.39442363e-02 -3.53227162e-02 1.18822149e+02] [ 7.38395068e-02 9.97261030e-01 -4.26209241e-03 1.00855955e+02] [ 3.55411255e-02 1.63954544e-03 9.99366870e-01 1.83880051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.026875 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:118.85, Y:100.86, Z:18.39 [[ 9.96532357e-01 -7.53381449e-02 -3.53189175e-02 1.18846020e+02] [ 7.52325449e-02 9.97156696e-01 -4.31129956e-03 1.00857256e+02] [ 3.55433004e-02 1.63921746e-03 9.99366793e-01 1.83898325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.056875 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:118.88, Y:100.86, Z:18.39 [[ 9.96615411e-01 -7.42456274e-02 -3.52889357e-02 1.18880650e+02] [ 7.41255755e-02 9.97237840e-01 -4.70000352e-03 1.00855139e+02] [ 3.55404167e-02 2.06828328e-03 9.99366100e-01 1.83927439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.086875 meters Centerline goodness : 0.990758 Centerline is valid? [True, True] Translation: X:118.91, Y:100.86, Z:18.39 [[ 9.96491081e-01 -7.58788475e-02 -3.53259841e-02 1.18906482e+02] [ 7.57768854e-02 9.97115876e-01 -4.21822814e-03 1.00858639e+02] [ 3.55441738e-02 1.52653368e-03 9.99366940e-01 1.83926006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.116875 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:118.94, Y:100.86, Z:18.39 [[ 9.96522694e-01 -7.54687129e-02 -3.53128024e-02 1.18935309e+02] [ 7.53603413e-02 9.97146695e-01 -4.39181520e-03 1.00860409e+02] [ 3.55434888e-02 1.71535868e-03 9.99366658e-01 1.83938172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.146875 meters Centerline goodness : 0.987275 Centerline is valid? [True, True] Translation: X:118.99, Y:100.86, Z:18.40 [[ 9.97004822e-01 -6.88017818e-02 -3.53227869e-02 1.18989558e+02] [ 6.86932254e-02 9.97628653e-01 -4.27916231e-03 1.00861543e+02] [ 3.55334383e-02 1.83990930e-03 9.99366794e-01 1.83964917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.176875 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:118.99, Y:100.86, Z:18.40 [[ 9.96857431e-01 -7.07982496e-02 -3.55368982e-02 1.18992337e+02] [ 7.07779242e-02 9.97490417e-01 -1.83121806e-03 1.00863270e+02] [ 3.55773624e-02 -6.89764556e-04 9.99366687e-01 1.83971333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.206875 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:119.03, Y:100.87, Z:18.40 [[ 9.96960811e-01 -6.94187444e-02 -3.53578645e-02 1.19025118e+02] [ 6.93126647e-02 9.97586065e-01 -4.21862746e-03 1.00866014e+02] [ 3.55653647e-02 1.75505845e-03 9.99365811e-01 1.83978816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.236875 meters Centerline goodness : 0.991360 Centerline is valid? [True, True] Translation: X:119.05, Y:100.87, Z:18.40 [[ 9.97024243e-01 -6.84974720e-02 -3.53660329e-02 1.19051117e+02] [ 6.83946182e-02 9.97649875e-01 -4.11134386e-03 1.00868702e+02] [ 3.55645350e-02 1.68026318e-03 9.99365969e-01 1.83982638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.266875 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:119.07, Y:100.87, Z:18.40 [[ 9.97182983e-01 -6.61408490e-02 -3.53763626e-02 1.19070636e+02] [ 6.60416241e-02 9.97808982e-01 -3.96732524e-03 1.00872020e+02] [ 3.55612546e-02 1.61983678e-03 9.99366186e-01 1.83970263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.296875 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:119.11, Y:100.87, Z:18.40 [[ 9.97135128e-01 -6.68846047e-02 -3.53268549e-02 1.19108764e+02] [ 6.67614216e-02 9.97758102e-01 -4.65644580e-03 1.00874475e+02] [ 3.55591002e-02 2.28463462e-03 9.99364964e-01 1.83993110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.32687500000003 meters Centerline goodness : 0.990279 Centerline is valid? [True, True] Translation: X:119.13, Y:100.88, Z:18.40 [[ 9.97198648e-01 -6.59070767e-02 -3.53710878e-02 1.19129536e+02] [ 6.58049668e-02 9.97824307e-01 -4.04452695e-03 1.00876940e+02] [ 3.55606941e-02 1.70560354e-03 9.99366063e-01 1.83969513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.356875 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:119.16, Y:100.88, Z:18.40 [[ 9.97158829e-01 -6.65300363e-02 -3.53273905e-02 1.19159630e+02] [ 6.64068551e-02 9.97781793e-01 -4.65013306e-03 1.00879557e+02] [ 3.55584006e-02 2.29094033e-03 9.99364974e-01 1.83981200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.38687500000003 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:119.19, Y:100.88, Z:18.40 [[ 9.97390271e-01 -6.29632514e-02 -3.53309424e-02 1.19187773e+02] [ 6.28395711e-02 9.98013034e-01 -4.60131398e-03 1.00877668e+02] [ 3.55504547e-02 2.36912453e-03 9.99365075e-01 1.83984146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.416875 meters Centerline goodness : 0.988792 Centerline is valid? [True, True] Translation: X:119.22, Y:100.88, Z:18.40 [[ 9.97433036e-01 -6.22856611e-02 -3.53247247e-02 1.19221675e+02] [ 6.21585128e-02 9.98055283e-01 -4.68734098e-03 1.00880422e+02] [ 3.55479822e-02 2.47957639e-03 9.99364895e-01 1.83997356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.44687500000003 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:119.25, Y:100.88, Z:18.40 [[ 9.97441190e-01 -6.21359243e-02 -3.53581737e-02 1.19248007e+02] [ 6.20252114e-02 9.98065659e-01 -4.22056729e-03 1.00881449e+02] [ 3.55520278e-02 2.01666946e-03 9.99365792e-01 1.84000542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.476875 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:119.28, Y:100.88, Z:18.40 [[ 9.97547141e-01 -6.04188208e-02 -3.53449827e-02 1.19278781e+02] [ 6.03004283e-02 9.98170545e-01 -4.40705762e-03 1.00880558e+02] [ 3.55465898e-02 2.26493013e-03 9.99365454e-01 1.84025462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.50687500000004 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:119.30, Y:100.88, Z:18.41 [[ 9.97663941e-01 -5.84464706e-02 -3.53648131e-02 1.19304835e+02] [ 5.83370456e-02 9.98288447e-01 -4.11905239e-03 1.00880418e+02] [ 3.55450284e-02 2.04635133e-03 9.99365981e-01 1.84058613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.536875 meters Centerline goodness : 0.990539 Centerline is valid? [True, True] Translation: X:119.36, Y:100.87, Z:18.41 [[ 9.98156358e-01 -4.93345743e-02 -3.53551324e-02 1.19358247e+02] [ 4.92151350e-02 9.98779196e-01 -4.24115586e-03 1.00872602e+02] [ 3.55212064e-02 2.49332907e-03 9.99365813e-01 1.84091031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56687500000004 meters Centerline goodness : 0.991725 Centerline is valid? [True, True] Translation: X:119.36, Y:100.88, Z:18.41 [[ 9.97813845e-01 -5.57286108e-02 -3.55225693e-02 1.19363905e+02] [ 5.56898579e-02 9.98445949e-01 -2.08021191e-03 1.00881698e+02] [ 3.55832927e-02 9.74174083e-05 9.99366709e-01 1.84130538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.596875 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:119.39, Y:100.88, Z:18.41 [[ 9.97943291e-01 -5.34456568e-02 -3.53942022e-02 1.19385293e+02] [ 5.33389435e-02 9.98568641e-01 -3.95307625e-03 1.00882126e+02] [ 3.55548152e-02 2.05705657e-03 9.99365611e-01 1.84145224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62687500000004 meters Centerline goodness : 0.989681 Centerline is valid? [True, True] Translation: X:119.42, Y:100.88, Z:18.42 [[ 9.98113278e-01 -5.02085160e-02 -3.53410380e-02 1.19421460e+02] [ 5.00724246e-02 9.98734408e-01 -4.72596808e-03 1.00884248e+02] [ 3.55335945e-02 2.94744003e-03 9.99364136e-01 1.84156913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.656875 meters Centerline goodness : 0.991236 Centerline is valid? [True, True] Translation: X:119.45, Y:100.88, Z:18.42 [[ 9.98326005e-01 -4.57499717e-02 -3.53854191e-02 1.19450003e+02] [ 4.56339500e-02 9.98949897e-01 -4.07994520e-03 1.00882842e+02] [ 3.55349181e-02 2.45833895e-03 9.99365412e-01 1.84187260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68687500000004 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:119.50, Y:100.88, Z:18.42 [[ 9.98659263e-01 -3.77722152e-02 -3.53968458e-02 1.19498880e+02] [ 3.76565119e-02 9.99283014e-01 -3.92997224e-03 1.00877200e+02] [ 3.55199105e-02 2.59178144e-03 9.99365608e-01 1.84192799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.716875 meters Centerline goodness : 0.992344 Centerline is valid? [True, True] Translation: X:119.50, Y:100.88, Z:18.42 [[ 9.98347412e-01 -4.51667698e-02 -3.55303822e-02 1.19504682e+02] [ 4.51193309e-02 9.98979320e-01 -2.13624961e-03 1.00883159e+02] [ 3.55906045e-02 5.29612197e-04 9.99366313e-01 1.84167205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74687500000005 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:119.53, Y:100.88, Z:18.42 [[ 9.98378043e-01 -4.45838941e-02 -3.54056552e-02 1.19531553e+02] [ 4.44684081e-02 9.99002610e-01 -4.04298106e-03 1.00882890e+02] [ 3.55505938e-02 2.46199039e-03 9.99364845e-01 1.84177529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.776875 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:119.56, Y:100.88, Z:18.42 [[ 9.98371133e-01 -4.47469962e-02 -3.53947339e-02 1.19561822e+02] [ 4.46256479e-02 9.98994903e-01 -4.21142958e-03 1.00883036e+02] [ 3.55476076e-02 2.62505678e-03 9.99364536e-01 1.84198491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.806875 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:119.59, Y:100.88, Z:18.42 [[ 9.98349116e-01 -4.52304750e-02 -3.54012127e-02 1.19588318e+02] [ 4.51130000e-02 9.98973433e-01 -4.11057106e-03 1.00882614e+02] [ 3.55507941e-02 2.50673008e-03 9.99364727e-01 1.84188235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.836875 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:119.64, Y:100.88, Z:18.42 [[ 9.98519734e-01 -4.13056017e-02 -3.53862721e-02 1.19642907e+02] [ 4.11786739e-02 9.99142509e-01 -4.30856208e-03 1.00882656e+02] [ 3.55338965e-02 2.84502450e-03 9.99364422e-01 1.84195859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.866875 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:119.65, Y:100.89, Z:18.42 [[ 9.98211536e-01 -4.80634908e-02 -3.55475716e-02 1.19651336e+02] [ 4.80189979e-02 9.98844205e-01 -2.10482977e-03 1.00890239e+02] [ 3.56076514e-02 3.94106595e-04 9.99365769e-01 1.84191289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.896875 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:119.67, Y:100.90, Z:18.42 [[ 9.98117776e-01 -5.00413370e-02 -3.54509619e-02 1.19671185e+02] [ 4.99453068e-02 9.98745503e-01 -3.58979664e-03 1.00895042e+02] [ 3.55861270e-02 1.81243067e-03 9.99364970e-01 1.84163982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.926875 meters Centerline goodness : 0.992335 Centerline is valid? [True, True] Translation: X:119.71, Y:100.89, Z:18.42 [[ 9.98251420e-01 -4.73421783e-02 -3.53952215e-02 1.19707023e+02] [ 4.72142083e-02 9.98874906e-01 -4.44307026e-03 1.00891878e+02] [ 3.55657431e-02 2.76414383e-03 9.99363516e-01 1.84177871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.956875 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:119.73, Y:100.89, Z:18.42 [[ 9.98303657e-01 -4.61969902e-02 -3.54351166e-02 1.19733281e+02] [ 4.60903691e-02 9.98929969e-01 -3.82033483e-03 1.00891759e+02] [ 3.55736879e-02 2.18063662e-03 9.99364677e-01 1.84201527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.986875 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:119.77, Y:100.89, Z:18.43 [[ 9.98378987e-01 -4.45419181e-02 -3.54318495e-02 1.19766690e+02] [ 4.44324249e-02 9.99004888e-01 -3.87206927e-03 1.00886776e+02] [ 3.55690602e-02 2.29146960e-03 9.99364594e-01 1.84276436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.016875 meters Centerline goodness : 0.986996 Centerline is valid? [True, True] Translation: X:119.81, Y:100.89, Z:18.43 [[ 9.98385712e-01 -4.43631835e-02 -3.54665855e-02 1.19813046e+02] [ 4.42705992e-02 9.99013818e-01 -3.39191479e-03 1.00886656e+02] [ 3.55820851e-02 1.81631227e-03 9.99365107e-01 1.84289465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.046875 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:119.82, Y:100.89, Z:18.43 [[ 9.98253642e-01 -4.71475710e-02 -3.55917439e-02 1.19821577e+02] [ 4.71205223e-02 9.98887932e-01 -1.59887222e-03 1.00886379e+02] [ 3.56275464e-02 -8.10215424e-05 9.99365134e-01 1.84317021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.07687500000003 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:119.85, Y:100.88, Z:18.44 [[ 9.98411990e-01 -4.37469480e-02 -3.54922875e-02 1.19853634e+02] [ 4.36578194e-02 9.99041150e-01 -3.28271098e-03 1.00882934e+02] [ 3.56018643e-02 1.72798213e-03 9.99364559e-01 1.84353925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.106875 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:119.87, Y:100.89, Z:18.43 [[ 9.98229975e-01 -4.77054278e-02 -3.55120944e-02 1.19874927e+02] [ 4.76308101e-02 9.98860668e-01 -2.94471732e-03 1.00885578e+02] [ 3.56121133e-02 1.24803528e-03 9.99364908e-01 1.84346061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.13687500000003 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:119.91, Y:100.88, Z:18.44 [[ 9.98151675e-01 -4.93442983e-02 -3.54735654e-02 1.19909218e+02] [ 4.92473165e-02 9.98780116e-01 -3.60303634e-03 1.00883676e+02] [ 3.56080811e-02 1.84939885e-03 9.99364120e-01 1.84387748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.166875 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:119.93, Y:100.89, Z:18.44 [[ 9.97942546e-01 -5.33897929e-02 -3.54993693e-02 1.19934206e+02] [ 5.33111160e-02 9.98572952e-01 -3.15983876e-03 1.00886646e+02] [ 3.56174132e-02 1.26082654e-03 9.99364703e-01 1.84383100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.19687500000003 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:119.97, Y:100.88, Z:18.44 [[ 9.98245348e-01 -4.74076153e-02 -3.54787639e-02 1.19974245e+02] [ 4.73127025e-02 9.98873958e-01 -3.51047073e-03 1.00881167e+02] [ 3.56052364e-02 1.82571487e-03 9.99364265e-01 1.84423658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.226875 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:120.00, Y:100.88, Z:18.44 [[ 9.98245445e-01 -4.73609597e-02 -3.55383141e-02 1.20002664e+02] [ 4.73026607e-02 9.98877524e-01 -2.47993194e-03 1.00882461e+02] [ 3.56158752e-02 7.94523951e-04 9.99365238e-01 1.84439455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.25687500000004 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:120.03, Y:100.88, Z:18.44 [[ 9.98173264e-01 -4.88583277e-02 -3.55387053e-02 1.20031901e+02] [ 4.88012168e-02 9.98805449e-01 -2.47319199e-03 1.00883728e+02] [ 3.56170885e-02 7.34342056e-04 9.99365240e-01 1.84442597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.286875 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:120.06, Y:100.89, Z:18.45 [[ 9.98139418e-01 -4.95402879e-02 -3.55452028e-02 1.20057932e+02] [ 4.94875911e-02 9.98771947e-01 -2.36134428e-03 1.00885876e+02] [ 3.56185331e-02 5.97904347e-04 9.99365280e-01 1.84454530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31687500000004 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:120.09, Y:100.89, Z:18.45 [[ 9.98146162e-01 -4.94104252e-02 -3.55365766e-02 1.20086629e+02] [ 4.93523401e-02 9.98778276e-01 -2.51038435e-03 1.00886737e+02] [ 3.56171999e-02 7.51917290e-04 9.99365223e-01 1.84460174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.346875 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:120.11, Y:100.89, Z:18.45 [[ 9.98186964e-01 -4.85772094e-02 -3.55392579e-02 1.20109375e+02] [ 4.85202574e-02 9.98819160e-01 -2.46372634e-03 1.00891353e+02] [ 3.56169727e-02 7.34885577e-04 9.99365244e-01 1.84462310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37687500000004 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:120.14, Y:100.89, Z:18.45 [[ 9.98237808e-01 -4.75443873e-02 -3.55078848e-02 1.20136865e+02] [ 4.74673441e-02 9.98868255e-01 -3.01008234e-03 1.00892952e+02] [ 3.56108115e-02 1.31931301e-03 9.99364863e-01 1.84464986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.406875 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:120.17, Y:100.89, Z:18.45 [[ 9.98274776e-01 -4.67635596e-02 -3.55055024e-02 1.20166090e+02] [ 4.66845512e-02 9.98905021e-01 -3.05148678e-03 1.00894607e+02] [ 3.56093231e-02 1.38866384e-03 9.99364822e-01 1.84485433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43687500000004 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:120.20, Y:100.90, Z:18.45 [[ 9.98232743e-01 -4.76501329e-02 -3.55085206e-02 1.20197346e+02] [ 4.75735736e-02 9.98863236e-01 -2.99835203e-03 1.00895890e+02] [ 3.56110276e-02 1.30378595e-03 9.99364876e-01 1.84503224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.466875 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:120.22, Y:100.90, Z:18.45 [[ 9.98315794e-01 -4.58662886e-02 -3.55226669e-02 1.20222019e+02] [ 4.57975340e-02 9.98946965e-01 -2.74721371e-03 1.00898479e+02] [ 3.56112648e-02 1.11573629e-03 9.99365095e-01 1.84514118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49687500000005 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:120.26, Y:100.90, Z:18.45 [[ 9.98203974e-01 -4.82529903e-02 -3.55031606e-02 1.20256450e+02] [ 4.81735595e-02 9.98834201e-01 -3.08982386e-03 1.00900181e+02] [ 3.56108643e-02 1.37396084e-03 9.99364788e-01 1.84537914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.526875 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:120.28, Y:100.90, Z:18.45 [[ 9.98264118e-01 -4.69707001e-02 -3.55317289e-02 1.20284570e+02] [ 4.69083217e-02 9.98895847e-01 -2.58762791e-03 1.00901038e+02] [ 3.56140391e-02 9.16402323e-04 9.99365199e-01 1.84538310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.556875 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:120.30, Y:100.91, Z:18.45 [[ 9.98057206e-01 -5.11793411e-02 -3.55315234e-02 1.20302467e+02] [ 5.11194965e-02 9.98689182e-01 -2.59128987e-03 1.00908926e+02] [ 3.56175685e-02 7.69901944e-04 9.99365197e-01 1.84508985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.586875 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:120.34, Y:100.91, Z:18.45 [[ 9.98373170e-01 -4.46289607e-02 -3.54861907e-02 1.20339000e+02] [ 4.45360477e-02 9.99001976e-01 -3.40483936e-03 1.00905478e+02] [ 3.56027290e-02 1.81888558e-03 9.99364367e-01 1.84535723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.616875 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:120.37, Y:100.91, Z:18.46 [[ 9.98440968e-01 -4.30543201e-02 -3.55240619e-02 1.20366181e+02] [ 4.29853518e-02 9.99072045e-01 -2.70327680e-03 1.00907211e+02] [ 3.56074849e-02 1.17204801e-03 9.99365165e-01 1.84564272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.646875 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:120.39, Y:100.91, Z:18.45 [[ 9.98442849e-01 -4.30131691e-02 -3.55210373e-02 1.20394261e+02] [ 4.29421861e-02 9.99073749e-01 -2.75919641e-03 1.00909499e+02] [ 3.56068177e-02 1.22954893e-03 9.99365120e-01 1.84547501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.676875 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:120.42, Y:100.91, Z:18.46 [[ 9.98526063e-01 -4.10467100e-02 -3.55087209e-02 1.20420068e+02] [ 4.09664958e-02 9.99156065e-01 -2.98392772e-03 1.00910790e+02] [ 3.56012343e-02 1.52486173e-03 9.99364912e-01 1.84587664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.706875 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:120.45, Y:100.91, Z:18.46 [[ 9.98593685e-01 -3.93692015e-02 -3.55065951e-02 1.20445800e+02] [ 3.92865227e-02 9.99223412e-01 -3.02350618e-03 1.00913677e+02] [ 3.55980541e-02 1.62432353e-03 9.99364868e-01 1.84575639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.736875 meters Centerline goodness : 0.992854 Centerline is valid? [True, True] Translation: X:120.48, Y:100.91, Z:18.46 [[ 9.98553382e-01 -4.03852954e-02 -3.54988897e-02 1.20477713e+02] [ 4.02981481e-02 9.99182680e-01 -3.16730116e-03 1.00914709e+02] [ 3.55977882e-02 1.73217977e-03 9.99364697e-01 1.84576152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.766875 meters Centerline goodness : 0.992855 Centerline is valid? [True, True] Translation: X:120.50, Y:100.92, Z:18.46 [[ 9.98372464e-01 -4.46219437e-02 -3.55148628e-02 1.20501872e+02] [ 4.45481180e-02 9.99003124e-01 -2.86772472e-03 1.00920956e+02] [ 3.56074223e-02 1.28093709e-03 9.99365034e-01 1.84552520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.796875 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:120.53, Y:100.92, Z:18.46 [[ 9.98617397e-01 -3.87690189e-02 -3.55001157e-02 1.20531811e+02] [ 3.86813908e-02 9.99246623e-01 -3.15214244e-03 1.00917685e+02] [ 3.55955762e-02 1.77459043e-03 9.99364701e-01 1.84590864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.82687500000003 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:120.56, Y:100.92, Z:18.46 [[ 9.98618284e-01 -3.87348263e-02 -3.55124691e-02 1.20559879e+02] [ 3.86556459e-02 9.99248343e-01 -2.91379752e-03 1.00918125e+02] [ 3.55986414e-02 1.53701404e-03 9.99364986e-01 1.84608340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.856875 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:120.59, Y:100.92, Z:18.46 [[ 9.98477680e-01 -4.22028997e-02 -3.55139003e-02 1.20585789e+02] [ 4.21268839e-02 9.99108100e-01 -2.88635188e-03 1.00922205e+02] [ 3.56040379e-02 1.38586798e-03 9.99365014e-01 1.84608401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.88687500000003 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:120.61, Y:100.92, Z:18.46 [[ 9.98684801e-01 -3.69880541e-02 -3.55042620e-02 1.20613013e+02] [ 3.69021625e-02 9.99314162e-01 -3.07167458e-03 1.00920799e+02] [ 3.55935272e-02 1.75745067e-03 9.99364804e-01 1.84634402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.916875 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:120.64, Y:100.92, Z:18.46 [[ 9.98665413e-01 -3.75150487e-02 -3.54966709e-02 1.20643393e+02] [ 3.74243303e-02 9.99294287e-01 -3.21690918e-03 1.00921844e+02] [ 3.55923030e-02 1.88417679e-03 9.99364617e-01 1.84648628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.94687500000003 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:120.68, Y:100.92, Z:18.47 [[ 9.98584354e-01 -3.96074974e-02 -3.55039989e-02 1.20675305e+02] [ 3.95229732e-02 9.99213916e-01 -3.07965114e-03 1.00923157e+02] [ 3.55980671e-02 1.67206784e-03 9.99364789e-01 1.84655957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.976875 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:120.70, Y:100.92, Z:18.46 [[ 9.98593671e-01 -3.93504837e-02 -3.55277456e-02 1.20700403e+02] [ 3.92821536e-02 9.99224725e-01 -2.61954004e-03 1.00924406e+02] [ 3.56032820e-02 1.22024975e-03 9.99365257e-01 1.84649745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.00687500000004 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:120.73, Y:100.93, Z:18.47 [[ 9.98600335e-01 -3.91891312e-02 -3.55187733e-02 1.20727896e+02] [ 3.91144369e-02 9.99230827e-01 -2.79565392e-03 1.00925043e+02] [ 3.56010125e-02 1.40244413e-03 9.99365099e-01 1.84657825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.036875 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:120.77, Y:100.93, Z:18.46 [[ 9.98458239e-01 -4.26607722e-02 -3.55134171e-02 1.20766015e+02] [ 4.25845537e-02 9.99088657e-01 -2.90017465e-03 1.00925857e+02] [ 3.56047759e-02 1.38338025e-03 9.99364991e-01 1.84637049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06687500000004 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:120.78, Y:100.92, Z:18.47 [[ 9.98596694e-01 -3.92530578e-02 -3.55505341e-02 1.20781998e+02] [ 3.92007684e-02 9.99229005e-01 -2.16694783e-03 1.00924963e+02] [ 3.56081841e-02 7.70298690e-04 9.99365531e-01 1.84684126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.096875 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:120.81, Y:100.93, Z:18.47 [[ 9.98598151e-01 -3.92539059e-02 -3.55086356e-02 1.20811592e+02] [ 3.91712099e-02 9.99227944e-01 -3.02185228e-03 1.00925600e+02] [ 3.55998405e-02 1.62669988e-03 9.99364801e-01 1.84727961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12687500000004 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:120.84, Y:100.93, Z:18.47 [[ 9.98612047e-01 -3.88893552e-02 -3.55189826e-02 1.20838849e+02] [ 3.88140363e-02 9.99242506e-01 -2.80786617e-03 1.00926685e+02] [ 3.56012733e-02 1.42533391e-03 9.99365057e-01 1.84738842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.156875 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:120.87, Y:100.93, Z:18.48 [[ 9.98575088e-01 -3.98268451e-02 -3.55192392e-02 1.20866957e+02] [ 3.97523075e-02 9.99205634e-01 -2.80254034e-03 1.00927643e+02] [ 3.56026403e-02 1.38657524e-03 9.99365063e-01 1.84755556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18687500000004 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:120.89, Y:100.93, Z:18.47 [[ 9.98651961e-01 -3.78498339e-02 -3.55197161e-02 1.20892594e+02] [ 3.77744023e-02 9.99282391e-01 -2.79257734e-03 1.00929025e+02] [ 3.55999254e-02 1.44707679e-03 9.99365074e-01 1.84737642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.216875 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:120.93, Y:100.93, Z:18.47 [[ 9.98535078e-01 -4.08302128e-02 -3.55048103e-02 1.20927980e+02] [ 4.07456709e-02 9.99164736e-01 -3.10175092e-03 1.00931789e+02] [ 3.56017996e-02 1.65053978e-03 9.99364692e-01 1.84690366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24687500000005 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:120.95, Y:100.93, Z:18.47 [[ 9.98715166e-01 -3.61350008e-02 -3.55285736e-02 1.20951295e+02] [ 3.60650674e-02 9.99346042e-01 -2.60748618e-03 1.00931977e+02] [ 3.55995609e-02 1.32279559e-03 9.99365259e-01 1.84731366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.276875 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:120.98, Y:100.93, Z:18.47 [[ 9.98755774e-01 -3.50072663e-02 -3.55161153e-02 1.20978487e+02] [ 3.49271866e-02 9.99385730e-01 -2.87286899e-03 1.00932699e+02] [ 3.55948701e-02 1.62881651e-03 9.99364974e-01 1.84742220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.306875 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:121.01, Y:100.93, Z:18.48 [[ 9.98729057e-01 -3.57645020e-02 -3.55129741e-02 1.21009648e+02] [ 3.56824807e-02 9.99358850e-01 -2.94093407e-03 1.00932596e+02] [ 3.55953860e-02 1.67000529e-03 9.99364888e-01 1.84798580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.336875 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:121.04, Y:100.93, Z:18.48 [[ 9.98697029e-01 -3.66363243e-02 -3.55249687e-02 1.21042064e+02] [ 3.65641029e-02 9.99327714e-01 -2.68074080e-03 1.00933181e+02] [ 3.55992982e-02 1.37830926e-03 9.99365194e-01 1.84823834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.366875 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:121.07, Y:100.93, Z:18.48 [[ 9.98668734e-01 -3.73819212e-02 -3.55436475e-02 1.21066499e+02] [ 3.73247253e-02 9.99300608e-01 -2.27158234e-03 1.00934066e+02] [ 3.56037047e-02 9.41901383e-04 9.99365543e-01 1.84838152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.396875 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:121.09, Y:100.94, Z:18.48 [[ 9.98633311e-01 -3.83268484e-02 -3.55325740e-02 1.21094254e+02] [ 3.82616064e-02 9.99264593e-01 -2.51453437e-03 1.00936007e+02] [ 3.56028173e-02 1.15156442e-03 9.99365355e-01 1.84835143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.426875 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:121.13, Y:100.94, Z:18.48 [[ 9.98564191e-01 -4.00913376e-02 -3.55280377e-02 1.21125896e+02] [ 4.00236470e-02 9.99195312e-01 -2.61472108e-03 1.00937886e+02] [ 3.56042764e-02 1.18900520e-03 9.99365259e-01 1.84816462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.456875 meters Centerline goodness : 0.994611 Centerline is valid? [True, True] Translation: X:121.15, Y:100.94, Z:18.49 [[ 9.98628533e-01 -3.84423308e-02 -3.55420813e-02 1.21149895e+02] [ 3.83847165e-02 9.99260383e-01 -2.30220182e-03 1.00938715e+02] [ 3.56042957e-02 9.34771710e-04 9.99365529e-01 1.84851238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.486875 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:121.18, Y:100.94, Z:18.49 [[ 9.98614144e-01 -3.88264082e-02 -3.55288838e-02 1.21177313e+02] [ 3.87585523e-02 9.99245231e-01 -2.59689272e-03 1.00940069e+02] [ 3.56028957e-02 1.21624570e-03 9.99365276e-01 1.84863329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.516875 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:121.21, Y:100.94, Z:18.49 [[ 9.98553581e-01 -4.03580597e-02 -3.55242551e-02 1.21208648e+02] [ 4.02874662e-02 9.99184480e-01 -2.70106202e-03 1.00940473e+02] [ 3.56042939e-02 1.26597293e-03 9.99365164e-01 1.84891711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.546875 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:121.24, Y:100.94, Z:18.49 [[ 9.98522930e-01 -4.11002067e-02 -3.55349390e-02 1.21235374e+02] [ 4.10384842e-02 9.99154526e-01 -2.46489873e-03 1.00943400e+02] [ 3.56062030e-02 1.00295787e-03 9.99365395e-01 1.84881944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.57687500000003 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:121.27, Y:100.95, Z:18.49 [[ 9.98456662e-01 -4.26886617e-02 -3.55242502e-02 1.21265721e+02] [ 4.26196062e-02 9.99087726e-01 -2.69923401e-03 1.00946026e+02] [ 3.56070691e-02 1.18103863e-03 9.99365169e-01 1.84884131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.606875 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:121.29, Y:100.95, Z:18.49 [[ 9.98541611e-01 -4.06391242e-02 -3.55403102e-02 1.21288990e+02] [ 4.05819636e-02 9.99173500e-01 -2.32852835e-03 1.00948043e+02] [ 3.56055655e-02 8.82836876e-04 9.99365531e-01 1.84897578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.63687500000003 meters Centerline goodness : 0.995893 Centerline is valid? [True, True] Translation: X:121.32, Y:100.95, Z:18.49 [[ 9.98537875e-01 -4.07461353e-02 -3.55227493e-02 1.21316133e+02] [ 4.06746461e-02 9.99168706e-01 -2.73313815e-03 1.00950257e+02] [ 3.56045842e-02 1.28426670e-03 9.99365131e-01 1.84896026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.666875 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:121.35, Y:100.95, Z:18.49 [[ 9.98524130e-01 -4.10854850e-02 -3.55182333e-02 1.21347109e+02] [ 4.10105260e-02 9.99154688e-01 -2.83671511e-03 1.00952581e+02] [ 3.56047571e-02 1.37590706e-03 9.99365002e-01 1.84892984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.69687500000003 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:121.37, Y:100.96, Z:18.49 [[ 9.98557676e-01 -4.02548498e-02 -3.55262461e-02 1.21371488e+02] [ 4.01859743e-02 9.99188701e-01 -2.65093958e-03 1.00955180e+02] [ 3.56041369e-02 1.21945925e-03 9.99365228e-01 1.84908492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.726875 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:121.40, Y:100.96, Z:18.49 [[ 9.98588600e-01 -3.94902641e-02 -3.55151537e-02 1.21399964e+02] [ 3.94116374e-02 9.99218818e-01 -2.91152370e-03 1.00955979e+02] [ 3.56023868e-02 1.50770402e-03 9.99364897e-01 1.84921282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.75687500000004 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:121.43, Y:100.96, Z:18.49 [[ 9.98574923e-01 -3.98329232e-02 -3.55170666e-02 1.21428327e+02] [ 3.97561386e-02 9.99205303e-01 -2.86580711e-03 1.00957541e+02] [ 3.56029947e-02 1.44970170e-03 9.99364961e-01 1.84946769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.786875 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:121.46, Y:100.96, Z:18.49 [[ 9.98491511e-01 -4.18716075e-02 -3.55171920e-02 1.21464179e+02] [ 4.17962166e-02 9.99122055e-01 -2.86281371e-03 1.00958100e+02] [ 3.56058805e-02 1.37401094e-03 9.99364965e-01 1.84938079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81687500000004 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:121.49, Y:100.96, Z:18.50 [[ 9.98589081e-01 -3.94551048e-02 -3.55407035e-02 1.21486216e+02] [ 3.93979105e-02 9.99220934e-01 -2.30843567e-03 1.00959129e+02] [ 3.56040945e-02 9.04949201e-04 9.99365564e-01 1.84952449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.846875 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:121.52, Y:100.96, Z:18.50 [[ 9.98467021e-01 -4.24474045e-02 -3.55221884e-02 1.21517450e+02] [ 4.23765265e-02 9.99097937e-01 -2.74617541e-03 1.00959978e+02] [ 3.56067132e-02 1.23665863e-03 9.99365115e-01 1.84967114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87687500000004 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:121.54, Y:100.96, Z:18.50 [[ 9.98638589e-01 -3.81832902e-02 -3.55387866e-02 1.21542007e+02] [ 3.81243287e-02 9.99270274e-01 -2.33550715e-03 1.00959781e+02] [ 3.56020303e-02 9.77435184e-04 9.99365569e-01 1.84963368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.906875 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:121.57, Y:100.96, Z:18.50 [[ 9.98615012e-01 -3.88076594e-02 -3.55249689e-02 1.21571844e+02] [ 3.87370277e-02 9.99245860e-01 -2.67461681e-03 1.00960527e+02] [ 3.56019737e-02 1.29478079e-03 9.99365210e-01 1.85010020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93687500000004 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:121.60, Y:100.96, Z:18.50 [[ 9.98626872e-01 -3.84986147e-02 -3.55278473e-02 1.21601021e+02] [ 3.84303022e-02 9.99257890e-01 -2.60393076e-03 1.00961902e+02] [ 3.56017295e-02 1.23500932e-03 9.99365294e-01 1.85021379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.966875 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:121.63, Y:100.96, Z:18.50 [[ 9.98724148e-01 -3.58856067e-02 -3.55288479e-02 1.21628597e+02] [ 3.58164971e-02 9.99355053e-01 -2.57992877e-03 1.00962907e+02] [ 3.55985160e-02 1.30411828e-03 9.99365321e-01 1.84988772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99687500000005 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:121.67, Y:100.96, Z:18.50 [[ 9.98652509e-01 -3.78332909e-02 -3.55219457e-02 1.21665839e+02] [ 3.77594526e-02 9.99283081e-01 -2.74747031e-03 1.00963676e+02] [ 3.56004252e-02 1.40247890e-03 9.99365120e-01 1.85022609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.026875 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:121.69, Y:100.96, Z:18.51 [[ 9.98737032e-01 -3.55047267e-02 -3.55493473e-02 1.21690806e+02] [ 3.54531588e-02 9.99369174e-01 -2.08011847e-03 1.00963497e+02] [ 3.56007759e-02 8.17154694e-04 9.99365757e-01 1.85062811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.056875 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:121.71, Y:100.97, Z:18.51 [[ 9.98811465e-01 -3.33481393e-02 -3.55465828e-02 1.21714992e+02] [ 3.32927364e-02 9.99443332e-01 -2.14953600e-03 1.00965818e+02] [ 3.55984782e-02 9.63538189e-04 9.99365709e-01 1.85091451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.086875 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:121.74, Y:100.97, Z:18.51 [[ 9.98845846e-01 -3.23100198e-02 -3.55392488e-02 1.21741315e+02] [ 3.22471341e-02 9.99477183e-01 -2.34140133e-03 1.00967023e+02] [ 3.55963191e-02 1.19266007e-03 9.99365539e-01 1.85093081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.116875 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:121.77, Y:100.97, Z:18.51 [[ 9.98845632e-01 -3.23236285e-02 -3.55328954e-02 1.21771335e+02] [ 3.22548840e-02 9.99476533e-01 -2.50635707e-03 1.00968568e+02] [ 3.55953097e-02 1.35735439e-03 9.99365364e-01 1.85103710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.146875 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:121.80, Y:100.97, Z:18.51 [[ 9.98869678e-01 -3.15607972e-02 -3.55426891e-02 1.21797262e+02] [ 3.15008264e-02 9.99501202e-01 -2.24615601e-03 1.00969395e+02] [ 3.55958510e-02 1.12399305e-03 9.99365635e-01 1.85122846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.176875 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:121.82, Y:100.97, Z:18.51 [[ 9.98880063e-01 -3.12349504e-02 -3.55386871e-02 1.21824549e+02] [ 3.11709953e-02 9.99511298e-01 -2.35236665e-03 1.00970305e+02] [ 3.55947953e-02 1.24195590e-03 9.99365533e-01 1.85132004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.206875 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:121.85, Y:100.97, Z:18.51 [[ 9.98859956e-01 -3.18718639e-02 -3.55383407e-02 1.21854565e+02] [ 3.18079837e-02 9.99491208e-01 -2.36157712e-03 1.00970813e+02] [ 3.55955269e-02 1.22848186e-03 9.99365523e-01 1.85144234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.236875 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:121.88, Y:100.97, Z:18.51 [[ 9.98832550e-01 -3.27147934e-02 -3.55426423e-02 1.21881415e+02] [ 3.26554269e-02 9.99464137e-01 -2.24967570e-03 1.00971622e+02] [ 3.55971940e-02 1.08638916e-03 9.99365629e-01 1.85146499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.266875 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:121.91, Y:100.97, Z:18.52 [[ 9.98861549e-01 -3.18147957e-02 -3.55446901e-02 1.21908060e+02] [ 3.17568457e-02 9.99493216e-01 -2.19386901e-03 1.00972643e+02] [ 3.55964742e-02 1.06258416e-03 9.99365680e-01 1.85165539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.296875 meters Centerline goodness : 0.991926 Centerline is valid? [True, True] Translation: X:121.94, Y:100.97, Z:18.52 [[ 9.98862234e-01 -3.17941937e-02 -3.55438666e-02 1.21936954e+02] [ 3.17354324e-02 9.99493847e-01 -2.21630716e-03 1.00974727e+02] [ 3.55963416e-02 1.08578554e-03 9.99365660e-01 1.85155523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.32687500000003 meters Centerline goodness : 0.992623 Centerline is valid? [True, True] Translation: X:121.96, Y:100.98, Z:18.52 [[ 9.98863544e-01 -3.17471234e-02 -3.55491297e-02 1.21963732e+02] [ 3.16934771e-02 9.99495489e-01 -2.07171689e-03 1.00976122e+02] [ 3.55969658e-02 9.42686949e-04 9.99365783e-01 1.85171681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.356875 meters Centerline goodness : 0.992598 Centerline is valid? [True, True] Translation: X:121.99, Y:100.98, Z:18.52 [[ 9.98879264e-01 -3.12524965e-02 -3.55457126e-02 1.21993396e+02] [ 3.11952020e-02 9.99510966e-01 -2.16545351e-03 1.00976243e+02] [ 3.55960054e-02 1.05417092e-03 9.99365705e-01 1.85178930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.38687500000003 meters Centerline goodness : 0.991641 Centerline is valid? [True, True] Translation: X:122.02, Y:100.98, Z:18.52 [[ 9.98888979e-01 -3.09376685e-02 -3.55481193e-02 1.22021772e+02] [ 3.08824883e-02 9.99520815e-01 -2.10043333e-03 1.00978260e+02] [ 3.55960677e-02 1.00028533e-03 9.99365759e-01 1.85184221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.416875 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:122.05, Y:100.98, Z:18.52 [[ 9.98931098e-01 -2.95401845e-02 -3.55533221e-02 1.22048202e+02] [ 2.94893192e-02 9.99563185e-01 -1.95433089e-03 1.00979063e+02] [ 3.55955231e-02 9.03798644e-04 9.99365870e-01 1.85212590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.44687500000003 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:122.07, Y:100.98, Z:18.52 [[ 9.99019063e-01 -2.64029054e-02 -3.55499419e-02 1.22072284e+02] [ 2.63466738e-02 9.99650765e-01 -2.04937754e-03 1.00980932e+02] [ 3.55916362e-02 1.11074451e-03 9.99365800e-01 1.85210760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.476875 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:122.10, Y:100.98, Z:18.52 [[ 9.99036519e-01 -2.57545576e-02 -3.55349969e-02 1.22100079e+02] [ 2.56826610e-02 9.99667074e-01 -2.47831515e-03 1.00983118e+02] [ 3.55869943e-02 1.56329406e-03 9.99365360e-01 1.85233412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.50687500000004 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:122.13, Y:100.98, Z:18.52 [[ 9.99024676e-01 -2.62124243e-02 -3.55331709e-02 1.22129056e+02] [ 2.61389622e-02 9.99655116e-01 -2.53047738e-03 1.00984389e+02] [ 3.55872460e-02 1.59920914e-03 9.99365294e-01 1.85243483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.536875 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:122.16, Y:100.99, Z:18.53 [[ 9.99057769e-01 -2.49193607e-02 -3.55330793e-02 1.22157181e+02] [ 2.48449920e-02 9.99688106e-01 -2.53302680e-03 1.00985452e+02] [ 3.55851182e-02 1.64782103e-03 9.99365291e-01 1.85266505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56687500000004 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:122.19, Y:100.99, Z:18.53 [[ 9.99082648e-01 -2.39008847e-02 -3.55332209e-02 1.22186136e+02] [ 2.38260140e-02 9.99712921e-01 -2.52907261e-03 1.00986950e+02] [ 3.55834671e-02 1.68013754e-03 9.99365296e-01 1.85289287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.596875 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:122.22, Y:100.99, Z:18.54 [[ 9.99023223e-01 -2.62647714e-02 -3.55353655e-02 1.22219766e+02] [ 2.61935212e-02 9.99653841e-01 -2.46919072e-03 1.00988270e+02] [ 3.55879174e-02 1.53598251e-03 9.99365369e-01 1.85353795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62687500000004 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:122.24, Y:100.99, Z:18.54 [[ 9.99011473e-01 -2.66788185e-02 -3.55572568e-02 1.22244783e+02] [ 2.66298428e-02 9.99643650e-01 -1.85034123e-03 1.00991170e+02] [ 3.55939509e-02 9.01627961e-04 9.99365928e-01 1.85353015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.656875 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:122.27, Y:100.99, Z:18.54 [[ 9.99049957e-01 -2.52076429e-02 -3.55493856e-02 1.22274469e+02] [ 2.51497725e-02 9.99681543e-01 -2.07418907e-03 1.00992720e+02] [ 3.55903501e-02 1.17815954e-03 9.99365768e-01 1.85355145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68687500000004 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:122.30, Y:100.99, Z:18.54 [[ 9.99070532e-01 -2.43709246e-02 -3.55546186e-02 1.22301134e+02] [ 2.43178177e-02 9.99702424e-01 -1.92541289e-03 1.00994080e+02] [ 3.55909625e-02 1.05901255e-03 9.99365880e-01 1.85380889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.716875 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:122.32, Y:101.00, Z:18.54 [[ 9.99199661e-01 -1.83283489e-02 -3.55542995e-02 1.22323139e+02] [ 1.82710928e-02 9.99831198e-01 -1.93465584e-03 1.00998762e+02] [ 3.55837569e-02 1.28349156e-03 9.99365873e-01 1.85359411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74687500000005 meters Centerline goodness : 0.990923 Centerline is valid? [True, True] Translation: X:122.35, Y:101.00, Z:18.54 [[ 9.99237582e-01 -1.61798166e-02 -3.55312259e-02 1.22351318e+02] [ 1.60977566e-02 9.99867057e-01 -2.59440158e-03 1.01001013e+02] [ 3.55684792e-02 2.02045054e-03 9.99365199e-01 1.85360210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.776875 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:122.38, Y:101.00, Z:18.54 [[ 9.99290306e-01 -1.25092805e-02 -3.55303011e-02 1.22379046e+02] [ 1.24239646e-02 9.99919385e-01 -2.62099194e-03 1.01004815e+02] [ 3.55602235e-02 2.17770463e-03 9.99365163e-01 1.85377164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.806875 meters Centerline goodness : 0.989598 Centerline is valid? [True, True] Translation: X:122.42, Y:101.01, Z:18.54 [[ 9.99267316e-01 -1.42318251e-02 -3.55286799e-02 1.22415090e+02] [ 1.41459148e-02 9.99896381e-01 -2.66827164e-03 1.01006569e+02] [ 3.55629729e-02 2.16373096e-03 9.99365095e-01 1.85426936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.836875 meters Centerline goodness : 0.989858 Centerline is valid? [True, True] Translation: X:122.44, Y:101.01, Z:18.55 [[ 9.99273273e-01 -1.37454983e-02 -3.55525982e-02 1.22443252e+02] [ 1.36842876e-02 9.99904436e-01 -1.96446648e-03 1.01007562e+02] [ 3.55762032e-02 1.47652687e-03 9.99365876e-01 1.85452732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.866875 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:122.47, Y:101.01, Z:18.55 [[ 9.99307577e-01 -1.09527686e-02 -3.55584548e-02 1.22466315e+02] [ 1.08961463e-02 9.99939041e-01 -1.78577315e-03 1.01010924e+02] [ 3.55758463e-02 1.39708651e-03 9.99366003e-01 1.85498203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.896875 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:122.50, Y:101.01, Z:18.55 [[ 9.99301491e-01 -1.15321409e-02 -3.55462969e-02 1.22496879e+02] [ 1.14626487e-02 9.99931973e-01 -2.15815760e-03 1.01013136e+02] [ 3.55687669e-02 1.74919540e-03 9.99365700e-01 1.85519586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.926875 meters Centerline goodness : 0.988429 Centerline is valid? [True, True] Translation: X:122.52, Y:101.02, Z:18.55 [[ 9.99228077e-01 -1.67127056e-02 -3.55518617e-02 1.22515681e+02] [ 1.66524070e-02 9.99859356e-01 -1.99152652e-03 1.01021947e+02] [ 3.55801453e-02 1.39796515e-03 9.99365848e-01 1.85533650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.956875 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:122.54, Y:101.02, Z:18.56 [[ 9.99276214e-01 -1.35993195e-02 -3.55261484e-02 1.22543743e+02] [ 1.35088645e-02 9.99904873e-01 -2.78495982e-03 1.01021492e+02] [ 3.55606425e-02 2.30302618e-03 9.99364867e-01 1.85561738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.986875 meters Centerline goodness : 0.988961 Centerline is valid? [True, True] Translation: X:122.57, Y:101.02, Z:18.56 [[ 9.99275895e-01 -1.36214918e-02 -3.55266228e-02 1.22571083e+02] [ 1.35315680e-02 9.99904606e-01 -2.77039312e-03 1.01024061e+02] [ 3.55609707e-02 2.28765615e-03 9.99364890e-01 1.85594163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.016875 meters Centerline goodness : 0.988865 Centerline is valid? [True, True] Translation: X:122.60, Y:101.03, Z:18.56 [[ 9.99278997e-01 -1.33870714e-02 -3.55284771e-02 1.22598532e+02] [ 1.32990668e-02 9.99907885e-01 -2.71219584e-03 1.01027688e+02] [ 3.55615128e-02 2.23774475e-03 9.99364984e-01 1.85612358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.046875 meters Centerline goodness : 0.988870 Centerline is valid? [True, True] Translation: X:122.63, Y:101.03, Z:18.56 [[ 9.99300048e-01 -1.17168598e-02 -3.55264598e-02 1.22625931e+02] [ 1.16255257e-02 9.99928567e-01 -2.77636498e-03 1.01029005e+02] [ 3.55564524e-02 2.36140788e-03 9.99364880e-01 1.85617870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.07687500000003 meters Centerline goodness : 0.989167 Centerline is valid? [True, True] Translation: X:122.65, Y:101.03, Z:18.56 [[ 9.99303121e-01 -1.14610587e-02 -3.55234626e-02 1.22652482e+02] [ 1.13662053e-02 9.99931281e-01 -2.87096779e-03 1.01030646e+02] [ 3.55539258e-02 2.46520011e-03 9.99364719e-01 1.85628797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.106875 meters Centerline goodness : 0.988771 Centerline is valid? [True, True] Translation: X:122.68, Y:101.03, Z:18.56 [[ 9.99308228e-01 -1.10139456e-02 -3.55212316e-02 1.22682772e+02] [ 1.09162446e-02 9.99936084e-01 -2.94326982e-03 1.01033590e+02] [ 3.55513783e-02 2.55347530e-03 9.99364588e-01 1.85631481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.13687500000003 meters Centerline goodness : 0.988985 Centerline is valid? [True, True] Translation: X:122.71, Y:101.03, Z:18.56 [[ 9.99333895e-01 -8.32625282e-03 -3.55308333e-02 1.22708998e+02] [ 8.23882785e-03 9.99962664e-01 -2.60624434e-03 1.01034054e+02] [ 3.55512069e-02 2.31177589e-03 9.99365182e-01 1.85608788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.166875 meters Centerline goodness : 0.989167 Centerline is valid? [True, True] Translation: X:122.74, Y:101.04, Z:18.56 [[ 9.99331961e-01 -8.56214687e-03 -3.55291548e-02 1.22735602e+02] [ 8.47271433e-03 9.99960549e-01 -2.66696068e-03 1.01035254e+02] [ 3.55505881e-02 2.36415067e-03 9.99365082e-01 1.85611104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.19687500000003 meters Centerline goodness : 0.990049 Centerline is valid? [True, True] Translation: X:122.76, Y:101.04, Z:18.56 [[ 9.99339257e-01 -7.66937914e-03 -3.55278881e-02 1.22763565e+02] [ 7.57767494e-03 9.99967603e-01 -2.71512451e-03 1.01035507e+02] [ 3.55475604e-02 2.44411172e-03 9.99364997e-01 1.85616770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.226875 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:122.80, Y:101.04, Z:18.57 [[ 9.99319054e-01 -9.97256287e-03 -3.55243063e-02 1.22796127e+02] [ 9.87754203e-03 9.99947156e-01 -2.84931467e-03 1.01037824e+02] [ 3.55508440e-02 2.49648161e-03 9.99364751e-01 1.85670864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.25687500000004 meters Centerline goodness : 0.988663 Centerline is valid? [True, True] Translation: X:122.82, Y:101.04, Z:18.57 [[ 9.99297563e-01 -1.19141043e-02 -3.55307707e-02 1.22823252e+02] [ 1.18285606e-02 9.99926616e-01 -2.61683685e-03 1.01040423e+02] [ 3.55593406e-02 2.19472081e-03 9.99365157e-01 1.85690513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.286875 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:122.85, Y:101.04, Z:18.57 [[ 9.99282604e-01 -1.31134539e-02 -3.55290685e-02 1.22853955e+02] [ 1.30264727e-02 9.99911564e-01 -2.67855522e-03 1.01042163e+02] [ 3.55610516e-02 2.21381520e-03 9.99365054e-01 1.85702726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31687500000004 meters Centerline goodness : 0.991428 Centerline is valid? [True, True] Translation: X:122.87, Y:101.04, Z:18.56 [[ 9.99308469e-01 -1.09307374e-02 -3.55401656e-02 1.22869857e+02] [ 1.08597172e-02 9.99938632e-01 -2.19074173e-03 1.01044356e+02] [ 3.55619310e-02 1.80327062e-03 9.99365848e-01 1.85627147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.346875 meters Centerline goodness : 0.986610 Centerline is valid? [True, True] Translation: X:122.91, Y:101.05, Z:18.57 [[ 9.99212217e-01 -1.77024609e-02 -3.55185749e-02 1.22911131e+02] [ 1.76000760e-02 9.99840008e-01 -3.19319372e-03 1.01046350e+02] [ 3.55694196e-02 2.56554856e-03 9.99363915e-01 1.85720872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37687500000004 meters Centerline goodness : 0.988907 Centerline is valid? [True, True] Translation: X:122.94, Y:101.05, Z:18.57 [[ 9.99291877e-01 -1.23703165e-02 -3.55347812e-02 1.22937452e+02] [ 1.22881276e-02 9.99921296e-01 -2.53039104e-03 1.01045546e+02] [ 3.55632862e-02 2.09194328e-03 9.99365237e-01 1.85698890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.406875 meters Centerline goodness : 0.987790 Centerline is valid? [True, True] Translation: X:122.97, Y:101.05, Z:18.57 [[ 9.99301472e-01 -1.15763154e-02 -3.55324760e-02 1.22967207e+02] [ 1.14901794e-02 9.99930534e-01 -2.62740122e-03 1.01046583e+02] [ 3.55604233e-02 2.21729138e-03 9.99365068e-01 1.85675439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43687500000004 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:122.99, Y:101.05, Z:18.57 [[ 9.99295786e-01 -1.20464410e-02 -3.55361205e-02 1.22991393e+02] [ 1.19664049e-02 9.99925364e-01 -2.46408275e-03 1.01049107e+02] [ 3.55631517e-02 2.03710790e-03 9.99365355e-01 1.85677465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.466875 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:123.02, Y:101.05, Z:18.57 [[ 9.99320119e-01 -9.84228882e-03 -3.55306813e-02 1.23019810e+02] [ 9.75144223e-03 9.99948729e-01 -2.72924106e-03 1.01048747e+02] [ 3.55557216e-02 2.38091012e-03 9.99364859e-01 1.85669752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49687500000005 meters Centerline goodness : 0.989141 Centerline is valid? [True, True] Translation: X:123.05, Y:101.05, Z:18.57 [[ 9.99325913e-01 -9.22573515e-03 -3.55331492e-02 1.23047554e+02] [ 9.13913062e-03 9.99954860e-01 -2.59894353e-03 1.01049078e+02] [ 3.55555224e-02 2.27244952e-03 9.99365119e-01 1.85668223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.526875 meters Centerline goodness : 0.983924 Centerline is valid? [True, True] Translation: X:123.10, Y:101.05, Z:18.58 [[ 9.99352479e-01 -5.68211274e-03 -3.55293650e-02 1.23104844e+02] [ 5.58956245e-03 9.99980723e-01 -2.70368233e-03 1.01046703e+02] [ 3.55440428e-02 2.50333803e-03 9.99364976e-01 1.85762609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.556875 meters Centerline goodness : 0.989035 Centerline is valid? [True, True] Translation: X:123.11, Y:101.05, Z:18.57 [[ 9.99301760e-01 -1.12566342e-02 -3.56269784e-02 1.23109633e+02] [ 1.12695700e-02 9.99936483e-01 1.62290400e-04 1.01052973e+02] [ 3.56228887e-02 -5.63677810e-04 9.99365145e-01 1.85689299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.586875 meters Centerline goodness : 0.988806 Centerline is valid? [True, True] Translation: X:123.14, Y:101.05, Z:18.57 [[ 9.99289965e-01 -1.24129820e-02 -3.55736340e-02 1.23138924e+02] [ 1.23371993e-02 9.99921135e-01 -2.34903187e-03 1.01054449e+02] [ 3.55999870e-02 1.90848496e-03 9.99364297e-01 1.85711732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.616875 meters Centerline goodness : 0.988591 Centerline is valid? [True, True] Translation: X:123.16, Y:101.06, Z:18.57 [[ 9.99310230e-01 -1.06506923e-02 -3.55756493e-02 1.23161022e+02] [ 1.05776049e-02 9.99941542e-01 -2.24200685e-03 1.01056652e+02] [ 3.55974486e-02 1.86415522e-03 9.99364471e-01 1.85689083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.646875 meters Centerline goodness : 0.989016 Centerline is valid? [True, True] Translation: X:123.19, Y:101.06, Z:18.57 [[ 9.99294863e-01 -1.20296408e-02 -3.55677588e-02 1.23191736e+02] [ 1.19420329e-02 9.99925115e-01 -2.67455255e-03 1.01057458e+02] [ 3.55972692e-02 2.24791528e-03 9.99363688e-01 1.85712489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.676875 meters Centerline goodness : 0.984480 Centerline is valid? [True, True] Translation: X:123.25, Y:101.05, Z:18.58 [[ 9.99346732e-01 -6.38615515e-03 -3.55714222e-02 1.23249166e+02] [ 6.29871949e-03 9.99976862e-01 -2.56955303e-03 1.01051818e+02] [ 3.55870087e-02 2.34382001e-03 9.99363833e-01 1.85758556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.706875 meters Centerline goodness : 0.987103 Centerline is valid? [True, True] Translation: X:123.25, Y:101.06, Z:18.58 [[ 9.99204456e-01 -1.78455612e-02 -3.56649751e-02 1.23254829e+02] [ 1.78702116e-02 9.99840246e-01 3.72488737e-04 1.01061566e+02] [ 3.56526302e-02 -1.00953306e-03 9.99363733e-01 1.85760746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.736875 meters Centerline goodness : 0.989826 Centerline is valid? [True, True] Translation: X:123.27, Y:101.06, Z:18.57 [[ 9.99221805e-01 -1.69435438e-02 -3.56188186e-02 1.23273479e+02] [ 1.68841016e-02 9.99855515e-01 -1.96899224e-03 1.01064312e+02] [ 3.56470339e-02 1.36606823e-03 9.99363509e-01 1.85728619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.766875 meters Centerline goodness : 0.984902 Centerline is valid? [True, True] Translation: X:123.33, Y:101.06, Z:18.58 [[ 9.99297968e-01 -1.17343564e-02 -3.55791463e-02 1.23331746e+02] [ 1.16363496e-02 9.99927913e-01 -2.96044200e-03 1.01060446e+02] [ 3.56113204e-02 2.54435228e-03 9.99362477e-01 1.85797951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.796875 meters Centerline goodness : 0.986918 Centerline is valid? [True, True] Translation: X:123.35, Y:101.07, Z:18.58 [[ 9.99225867e-01 -1.65510278e-02 -3.56893701e-02 1.23352284e+02] [ 1.65719244e-02 9.99862634e-01 2.89756058e-04 1.01067159e+02] [ 3.56796719e-02 -8.80973290e-04 9.99362890e-01 1.85800769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.82687500000003 meters Centerline goodness : 0.986964 Centerline is valid? [True, True] Translation: X:123.36, Y:101.08, Z:18.58 [[ 9.99052682e-01 -2.49647699e-02 -3.56440488e-02 1.23360346e+02] [ 2.49476241e-02 9.99688331e-01 -9.25776429e-04 1.01077811e+02] [ 3.56560515e-02 3.56650939e-05 9.99364120e-01 1.85792350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.856875 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:123.39, Y:101.08, Z:18.58 [[ 9.99060167e-01 -2.47337883e-02 -3.55952711e-02 1.23387709e+02] [ 2.46551000e-02 9.99692510e-01 -2.64795168e-03 1.01078689e+02] [ 3.56498198e-02 1.76785807e-03 9.99362780e-01 1.85800554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.88687500000003 meters Centerline goodness : 0.985923 Centerline is valid? [True, True] Translation: X:123.42, Y:101.08, Z:18.58 [[ 9.98960457e-01 -2.84825353e-02 -3.55914471e-02 1.23422853e+02] [ 2.84013589e-02 9.99592722e-01 -2.78439306e-03 1.01080229e+02] [ 3.56562581e-02 1.77065310e-03 9.99362545e-01 1.85799343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.916875 meters Centerline goodness : 0.984283 Centerline is valid? [True, True] Translation: X:123.48, Y:101.07, Z:18.59 [[ 9.99116871e-01 -2.23186152e-02 -3.55999574e-02 1.23476784e+02] [ 2.22406533e-02 9.99749305e-01 -2.58450002e-03 1.01072924e+02] [ 3.56487151e-02 1.79045126e-03 9.99362779e-01 1.85898385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.94687500000003 meters Centerline goodness : 0.988077 Centerline is valid? [True, True] Translation: X:123.48, Y:101.08, Z:18.59 [[ 9.98950978e-01 -2.86908349e-02 -3.56900575e-02 1.23482044e+02] [ 2.86870259e-02 9.99588251e-01 -6.18908170e-04 1.01078737e+02] [ 3.56931191e-02 -4.05582683e-04 9.99362715e-01 1.85853727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.976875 meters Centerline goodness : 0.988704 Centerline is valid? [True, True] Translation: X:123.51, Y:101.08, Z:18.59 [[ 9.98955027e-01 -2.86335435e-02 -3.56226723e-02 1.23509897e+02] [ 2.85472871e-02 9.99588156e-01 -2.92777027e-03 1.01080874e+02] [ 3.56918337e-02 1.90778018e-03 9.99361023e-01 1.85857065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.00687500000004 meters Centerline goodness : 0.985089 Centerline is valid? [True, True] Translation: X:123.57, Y:101.08, Z:18.59 [[ 9.99119626e-01 -2.21725329e-02 -3.56139308e-02 1.23566362e+02] [ 2.20755415e-02 9.99751455e-01 -3.11437900e-03 1.01075935e+02] [ 3.56741328e-02 2.32544037e-03 9.99360770e-01 1.85948571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.036875 meters Centerline goodness : 0.985089 Centerline is valid? [True, True] Translation: X:123.60, Y:101.08, Z:18.60 [[ 9.99090831e-01 -2.32417452e-02 -3.57397809e-02 1.23595316e+02] [ 2.32514192e-02 9.99729639e-01 -1.44986700e-04 1.01077568e+02] [ 3.57334880e-02 -6.86145743e-04 9.99361119e-01 1.85973808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06687500000004 meters Centerline goodness : 0.987711 Centerline is valid? [True, True] Translation: X:123.60, Y:101.08, Z:18.59 [[ 9.98957610e-01 -2.84080941e-02 -3.57305719e-02 1.23595946e+02] [ 2.84137079e-02 9.99596188e-01 -3.50760299e-04 1.01084276e+02] [ 3.57261079e-02 -6.64843364e-04 9.99361398e-01 1.85942158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.096875 meters Centerline goodness : 0.988586 Centerline is valid? [True, True] Translation: X:123.62, Y:101.09, Z:18.59 [[ 9.99003732e-01 -2.68323179e-02 -3.56590932e-02 1.23622670e+02] [ 2.67504552e-02 9.99638302e-01 -2.77091089e-03 1.01085804e+02] [ 3.57205454e-02 1.81425334e-03 9.99360171e-01 1.85934508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12687500000004 meters Centerline goodness : 0.988077 Centerline is valid? [True, True] Translation: X:123.65, Y:101.09, Z:18.59 [[ 9.98963148e-01 -2.83136369e-02 -3.56506164e-02 1.23648877e+02] [ 2.82225748e-02 9.99596995e-01 -3.05504378e-03 1.01088115e+02] [ 3.57227485e-02 2.04572397e-03 9.99359645e-01 1.85946001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.156875 meters Centerline goodness : 0.989120 Centerline is valid? [True, True] Translation: X:123.68, Y:101.09, Z:18.60 [[ 9.99015222e-01 -2.64210450e-02 -3.56442877e-02 1.23679059e+02] [ 2.63211823e-02 9.99648196e-01 -3.26807446e-03 1.01086635e+02] [ 3.57180938e-02 2.32665634e-03 9.99359197e-01 1.85951815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18687500000004 meters Centerline goodness : 0.985069 Centerline is valid? [True, True] Translation: X:123.74, Y:101.08, Z:18.60 [[ 9.99136878e-01 -2.13201917e-02 -3.56503698e-02 1.23739080e+02] [ 2.12217690e-02 9.99769872e-01 -3.13694697e-03 1.01083946e+02] [ 3.57090459e-02 2.37767549e-03 9.99359400e-01 1.86023627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.216875 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:123.74, Y:101.09, Z:18.60 [[ 9.99057496e-01 -2.45739992e-02 -3.57804132e-02 1.23738746e+02] [ 2.45814824e-02 9.99697803e-01 -2.30815937e-04 1.01087504e+02] [ 3.57752725e-02 -6.48937206e-04 9.99359649e-01 1.85968782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.246875 meters Centerline goodness : 0.989191 Centerline is valid? [True, True] Translation: X:123.77, Y:101.09, Z:18.60 [[ 9.99136424e-01 -2.12527218e-02 -3.57033270e-02 1.23770947e+02] [ 2.11615450e-02 9.99771777e-01 -2.92972777e-03 1.01087424e+02] [ 3.57574434e-02 2.17166016e-03 9.99358139e-01 1.85959189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.276875 meters Centerline goodness : 0.987940 Centerline is valid? [True, True] Translation: X:123.80, Y:101.09, Z:18.60 [[ 9.99123837e-01 -2.18326220e-02 -3.57056650e-02 1.23798322e+02] [ 2.17447570e-02 9.99759500e-01 -2.84734075e-03 1.01091948e+02] [ 3.57592428e-02 2.06843501e-03 9.99358293e-01 1.85986556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.306875 meters Centerline goodness : 0.987879 Centerline is valid? [True, True] Translation: X:123.83, Y:101.09, Z:18.60 [[ 9.99207319e-01 -1.76075047e-02 -3.57030777e-02 1.23828061e+02] [ 1.75136059e-02 9.99842299e-01 -2.94105556e-03 1.01093465e+02] [ 3.57492320e-02 2.31343461e-03 9.99358114e-01 1.85965565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.336875 meters Centerline goodness : 0.989363 Centerline is valid? [True, True] Translation: X:123.86, Y:101.09, Z:18.60 [[ 9.99275430e-01 -1.31669219e-02 -3.57106043e-02 1.23855240e+02] [ 1.30804713e-02 9.99910926e-01 -2.65342905e-03 1.01090859e+02] [ 3.57423610e-02 2.18439492e-03 9.99358650e-01 1.85983599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.366875 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:123.88, Y:101.09, Z:18.60 [[ 9.99272520e-01 -1.33964070e-02 -3.57066838e-02 1.23882086e+02] [ 1.33047301e-02 9.99907557e-01 -2.80388579e-03 1.01091770e+02] [ 3.57409449e-02 2.32677823e-03 9.99358380e-01 1.85997208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.396875 meters Centerline goodness : 0.984853 Centerline is valid? [True, True] Translation: X:123.94, Y:101.09, Z:18.60 [[ 9.99327073e-01 -8.41201323e-03 -3.57020856e-02 1.23940026e+02] [ 8.31334813e-03 9.99961206e-01 -2.91111961e-03 1.01089206e+02] [ 3.57251890e-02 2.61235677e-03 9.99358237e-01 1.86036622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.426875 meters Centerline goodness : 0.987506 Centerline is valid? [True, True] Translation: X:123.94, Y:101.09, Z:18.60 [[ 9.99299236e-01 -1.08773930e-02 -3.58150701e-02 1.23940384e+02] [ 1.08813809e-02 9.99940793e-01 -8.35781276e-05 1.01092054e+02] [ 3.58138586e-02 -3.06197861e-04 9.99358431e-01 1.86028710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.456875 meters Centerline goodness : 0.987822 Centerline is valid? [True, True] Translation: X:123.97, Y:101.09, Z:18.60 [[ 9.99334278e-01 -7.24565545e-03 -3.57561386e-02 1.23967279e+02] [ 7.15922267e-03 9.99971135e-01 -2.54472912e-03 1.01092571e+02] [ 3.57735447e-02 2.28704888e-03 9.99357305e-01 1.86012144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.486875 meters Centerline goodness : 0.989689 Centerline is valid? [True, True] Translation: X:124.00, Y:101.09, Z:18.60 [[ 9.99344584e-01 -5.68674610e-03 -3.57500166e-02 1.23995926e+02] [ 5.59025644e-03 9.99980459e-01 -2.79838969e-03 1.01092141e+02] [ 3.57652317e-02 2.59670382e-03 9.99356846e-01 1.86014646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.516875 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:124.02, Y:101.09, Z:18.60 [[ 9.99342898e-01 -5.98810193e-03 -3.57479296e-02 1.24024855e+02] [ 5.88856231e-03 9.99978489e-01 -2.88912391e-03 1.01092452e+02] [ 3.57644610e-02 2.67672155e-03 9.99356662e-01 1.86023247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.546875 meters Centerline goodness : 0.984675 Centerline is valid? [True, True] Translation: X:124.08, Y:101.09, Z:18.60 [[ 9.99359993e-01 1.09832690e-03 -3.57546901e-02 1.24082162e+02] [-1.19604034e-03 9.99995608e-01 -2.71161057e-03 1.01088044e+02] [ 3.57515549e-02 2.75263917e-03 9.99356918e-01 1.86023744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.57687500000003 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:124.08, Y:101.09, Z:18.60 [[ 9.99343053e-01 -5.25616034e-03 -3.58585506e-02 1.24083206e+02] [ 5.26866948e-03 9.99986088e-01 2.54361099e-04 1.01092750e+02] [ 3.58567147e-02 -4.43120848e-04 9.99356843e-01 1.86044112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.606875 meters Centerline goodness : 0.988547 Centerline is valid? [True, True] Translation: X:124.11, Y:101.09, Z:18.60 [[ 9.99353955e-01 -3.19379526e-03 -3.57976545e-02 1.24113518e+02] [ 3.10806739e-03 9.99992168e-01 -2.45018338e-03 1.01090833e+02] [ 3.58051995e-02 2.33733893e-03 9.99356055e-01 1.86047174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.63687500000003 meters Centerline goodness : 0.988887 Centerline is valid? [True, True] Translation: X:124.14, Y:101.09, Z:18.60 [[ 9.99349110e-01 -4.45477261e-03 -3.57981906e-02 1.24140279e+02] [ 4.37070020e-03 9.99987505e-01 -2.42642415e-03 1.01091322e+02] [ 3.58085525e-02 2.26838166e-03 9.99356094e-01 1.86045477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.666875 meters Centerline goodness : 0.984904 Centerline is valid? [True, True] Translation: X:124.20, Y:101.09, Z:18.61 [[ 9.99358687e-01 -9.27769960e-04 -3.57960036e-02 1.24195739e+02] [ 8.39262616e-04 9.99996554e-01 -2.48749502e-03 1.01086377e+02] [ 3.57981881e-02 2.45585751e-03 9.99356022e-01 1.86089061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.69687500000003 meters Centerline goodness : 0.988762 Centerline is valid? [True, True] Translation: X:124.19, Y:101.09, Z:18.61 [[ 9.99347787e-01 -4.03175839e-03 -3.58851711e-02 1.24194516e+02] [ 4.04026117e-03 9.99991825e-01 1.64430829e-04 1.01086965e+02] [ 3.58842148e-02 -3.09309048e-04 9.99355906e-01 1.86078993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.726875 meters Centerline goodness : 0.989521 Centerline is valid? [True, True] Translation: X:124.23, Y:101.09, Z:18.61 [[ 9.99353242e-01 -2.97129360e-03 -3.58366994e-02 1.24225286e+02] [ 2.88230906e-03 9.99992634e-01 -2.53446352e-03 1.01085823e+02] [ 3.58439660e-02 2.42953189e-03 9.99354445e-01 1.86083571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.75687500000004 meters Centerline goodness : 0.987714 Centerline is valid? [True, True] Translation: X:124.26, Y:101.08, Z:18.61 [[ 9.99354938e-01 -2.34338706e-03 -3.58359586e-02 1.24259288e+02] [ 2.25254611e-03 9.99994148e-01 -2.57507476e-03 1.01082847e+02] [ 3.58417833e-02 2.49269153e-03 9.99354368e-01 1.86104324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.786875 meters Centerline goodness : 0.990338 Centerline is valid? [True, True] Translation: X:124.28, Y:101.08, Z:18.61 [[ 9.99354667e-01 -2.30544982e-03 -3.58459760e-02 1.24281131e+02] [ 2.23760018e-03 9.99995629e-01 -1.93281273e-03 1.01082197e+02] [ 3.58502753e-02 1.85135646e-03 9.99355457e-01 1.86111015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81687500000004 meters Centerline goodness : 0.990044 Centerline is valid? [True, True] Translation: X:124.31, Y:101.08, Z:18.61 [[ 9.99351081e-01 -3.61806148e-03 -3.58374917e-02 1.24311611e+02] [ 3.53078966e-03 9.99990646e-01 -2.49819875e-03 1.01080299e+02] [ 3.58461951e-02 2.37004297e-03 9.99354508e-01 1.86136191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.846875 meters Centerline goodness : 0.989773 Centerline is valid? [True, True] Translation: X:124.34, Y:101.08, Z:18.62 [[ 9.99349808e-01 -3.94583336e-03 -3.58384237e-02 1.24343581e+02] [ 3.86080331e-03 9.99989567e-01 -2.44148989e-03 1.01079163e+02] [ 3.58476835e-02 2.30153735e-03 9.99354615e-01 1.86150483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87687500000004 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:124.37, Y:101.08, Z:18.62 [[ 9.99355298e-01 -2.05198024e-03 -3.58438080e-02 1.24366499e+02] [ 1.97927421e-03 9.99995912e-01 -2.06377859e-03 1.01075849e+02] [ 3.58478963e-02 1.99150334e-03 9.99355273e-01 1.86184327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.906875 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:124.39, Y:101.08, Z:18.62 [[ 9.99328270e-01 -7.65437382e-03 -3.58387939e-02 1.24393941e+02] [ 7.57170378e-03 9.99968353e-01 -2.44187726e-03 1.01078122e+02] [ 3.58563507e-02 2.16887625e-03 9.99354601e-01 1.86188435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93687500000004 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:124.42, Y:101.07, Z:18.61 [[ 9.99356894e-01 -1.28881067e-03 -3.58348544e-02 1.24424120e+02] [ 1.19242134e-03 9.99995614e-01 -2.71106264e-03 1.01074343e+02] [ 3.58381913e-02 2.66658889e-03 9.99354048e-01 1.86148287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.966875 meters Centerline goodness : 0.990110 Centerline is valid? [True, True] Translation: X:124.46, Y:101.07, Z:18.63 [[ 9.99347356e-01 -4.55071858e-03 -3.58350906e-02 1.24458500e+02] [ 4.45698034e-03 9.99986435e-01 -2.69527256e-03 1.01071954e+02] [ 3.58468699e-02 2.53379721e-03 9.99354082e-01 1.86250875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.996875 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:124.48, Y:101.07, Z:18.63 [[ 9.99340551e-01 -5.79945518e-03 -3.58445275e-02 1.24480621e+02] [ 5.73312064e-03 9.99981658e-01 -1.95312585e-03 1.01072964e+02] [ 3.58551971e-02 1.74633687e-03 9.99355470e-01 1.86254379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.026875 meters Centerline goodness : 0.989640 Centerline is valid? [True, True] Translation: X:124.51, Y:101.07, Z:18.63 [[ 9.99341644e-01 -5.65028338e-03 -3.58378843e-02 1.24514714e+02] [ 5.56397084e-03 9.99981377e-01 -2.50769255e-03 1.01070439e+02] [ 3.58513860e-02 2.30664065e-03 9.99354470e-01 1.86271011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.056875 meters Centerline goodness : 0.985693 Centerline is valid? [True, True] Translation: X:124.57, Y:101.07, Z:18.63 [[ 9.99347930e-01 -4.32431855e-03 -3.58470964e-02 1.24571064e+02] [ 4.24940980e-03 9.99988626e-01 -2.16560015e-03 1.01067075e+02] [ 3.58560534e-02 2.01185902e-03 9.99354940e-01 1.86331032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.086875 meters Centerline goodness : 0.990782 Centerline is valid? [True, True] Translation: X:124.58, Y:101.07, Z:18.63 [[ 9.99334277e-01 -6.42362046e-03 -3.59129487e-02 1.24575579e+02] [ 6.43884721e-03 9.99979223e-01 3.08348912e-04 1.01066789e+02] [ 3.59102219e-02 -5.39381627e-04 9.99354874e-01 1.86330843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.116875 meters Centerline goodness : 0.990837 Centerline is valid? [True, True] Translation: X:124.61, Y:101.07, Z:18.63 [[ 9.99338634e-01 -5.90652545e-03 -3.58804758e-02 1.24607066e+02] [ 5.83482526e-03 9.99980767e-01 -2.10269081e-03 1.01066192e+02] [ 3.58922053e-02 1.89194385e-03 9.99353876e-01 1.86334039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.146875 meters Centerline goodness : 0.991751 Centerline is valid? [True, True] Translation: X:124.63, Y:101.07, Z:18.63 [[ 9.99348940e-01 -3.75768132e-03 -3.58828184e-02 1.24630195e+02] [ 3.69104748e-03 9.99991339e-01 -1.92304836e-03 1.01066319e+02] [ 3.58897339e-02 1.78935115e-03 9.99354154e-01 1.86327594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.176875 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:124.65, Y:101.07, Z:18.63 [[ 9.99355941e-01 -4.59540480e-04 -3.58816541e-02 1.24653354e+02] [ 3.85886432e-04 9.99997805e-01 -2.05959225e-03 1.01065187e+02] [ 3.58825218e-02 2.04441950e-03 9.99353924e-01 1.86325621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.206875 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:124.69, Y:101.06, Z:18.63 [[ 9.99355996e-01 6.32723334e-04 -3.58774729e-02 1.24687405e+02] [-7.23874559e-04 9.99996543e-01 -2.52769301e-03 1.01063396e+02] [ 3.58757495e-02 2.55203596e-03 9.99353000e-01 1.86331037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.236875 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:124.71, Y:101.06, Z:18.63 [[ 9.99354826e-01 1.57371956e-03 -3.58811214e-02 1.24714438e+02] [-1.65214132e-03 9.99996311e-01 -2.15605450e-03 1.01063985e+02] [ 3.58775960e-02 2.21394416e-03 9.99353739e-01 1.86333506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.266875 meters Centerline goodness : 0.991776 Centerline is valid? [True, True] Translation: X:124.74, Y:101.06, Z:18.63 [[ 9.99352731e-01 2.59855893e-03 -3.58798909e-02 1.24743087e+02] [-2.68198804e-03 9.99993810e-01 -2.27729876e-03 1.01061647e+02] [ 3.58737511e-02 2.37205417e-03 9.99353515e-01 1.86327686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.296875 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:124.77, Y:101.06, Z:18.64 [[ 9.99341093e-01 5.46633212e-03 -3.58817400e-02 1.24771880e+02] [-5.54387117e-03 9.99982507e-01 -2.06182253e-03 1.01059834e+02] [ 3.58698418e-02 2.25938773e-03 9.99353916e-01 1.86353354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.32687500000003 meters Centerline goodness : 0.992673 Centerline is valid? [True, True] Translation: X:124.80, Y:101.06, Z:18.64 [[ 9.99343089e-01 5.08772172e-03 -3.58818416e-02 1.24798438e+02] [-5.16459559e-03 9.99984562e-01 -2.05005477e-03 1.01060811e+02] [ 3.58708576e-02 2.23402327e-03 9.99353937e-01 1.86360401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.356875 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:124.82, Y:101.06, Z:18.63 [[ 9.99345701e-01 4.55025918e-03 -3.58812648e-02 1.24823812e+02] [-4.63000183e-03 9.99986992e-01 -2.13962456e-03 1.01060709e+02] [ 3.58710622e-02 2.30435493e-03 9.99353770e-01 1.86346157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.38687500000003 meters Centerline goodness : 0.991780 Centerline is valid? [True, True] Translation: X:124.85, Y:101.06, Z:18.63 [[ 9.99345733e-01 4.55700850e-03 -3.58795069e-02 1.24853907e+02] [-4.64654704e-03 9.99986295e-01 -2.41254476e-03 1.01059567e+02] [ 3.58680212e-02 2.57768213e-03 9.99353211e-01 1.86338142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.416875 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:124.88, Y:101.06, Z:18.63 [[ 9.99319788e-01 8.51798648e-03 -3.58804353e-02 1.24878347e+02] [-8.60510592e-03 9.99960389e-01 -2.27431890e-03 1.01059405e+02] [ 3.58596415e-02 2.58152683e-03 9.99353502e-01 1.86296372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.44687500000003 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:124.90, Y:101.06, Z:18.63 [[ 9.99315735e-01 8.98745291e-03 -3.58787876e-02 1.24903878e+02] [-9.08587694e-03 9.99955391e-01 -2.58112969e-03 1.01058744e+02] [ 3.58539893e-02 2.90535376e-03 9.99352816e-01 1.86307287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.476875 meters Centerline goodness : 0.991782 Centerline is valid? [True, True] Translation: X:124.93, Y:101.06, Z:18.64 [[ 9.99326139e-01 7.74516760e-03 -3.58786956e-02 1.24934964e+02] [-7.84388609e-03 9.99965826e-01 -2.61150767e-03 1.01056953e+02] [ 3.58572430e-02 2.89117627e-03 9.99352740e-01 1.86380705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.50687500000004 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:124.97, Y:101.06, Z:18.64 [[ 9.99332329e-01 6.89477128e-03 -3.58797769e-02 1.24965216e+02] [-6.97947027e-03 9.99973144e-01 -2.23591617e-03 1.01055295e+02] [ 3.58633972e-02 2.48484515e-03 9.99353612e-01 1.86390060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.536875 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:125.00, Y:101.06, Z:18.64 [[ 9.99348519e-01 3.89316844e-03 -3.58800932e-02 1.24999024e+02] [-3.97334080e-03 9.99989766e-01 -2.16341819e-03 1.01056051e+02] [ 3.58713034e-02 2.30457260e-03 9.99353760e-01 1.86362226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56687500000004 meters Centerline goodness : 0.991595 Centerline is valid? [True, True] Translation: X:125.02, Y:101.05, Z:18.64 [[ 9.99324218e-01 7.97829319e-03 -3.58811078e-02 1.25021212e+02] [-8.04231776e-03 9.99966315e-01 -1.64037503e-03 1.01053236e+02] [ 3.58668118e-02 1.92783377e-03 9.99354719e-01 1.86414112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.596875 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:125.05, Y:101.05, Z:18.64 [[ 9.99322051e-01 8.24542968e-03 -3.58810598e-02 1.25046891e+02] [-8.32004301e-03 9.99963524e-01 -1.93064337e-03 1.01053233e+02] [ 3.58638321e-02 2.22786646e-03 9.99354203e-01 1.86413206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62687500000004 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:125.07, Y:101.05, Z:18.64 [[ 9.99325147e-01 7.85956559e-03 -3.58814532e-02 1.25069311e+02] [-7.93930423e-03 9.99966319e-01 -2.08033633e-03 1.01053130e+02] [ 3.58638942e-02 2.36380618e-03 9.99353888e-01 1.86431291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.656875 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:125.10, Y:101.05, Z:18.64 [[ 9.99314369e-01 9.12194510e-03 -3.58828858e-02 1.25104432e+02] [-9.22162639e-03 9.99954065e-01 -2.61343777e-03 1.01049448e+02] [ 3.58573979e-02 2.94254449e-03 9.99352585e-01 1.86446557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68687500000004 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:125.13, Y:101.05, Z:18.65 [[ 9.99324852e-01 7.89492951e-03 -3.58818985e-02 1.25133397e+02] [-7.97608955e-03 9.99965945e-01 -2.11928210e-03 1.01045579e+02] [ 3.58639449e-02 2.40404850e-03 9.99353790e-01 1.86491712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.716875 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:125.16, Y:101.05, Z:18.65 [[ 9.99350708e-01 3.26574224e-03 -3.58817094e-02 1.25159400e+02] [-3.34036278e-03 9.99992381e-01 -2.01987478e-03 1.01047209e+02] [ 3.58748396e-02 2.13842122e-03 9.99354003e-01 1.86494408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.746875 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:125.18, Y:101.04, Z:18.65 [[ 9.99333274e-01 6.74863792e-03 -3.58812467e-02 1.25184486e+02] [-6.82309697e-03 9.99974815e-01 -1.95310610e-03 1.01043677e+02] [ 3.58671622e-02 2.19662513e-03 9.99354152e-01 1.86528128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.776875 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] Translation: X:125.22, Y:101.04, Z:18.66 [[ 9.99347271e-01 4.18316979e-03 -3.58822118e-02 1.25217687e+02] [-4.26125204e-03 9.99988716e-01 -2.09987086e-03 1.01040508e+02] [ 3.58730228e-02 2.25140336e-03 9.99353820e-01 1.86564273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.806875 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:125.25, Y:101.04, Z:18.65 [[ 9.99356037e-01 -1.12458500e-04 -3.58817309e-02 1.25251281e+02] [ 4.18976612e-05 9.99998064e-01 -1.96722967e-03 1.01037003e+02] [ 3.58818827e-02 1.96445948e-03 9.99354107e-01 1.86539366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.836875 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:125.27, Y:101.04, Z:18.65 [[ 9.99352070e-01 2.85770319e-03 -3.58785896e-02 1.25272241e+02] [-2.90931862e-03 9.99994807e-01 -1.38648828e-03 1.01036149e+02] [ 3.58744411e-02 1.48997218e-03 9.99355194e-01 1.86543776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.866875 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:125.29, Y:101.03, Z:18.66 [[ 9.99350104e-01 3.44067156e-03 -3.58821883e-02 1.25294838e+02] [-3.50731927e-03 9.99992239e-01 -1.79462387e-03 1.01034523e+02] [ 3.58757351e-02 1.91930785e-03 9.99354416e-01 1.86559794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.896875 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:125.33, Y:101.03, Z:18.66 [[ 9.99355879e-01 1.04991211e-04 -3.58861672e-02 1.25328199e+02] [-1.83669462e-04 9.99997587e-01 -2.18914998e-03 1.01030700e+02] [ 3.58858508e-02 2.19433110e-03 9.99353486e-01 1.86574364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.926875 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:125.36, Y:101.02, Z:18.66 [[ 9.99340150e-01 5.62474313e-03 -3.58835133e-02 1.25363031e+02] [-5.69601724e-03 9.99982002e-01 -1.88434268e-03 1.01023089e+02] [ 3.58722685e-02 2.08749241e-03 9.99354203e-01 1.86626502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.956875 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:125.39, Y:101.03, Z:18.66 [[ 9.99353077e-01 2.50044080e-03 -3.58772386e-02 1.25386054e+02] [-2.54589477e-03 9.99996013e-01 -1.22130212e-03 1.01025810e+02] [ 3.58740418e-02 1.31185171e-03 9.99355458e-01 1.86617600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.986875 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:125.41, Y:101.03, Z:18.66 [[ 9.99350561e-01 3.30768694e-03 -3.58819552e-02 1.25413940e+02] [-3.37064355e-03 9.99992884e-01 -1.69419779e-03 1.01025210e+02] [ 3.58760960e-02 1.81404280e-03 9.99354599e-01 1.86625115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.016875 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:125.44, Y:101.02, Z:18.66 [[ 9.99343331e-01 5.06112183e-03 -3.58788527e-02 1.25437010e+02] [-5.11741181e-03 9.99985815e-01 -1.47723040e-03 1.01024866e+02] [ 3.58708673e-02 1.65986721e-03 9.99355055e-01 1.86622692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.046875 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:125.48, Y:101.02, Z:18.67 [[ 9.99346062e-01 4.43828403e-03 -3.58852465e-02 1.25475147e+02] [-4.50983685e-03 9.99988000e-01 -1.91323539e-03 1.01021896e+02] [ 3.58763244e-02 2.07382086e-03 9.99354086e-01 1.86693376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.07687500000003 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:125.52, Y:101.02, Z:18.67 [[ 9.99333079e-01 6.79286555e-03 -3.58783133e-02 1.25518164e+02] [-6.84515648e-03 9.99975681e-01 -1.33481637e-03 1.01015591e+02] [ 3.58683735e-02 1.57951882e-03 9.99355275e-01 1.86694408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.106875 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:125.53, Y:101.02, Z:18.67 [[ 9.99339720e-01 5.85292764e-03 -3.58589960e-02 1.25531715e+02] [-5.85735437e-03 9.99982845e-01 -1.83953462e-05 1.01018083e+02] [ 3.58582732e-02 2.28422047e-04 9.99356859e-01 1.86708496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.13687500000003 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:125.57, Y:101.02, Z:18.67 [[ 9.99344689e-01 4.78797239e-03 -3.58785196e-02 1.25567016e+02] [-4.84170096e-03 9.99987284e-01 -1.41077836e-03 1.01016668e+02] [ 3.58713086e-02 1.58356692e-03 9.99355163e-01 1.86710754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.166875 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:125.60, Y:101.01, Z:18.67 [[ 9.99330010e-01 7.24058188e-03 -3.58762572e-02 1.25596829e+02] [-7.28873013e-03 9.99972703e-01 -1.21145635e-03 1.01014396e+02] [ 3.58665062e-02 1.47213705e-03 9.99355506e-01 1.86716498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.19687500000003 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:125.62, Y:101.01, Z:18.67 [[ 9.99308183e-01 9.80735470e-03 -3.58743908e-02 1.25621918e+02] [-9.85165114e-03 9.99950911e-01 -1.05820135e-03 1.01013393e+02] [ 3.58622516e-02 1.41089125e-03 9.99355747e-01 1.86666263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.226875 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:125.65, Y:101.01, Z:18.67 [[ 9.99320034e-01 8.49528340e-03 -3.58789577e-02 1.25653076e+02] [-8.55185030e-03 9.99962419e-01 -1.42343048e-03 1.01012251e+02] [ 3.58655169e-02 1.72929407e-03 9.99355129e-01 1.86739692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.25687500000004 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:125.69, Y:101.01, Z:18.68 [[ 9.99270326e-01 1.31057816e-02 -3.58755358e-02 1.25687123e+02] [-1.31562761e-02 9.99912766e-01 -1.17177087e-03 1.01005709e+02] [ 3.58570493e-02 1.64290431e-03 9.99355579e-01 1.86762059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.286875 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:125.71, Y:101.00, Z:18.67 [[ 9.99229381e-01 1.59440872e-02 -3.58668514e-02 1.25714249e+02] [-1.59753144e-02 9.99872216e-01 -5.84208324e-04 1.01004616e+02] [ 3.58529536e-02 1.15674235e-03 9.99356407e-01 1.86712137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31687500000004 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:125.75, Y:101.00, Z:18.68 [[ 9.99229199e-01 1.59510515e-02 -3.58688097e-02 1.25745921e+02] [-1.59869180e-02 9.99871947e-01 -7.13332225e-04 1.01002452e+02] [ 3.58528381e-02 1.28621411e-03 9.99356253e-01 1.86755153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.346875 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:125.77, Y:101.00, Z:18.67 [[ 9.99198088e-01 1.78025129e-02 -3.58643576e-02 1.25773980e+02] [-1.78292401e-02 9.99840956e-01 -4.25523660e-04 1.01001643e+02] [ 3.58510782e-02 1.06461667e-03 9.99356576e-01 1.86720756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37687500000004 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:125.80, Y:101.00, Z:18.68 [[ 9.99157977e-01 1.99279821e-02 -3.58638046e-02 1.25801614e+02] [-1.99549597e-02 9.99800802e-01 -3.94400814e-04 1.00998477e+02] [ 3.58488010e-02 1.10972949e-03 9.99356609e-01 1.86760809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.406875 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:125.83, Y:101.00, Z:18.68 [[ 9.99159493e-01 1.98480745e-02 -3.58658755e-02 1.25832817e+02] [-1.98791907e-02 9.99802259e-01 -5.11135633e-04 1.00996140e+02] [ 3.58486383e-02 1.22369060e-03 9.99356482e-01 1.86779913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43687500000004 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:125.85, Y:101.00, Z:18.67 [[ 9.99244630e-01 1.49656585e-02 -3.58635973e-02 1.25854561e+02] [-1.49888997e-02 9.99887588e-01 -3.79253507e-04 1.01000999e+02] [ 3.58538900e-02 9.16522895e-04 9.99356622e-01 1.86743578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.466875 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:125.88, Y:101.00, Z:18.68 [[ 9.99228677e-01 1.59630220e-02 -3.58780350e-02 1.25883686e+02] [-1.60152214e-02 9.99871066e-01 -1.16797499e-03 1.00998521e+02] [ 3.58547647e-02 1.74166877e-03 9.99355494e-01 1.86765924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.496875 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:125.92, Y:100.99, Z:18.68 [[ 9.99164224e-01 1.95872002e-02 -3.58774997e-02 1.25919028e+02] [-1.96406206e-02 9.99806458e-01 -1.13709656e-03 1.00992460e+02] [ 3.58482834e-02 1.84080256e-03 9.99355548e-01 1.86813186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.526875 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:125.95, Y:100.99, Z:18.68 [[ 9.99149005e-01 2.03692688e-02 -3.58658309e-02 1.25949256e+02] [-2.03996859e-02 9.99791788e-01 -4.82301706e-04 1.00990586e+02] [ 3.58485391e-02 1.21354295e-03 9.99356498e-01 1.86840792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.556875 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:125.98, Y:100.99, Z:18.69 [[ 9.99136094e-01 2.09939478e-02 -3.58653063e-02 1.25978880e+02] [-2.10237500e-02 9.99778874e-01 -4.53974963e-04 1.00988866e+02] [ 3.58478448e-02 1.20760600e-03 9.99356530e-01 1.86851852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.586875 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:126.01, Y:100.99, Z:18.69 [[ 9.99107947e-01 2.22929874e-02 -3.58654834e-02 1.26009529e+02] [-2.23239387e-02 9.99750683e-01 -4.62706612e-04 1.00987453e+02] [ 3.58462265e-02 1.26295271e-03 9.99356519e-01 1.86877225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.616875 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:126.04, Y:100.99, Z:18.69 [[ 9.99064896e-01 2.41429272e-02 -3.58671454e-02 1.26040381e+02] [-2.41779594e-02 9.99707523e-01 -5.43244661e-04 1.00985334e+02] [ 3.58435395e-02 1.40993106e-03 9.99356419e-01 1.86896668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.646875 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:126.07, Y:100.98, Z:18.69 [[ 9.99028522e-01 2.56093711e-02 -3.58632419e-02 1.26071812e+02] [-2.56387637e-02 9.99671208e-01 -3.59847193e-04 1.00984015e+02] [ 3.58422349e-02 1.27898679e-03 9.99356642e-01 1.86903806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.676875 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:126.10, Y:100.98, Z:18.69 [[ 9.98965068e-01 2.79753534e-02 -3.58632477e-02 1.26104719e+02] [-2.80062776e-02 9.99607682e-01 -3.60114940e-04 1.00982387e+02] [ 3.58391036e-02 1.36413832e-03 9.99356642e-01 1.86915232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.706875 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:126.14, Y:100.98, Z:18.69 [[ 9.98852727e-01 3.17356785e-02 -3.58618995e-02 1.26135905e+02] [-3.17668725e-02 9.99495260e-01 -3.00234877e-04 1.00982101e+02] [ 3.58342704e-02 1.43911081e-03 9.99356710e-01 1.86923181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.736875 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:126.16, Y:100.99, Z:18.69 [[ 9.98932153e-01 2.91267954e-02 -3.58634023e-02 1.26160085e+02] [-2.91586702e-02 9.99574729e-01 -3.65959366e-04 1.00986788e+02] [ 3.58374914e-02 1.41129769e-03 9.99356634e-01 1.86896637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.766875 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:126.20, Y:100.98, Z:18.69 [[ 9.98768864e-01 3.42567899e-02 -3.58779717e-02 1.26195889e+02] [-3.43141591e-02 9.99410611e-01 -9.84291075e-04 1.00980797e+02] [ 3.58231070e-02 2.21420171e-03 9.99355694e-01 1.86927807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.796875 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:126.23, Y:100.98, Z:18.69 [[ 9.98776111e-01 3.40597425e-02 -3.58638273e-02 1.26226491e+02] [-3.40961393e-02 9.99418476e-01 -4.03567154e-04 1.00980486e+02] [ 3.58292262e-02 1.62589128e-03 9.99356605e-01 1.86940778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.82687500000003 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:126.25, Y:100.99, Z:18.69 [[ 9.98973695e-01 2.76626363e-02 -3.58655135e-02 1.26252226e+02] [-2.76973239e-02 9.99616245e-01 -4.70575803e-04 1.00985592e+02] [ 3.58387325e-02 1.46347159e-03 9.99356515e-01 1.86924434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.856875 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:126.28, Y:100.98, Z:18.70 [[ 9.98689956e-01 3.64935158e-02 -3.58691430e-02 1.26283962e+02] [-3.65382225e-02 9.99332081e-01 -5.91447720e-04 1.00977029e+02] [ 3.58236014e-02 1.90126763e-03 9.99356320e-01 1.87046564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.88687500000003 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:126.31, Y:100.98, Z:18.70 [[ 9.98856452e-01 3.16250948e-02 -3.58558511e-02 1.26310198e+02] [-3.16509749e-02 9.99498971e-01 -1.54250337e-04 1.00980558e+02] [ 3.58330081e-02 1.28894659e-03 9.99356960e-01 1.87031053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.916875 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:126.35, Y:100.97, Z:18.70 [[ 9.98674558e-01 3.69105922e-02 -3.58711044e-02 1.26346450e+02] [-3.69574409e-02 9.99316633e-01 -6.43617119e-04 1.00973519e+02] [ 3.58228350e-02 1.96846826e-03 9.99356218e-01 1.87046112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.94687500000003 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:126.38, Y:100.97, Z:18.71 [[ 9.98735849e-01 3.52330463e-02 -3.58515789e-02 1.26378864e+02] [-3.52568305e-02 9.99378284e-01 -3.12161868e-05 1.00972864e+02] [ 3.58281895e-02 1.29518976e-03 9.99357125e-01 1.87059599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.976875 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:126.40, Y:100.98, Z:18.70 [[ 9.98799277e-01 3.33854828e-02 -3.58526695e-02 1.26401280e+02] [-3.34093315e-02 9.99441750e-01 -6.61282412e-05 1.00977703e+02] [ 3.58304471e-02 1.26386256e-03 9.99357084e-01 1.86950622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.00687500000004 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:126.43, Y:100.98, Z:18.70 [[ 9.98781794e-01 3.38783115e-02 -3.58773924e-02 1.26433350e+02] [-3.39291937e-02 9.99423911e-01 -8.10159115e-04 1.00975506e+02] [ 3.58292770e-02 2.02646317e-03 9.99355871e-01 1.87030557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.036875 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:126.46, Y:100.97, Z:18.70 [[ 9.98584987e-01 3.92657213e-02 -3.58640197e-02 1.26461295e+02] [-3.93069474e-02 9.99227084e-01 -4.44884803e-04 1.00973127e+02] [ 3.58188311e-02 1.85396042e-03 9.99356580e-01 1.86967351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06687500000004 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:126.49, Y:100.97, Z:18.70 [[ 9.98740624e-01 3.50783228e-02 -3.58702883e-02 1.26494809e+02] [-3.51230116e-02 9.99382807e-01 -6.16271703e-04 1.00973288e+02] [ 3.58265316e-02 1.87536814e-03 9.99356264e-01 1.87020004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.096875 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:126.53, Y:100.97, Z:18.70 [[ 9.98660122e-01 3.73018343e-02 -3.58682736e-02 1.26527862e+02] [-3.73458892e-02 9.99302243e-01 -5.58810948e-04 1.00971267e+02] [ 3.58224016e-02 1.89759478e-03 9.99356370e-01 1.87034336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12687500000004 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:126.56, Y:100.97, Z:18.70 [[ 9.98610868e-01 3.86023596e-02 -3.58635247e-02 1.26559957e+02] [-3.86425111e-02 9.99253008e-01 -4.26829725e-04 1.00969052e+02] [ 3.58202583e-02 1.81209345e-03 9.99356606e-01 1.87047899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.156875 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:126.59, Y:100.97, Z:18.71 [[ 9.98585010e-01 3.92665199e-02 -3.58624816e-02 1.26588118e+02] [-3.93060855e-02 9.99227138e-01 -3.98619313e-04 1.00968440e+02] [ 3.58191125e-02 1.80766904e-03 9.99356655e-01 1.87056396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18687500000004 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:126.62, Y:100.97, Z:18.70 [[ 9.98511224e-01 4.10928946e-02 -3.58707477e-02 1.26616701e+02] [-4.11413647e-02 9.99153147e-01 -6.13854863e-04 1.00968781e+02] [ 3.58151454e-02 2.08871248e-03 9.99356249e-01 1.86988536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.216875 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:126.65, Y:100.97, Z:18.71 [[ 9.98554701e-01 4.00141037e-02 -3.58800902e-02 1.26649613e+02] [-4.00704336e-02 9.99196494e-01 -8.51939782e-04 1.00969477e+02] [ 3.58171708e-02 2.28843925e-03 9.99355739e-01 1.87058761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.246875 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:126.68, Y:100.98, Z:18.70 [[ 9.98506608e-01 4.12113464e-02 -3.58633272e-02 1.26675905e+02] [-4.12543191e-02 9.99148573e-01 -4.58748020e-04 1.00975583e+02] [ 3.58138866e-02 1.93758007e-03 9.99356599e-01 1.86974872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.276875 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:126.71, Y:100.98, Z:18.70 [[ 9.98445874e-01 4.26465624e-02 -3.58762897e-02 1.26709289e+02] [-4.27009471e-02 9.99087617e-01 -7.50694015e-04 1.00975268e+02] [ 3.58115422e-02 2.28147889e-03 9.99355957e-01 1.86978387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.306875 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:126.73, Y:100.97, Z:18.70 [[ 9.98440239e-01 4.27853021e-02 -3.58679220e-02 1.26734988e+02] [-4.28331941e-02 9.99082076e-01 -5.67528175e-04 1.00974976e+02] [ 3.58107161e-02 2.10298063e-03 9.99356378e-01 1.86970406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.336875 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:126.77, Y:100.97, Z:18.72 [[ 9.98701745e-01 3.61496175e-02 -3.58891307e-02 1.26769310e+02] [-3.62102283e-02 9.99343653e-01 -1.04007263e-03 1.00972476e+02] [ 3.58279767e-02 2.33827596e-03 9.99355236e-01 1.87185066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.366875 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:126.80, Y:100.97, Z:18.72 [[ 9.98801271e-01 3.33081916e-02 -3.58689966e-02 1.26798003e+02] [-3.33511839e-02 9.99443514e-01 -6.00766448e-04 1.00973781e+02] [ 3.58290255e-02 1.79631979e-03 9.99356320e-01 1.87219605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.396875 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:126.82, Y:100.98, Z:18.72 [[ 9.99081925e-01 2.34155420e-02 -3.58750540e-02 1.26818238e+02] [-2.34568133e-02 9.99724585e-01 -7.29900594e-04 1.00982615e+02] [ 3.58480824e-02 1.57074493e-03 9.99356017e-01 1.87207245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.426875 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:126.86, Y:100.98, Z:18.71 [[ 9.98885346e-01 3.06234353e-02 -3.59203410e-02 1.26855213e+02] [-3.07029284e-02 9.99527170e-01 -1.66339301e-03 1.00978653e+02] [ 3.58524180e-02 2.76439856e-03 9.99353272e-01 1.87143099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.456875 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:126.88, Y:100.98, Z:18.71 [[ 9.98924160e-01 2.93657771e-02 -3.58911359e-02 1.26881227e+02] [-2.94232870e-02 9.99566463e-01 -1.07509508e-03 1.00981863e+02] [ 3.58440048e-02 2.12997365e-03 9.99355127e-01 1.87125059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.486875 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:126.92, Y:100.98, Z:18.72 [[ 9.98959114e-01 2.81313456e-02 -3.59070440e-02 1.26915101e+02] [-2.81995163e-02 9.99601343e-01 -1.39340244e-03 1.00980595e+02] [ 3.58535311e-02 2.40451334e-03 9.99354163e-01 1.87212410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.516875 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:126.94, Y:100.98, Z:18.71 [[ 9.98897552e-01 3.02612938e-02 -3.58878142e-02 1.26940934e+02] [-3.03175353e-02 9.99539794e-01 -1.02387035e-03 1.00981935e+02] [ 3.58403147e-02 2.11077166e-03 9.99355300e-01 1.87118432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.546875 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:127.00, Y:100.95, Z:18.73 [[ 9.97979193e-01 5.24204230e-02 -3.59114260e-02 1.27002706e+02] [-5.25074007e-02 9.98619435e-01 -1.48254100e-03 1.00947567e+02] [ 3.57841325e-02 3.36516071e-03 9.99353877e-01 1.87279020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.57687500000003 meters Centerline goodness : 0.992274 Centerline is valid? [True, True] Translation: X:127.00, Y:100.98, Z:18.72 [[ 9.99112254e-01 2.23310696e-02 -3.57215355e-02 1.26995691e+02] [-2.22749591e-02 9.99749945e-01 1.96802925e-03 1.00980422e+02] [ 3.57565513e-02 -1.17058640e-03 9.99359845e-01 1.87187266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.606875 meters Centerline goodness : 0.986072 Centerline is valid? [True, True] Translation: X:127.07, Y:100.98, Z:18.73 [[ 9.99123030e-01 2.17283804e-02 -3.57917393e-02 1.27065148e+02] [-2.17990117e-02 9.99761118e-01 -1.58429753e-03 1.00983721e+02] [ 3.57487651e-02 2.36313269e-03 9.99358015e-01 1.87281259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.63687500000003 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:127.06, Y:100.98, Z:18.73 [[ 9.99211439e-01 1.73736688e-02 -3.57023290e-02 1.27059612e+02] [-1.73116001e-02 9.99848048e-01 2.04692697e-03 1.00984102e+02] [ 3.57324666e-02 -1.42724840e-03 9.99360372e-01 1.87271115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.666875 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:127.09, Y:100.98, Z:18.73 [[ 9.99110334e-01 2.22295748e-02 -3.58383289e-02 1.27089578e+02] [-2.22743381e-02 9.99751535e-01 -8.50203932e-04 1.00980988e+02] [ 3.58105246e-02 1.64772259e-03 9.99357239e-01 1.87306071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.69687500000003 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:127.12, Y:100.98, Z:18.73 [[ 9.99097566e-01 2.27909569e-02 -3.58416830e-02 1.27118238e+02] [-2.28386319e-02 9.99738740e-01 -9.21248479e-04 1.00979937e+02] [ 3.58113229e-02 1.73899212e-03 9.99357056e-01 1.87323437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.726875 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:127.18, Y:100.95, Z:18.74 [[ 9.98198694e-01 4.81061206e-02 -3.58492363e-02 1.27176138e+02] [-4.81759334e-02 9.98838276e-01 -1.08563857e-03 1.00952904e+02] [ 3.57553635e-02 2.81075342e-03 9.99356620e-01 1.87369694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.75687500000004 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:127.18, Y:100.98, Z:18.73 [[ 9.98900001e-01 3.03892123e-02 -3.57111067e-02 1.27182692e+02] [-3.03462474e-02 9.99537924e-01 1.74465641e-03 1.00975955e+02] [ 3.57476242e-02 -6.59039215e-04 9.99360632e-01 1.87315666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.786875 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:127.23, Y:100.95, Z:18.74 [[ 9.97936121e-01 5.32975036e-02 -3.58172279e-02 1.27234639e+02] [-5.33481119e-02 9.98575871e-01 -4.58070068e-04 1.00950431e+02] [ 3.57418055e-02 2.36790615e-03 9.99358252e-01 1.87367359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81687500000004 meters Centerline goodness : 0.986643 Centerline is valid? [True, True] Translation: X:127.28, Y:100.95, Z:18.74 [[ 9.97612488e-01 5.91154177e-02 -3.57028056e-02 1.27275476e+02] [-5.90886305e-02 9.98251107e-01 1.80589403e-03 1.00945230e+02] [ 3.57471214e-02 3.08047449e-04 9.99360820e-01 1.87362319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.846875 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:127.27, Y:100.94, Z:18.73 [[ 9.97503381e-01 6.09632472e-02 -3.56439094e-02 1.27269924e+02] [-6.08967611e-02 9.98139714e-01 2.94897472e-03 1.00942294e+02] [ 3.57573806e-02 -7.71013623e-04 9.99360203e-01 1.87342745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87687500000004 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:127.30, Y:100.94, Z:18.73 [[ 9.97415151e-01 6.22682460e-02 -3.58564204e-02 1.27300863e+02] [-6.23031620e-02 9.98057261e-01 1.43832121e-04 1.00939947e+02] [ 3.57957168e-02 2.09050803e-03 9.99356941e-01 1.87340149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.906875 meters Centerline goodness : 0.986936 Centerline is valid? [True, True] Translation: X:127.36, Y:100.93, Z:18.74 [[ 9.96902613e-01 6.99951137e-02 -3.58589503e-02 1.27363638e+02] [-7.00366690e-02 9.97544413e-01 9.75003920e-05 1.00933176e+02] [ 3.57777201e-02 2.41424304e-03 9.99356856e-01 1.87413633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93687500000004 meters Centerline goodness : 0.985952 Centerline is valid? [True, True] Translation: X:127.39, Y:100.93, Z:18.75 [[ 9.96566038e-01 7.47295200e-02 -3.56599256e-02 1.27393404e+02] [-7.46537577e-02 9.97203536e-01 3.45323104e-03 1.00927435e+02] [ 3.58182622e-02 -7.79225333e-04 9.99358016e-01 1.87481939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.966875 meters Centerline goodness : 0.985681 Centerline is valid? [True, True] Translation: X:127.42, Y:100.93, Z:18.74 [[ 9.96536313e-01 7.51305086e-02 -3.56480592e-02 1.27424753e+02] [-7.50481140e-02 9.97173249e-01 3.64571233e-03 1.00932755e+02] [ 3.58211953e-02 -9.57765115e-04 9.99357756e-01 1.87440774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.996875 meters Centerline goodness : 0.985930 Centerline is valid? [True, True] Translation: X:127.46, Y:100.93, Z:18.75 [[ 9.96581313e-01 7.45187992e-02 -3.56740014e-02 1.27460008e+02] [-7.44521320e-02 9.97219469e-01 3.19543170e-03 1.00933408e+02] [ 3.58129285e-02 -5.28502056e-04 9.99358372e-01 1.87453758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.026875 meters Centerline goodness : 0.986244 Centerline is valid? [True, True] Translation: X:127.49, Y:100.93, Z:18.75 [[ 9.96476679e-01 7.59120031e-02 -3.56594574e-02 1.27488380e+02] [-7.58372135e-02 9.97114253e-01 3.44721125e-03 1.00931910e+02] [ 3.58182380e-02 -7.30751735e-04 9.99358054e-01 1.87479475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.056875 meters Centerline goodness : 0.986048 Centerline is valid? [True, True] Translation: X:127.52, Y:100.93, Z:18.75 [[ 9.96446367e-01 7.63024802e-02 -3.56730999e-02 1.27522943e+02] [-7.62364867e-02 9.97084602e-01 3.20852158e-03 1.00930024e+02] [ 3.58139168e-02 -4.77527860e-04 9.99358362e-01 1.87511576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.086875 meters Centerline goodness : 0.985735 Centerline is valid? [True, True] Translation: X:127.56, Y:100.93, Z:18.75 [[ 9.96519137e-01 7.53446900e-02 -3.56761592e-02 1.27557884e+02] [-7.52800986e-02 9.97157445e-01 3.15223960e-03 1.00929777e+02] [ 3.58122522e-02 -4.55562303e-04 9.99358432e-01 1.87509667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.116875 meters Centerline goodness : 0.990835 Centerline is valid? [True, True] Translation: X:127.56, Y:100.93, Z:18.75 [[ 9.97004690e-01 6.86251663e-02 -3.56683876e-02 1.27559039e+02] [-6.85511190e-02 9.97642160e-01 3.29625025e-03 1.00934972e+02] [ 3.58104930e-02 -8.41269071e-04 9.99358245e-01 1.87504358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.146875 meters Centerline goodness : 0.983513 Centerline is valid? [True, True] Translation: X:127.62, Y:100.93, Z:18.76 [[ 9.96814712e-01 7.12623483e-02 -3.58065301e-02 1.27619106e+02] [-7.12956999e-02 9.97455164e-01 3.46159031e-04 1.00930690e+02] [ 3.57400765e-02 2.20779521e-03 9.99358681e-01 1.87567324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.176875 meters Centerline goodness : 0.990733 Centerline is valid? [True, True] Translation: X:127.62, Y:100.93, Z:18.75 [[ 9.97001922e-01 6.86592298e-02 -3.56802040e-02 1.27619687e+02] [-6.85955048e-02 9.97640018e-01 3.00853152e-03 1.00930048e+02] [ 3.58025628e-02 -5.52010109e-04 9.99358730e-01 1.87530084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.206875 meters Centerline goodness : 0.985168 Centerline is valid? [True, True] Translation: X:127.68, Y:100.92, Z:18.76 [[ 9.96733281e-01 7.23917334e-02 -3.58078787e-02 1.27682773e+02] [-7.24270186e-02 9.97373666e-01 3.12463500e-04 1.00923251e+02] [ 3.57364550e-02 2.28201512e-03 9.99358643e-01 1.87569616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.236875 meters Centerline goodness : 0.984364 Centerline is valid? [True, True] Translation: X:127.71, Y:100.92, Z:18.76 [[ 9.96797650e-01 7.15813636e-02 -3.56448161e-02 1.27709172e+02] [-7.15025572e-02 9.97434337e-01 3.48238537e-03 1.00920933e+02] [ 3.58026375e-02 -9.22538048e-04 9.99358454e-01 1.87630490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.266875 meters Centerline goodness : 0.983095 Centerline is valid? [True, True] Translation: X:127.74, Y:100.92, Z:18.76 [[ 9.96933864e-01 6.96502026e-02 -3.56611940e-02 1.27741302e+02] [-6.95810965e-02 9.97571240e-01 3.17677717e-03 1.00919850e+02] [ 3.57958447e-02 -6.85691753e-04 9.99358888e-01 1.87648252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.296875 meters Centerline goodness : 0.982538 Centerline is valid? [True, True] Translation: X:127.77, Y:100.92, Z:18.76 [[ 9.97080196e-01 6.75226210e-02 -3.56619977e-02 1.27771385e+02] [-6.74526921e-02 9.97717464e-01 3.16176196e-03 1.00916910e+02] [ 3.57940883e-02 -7.47032491e-04 9.99358907e-01 1.87635142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.32687500000003 meters Centerline goodness : 0.984954 Centerline is valid? [True, True] Translation: X:127.81, Y:100.92, Z:18.76 [[ 9.97291288e-01 6.43203298e-02 -3.56788715e-02 1.27808445e+02] [-6.42603880e-02 9.97929166e-01 2.82542289e-03 1.00917352e+02] [ 3.57867186e-02 -5.25031501e-04 9.99359312e-01 1.87624137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.356875 meters Centerline goodness : 0.984996 Centerline is valid? [True, True] Translation: X:127.84, Y:100.92, Z:18.76 [[ 9.97427215e-01 6.21869820e-02 -3.56613327e-02 1.27838532e+02] [-6.21130743e-02 9.98064060e-01 3.17769962e-03 1.00918293e+02] [ 3.57899060e-02 -9.54489076e-04 9.99358880e-01 1.87605817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.38687500000003 meters Centerline goodness : 0.989836 Centerline is valid? [True, True] Translation: X:127.84, Y:100.92, Z:18.76 [[ 9.97770314e-01 5.64093286e-02 -3.56705655e-02 1.27837773e+02] [-5.63385295e-02 9.98407254e-01 2.98763457e-03 1.00921284e+02] [ 3.57822818e-02 -9.71345875e-04 9.99359137e-01 1.87585748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.416875 meters Centerline goodness : 0.985945 Centerline is valid? [True, True] Translation: X:127.89, Y:100.91, Z:18.76 [[ 9.97365205e-01 6.30986370e-02 -3.57939899e-02 1.27894320e+02] [-6.31255953e-02 9.98005519e-01 3.77594553e-04 1.00910840e+02] [ 3.57464252e-02 1.88291725e-03 9.99359119e-01 1.87620167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.44687500000003 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:127.89, Y:100.91, Z:18.76 [[ 9.97449271e-01 6.18318008e-02 -3.56620323e-02 1.27891180e+02] [-6.17631129e-02 9.98086251e-01 3.02557920e-03 1.00909582e+02] [ 3.57808611e-02 -8.15263639e-04 9.99359327e-01 1.87608324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.476875 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:127.92, Y:100.91, Z:18.76 [[ 9.97318127e-01 6.38044059e-02 -3.58545859e-02 1.27924075e+02] [-6.38362143e-02 9.97960356e-01 2.58095187e-04 1.00906305e+02] [ 3.57979229e-02 2.03141802e-03 9.99356984e-01 1.87599616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.50687500000004 meters Centerline goodness : 0.985944 Centerline is valid? [True, True] Translation: X:127.98, Y:100.90, Z:18.76 [[ 9.96843293e-01 7.08394371e-02 -3.58500214e-02 1.27983062e+02] [-7.08726809e-02 9.97485310e-01 3.44246689e-04 1.00897269e+02] [ 3.57842560e-02 2.19762713e-03 9.99357122e-01 1.87645369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.536875 meters Centerline goodness : 0.991120 Centerline is valid? [True, True] Translation: X:127.98, Y:100.90, Z:18.76 [[ 9.96975045e-01 6.90455955e-02 -3.56856439e-02 1.27977718e+02] [-6.89725298e-02 9.97613181e-01 3.27596993e-03 1.00896643e+02] [ 3.58266601e-02 -8.04731125e-04 9.99357695e-01 1.87577016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56687500000004 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:128.00, Y:100.90, Z:18.76 [[ 9.97041412e-01 6.79607351e-02 -3.59132473e-02 1.28000074e+02] [-6.79908504e-02 9.97685871e-01 3.83470926e-04 1.00896927e+02] [ 3.58562004e-02 2.05943583e-03 9.99354838e-01 1.87561827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.596875 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:128.03, Y:100.89, Z:18.76 [[ 9.96823313e-01 7.10496049e-02 -3.59894056e-02 1.28034683e+02] [-7.11167069e-02 9.97467829e-01 -5.86179236e-04 1.00890941e+02] [ 3.58566264e-02 3.14376514e-03 9.99352000e-01 1.87562544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62687500000004 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:128.06, Y:100.89, Z:18.76 [[ 9.96728069e-01 7.23826754e-02 -3.59708804e-02 1.28062811e+02] [-7.24421578e-02 9.97372553e-01 -3.51347849e-04 1.00888490e+02] [ 3.58509373e-02 2.95600645e-03 9.99352777e-01 1.87580939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.656875 meters Centerline goodness : 0.991535 Centerline is valid? [True, True] Translation: X:128.09, Y:100.88, Z:18.76 [[ 9.96373404e-01 7.71055637e-02 -3.59829497e-02 1.28094365e+02] [-7.71735568e-02 9.97017547e-01 -5.02443668e-04 1.00882321e+02] [ 3.58368910e-02 3.27755372e-03 9.99352278e-01 1.87615141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68687500000004 meters Centerline goodness : 0.990167 Centerline is valid? [True, True] Translation: X:128.13, Y:100.88, Z:18.76 [[ 9.96253393e-01 7.86459271e-02 -3.59721338e-02 1.28131612e+02] [-7.87100890e-02 9.96897480e-01 -3.68804780e-04 1.00877040e+02] [ 3.58315245e-02 3.19879286e-03 9.99352725e-01 1.87633031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.716875 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:128.15, Y:100.88, Z:18.76 [[ 9.95992874e-01 8.19039267e-02 -3.59157699e-02 1.28153572e+02] [-8.19458114e-02 9.96636739e-01 3.06779030e-04 1.00876245e+02] [ 3.58201022e-02 2.63759718e-03 9.99354774e-01 1.87647790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.746875 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:128.19, Y:100.87, Z:18.77 [[ 9.95794458e-01 8.42639180e-02 -3.59581535e-02 1.28185577e+02] [-8.43253409e-02 9.96438257e-01 -1.92322821e-04 1.00872176e+02] [ 3.58138740e-02 3.22369756e-03 9.99353278e-01 1.87653161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.776875 meters Centerline goodness : 0.990742 Centerline is valid? [True, True] Translation: X:128.21, Y:100.87, Z:18.77 [[ 9.95648325e-01 8.59792573e-02 -3.59441300e-02 1.28212238e+02] [-8.60359957e-02 9.96292029e-01 -3.18901916e-05 1.00867552e+02] [ 3.58081083e-02 3.12424043e-03 9.99353800e-01 1.87671071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.806875 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:128.24, Y:100.86, Z:18.76 [[ 9.95041062e-01 9.27426843e-02 -3.59454995e-02 1.28236658e+02] [-9.28043314e-02 9.95684365e-01 -4.67314270e-05 1.00863790e+02] [ 3.57860379e-02 3.38239774e-03 9.99353751e-01 1.87622065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.836875 meters Centerline goodness : 0.991600 Centerline is valid? [True, True] Translation: X:128.27, Y:100.86, Z:18.77 [[ 9.95236618e-01 9.06051241e-02 -3.59831323e-02 1.28272964e+02] [-9.06800737e-02 9.95879972e-01 -4.53029992e-04 1.00858082e+02] [ 3.57938340e-02 3.71382513e-03 9.99352295e-01 1.87703287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.866875 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:128.30, Y:100.85, Z:18.77 [[ 9.94812511e-01 9.51636375e-02 -3.59437070e-02 1.28300952e+02] [-9.52260630e-02 9.95455673e-01 -2.49310525e-05 1.00852676e+02] [ 3.57779945e-02 3.44757943e-03 9.99353816e-01 1.87665035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.896875 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:128.34, Y:100.85, Z:18.78 [[ 9.94868729e-01 9.45685637e-02 -3.59583038e-02 1.28335230e+02] [-9.46363108e-02 9.95511896e-01 -1.82882115e-04 1.00845548e+02] [ 3.57796243e-02 3.58490491e-03 9.99353274e-01 1.87752337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.926875 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:128.39, Y:100.84, Z:18.79 [[ 9.94544552e-01 9.79334202e-02 -3.59190719e-02 1.28393080e+02] [-9.79848341e-02 9.95187853e-01 3.30389822e-04 1.00838126e+02] [ 3.57785802e-02 3.19093690e-03 9.99354647e-01 1.87852972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.956875 meters Centerline goodness : 0.992083 Centerline is valid? [True, True] Translation: X:128.40, Y:100.83, Z:18.78 [[ 9.94234783e-01 1.01099575e-01 -3.57221437e-02 1.28396813e+02] [-1.01063334e-01 9.94875988e-01 2.82338969e-03 1.00834284e+02] [ 3.58245465e-02 8.03086708e-04 9.99357772e-01 1.87767464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.986875 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:128.43, Y:100.83, Z:18.78 [[ 9.94284200e-01 1.00545875e-01 -3.59090004e-02 1.28432766e+02] [-1.00579723e-01 9.94928624e-01 8.67169233e-04 1.00825331e+02] [ 3.58140826e-02 2.74950465e-03 9.99354688e-01 1.87826966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.016875 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:128.47, Y:100.82, Z:18.79 [[ 9.93919689e-01 1.04101485e-01 -3.58682650e-02 1.28467417e+02] [-1.04122502e-01 9.94563648e-01 1.28658357e-03 1.00817296e+02] [ 3.58072077e-02 2.45593276e-03 9.99355699e-01 1.87858907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.046875 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:128.49, Y:100.82, Z:18.78 [[ 9.94072931e-01 1.02643687e-01 -3.58229062e-02 1.28489211e+02] [-1.02647061e-01 9.94716301e-01 1.74981485e-03 1.00819542e+02] [ 3.58132362e-02 1.93767246e-03 9.99356622e-01 1.87790172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.07687500000003 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:128.53, Y:100.81, Z:18.79 [[ 9.93357109e-01 1.09328070e-01 -3.59030330e-02 1.28528478e+02] [-1.09364983e-01 9.94001216e-01 9.40063651e-04 1.00805657e+02] [ 3.57904338e-02 2.99271569e-03 9.99354836e-01 1.87860702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.106875 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:128.56, Y:100.80, Z:18.79 [[ 9.93073478e-01 1.11906595e-01 -3.58047605e-02 1.28560515e+02] [-1.11910118e-01 9.93716494e-01 1.91201159e-03 1.00798847e+02] [ 3.57937477e-02 2.10814698e-03 9.99356975e-01 1.87909177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.13687500000003 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:128.58, Y:100.80, Z:18.78 [[ 9.93986825e-01 1.03485236e-01 -3.57910207e-02 1.28579786e+02] [-1.03478454e-01 9.94629589e-01 2.04682683e-03 1.00804471e+02] [ 3.58106246e-02 1.66908057e-03 9.99357200e-01 1.87826041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.166875 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:128.63, Y:100.79, Z:18.79 [[ 9.93215645e-01 1.10604688e-01 -3.59066318e-02 1.28626634e+02] [-1.10643622e-01 9.93859732e-01 9.07050611e-04 1.00786207e+02] [ 3.57864795e-02 3.07194295e-03 9.99354737e-01 1.87933486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.19687500000003 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:128.65, Y:100.78, Z:18.79 [[ 9.93097048e-01 1.11721627e-01 -3.57285889e-02 1.28652569e+02] [-1.11699333e-01 9.93738580e-01 2.62572168e-03 1.00784556e+02] [ 3.57982270e-02 1.38326309e-03 9.99358081e-01 1.87920940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.226875 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:128.69, Y:100.78, Z:18.80 [[ 9.93147882e-01 1.11252258e-01 -3.57801468e-02 1.28690092e+02] [-1.11247527e-01 9.93790448e-01 2.12925230e-03 1.00777423e+02] [ 3.57948522e-02 1.86579045e-03 9.99357417e-01 1.87957001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.25687500000004 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:128.72, Y:100.77, Z:18.80 [[ 9.93061491e-01 1.12040521e-01 -3.57182901e-02 1.28721051e+02] [-1.12015135e-01 9.93702785e-01 2.71739011e-03 1.00773345e+02] [ 3.57978222e-02 1.30245361e-03 9.99358204e-01 1.87978917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.286875 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:128.74, Y:100.78, Z:18.79 [[ 9.93247916e-01 1.10376616e-01 -3.57152657e-02 1.28740982e+02] [-1.10349137e-01 9.93889093e-01 2.74573794e-03 1.00775603e+02] [ 3.58000783e-02 1.21395025e-03 9.99358234e-01 1.87921246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31687500000004 meters Centerline goodness : 0.993033 Centerline is valid? [True, True] Translation: X:128.78, Y:100.77, Z:18.80 [[ 9.92867648e-01 1.13711557e-01 -3.58261762e-02 1.28781314e+02] [-1.13723853e-01 9.93510942e-01 1.70105410e-03 1.00765351e+02] [ 3.57871275e-02 2.38536920e-03 9.99356589e-01 1.87997178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.346875 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:128.79, Y:100.78, Z:18.80 [[ 9.93926200e-01 1.04090018e-01 -3.57208357e-02 1.28793757e+02] [-1.04060776e-01 9.94567324e-01 2.68187789e-03 1.00775023e+02] [ 3.58059327e-02 1.05154920e-03 9.99358209e-01 1.87953253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37687500000004 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:128.83, Y:100.77, Z:18.79 [[ 9.93840409e-01 1.04846040e-01 -3.58963685e-02 1.28826039e+02] [-1.04875559e-01 9.94484783e-01 1.06482781e-03 1.00772165e+02] [ 3.58100352e-02 2.70638280e-03 9.99354950e-01 1.87946525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.406875 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:128.85, Y:100.76, Z:18.80 [[ 9.93348083e-01 1.09415246e-01 -3.58871723e-02 1.28854332e+02] [-1.09444730e-01 9.93992220e-01 1.14776328e-03 1.00764938e+02] [ 3.57971529e-02 2.78753344e-03 9.99355189e-01 1.87979192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43687500000004 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:128.88, Y:100.76, Z:18.80 [[ 9.93238352e-01 1.10405822e-01 -3.58905454e-02 1.28884078e+02] [-1.10437038e-01 9.93882494e-01 1.11761699e-03 1.00760257e+02] [ 3.57943762e-02 2.85358547e-03 9.99355102e-01 1.87993684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.466875 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:128.92, Y:100.75, Z:18.80 [[ 9.92836860e-01 1.13959059e-01 -3.58929324e-02 1.28918727e+02] [-1.13993340e-01 9.93480909e-01 1.09659116e-03 1.00753319e+02] [ 3.57839096e-02 3.00281913e-03 9.99355039e-01 1.87994925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.496875 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:128.95, Y:100.75, Z:18.80 [[ 9.92469856e-01 1.17125952e-01 -3.58482304e-02 1.28949476e+02] [-1.17148116e-01 9.93113338e-01 1.48882093e-03 1.00748845e+02] [ 3.57757353e-02 2.72194275e-03 9.99356137e-01 1.87968569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.526875 meters Centerline goodness : 0.992410 Centerline is valid? [True, True] Translation: X:128.99, Y:100.74, Z:18.81 [[ 9.92519510e-01 1.16706915e-01 -3.58401830e-02 1.28986720e+02] [-1.16726248e-01 9.93162902e-01 1.55970356e-03 1.00739229e+02] [ 3.57771683e-02 2.63545389e-03 9.99356317e-01 1.88061529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.556875 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:129.02, Y:100.73, Z:18.80 [[ 9.92060338e-01 1.20571167e-01 -3.57614165e-02 1.29016427e+02] [-1.20568199e-01 9.92702502e-01 2.24742711e-03 1.00733823e+02] [ 3.57714225e-02 2.08210629e-03 9.99357829e-01 1.88027706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.586875 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:129.04, Y:100.73, Z:18.81 [[ 9.92595818e-01 1.16080772e-01 -3.57602548e-02 1.29044695e+02] [-1.16074539e-01 9.93237940e-01 2.25738099e-03 1.00731272e+02] [ 3.57804803e-02 1.91018817e-03 9.99357848e-01 1.88083613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.616875 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:129.07, Y:100.73, Z:18.81 [[ 9.92141863e-01 1.19891681e-01 -3.57841926e-02 1.29074142e+02] [-1.19895213e-01 9.92784425e-01 2.05490701e-03 1.00725649e+02] [ 3.57723554e-02 2.25159413e-03 9.99357428e-01 1.88056575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.646875 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:129.11, Y:100.72, Z:18.81 [[ 9.92172320e-01 1.19637818e-01 -3.57893711e-02 1.29110942e+02] [-1.19642751e-01 9.92814971e-01 2.01152738e-03 1.00717417e+02] [ 3.57728782e-02 2.28615703e-03 9.99357331e-01 1.88134662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.676875 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:129.14, Y:100.71, Z:18.82 [[ 9.92522811e-01 1.16716875e-01 -3.57161110e-02 1.29139479e+02] [-1.16698036e-01 9.93163990e-01 2.61884135e-03 1.00714418e+02] [ 3.57776183e-02 1.56874023e-03 9.99358545e-01 1.88152089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.706875 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:129.17, Y:100.71, Z:18.82 [[ 9.92440236e-01 1.17412259e-01 -3.57314796e-02 1.29170542e+02] [-1.17398415e-01 9.93081769e-01 2.49255943e-03 1.00708737e+02] [ 3.57769380e-02 1.72110282e-03 9.99358318e-01 1.88168689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.736875 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:129.20, Y:100.70, Z:18.82 [[ 9.92516418e-01 1.16766342e-01 -3.57320777e-02 1.29199835e+02] [-1.16752257e-01 9.93157954e-01 2.48766298e-03 1.00703795e+02] [ 3.57780725e-02 1.70275438e-03 9.99358309e-01 1.88170197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.766875 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:129.23, Y:100.70, Z:18.82 [[ 9.92969740e-01 1.12843492e-01 -3.57413159e-02 1.29230926e+02] [-1.12829592e-01 9.93611426e-01 2.41211932e-03 1.00701452e+02] [ 3.57851718e-02 1.63751660e-03 9.99358164e-01 1.88161541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.796875 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:129.26, Y:100.70, Z:18.82 [[ 9.92838897e-01 1.13988776e-01 -3.57419116e-02 1.29261660e+02] [-1.13975791e-01 9.93480611e-01 2.40725020e-03 1.00696985e+02] [ 3.57832956e-02 1.68370102e-03 9.99358154e-01 1.88172615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.82687500000003 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:129.29, Y:100.69, Z:18.82 [[ 9.92623123e-01 1.15855151e-01 -3.57340082e-02 1.29293863e+02] [-1.15841076e-01 9.93264687e-01 2.47103674e-03 1.00690156e+02] [ 3.57796108e-02 1.68665774e-03 9.99358281e-01 1.88189379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.856875 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:129.32, Y:100.69, Z:18.82 [[ 9.92837332e-01 1.14011806e-01 -3.57119199e-02 1.29321693e+02] [-1.13990198e-01 9.93478348e-01 2.64720274e-03 1.00687485e+02] [ 3.57808315e-02 1.44256710e-03 9.99358620e-01 1.88181054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.88687500000003 meters Centerline goodness : 0.988969 Centerline is valid? [True, True] Translation: X:129.38, Y:100.68, Z:18.82 [[ 9.92791168e-01 1.14407651e-01 -3.57293590e-02 1.29379830e+02] [-1.14392015e-01 9.93432572e-01 2.48828175e-03 1.00678359e+02] [ 3.57793874e-02 1.61680922e-03 9.99358405e-01 1.88248495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.916875 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:129.39, Y:100.68, Z:18.82 [[ 9.93145253e-01 1.11371281e-01 -3.54816160e-02 1.29385394e+02] [-1.11272682e-01 9.93778572e-01 4.74770828e-03 1.00677395e+02] [ 3.57896280e-02 -7.67029370e-04 9.99359052e-01 1.88202713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.94687500000003 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:129.42, Y:100.67, Z:18.82 [[ 9.93553956e-01 1.07571133e-01 -3.57629512e-02 1.29420177e+02] [-1.07548826e-01 9.94196527e-01 2.55252604e-03 1.00673200e+02] [ 3.58299800e-02 1.31019106e-03 9.99357041e-01 1.88166259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.976875 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:129.45, Y:100.67, Z:18.82 [[ 9.93450192e-01 1.08520360e-01 -3.57777428e-02 1.29448230e+02] [-1.08502919e-01 9.94093149e-01 2.43449382e-03 1.00668600e+02] [ 3.58306012e-02 1.46344118e-03 9.99356806e-01 1.88203465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.00687500000004 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:129.47, Y:100.66, Z:18.82 [[ 9.92776339e-01 1.14523973e-01 -3.57687077e-02 1.29474994e+02] [-1.14507925e-01 9.93419180e-01 2.50366819e-03 1.00663477e+02] [ 3.58200503e-02 1.61021795e-03 9.99356959e-01 1.88216905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.036875 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:129.51, Y:100.66, Z:18.82 [[ 9.92973628e-01 1.12798380e-01 -3.57756819e-02 1.29506034e+02] [-1.12783112e-01 9.93616607e-01 2.45104617e-03 1.00660615e+02] [ 3.58237858e-02 1.60106854e-03 9.99356840e-01 1.88204102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06687500000004 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:129.54, Y:100.65, Z:18.82 [[ 9.92409071e-01 1.17657046e-01 -3.57918341e-02 1.29541122e+02] [-1.17649385e-01 9.93052469e-01 2.32742005e-03 1.00651394e+02] [ 3.58170066e-02 1.90113450e-03 9.99356557e-01 1.88244771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.096875 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:129.57, Y:100.65, Z:18.83 [[ 9.92404076e-01 1.17717369e-01 -3.57319277e-02 1.29569284e+02] [-1.17693336e-01 9.93046090e-01 2.78256205e-03 1.00648914e+02] [ 3.58110070e-02 1.44398386e-03 9.99357537e-01 1.88250737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12687500000004 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:129.60, Y:100.64, Z:18.83 [[ 9.92040649e-01 1.20730821e-01 -3.57689721e-02 1.29601936e+02] [-1.20718813e-01 9.92683586e-01 2.50314035e-03 1.00640749e+02] [ 3.58094777e-02 1.83477089e-03 9.99356951e-01 1.88301045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.156875 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:129.63, Y:100.63, Z:18.83 [[ 9.91896244e-01 1.21923753e-01 -3.57272949e-02 1.29633010e+02] [-1.21901236e-01 9.92538240e-01 2.81602382e-03 1.00634056e+02] [ 3.58040466e-02 1.56199797e-03 9.99357609e-01 1.88317686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18687500000004 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:129.66, Y:100.63, Z:18.83 [[ 9.91709678e-01 1.23434080e-01 -3.57203471e-02 1.29664799e+02] [-1.23410674e-01 9.92351541e-01 2.86783650e-03 1.00628903e+02] [ 3.58011303e-02 1.56421089e-03 9.99357710e-01 1.88339652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.216875 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:129.70, Y:100.62, Z:18.84 [[ 9.91554420e-01 1.24678677e-01 -3.57079902e-02 1.29697283e+02] [-1.24652794e-01 9.92196012e-01 2.95893204e-03 1.00623595e+02] [ 3.57982412e-02 1.51715858e-03 9.99357886e-01 1.88362081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.246875 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:129.73, Y:100.62, Z:18.84 [[ 9.91433094e-01 1.25644866e-01 -3.56901522e-02 1.29727814e+02] [-1.25614889e-01 9.92074267e-01 3.08994625e-03 1.00616572e+02] [ 3.57955175e-02 1.41973953e-03 9.99358127e-01 1.88370460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.276875 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:129.75, Y:100.61, Z:18.84 [[ 9.91455819e-01 1.25470869e-01 -3.56710054e-02 1.29751719e+02] [-1.25435851e-01 9.92096485e-01 3.22681088e-03 1.00614905e+02] [ 3.57939499e-02 1.27518249e-03 9.99358378e-01 1.88366976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.306875 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:129.80, Y:100.60, Z:18.84 [[ 9.91115645e-01 1.28113179e-01 -3.57322219e-02 1.29803913e+02] [-1.28097366e-01 9.91757809e-01 2.74100973e-03 1.00603831e+02] [ 3.57888696e-02 1.86054588e-03 9.99357641e-01 1.88430957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.336875 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:129.84, Y:100.60, Z:18.85 [[ 9.90786067e-01 1.30703502e-01 -3.54903345e-02 1.29839223e+02] [-1.30621516e-01 9.91421501e-01 4.62897080e-03 1.00595250e+02] [ 3.57909034e-02 4.94815236e-05 9.99359299e-01 1.88471049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.366875 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:129.87, Y:100.59, Z:18.85 [[ 9.91083557e-01 1.28439436e-01 -3.54498909e-02 1.29869616e+02] [-1.28344605e-01 9.91717292e-01 4.94731395e-03 1.00593534e+02] [ 3.57917000e-02 -3.53399269e-04 9.99359209e-01 1.88482845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.396875 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:129.88, Y:100.59, Z:18.84 [[ 9.91496024e-01 1.25205245e-01 -3.54863456e-02 1.29879417e+02] [-1.25118623e-01 9.92130845e-01 4.66005647e-03 1.00594933e+02] [ 3.57905615e-02 -1.80424781e-04 9.99359296e-01 1.88436276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.426875 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:129.91, Y:100.59, Z:18.84 [[ 9.91523078e-01 1.24923458e-01 -3.57227661e-02 1.29911984e+02] [-1.24898129e-01 9.92165190e-01 2.94852047e-03 1.00590403e+02] [ 3.58112244e-02 1.53818055e-03 9.99357389e-01 1.88429392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.456875 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:129.94, Y:100.59, Z:18.84 [[ 9.91068602e-01 1.28480021e-01 -3.57198884e-02 1.29941342e+02] [-1.28456253e-01 9.91710732e-01 2.96913068e-03 1.00585140e+02] [ 3.58052706e-02 1.64583082e-03 9.99357430e-01 1.88436403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.486875 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:129.97, Y:100.58, Z:18.84 [[ 9.91028237e-01 1.28788302e-01 -3.57296217e-02 1.29974068e+02] [-1.28767237e-01 9.91670606e-01 2.89969714e-03 1.00581227e+02] [ 3.58054626e-02 1.72712293e-03 9.99357286e-01 1.88436333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.516875 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:130.01, Y:100.57, Z:18.84 [[ 9.90473808e-01 1.32988560e-01 -3.57166361e-02 1.30005748e+02] [-1.32966884e-01 9.91115964e-01 2.99212527e-03 1.00574866e+02] [ 3.57972467e-02 1.78550810e-03 9.99357478e-01 1.88439324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.546875 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:130.03, Y:100.57, Z:18.84 [[ 9.90541028e-01 1.32490481e-01 -3.57035642e-02 1.30034623e+02] [-1.32465141e-01 9.91182864e-01 3.08479507e-03 1.00573197e+02] [ 3.57974670e-02 1.67386158e-03 9.99357663e-01 1.88418549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.57687500000003 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:130.06, Y:100.57, Z:18.84 [[ 9.89844201e-01 1.37601719e-01 -3.56962804e-02 1.30061729e+02] [-1.37577879e-01 9.90485991e-01 3.13505747e-03 1.00567313e+02] [ 3.57880549e-02 1.80780008e-03 9.99357767e-01 1.88408319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.606875 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:130.10, Y:100.56, Z:18.84 [[ 9.89861997e-01 1.37466382e-01 -3.57242309e-02 1.30095949e+02] [-1.37449411e-01 9.90504418e-01 2.94224847e-03 1.00561250e+02] [ 3.57894688e-02 1.99785455e-03 9.99357355e-01 1.88415928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.63687500000003 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:130.13, Y:100.56, Z:18.84 [[ 9.89718985e-01 1.38498396e-01 -3.57005050e-02 1.30130291e+02] [-1.38476115e-01 9.90360897e-01 3.10796182e-03 1.00555325e+02] [ 3.57868319e-02 1.86765841e-03 9.99357701e-01 1.88426435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.666875 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:130.16, Y:100.55, Z:18.84 [[ 9.89464227e-01 1.40323380e-01 -3.56355624e-02 1.30159099e+02] [-1.40286072e-01 9.90104622e-01 3.55758709e-03 1.00549945e+02] [ 3.57821477e-02 1.47906793e-03 9.99358519e-01 1.88449205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.69687500000003 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:130.19, Y:100.55, Z:18.85 [[ 9.89193557e-01 1.42218410e-01 -3.56374988e-02 1.30187585e+02] [-1.42182807e-01 9.89834071e-01 3.54434577e-03 1.00545110e+02] [ 3.57792817e-02 1.56099559e-03 9.99358497e-01 1.88468565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.726875 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:130.22, Y:100.54, Z:18.85 [[ 9.89025765e-01 1.43376989e-01 -3.56521355e-02 1.30219814e+02] [-1.43345721e-01 9.89666680e-01 3.44486677e-03 1.00540671e+02] [ 3.57776452e-02 1.70351908e-03 9.99358323e-01 1.88479598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.75687500000004 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:130.25, Y:100.54, Z:18.85 [[ 9.89132281e-01 1.42644900e-01 -3.56337326e-02 1.30247750e+02] [-1.42608685e-01 9.89772714e-01 3.56897763e-03 1.00537694e+02] [ 3.57783926e-02 1.55148876e-03 9.99358544e-01 1.88477949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.786875 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:130.28, Y:100.52, Z:18.85 [[ 9.88425238e-01 1.47457340e-01 -3.56634541e-02 1.30283968e+02] [-1.47431444e-01 9.89066538e-01 3.36931484e-03 1.00524770e+02] [ 3.57703593e-02 1.92759869e-03 9.99358177e-01 1.88517219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81687500000004 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:130.31, Y:100.53, Z:18.85 [[ 9.89047386e-01 1.43251653e-01 -3.55560544e-02 1.30308567e+02] [-1.43197162e-01 9.89685740e-01 4.08762934e-03 1.00526730e+02] [ 3.57748797e-02 1.04866695e-03 9.99359324e-01 1.88513223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.846875 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:130.34, Y:100.52, Z:18.85 [[ 9.88386699e-01 1.47722246e-01 -3.56352680e-02 1.30338720e+02] [-1.47689681e-01 9.89027346e-01 3.55895892e-03 1.00519068e+02] [ 3.57699920e-02 1.74533371e-03 9.99358525e-01 1.88494242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87687500000004 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:130.37, Y:100.51, Z:18.85 [[ 9.88649816e-01 1.45953971e-01 -3.56227363e-02 1.30368584e+02] [-1.45917285e-01 9.89290092e-01 3.64149495e-03 1.00513476e+02] [ 3.57727107e-02 1.59780967e-03 9.99358674e-01 1.88535123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.906875 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:130.40, Y:100.51, Z:18.85 [[ 9.88706412e-01 1.45572252e-01 -3.56138949e-02 1.30399547e+02] [-1.45533227e-01 9.89346447e-01 3.69956905e-03 1.00509180e+02] [ 3.57730350e-02 1.52521741e-03 9.99358776e-01 1.88547473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93687500000004 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:130.44, Y:100.50, Z:18.86 [[ 9.88193205e-01 1.49016637e-01 -3.56122279e-02 1.30435676e+02] [-1.48979447e-01 9.88833331e-01 3.71051590e-03 1.00499288e+02] [ 3.57674865e-02 1.63878342e-03 9.99358795e-01 1.88581361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.966875 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:130.46, Y:100.50, Z:18.86 [[ 9.88685846e-01 1.45736569e-01 -3.55126767e-02 1.30458582e+02] [-1.45674059e-01 9.89323052e-01 4.35524051e-03 1.00500358e+02] [ 3.57682275e-02 8.67311132e-04 9.99359736e-01 1.88570492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.996875 meters Centerline goodness : 0.992985 Centerline is valid? [True, True] Translation: X:130.51, Y:100.49, Z:18.86 [[ 9.87978328e-01 1.50435658e-01 -3.56080867e-02 1.30506582e+02] [-1.50400020e-01 9.88618328e-01 3.69264456e-03 1.00487268e+02] [ 3.57583126e-02 1.70720417e-03 9.99359009e-01 1.88636315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.026875 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:130.52, Y:100.49, Z:18.86 [[ 9.87914207e-01 1.50913369e-01 -3.53648725e-02 1.30520077e+02] [-1.50818046e-01 9.88546991e-01 5.36314849e-03 1.00486723e+02] [ 3.57692091e-02 3.53303709e-05 9.99360076e-01 1.88594258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.056875 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:130.55, Y:100.48, Z:18.86 [[ 9.88159962e-01 1.49243659e-01 -3.55839712e-02 1.30550922e+02] [-1.49198204e-01 9.88799443e-01 3.94434099e-03 1.00482547e+02] [ 3.57740788e-02 1.41142473e-03 9.99358906e-01 1.88596528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.086875 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:130.60, Y:100.47, Z:18.87 [[ 9.87665665e-01 1.52478695e-01 -3.55918732e-02 1.30597066e+02] [-1.52437280e-01 9.88305490e-01 3.89033227e-03 1.00466782e+02] [ 3.57688364e-02 1.58318072e-03 9.99358836e-01 1.88693508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.116875 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:130.61, Y:100.47, Z:18.86 [[ 9.88091340e-01 1.49748009e-01 -3.53700179e-02 1.30611092e+02] [-1.49651000e-01 9.88724194e-01 5.38938839e-03 1.00471006e+02] [ 3.57782426e-02 -3.20494518e-05 9.99359753e-01 1.88631947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.146875 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:130.64, Y:100.47, Z:18.86 [[ 9.89545961e-01 1.39757442e-01 -3.55900058e-02 1.30641748e+02] [-1.39704527e-01 9.90185231e-01 3.98157292e-03 1.00472168e+02] [ 3.57971526e-02 1.03213553e-03 9.99358544e-01 1.88633318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.176875 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:130.68, Y:100.46, Z:18.87 [[ 9.88561508e-01 1.46550226e-01 -3.56255096e-02 1.30676214e+02] [-1.46509874e-01 9.89202082e-01 3.75481540e-03 1.00459438e+02] [ 3.57910973e-02 1.50762294e-03 9.99358156e-01 1.88677805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.206875 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:130.70, Y:100.46, Z:18.87 [[ 9.89224422e-01 1.42031337e-01 -3.55266513e-02 1.30699929e+02] [-1.41965484e-01 9.89861908e-01 4.38224888e-03 1.00460504e+02] [ 3.57888955e-02 7.08530646e-04 9.99359121e-01 1.88665836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.236875 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:130.73, Y:100.46, Z:18.87 [[ 9.89126209e-01 1.42691326e-01 -3.56163911e-02 1.30726737e+02] [-1.42646179e-01 9.89766380e-01 3.81855401e-03 1.00455153e+02] [ 3.57967811e-02 1.30351025e-03 9.99358240e-01 1.88662283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.266875 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:130.76, Y:100.45, Z:18.87 [[ 9.89298550e-01 1.41478171e-01 -3.56693933e-02 1.30759699e+02] [-1.41444163e-01 9.89940091e-01 3.48781642e-03 1.00452529e+02] [ 3.58040124e-02 1.59473575e-03 9.99357558e-01 1.88668528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.296875 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:130.79, Y:100.44, Z:18.87 [[ 9.88098856e-01 1.49642120e-01 -3.56074060e-02 1.30790345e+02] [-1.49599902e-01 9.88739073e-01 3.86210796e-03 1.00441308e+02] [ 3.57843676e-02 1.51071999e-03 9.99358393e-01 1.88702845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.32687500000003 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:130.82, Y:100.44, Z:18.87 [[ 9.87817724e-01 1.51501240e-01 -3.55460086e-02 1.30822835e+02] [-1.51446897e-01 9.88456336e-01 4.23201411e-03 1.00436707e+02] [ 3.57768327e-02 1.20287416e-03 9.99359080e-01 1.88674154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.356875 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:130.85, Y:100.44, Z:18.87 [[ 9.88334935e-01 1.48091759e-01 -3.55371312e-02 1.30846180e+02] [-1.48033285e-01 9.88973094e-01 4.28559149e-03 1.00435639e+02] [ 3.57799274e-02 1.02507850e-03 9.99359168e-01 1.88717125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.38687500000003 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:130.88, Y:100.43, Z:18.87 [[ 9.87070062e-01 1.56280290e-01 -3.56253363e-02 1.30880782e+02] [-1.56246172e-01 9.87711000e-01 3.75697501e-03 1.00426753e+02] [ 3.57746777e-02 1.85792485e-03 9.99358154e-01 1.88696846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.416875 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:130.91, Y:100.42, Z:18.88 [[ 9.87310611e-01 1.54770364e-01 -3.55512488e-02 1.30914921e+02] [-1.54719302e-01 9.87949544e-01 4.19961543e-03 1.00420477e+02] [ 3.57728160e-02 1.35413953e-03 9.99359031e-01 1.88784433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.44687500000003 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:130.94, Y:100.42, Z:18.87 [[ 9.86859563e-01 1.57637658e-01 -3.54763641e-02 1.30940229e+02] [-1.57572385e-01 9.87496511e-01 4.64595438e-03 1.00418149e+02] [ 3.57651631e-02 1.00519080e-03 9.99359716e-01 1.88720607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.476875 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:130.97, Y:100.42, Z:18.88 [[ 9.87580716e-01 1.53037296e-01 -3.55516017e-02 1.30967534e+02] [-1.52985102e-01 9.88219570e-01 4.19993304e-03 1.00417244e+02] [ 3.57755349e-02 1.29109252e-03 9.99359017e-01 1.88796852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.50687500000004 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:131.01, Y:100.40, Z:18.88 [[ 9.86311495e-01 1.61002963e-01 -3.56045154e-02 1.31006372e+02] [-1.60967187e-01 9.86952101e-01 3.88788739e-03 1.00403775e+02] [ 3.57659127e-02 1.89649067e-03 9.99358396e-01 1.88843397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.536875 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:131.02, Y:100.41, Z:18.88 [[ 9.86447418e-01 1.60210814e-01 -3.54116669e-02 1.31023752e+02] [-1.60134485e-01 9.87082544e-01 4.99971787e-03 1.00407749e+02] [ 3.57552472e-02 7.38670262e-04 9.99360304e-01 1.88778868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56687500000004 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:131.06, Y:100.40, Z:18.88 [[ 9.86188539e-01 1.61752499e-01 -3.56131390e-02 1.31055410e+02] [-1.61719010e-01 9.86829383e-01 3.83802973e-03 1.00402671e+02] [ 3.57649029e-02 1.97430066e-03 9.99358281e-01 1.88784417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.596875 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:131.11, Y:100.39, Z:18.89 [[ 9.85800450e-01 1.64099439e-01 -3.56208819e-02 1.31106142e+02] [-1.64069226e-01 9.86441548e-01 3.78955199e-03 1.00389442e+02] [ 3.57597812e-02 2.10854848e-03 9.99358190e-01 1.88888909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62687500000004 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:131.11, Y:100.39, Z:18.88 [[ 9.85928405e-01 1.63396593e-01 -3.53091252e-02 1.31114925e+02] [-1.63296641e-01 9.86560458e-01 5.71583206e-03 1.00392164e+02] [ 3.57685342e-02 1.30460337e-04 9.99360093e-01 1.88806741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.656875 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:131.14, Y:100.39, Z:18.89 [[ 9.85760714e-01 1.64347121e-01 -3.55786181e-02 1.31143791e+02] [-1.64302408e-01 9.86401087e-01 4.19690438e-03 1.00385671e+02] [ 3.57845367e-02 1.70850918e-03 9.99358068e-01 1.88880480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68687500000004 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:131.17, Y:100.38, Z:18.89 [[ 9.85540447e-01 1.65659225e-01 -3.55956186e-02 1.31174153e+02] [-1.65618812e-01 9.86181316e-01 4.10145176e-03 1.00379634e+02] [ 3.57831773e-02 1.85315749e-03 9.99357859e-01 1.88891026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.716875 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:131.20, Y:100.37, Z:18.89 [[ 9.85296807e-01 1.67105654e-01 -3.55795198e-02 1.31201840e+02] [-1.67062958e-01 9.85937324e-01 4.19068837e-03 1.00374081e+02] [ 3.57794643e-02 1.81494795e-03 9.99358062e-01 1.88905863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.746875 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:131.24, Y:100.37, Z:18.89 [[ 9.85046418e-01 1.68564249e-01 -3.56321281e-02 1.31239790e+02] [-1.68533041e-01 9.85688293e-01 3.89925312e-03 1.00366627e+02] [ 3.57794462e-02 2.16424558e-03 9.99357367e-01 1.88917819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.776875 meters Centerline goodness : 0.987024 Centerline is valid? [True, True] Translation: X:131.29, Y:100.36, Z:18.90 [[ 9.84516769e-01 1.71652802e-01 -3.55253031e-02 1.31293410e+02] [-1.71600126e-01 9.85156181e-01 4.54935403e-03 1.00356229e+02] [ 3.57788813e-02 1.61723116e-03 9.99358422e-01 1.88968548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.806875 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:131.31, Y:100.36, Z:18.89 [[ 9.85029299e-01 1.68757708e-01 -3.51868814e-02 1.31305249e+02] [-1.68629736e-01 9.85657405e-01 6.59489916e-03 1.00358789e+02] [ 3.57951503e-02 -5.62614351e-04 9.99358990e-01 1.88947113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.836875 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:131.33, Y:100.36, Z:18.89 [[ 9.85912978e-01 1.63450652e-01 -3.54892149e-02 1.31326330e+02] [-1.63380193e-01 9.86551033e-01 4.89604265e-03 1.00361250e+02] [ 3.58121830e-02 9.71162796e-04 9.99358066e-01 1.88912636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.866875 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:131.36, Y:100.35, Z:18.89 [[ 9.85325912e-01 1.66913766e-01 -3.56741137e-02 1.31359046e+02] [-1.66883156e-01 9.85969143e-01 3.85504468e-03 1.00353010e+02] [ 3.58170353e-02 2.15493326e-03 9.99356041e-01 1.88934073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.896875 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:131.39, Y:100.35, Z:18.89 [[ 9.84932649e-01 1.69229538e-01 -3.56235827e-02 1.31389994e+02] [-1.69190186e-01 9.85574734e-01 4.13824544e-03 1.00347188e+02] [ 3.58100164e-02 1.95126753e-03 9.99356711e-01 1.88945796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.926875 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:131.42, Y:100.34, Z:18.89 [[ 9.84101932e-01 1.74008498e-01 -3.55588172e-02 1.31416562e+02] [-1.73959500e-01 9.84742567e-01 4.49101633e-03 1.00340966e+02] [ 3.57977559e-02 1.76617622e-03 9.99357494e-01 1.88922456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.956875 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:131.45, Y:100.33, Z:18.89 [[ 9.83770716e-01 1.75863876e-01 -3.55960139e-02 1.31448494e+02] [-1.75823399e-01 9.84412382e-01 4.28885577e-03 1.00334756e+02] [ 3.57954116e-02 2.03936143e-03 9.99357058e-01 1.88949297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.986875 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:131.48, Y:100.33, Z:18.90 [[ 9.83580322e-01 1.76930243e-01 -3.55730189e-02 1.31479459e+02] [-1.76885985e-01 9.84221458e-01 4.41253540e-03 1.00328578e+02] [ 3.57924394e-02 1.95228551e-03 9.99357338e-01 1.88965870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.016875 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:131.51, Y:100.32, Z:18.90 [[ 9.83709152e-01 1.76216973e-01 -3.55511228e-02 1.31513545e+02] [-1.76168006e-01 9.84349691e-01 4.52988721e-03 1.00322275e+02] [ 3.57929798e-02 1.80687892e-03 9.99357593e-01 1.88963678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.046875 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:131.54, Y:100.32, Z:18.89 [[ 9.83103304e-01 1.79580073e-01 -3.54808397e-02 1.31535411e+02] [-1.79519822e-01 9.83742139e-01 4.90279983e-03 1.00319052e+02] [ 3.57844423e-02 1.54955532e-03 9.99358330e-01 1.88883352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.07687500000003 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:131.57, Y:100.31, Z:18.89 [[ 9.82993953e-01 1.80151555e-01 -3.56132673e-02 1.31570140e+02] [-1.80117032e-01 9.83636213e-01 4.20180511e-03 1.00311199e+02] [ 3.57874611e-02 2.28420698e-03 9.99356813e-01 1.88883523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.106875 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:131.60, Y:100.30, Z:18.89 [[ 9.82662049e-01 1.81961881e-01 -3.55692393e-02 1.31603015e+02] [-1.81920052e-01 9.83303318e-01 4.43616487e-03 1.00303337e+02] [ 3.57825639e-02 2.11150698e-03 9.99357368e-01 1.88897672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.13687500000003 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:131.63, Y:100.30, Z:18.89 [[ 9.82792127e-01 1.81265431e-01 -3.55313655e-02 1.31633467e+02] [-1.81215886e-01 9.83432409e-01 4.63685892e-03 1.00296641e+02] [ 3.57831986e-02 1.88177942e-03 9.99357805e-01 1.88921210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.166875 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:131.66, Y:100.29, Z:18.89 [[ 9.82962526e-01 1.80338971e-01 -3.55320678e-02 1.31661435e+02] [-1.80288955e-01 9.83602779e-01 4.63316050e-03 1.00291985e+02] [ 3.57849801e-02 1.85181625e-03 9.99357797e-01 1.88919376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.19687500000003 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:131.69, Y:100.29, Z:18.89 [[ 9.83102436e-01 1.79566050e-01 -3.55757472e-02 1.31692412e+02] [-1.79523787e-01 9.83743771e-01 4.40498647e-03 1.00286564e+02] [ 3.57884057e-02 2.05613994e-03 9.99357275e-01 1.88931596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.226875 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:131.73, Y:100.28, Z:18.90 [[ 9.82702547e-01 1.81739551e-01 -3.55870789e-02 1.31725107e+02] [-1.81700847e-01 9.83344251e-01 4.34590128e-03 1.00278431e+02] [ 3.57841716e-02 2.19547411e-03 9.99357130e-01 1.88958765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.25687500000004 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:131.76, Y:100.27, Z:18.90 [[ 9.82206459e-01 1.84411537e-01 -3.55366884e-02 1.31758430e+02] [-1.84365070e-01 9.82847029e-01 4.60844127e-03 1.00268760e+02] [ 3.57769783e-02 2.02528327e-03 9.99357747e-01 1.88992023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.286875 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:131.79, Y:100.26, Z:18.90 [[ 9.82221879e-01 1.84340819e-01 -3.54773584e-02 1.31786938e+02] [-1.84283171e-01 9.82860897e-01 4.91636810e-03 1.00263935e+02] [ 3.57755956e-02 1.70891578e-03 9.99358387e-01 1.88993134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31687500000004 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:131.82, Y:100.26, Z:18.90 [[ 9.82345917e-01 1.83674960e-01 -3.54965998e-02 1.31816734e+02] [-1.83620439e-01 9.82985413e-01 4.81786009e-03 1.00255520e+02] [ 3.57775601e-02 1.78509606e-03 9.99358184e-01 1.89037737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.346875 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:131.85, Y:100.25, Z:18.90 [[ 9.81833807e-01 1.86395047e-01 -3.54860896e-02 1.31845064e+02] [-1.86340374e-01 9.82473174e-01 4.87106842e-03 1.00251469e+02] [ 3.57720741e-02 1.82991156e-03 9.99358299e-01 1.89018922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37687500000004 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:131.88, Y:100.24, Z:18.90 [[ 9.81638317e-01 1.87417126e-01 -3.55110601e-02 1.31876779e+02] [-1.87367682e-01 9.82278391e-01 4.74489327e-03 1.00244492e+02] [ 3.57710212e-02 1.99585597e-03 9.99358019e-01 1.89031756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.406875 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:131.91, Y:100.24, Z:18.91 [[ 9.81134020e-01 1.90046478e-01 -3.54735167e-02 1.31907324e+02] [-1.89991936e-01 9.81773257e-01 4.93320585e-03 1.00237036e+02] [ 3.57644884e-02 1.89954602e-03 9.99358441e-01 1.89051853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43687500000004 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:131.94, Y:100.23, Z:18.91 [[ 9.81159900e-01 1.89913014e-01 -3.54724827e-02 1.31938112e+02] [-1.89858198e-01 9.81799102e-01 4.93838933e-03 1.00227699e+02] [ 3.57647160e-02 1.88939204e-03 9.99358452e-01 1.89101317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.466875 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:131.97, Y:100.22, Z:18.91 [[ 9.80318806e-01 1.94214158e-01 -3.54386783e-02 1.31971803e+02] [-1.94156028e-01 9.80957364e-01 5.10749071e-03 1.00218010e+02] [ 3.57557795e-02 1.87366382e-03 9.99358801e-01 1.89121127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.496875 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:132.00, Y:100.21, Z:18.91 [[ 9.80271240e-01 1.94468018e-01 -3.53622169e-02 1.32000078e+02] [-1.94396306e-01 9.80907721e-01 5.48810922e-03 1.00213520e+02] [ 3.57543333e-02 1.49444873e-03 9.99359492e-01 1.89124735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.526875 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:132.03, Y:100.21, Z:18.91 [[ 9.79562641e-01 1.97998561e-01 -3.54062415e-02 1.32029685e+02] [-1.97936994e-01 9.80200574e-01 5.27078014e-03 1.00210355e+02] [ 3.57488251e-02 1.84514569e-03 9.99359103e-01 1.89085066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.556875 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:132.06, Y:100.21, Z:18.91 [[ 9.79333260e-01 1.99127258e-01 -3.54217623e-02 1.32058810e+02] [-1.99069162e-01 9.79971673e-01 5.19513501e-03 1.00205121e+02] [ 3.57468166e-02 1.96361201e-03 9.99358949e-01 1.89082947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.586875 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:132.09, Y:100.20, Z:18.91 [[ 9.78468277e-01 2.03334000e-01 -3.54276169e-02 1.32090636e+02] [-2.03279670e-01 9.79107082e-01 5.16692064e-03 1.00196353e+02] [ 3.57380413e-02 2.14604634e-03 9.99358888e-01 1.89098979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.616875 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:132.12, Y:100.19, Z:18.91 [[ 9.78336374e-01 2.03974189e-01 -3.53902538e-02 1.32118890e+02] [-2.03913790e-01 9.78974252e-01 5.34611277e-03 1.00191458e+02] [ 3.57366162e-02 1.98626421e-03 9.99359269e-01 1.89107360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.646875 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:132.15, Y:100.18, Z:18.91 [[ 9.77824154e-01 2.06408104e-01 -3.54347159e-02 1.32152154e+02] [-2.06356979e-01 9.78463306e-01 5.13387387e-03 1.00182456e+02] [ 3.57312424e-02 2.29217507e-03 9.99358807e-01 1.89116994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.676875 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:132.18, Y:100.18, Z:18.91 [[ 9.77464330e-01 2.08116589e-01 -3.53690522e-02 1.32180781e+02] [-2.08055318e-01 9.78101906e-01 5.44486223e-03 1.00176286e+02] [ 3.57277035e-02 2.03656081e-03 9.99359487e-01 1.89126530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.706875 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:132.21, Y:100.17, Z:18.91 [[ 9.77403286e-01 2.08398840e-01 -3.53940732e-02 1.32213278e+02] [-2.08342035e-01 9.78041525e-01 5.32657186e-03 1.00168370e+02] [ 3.57269247e-02 2.16786440e-03 9.99359238e-01 1.89143041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.736875 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:132.24, Y:100.16, Z:18.92 [[ 9.76607478e-01 2.12108851e-01 -3.53223546e-02 1.32241527e+02] [-2.12042358e-01 9.77244079e-01 5.66117522e-03 1.00160544e+02] [ 3.57193473e-02 1.96108930e-03 9.99359936e-01 1.89171394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.766875 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:132.27, Y:100.15, Z:18.92 [[ 9.77066556e-01 2.09980437e-01 -3.53434836e-02 1.32274835e+02] [-2.09916121e-01 9.77703574e-01 5.56263020e-03 1.00153749e+02] [ 3.57234937e-02 1.98410705e-03 9.99359743e-01 1.89171907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.796875 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:132.31, Y:100.15, Z:18.92 [[ 9.76944371e-01 2.10548368e-01 -3.53423261e-02 1.32306676e+02] [-2.10484225e-01 9.77581397e-01 5.56806201e-03 1.00145603e+02] [ 3.57223469e-02 1.99931528e-03 9.99359753e-01 1.89191850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.82687500000003 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:132.35, Y:100.12, Z:18.93 [[ 9.75137495e-01 2.18767979e-01 -3.53190774e-02 1.32351879e+02] [-2.18705257e-01 9.75774452e-01 5.67703833e-03 1.00119111e+02] [ 3.57054076e-02 2.18857499e-03 9.99359962e-01 1.89272520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.856875 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:132.36, Y:100.13, Z:18.92 [[ 9.77946705e-01 2.05914441e-01 -3.49211306e-02 1.32362769e+02] [-2.05776996e-01 9.78569984e-01 7.52426594e-03 1.00133780e+02] [ 3.57221252e-02 -1.72365723e-04 9.99361746e-01 1.89212502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.88687500000003 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:132.39, Y:100.13, Z:18.92 [[ 9.77624158e-01 2.07376145e-01 -3.53006992e-02 1.32391072e+02] [-2.07302214e-01 9.78259864e-01 5.78194469e-03 1.00127766e+02] [ 3.57322946e-02 1.66534429e-03 9.99360010e-01 1.89217595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.916875 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:132.42, Y:100.12, Z:18.93 [[ 9.78235865e-01 2.04460317e-01 -3.53634228e-02 1.32423044e+02] [-2.04394900e-01 9.78873098e-01 5.49389278e-03 1.00119178e+02] [ 3.57395863e-02 1.85378031e-03 9.99359418e-01 1.89287386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.94687500000003 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:132.46, Y:100.11, Z:18.93 [[ 9.78464318e-01 2.03373096e-01 -3.53123532e-02 1.32455253e+02] [-2.03298504e-01 9.79100049e-01 5.72819489e-03 1.00112878e+02] [ 3.57392875e-02 1.57411428e-03 9.99359908e-01 1.89303851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.976875 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:132.49, Y:100.10, Z:18.93 [[ 9.78015198e-01 2.05530897e-01 -3.52607919e-02 1.32487015e+02] [-2.05449242e-01 9.78649608e-01 5.96272166e-03 1.00103660e+02] [ 3.57334837e-02 1.41267058e-03 9.99360357e-01 1.89321487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.00687500000004 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:132.51, Y:100.10, Z:18.93 [[ 9.77838369e-01 2.06375948e-01 -3.52291469e-02 1.32511662e+02] [-2.06289662e-01 9.78471915e-01 6.10637212e-03 1.00099441e+02] [ 3.57309392e-02 1.29636386e-03 9.99360605e-01 1.89261300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.036875 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:132.56, Y:100.07, Z:18.94 [[ 9.75209286e-01 2.18443058e-01 -3.53479740e-02 1.32559527e+02] [-2.18384226e-01 9.75847002e-01 5.56406316e-03 1.00069372e+02] [ 3.57096454e-02 2.29331388e-03 9.99359576e-01 1.89366614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06687500000004 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:132.57, Y:100.08, Z:18.93 [[ 9.77854314e-01 2.06361569e-01 -3.48689433e-02 1.32569726e+02] [-2.06217201e-01 9.78475738e-01 7.72633352e-03 1.00083941e+02] [ 3.57128333e-02 -3.64652689e-04 9.99362027e-01 1.89297060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.096875 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:132.62, Y:100.05, Z:18.94 [[ 9.74933646e-01 2.19674184e-01 -3.53219301e-02 1.32618746e+02] [-2.19612187e-01 9.75570755e-01 5.67350702e-03 1.00054136e+02] [ 3.57053650e-02 2.22583343e-03 9.99359881e-01 1.89390124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12687500000004 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:132.65, Y:100.05, Z:18.94 [[ 9.74908229e-01 2.19861904e-01 -3.48523737e-02 1.32650782e+02] [-2.19724295e-01 9.75531003e-01 7.77793634e-03 1.00046255e+02] [ 3.57096430e-02 7.51391192e-05 9.99362205e-01 1.89413739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.156875 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:132.67, Y:100.06, Z:18.94 [[ 9.76956042e-01 2.10576232e-01 -3.48502784e-02 1.32668433e+02] [-2.10432370e-01 9.77577401e-01 7.78731361e-03 1.00055405e+02] [ 3.57086677e-02 -2.74236415e-04 9.99362205e-01 1.89363256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18687500000004 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:132.70, Y:100.05, Z:18.94 [[ 9.76910756e-01 2.10731627e-01 -3.51789072e-02 1.32697813e+02] [-2.10640675e-01 9.77543165e-01 6.31402154e-03 1.00049382e+02] [ 3.57194643e-02 1.24187321e-03 9.99361085e-01 1.89363600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.216875 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:132.73, Y:100.04, Z:18.94 [[ 9.76970327e-01 2.10446785e-01 -3.52296837e-02 1.32727078e+02] [-2.10363845e-01 9.77604217e-01 6.08662381e-03 1.00043082e+02] [ 3.57215977e-02 1.46460086e-03 9.99360707e-01 1.89362977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.246875 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:132.75, Y:100.04, Z:18.94 [[ 9.76605364e-01 2.12134663e-01 -3.52256690e-02 1.32754706e+02] [-2.12052179e-01 9.77239280e-01 6.10434016e-03 1.00037072e+02] [ 3.57188495e-02 1.50814853e-03 9.99360740e-01 1.89373231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.276875 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:132.79, Y:100.03, Z:18.94 [[ 9.75959114e-01 2.15084535e-01 -3.52484048e-02 1.32786609e+02] [-2.15007564e-01 9.76593923e-01 6.00473298e-03 1.00027785e+02] [ 3.57149032e-02 1.71829979e-03 9.99360542e-01 1.89389771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.306875 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:132.82, Y:100.02, Z:18.94 [[ 9.75256024e-01 2.18255796e-01 -3.52149742e-02 1.32820739e+02] [-2.18175609e-01 9.75890143e-01 6.15087566e-03 1.00017767e+02] [ 3.57084104e-02 1.68436988e-03 9.99360832e-01 1.89387347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.336875 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:132.85, Y:100.01, Z:18.94 [[ 9.75186060e-01 2.18580701e-01 -3.51372493e-02 1.32849472e+02] [-2.18488455e-01 9.75817945e-01 6.49095787e-03 1.00012466e+02] [ 3.57063565e-02 1.34719169e-03 9.99361417e-01 1.89378005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.366875 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:132.88, Y:100.00, Z:18.94 [[ 9.74715883e-01 2.20660884e-01 -3.51812645e-02 1.32882048e+02] [-2.20576942e-01 9.75349243e-01 6.29816323e-03 1.00002900e+02] [ 3.57037780e-02 1.62125602e-03 9.99361102e-01 1.89385621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.396875 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:132.91, Y:100.00, Z:18.94 [[ 9.74574062e-01 2.21292321e-01 -3.51440754e-02 1.32910916e+02] [-2.21202925e-01 9.75206402e-01 6.46067979e-03 9.99961920e+01] [ 3.57024261e-02 1.47756132e-03 9.99361373e-01 1.89381560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.426875 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:132.94, Y:99.99, Z:18.94 [[ 9.74253910e-01 2.22693769e-01 -3.51682257e-02 1.32939418e+02] [-2.22609078e-01 9.74887073e-01 6.35552925e-03 9.99887696e+01] [ 3.57003854e-02 1.63686707e-03 9.99361198e-01 1.89377492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.456875 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:132.97, Y:99.98, Z:18.94 [[ 9.74002329e-01 2.23790566e-01 -3.51745025e-02 1.32969592e+02] [-2.23707563e-01 9.74635766e-01 6.32850387e-03 9.99816271e+01] [ 3.56985876e-02 1.70482473e-03 9.99361148e-01 1.89381601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.486875 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:133.00, Y:99.97, Z:18.95 [[ 9.73850960e-01 2.24446881e-01 -3.51838868e-02 1.33002875e+02] [-2.24365761e-01 9.74484717e-01 6.28822450e-03 9.99708548e+01] [ 3.56975323e-02 1.77026606e-03 9.99361072e-01 1.89460864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.516875 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:133.03, Y:99.96, Z:18.95 [[ 9.73202586e-01 2.27257166e-01 -3.50842967e-02 1.33033111e+02] [-2.27162560e-01 9.73833720e-01 6.71242884e-03 9.99615492e+01] [ 3.56917187e-02 1.43728554e-03 9.99361814e-01 1.89472646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.546875 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:133.06, Y:99.96, Z:18.94 [[ 9.72779637e-01 2.29061765e-01 -3.50782775e-02 1.33058971e+02] [-2.28967405e-01 9.73410769e-01 6.73805226e-03 9.99561158e+01] [ 3.56890032e-02 1.47714214e-03 9.99361853e-01 1.89421460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.57687500000003 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:133.09, Y:99.95, Z:18.94 [[ 9.72192540e-01 2.31531400e-01 -3.51408085e-02 1.33088627e+02] [-2.31448156e-01 9.72825694e-01 6.47465203e-03 9.99474377e+01] [ 3.56849667e-02 1.83866693e-03 9.99361397e-01 1.89438695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.606875 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:133.12, Y:99.94, Z:18.94 [[ 9.71953717e-01 2.32531738e-01 -3.51420327e-02 1.33118762e+02] [-2.32449331e-01 9.72586990e-01 6.46951309e-03 9.99396783e+01] [ 3.56830509e-02 1.88067469e-03 9.99361388e-01 1.89449766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.63687500000003 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:133.15, Y:99.93, Z:18.95 [[ 9.71111369e-01 2.36027570e-01 -3.51240113e-02 1.33150837e+02] [-2.35944724e-01 9.71744439e-01 6.54465555e-03 9.99292262e+01] [ 3.56762818e-02 1.93173574e-03 9.99361532e-01 1.89476091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.666875 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:133.18, Y:99.92, Z:18.95 [[ 9.71095475e-01 2.36100497e-01 -3.50732592e-02 1.33181471e+02] [-2.36010063e-01 9.71727126e-01 6.75594974e-03 9.99206595e+01] [ 3.56767204e-02 1.71696987e-03 9.99361908e-01 1.89481190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.69687500000003 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:133.21, Y:99.91, Z:18.95 [[ 9.70702611e-01 2.37707802e-01 -3.50919050e-02 1.33213722e+02] [-2.37621227e-01 9.71334935e-01 6.67809471e-03 9.99097082e+01] [ 3.56734284e-02 1.85613755e-03 9.99361777e-01 1.89510375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.726875 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:133.25, Y:99.90, Z:18.95 [[ 9.70434481e-01 2.38808676e-01 -3.50333364e-02 1.33246369e+02] [-2.38714020e-01 9.71065244e-01 6.92165403e-03 9.98995274e+01] [ 3.56726064e-02 1.64593685e-03 9.99362175e-01 1.89539347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.75687500000004 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:133.28, Y:99.89, Z:18.95 [[ 9.70789668e-01 2.37365578e-01 -3.50000336e-02 1.33275324e+02] [-2.37265001e-01 9.71419311e-01 7.05984139e-03 9.98922278e+01] [ 3.56754719e-02 1.45066192e-03 9.99362375e-01 1.89544478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.786875 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:133.32, Y:99.87, Z:18.96 [[ 9.68537615e-01 2.46389957e-01 -3.50267992e-02 1.33317542e+02] [-2.46299255e-01 9.69168918e-01 6.94882373e-03 9.98671862e+01] [ 3.56590054e-02 1.89687738e-03 9.99362215e-01 1.89622265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81687500000004 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:133.33, Y:99.88, Z:18.96 [[ 9.70782912e-01 2.37441622e-01 -3.46700692e-02 1.33334373e+02] [-2.37292354e-01 9.71401808e-01 8.41818024e-03 9.98767540e+01] [ 3.56773943e-02 5.47168048e-05 9.99363358e-01 1.89556502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.846875 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:133.37, Y:99.87, Z:18.96 [[ 9.70429313e-01 2.38830147e-01 -3.50301207e-02 1.33368493e+02] [-2.38735028e-01 9.71059985e-01 6.93487428e-03 9.98663884e+01] [ 3.56726055e-02 1.63311155e-03 9.99362196e-01 1.89551432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87687500000004 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:133.40, Y:99.86, Z:18.95 [[ 9.70870017e-01 2.37039619e-01 -3.49804128e-02 1.33397421e+02] [-2.36935938e-01 9.71499038e-01 7.14010959e-03 9.98604150e+01] [ 3.56759262e-02 1.35599860e-03 9.99362492e-01 1.89549020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.906875 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:133.42, Y:99.85, Z:18.96 [[ 9.70878567e-01 2.37008893e-01 -3.49513056e-02 1.33422120e+02] [-2.36900945e-01 9.71506698e-01 7.25800232e-03 9.98528055e+01] [ 3.56756385e-02 1.23335844e-03 9.99362661e-01 1.89568511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93687500000004 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:133.45, Y:99.85, Z:18.96 [[ 9.70885369e-01 2.36973278e-01 -3.50038044e-02 1.33449296e+02] [-2.36872887e-01 9.71515088e-01 7.04764947e-03 9.98464169e+01] [ 3.56768287e-02 1.44899245e-03 9.99362329e-01 1.89575214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.966875 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:133.49, Y:99.82, Z:18.97 [[ 9.67744491e-01 2.49479933e-01 -3.50765398e-02 1.33493717e+02] [-2.49398251e-01 9.68377445e-01 6.75540708e-03 9.98195658e+01] [ 3.56526685e-02 2.21051970e-03 9.99361797e-01 1.89667153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.996875 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:133.51, Y:99.83, Z:18.96 [[ 9.70510170e-01 2.38565406e-01 -3.45912878e-02 1.33508078e+02] [-2.38407235e-01 9.71126414e-01 8.68777860e-03 9.98308181e+01] [ 3.56651167e-02 -1.84764203e-04 9.99363780e-01 1.89600354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.026875 meters Centerline goodness : 0.996191 Centerline is valid? [True, True] Translation: X:133.54, Y:99.82, Z:18.96 [[ 9.70258805e-01 2.39524079e-01 -3.50152399e-02 1.33539718e+02] [-2.39427046e-01 9.70889120e-01 7.00045440e-03 9.98236351e+01] [ 3.56726929e-02 1.59134296e-03 9.99362260e-01 1.89591622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.056875 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:133.57, Y:99.82, Z:18.96 [[ 9.70023316e-01 2.40475259e-01 -3.50202315e-02 1.33569022e+02] [-2.40379558e-01 9.70653871e-01 6.98068134e-03 9.98170557e+01] [ 3.56712044e-02 1.64672411e-03 9.99362223e-01 1.89597658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.086875 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:133.60, Y:99.81, Z:18.96 [[ 9.69343230e-01 2.43197673e-01 -3.50513237e-02 1.33602655e+02] [-2.43108184e-01 9.69974938e-01 6.85780266e-03 9.98057894e+01] [ 3.56667072e-02 1.87369909e-03 9.99361984e-01 1.89612702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.116875 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:133.63, Y:99.80, Z:18.96 [[ 9.69499995e-01 2.42588007e-01 -3.49402050e-02 1.33628720e+02] [-2.42482367e-01 9.70128392e-01 7.29414403e-03 9.98013260e+01] [ 3.56659567e-02 1.40071101e-03 9.99362786e-01 1.89622878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.146875 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:133.66, Y:99.79, Z:18.96 [[ 9.69851157e-01 2.41167050e-01 -3.50312265e-02 1.33662079e+02] [-2.41073375e-01 9.70482099e-01 6.93704409e-03 9.97934988e+01] [ 3.56701647e-02 1.71719577e-03 9.99362142e-01 1.89627654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.176875 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:133.69, Y:99.79, Z:18.96 [[ 9.69724083e-01 2.41676600e-01 -3.50374658e-02 1.33692108e+02] [-2.41584151e-01 9.70355254e-01 6.91229529e-03 9.97868716e+01] [ 3.56693290e-02 1.76147721e-03 9.99362095e-01 1.89625630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.206875 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:133.72, Y:99.78, Z:18.96 [[ 9.68931893e-01 2.44839624e-01 -3.49934953e-02 1.33719022e+02] [-2.44743025e-01 9.69562101e-01 7.08411043e-03 9.97789338e+01] [ 3.56628377e-02 1.70039334e-03 9.99362432e-01 1.89643493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.236875 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:133.75, Y:99.77, Z:18.97 [[ 9.67876103e-01 2.48979328e-01 -3.50020341e-02 1.33751199e+02] [-2.48886621e-01 9.68506961e-01 7.05102031e-03 9.97683106e+01] [ 3.56552719e-02 1.88702391e-03 9.99362367e-01 1.89664372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.266875 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:133.78, Y:99.76, Z:18.97 [[ 9.67679908e-01 2.49748707e-01 -3.49453654e-02 1.33781989e+02] [-2.49648574e-01 9.68309213e-01 7.27035160e-03 9.97621191e+01] [ 3.56536802e-02 1.68868747e-03 9.99362779e-01 1.89661566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.296875 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:133.81, Y:99.76, Z:18.97 [[ 9.67498162e-01 2.50451187e-01 -3.49501042e-02 1.33810650e+02] [-2.50352170e-01 9.68127676e-01 7.25210047e-03 9.97562344e+01] [ 3.56524603e-02 1.73344055e-03 9.99362746e-01 1.89668312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.32687500000003 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:133.84, Y:99.75, Z:18.97 [[ 9.67289123e-01 2.51250388e-01 -3.49999426e-02 1.33839572e+02] [-2.51158823e-01 9.67920140e-01 7.06038742e-03 9.97484407e+01] [ 3.56510744e-02 1.96110842e-03 9.99362374e-01 1.89668951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.356875 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:133.87, Y:99.74, Z:18.97 [[ 9.66579797e-01 2.53965225e-01 -3.50023040e-02 1.33871744e+02] [-2.53875759e-01 9.67211134e-01 7.05135976e-03 9.97381934e+01] [ 3.56454183e-02 2.07053461e-03 9.99362355e-01 1.89693985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.38687500000003 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:133.90, Y:99.73, Z:18.97 [[ 9.66730726e-01 2.53402369e-01 -3.49133491e-02 1.33899409e+02] [-2.53300333e-01 9.67359472e-01 7.38878130e-03 9.97323344e+01] [ 3.56460936e-02 1.70060103e-03 9.99363029e-01 1.89690458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.416875 meters Centerline goodness : 0.996200 Centerline is valid? [True, True] Translation: X:133.93, Y:99.72, Z:18.97 [[ 9.65929095e-01 2.56441883e-01 -3.49076515e-02 1.33927369e+02] [-2.56341055e-01 9.66557993e-01 7.41006244e-03 9.97232823e+01] [ 3.56405200e-02 1.79066933e-03 9.99363071e-01 1.89711496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.44687500000003 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:133.96, Y:99.71, Z:18.97 [[ 9.66212937e-01 2.55369161e-01 -3.49163562e-02 1.33960303e+02] [-2.55268807e-01 9.66841976e-01 7.37763416e-03 9.97141160e+01] [ 3.56426191e-02 1.78469104e-03 9.99363006e-01 1.89723164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.476875 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:133.99, Y:99.71, Z:18.97 [[ 9.67132315e-01 2.51867292e-01 -3.48991855e-02 1.33988729e+02] [-2.51762340e-01 9.67760478e-01 7.44190786e-03 9.97078800e+01] [ 3.56484256e-02 1.58899101e-03 9.99363130e-01 1.89725793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.50687500000004 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:134.02, Y:99.70, Z:18.97 [[ 9.67471898e-01 2.50554591e-01 -3.49360004e-02 1.34016278e+02] [-2.50453738e-01 9.68101010e-01 7.30478051e-03 9.97013821e+01] [ 3.56518236e-02 1.68268202e-03 9.99362855e-01 1.89728644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.536875 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:134.05, Y:99.69, Z:18.98 [[ 9.66791507e-01 2.53157009e-01 -3.50101431e-02 1.34050936e+02] [-2.53067816e-01 9.67423004e-01 7.02935334e-03 9.96878938e+01] [ 3.56491479e-02 2.06402136e-03 9.99362236e-01 1.89750114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56687500000004 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:134.09, Y:99.66, Z:18.99 [[ 9.63814926e-01 2.64281572e-01 -3.48717649e-02 1.34094692e+02] [-2.64181039e-01 9.64443611e-01 7.54320794e-03 9.96575667e+01] [ 3.56253817e-02 1.94220269e-03 9.99363327e-01 1.89863389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.596875 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:134.13, Y:99.65, Z:18.99 [[ 9.63991503e-01 2.63700524e-01 -3.43862676e-02 1.34126598e+02] [-2.63535345e-01 9.64604598e-01 9.33232495e-03 9.96484214e+01] [ 3.56300908e-02 6.57149382e-05 9.99365045e-01 1.89885373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62687500000004 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:134.16, Y:99.64, Z:18.99 [[ 9.64292216e-01 2.62599094e-01 -3.43836790e-02 1.34157151e+02] [-2.62432875e-01 9.64905029e-01 9.34185251e-03 9.96405599e+01] [ 3.56301468e-02 1.51320847e-05 9.99365045e-01 1.89882282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.656875 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:134.19, Y:99.63, Z:18.99 [[ 9.64433037e-01 2.62081751e-01 -3.43812818e-02 1.34187799e+02] [-2.61914889e-01 9.65045676e-01 9.35066669e-03 9.96325291e+01] [ 3.56301464e-02 -1.31222684e-05 9.99365045e-01 1.89883750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68687500000004 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:134.21, Y:99.64, Z:18.98 [[ 9.67707302e-01 2.49721180e-01 -3.43789224e-02 1.34206477e+02] [-2.49546186e-01 9.68317667e-01 9.35933325e-03 9.96424477e+01] [ 3.56269417e-02 -4.77966161e-04 9.99365045e-01 1.89831072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.716875 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:134.23, Y:99.64, Z:18.98 [[ 9.67501589e-01 2.50467092e-01 -3.47406286e-02 1.34233247e+02] [-2.50339990e-01 9.68124671e-01 8.03188599e-03 9.96367613e+01] [ 3.56449827e-02 9.26106156e-04 9.99364087e-01 1.89791446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.746875 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:134.28, Y:99.61, Z:18.99 [[ 9.64750741e-01 2.60847693e-01 -3.48495233e-02 1.34276528e+02] [-2.60741766e-01 9.65378426e-01 7.63062784e-03 9.96069553e+01] [ 3.56334096e-02 1.72507238e-03 9.99363440e-01 1.89892245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.776875 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:134.31, Y:99.59, Z:18.99 [[ 9.64888338e-01 2.60402517e-01 -3.43660387e-02 1.34308924e+02] [-2.60232878e-01 9.65500137e-01 9.39870026e-03 9.95939272e+01] [ 3.56278602e-02 -1.25523124e-04 9.99365118e-01 1.89928416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.806875 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:134.32, Y:99.61, Z:18.99 [[ 9.69521561e-01 2.42595056e-01 -3.42867610e-02 1.34317293e+02] [-2.42403931e-01 9.70127037e-01 9.68843975e-03 9.96133459e+01] [ 3.56128815e-02 -1.08190557e-03 9.99365075e-01 1.89860446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.836875 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:134.36, Y:99.58, Z:18.99 [[ 9.65305324e-01 2.58781571e-01 -3.48959938e-02 1.34363579e+02] [-2.58681156e-01 9.65934106e-01 7.44062364e-03 9.95816609e+01] [ 3.56327269e-02 1.84446241e-03 9.99363251e-01 1.89935611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.866875 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:134.39, Y:99.57, Z:19.00 [[ 9.65181581e-01 2.59314177e-01 -3.43609341e-02 1.34394532e+02] [-2.59143899e-01 9.65793006e-01 9.39732538e-03 9.95723386e+01] [ 3.56224095e-02 -1.65698945e-04 9.99365307e-01 1.89958176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.896875 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:134.41, Y:99.59, Z:18.99 [[ 9.68045791e-01 2.48408640e-01 -3.43583143e-02 1.34409810e+02] [-2.48231135e-01 9.68655157e-01 9.40689420e-03 9.95852221e+01] [ 3.56181121e-02 -5.77500987e-04 9.99365307e-01 1.89875789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.926875 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:134.44, Y:99.58, Z:18.99 [[ 9.68458598e-01 2.46729542e-01 -3.48206337e-02 1.34441719e+02] [-2.46611451e-01 9.69083736e-01 7.71398465e-03 9.95768367e+01] [ 3.56473777e-02 1.11649225e-03 9.99363807e-01 1.89929513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.956875 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:134.47, Y:99.57, Z:18.99 [[ 9.67876141e-01 2.49008127e-01 -3.47955360e-02 1.34466111e+02] [-2.48888214e-01 9.68500765e-01 7.80552082e-03 9.95712586e+01] [ 3.56431414e-02 1.10542144e-03 9.99363970e-01 1.89876157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.986875 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:134.50, Y:99.56, Z:18.99 [[ 9.67594592e-01 2.50081552e-01 -3.49274073e-02 1.34501149e+02] [-2.49979542e-01 9.68223387e-01 7.32819148e-03 9.95603758e+01] [ 3.56501781e-02 1.64041883e-03 9.99362984e-01 1.89894832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.016875 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:134.53, Y:99.55, Z:18.99 [[ 9.66651521e-01 2.53717975e-01 -3.48141660e-02 1.34528009e+02] [-2.53603579e-01 9.67277296e-01 7.73681648e-03 9.95518078e+01] [ 3.56379217e-02 1.35019168e-03 9.99363855e-01 1.89908379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.046875 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:134.55, Y:99.54, Z:18.99 [[ 9.66763602e-01 2.53288355e-01 -3.48302595e-02 1.34554752e+02] [-2.53175761e-01 9.67389821e-01 7.67910943e-03 9.95438100e+01] [ 3.56394675e-02 1.39429397e-03 9.99363740e-01 1.89944627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.07687500000003 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:134.58, Y:99.54, Z:18.99 [[ 9.66033876e-01 2.56050395e-01 -3.48818795e-02 1.34583628e+02] [-2.55946245e-01 9.66661961e-01 7.49481846e-03 9.95378971e+01] [ 3.56380373e-02 1.68763756e-03 9.99363338e-01 1.89909235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.106875 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:134.62, Y:99.53, Z:18.99 [[ 9.65545380e-01 2.57878039e-01 -3.49433310e-02 1.34615508e+02] [-2.57783021e-01 9.66175442e-01 7.27529897e-03 9.95276950e+01] [ 3.56375281e-02 1.98316610e-03 9.99362814e-01 1.89914581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.13687500000003 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:134.65, Y:99.52, Z:19.00 [[ 9.65138056e-01 2.59405246e-01 -3.48919945e-02 1.34647076e+02] [-2.59304580e-01 9.65766794e-01 7.45884620e-03 9.95175029e+01] [ 3.56323935e-02 1.84883767e-03 9.99363254e-01 1.89993825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.166875 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:134.67, Y:99.51, Z:18.99 [[ 9.63985155e-01 2.63672492e-01 -3.47769848e-02 1.34672916e+02] [-2.63559867e-01 9.64610965e-01 7.86662979e-03 9.95115181e+01] [ 3.56204747e-02 1.58250315e-03 9.99364137e-01 1.89929859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.19687500000003 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:134.70, Y:99.50, Z:18.99 [[ 9.63568792e-01 2.65173949e-01 -3.48992959e-02 1.34702929e+02] [-2.65077999e-01 9.64198326e-01 7.43253946e-03 9.95031872e+01] [ 3.56207585e-02 2.08927247e-03 9.99363196e-01 1.89926873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.226875 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:134.73, Y:99.49, Z:19.00 [[ 9.62974562e-01 2.67320703e-01 -3.49232675e-02 1.34734073e+02] [-2.67229233e-01 9.63604975e-01 7.34768011e-03 9.94903878e+01] [ 3.56164213e-02 2.25688896e-03 9.99362986e-01 1.89973024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.25687500000004 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:134.76, Y:99.48, Z:18.99 [[ 9.61404878e-01 2.72923897e-01 -3.48311334e-02 1.34762475e+02] [-2.72824372e-01 9.62033273e-01 7.67096705e-03 9.94837299e+01] [ 3.56022995e-02 2.12787696e-03 9.99363772e-01 1.89928622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.286875 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:134.79, Y:99.47, Z:18.99 [[ 9.60037222e-01 2.77704682e-01 -3.47655365e-02 1.34787704e+02] [-2.77600114e-01 9.60664262e-01 7.89635429e-03 9.94749004e+01] [ 3.55908631e-02 2.07012287e-03 9.99364300e-01 1.89938283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31687500000004 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:134.82, Y:99.46, Z:19.00 [[ 9.59612430e-01 2.79163811e-01 -3.48073515e-02 1.34822819e+02] [-2.79065409e-01 9.60240801e-01 7.75256223e-03 9.94619607e+01] [ 3.55876739e-02 2.27407271e-03 9.99363971e-01 1.89957260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.346875 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:134.85, Y:99.45, Z:19.00 [[ 9.58773210e-01 2.82044405e-01 -3.47114450e-02 1.34853599e+02] [-2.81935845e-01 9.59399194e-01 8.08492976e-03 9.94493130e+01] [ 3.55824415e-02 2.03478652e-03 9.99364673e-01 1.89980857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37687500000004 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:134.88, Y:99.44, Z:19.00 [[ 9.59342879e-01 2.80109396e-01 -3.46405409e-02 1.34880480e+02] [-2.79990716e-01 9.59966567e-01 8.33000955e-03 9.94428304e+01] [ 3.55870750e-02 1.70769450e-03 9.99365120e-01 1.89978655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.406875 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:134.91, Y:99.43, Z:19.00 [[ 9.58501625e-01 2.82970031e-01 -3.46784663e-02 1.34911588e+02] [-2.82857921e-01 9.59126770e-01 8.19973305e-03 9.94314664e+01] [ 3.55813240e-02 1.94962143e-03 9.99364883e-01 1.90002099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43687500000004 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:134.95, Y:99.40, Z:19.01 [[ 9.55381282e-01 2.93336808e-01 -3.46427940e-02 1.34953446e+02] [-2.93227037e-01 9.56006613e-01 8.32226433e-03 9.94016339e+01] [ 3.55599666e-02 2.20726827e-03 9.99365107e-01 1.90086087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.466875 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:134.97, Y:99.41, Z:19.01 [[ 9.58777709e-01 2.82097877e-01 -3.41480907e-02 1.34973948e+02] [-2.81920221e-01 9.59385630e-01 1.00100767e-02 9.94098556e+01] [ 3.55850089e-02 2.95989185e-05 9.99366653e-01 1.90121205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.496875 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:135.00, Y:99.40, Z:19.01 [[ 9.58545904e-01 2.82843956e-01 -3.44825682e-02 1.35003902e+02] [-2.82707643e-01 9.59165127e-01 8.86841986e-03 9.94009735e+01] [ 3.55828558e-02 1.24769803e-03 9.99365951e-01 1.90125971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.526875 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:135.03, Y:99.39, Z:19.01 [[ 9.58952963e-01 2.81461428e-01 -3.44772411e-02 1.35030668e+02] [-2.81323571e-01 9.59571820e-01 8.88650647e-03 9.93945342e+01] [ 3.55845978e-02 1.17751890e-03 9.99365974e-01 1.90117337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.556875 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:135.06, Y:99.38, Z:19.00 [[ 9.58195860e-01 2.84016244e-01 -3.45755259e-02 1.35059394e+02] [-2.83892032e-01 9.58818101e-01 8.55361625e-03 9.93848114e+01] [ 3.55810060e-02 1.61967663e-03 9.99365483e-01 1.90048894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.586875 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:135.09, Y:99.38, Z:19.01 [[ 9.58575955e-01 2.82727071e-01 -3.46055119e-02 1.35090622e+02] [-2.82605682e-01 9.59198931e-01 8.45221788e-03 9.93756027e+01] [ 3.55832408e-02 1.67762146e-03 9.99365308e-01 1.90126839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.616875 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:135.12, Y:99.37, Z:19.01 [[ 9.57628477e-01 2.85927096e-01 -3.45455509e-02 1.35119118e+02] [-2.85800484e-01 9.58250063e-01 8.65452085e-03 9.93661064e+01] [ 3.55778383e-02 1.58531954e-03 9.99365651e-01 1.90072038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.646875 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:135.15, Y:99.36, Z:19.01 [[ 9.58013066e-01 2.84635815e-01 -3.45458896e-02 1.35148549e+02] [-2.84508406e-01 9.58634490e-01 8.65338764e-03 9.93572842e+01] [ 3.55799453e-02 1.53853755e-03 9.99365649e-01 1.90141388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.676875 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:135.19, Y:99.34, Z:19.02 [[ 9.57049376e-01 2.87861441e-01 -3.45294618e-02 1.35191858e+02] [-2.87734082e-01 9.57670733e-01 8.71004332e-03 9.93406807e+01] [ 3.55751406e-02 1.59936149e-03 9.99365725e-01 1.90180941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.706875 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:135.20, Y:99.34, Z:19.02 [[ 9.57675704e-01 2.85814656e-01 -3.41647186e-02 1.35204834e+02] [-2.85641105e-01 9.58284892e-01 9.96114669e-03 9.93389524e+01] [ 3.55865754e-02 2.19299816e-04 9.99366573e-01 1.90153870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.736875 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:135.24, Y:99.33, Z:19.02 [[ 9.57096497e-01 2.87699172e-01 -3.45757312e-02 1.35238041e+02] [-2.87575666e-01 9.57719300e-01 8.60103694e-03 9.93273053e+01] [ 3.55883563e-02 1.71111659e-03 9.99365069e-01 1.90160034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.766875 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:135.27, Y:99.32, Z:19.02 [[ 9.57102499e-01 2.87688099e-01 -3.45016483e-02 1.35269908e+02] [-2.87555755e-01 9.57723050e-01 8.84573850e-03 9.93162687e+01] [ 3.55878375e-02 1.45486908e-03 9.99365493e-01 1.90201162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.796875 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:135.30, Y:99.31, Z:19.02 [[ 9.57102031e-01 2.87698592e-01 -3.44270760e-02 1.35295959e+02] [-2.87557412e-01 9.57720254e-01 9.09125923e-03 9.93103276e+01] [ 3.55870504e-02 1.19849819e-03 9.99365862e-01 1.90198901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.82687500000003 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:135.33, Y:99.30, Z:19.02 [[ 9.56475039e-01 2.89764426e-01 -3.45264781e-02 1.35328337e+02] [-2.89636377e-01 9.57096631e-01 8.76400951e-03 9.92985615e+01] [ 3.55846740e-02 1.61756770e-03 9.99365356e-01 1.90208572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.856875 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:135.36, Y:99.29, Z:19.02 [[ 9.56720235e-01 2.88963989e-01 -3.44413441e-02 1.35357723e+02] [-2.88825325e-01 9.57339092e-01 9.04406386e-03 9.92901284e+01] [ 3.55854538e-02 1.29489350e-03 9.99365798e-01 1.90221178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.88687500000003 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:135.39, Y:99.28, Z:19.02 [[ 9.56376595e-01 2.90098087e-01 -3.44515386e-02 1.35389003e+02] [-2.89961363e-01 9.56995934e-01 9.01059802e-03 9.92800629e+01] [ 3.55839396e-02 1.37209004e-03 9.99365749e-01 1.90225233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.916875 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:135.42, Y:99.27, Z:19.02 [[ 9.56088867e-01 2.91047647e-01 -3.44288594e-02 1.35419480e+02] [-2.90908865e-01 9.56707635e-01 9.08479333e-03 9.92702870e+01] [ 3.55824604e-02 1.32979068e-03 9.99365859e-01 1.90244786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.94687500000003 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:135.45, Y:99.26, Z:19.03 [[ 9.56712953e-01 2.88989369e-01 -3.44306549e-02 1.35451156e+02] [-2.88849467e-01 9.57331478e-01 9.07892221e-03 9.92616055e+01] [ 3.55852617e-02 1.25935382e-03 9.99365851e-01 1.90263052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.976875 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:135.48, Y:99.25, Z:19.03 [[ 9.55748571e-01 2.92169789e-01 -3.43727122e-02 1.35477907e+02] [-2.92025181e-01 9.56365735e-01 9.26680583e-03 9.92515887e+01] [ 3.55803649e-02 1.18096107e-03 9.99366121e-01 1.90256334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.00687500000004 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:135.51, Y:99.24, Z:19.02 [[ 9.54924467e-01 2.94847829e-01 -3.44096052e-02 1.35505657e+02] [-2.94709242e-01 9.55543187e-01 9.14768298e-03 9.92434011e+01] [ 3.55770383e-02 1.40548238e-03 9.99365948e-01 1.90194088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.036875 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:135.54, Y:99.23, Z:19.03 [[ 9.55969414e-01 2.91432349e-01 -3.44915138e-02 1.35536540e+02] [-2.91301090e-01 9.56590177e-01 8.88305555e-03 9.92348537e+01] [ 3.55830531e-02 1.55548616e-03 9.99365512e-01 1.90261173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06687500000004 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:135.57, Y:99.22, Z:19.03 [[ 9.55903051e-01 2.91654222e-01 -3.44553673e-02 1.35565396e+02] [-2.91518898e-01 9.56522732e-01 8.99973142e-03 9.92249872e+01] [ 3.55821517e-02 1.44151996e-03 9.99365715e-01 1.90256253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.096875 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:135.60, Y:99.21, Z:19.03 [[ 9.55031024e-01 2.94494073e-01 -3.44816407e-02 1.35596852e+02] [-2.94363646e-01 9.55651906e-01 8.91511579e-03 9.92120193e+01] [ 3.55778944e-02 1.63592929e-03 9.99365567e-01 1.90262261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12687500000004 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:135.62, Y:99.21, Z:19.02 [[ 9.54329836e-01 2.96764634e-01 -3.44284097e-02 1.35624584e+02] [-2.96629509e-01 9.54949410e-01 9.08616432e-03 9.92057694e+01] [ 3.55738418e-02 1.54128454e-03 9.99365862e-01 1.90215219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.156875 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:135.66, Y:99.19, Z:19.03 [[ 9.54901554e-01 2.94911115e-01 -3.45029772e-02 1.35658922e+02] [-2.94783418e-01 9.55523137e-01 8.84706899e-03 9.91926250e+01] [ 3.55774920e-02 1.72282562e-03 9.99365436e-01 1.90280093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18687500000004 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:135.69, Y:99.18, Z:19.03 [[ 9.54494312e-01 2.96243677e-01 -3.43553881e-02 1.35688320e+02] [-2.96099846e-01 9.55111538e-01 9.31834651e-03 9.91830320e+01] [ 3.55737288e-02 1.27831636e-03 9.99366237e-01 1.90266755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.216875 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:135.72, Y:99.17, Z:19.03 [[ 9.54754249e-01 2.95405669e-01 -3.43484443e-02 1.35717226e+02] [-2.95260502e-01 9.55371128e-01 9.34041876e-03 9.91734005e+01] [ 3.55747246e-02 1.22393440e-03 9.99366270e-01 1.90312926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.246875 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:135.74, Y:99.16, Z:19.03 [[ 9.53567185e-01 2.99218308e-01 -3.43224294e-02 1.35741783e+02] [-2.99072653e-01 9.54183822e-01 9.42241827e-03 9.91648673e+01] [ 3.55692669e-02 1.27999118e-03 9.99366394e-01 1.90282866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.276875 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:135.77, Y:99.16, Z:19.03 [[ 9.53814301e-01 2.98412778e-01 -3.44687310e-02 1.35771570e+02] [-2.98283216e-01 9.54435335e-01 8.96182660e-03 9.91561985e+01] [ 3.55724984e-02 1.73352555e-03 9.99365595e-01 1.90278680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.306875 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:135.80, Y:99.15, Z:19.03 [[ 9.53612876e-01 2.99051286e-01 -3.45081301e-02 1.35801591e+02] [-2.98926632e-01 9.54235173e-01 8.83765791e-03 9.91465430e+01] [ 3.55717845e-02 1.88769472e-03 9.99365341e-01 1.90283973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.336875 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:135.83, Y:99.14, Z:19.03 [[ 9.52979589e-01 3.01065314e-01 -3.44902844e-02 1.35832250e+02] [-3.00939949e-01 9.53601621e-01 8.89357183e-03 9.91355026e+01] [ 3.55675371e-02 1.90411202e-03 9.99365461e-01 1.90293609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.366875 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:135.86, Y:99.13, Z:19.03 [[ 9.52124185e-01 3.03767952e-01 -3.44175636e-02 1.35860540e+02] [-3.03636192e-01 9.52744407e-01 9.11904103e-03 9.91254426e+01] [ 3.55612137e-02 1.76795846e-03 9.99365936e-01 1.90311430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.396875 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:135.89, Y:99.12, Z:19.03 [[ 9.52081032e-01 3.03902551e-01 -3.44230760e-02 1.35889859e+02] [-3.03771496e-01 9.52701439e-01 9.10198060e-03 9.91170206e+01] [ 3.55610291e-02 1.79092619e-03 9.99365902e-01 1.90310041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.426875 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:135.92, Y:99.11, Z:19.03 [[ 9.52077310e-01 3.03911923e-01 -3.44432737e-02 1.35922254e+02] [-3.03783130e-01 9.52698323e-01 9.03960553e-03 9.91059786e+01] [ 3.55612930e-02 1.85688218e-03 9.99365772e-01 1.90322439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.456875 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:135.95, Y:99.10, Z:19.03 [[ 9.51909706e-01 3.04442220e-01 -3.43925219e-02 1.35950652e+02] [-3.04308107e-01 9.52529267e-01 9.19629355e-03 9.91016504e+01] [ 3.55596237e-02 1.71188217e-03 9.99366090e-01 1.90278367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.486875 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:135.98, Y:99.09, Z:19.03 [[ 9.52380716e-01 3.02958105e-01 -3.44580769e-02 1.35983590e+02] [-3.02830304e-01 9.53002044e-01 8.99505436e-03 9.90925343e+01] [ 3.55637424e-02 1.86823359e-03 9.99365664e-01 1.90283119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.516875 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:136.02, Y:99.08, Z:19.03 [[ 9.52010793e-01 3.04131185e-01 -3.43463509e-02 1.36015366e+02] [-3.03991797e-01 9.52628895e-01 9.33674850e-03 9.90798723e+01] [ 3.55589227e-02 1.55232360e-03 9.99366376e-01 1.90323608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.546875 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:136.05, Y:99.05, Z:19.04 [[ 9.48341038e-01 3.15395974e-01 -3.42732571e-02 1.36053718e+02] [-3.15255840e-01 9.48958565e-01 9.56022794e-03 9.90465931e+01] [ 3.55391582e-02 1.73848796e-03 9.99366772e-01 1.90441627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.57687500000003 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:136.07, Y:99.06, Z:19.04 [[ 9.53436550e-01 2.99697735e-01 -3.37640754e-02 1.36072102e+02] [-2.99492190e-01 9.54034087e-01 1.11080849e-02 9.90584264e+01] [ 3.55411467e-02 -4.78777233e-04 9.99368099e-01 1.90446155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.606875 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:136.10, Y:99.05, Z:19.05 [[ 9.54350075e-01 2.96718134e-01 -3.42678285e-02 1.36102187e+02] [-2.96565532e-01 9.54964549e-01 9.57051396e-03 9.90516159e+01] [ 3.55643064e-02 1.02903608e-03 9.99366860e-01 1.90461015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.63687500000003 meters Centerline goodness : 0.993914 Centerline is valid? [True, True] Translation: X:136.13, Y:99.05, Z:19.04 [[ 9.53765691e-01 2.98586039e-01 -3.43130398e-02 1.36129945e+02] [-2.98439606e-01 9.54381910e-01 9.43245742e-03 9.90456831e+01] [ 3.55641446e-02 1.24401583e-03 9.99366621e-01 1.90369198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.666875 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:136.16, Y:99.04, Z:19.04 [[ 9.53256326e-01 3.00200684e-01 -3.43791585e-02 1.36158195e+02] [-3.00062535e-01 9.53874862e-01 9.23165538e-03 9.90385007e+01] [ 3.55647643e-02 1.51576353e-03 9.99366224e-01 1.90352836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.69687500000003 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:136.19, Y:99.03, Z:19.04 [[ 9.53188578e-01 3.00411208e-01 -3.44186195e-02 1.36192614e+02] [-3.00277520e-01 9.53808358e-01 9.11191895e-03 9.90272980e+01] [ 3.55660895e-02 1.64976061e-03 9.99365965e-01 1.90417595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.726875 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:136.22, Y:99.02, Z:19.04 [[ 9.52540010e-01 3.02477770e-01 -3.42743073e-02 1.36221678e+02] [-3.02329675e-01 9.53155598e-01 9.54851362e-03 9.90191030e+01] [ 3.55569610e-02 1.26679893e-03 9.99366848e-01 1.90430967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.75687500000004 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:136.25, Y:99.01, Z:19.04 [[ 9.51483433e-01 3.05786555e-01 -3.42616293e-02 1.36248208e+02] [-3.05639228e-01 9.52099133e-01 9.58658466e-03 9.90126788e+01] [ 3.55519162e-02 1.35022144e-03 9.99366919e-01 1.90426540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.786875 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:136.28, Y:99.01, Z:19.03 [[ 9.50415852e-01 3.09077900e-01 -3.43592850e-02 1.36275828e+02] [-3.08943264e-01 9.51035056e-01 9.29419943e-03 9.90055277e+01] [ 3.55495161e-02 1.78171518e-03 9.99366328e-01 1.90347280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81687500000004 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:136.31, Y:98.99, Z:19.04 [[ 9.50376286e-01 3.09185924e-01 -3.44815772e-02 1.36310633e+02] [-3.09064666e-01 9.50999128e-01 8.92695384e-03 9.89928906e+01] [ 3.55520384e-02 2.17307190e-03 9.99365464e-01 1.90427165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.846875 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:136.34, Y:98.98, Z:19.05 [[ 9.49651561e-01 3.11421631e-01 -3.43290096e-02 1.36341475e+02] [-3.11285269e-01 9.50270182e-01 9.38412784e-03 9.89818040e+01] [ 3.55442546e-02 1.77446334e-03 9.99366528e-01 1.90457538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87687500000004 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:136.36, Y:98.98, Z:19.04 [[ 9.46862157e-01 3.19819859e-01 -3.41659725e-02 1.36360060e+02] [-3.19671616e-01 9.47477047e-01 9.86418693e-03 9.89761439e+01] [ 3.55262376e-02 1.58186636e-03 9.99367492e-01 1.90441945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.906875 meters Centerline goodness : 0.992396 Centerline is valid? [True, True] Translation: X:136.39, Y:98.97, Z:19.05 [[ 9.47740033e-01 3.17179281e-01 -3.44402828e-02 1.36394910e+02] [-3.17058592e-01 9.48362716e-01 9.05580503e-03 9.89659646e+01] [ 3.55341939e-02 2.33703861e-03 9.99365729e-01 1.90505086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93687500000004 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:136.42, Y:98.96, Z:19.05 [[ 9.46690265e-01 3.20306094e-01 -3.43736431e-02 1.36423190e+02] [-3.20180277e-01 9.47311439e-01 9.25348909e-03 9.89570120e+01] [ 3.55264942e-02 2.24557451e-03 9.99366212e-01 1.90475735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.966875 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:136.46, Y:98.95, Z:19.04 [[ 9.44704467e-01 3.26109322e-01 -3.44409572e-02 1.36455230e+02] [-3.25994600e-01 9.45328279e-01 9.05345440e-03 9.89471301e+01] [ 3.55104267e-02 2.67472723e-03 9.99365727e-01 1.90439594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.996875 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:136.49, Y:98.94, Z:19.05 [[ 9.43594896e-01 3.29314678e-01 -3.43586241e-02 1.36488755e+02] [-3.29193211e-01 9.44216818e-01 9.29677208e-03 9.89355242e+01] [ 3.55035543e-02 2.53823912e-03 9.99366327e-01 1.90536921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.026875 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:136.52, Y:98.93, Z:19.06 [[ 9.42888925e-01 3.31350571e-01 -3.41654025e-02 1.36515692e+02] [-3.31209812e-01 9.43505560e-01 9.86502799e-03 9.89260452e+01] [ 3.55040298e-02 2.01429089e-03 9.99367503e-01 1.90554642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.056875 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:136.54, Y:98.92, Z:19.05 [[ 9.41372328e-01 3.35633865e-01 -3.41767432e-02 1.36541274e+02] [-3.35497112e-01 9.41989926e-01 9.83190888e-03 9.89161612e+01] [ 3.54940694e-02 2.21071169e-03 9.99367442e-01 1.90502574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.086875 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:136.57, Y:98.90, Z:19.06 [[ 9.40716290e-01 3.37462850e-01 -3.42299179e-02 1.36572455e+02] [-3.37332899e-01 9.41335677e-01 9.67770983e-03 9.89013035e+01] [ 3.54877105e-02 2.44289815e-03 9.99367127e-01 1.90616373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.116875 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:136.60, Y:98.89, Z:19.06 [[ 9.41167473e-01 3.36217337e-01 -3.40835862e-02 1.36602353e+02] [-3.36071202e-01 9.41782411e-01 1.01013724e-02 9.88904475e+01] [ 3.54955785e-02 1.94742864e-03 9.99367936e-01 1.90631893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.146875 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:136.63, Y:98.88, Z:19.06 [[ 9.41472378e-01 3.35361755e-01 -3.40918443e-02 1.36633074e+02] [-3.35215927e-01 9.42087431e-01 1.00774474e-02 9.88812015e+01] [ 3.54970885e-02 1.94049081e-03 9.99367896e-01 1.90619126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.176875 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:136.66, Y:98.87, Z:19.06 [[ 9.40802627e-01 3.37237522e-01 -3.40774361e-02 1.36658385e+02] [-3.37091417e-01 9.41417540e-01 1.01189383e-02 9.88733014e+01] [ 3.54935817e-02 1.96728753e-03 9.99367968e-01 1.90552878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.206875 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:136.69, Y:98.86, Z:19.06 [[ 9.41495491e-01 3.35286998e-01 -3.41887289e-02 1.36691686e+02] [-3.35151180e-01 9.42113395e-01 9.79992712e-03 9.88602529e+01] [ 3.54954476e-02 2.23180561e-03 9.99367346e-01 1.90629143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.236875 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:136.72, Y:98.85, Z:19.06 [[ 9.41833174e-01 3.34354900e-01 -3.40157928e-02 1.36719598e+02] [-3.34200651e-01 9.42445753e-01 1.02921456e-02 9.88500456e+01] [ 3.54992687e-02 1.67461596e-03 9.99368299e-01 1.90639677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.266875 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:136.76, Y:98.82, Z:19.07 [[ 9.38155452e-01 3.44533599e-01 -3.40726601e-02 1.36759078e+02] [-3.44391876e-01 9.38771336e-01 1.01298611e-02 9.88172609e+01] [ 3.54765142e-02 2.23096285e-03 9.99368020e-01 1.90679785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.296875 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:136.77, Y:98.83, Z:19.06 [[ 9.43527548e-01 3.29597774e-01 -3.34824417e-02 1.36770813e+02] [-3.29386347e-01 9.44121441e-01 1.18041784e-02 9.88309820e+01] [ 3.55021220e-02 -1.08908298e-04 9.99369595e-01 1.90602115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.32687500000003 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:136.82, Y:98.79, Z:19.07 [[ 9.38642085e-01 3.43191184e-01 -3.42176378e-02 1.36816159e+02] [-3.43063385e-01 9.39261936e-01 9.72262835e-03 9.87942738e+01] [ 3.54760451e-02 2.61275048e-03 9.99367112e-01 1.90703966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.356875 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:136.83, Y:98.81, Z:19.06 [[ 9.44817561e-01 3.25885893e-01 -3.34389179e-02 1.36825615e+02] [-3.25668410e-01 9.45409040e-01 1.19093862e-02 9.88116545e+01] [ 3.54945563e-02 -3.62197987e-04 9.99369804e-01 1.90616831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.38687500000003 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:136.86, Y:98.80, Z:19.06 [[ 9.46071228e-01 3.22143222e-01 -3.42487366e-02 1.36857700e+02] [-3.22004626e-01 9.46689020e-01 9.63948418e-03 9.88000381e+01] [ 3.55281974e-02 1.90861296e-03 9.99366852e-01 1.90621577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.416875 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:136.89, Y:98.79, Z:19.06 [[ 9.45681494e-01 3.23283634e-01 -3.42666706e-02 1.36886744e+02] [-3.23147612e-01 9.46299991e-01 9.58899322e-03 9.87889782e+01] [ 3.55265147e-02 2.00505935e-03 9.99366723e-01 1.90632333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.44687500000003 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:136.93, Y:98.75, Z:19.08 [[ 9.41196541e-01 3.36117313e-01 -3.42669356e-02 1.36932698e+02] [-3.35989744e-01 9.41816839e-01 9.58824483e-03 9.87503822e+01] [ 3.54959520e-02 2.48891604e-03 9.99366721e-01 1.90753108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.476875 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:136.96, Y:98.74, Z:19.08 [[ 9.41622611e-01 3.35006485e-01 -3.34292279e-02 1.36962968e+02] [-3.34793823e-01 9.42215821e-01 1.19349517e-02 9.87389145e+01] [ 3.54958336e-02 -4.63213306e-05 9.99369823e-01 1.90780340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.50687500000004 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:136.99, Y:98.73, Z:19.08 [[ 9.42074871e-01 3.33732891e-01 -3.34259494e-02 1.36993003e+02] [-3.33519102e-01 9.42667676e-01 1.19441266e-02 9.87289680e+01] [ 3.54957099e-02 -1.04068958e-04 9.99369823e-01 1.90789970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.536875 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:137.02, Y:98.72, Z:19.08 [[ 9.42530548e-01 3.32444093e-01 -3.34229050e-02 1.37024778e+02] [-3.32229191e-01 9.43122950e-01 1.19526396e-02 9.87190047e+01] [ 3.54954932e-02 -1.61663211e-04 9.99369823e-01 1.90795260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56687500000004 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:137.04, Y:98.74, Z:19.07 [[ 9.46793714e-01 3.20101030e-01 -3.34214552e-02 1.37036044e+02] [-3.19878264e-01 9.47383203e-01 1.19566922e-02 9.87355015e+01] [ 3.54902748e-02 -6.29723994e-04 9.99369823e-01 1.90707576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.596875 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:137.08, Y:98.70, Z:19.08 [[ 9.41606926e-01 3.34976937e-01 -3.41591736e-02 1.37082517e+02] [-3.34837357e-01 9.42223948e-01 9.89830111e-03 9.86972394e+01] [ 3.55012940e-02 2.11745851e-03 9.99367387e-01 1.90807965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62687500000004 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:137.11, Y:98.69, Z:19.08 [[ 9.41381733e-01 3.35687840e-01 -3.33782330e-02 1.37112791e+02] [-3.35471171e-01 9.41973275e-01 1.20599759e-02 9.86860689e+01] [ 3.54897907e-02 -1.55606071e-04 9.99370027e-01 1.90820786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.656875 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:137.14, Y:98.68, Z:19.08 [[ 9.41235532e-01 3.36097861e-01 -3.33751598e-02 1.37143862e+02] [-3.35881149e-01 9.41827057e-01 1.20684747e-02 9.86756743e+01] [ 3.54898171e-02 -1.49190183e-04 9.99370027e-01 1.90828139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68687500000004 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:137.18, Y:98.67, Z:19.08 [[ 9.41113021e-01 3.36441071e-01 -3.33719473e-02 1.37175664e+02] [-3.36224261e-01 9.41704510e-01 1.20773515e-02 9.86657753e+01] [ 3.54898303e-02 -1.45694494e-04 9.99370027e-01 1.90832769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.716875 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:137.21, Y:98.66, Z:19.08 [[ 9.40913639e-01 3.36998596e-01 -3.33687159e-02 1.37206312e+02] [-3.36781819e-01 9.41505140e-01 1.20862728e-02 9.86552610e+01] [ 3.54898745e-02 -1.34162073e-04 9.99370027e-01 1.90842698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.746875 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:137.22, Y:98.67, Z:19.07 [[ 9.45269418e-01 3.24580466e-01 -3.33653748e-02 1.37219653e+02] [-3.24355595e-01 9.45857890e-01 1.20954893e-02 9.86713896e+01] [ 3.54848626e-02 -6.11250153e-04 9.99370027e-01 1.90745905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.776875 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:137.25, Y:98.66, Z:19.07 [[ 9.45630468e-01 3.23454946e-01 -3.40575299e-02 1.37247828e+02] [-3.23297485e-01 9.46242567e-01 1.01853205e-02 9.86646067e+01] [ 3.55211768e-02 1.37916435e-03 9.99367972e-01 1.90736620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.806875 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:137.28, Y:98.65, Z:19.08 [[ 9.44267239e-01 3.27397782e-01 -3.42063506e-02 1.37281120e+02] [-3.27257765e-01 9.44884559e-01 9.77370204e-03 9.86490555e+01] [ 3.55209409e-02 1.96530722e-03 9.99367000e-01 1.90764312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.836875 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:137.32, Y:98.61, Z:19.09 [[ 9.39856197e-01 3.39870914e-01 -3.40307330e-02 1.37323770e+02] [-3.39721478e-01 9.40470137e-01 1.02586331e-02 9.86137520e+01] [ 3.54914991e-02 1.91933104e-03 9.99368135e-01 1.90871236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.866875 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:137.35, Y:98.60, Z:19.09 [[ 9.39471088e-01 3.41002256e-01 -3.33397166e-02 1.37353510e+02] [-3.40785584e-01 9.40062476e-01 1.21543249e-02 9.86024443e+01] [ 3.54860688e-02 -5.69419913e-05 9.99370170e-01 1.90892137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.896875 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:137.37, Y:98.62, Z:19.09 [[ 9.43842279e-01 3.28710242e-01 -3.33366107e-02 1.37372046e+02] [-3.28485568e-01 9.44430673e-01 1.21628379e-02 9.86155424e+01] [ 3.54821671e-02 -5.29205108e-04 9.99370170e-01 1.90876935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.926875 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:137.41, Y:98.58, Z:19.09 [[ 9.38501877e-01 3.43608213e-01 -3.38765725e-02 1.37410818e+02] [-3.43446027e-01 9.39111705e-01 1.06785675e-02 9.85824521e+01] [ 3.54831292e-02 1.61291860e-03 9.99368974e-01 1.90894399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.956875 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:137.42, Y:98.60, Z:19.08 [[ 9.42848528e-01 3.31551155e-01 -3.33239335e-02 1.37421834e+02] [-3.31327312e-01 9.43437135e-01 1.21895163e-02 9.85992899e+01] [ 3.54804845e-02 -4.51738195e-04 9.99370267e-01 1.90792377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.986875 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:137.45, Y:98.59, Z:19.08 [[ 9.40548585e-01 3.37954837e-01 -3.39836343e-02 1.37449888e+02] [-3.37798616e-01 9.41160817e-01 1.04120771e-02 9.85868514e+01] [ 3.55028769e-02 1.68656022e-03 9.99368151e-01 1.90810910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.016875 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:137.49, Y:98.57, Z:19.09 [[ 9.39692460e-01 3.40326402e-01 -3.40002958e-02 1.37487417e+02] [-3.40173350e-01 9.40305596e-01 1.03671844e-02 9.85688601e+01] [ 3.54988949e-02 1.82402953e-03 9.99368051e-01 1.90898253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.046875 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:137.52, Y:98.56, Z:19.09 [[ 9.39632923e-01 3.40525286e-01 -3.36526307e-02 1.37515384e+02] [-3.40338634e-01 9.40234991e-01 1.13038320e-02 9.85593271e+01] [ 3.54906215e-02 8.31837655e-04 9.99369663e-01 1.90902780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.07687500000003 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:137.54, Y:98.55, Z:19.09 [[ 9.39587506e-01 3.40646080e-01 -3.36981825e-02 1.37544227e+02] [-3.40463900e-01 9.40191104e-01 1.11812347e-02 9.85490347e+01] [ 3.54915752e-02 9.67266276e-04 9.99369508e-01 1.90905560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.106875 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:137.58, Y:98.52, Z:19.09 [[ 9.35029577e-01 3.52963253e-01 -3.37139878e-02 1.37580790e+02] [-3.52790554e-01 9.35636016e-01 1.11386921e-02 9.85196136e+01] [ 3.54755703e-02 1.47896985e-03 9.99369450e-01 1.90931886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.13687500000003 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:137.60, Y:98.53, Z:19.09 [[ 9.39231552e-01 3.41670989e-01 -3.32419393e-02 1.37600879e+02] [-3.41445895e-01 9.39819581e-01 1.24038595e-02 9.85274025e+01] [ 3.54794644e-02 -2.99772540e-04 9.99370361e-01 1.90933332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.166875 meters Centerline goodness : 0.992487 Centerline is valid? [True, True] Translation: X:137.63, Y:98.52, Z:19.10 [[ 9.38534319e-01 3.43541632e-01 -3.36523258e-02 1.37627771e+02] [-3.43356709e-01 9.39136978e-01 1.13095987e-02 9.85191278e+01] [ 3.54894616e-02 9.40305330e-04 9.99369608e-01 1.90956888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.19687500000003 meters Centerline goodness : 0.991974 Centerline is valid? [True, True] Translation: X:137.65, Y:98.51, Z:19.10 [[ 9.38103760e-01 3.44709716e-01 -3.37127228e-02 1.37654107e+02] [-3.44531289e-01 9.38708622e-01 1.11496462e-02 9.85102091e+01] [ 3.54898150e-02 1.15556279e-03 9.99369370e-01 1.90963061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.226875 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:137.68, Y:98.50, Z:19.09 [[ 9.37229234e-01 3.47070260e-01 -3.38171089e-02 1.37681004e+02] [-3.46903305e-01 9.37837866e-01 1.08735913e-02 9.85015551e+01] [ 3.54888654e-02 1.54021919e-03 9.99368885e-01 1.90904439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.25687500000004 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:137.71, Y:98.49, Z:19.09 [[ 9.36587254e-01 3.48788299e-01 -3.39269539e-02 1.37712224e+02] [-3.48632964e-01 9.37199580e-01 1.05832170e-02 9.84903275e+01] [ 3.54876291e-02 1.91594834e-03 9.99368279e-01 1.90914907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.286875 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:137.74, Y:98.48, Z:19.10 [[ 9.37391944e-01 3.46625000e-01 -3.38740850e-02 1.37743639e+02] [-3.46463187e-01 9.38002278e-01 1.07232192e-02 9.84780768e+01] [ 3.54909048e-02 1.68426416e-03 9.99368580e-01 1.91006232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31687500000004 meters Centerline goodness : 0.991362 Centerline is valid? [True, True] Translation: X:137.77, Y:98.47, Z:19.10 [[ 9.36723863e-01 3.48437818e-01 -3.37563613e-02 1.37773701e+02] [-3.48265936e-01 9.37330823e-01 1.10347932e-02 9.84653511e+01] [ 3.54858172e-02 1.41963661e-03 9.99369172e-01 1.91019392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.346875 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:137.80, Y:98.45, Z:19.10 [[ 9.36081749e-01 3.50164156e-01 -3.37049547e-02 1.37802622e+02] [-3.49988508e-01 9.36687391e-01 1.11703220e-02 9.84541308e+01] [ 3.54824524e-02 1.34001220e-03 9.99369401e-01 1.91031217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37687500000004 meters Centerline goodness : 0.990670 Centerline is valid? [True, True] Translation: X:137.83, Y:98.45, Z:19.10 [[ 9.35888902e-01 3.50678278e-01 -3.37151032e-02 1.37829265e+02] [-3.50503924e-01 9.36494965e-01 1.11436188e-02 9.84471028e+01] [ 3.54818494e-02 1.38808687e-03 9.99369357e-01 1.91041122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.406875 meters Centerline goodness : 0.991574 Centerline is valid? [True, True] Translation: X:137.86, Y:98.44, Z:19.11 [[ 9.34975909e-01 3.53096949e-01 -3.38022838e-02 1.37859237e+02] [-3.52932431e-01 9.35585148e-01 1.09146606e-02 9.84354896e+01] [ 3.54788480e-02 1.72497752e-03 9.99368939e-01 1.91059593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43687500000004 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:137.89, Y:98.42, Z:19.11 [[ 9.32722701e-01 3.59012984e-01 -3.37348448e-02 1.37888561e+02] [-3.58845971e-01 9.33330903e-01 1.10902834e-02 9.84215748e+01] [ 3.54673289e-02 1.76145408e-03 9.99369284e-01 1.91082111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.466875 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:137.92, Y:98.41, Z:19.11 [[ 9.32737316e-01 3.58982248e-01 -3.36577627e-02 1.37921155e+02] [-3.58807969e-01 9.33343108e-01 1.12908478e-02 9.84100697e+01] [ 3.54674548e-02 1.54527838e-03 9.99369637e-01 1.91101695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.496875 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:137.95, Y:98.40, Z:19.11 [[ 9.31562689e-01 3.62028128e-01 -3.35647281e-02 1.37947341e+02] [-3.61847100e-01 9.32166117e-01 1.15328534e-02 9.84025724e+01] [ 3.54631195e-02 1.40172360e-03 9.99370003e-01 1.91104770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.526875 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:137.98, Y:98.39, Z:19.11 [[ 9.30094627e-01 3.65774293e-01 -3.36623235e-02 1.37978765e+02] [-3.65604833e-01 9.30701816e-01 1.12799288e-02 9.83872737e+01] [ 3.54554935e-02 1.81570700e-03 9.99369607e-01 1.91129696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.556875 meters Centerline goodness : 0.992543 Centerline is valid? [True, True] Translation: X:138.00, Y:98.38, Z:19.11 [[ 9.29459060e-01 3.67401664e-01 -3.34943784e-02 1.38004827e+02] [-3.67217655e-01 9.30061298e-01 1.17121751e-02 9.83778310e+01] [ 3.54548977e-02 1.41373982e-03 9.99370278e-01 1.91143513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.586875 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:138.04, Y:98.36, Z:19.12 [[ 9.28992118e-01 3.68573568e-01 -3.35733479e-02 1.38035384e+02] [-3.68397649e-01 9.29597071e-01 1.15090387e-02 9.83647324e+01] [ 3.54516134e-02 1.67653619e-03 9.99369988e-01 1.91157331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.616875 meters Centerline goodness : 0.992072 Centerline is valid? [True, True] Translation: X:138.06, Y:98.36, Z:19.11 [[ 9.29120605e-01 3.68255560e-01 -3.35073785e-02 1.38062806e+02] [-3.68073301e-01 9.29723425e-01 1.16789885e-02 9.83566356e+01] [ 3.54534472e-02 1.48198250e-03 9.99370230e-01 1.91146946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.646875 meters Centerline goodness : 0.991541 Centerline is valid? [True, True] Translation: X:138.09, Y:98.34, Z:19.12 [[ 9.28427200e-01 3.69995356e-01 -3.35614531e-02 1.38092584e+02] [-3.69819247e-01 9.29032052e-01 1.15399306e-02 9.83432245e+01] [ 3.54493864e-02 1.69768587e-03 9.99370031e-01 1.91157350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.676875 meters Centerline goodness : 0.991475 Centerline is valid? [True, True] Translation: X:138.12, Y:98.33, Z:19.12 [[ 9.28283581e-01 3.70359637e-01 -3.35161419e-02 1.38122298e+02] [-3.70179569e-01 9.28887087e-01 1.16561198e-02 9.83320739e+01] [ 3.54496678e-02 1.58680634e-03 9.99370203e-01 1.91156050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.706875 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:138.15, Y:98.32, Z:19.11 [[ 9.27960961e-01 3.71169999e-01 -3.34856245e-02 1.38147974e+02] [-3.70987651e-01 9.28563664e-01 1.17339078e-02 9.83224841e+01] [ 3.54488087e-02 1.53414476e-03 9.99370316e-01 1.91146686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.736875 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:138.18, Y:98.31, Z:19.11 [[ 9.27932413e-01 3.71231013e-01 -3.36001928e-02 1.38176177e+02] [-3.71059227e-01 9.28538698e-01 1.14427123e-02 9.83116349e+01] [ 3.54469690e-02 1.84959796e-03 9.99369847e-01 1.91141114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.766875 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:138.20, Y:98.30, Z:19.11 [[ 9.28641486e-01 3.69451323e-01 -3.36260468e-02 1.38202814e+02] [-3.69280749e-01 9.29248239e-01 1.13771296e-02 9.83014892e+01] [ 3.54502404e-02 1.85217722e-03 9.99369726e-01 1.91143222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.796875 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:138.23, Y:98.29, Z:19.11 [[ 9.28881298e-01 3.68842656e-01 -3.36842594e-02 1.38234409e+02] [-3.68677031e-01 9.29489722e-01 1.12295440e-02 9.82876769e+01] [ 3.54511078e-02 1.98769933e-03 9.99369435e-01 1.91147497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.82687500000003 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:138.26, Y:98.28, Z:19.12 [[ 9.28090241e-01 3.70840014e-01 -3.35587245e-02 1.38261719e+02] [-3.70664229e-01 9.28695168e-01 1.15462014e-02 9.82762398e+01] [ 3.54476188e-02 1.72310188e-03 9.99370050e-01 1.91164710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.856875 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:138.29, Y:98.26, Z:19.12 [[ 9.28638637e-01 3.69462067e-01 -3.35866379e-02 1.38291496e+02] [-3.69287924e-01 9.29244172e-01 1.14759417e-02 9.82637764e+01] [ 3.54501127e-02 1.74613690e-03 9.99369922e-01 1.91173930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.88687500000003 meters Centerline goodness : 0.991654 Centerline is valid? [True, True] Translation: X:138.32, Y:98.25, Z:19.12 [[ 9.27881554e-01 3.71364481e-01 -3.35297446e-02 1.38317029e+02] [-3.71186421e-01 9.28485676e-01 1.16185863e-02 9.82520957e+01] [ 3.54466178e-02 1.66511399e-03 9.99370184e-01 1.91191218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.916875 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:138.35, Y:98.24, Z:19.12 [[ 9.28206102e-01 3.70544377e-01 -3.36198796e-02 1.38348293e+02] [-3.70373949e-01 9.28812867e-01 1.13928464e-02 9.82385617e+01] [ 3.54481319e-02 1.87701801e-03 9.99369755e-01 1.91204835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.94687500000003 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:138.38, Y:98.23, Z:19.12 [[ 9.27913966e-01 3.71280652e-01 -3.35611263e-02 1.38375958e+02] [-3.71105377e-01 9.28519050e-01 1.15400158e-02 9.82264566e+01] [ 3.54467297e-02 1.74657258e-03 9.99370041e-01 1.91203583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.976875 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:138.40, Y:98.22, Z:19.12 [[ 9.26870980e-01 3.73880376e-01 -3.35209087e-02 1.38401179e+02] [-3.73703187e-01 9.27475306e-01 1.16398111e-02 9.82152885e+01] [ 3.54417120e-02 1.73826732e-03 9.99370233e-01 1.91215865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.00687500000004 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:138.43, Y:98.20, Z:19.13 [[ 9.26400562e-01 3.75036393e-01 -3.36110637e-02 1.38430810e+02] [-3.74868053e-01 9.27007880e-01 1.14163704e-02 9.81997903e+01] [ 3.54392753e-02 2.02358207e-03 9.99369783e-01 1.91252392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.036875 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:138.46, Y:98.19, Z:19.13 [[ 9.24703577e-01 3.79214990e-01 -3.34557369e-02 1.38457190e+02] [-3.79035540e-01 9.25306898e-01 1.17984733e-02 9.81859029e+01] [ 3.54309821e-02 1.77082290e-03 9.99370557e-01 1.91273900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06687500000004 meters Centerline goodness : 0.991824 Centerline is valid? [True, True] Translation: X:138.49, Y:98.17, Z:19.13 [[ 9.24117342e-01 3.80639664e-01 -3.34751414e-02 1.38490677e+02] [-3.80462872e-01 9.24721538e-01 1.17507237e-02 9.81694274e+01] [ 3.54279758e-02 1.87700094e-03 9.99370470e-01 1.91305580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.096875 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:138.52, Y:98.16, Z:19.13 [[ 9.23370610e-01 3.82461878e-01 -3.33110831e-02 1.38519325e+02] [-3.82271647e-01 9.23970039e-01 1.21554954e-02 9.81560180e+01] [ 3.54274564e-02 1.50985542e-03 9.99371110e-01 1.91322256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12687500000004 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:138.55, Y:98.14, Z:19.13 [[ 9.22699323e-01 3.84081636e-01 -3.32754523e-02 1.38546057e+02] [-3.83889304e-01 9.23297955e-01 1.22428880e-02 9.81445123e+01] [ 3.54254255e-02 1.47758577e-03 9.99371230e-01 1.91311894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.156875 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:138.57, Y:98.13, Z:19.13 [[ 9.22047468e-01 3.85640649e-01 -3.33129992e-02 1.38573655e+02] [-3.85452645e-01 9.22647609e-01 1.21510336e-02 9.81317487e+01] [ 3.54220916e-02 1.63675389e-03 9.99371100e-01 1.91335262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18687500000004 meters Centerline goodness : 0.991495 Centerline is valid? [True, True] Translation: X:138.60, Y:98.12, Z:19.13 [[ 9.20748051e-01 3.88729122e-01 -3.33570968e-02 1.38603856e+02] [-3.88547032e-01 9.21350186e-01 1.20432153e-02 9.81161953e+01] [ 3.54151159e-02 1.87203398e-03 9.99370935e-01 1.91333728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.216875 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:138.63, Y:98.10, Z:19.14 [[ 9.19213102e-01 3.92357159e-01 -3.32134392e-02 1.38629498e+02] [-3.92164825e-01 9.19811496e-01 1.23919827e-02 9.81041083e+01] [ 3.54121863e-02 1.63426969e-03 9.99371456e-01 1.91361540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.246875 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:138.66, Y:98.09, Z:19.14 [[ 9.18364743e-01 3.94333896e-01 -3.32712540e-02 1.38659821e+02] [-3.94147929e-01 9.18965347e-01 1.22515461e-02 9.80900159e+01] [ 3.54063294e-02 1.86240783e-03 9.99371264e-01 1.91385237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.276875 meters Centerline goodness : 0.990746 Centerline is valid? [True, True] Translation: X:138.69, Y:98.08, Z:19.14 [[ 9.18098092e-01 3.94957903e-01 -3.32287331e-02 1.38689304e+02] [-3.94768604e-01 9.18697505e-01 1.23549168e-02 9.80779554e+01] [ 3.54068262e-02 1.77463502e-03 9.99371406e-01 1.91392726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.306875 meters Centerline goodness : 0.990746 Centerline is valid? [True, True] Translation: X:138.72, Y:98.07, Z:19.14 [[ 9.17746857e-01 3.95773950e-01 -3.32217877e-02 1.38718768e+02] [-3.95584574e-01 9.18346222e-01 1.23717693e-02 9.80652868e+01] [ 3.54055273e-02 1.78787441e-03 9.99371429e-01 1.91404178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.336875 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:138.75, Y:98.05, Z:19.14 [[ 9.17403916e-01 3.96568768e-01 -3.32154547e-02 1.38748465e+02] [-3.96379357e-01 9.18003249e-01 1.23871071e-02 9.80521385e+01] [ 3.54042351e-02 1.80194002e-03 9.99371449e-01 1.91409780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.366875 meters Centerline goodness : 0.991737 Centerline is valid? [True, True] Translation: X:138.78, Y:98.04, Z:19.14 [[ 9.17044595e-01 3.97401209e-01 -3.31887004e-02 1.38777535e+02] [-3.97210002e-01 9.17643268e-01 1.24518142e-02 9.80378702e+01] [ 3.54037535e-02 1.76401483e-03 9.99371534e-01 1.91435999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.396875 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:138.81, Y:98.02, Z:19.15 [[ 9.16949450e-01 3.97621007e-01 -3.31849439e-02 1.38806226e+02] [-3.97429615e-01 9.17548052e-01 1.24608952e-02 9.80243599e+01] [ 3.54034944e-02 1.76266847e-03 9.99371545e-01 1.91457997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.426875 meters Centerline goodness : 0.991301 Centerline is valid? [True, True] Translation: X:138.83, Y:98.01, Z:19.15 [[ 9.17625062e-01 3.96060132e-01 -3.31755573e-02 1.38834104e+02] [-3.95866904e-01 9.18223043e-01 1.24835057e-02 9.80122969e+01] [ 3.54067802e-02 1.67792744e-03 9.99371575e-01 1.91460931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.456875 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:138.86, Y:98.00, Z:19.15 [[ 9.17512894e-01 3.96320236e-01 -3.31716677e-02 1.38860949e+02] [-3.96126841e-01 9.18110808e-01 1.24928109e-02 9.80003306e+01] [ 3.54064204e-02 1.67787288e-03 9.99371588e-01 1.91482651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.486875 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:138.89, Y:97.99, Z:19.15 [[ 9.17770862e-01 3.95718040e-01 -3.32246614e-02 1.38890391e+02] [-3.95528831e-01 9.18370308e-01 1.23661652e-02 9.79860237e+01] [ 3.54060571e-02 1.79200540e-03 9.99371402e-01 1.91496354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.516875 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:138.92, Y:97.97, Z:19.15 [[ 9.19346033e-01 3.92048401e-01 -3.31801476e-02 1.38922443e+02] [-3.91852959e-01 9.19943310e-01 1.24725309e-02 9.79691399e+01] [ 3.54136906e-02 1.53516723e-03 9.99371559e-01 1.91498326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.546875 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:138.94, Y:97.96, Z:19.15 [[ 9.18424610e-01 3.94217324e-01 -3.29990392e-02 1.38941729e+02] [-3.94007745e-01 9.19016528e-01 1.29042073e-02 9.79616450e+01] [ 3.54137245e-02 1.15033547e-03 9.99372075e-01 1.91465107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.57687500000003 meters Centerline goodness : 0.991887 Centerline is valid? [True, True] Translation: X:138.97, Y:97.95, Z:19.15 [[ 9.18489740e-01 3.94037571e-01 -3.33315255e-02 1.38972271e+02] [-3.93856380e-01 9.19092155e-01 1.21145442e-02 9.79464111e+01] [ 3.54083292e-02 2.00074938e-03 9.99370926e-01 1.91496564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.606875 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:139.00, Y:97.94, Z:19.15 [[ 9.20195432e-01 3.90043455e-01 -3.32636372e-02 1.38997293e+02] [-3.89853820e-01 9.20794933e-01 1.22756444e-02 9.79377470e+01] [ 3.54170233e-02 1.67196411e-03 9.99371222e-01 1.91474657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.63687500000003 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:139.03, Y:97.92, Z:19.15 [[ 9.21049869e-01 3.88010105e-01 -3.33960689e-02 1.39029055e+02] [-3.87830468e-01 9.21653091e-01 1.19628118e-02 9.79206795e+01] [ 3.54212820e-02 1.93366683e-03 9.99370599e-01 1.91526448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.666875 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:139.06, Y:97.89, Z:19.17 [[ 9.17401355e-01 3.96574351e-01 -3.32195400e-02 1.39064978e+02] [-3.96385225e-01 9.18000820e-01 1.23793527e-02 9.78855453e+01] [ 3.54048987e-02 1.81089993e-03 9.99371409e-01 1.91674148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.69687500000003 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:139.08, Y:97.90, Z:19.16 [[ 9.22894800e-01 3.83671142e-01 -3.25828547e-02 1.39083658e+02] [-3.83420313e-01 9.23469738e-01 1.38746470e-02 9.78960961e+01] [ 3.54125820e-02 -3.11911200e-04 9.99372729e-01 1.91567486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.726875 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:139.12, Y:97.86, Z:19.17 [[ 9.19781331e-01 3.91024978e-01 -3.31929105e-02 1.39121378e+02] [-3.90830108e-01 9.20378791e-01 1.24381760e-02 9.78620905e+01] [ 3.54136883e-02 1.53238667e-03 9.99371564e-01 1.91722107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.75687500000004 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:139.15, Y:97.85, Z:19.17 [[ 9.20235296e-01 3.90008033e-01 -3.25689281e-02 1.39150440e+02] [-3.89760256e-01 9.20811449e-01 1.39003040e-02 9.78495999e+01] [ 3.54110721e-02 -9.74766435e-05 9.99372827e-01 1.91738202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.786875 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:139.18, Y:97.84, Z:19.18 [[ 9.20673025e-01 3.88973874e-01 -3.25654129e-02 1.39179946e+02] [-3.88725158e-01 9.21248774e-01 1.39085345e-02 9.78380482e+01] [ 3.54109032e-02 -1.46217226e-04 9.99372827e-01 1.91763847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81687500000004 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:139.21, Y:97.83, Z:19.18 [[ 9.20850098e-01 3.88554770e-01 -3.25620543e-02 1.39210646e+02] [-3.88305514e-01 9.21425614e-01 1.39163929e-02 9.78259525e+01] [ 3.54107918e-02 -1.70886512e-04 9.99372827e-01 1.91781017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.846875 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:139.23, Y:97.84, Z:19.16 [[ 9.25457552e-01 3.77449711e-01 -3.25581822e-02 1.39226834e+02] [-3.77193232e-01 9.26029885e-01 1.39254461e-02 9.78392094e+01] [ 3.54060053e-02 -6.06683264e-04 9.99372827e-01 1.91646648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87687500000004 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:139.27, Y:97.81, Z:19.18 [[ 9.19986461e-01 3.90536699e-01 -3.32565451e-02 1.39267568e+02] [-3.90346940e-01 9.20585832e-01 1.22878478e-02 9.78054734e+01] [ 3.54143598e-02 1.67693703e-03 9.99371308e-01 1.91767074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.906875 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:139.30, Y:97.79, Z:19.18 [[ 9.19585009e-01 3.91541102e-01 -3.25419280e-02 1.39298215e+02] [-3.91292367e-01 9.20160614e-01 1.39544861e-02 9.77935935e+01] [ 3.54075553e-02 -9.89281882e-05 9.99372951e-01 1.91782313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93687500000004 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:139.33, Y:97.78, Z:19.18 [[ 9.18972156e-01 3.92977666e-01 -3.25381359e-02 1.39328209e+02] [-3.92729518e-01 9.19548015e-01 1.39633226e-02 9.77820465e+01] [ 3.54076522e-02 -5.32182609e-05 9.99372951e-01 1.91789600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.966875 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:139.36, Y:97.77, Z:19.18 [[ 9.18462867e-01 3.94166796e-01 -3.25345865e-02 1.39359244e+02] [-3.93919101e-01 9.19038920e-01 1.39715878e-02 9.77702781e+01] [ 3.54076873e-02 -1.63895378e-05 9.99372951e-01 1.91802583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.996875 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:139.39, Y:97.76, Z:19.18 [[ 9.17032570e-01 3.97483347e-01 -3.25308305e-02 1.39390583e+02] [-3.97237425e-01 9.17609383e-01 1.39803276e-02 9.77603983e+01] [ 3.54075427e-02 1.02047576e-04 9.99372951e-01 1.91822224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.026875 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:139.42, Y:97.75, Z:19.18 [[ 9.16099177e-01 3.99630021e-01 -3.25291280e-02 1.39420998e+02] [-3.99385310e-01 9.16676505e-01 1.39842878e-02 9.77496293e+01] [ 3.54072286e-02 1.80661338e-04 9.99372951e-01 1.91823764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.056875 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:139.45, Y:97.74, Z:19.18 [[ 9.15111830e-01 4.01886093e-01 -3.25254877e-02 1.39451448e+02] [-4.01642505e-01 9.15689632e-01 1.39927496e-02 9.77390373e+01] [ 3.54067433e-02 2.58687712e-04 9.99372951e-01 1.91834144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.086875 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:139.48, Y:97.73, Z:19.18 [[ 9.14057259e-01 4.04279155e-01 -3.25221779e-02 1.39481983e+02] [-4.04036806e-01 9.14635582e-01 1.40004381e-02 9.77279783e+01] [ 3.54060264e-02 3.42954787e-04 9.99372951e-01 1.91842925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.116875 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:139.50, Y:97.74, Z:19.17 [[ 9.17369943e-01 3.96705107e-01 -3.25183881e-02 1.39501457e+02] [-3.96457671e-01 9.17946108e-01 1.40092351e-02 9.77414672e+01] [ 3.54076629e-02 4.05131770e-05 9.99372951e-01 1.91744828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.146875 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:139.54, Y:97.71, Z:19.18 [[ 9.10781215e-01 4.11552791e-01 -3.31945548e-02 1.39539298e+02] [-4.11371475e-01 9.11382946e-01 1.24352814e-02 9.77072369e+01] [ 3.53707259e-02 2.32947226e-03 9.99371545e-01 1.91843799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.176875 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:139.57, Y:97.70, Z:19.19 [[ 9.09826412e-01 4.13714274e-01 -3.25023076e-02 1.39569751e+02] [-4.13476571e-01 9.10406533e-01 1.40381648e-02 9.76952075e+01] [ 3.53981023e-02 6.66649623e-04 9.99373068e-01 1.91860481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.206875 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:139.59, Y:97.71, Z:19.18 [[ 9.13007152e-01 4.06647003e-01 -3.24985416e-02 1.39591680e+02] [-4.06404499e-01 9.13585283e-01 1.40468776e-02 9.77067133e+01] [ 3.54023100e-02 3.82653783e-04 9.99373069e-01 1.91750362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.236875 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:139.63, Y:97.69, Z:19.18 [[ 9.12315045e-01 4.08152402e-01 -3.30586599e-02 1.39625802e+02] [-4.07957470e-01 9.12911920e-01 1.27487139e-02 9.76908184e+01] [ 3.53830629e-02 1.85568374e-03 9.99372101e-01 1.91777862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.266875 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:139.66, Y:97.66, Z:19.19 [[ 9.06236952e-01 4.21489973e-01 -3.28753583e-02 1.39657640e+02] [-4.21288382e-01 9.06831048e-01 1.31738581e-02 9.76598372e+01] [ 3.53650447e-02 1.91136952e-03 9.99372633e-01 1.91875227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.296875 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:139.67, Y:97.67, Z:19.18 [[ 9.10786165e-01 4.11597580e-01 -3.24960648e-02 1.39674582e+02] [-4.11358067e-01 9.11365518e-01 1.40510937e-02 9.76708566e+01] [ 3.53991891e-02 5.69976691e-04 9.99373090e-01 1.91794626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.32687500000003 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:139.71, Y:97.63, Z:19.19 [[ 9.04584632e-01 4.24999118e-01 -3.32023013e-02 1.39713068e+02] [-4.24827526e-01 9.05189194e-01 1.24135358e-02 9.76349723e+01] [ 3.53301061e-02 2.87615776e-03 9.99371558e-01 1.91906915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.356875 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:139.74, Y:97.62, Z:19.19 [[ 9.03962143e-01 4.26377358e-01 -3.24775813e-02 1.39742913e+02] [-4.26146099e-01 9.04544704e-01 1.40847879e-02 9.76217692e+01] [ 3.53828588e-02 1.10807960e-03 9.99373216e-01 1.91934161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.38687500000003 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:139.76, Y:97.63, Z:19.19 [[ 9.07836092e-01 4.18065888e-01 -3.24737239e-02 1.39764493e+02] [-4.17828977e-01 9.08416377e-01 1.40936760e-02 9.76279869e+01] [ 3.53917478e-02 7.73715057e-04 9.99373216e-01 1.91869513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.416875 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:139.80, Y:97.60, Z:19.19 [[ 9.03474583e-01 4.27368818e-01 -3.30086482e-02 1.39800423e+02] [-4.27182538e-01 9.04073962e-01 1.28588881e-02 9.75969535e+01] [ 3.53377472e-02 2.48303958e-03 9.99372342e-01 1.91940755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.44687500000003 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:139.82, Y:97.61, Z:19.19 [[ 9.08886482e-01 4.15778459e-01 -3.24597710e-02 1.39817498e+02] [-4.15539121e-01 9.09465692e-01 1.41206967e-02 9.76061409e+01] [ 3.53921296e-02 6.54194388e-04 9.99373288e-01 1.91857956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.476875 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:139.85, Y:97.59, Z:19.19 [[ 9.08924742e-01 4.15639804e-01 -3.31566924e-02 1.39848017e+02] [-4.15458177e-01 9.09526144e-01 1.25178771e-02 9.75921204e+01] [ 3.53598066e-02 2.39741078e-03 9.99371771e-01 1.91859314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.50687500000004 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:139.89, Y:97.56, Z:19.20 [[ 9.04605936e-01 4.24956239e-01 -3.31707001e-02 1.39885324e+02] [-4.24781983e-01 9.05209577e-01 1.24855418e-02 9.75556463e+01] [ 3.53322443e-02 2.79582054e-03 9.99371711e-01 1.91968323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.536875 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:139.90, Y:97.56, Z:19.19 [[ 9.10242134e-01 4.12802668e-01 -3.24532854e-02 1.39902425e+02] [-4.12560994e-01 9.10820335e-01 1.41330608e-02 9.75639457e+01] [ 3.53932775e-02 5.24452283e-04 9.99373324e-01 1.91903314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56687500000004 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:139.94, Y:97.55, Z:19.19 [[ 9.11410026e-01 4.10162009e-01 -3.31495281e-02 1.39935238e+02] [-4.09976177e-01 9.12010105e-01 1.25340732e-02 9.75490978e+01] [ 3.53737052e-02 2.16683680e-03 9.99371806e-01 1.91883732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.596875 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:139.96, Y:97.54, Z:19.19 [[ 9.11438690e-01 4.10104400e-01 -3.30741035e-02 1.39961063e+02] [-4.09912240e-01 9.12036446e-01 1.27073746e-02 9.75369781e+01] [ 3.53761381e-02 1.97548703e-03 9.99372116e-01 1.91895071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62687500000004 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:139.99, Y:97.52, Z:19.20 [[ 9.12617108e-01 4.07474286e-01 -3.30865539e-02 1.39991943e+02] [-4.07281433e-01 9.13214695e-01 1.26789534e-02 9.75176815e+01] [ 3.53814747e-02 1.90450931e-03 9.99372065e-01 1.91962435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.656875 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:140.02, Y:97.50, Z:19.20 [[ 9.14929063e-01 4.02274247e-01 -3.28669992e-02 1.40020839e+02] [-4.02059976e-01 9.15518483e-01 1.31788921e-02 9.75041496e+01] [ 3.53918741e-02 1.15675355e-03 9.99372842e-01 1.91965280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68687500000004 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:140.04, Y:97.49, Z:19.20 [[ 9.16374661e-01 3.98969847e-01 -3.28715970e-02 1.40042820e+02] [-3.98753825e-01 9.16963456e-01 1.31684535e-02 9.74918392e+01] [ 3.53958690e-02 1.04043793e-03 9.99372828e-01 1.91977917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.716875 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:140.08, Y:97.46, Z:19.21 [[ 9.10385145e-01 4.12437814e-01 -3.30747287e-02 1.40079519e+02] [-4.12247218e-01 9.10983412e-01 1.27064699e-02 9.74550206e+01] [ 3.53711579e-02 2.06718349e-03 9.99372107e-01 1.92067049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.746875 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:140.11, Y:97.44, Z:19.21 [[ 9.11318181e-01 4.10428423e-01 -3.23679236e-02 1.40111151e+02] [-4.10179098e-01 9.11892785e-01 1.43058019e-02 9.74373271e+01] [ 3.53875838e-02 2.39508314e-04 9.99373635e-01 1.92098205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.776875 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:140.14, Y:97.43, Z:19.21 [[ 9.11692523e-01 4.09608716e-01 -3.22093629e-02 1.40136204e+02] [-4.09346181e-01 9.12261293e-01 1.46641693e-02 9.74274056e+01] [ 3.53899266e-02 -1.84433777e-04 9.99373563e-01 1.92099384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.806875 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:140.16, Y:97.43, Z:19.20 [[ 9.16813550e-01 3.98001787e-01 -3.23649931e-02 1.40155349e+02] [-3.97744445e-01 9.17384606e-01 1.43122412e-02 9.74332912e+01] [ 3.53874441e-02 -2.48660409e-04 9.99373637e-01 1.92034799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.836875 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:140.19, Y:97.40, Z:19.21 [[ 9.12318901e-01 4.08149101e-01 -3.29929466e-02 1.40191869e+02] [-4.07949055e-01 9.12913699e-01 1.28897928e-02 9.73999722e+01] [ 3.53806702e-02 1.69983977e-03 9.99372462e-01 1.92116341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.866875 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:140.22, Y:97.39, Z:19.21 [[ 9.12324109e-01 4.08189244e-01 -3.23459699e-02 1.40221046e+02] [-4.07936997e-01 9.12897327e-01 1.43484001e-02 9.73860804e+01] [ 3.53854121e-02 1.04726485e-04 9.99373735e-01 1.92129495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.896875 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:140.25, Y:97.37, Z:19.21 [[ 9.12202759e-01 4.08460655e-01 -3.23422358e-02 1.40251417e+02] [-4.08208280e-01 9.12775921e-01 1.43568122e-02 9.73723896e+01] [ 3.53854070e-02 1.06044724e-04 9.99373735e-01 1.92142952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.926875 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:140.28, Y:97.36, Z:19.22 [[ 9.11875758e-01 4.09190466e-01 -3.23382761e-02 1.40281717e+02] [-4.08938234e-01 9.12448983e-01 1.43657258e-02 9.73589840e+01] [ 3.53853451e-02 1.24600406e-04 9.99373735e-01 1.92151386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.956875 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:140.31, Y:97.35, Z:19.22 [[ 9.11538534e-01 4.09941450e-01 -3.23343281e-02 1.40311871e+02] [-4.09689375e-01 9.12111828e-01 1.43746063e-02 9.73460187e+01] [ 3.53852701e-02 1.44023070e-04 9.99373735e-01 1.92161232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.986875 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:140.34, Y:97.33, Z:19.22 [[ 9.10515284e-01 4.12209487e-01 -3.23304187e-02 1.40341463e+02] [-4.11958528e-01 9.11089068e-01 1.43833937e-02 9.73335864e+01] [ 3.53848624e-02 2.22491929e-04 9.99373735e-01 1.92173804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.016875 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:140.37, Y:97.32, Z:19.22 [[ 9.09938636e-01 4.13481147e-01 -3.23267815e-02 1.40371321e+02] [-4.13230699e-01 9.10512642e-01 1.43915638e-02 9.73210696e+01] [ 3.53845835e-02 2.62978577e-04 9.99373735e-01 1.92188050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.046875 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:140.39, Y:97.33, Z:19.21 [[ 9.15320237e-01 4.01427569e-01 -3.23229167e-02 1.40391566e+02] [-4.01169256e-01 9.15890747e-01 1.44002387e-02 9.73302577e+01] [ 3.53849132e-02 -2.13869398e-04 9.99373735e-01 1.92138866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.07687500000003 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:140.43, Y:97.30, Z:19.22 [[ 9.08550678e-01 4.16474863e-01 -3.29295181e-02 1.40428130e+02] [-4.16274974e-01 9.09145321e-01 1.30357962e-02 9.72970751e+01] [ 3.53667987e-02 1.86405281e-03 9.99372661e-01 1.92200400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.106875 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:140.46, Y:97.29, Z:19.22 [[ 9.07788583e-01 4.18181934e-01 -3.23072627e-02 1.40459212e+02] [-4.17933119e-01 9.08363202e-01 1.44291446e-02 9.72855239e+01] [ 3.53807362e-02 4.03662327e-04 9.99373824e-01 1.92226824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.13687500000003 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:140.48, Y:97.29, Z:19.22 [[ 9.11575271e-01 4.09862203e-01 -3.23032461e-02 1.40478247e+02] [-4.09607826e-01 9.12147449e-01 1.44381313e-02 9.72920015e+01] [ 3.53829678e-02 7.02189589e-05 9.99373824e-01 1.92180154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.166875 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:140.52, Y:97.26, Z:19.22 [[ 9.07275054e-01 4.19244454e-01 -3.29555005e-02 1.40516206e+02] [-4.19048580e-01 9.07871100e-01 1.29750959e-02 9.72612374e+01] [ 3.53590835e-02 2.03797485e-03 9.99372594e-01 1.92223739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.19687500000003 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:140.55, Y:97.25, Z:19.23 [[ 9.07786158e-01 4.18188702e-01 -3.22878006e-02 1.40546449e+02] [-4.17938596e-01 9.08360104e-01 1.44655496e-02 9.72483364e+01] [ 3.53782793e-02 3.62692358e-04 9.99373927e-01 1.92266386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.226875 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:140.58, Y:97.23, Z:19.23 [[ 9.07671488e-01 4.18437840e-01 -3.22838057e-02 1.40576857e+02] [-4.18187575e-01 9.08245365e-01 1.44744598e-02 9.72346098e+01] [ 3.53782786e-02 3.62631894e-04 9.99373927e-01 1.92278244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.25687500000004 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:140.61, Y:97.22, Z:19.23 [[ 9.08123336e-01 4.17456608e-01 -3.22798331e-02 1.40606444e+02] [-4.17205408e-01 9.08696804e-01 1.44833138e-02 9.72217786e+01] [ 3.53787362e-02 3.14685662e-04 9.99373927e-01 1.92284161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.286875 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:140.63, Y:97.22, Z:19.23 [[ 9.11335684e-01 4.10396691e-01 -3.22773644e-02 1.40629962e+02] [-4.10140853e-01 9.11907098e-01 1.44888133e-02 9.72223020e+01] [ 3.53801188e-02 3.40932112e-05 9.99373927e-01 1.92327905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31687500000004 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:140.66, Y:97.21, Z:19.23 [[ 9.12331693e-01 4.08145424e-01 -3.26832422e-02 1.40657867e+02] [-4.07920392e-01 9.12916442e-01 1.35839147e-02 9.72112987e+01] [ 3.53812818e-02 9.39125101e-04 9.99373445e-01 1.92301331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.346875 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:140.69, Y:97.20, Z:19.23 [[ 9.13119408e-01 4.06372779e-01 -3.27736402e-02 1.40689774e+02] [-4.06153829e-01 9.13706722e-01 1.33825807e-02 9.71965219e+01] [ 3.53838118e-02 1.09124526e-03 9.99373201e-01 1.92349325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37687500000004 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:140.72, Y:97.17, Z:19.24 [[ 9.11303787e-01 4.10437801e-01 -3.26530200e-02 1.40722723e+02] [-4.10211809e-01 9.11888097e-01 1.36517439e-02 9.71718337e+01] [ 3.53790920e-02 9.53768445e-04 9.99373509e-01 1.92354274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.406875 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:140.75, Y:97.16, Z:19.24 [[ 9.11655637e-01 4.09685994e-01 -3.22705018e-02 1.40751871e+02] [-4.09429211e-01 9.12226609e-01 1.45029239e-02 9.71594354e+01] [ 3.53796552e-02 -9.18618404e-06 9.99373944e-01 1.92375197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43687500000004 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:140.78, Y:97.16, Z:19.24 [[ 9.15018066e-01 4.02120372e-01 -3.22667751e-02 1.40775093e+02] [-4.01858576e-01 9.15586757e-01 1.45112105e-02 9.71623099e+01] [ 3.53782853e-02 -3.11339435e-04 9.99373944e-01 1.92381927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.466875 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:140.81, Y:97.15, Z:19.24 [[ 9.15780965e-01 4.00342920e-01 -3.27226187e-02 1.40805844e+02] [-4.00116003e-01 9.16365107e-01 1.34971785e-02 9.71502196e+01] [ 3.53893659e-02 7.32384223e-04 9.99373332e-01 1.92379825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.496875 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:140.83, Y:97.14, Z:19.23 [[ 9.15006451e-01 4.02111346e-01 -3.27056523e-02 1.40833810e+02] [-4.01884211e-01 9.15590459e-01 1.35348523e-02 9.71397718e+01] [ 3.53875009e-02 7.59408119e-04 9.99373378e-01 1.92348568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.526875 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:140.87, Y:97.11, Z:19.24 [[ 9.10988694e-01 4.11122268e-01 -3.28341387e-02 1.40870579e+02] [-4.10911195e-01 9.11579101e-01 1.32488433e-02 9.71105507e+01] [ 3.53778091e-02 1.42236871e-03 9.99372997e-01 1.92412791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.556875 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:140.90, Y:97.10, Z:19.24 [[ 9.10211184e-01 4.12886924e-01 -3.22488543e-02 1.40899935e+02] [-4.12630605e-01 9.10782292e-01 1.45464781e-02 9.70998420e+01] [ 3.53777361e-02 6.64971763e-05 9.99374010e-01 1.92418346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.586875 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:140.92, Y:97.11, Z:19.24 [[ 9.13359313e-01 4.05875481e-01 -3.22468402e-02 1.40919660e+02] [-4.05614621e-01 9.13928361e-01 1.45509418e-02 9.71060820e+01] [ 3.53771723e-02 -2.10448350e-04 9.99374010e-01 1.92376793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.616875 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:140.95, Y:97.09, Z:19.24 [[ 9.12233893e-01 4.08354614e-01 -3.27999062e-02 1.40950784e+02] [-4.08138817e-01 9.12822548e-01 1.33304483e-02 9.70912820e+01] [ 3.53840440e-02 1.22642815e-03 9.99373036e-01 1.92417360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.646875 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:140.99, Y:97.06, Z:19.25 [[ 9.06465273e-01 4.21014096e-01 -3.26778081e-02 1.40986449e+02] [-4.20796796e-01 9.07052978e-01 1.35996608e-02 9.70603474e+01] [ 3.53661521e-02 1.42309676e-03 9.99373409e-01 1.92465705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.676875 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:141.01, Y:97.07, Z:19.25 [[ 9.10443997e-01 4.12388595e-01 -3.20526965e-02 1.41008679e+02] [-4.12116913e-01 9.11007941e-01 1.49727027e-02 9.70657471e+01] [ 3.53748328e-02 -4.22348954e-04 9.99374026e-01 1.92458661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.706875 meters Centerline goodness : 0.992885 Centerline is valid? [True, True] Translation: X:141.04, Y:97.06, Z:19.25 [[ 9.10177990e-01 4.12934096e-01 -3.25800529e-02 1.41038223e+02] [-4.12703949e-01 9.10760489e-01 1.38123880e-02 9.70580889e+01] [ 3.53762309e-02 8.74184900e-04 9.99373683e-01 1.92457158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.736875 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:141.07, Y:97.04, Z:19.25 [[ 9.07661726e-01 4.18429871e-01 -3.26593707e-02 1.41067644e+02] [-4.18209529e-01 9.08248206e-01 1.36376568e-02 9.70443859e+01] [ 3.53692179e-02 1.28008093e-03 9.99373494e-01 1.92453828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.766875 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:141.10, Y:97.03, Z:19.25 [[ 9.08176580e-01 4.17314450e-01 -3.26182318e-02 1.41095691e+02] [-4.17090146e-01 9.08761441e-01 1.37278657e-02 9.70337727e+01] [ 3.53710280e-02 1.13741692e-03 9.99373602e-01 1.92480562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.796875 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:141.12, Y:97.02, Z:19.25 [[ 9.07261464e-01 4.19298762e-01 -3.26371528e-02 1.41124778e+02] [-4.19077226e-01 9.07847432e-01 1.36864484e-02 9.70211971e+01] [ 3.53682663e-02 1.26030023e-03 9.99373552e-01 1.92480735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.82687500000003 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:141.15, Y:97.01, Z:19.24 [[ 9.05719501e-01 4.22624129e-01 -3.25734690e-02 1.41149123e+02] [-4.22399742e-01 9.06304207e-01 1.38254390e-02 9.70138956e+01] [ 3.53644361e-02 1.23705522e-03 9.99373717e-01 1.92444249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.856875 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:141.19, Y:96.98, Z:19.25 [[ 9.00411536e-01 4.33798785e-01 -3.28280483e-02 1.41186031e+02] [-4.33601810e-01 9.01006874e-01 1.32695984e-02 9.69821108e+01] [ 3.53346329e-02 2.28620172e-03 9.99372922e-01 1.92538769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.88687500000003 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:141.22, Y:96.97, Z:19.26 [[ 8.99968588e-01 4.34769116e-01 -3.21303140e-02 1.41216088e+02] [-4.34518111e-01 9.00541719e-01 1.47859173e-02 9.69689890e+01] [ 3.53631484e-02 6.54342215e-04 9.99374314e-01 1.92564963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.916875 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:141.25, Y:96.96, Z:19.26 [[ 8.99289263e-01 4.36172825e-01 -3.21261109e-02 1.41245280e+02] [-4.35922389e-01 8.99862643e-01 1.47950441e-02 9.69565378e+01] [ 3.53622832e-02 6.99466696e-04 9.99374314e-01 1.92573209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.94687500000003 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:141.27, Y:96.96, Z:19.25 [[ 9.02785797e-01 4.28889228e-01 -3.21222018e-02 1.41266082e+02] [-4.28633863e-01 9.03356999e-01 1.48035264e-02 9.69638313e+01] [ 3.53668888e-02 4.04250028e-04 9.99374314e-01 1.92513457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.976875 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:141.30, Y:96.93, Z:19.26 [[ 8.97497195e-01 4.39802264e-01 -3.27529245e-02 1.41302449e+02] [-4.39603320e-01 8.98091578e-01 1.34327727e-02 9.69329551e+01] [ 3.53228895e-02 2.34241858e-03 9.99373207e-01 1.92583437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.00687500000004 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:141.32, Y:96.94, Z:19.26 [[ 9.00583209e-01 4.33496561e-01 -3.21031922e-02 1.41322904e+02] [-4.33242868e-01 9.01155056e-01 1.48385676e-02 9.69357164e+01] [ 3.53624220e-02 5.45114199e-04 9.99374405e-01 1.92597724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.036875 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:141.36, Y:96.91, Z:19.26 [[ 8.96386487e-01 4.42069297e-01 -3.26496940e-02 1.41359337e+02] [-4.41863788e-01 8.96978234e-01 1.36543043e-02 9.69074744e+01] [ 3.53222136e-02 2.18718362e-03 9.99373583e-01 1.92603754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06687500000004 meters Centerline goodness : 0.992917 Centerline is valid? [True, True] Translation: X:141.38, Y:96.91, Z:19.26 [[ 8.99135696e-01 4.36492002e-01 -3.20894510e-02 1.41381925e+02] [-4.36239309e-01 8.99707914e-01 1.48638808e-02 9.69094954e+01] [ 3.53590982e-02 6.34034101e-04 9.99374470e-01 1.92608100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.096875 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:141.42, Y:96.88, Z:19.26 [[ 8.95455758e-01 4.43957126e-01 -3.25738589e-02 1.41417037e+02] [-4.43746946e-01 8.96045610e-01 1.38171177e-02 9.68825582e+01] [ 3.53218712e-02 2.08193279e-03 9.99373819e-01 1.92622053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12687500000004 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:141.45, Y:96.87, Z:19.26 [[ 8.95442106e-01 4.44021139e-01 -3.20727645e-02 1.41446382e+02] [-4.43772102e-01 8.96015864e-01 1.48960837e-02 9.68697860e+01] [ 3.53518819e-02 8.94417527e-04 9.99374527e-01 1.92627317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.156875 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:141.48, Y:96.86, Z:19.26 [[ 8.95244605e-01 4.44419494e-01 -3.20688297e-02 1.41475979e+02] [-4.44170410e-01 8.95818342e-01 1.49045500e-02 9.68568735e+01] [ 3.53517184e-02 9.00807244e-04 9.99374527e-01 1.92639339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18687500000004 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:141.50, Y:96.84, Z:19.26 [[ 8.94783293e-01 4.45347822e-01 -3.20651779e-02 1.41504573e+02] [-4.45099051e-01 8.95357166e-01 1.49124022e-02 9.68441878e+01] [ 3.53509926e-02 9.28811931e-04 9.99374527e-01 1.92642958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.216875 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:141.53, Y:96.83, Z:19.27 [[ 8.94488322e-01 4.45940222e-01 -3.20618068e-02 1.41534494e+02] [-4.45691572e-01 8.95062247e-01 1.49196465e-02 9.68308400e+01] [ 3.53505834e-02 9.44227489e-04 9.99374527e-01 1.92663027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.246875 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:141.56, Y:96.82, Z:19.27 [[ 8.94092455e-01 4.46733692e-01 -3.20576270e-02 1.41564073e+02] [-4.46485229e-01 8.94666461e-01 1.49286222e-02 9.68178335e+01] [ 3.53500022e-02 9.65688451e-04 9.99374527e-01 1.92678374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.276875 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:141.59, Y:96.80, Z:19.27 [[ 8.93754045e-01 4.47410608e-01 -3.20539290e-02 1.41593688e+02] [-4.47162296e-01 8.94328117e-01 1.49365582e-02 9.68047747e+01] [ 3.53495045e-02 9.83699168e-04 9.99374527e-01 1.92683308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.306875 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:141.62, Y:96.79, Z:19.27 [[ 8.92904326e-01 4.49104289e-01 -3.20499940e-02 1.41623045e+02] [-4.48856763e-01 8.93478737e-01 1.49449968e-02 9.67916601e+01] [ 3.53478504e-02 1.04140427e-03 9.99374527e-01 1.92703785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.336875 meters Centerline goodness : 0.992297 Centerline is valid? [True, True] Translation: X:141.64, Y:96.80, Z:19.26 [[ 8.96852834e-01 4.41166668e-01 -3.20463086e-02 1.41640281e+02] [-4.40913775e-01 8.97424902e-01 1.49528954e-02 9.67989765e+01] [ 3.53558743e-02 7.19112291e-04 9.99374527e-01 1.92635808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.366875 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:141.68, Y:96.76, Z:19.27 [[ 8.91844194e-01 4.51156261e-01 -3.27408361e-02 1.41678147e+02] [-4.50963838e-01 8.92440706e-01 1.34612165e-02 9.67645398e+01] [ 3.52923670e-02 2.75962527e-03 9.99373220e-01 1.92714216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.396875 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:141.70, Y:96.77, Z:19.27 [[ 8.95884420e-01 4.43131291e-01 -3.20275678e-02 1.41695079e+02] [-4.42878476e-01 8.96456403e-01 1.49857344e-02 9.67717994e+01] [ 3.53519661e-02 7.58834449e-04 9.99374636e-01 1.92682522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.426875 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:141.73, Y:96.74, Z:19.27 [[ 8.89972053e-01 4.54837446e-01 -3.27512227e-02 1.41733179e+02] [-4.54648429e-01 8.90569646e-01 1.34354572e-02 9.67378741e+01] [ 3.52781939e-02 2.93311049e-03 9.99373227e-01 1.92740628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.456875 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:141.76, Y:96.72, Z:19.28 [[ 8.89347311e-01 4.56110503e-01 -3.20088962e-02 1.41762572e+02] [-4.55864875e-01 8.89922290e-01 1.50177792e-02 9.67233543e+01] [ 3.53351970e-02 1.23570995e-03 9.99374753e-01 1.92759341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.486875 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:141.78, Y:96.73, Z:19.27 [[ 8.93826814e-01 4.47268733e-01 -3.20047951e-02 1.41780723e+02] [-4.47017102e-01 8.94399192e-01 1.50265140e-02 9.67321532e+01] [ 3.53459528e-02 8.75589582e-04 9.99374753e-01 1.92688724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.516875 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] Translation: X:141.81, Y:96.72, Z:19.27 [[ 8.93642296e-01 4.47584846e-01 -3.27299814e-02 1.41808918e+02] [-4.47389335e-01 8.94237700e-01 1.34803133e-02 9.67194095e+01] [ 3.53019673e-02 2.59646648e-03 9.99373318e-01 1.92677458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.546875 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:141.85, Y:96.68, Z:19.28 [[ 8.87688093e-01 4.59275094e-01 -3.28060566e-02 1.41846029e+02] [-4.59093381e-01 8.88288184e-01 1.33180137e-02 9.66794133e+01] [ 3.52578645e-02 3.23880123e-03 9.99373000e-01 1.92785880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.57687500000003 meters Centerline goodness : 0.992612 Centerline is valid? [True, True] Translation: X:141.87, Y:96.66, Z:19.28 [[ 8.87422218e-01 4.59846835e-01 -3.19796204e-02 1.41873699e+02] [-4.59601680e-01 8.87997263e-01 1.50717256e-02 9.66642627e+01] [ 3.53285007e-02 1.32290310e-03 9.99374878e-01 1.92802169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.606875 meters Centerline goodness : 0.990984 Centerline is valid? [True, True] Translation: X:141.89, Y:96.68, Z:19.28 [[ 8.95380390e-01 4.44152549e-01 -3.19761032e-02 1.41893892e+02] [-4.43897042e-01 8.95950911e-01 1.50791841e-02 9.66751995e+01] [ 3.53464768e-02 6.92491847e-04 9.99374878e-01 1.92764886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.63687500000003 meters Centerline goodness : 0.993140 Centerline is valid? [True, True] Translation: X:141.93, Y:96.63, Z:19.28 [[ 8.87409860e-01 4.59823036e-01 -3.26575571e-02 1.41927876e+02] [-4.59630208e-01 8.88005789e-01 1.36305328e-02 9.66346465e+01] [ 3.52677327e-02 2.91453059e-03 9.99373650e-01 1.92827211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.666875 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:141.94, Y:96.65, Z:19.27 [[ 8.94206519e-01 4.46512279e-01 -3.19607018e-02 1.41944953e+02] [-4.46257350e-01 8.94777186e-01 1.51051097e-02 9.66462043e+01] [ 3.53423238e-02 7.55610512e-04 9.99374979e-01 1.92720517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.69687500000003 meters Centerline goodness : 0.990091 Centerline is valid? [True, True] Translation: X:141.98, Y:96.63, Z:19.28 [[ 8.95529430e-01 4.43794238e-01 -3.27675768e-02 1.41976710e+02] [-4.43599329e-01 8.96125114e-01 1.33945843e-02 9.66275850e+01] [ 3.53082878e-02 2.54043067e-03 9.99373239e-01 1.92794760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.726875 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:142.01, Y:96.59, Z:19.29 [[ 8.88330022e-01 4.58049827e-01 -3.25596178e-02 1.42008091e+02] [-4.57848309e-01 8.88922667e-01 1.38354094e-02 9.65899880e+01] [ 3.52802892e-02 2.61695638e-03 9.99374030e-01 1.92871972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.75687500000004 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:142.03, Y:96.60, Z:19.28 [[ 8.96419009e-01 4.42054739e-01 -3.19463218e-02 1.42028865e+02] [-4.41796069e-01 8.96987907e-01 1.51304065e-02 9.65957626e+01] [ 3.53439322e-02 5.50575368e-04 9.99375056e-01 1.92841981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.786875 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:142.05, Y:96.58, Z:19.28 [[ 8.94360776e-01 4.46162962e-01 -3.25179119e-02 1.42054604e+02] [-4.45950327e-01 8.94949394e-01 1.39243816e-02 9.65812998e+01] [ 3.53144289e-02 2.04795272e-03 9.99374153e-01 1.92814740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81687500000004 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:142.08, Y:96.57, Z:19.28 [[ 8.95268672e-01 4.44329024e-01 -3.26454263e-02 1.42082150e+02] [-4.44124960e-01 8.95860787e-01 1.36554031e-02 9.65671560e+01] [ 3.53132492e-02 2.27339405e-03 9.99373707e-01 1.92801519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.846875 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:142.12, Y:96.53, Z:19.29 [[ 8.90337161e-01 4.54123807e-01 -3.27308414e-02 1.42117862e+02] [-4.53932870e-01 8.90933996e-01 1.34746013e-02 9.65262961e+01] [ 3.52801566e-02 2.86066652e-03 9.99373367e-01 1.92928487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87687500000004 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:142.15, Y:96.51, Z:19.30 [[ 8.90788497e-01 4.53295031e-01 -3.19291266e-02 1.42146656e+02] [-4.53042369e-01 8.91360027e-01 1.51629434e-02 9.65102475e+01] [ 3.53336341e-02 9.58271587e-04 9.99375113e-01 1.92951116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.906875 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:142.16, Y:96.52, Z:19.28 [[ 8.97167602e-01 4.40535006e-01 -3.19249543e-02 1.42161334e+02] [-4.40273901e-01 8.97735324e-01 1.51717230e-02 9.65237715e+01] [ 3.53438343e-02 4.44145778e-04 9.99375113e-01 1.92837912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93687500000004 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:142.20, Y:96.48, Z:19.30 [[ 8.91728537e-01 4.51381139e-01 -3.27915245e-02 1.42199161e+02] [-4.51193182e-01 8.92326552e-01 1.33430663e-02 9.64793782e+01] [ 3.52835564e-02 2.89691934e-03 9.99373143e-01 1.92959456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.966875 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:142.23, Y:96.46, Z:19.30 [[ 8.91863243e-01 4.51178675e-01 -3.19023322e-02 1.42228197e+02] [-4.50923024e-01 8.92433263e-01 1.52084723e-02 9.64632366e+01] [ 3.53324408e-02 8.21618679e-04 9.99375277e-01 1.92990419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.996875 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:142.26, Y:96.45, Z:19.30 [[ 8.92000619e-01 4.50907308e-01 -3.18982069e-02 1.42257247e+02] [-4.50651175e-01 8.92570422e-01 1.52171197e-02 9.64476777e+01] [ 3.53329065e-02 8.01284224e-04 9.99375277e-01 1.93012172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.026875 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:142.28, Y:96.43, Z:19.30 [[ 8.92814488e-01 4.49293964e-01 -3.18939428e-02 1.42284433e+02] [-4.49036482e-01 8.93383683e-01 1.52260518e-02 9.64318506e+01] [ 3.53345012e-02 7.27504242e-04 9.99375277e-01 1.93010812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.056875 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:142.32, Y:96.41, Z:19.30 [[ 8.93682866e-01 4.47564347e-01 -3.18918449e-02 1.42315260e+02] [-4.47305608e-01 8.94251490e-01 1.52304446e-02 9.64149602e+01] [ 3.53359338e-02 6.54213642e-04 9.99375277e-01 1.93014900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.086875 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:142.34, Y:96.40, Z:19.30 [[ 8.93502533e-01 4.47933859e-01 -3.17566060e-02 1.42340290e+02] [-4.47665280e-01 8.94066626e-01 1.55133737e-02 9.64022683e+01] [ 3.53414869e-02 3.55091196e-04 9.99375231e-01 1.93022544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.116875 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:142.37, Y:96.39, Z:19.30 [[ 8.93380611e-01 4.48167541e-01 -3.18894730e-02 1.42370396e+02] [-4.47909013e-01 8.93949329e-01 1.52352690e-02 9.63878869e+01] [ 3.53355261e-02 6.72688427e-04 9.99375279e-01 1.93032890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.146875 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:142.40, Y:96.37, Z:19.30 [[ 8.94459594e-01 4.46010494e-01 -3.18853160e-02 1.42400344e+02] [-4.45750284e-01 8.95027545e-01 1.52439641e-02 9.63725204e+01] [ 3.53372041e-02 5.77778706e-04 9.99375279e-01 1.93045457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.176875 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:142.43, Y:96.36, Z:19.31 [[ 8.95392950e-01 4.44140227e-01 -3.17950344e-02 1.42428307e+02] [-4.43872117e-01 8.95957238e-01 1.54328174e-02 9.63568495e+01] [ 3.53413262e-02 2.94493292e-04 9.99375257e-01 1.93071351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.206875 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:142.45, Y:96.34, Z:19.31 [[ 8.95102698e-01 4.44723523e-01 -3.18142805e-02 1.42453294e+02] [-4.44457210e-01 8.95667827e-01 1.53925744e-02 9.63422565e+01] [ 3.53404674e-02 3.62151467e-04 9.99375265e-01 1.93066720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.236875 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:142.48, Y:96.33, Z:19.31 [[ 8.95347689e-01 4.44225141e-01 -3.18832299e-02 1.42482151e+02] [-4.43963640e-01 8.95915047e-01 1.52484076e-02 9.63271344e+01] [ 3.53383915e-02 5.02368281e-04 9.99375278e-01 1.93092000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.266875 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:142.51, Y:96.31, Z:19.31 [[ 8.95817772e-01 4.43276712e-01 -3.18790831e-02 1.42512374e+02] [-4.43014303e-01 8.96384711e-01 1.52570723e-02 9.63085473e+01] [ 3.53390275e-02 4.55333245e-04 9.99375278e-01 1.93111307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.296875 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:142.54, Y:96.29, Z:19.31 [[ 8.95878283e-01 4.43163136e-01 -3.17574727e-02 1.42541338e+02] [-4.42891627e-01 8.96440967e-01 1.55113006e-02 9.62942262e+01] [ 3.53427361e-02 1.68881400e-04 9.99375236e-01 1.93145886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.32687500000003 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:142.56, Y:96.30, Z:19.31 [[ 9.00981423e-01 4.32692374e-01 -3.17771148e-02 1.42563655e+02] [-4.32415773e-01 9.01541608e-01 1.54702501e-02 9.62983283e+01] [ 3.53422504e-02 -1.97482306e-04 9.99375248e-01 1.93143989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.356875 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:142.60, Y:96.27, Z:19.32 [[ 8.95443162e-01 4.44002788e-01 -3.22965635e-02 1.42597844e+02] [-4.43772151e-01 8.96024225e-01 1.43828318e-02 9.62653276e+01] [ 3.53245207e-02 1.45330704e-03 9.99374838e-01 1.93165660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.38687500000003 meters Centerline goodness : 0.985108 Centerline is valid? [True, True] Translation: X:143.01, Y:97.18, Z:19.88 [[ 9.36578673e-01 -3.49013648e-01 3.17783297e-02 1.43014727e+02] [-3.48687815e-01 -9.37111495e-01 -1.54548805e-02 9.71781923e+01] [ 3.51738023e-02 3.39399506e-03 -9.99375447e-01 1.98845071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.416875 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:143.02, Y:97.21, Z:19.88 [[ 9.60236756e-01 -2.77166486e-01 3.35277607e-02 1.43018719e+02] [-2.76953745e-01 -9.60821154e-01 -1.09239923e-02 9.72106064e+01] [ 3.52419463e-02 1.20397999e-03 -9.99378084e-01 1.98827946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.44687500000003 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:143.00, Y:97.20, Z:19.88 [[ 9.78864937e-01 -2.01699487e-01 3.37750285e-02 1.43004509e+02] [-2.01469750e-01 -9.79442582e-01 -1.01078274e-02 9.72025906e+01] [ 3.51194447e-02 3.08955126e-03 -9.99378346e-01 1.98833912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.476875 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:142.99, Y:97.20, Z:19.88 [[ 9.91643634e-01 -1.24353533e-01 3.43380589e-02 1.42994566e+02] [-1.24166093e-01 -9.92232751e-01 -7.54648706e-03 9.71965202e+01] [ 3.50097790e-02 3.21980322e-03 -9.99381783e-01 1.98847396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.50687500000004 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:142.98, Y:97.19, Z:19.89 [[ 9.98292904e-01 -4.69494780e-02 3.47422480e-02 1.42981556e+02] [-4.68167140e-02 -9.98892787e-01 -4.62553659e-03 9.71884479e+01] [ 3.49209474e-02 2.99112247e-03 -9.99385602e-01 1.98865131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.536875 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:142.97, Y:97.18, Z:19.89 [[ 9.98943123e-01 2.99171532e-02 3.48941309e-02 1.42971697e+02] [ 3.00079959e-02 -9.99547489e-01 -2.08246557e-03 9.71825471e+01] [ 3.48160395e-02 3.12736760e-03 -9.99388845e-01 1.98878009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56687500000004 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:142.96, Y:97.17, Z:19.89 [[ 9.93487176e-01 1.08486012e-01 3.48427409e-02 1.42962731e+02] [ 1.08529179e-01 -9.94093048e-01 6.55614103e-04 9.71703877e+01] [ 3.47080514e-02 3.13010985e-03 -9.99392592e-01 1.98877710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.596875 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:142.94, Y:97.14, Z:19.89 [[ 9.84042194e-01 1.74545437e-01 3.45666199e-02 1.42944418e+02] [ 1.74530290e-01 -9.84645661e-01 3.47843436e-03 9.71387069e+01] [ 3.46430172e-02 2.60999602e-03 -9.99396342e-01 1.98936311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62687500000004 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:142.94, Y:97.15, Z:19.89 [[ 9.64367169e-01 2.62316606e-01 3.44377908e-02 1.42938330e+02] [ 2.62328871e-01 -9.64969205e-01 4.24232051e-03 9.71460369e+01] [ 3.43442387e-02 4.94287215e-03 -9.99397839e-01 1.98873698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.656875 meters Centerline goodness : 0.986735 Centerline is valid? [True, True] Translation: X:143.24, Y:96.21, Z:19.32 [[ 9.70507594e-01 -2.38762606e-01 -3.32780281e-02 1.43237322e+02] [ 2.38604616e-01 9.71077837e-01 -8.69893722e-03 9.62080599e+01] [ 3.43925365e-02 5.02093525e-04 9.99408276e-01 1.93236963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68687500000004 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:143.26, Y:96.22, Z:19.33 [[ 9.69638443e-01 -2.42244050e-01 -3.34530931e-02 1.43258597e+02] [ 2.42111296e-01 9.70215295e-01 -8.02504319e-03 9.62178994e+01] [ 3.44007215e-02 -3.17981327e-04 9.99408069e-01 1.93289251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.716875 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:143.29, Y:96.23, Z:19.33 [[ 9.69593217e-01 -2.42447411e-01 -3.32903486e-02 1.43285634e+02] [ 2.42293314e-01 9.70164497e-01 -8.64865770e-03 9.62254081e+01] [ 3.43939590e-02 3.19650942e-04 9.99408302e-01 1.93297196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.746875 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:143.29, Y:96.24, Z:19.32 [[ 9.65865100e-01 -2.56898634e-01 -3.32821275e-02 1.43291721e+02] [ 2.56752000e-01 9.66438340e-01 -8.68012668e-03 9.62430595e+01] [ 3.43950368e-02 -1.61421383e-04 9.99408303e-01 1.93227051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.776875 meters Centerline goodness : 0.986154 Centerline is valid? [True, True] Translation: X:143.34, Y:96.25, Z:19.33 [[ 9.66271026e-01 -2.55426267e-01 -3.28287309e-02 1.43338535e+02] [ 2.55222930e-01 9.66827237e-01 -1.03125944e-02 9.62534239e+01] [ 3.43738187e-02 1.58611624e-03 9.99407787e-01 1.93275697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.806875 meters Centerline goodness : 0.986759 Centerline is valid? [True, True] Translation: X:143.36, Y:96.26, Z:19.33 [[ 9.66043513e-01 -2.56223923e-01 -3.33051536e-02 1.43364702e+02] [ 2.56080353e-01 9.66617424e-01 -8.57957892e-03 9.62605728e+01] [ 3.43916352e-02 -2.40548961e-04 9.99408404e-01 1.93294431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.836875 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:143.39, Y:96.27, Z:19.33 [[ 9.65067003e-01 -2.59885529e-01 -3.32444193e-02 1.43387898e+02] [ 2.59736570e-01 9.65639421e-01 -8.79900772e-03 9.62707766e+01] [ 3.43888566e-02 -1.43159445e-04 9.99408518e-01 1.93344452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.866875 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:143.42, Y:96.28, Z:19.33 [[ 9.64826261e-01 -2.60792691e-01 -3.31279185e-02 1.43415117e+02] [ 2.60629822e-01 9.65394792e-01 -9.21906512e-03 9.62778925e+01] [ 3.43857848e-02 2.60672603e-04 9.99408600e-01 1.93335383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.896875 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:143.44, Y:96.29, Z:19.34 [[ 9.64756611e-01 -2.61048263e-01 -3.31434228e-02 1.43441976e+02] [ 2.60887464e-01 9.65325731e-01 -9.16319289e-03 9.62856390e+01] [ 3.43862344e-02 1.93547370e-04 9.99408600e-01 1.93357441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.926875 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:143.47, Y:96.29, Z:19.34 [[ 9.64667109e-01 -2.61379497e-01 -3.31380118e-02 1.43469485e+02] [ 2.61218225e-01 9.65236094e-01 -9.18267202e-03 9.62927270e+01] [ 3.43861673e-02 2.01969053e-04 9.99408600e-01 1.93366540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.956875 meters Centerline goodness : 0.987931 Centerline is valid? [True, True] Translation: X:143.50, Y:96.30, Z:19.33 [[ 9.65004843e-01 -2.60128865e-01 -3.31455262e-02 1.43500828e+02] [ 2.59967785e-01 9.65573884e-01 -9.15559890e-03 9.62990522e+01] [ 3.43860900e-02 2.18428264e-04 9.99408600e-01 1.93334959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.986875 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:143.52, Y:96.31, Z:19.34 [[ 9.64659556e-01 -2.61392071e-01 -3.32584868e-02 1.43524330e+02] [ 2.61245758e-01 9.65232678e-01 -8.74820515e-03 9.63062797e+01] [ 3.43888898e-02 -2.49598897e-04 9.99408496e-01 1.93382569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.016875 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:143.55, Y:96.31, Z:19.34 [[ 9.64530740e-01 -2.61883202e-01 -3.31306534e-02 1.43552655e+02] [ 2.61721351e-01 9.65099551e-01 -9.20816013e-03 9.63145369e+01] [ 3.43858412e-02 2.10554137e-04 9.99408610e-01 1.93395608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.046875 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:143.58, Y:96.32, Z:19.34 [[ 9.64479200e-01 -2.62069736e-01 -3.31560812e-02 1.43580820e+02] [ 2.61911136e-01 9.65048932e-01 -9.11676417e-03 9.63224200e+01] [ 3.43864687e-02 1.08982526e-04 9.99408605e-01 1.93402218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.07687500000003 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:143.61, Y:96.33, Z:19.34 [[ 9.64559466e-01 -2.61773720e-01 -3.31595659e-02 1.43607280e+02] [ 2.61615375e-01 9.65129270e-01 -9.10424569e-03 9.63299773e+01] [ 3.43865199e-02 1.06534074e-04 9.99408603e-01 1.93397345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.106875 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:143.64, Y:96.34, Z:19.33 [[ 9.64222125e-01 -2.63018082e-01 -3.31237365e-02 1.43639365e+02] [ 2.62856055e-01 9.64790884e-01 -9.23278900e-03 9.63384606e+01] [ 3.43858695e-02 1.95684712e-04 9.99408612e-01 1.93339479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.13687500000003 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:143.66, Y:96.35, Z:19.34 [[ 9.63180100e-01 -2.66793036e-01 -3.32501195e-02 1.43664667e+02] [ 2.66648849e-01 9.63753759e-01 -8.77969122e-03 9.63478653e+01] [ 3.43872881e-02 -4.09682225e-04 9.99408498e-01 1.93420359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.166875 meters Centerline goodness : 0.995799 Centerline is valid? [True, True] Translation: X:143.69, Y:96.36, Z:19.34 [[ 9.63029635e-01 -2.67347196e-01 -3.31571810e-02 1.43689615e+02] [ 2.67191962e-01 9.63600264e-01 -9.10967461e-03 9.63552946e+01] [ 3.43857144e-02 -8.64456336e-05 9.99408633e-01 1.93425818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.19687500000003 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:143.72, Y:96.36, Z:19.34 [[ 9.62599932e-01 -2.68898164e-01 -3.30930116e-02 1.43716630e+02] [ 2.68736023e-01 9.63168608e-01 -9.33711026e-03 9.63626816e+01] [ 3.43848818e-02 9.46173694e-05 9.99408661e-01 1.93445892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.226875 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:143.75, Y:96.37, Z:19.35 [[ 9.62134616e-01 -2.70558696e-01 -3.30903889e-02 1.43747406e+02] [ 2.70397217e-01 9.62703480e-01 -9.34639581e-03 9.63693362e+01] [ 3.43849812e-02 4.49418780e-05 9.99408661e-01 1.93450162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.25687500000004 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:143.78, Y:96.38, Z:19.35 [[ 9.61596883e-01 -2.72453180e-01 -3.31768011e-02 1.43775757e+02] [ 2.72303363e-01 9.62168981e-01 -9.04047392e-03 9.63764068e+01] [ 3.43847948e-02 -3.40862974e-04 9.99408610e-01 1.93471422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.286875 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:143.80, Y:96.38, Z:19.35 [[ 9.61510440e-01 -2.72757218e-01 -3.31839354e-02 1.43798741e+02] [ 2.72608453e-01 9.62082822e-01 -9.01523002e-03 9.63843169e+01] [ 3.43846633e-02 -3.77983488e-04 9.99408601e-01 1.93488840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31687500000004 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:143.83, Y:96.39, Z:19.35 [[ 9.61306411e-01 -2.73487638e-01 -3.30831761e-02 1.43825537e+02] [ 2.73327047e-01 9.61875517e-01 -9.37095838e-03 9.63916254e+01] [ 3.43847384e-02 -3.41644660e-05 9.99408669e-01 1.93495127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.346875 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:143.85, Y:96.40, Z:19.35 [[ 9.61222198e-01 -2.73783787e-01 -3.30805675e-02 1.43852676e+02] [ 2.73623055e-01 9.61791265e-01 -9.38015822e-03 9.63989898e+01] [ 3.43847361e-02 -3.51896237e-05 9.99408670e-01 1.93499013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37687500000004 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:143.86, Y:96.42, Z:19.34 [[ 9.58323696e-01 -2.83763177e-01 -3.30779757e-02 1.43862823e+02] [ 2.83608055e-01 9.58894318e-01 -9.38928908e-03 9.64158120e+01] [ 3.43826174e-02 -3.83202116e-04 9.99408670e-01 1.93407595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.406875 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:143.89, Y:96.42, Z:19.34 [[ 9.58268052e-01 -2.83994507e-01 -3.27026023e-02 1.43893399e+02] [ 2.83794389e-01 9.58825410e-01 -1.07041503e-02 9.64245613e+01] [ 3.43960060e-02 9.76630180e-04 9.99407805e-01 1.93397892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43687500000004 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:143.92, Y:96.43, Z:19.34 [[ 9.58396580e-01 -2.83555596e-01 -3.27447703e-02 1.43917886e+02] [ 2.83360261e-01 9.58955432e-01 -1.05566121e-02 9.64320629e+01] [ 3.43941617e-02 8.38854224e-04 9.99407994e-01 1.93405707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.466875 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:143.94, Y:96.44, Z:19.34 [[ 9.58710458e-01 -2.82493774e-01 -3.27341557e-02 1.43943477e+02] [ 2.82296539e-01 9.59268695e-01 -1.05941338e-02 9.64380421e+01] [ 3.43936276e-02 9.15967981e-04 9.99407944e-01 1.93434833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.496875 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:143.99, Y:96.44, Z:19.35 [[ 9.61472022e-01 -2.72949463e-01 -3.27130160e-02 1.43988509e+02] [ 2.72744147e-01 9.62027446e-01 -1.06687977e-02 9.64350091e+01] [ 3.43828618e-02 1.33546686e-03 9.99407842e-01 1.93535889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.526875 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:144.02, Y:96.44, Z:19.36 [[ 9.61249041e-01 -2.73688053e-01 -3.30927643e-02 1.44016860e+02] [ 2.73529312e-01 9.61818507e-01 -9.32063108e-03 9.64419087e+01] [ 3.43801786e-02 -9.23933664e-05 9.99408823e-01 1.93569162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.556875 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:144.04, Y:96.45, Z:19.36 [[ 9.61133415e-01 -2.74094107e-01 -3.30904808e-02 1.44043428e+02] [ 2.73935328e-01 9.61702870e-01 -9.32873124e-03 9.64487525e+01] [ 3.43801606e-02 -9.84963825e-05 9.99408823e-01 1.93575100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.586875 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:144.07, Y:96.46, Z:19.36 [[ 9.60767768e-01 -2.75373147e-01 -3.30896725e-02 1.44070324e+02] [ 2.75215028e-01 9.61337407e-01 -9.33159715e-03 9.64559956e+01] [ 3.43800113e-02 -1.41277389e-04 9.99408823e-01 1.93587633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.616875 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:144.10, Y:96.46, Z:19.36 [[ 9.60722925e-01 -2.75529860e-01 -3.30871122e-02 1.44097613e+02] [ 2.75371521e-01 9.61292503e-01 -9.34066641e-03 9.64636025e+01] [ 3.43800255e-02 -1.37456070e-04 9.99408823e-01 1.93590692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.646875 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:144.12, Y:96.47, Z:19.36 [[ 9.60610154e-01 -2.75923077e-01 -3.30845516e-02 1.44124886e+02] [ 2.75764659e-01 9.61179710e-01 -9.34972747e-03 9.64712657e+01] [ 3.43800053e-02 -1.42106950e-04 9.99408823e-01 1.93597518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.676875 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:144.13, Y:96.49, Z:19.35 [[ 9.56971862e-01 -2.88288808e-01 -3.30819945e-02 1.44127107e+02] [ 2.88137436e-01 9.57543331e-01 -9.35876636e-03 9.64914498e+01] [ 3.43754708e-02 -5.76085007e-04 9.99408823e-01 1.93469240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.706875 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:144.18, Y:96.49, Z:19.36 [[ 9.60906094e-01 -2.74948042e-01 -3.26044953e-02 1.44179492e+02] [ 2.74731193e-01 9.61457665e-01 -1.10421985e-02 9.64854773e+01] [ 3.43838728e-02 1.65304398e-03 9.99407333e-01 1.93611399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.736875 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:144.21, Y:96.49, Z:19.36 [[ 9.60764476e-01 -2.75384556e-01 -3.30902902e-02 1.44206022e+02] [ 2.75226943e-01 9.61334137e-01 -9.31706310e-03 9.64927041e+01] [ 3.43766008e-02 -1.55836165e-04 9.99408938e-01 1.93607857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.766875 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:144.23, Y:96.50, Z:19.36 [[ 9.60574980e-01 -2.76044912e-01 -3.30895021e-02 1.44233261e+02] [ 2.75887594e-01 9.61144721e-01 -9.31986124e-03 9.65006884e+01] [ 3.43765005e-02 -1.76557605e-04 9.99408938e-01 1.93649035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.796875 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:144.23, Y:96.52, Z:19.35 [[ 9.55601819e-01 -2.92797581e-01 -3.30868585e-02 1.44231824e+02] [ 2.92649925e-01 9.56174140e-01 -9.32923704e-03 9.65220529e+01] [ 3.43683765e-02 -7.67830763e-04 9.99408938e-01 1.93509444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.82687500000003 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:144.29, Y:96.52, Z:19.37 [[ 9.60520339e-01 -2.76306549e-01 -3.24864399e-02 1.44287540e+02] [ 2.76076826e-01 9.61067423e-01 -1.14452712e-02 9.65150913e+01] [ 3.43840625e-02 2.02466256e-03 9.99406642e-01 1.93654996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.856875 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:144.31, Y:96.52, Z:19.37 [[ 9.60289667e-01 -2.77035854e-01 -3.30891558e-02 1.44313622e+02] [ 2.76879756e-01 9.60859554e-01 -9.30148003e-03 9.65227763e+01] [ 3.43708749e-02 -2.29602237e-04 9.99409121e-01 1.93663638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.88687500000003 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:144.34, Y:96.53, Z:19.37 [[ 9.60074761e-01 -2.77779832e-01 -3.30880294e-02 1.44341061e+02] [ 2.77624038e-01 9.60644732e-01 -9.30548533e-03 9.65314898e+01] [ 3.43707173e-02 -2.52070723e-04 9.99409121e-01 1.93672065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.916875 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:144.37, Y:96.54, Z:19.37 [[ 9.60004400e-01 -2.78023168e-01 -3.30858084e-02 1.44367972e+02] [ 2.77867247e-01 9.60574336e-01 -9.31337541e-03 9.65397688e+01] [ 3.43707125e-02 -2.52581119e-04 9.99409121e-01 1.93693144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.94687500000003 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:144.39, Y:96.55, Z:19.37 [[ 9.59910463e-01 -2.78347634e-01 -3.30831936e-02 1.44394085e+02] [ 2.78191585e-01 9.60480364e-01 -9.32265438e-03 9.65481124e+01] [ 3.43706966e-02 -2.54552593e-04 9.99409121e-01 1.93701059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.976875 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:144.42, Y:96.56, Z:19.37 [[ 9.59721578e-01 -2.78998355e-01 -3.30818814e-02 1.44420906e+02] [ 2.78842533e-01 9.60291541e-01 -9.32730864e-03 9.65563028e+01] [ 3.43705546e-02 -2.73016226e-04 9.99409121e-01 1.93714035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.00687500000004 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:144.45, Y:96.56, Z:19.37 [[ 9.59583058e-01 -2.79474714e-01 -3.30792870e-02 1.44446783e+02] [ 2.79318858e-01 9.60153012e-01 -9.33650040e-03 9.65640472e+01] [ 3.43704928e-02 -2.80521061e-04 9.99409121e-01 1.93716293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.036875 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:144.47, Y:96.57, Z:19.37 [[ 9.59507255e-01 -2.79734987e-01 -3.30781642e-02 1.44474282e+02] [ 2.79579148e-01 9.60077213e-01 -9.34047663e-03 9.65719000e+01] [ 3.43704499e-02 -2.85709877e-04 9.99409121e-01 1.93726108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06687500000004 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:144.50, Y:96.58, Z:19.37 [[ 9.59273568e-01 -2.80535603e-01 -3.30756281e-02 1.44500756e+02] [ 2.80379931e-01 9.59843572e-01 -9.34944886e-03 9.65798320e+01] [ 3.43702823e-02 -3.05063148e-04 9.99409121e-01 1.93744779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.096875 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:144.53, Y:96.59, Z:19.37 [[ 9.59045087e-01 -2.81316010e-01 -3.30729990e-02 1.44526713e+02] [ 2.81160481e-01 9.59615130e-01 -9.35873968e-03 9.65875182e+01] [ 3.43701136e-02 -3.23366986e-04 9.99409121e-01 1.93747335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12687500000004 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:144.55, Y:96.60, Z:19.38 [[ 9.58553444e-01 -2.82986832e-01 -3.30718596e-02 1.44553910e+02] [ 2.82832158e-01 9.59123719e-01 -9.36276428e-03 9.65960281e+01] [ 3.43695440e-02 -3.79075472e-04 9.99409121e-01 1.93757654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.156875 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:144.58, Y:96.60, Z:19.38 [[ 9.58331229e-01 -2.83738752e-01 -3.30692686e-02 1.44580371e+02] [ 2.83584210e-01 9.58901540e-01 -9.37190699e-03 9.66037218e+01] [ 3.43693458e-02 -3.96531276e-04 9.99409121e-01 1.93764477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18687500000004 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:144.61, Y:96.61, Z:19.38 [[ 9.58093887e-01 -2.84539243e-01 -3.30684676e-02 1.44607316e+02] [ 2.84385080e-01 9.58664300e-01 -9.37473254e-03 9.66116498e+01] [ 3.43690386e-02 -4.22304854e-04 9.99409121e-01 1.93783954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.216875 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:144.61, Y:96.63, Z:19.37 [[ 9.54393472e-01 -2.96714931e-01 -3.30658559e-02 1.44613358e+02] [ 2.96567725e-01 9.54965720e-01 -9.38393500e-03 9.66321047e+01] [ 3.43611126e-02 -8.50299349e-04 9.99409121e-01 1.93677970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.246875 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:144.66, Y:96.63, Z:19.38 [[ 9.58081539e-01 -2.84631300e-01 -3.26310807e-02 1.44663022e+02] [ 2.84424531e-01 9.58636349e-01 -1.09103935e-02 9.66279287e+01] [ 3.43867796e-02 1.17196674e-03 9.99407913e-01 1.93807929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.276875 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:144.69, Y:96.64, Z:19.38 [[ 9.58288692e-01 -2.83882260e-01 -3.30702987e-02 1.44688634e+02] [ 2.83728265e-01 9.58859057e-01 -9.35848249e-03 9.66353477e+01] [ 3.43664626e-02 -4.14850520e-04 9.99409213e-01 1.93823227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.306875 meters Centerline goodness : 0.987029 Centerline is valid? [True, True] Translation: X:144.72, Y:96.65, Z:19.38 [[ 9.58273310e-01 -2.83934386e-01 -3.30685344e-02 1.44722038e+02] [ 2.83780208e-01 9.58843624e-01 -9.36471246e-03 9.66450280e+01] [ 3.43665173e-02 -4.10241554e-04 9.99409213e-01 1.93810985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.336875 meters Centerline goodness : 0.986414 Centerline is valid? [True, True] Translation: X:144.75, Y:96.65, Z:19.38 [[ 9.59078277e-01 -2.81180165e-01 -3.32651945e-02 1.44747207e+02] [ 2.81048415e-01 9.59654440e-01 -8.66863840e-03 9.66539757e+01] [ 3.43605408e-02 -1.03522740e-03 9.99408966e-01 1.93838833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.366875 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:144.77, Y:96.66, Z:19.39 [[ 9.59242310e-01 -2.80622219e-01 -3.32469642e-02 1.44768548e+02] [ 2.80487900e-01 9.59817832e-01 -8.73308327e-03 9.66633237e+01] [ 3.43617263e-02 -9.48228208e-04 9.99409012e-01 1.93853982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.396875 meters Centerline goodness : 0.986755 Centerline is valid? [True, True] Translation: X:144.80, Y:96.67, Z:19.39 [[ 9.59412789e-01 -2.80060783e-01 -3.30614431e-02 1.44801295e+02] [ 2.79903548e-01 9.59982237e-01 -9.38655706e-03 9.66724313e+01] [ 3.43672046e-02 -2.48432352e-04 9.99409242e-01 1.93851979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.426875 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:144.82, Y:96.68, Z:19.39 [[ 9.59537191e-01 -2.79613118e-01 -3.32397849e-02 1.44822189e+02] [ 2.79477366e-01 9.60112346e-01 -8.75697921e-03 9.66809614e+01] [ 3.43624941e-02 -8.87120301e-04 9.99409041e-01 1.93867186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.456875 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:144.85, Y:96.69, Z:19.39 [[ 9.59474922e-01 -2.79848292e-01 -3.30576327e-02 1.44849164e+02] [ 2.79690546e-01 9.60044208e-01 -9.39774783e-03 9.66900728e+01] [ 3.43667325e-02 -2.29003961e-04 9.99409263e-01 1.93872059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.486875 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:144.87, Y:96.70, Z:19.39 [[ 9.59509478e-01 -2.79730085e-01 -3.30551406e-02 1.44874583e+02] [ 2.79571967e-01 9.60078660e-01 -9.40650533e-03 9.66989123e+01] [ 3.43668176e-02 -2.15659644e-04 9.99409263e-01 1.93876574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.516875 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:144.90, Y:96.71, Z:19.39 [[ 9.59580228e-01 -2.79487415e-01 -3.30540613e-02 1.44900896e+02] [ 2.79329022e-01 9.60149334e-01 -9.41029629e-03 9.67074940e+01] [ 3.43668944e-02 -2.03024368e-04 9.99409263e-01 1.93881600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.546875 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:144.93, Y:96.72, Z:19.39 [[ 9.59734086e-01 -2.78958715e-01 -3.30532956e-02 1.44927989e+02] [ 2.78799916e-01 9.60303079e-01 -9.41298506e-03 9.67161130e+01] [ 3.43670157e-02 -1.81293421e-04 9.99409263e-01 1.93896045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.57687500000003 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:144.96, Y:96.72, Z:19.39 [[ 9.60337326e-01 -2.76875189e-01 -3.30507130e-02 1.44959066e+02] [ 2.76714843e-01 9.60905885e-01 -9.42204434e-03 9.67243227e+01] [ 3.43673549e-02 -9.72820023e-05 9.99409263e-01 1.93913091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.606875 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:144.98, Y:96.73, Z:19.39 [[ 9.59975234e-01 -2.78118094e-01 -3.31342148e-02 1.44982260e+02] [ 2.77968588e-01 9.60546785e-01 -9.12895285e-03 9.67347777e+01] [ 3.43658905e-02 -4.46702239e-04 9.99409219e-01 1.93905007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.63687500000003 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:145.01, Y:96.74, Z:19.39 [[ 9.60115756e-01 -2.77642955e-01 -3.30473116e-02 1.45009369e+02] [ 2.77482673e-01 9.60684327e-01 -9.43340046e-03 9.67433158e+01] [ 3.43671515e-02 -1.12899953e-04 9.99409269e-01 1.93912321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.666875 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:145.04, Y:96.75, Z:19.39 [[ 9.60073560e-01 -2.77789140e-01 -3.30447107e-02 1.45035668e+02] [ 2.77628632e-01 9.60642068e-01 -9.44250254e-03 9.67520775e+01] [ 3.43671639e-02 -1.08660786e-04 9.99409269e-01 1.93915488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.69687500000003 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:145.04, Y:96.77, Z:19.39 [[ 9.57049461e-01 -2.88035672e-01 -3.30421234e-02 1.45041284e+02] [ 2.87880938e-01 9.57619566e-01 -9.45154764e-03 9.67704288e+01] [ 3.43641667e-02 -4.66598890e-04 9.99409269e-01 1.93856481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.726875 meters Centerline goodness : 0.996057 Centerline is valid? [True, True] Translation: X:145.09, Y:96.77, Z:19.39 [[ 9.60584113e-01 -2.76072593e-01 -3.25896490e-02 1.45089828e+02] [ 2.75856958e-01 9.61135453e-01 -1.10263641e-02 9.67692804e+01] [ 3.43671440e-02 1.60166875e-03 9.99407992e-01 1.93933454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.75687500000004 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:145.12, Y:96.78, Z:19.40 [[ 9.60862684e-01 -2.75047152e-01 -3.30449321e-02 1.45116187e+02] [ 2.74885405e-01 9.61430738e-01 -9.43134505e-03 9.67773816e+01] [ 3.43644780e-02 -2.13420346e-05 9.99409367e-01 1.93955091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.786875 meters Centerline goodness : 0.995858 Centerline is valid? [True, True] Translation: X:145.14, Y:96.79, Z:19.40 [[ 9.61241361e-01 -2.73721119e-01 -3.30423302e-02 1.45141513e+02] [ 2.73558276e-01 9.61809101e-01 -9.44045187e-03 9.67856594e+01] [ 3.43644650e-02 3.55499160e-05 9.99409367e-01 1.93962818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81687500000004 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:145.17, Y:96.80, Z:19.40 [[ 9.62309535e-01 -2.69941914e-01 -3.30412042e-02 1.45167983e+02] [ 2.69776706e-01 9.62876593e-01 -9.44439108e-03 9.67958420e+01] [ 3.43640392e-02 1.74680343e-04 9.99409367e-01 1.93965713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.846875 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:145.20, Y:96.80, Z:19.40 [[ 9.63068115e-01 -2.67223229e-01 -3.30386341e-02 1.45195120e+02] [ 2.67056112e-01 9.63634613e-01 -9.45337342e-03 9.68048165e+01] [ 3.43633324e-02 2.81073362e-04 9.99409367e-01 1.93972951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87687500000004 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:145.22, Y:96.81, Z:19.40 [[ 9.63836614e-01 -2.64438276e-01 -3.30360283e-02 1.45220391e+02] [ 2.64269210e-01 9.64402533e-01 -9.46247092e-03 9.68134831e+01] [ 3.43622689e-02 3.89870822e-04 9.99409367e-01 1.93970258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.906875 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:145.22, Y:96.83, Z:19.39 [[ 9.62149185e-01 -2.70513662e-01 -3.30348983e-02 1.45224165e+02] [ 2.70348035e-01 9.62716120e-01 -9.46641450e-03 9.68332896e+01] [ 3.43640235e-02 1.77183171e-04 9.99409367e-01 1.93881666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93687500000004 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:145.27, Y:96.83, Z:19.40 [[ 9.66105049e-01 -2.56088485e-01 -3.25533895e-02 1.45274455e+02] [ 2.55857696e-01 9.66650285e-01 -1.11384766e-02 9.68299239e+01] [ 3.43201789e-02 2.43190327e-03 9.99407930e-01 1.93962855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.966875 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:145.30, Y:96.84, Z:19.40 [[ 9.66168113e-01 -2.55788409e-01 -3.30373748e-02 1.45304747e+02] [ 2.55614846e-01 9.66732551e-01 -9.44591775e-03 9.68381157e+01] [ 3.43544619e-02 6.81501068e-04 9.99409479e-01 1.93991417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.996875 meters Centerline goodness : 0.996198 Centerline is valid? [True, True] Translation: X:145.33, Y:96.85, Z:19.40 [[ 9.66503622e-01 -2.54510312e-01 -3.30945490e-02 1.45330971e+02] [ 2.54342840e-01 9.67069921e-01 -9.24598891e-03 9.68455743e+01] [ 3.43579424e-02 5.18920195e-04 9.99409457e-01 1.93971279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.026875 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:145.32, Y:96.86, Z:19.39 [[ 9.63217450e-01 -2.66678284e-01 -3.30883319e-02 1.45324760e+02] [ 2.66517221e-01 9.63785599e-01 -9.26766296e-03 9.68644243e+01] [ 3.43615422e-02 1.08164412e-04 9.99409462e-01 1.93877045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.056875 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:145.38, Y:96.86, Z:19.40 [[ 9.67955454e-01 -2.49023999e-01 -3.23927060e-02 1.45383032e+02] [ 2.48771190e-01 9.68491876e-01 -1.16782559e-02 9.68572851e+01] [ 3.42802386e-02 3.24565948e-03 9.99406990e-01 1.94010540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.086875 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:145.38, Y:96.88, Z:19.39 [[ 9.64863385e-01 -2.60667404e-01 -3.30325960e-02 1.45384324e+02] [ 2.60496925e-01 9.65428533e-01 -9.43932057e-03 9.68762270e+01] [ 3.43511339e-02 5.02765125e-04 9.99409699e-01 1.93913144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.116875 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:145.41, Y:96.88, Z:19.39 [[ 9.65133846e-01 -2.59727210e-01 -3.25336057e-02 1.45410328e+02] [ 2.59496807e-01 9.65679153e-01 -1.11884502e-02 9.68827664e+01] [ 3.43229697e-02 2.35598519e-03 9.99408016e-01 1.93921559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.146875 meters Centerline goodness : 0.995966 Centerline is valid? [True, True] Translation: X:145.44, Y:96.89, Z:19.40 [[ 9.65681113e-01 -2.57691275e-01 -3.24837568e-02 1.45441992e+02] [ 2.57453804e-01 9.66223777e-01 -1.13645029e-02 9.68859401e+01] [ 3.43151114e-02 2.61141903e-03 9.99407651e-01 1.93967655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.176875 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:145.47, Y:96.89, Z:19.40 [[ 9.65019346e-01 -2.60149704e-01 -3.25544616e-02 1.45467371e+02] [ 2.59922023e-01 9.65565640e-01 -1.11147458e-02 9.68923040e+01] [ 3.43249674e-02 2.26432324e-03 9.99408160e-01 1.93973797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.206875 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:145.49, Y:96.90, Z:19.40 [[ 9.64988869e-01 -2.60260787e-01 -3.25700152e-02 1.45491052e+02] [ 2.60035043e-01 9.65535847e-01 -1.10591915e-02 9.68979147e+01] [ 3.43257911e-02 2.20265138e-03 9.99408269e-01 1.93987117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.236875 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:145.52, Y:96.90, Z:19.40 [[ 9.64433019e-01 -2.62324654e-01 -3.24765725e-02 1.45522730e+02] [ 2.62088799e-01 9.64976498e-01 -1.13938928e-02 9.69042041e+01] [ 3.43280282e-02 2.47690059e-03 9.99407550e-01 1.93988590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.266875 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:145.58, Y:96.90, Z:19.41 [[ 9.67687560e-01 -2.50050315e-01 -3.24903988e-02 1.45578353e+02] [ 2.49809212e-01 9.68228614e-01 -1.13449777e-02 9.68955766e+01] [ 3.42949490e-02 2.86199289e-03 9.99407657e-01 1.94115580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.296875 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:145.61, Y:96.90, Z:19.41 [[ 9.66941965e-01 -2.52842753e-01 -3.30723357e-02 1.45606399e+02] [ 2.52673531e-01 9.67507196e-01 -9.26885638e-03 9.68992032e+01] [ 3.43412859e-02 6.05942354e-04 9.99409980e-01 1.94112179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.32687500000003 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:145.63, Y:96.91, Z:19.41 [[ 9.66549856e-01 -2.54337667e-01 -3.30715590e-02 1.45634298e+02] [ 2.54169224e-01 9.67115320e-01 -9.27162685e-03 9.69052737e+01] [ 3.43421353e-02 5.55717098e-04 9.99409980e-01 1.94110601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.356875 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:145.66, Y:96.91, Z:19.41 [[ 9.66029112e-01 -2.56308739e-01 -3.30693880e-02 1.45661404e+02] [ 2.56141186e-01 9.66594841e-01 -9.27936373e-03 9.69113272e+01] [ 3.43430818e-02 4.93703265e-04 9.99409980e-01 1.94113336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.38687500000003 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:145.69, Y:96.91, Z:19.41 [[ 9.65275112e-01 -2.59134208e-01 -3.30668974e-02 1.45689086e+02] [ 2.58968006e-01 9.65841240e-01 -9.28823028e-03 9.69148887e+01] [ 3.43442714e-02 4.02429021e-04 9.99409980e-01 1.94114115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.416875 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:145.69, Y:96.93, Z:19.40 [[ 9.61719100e-01 -2.72034979e-01 -3.30657459e-02 1.45694925e+02] [ 2.71876231e-01 9.62287362e-01 -9.29232783e-03 9.69326968e+01] [ 3.43465876e-02 -5.31812258e-05 9.99409981e-01 1.94031018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.44687500000003 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:145.72, Y:96.94, Z:19.40 [[ 9.61133928e-01 -2.74146930e-01 -3.26348423e-02 1.45719963e+02] [ 2.73937036e-01 9.61686704e-01 -1.08251854e-02 9.69395041e+01] [ 3.43521853e-02 1.46456098e-03 9.99408716e-01 1.94022984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.476875 meters Centerline goodness : 0.995899 Centerline is valid? [True, True] Translation: X:145.77, Y:96.93, Z:19.41 [[ 9.64679394e-01 -2.61408837e-01 -3.25436135e-02 1.45773633e+02] [ 2.61180720e-01 9.65225535e-01 -1.11489042e-02 9.69309120e+01] [ 3.43263489e-02 2.25535375e-03 9.99408132e-01 1.94146721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.50687500000004 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:145.80, Y:96.94, Z:19.42 [[ 9.64438578e-01 -2.62229409e-01 -3.30751552e-02 1.45801356e+02] [ 2.62066400e-01 9.65005530e-01 -9.24814108e-03 9.69363109e+01] [ 3.43428422e-02 2.51377167e-04 9.99410079e-01 1.94178157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.536875 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:145.83, Y:96.94, Z:19.42 [[ 9.64201473e-01 -2.63100207e-01 -3.30726520e-02 1.45828585e+02] [ 2.62937404e-01 9.64768484e-01 -9.25708412e-03 9.69412873e+01] [ 3.43429931e-02 2.29656897e-04 9.99410079e-01 1.94187460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56687500000004 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:145.86, Y:96.95, Z:19.42 [[ 9.64227769e-01 -2.63003916e-01 -3.30718770e-02 1.45855594e+02] [ 2.62840961e-01 9.64794737e-01 -9.25985217e-03 9.69477240e+01] [ 3.43429502e-02 2.35962694e-04 9.99410079e-01 1.94186848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.596875 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:145.88, Y:96.95, Z:19.42 [[ 9.64178905e-01 -2.63183093e-01 -3.30711156e-02 1.45883344e+02] [ 2.63020149e-01 9.64745876e-01 -9.26257045e-03 9.69547892e+01] [ 3.43429744e-02 2.32405257e-04 9.99410079e-01 1.94222233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62687500000004 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:145.88, Y:96.98, Z:19.41 [[ 9.60040580e-01 -2.77900226e-01 -3.30688564e-02 1.45882435e+02] [ 2.77745697e-01 9.60609902e-01 -9.27062939e-03 9.69751933e+01] [ 3.43425809e-02 -2.84552147e-04 9.99410079e-01 1.94078319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.656875 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:145.91, Y:96.98, Z:19.41 [[ 9.60220299e-01 -2.77344857e-01 -3.25085636e-02 1.45911699e+02] [ 2.77121988e-01 9.60768740e-01 -1.12619830e-02 9.69825420e+01] [ 3.43566648e-02 1.80514694e-03 9.99408005e-01 1.94079723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68687500000004 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:145.94, Y:96.99, Z:19.41 [[ 9.60720479e-01 -2.75609804e-01 -3.24868896e-02 1.45941629e+02] [ 2.75383345e-01 9.61267624e-01 -1.13388130e-02 9.69885953e+01] [ 3.43536832e-02 1.94708158e-03 9.99407841e-01 1.94093144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.716875 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:145.97, Y:97.00, Z:19.41 [[ 9.60469114e-01 -2.76477765e-01 -3.25442364e-02 1.45967783e+02] [ 2.76258700e-01 9.61018804e-01 -1.11350590e-02 9.69956464e+01] [ 3.43542194e-02 1.70425182e-03 9.99408267e-01 1.94095030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.746875 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:146.02, Y:96.99, Z:19.42 [[ 9.63628351e-01 -2.65261747e-01 -3.25054921e-02 1.46023199e+02] [ 2.65031643e-01 9.64173819e-01 -1.12727640e-02 9.69867552e+01] [ 3.43311776e-02 2.24777094e-03 9.99407984e-01 1.94227954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.776875 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:146.05, Y:96.99, Z:19.42 [[ 9.63055202e-01 -2.67265133e-01 -3.30760745e-02 1.46050651e+02] [ 2.67105785e-01 9.63623031e-01 -9.22787667e-03 9.69938196e+01] [ 3.43391569e-02 5.21437712e-05 9.99410236e-01 1.94246126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.806875 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:146.08, Y:97.00, Z:19.43 [[ 9.62419677e-01 -2.69544982e-01 -3.30736754e-02 1.46077896e+02] [ 2.69386684e-01 9.62987800e-01 -9.23646728e-03 9.70013927e+01] [ 3.43391893e-02 -2.02498834e-05 9.99410236e-01 1.94271533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.836875 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:146.08, Y:97.02, Z:19.42 [[ 9.58386196e-01 -2.83552815e-01 -3.30711586e-02 1.46084424e+02] [ 2.83402509e-01 9.58956485e-01 -9.24547014e-03 9.70208781e+01] [ 3.43353810e-02 -5.11718350e-04 9.99410236e-01 1.94172914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.866875 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:146.13, Y:97.02, Z:19.43 [[ 9.61738440e-01 -2.72018732e-01 -3.26340739e-02 1.46133901e+02] [ 2.71808394e-01 9.62290758e-01 -1.08025577e-02 9.70154166e+01] [ 3.43419657e-02 1.51901981e-03 9.99408986e-01 1.94291247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.896875 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:146.16, Y:97.02, Z:19.43 [[ 9.61144072e-01 -2.74058636e-01 -3.30747191e-02 1.46161721e+02] [ 2.73903488e-01 9.61712964e-01 -9.22242827e-03 9.70235385e+01] [ 3.43358722e-02 -1.95198667e-04 9.99410331e-01 1.94335623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.926875 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:146.19, Y:97.03, Z:19.43 [[ 9.61071887e-01 -2.74311924e-01 -3.30725940e-02 1.46189240e+02] [ 2.74156664e-01 9.61640749e-01 -9.23004282e-03 9.70313192e+01] [ 3.43358648e-02 -1.96337368e-04 9.99410331e-01 1.94345409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.956875 meters Centerline goodness : 0.996276 Centerline is valid? [True, True] Translation: X:146.22, Y:97.04, Z:19.44 [[ 9.60921914e-01 -2.74837113e-01 -3.30701603e-02 1.46216318e+02] [ 2.74681865e-01 9.61490779e-01 -9.23875418e-03 9.70395764e+01] [ 3.43358067e-02 -2.06051946e-04 9.99410331e-01 1.94375388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.986875 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:146.24, Y:97.05, Z:19.44 [[ 9.60819709e-01 -2.75194303e-01 -3.30693469e-02 1.46242741e+02] [ 2.75039166e-01 9.61388605e-01 -9.24166481e-03 9.70477405e+01] [ 3.43357468e-02 -2.15791891e-04 9.99410331e-01 1.94384725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.016875 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:146.27, Y:97.06, Z:19.44 [[ 9.60747942e-01 -2.75444895e-01 -3.30681316e-02 1.46270788e+02] [ 2.75289756e-01 9.61316837e-01 -9.24601126e-03 9.70562341e+01] [ 3.43357183e-02 -2.20231586e-04 9.99410331e-01 1.94401330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.046875 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:146.28, Y:97.08, Z:19.43 [[ 9.57756408e-01 -2.85673431e-01 -3.30659190e-02 1.46277783e+02] [ 2.85524094e-01 9.58326853e-01 -9.25391715e-03 9.70779793e+01] [ 3.43315564e-02 -5.78118125e-04 9.99410331e-01 1.94312592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.07687500000003 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:146.33, Y:97.07, Z:19.44 [[ 9.61207728e-01 -2.73884249e-01 -3.26668295e-02 1.46325502e+02] [ 2.73679338e-01 9.61761756e-01 -1.06744625e-02 9.70736205e+01] [ 3.43412744e-02 1.32013953e-03 9.99409293e-01 1.94412477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.106875 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:146.35, Y:97.08, Z:19.44 [[ 9.61388388e-01 -2.73201046e-01 -3.30689692e-02 1.46352336e+02] [ 2.73044974e-01 9.61956946e-01 -9.23453906e-03 9.70817986e+01] [ 3.43338104e-02 -1.51337232e-04 9.99410409e-01 1.94425359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.13687500000003 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:146.38, Y:97.09, Z:19.44 [[ 9.61565332e-01 -2.72577914e-01 -3.30664858e-02 1.46378737e+02] [ 2.72421168e-01 9.62133705e-01 -9.24342311e-03 9.70908069e+01] [ 3.43339335e-02 -1.19855454e-04 9.99410410e-01 1.94436751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.166875 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:146.40, Y:97.10, Z:19.44 [[ 9.62374111e-01 -2.69708824e-01 -3.30638843e-02 1.46404442e+02] [ 2.69550064e-01 9.62941925e-01 -9.25271926e-03 9.71012874e+01] [ 3.43341404e-02 -7.79466980e-06 9.99410410e-01 1.94435346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.19687500000003 meters Centerline goodness : 0.996642 Centerline is valid? [True, True] Translation: X:146.43, Y:97.11, Z:19.44 [[ 9.62838313e-01 -2.68047041e-01 -3.30630815e-02 1.46431160e+02] [ 2.67887203e-01 9.63405824e-01 -9.25558694e-03 9.71104352e+01] [ 3.43340980e-02 5.44572916e-05 9.99410410e-01 1.94440120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.226875 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:146.46, Y:97.12, Z:19.44 [[ 9.63323601e-01 -2.66298029e-01 -3.30605430e-02 1.46457602e+02] [ 2.66136849e-01 9.63890732e-01 -9.26464575e-03 9.71195659e+01] [ 3.43339079e-02 1.26223154e-04 9.99410410e-01 1.94445136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.25687500000004 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:146.46, Y:97.14, Z:19.44 [[ 9.60715629e-01 -2.75558795e-01 -3.30580025e-02 1.46460055e+02] [ 2.75402770e-01 9.61284200e-01 -9.27370168e-03 9.71425814e+01] [ 3.43335856e-02 -1.94875337e-04 9.99410410e-01 1.94350887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.286875 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:146.49, Y:97.15, Z:19.44 [[ 9.61620571e-01 -2.72442644e-01 -3.25712140e-02 1.46487372e+02] [ 2.72225615e-01 9.62170491e-01 -1.10073286e-02 9.71516496e+01] [ 3.43379267e-02 1.71815483e-03 9.99408803e-01 1.94370605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31687500000004 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:146.54, Y:97.15, Z:19.45 [[ 9.66002679e-01 -2.56478761e-01 -3.25187486e-02 1.46538756e+02] [ 2.56246377e-01 9.66546684e-01 -1.11938271e-02 9.71486288e+01] [ 3.43018675e-02 2.48045550e-03 9.99408440e-01 1.94471428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.346875 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:146.57, Y:97.16, Z:19.45 [[ 9.66523107e-01 -2.54439802e-01 -3.30676609e-02 1.46565183e+02] [ 2.54272959e-01 9.67088479e-01 -9.22687959e-03 9.71570079e+01] [ 3.43270393e-02 5.09780354e-04 9.99410524e-01 1.94502870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37687500000004 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:146.57, Y:97.18, Z:19.44 [[ 9.62980097e-01 -2.67536982e-01 -3.30650303e-02 1.46566220e+02] [ 2.67377505e-01 9.63547591e-01 -9.23629673e-03 9.71797667e+01] [ 3.43307813e-02 5.35245955e-05 9.99410524e-01 1.94409783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.406875 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:146.59, Y:97.19, Z:19.44 [[ 9.63666735e-01 -2.65119565e-01 -3.25275265e-02 1.46593633e+02] [ 2.64893371e-01 9.64213184e-01 -1.11551545e-02 9.71929904e+01] [ 3.43209196e-02 2.13352523e-03 9.99408586e-01 1.94413652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43687500000004 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:146.65, Y:97.19, Z:19.45 [[ 9.68587540e-01 -2.46544981e-01 -3.24614965e-02 1.46649639e+02] [ 2.46300525e-01 9.69126596e-01 -1.13882399e-02 9.71866100e+01] [ 3.42670130e-02 3.03522369e-03 9.99408104e-01 1.94526557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.466875 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:146.65, Y:97.21, Z:19.44 [[ 9.64688991e-01 -2.61309497e-01 -3.30529526e-02 1.46646696e+02] [ 2.61144774e-01 9.65255014e-01 -9.28249717e-03 9.72094679e+01] [ 3.43301329e-02 3.23116990e-04 9.99410495e-01 1.94425859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.496875 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:146.68, Y:97.22, Z:19.44 [[ 9.65454935e-01 -2.58543950e-01 -3.24313759e-02 1.46676225e+02] [ 2.58302870e-01 9.65995684e-01 -1.14876183e-02 9.72194045e+01] [ 3.42986234e-02 2.71366036e-03 9.99407945e-01 1.94420905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.526875 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:146.70, Y:97.23, Z:19.44 [[ 9.66673562e-01 -2.53953030e-01 -3.24049780e-02 1.46703203e+02] [ 2.53706251e-01 9.67211980e-01 -1.15811582e-02 9.72294458e+01] [ 3.42835531e-02 2.97385397e-03 9.99407722e-01 1.94407970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.556875 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:146.73, Y:97.24, Z:19.44 [[ 9.68320937e-01 -2.47589744e-01 -3.24635517e-02 1.46732567e+02] [ 2.47346447e-01 9.68860378e-01 -1.13712010e-02 9.72358714e+01] [ 3.42680417e-02 2.98122784e-03 9.99408232e-01 1.94421186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.586875 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:146.76, Y:97.25, Z:19.44 [[ 9.68345445e-01 -2.47484954e-01 -3.25314644e-02 1.46756311e+02] [ 2.47249806e-01 9.68887889e-01 -1.11261964e-02 9.72457990e+01] [ 3.42729080e-02 2.73060335e-03 9.99408781e-01 1.94411116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.616875 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:146.79, Y:97.25, Z:19.44 [[ 9.69220898e-01 -2.44049284e-01 -3.24160001e-02 1.46787009e+02] [ 2.43798317e-01 9.69757271e-01 -1.15419451e-02 9.72532666e+01] [ 3.42524552e-02 3.28372813e-03 9.99407818e-01 1.94416221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.646875 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:146.82, Y:97.26, Z:19.44 [[ 9.70257888e-01 -2.39883112e-01 -3.24919092e-02 1.46818563e+02] [ 2.39639006e-01 9.70796681e-01 -1.12672184e-02 9.72599474e+01] [ 3.42458530e-02 3.14577869e-03 9.99408488e-01 1.94430848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.676875 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:146.84, Y:97.27, Z:19.44 [[ 9.69847367e-01 -2.41528251e-01 -3.25605540e-02 1.46844167e+02] [ 2.41293373e-01 9.70389662e-01 -1.10187091e-02 9.72672342e+01] [ 3.42577545e-02 2.82982012e-03 9.99409025e-01 1.94427794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.706875 meters Centerline goodness : 0.995767 Centerline is valid? [True, True] Translation: X:146.88, Y:97.27, Z:19.45 [[ 9.70337665e-01 -2.39557281e-01 -3.25134734e-02 1.46875505e+02] [ 2.39315601e-01 9.70877359e-01 -1.11891781e-02 9.72732110e+01] [ 3.42470443e-02 3.07629948e-03 9.99408663e-01 1.94450160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.736875 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:146.91, Y:97.28, Z:19.45 [[ 9.70003443e-01 -2.40899201e-01 -3.25713886e-02 1.46906985e+02] [ 2.40665294e-01 9.70546069e-01 -1.09792247e-02 9.72798413e+01] [ 3.42569197e-02 2.81108293e-03 9.99409106e-01 1.94466700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.766875 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:146.93, Y:97.28, Z:19.45 [[ 9.70257594e-01 -2.39857868e-01 -3.26864446e-02 1.46929671e+02] [ 2.39637549e-01 9.70805024e-01 -1.05570299e-02 9.72829242e+01] [ 3.42643514e-02 2.41013899e-03 9.99409899e-01 1.94491049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.796875 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:146.96, Y:97.29, Z:19.45 [[ 9.69644359e-01 -2.42337171e-01 -3.25961932e-02 1.46958348e+02] [ 2.42107120e-01 9.70188429e-01 -1.08882867e-02 9.72897062e+01] [ 3.42630861e-02 2.66599535e-03 9.99409292e-01 1.94494599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.82687500000003 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:146.98, Y:97.29, Z:19.45 [[ 9.69555024e-01 -2.42690882e-01 -3.26219352e-02 1.46983228e+02] [ 2.42464214e-01 9.70100308e-01 -1.07934306e-02 9.72948902e+01] [ 3.42660166e-02 2.55517304e-03 9.99409481e-01 1.94497375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.856875 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:147.01, Y:97.30, Z:19.45 [[ 9.69399980e-01 -2.43318640e-01 -3.25533096e-02 1.47014345e+02] [ 2.43083831e-01 9.69942383e-01 -1.10464947e-02 9.73000881e+01] [ 3.42626528e-02 2.79528857e-03 9.99408954e-01 1.94504873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.88687500000003 meters Centerline goodness : 0.995949 Centerline is valid? [True, True] Translation: X:147.05, Y:97.31, Z:19.45 [[ 9.68942635e-01 -2.45126762e-01 -3.26043215e-02 1.47045718e+02] [ 2.44899248e-01 9.69487717e-01 -1.08593468e-02 9.73053350e+01] [ 3.42714057e-02 2.53731031e-03 9.99409342e-01 1.94514624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.916875 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:147.07, Y:97.31, Z:19.45 [[ 9.68587332e-01 -2.46519173e-01 -3.26630989e-02 1.47069216e+02] [ 2.46299717e-01 9.69135270e-01 -1.06432105e-02 9.73101421e+01] [ 3.42787166e-02 2.26396683e-03 9.99409748e-01 1.94504101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.94687500000003 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:147.12, Y:97.30, Z:19.46 [[ 9.71198435e-01 -2.36035909e-01 -3.25676193e-02 1.47124449e+02] [ 2.35798757e-01 9.71739706e-01 -1.09950162e-02 9.72986336e+01] [ 3.42424675e-02 2.99893834e-03 9.99409055e-01 1.94616565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.976875 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:147.13, Y:97.32, Z:19.45 [[ 9.67184892e-01 -2.51904541e-01 -3.31283346e-02 1.47127068e+02] [ 2.51747046e-01 9.67752047e-01 -8.91068433e-03 9.73156312e+01] [ 3.43046555e-02 2.78318895e-04 9.99411383e-01 1.94497601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.00687500000004 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:147.16, Y:97.32, Z:19.45 [[ 9.67166083e-01 -2.52035465e-01 -3.26786170e-02 1.47159693e+02] [ 2.51820570e-01 9.67715883e-01 -1.06004632e-02 9.73174116e+01] [ 3.42953094e-02 2.02326050e-03 9.99409695e-01 1.94502732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.036875 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:147.19, Y:97.32, Z:19.45 [[ 9.66598690e-01 -2.54196943e-01 -3.27243935e-02 1.47187555e+02] [ 2.53989105e-01 9.67150861e-01 -1.04281709e-02 9.73218817e+01] [ 3.43002345e-02 1.76821685e-03 9.99410010e-01 1.94505976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06687500000004 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:147.24, Y:97.31, Z:19.46 [[ 9.69326783e-01 -2.43587825e-01 -3.27193967e-02 1.47237550e+02] [ 2.43373314e-01 9.69876431e-01 -1.04469634e-02 9.73135844e+01] [ 3.42785248e-02 2.16349341e-03 9.99409977e-01 1.94628387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.096875 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:147.27, Y:97.32, Z:19.47 [[ 9.68589543e-01 -2.46443308e-01 -3.31661413e-02 1.47265584e+02] [ 2.46287953e-01 9.69157159e-01 -8.75473802e-03 9.73175310e+01] [ 3.43007498e-02 3.11326676e-04 9.99411508e-01 1.94650473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12687500000004 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:147.29, Y:97.32, Z:19.47 [[ 9.67195275e-01 -2.51860012e-01 -3.31637416e-02 1.47294786e+02] [ 2.51707524e-01 9.67763668e-01 -8.76381857e-03 9.73196878e+01] [ 3.43019197e-02 1.28760601e-04 9.99411508e-01 1.94671174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.156875 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:147.32, Y:97.32, Z:19.47 [[ 9.66619028e-01 -2.54062906e-01 -3.31616439e-02 1.47322390e+02] [ 2.53911441e-01 9.67187695e-01 -8.77174905e-03 9.73238974e+01] [ 3.43021100e-02 5.88187308e-05 9.99411508e-01 1.94679281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18687500000004 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:147.35, Y:97.33, Z:19.47 [[ 9.66077493e-01 -2.56114704e-01 -3.31592584e-02 1.47349036e+02] [ 2.55964138e-01 9.66646398e-01 -8.78075773e-03 9.73280287e+01] [ 3.43021588e-02 -4.68858111e-06 9.99411508e-01 1.94689122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.216875 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:147.36, Y:97.34, Z:19.46 [[ 9.62721408e-01 -2.68454880e-01 -3.31582237e-02 1.47358674e+02] [ 2.68311471e-01 9.63292159e-01 -8.78466323e-03 9.73416698e+01] [ 3.42993426e-02 -4.39548432e-04 9.99411508e-01 1.94604824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.246875 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:147.41, Y:97.34, Z:19.47 [[ 9.65755896e-01 -2.57366544e-01 -3.28330960e-02 1.47405421e+02] [ 2.57174724e-01 9.66313079e-01 -1.00097661e-02 9.73357613e+01] [ 3.43032290e-02 1.22314827e-03 9.99410723e-01 1.94705937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.276875 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:147.43, Y:97.34, Z:19.47 [[ 9.65590802e-01 -2.57942873e-01 -3.31644108e-02 1.47433588e+02] [ 2.57794275e-01 9.66160165e-01 -8.75481421e-03 9.73369329e+01] [ 3.43003746e-02 -9.60271624e-05 9.99411564e-01 1.94738167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.306875 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:147.46, Y:97.34, Z:19.47 [[ 9.65752972e-01 -2.57335126e-01 -3.31636846e-02 1.47461268e+02] [ 2.57186075e-01 9.66322217e-01 -8.75756425e-03 9.73419657e+01] [ 3.43004342e-02 -7.15941910e-05 9.99411564e-01 1.94749733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.336875 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:147.46, Y:97.36, Z:19.46 [[ 9.62123647e-01 -2.70588812e-01 -3.31629640e-02 1.47463945e+02] [ 2.70447508e-01 9.62694865e-01 -8.76029219e-03 9.73595484e+01] [ 3.42962522e-02 -5.40356693e-04 9.99411564e-01 1.94641657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.366875 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:147.50, Y:97.36, Z:19.47 [[ 9.63768817e-01 -2.64728814e-01 -3.26852115e-02 1.47497679e+02] [ 2.64522224e-01 9.64321669e-01 -1.05693566e-02 9.73640572e+01] [ 3.43170710e-02 1.54045148e-03 9.99409809e-01 1.94670122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.396875 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:147.52, Y:97.37, Z:19.47 [[ 9.63829291e-01 -2.64498904e-01 -3.27632042e-02 1.47524696e+02] [ 2.64302221e-01 9.64385185e-01 -1.02737884e-02 9.73710461e+01] [ 3.43137545e-02 1.24279053e-03 9.99410337e-01 1.94659038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.426875 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:147.55, Y:97.37, Z:19.47 [[ 9.65461187e-01 -2.58477786e-01 -3.27708829e-02 1.47552214e+02] [ 2.58278629e-01 9.66016148e-01 -1.02445777e-02 9.73747309e+01] [ 3.43051979e-02 1.42672343e-03 9.99410385e-01 1.94727643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.456875 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:147.58, Y:97.38, Z:19.47 [[ 9.67084439e-01 -2.52333989e-01 -3.27909311e-02 1.47580359e+02] [ 2.52133898e-01 9.67638934e-01 -1.01681415e-02 9.73795312e+01] [ 3.42955493e-02 1.56574610e-03 9.99410508e-01 1.94722884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.486875 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:147.61, Y:97.39, Z:19.47 [[ 9.67573941e-01 -2.50452979e-01 -3.27715370e-02 1.47606604e+02] [ 2.50249306e-01 9.68127257e-01 -1.02420720e-02 9.73858314e+01] [ 3.42921756e-02 1.70890763e-03 9.99410389e-01 1.94733147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.516875 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:147.64, Y:97.39, Z:19.48 [[ 9.69530052e-01 -2.42772613e-01 -3.27556981e-02 1.47636113e+02] [ 2.42562523e-01 9.70081071e-01 -1.03023591e-02 9.73903315e+01] [ 3.42768133e-02 2.04314196e-03 9.99410289e-01 1.94765228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.546875 meters Centerline goodness : 0.996317 Centerline is valid? [True, True] Translation: X:147.66, Y:97.40, Z:19.48 [[ 9.70842611e-01 -2.37460842e-01 -3.28172719e-02 1.47663610e+02] [ 2.37255709e-01 9.71395080e-01 -1.00660874e-02 9.73957723e+01] [ 3.42688381e-02 1.98650150e-03 9.99410677e-01 1.94788636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.57687500000003 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:147.69, Y:97.40, Z:19.48 [[ 9.71646906e-01 -2.34146334e-01 -3.28296260e-02 1.47692830e+02] [ 2.33940919e-01 9.72199195e-01 -1.00185997e-02 9.74017320e+01] [ 3.42627544e-02 2.05434848e-03 9.99410748e-01 1.94794472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.606875 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:147.72, Y:97.41, Z:19.48 [[ 9.72118020e-01 -2.32176757e-01 -3.28710965e-02 1.47717939e+02] [ 2.31975605e-01 9.72671638e-01 -9.85914637e-03 9.74088958e+01] [ 3.42618479e-02 1.95896135e-03 9.99410971e-01 1.94796729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.63687500000003 meters Centerline goodness : 0.996792 Centerline is valid? [True, True] Translation: X:147.74, Y:97.41, Z:19.48 [[ 9.72373593e-01 -2.31110928e-01 -3.28227799e-02 1.47744990e+02] [ 2.30902909e-01 9.72924946e-01 -1.00447412e-02 9.74146338e+01] [ 3.42555508e-02 2.18836574e-03 9.99410711e-01 1.94794025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.666875 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:147.77, Y:97.42, Z:19.48 [[ 9.72014007e-01 -2.32616099e-01 -3.28408487e-02 1.47769980e+02] [ 2.32411292e-01 9.72566447e-01 -9.97482094e-03 9.74201430e+01] [ 3.42602115e-02 2.06308157e-03 9.99410817e-01 1.94804494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.69687500000003 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:147.80, Y:97.43, Z:19.48 [[ 9.71483668e-01 -2.34829466e-01 -3.27811530e-02 1.47799163e+02] [ 2.34618125e-01 9.72034041e-01 -1.02058057e-02 9.74263852e+01] [ 3.42610205e-02 2.22372092e-03 9.99410445e-01 1.94814969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.726875 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:147.83, Y:97.43, Z:19.48 [[ 9.71362392e-01 -2.35328521e-01 -3.27962118e-02 1.47828226e+02] [ 2.35119420e-01 9.71913515e-01 -1.01477433e-02 9.74318873e+01] [ 3.42631349e-02 2.14610988e-03 9.99410542e-01 1.94842290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.75687500000004 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:147.85, Y:97.44, Z:19.48 [[ 9.70551398e-01 -2.38646618e-01 -3.28295053e-02 1.47852446e+02] [ 2.38443738e-01 9.71104626e-01 -1.00193993e-02 9.74386083e+01] [ 3.42719802e-02 1.89635199e-03 9.99410744e-01 1.94837809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.786875 meters Centerline goodness : 0.996360 Centerline is valid? [True, True] Translation: X:147.88, Y:97.45, Z:19.48 [[ 9.70489617e-01 -2.38906425e-01 -3.27662016e-02 1.47882052e+02] [ 2.38695439e-01 9.71040237e-01 -1.02638209e-02 9.74454574e+01] [ 3.42693930e-02 2.13978876e-03 9.99410341e-01 1.94846202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81687500000004 meters Centerline goodness : 0.995809 Centerline is valid? [True, True] Translation: X:147.91, Y:97.45, Z:19.48 [[ 9.70391477e-01 -2.39298663e-01 -3.28105480e-02 1.47908672e+02] [ 2.39093687e-01 9.70944052e-01 -1.00923914e-02 9.74520689e+01] [ 3.42723022e-02 1.94877570e-03 9.99410632e-01 1.94844260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.846875 meters Centerline goodness : 0.995809 Centerline is valid? [True, True] Translation: X:147.94, Y:97.46, Z:19.49 [[ 9.70547738e-01 -2.38665329e-01 -3.28016722e-02 1.47935848e+02] [ 2.38458831e-01 9.71099806e-01 -1.01268015e-02 9.74586992e+01] [ 3.42706139e-02 2.00669593e-03 9.99410575e-01 1.94853664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87687500000004 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:147.96, Y:97.47, Z:19.49 [[ 9.70478907e-01 -2.38945269e-01 -3.28001552e-02 1.47963241e+02] [ 2.38738731e-01 9.71030971e-01 -1.01326881e-02 9.74651815e+01] [ 3.42711245e-02 2.00289263e-03 9.99410566e-01 1.94852691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.906875 meters Centerline goodness : 0.996532 Centerline is valid? [True, True] Translation: X:147.99, Y:97.47, Z:19.49 [[ 9.71083706e-01 -2.36470635e-01 -3.28340368e-02 1.47992205e+02] [ 2.36267163e-01 9.71636672e-01 -1.00002338e-02 9.74702259e+01] [ 3.42675159e-02 1.95345932e-03 9.99410787e-01 1.94876401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93687500000004 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:148.02, Y:97.48, Z:19.49 [[ 9.71112697e-01 -2.36346601e-01 -3.28696439e-02 1.48020890e+02] [ 2.36147766e-01 9.71667121e-01 -9.86099526e-03 9.74769718e+01] [ 3.42689649e-02 1.81404475e-03 9.99411000e-01 1.94878867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.966875 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:148.05, Y:97.48, Z:19.49 [[ 9.71576405e-01 -2.34430029e-01 -3.28914902e-02 1.48049332e+02] [ 2.34232990e-01 9.72131342e-01 -9.77554214e-03 9.74824682e+01] [ 3.42665292e-02 1.79341401e-03 9.99411121e-01 1.94907171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.996875 meters Centerline goodness : 0.996530 Centerline is valid? [True, True] Translation: X:148.08, Y:97.49, Z:19.49 [[ 9.71722705e-01 -2.33822165e-01 -3.28965004e-02 1.48076972e+02] [ 2.33625442e-01 9.72277725e-01 -9.75592193e-03 9.74890053e+01] [ 3.42656853e-02 1.79459140e-03 9.99411148e-01 1.94907693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.026875 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:148.10, Y:97.49, Z:19.49 [[ 9.71970961e-01 -2.32786064e-01 -3.29104759e-02 1.48102256e+02] [ 2.32590615e-01 9.72526350e-01 -9.70079464e-03 9.74949320e+01] [ 3.42645148e-02 1.77422287e-03 9.99411224e-01 1.94926923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.056875 meters Centerline goodness : 0.996330 Centerline is valid? [True, True] Translation: X:148.13, Y:97.50, Z:19.49 [[ 9.72143798e-01 -2.32068942e-01 -3.28700945e-02 1.48128799e+02] [ 2.31867691e-01 9.72697357e-01 -9.86031871e-03 9.75015254e+01] [ 3.42609278e-02 1.96413477e-03 9.99410992e-01 1.94934631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.086875 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:148.16, Y:97.51, Z:19.49 [[ 9.72108623e-01 -2.32217462e-01 -3.28614641e-02 1.48156828e+02] [ 2.32015143e-01 9.72661850e-01 -9.89443237e-03 9.75085452e+01] [ 3.42607525e-02 1.99410572e-03 9.99410939e-01 1.94936636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.116875 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:148.19, Y:97.51, Z:19.50 [[ 9.72469050e-01 -2.30701675e-01 -3.28737462e-02 1.48187019e+02] [ 2.30500129e-01 9.73022480e-01 -9.84599990e-03 9.75142215e+01] [ 3.42583827e-02 1.99752743e-03 9.99411013e-01 1.94963667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.146875 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:148.21, Y:97.52, Z:19.50 [[ 9.72179344e-01 -2.31909084e-01 -3.29469313e-02 1.48210099e+02] [ 2.31718056e-01 9.72736058e-01 -9.55535945e-03 9.75201711e+01] [ 3.42646427e-02 1.65512421e-03 9.99411424e-01 1.94961639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.176875 meters Centerline goodness : 0.996479 Centerline is valid? [True, True] Translation: X:148.24, Y:97.52, Z:19.50 [[ 9.72792943e-01 -2.29331060e-01 -3.28809181e-02 1.48239100e+02] [ 2.29129628e-01 9.73346388e-01 -9.81950286e-03 9.75244261e+01] [ 3.42564399e-02 2.01835056e-03 9.99411038e-01 1.94988426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.206875 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:148.26, Y:97.53, Z:19.50 [[ 9.72259177e-01 -2.31574865e-01 -3.29419995e-02 1.48264851e+02] [ 2.31383009e-01 9.72815624e-01 -9.57418858e-03 9.75317821e+01] [ 3.42636332e-02 1.68637375e-03 9.99411407e-01 1.94989958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.236875 meters Centerline goodness : 0.996406 Centerline is valid? [True, True] Translation: X:148.29, Y:97.54, Z:19.50 [[ 9.71775959e-01 -2.33600959e-01 -3.28949462e-02 1.48290414e+02] [ 2.33403851e-01 9.72330867e-01 -9.76355413e-03 9.75385821e+01] [ 3.42655472e-02 1.81018005e-03 9.99411124e-01 1.94990894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.266875 meters Centerline goodness : 0.996276 Centerline is valid? [True, True] Translation: X:148.32, Y:97.55, Z:19.50 [[ 9.71389140e-01 -2.35211700e-01 -3.28419633e-02 1.48321679e+02] [ 2.35008273e-01 9.71942159e-01 -9.97756452e-03 9.75451221e+01] [ 3.42673286e-02 1.97396474e-03 9.99410753e-01 1.94999109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.296875 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:148.35, Y:97.55, Z:19.50 [[ 9.71612503e-01 -2.34278545e-01 -3.29045253e-02 1.48346265e+02] [ 2.34083179e-01 9.72167947e-01 -9.72354303e-03 9.75502935e+01] [ 3.42667424e-02 1.74512008e-03 9.99411199e-01 1.95014340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.32687500000003 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:148.38, Y:97.56, Z:19.50 [[ 9.71067260e-01 -2.36534817e-01 -3.28581350e-02 1.48377741e+02] [ 2.36334359e-01 9.71621234e-01 -9.91207211e-03 9.75570322e+01] [ 3.42702118e-02 1.85978243e-03 9.99410873e-01 1.95015711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.356875 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:148.40, Y:97.56, Z:19.50 [[ 9.71238079e-01 -2.35822691e-01 -3.29279998e-02 1.48401429e+02] [ 2.35631494e-01 9.71794797e-01 -9.62661409e-03 9.75634419e+01] [ 3.42694329e-02 1.59086040e-03 9.99411364e-01 1.95020706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.38687500000003 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:148.43, Y:97.57, Z:19.50 [[ 9.71098960e-01 -2.36404328e-01 -3.28603582e-02 1.48427889e+02] [ 2.36204082e-01 9.71652999e-01 -9.90360730e-03 9.75702842e+01] [ 3.42701212e-02 1.85563203e-03 9.99410884e-01 1.95016420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.416875 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:148.46, Y:97.58, Z:19.50 [[ 9.71021626e-01 -2.36725251e-01 -3.28353121e-02 1.48461486e+02] [ 2.36521712e-01 9.71574677e-01 -1.00063500e-02 9.75767812e+01] [ 3.42707134e-02 1.95011804e-03 9.99410684e-01 1.95022397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.44687500000003 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:148.48, Y:97.58, Z:19.50 [[ 9.70790840e-01 -2.37654429e-01 -3.29471887e-02 1.48483963e+02] [ 2.37467061e-01 9.71348698e-01 -9.54476858e-03 9.75828498e+01] [ 3.42715654e-02 1.44210185e-03 9.99411517e-01 1.95035662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.476875 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:148.52, Y:97.59, Z:19.51 [[ 9.71449785e-01 -2.34957833e-01 -3.28653483e-02 1.48516185e+02] [ 2.34757464e-01 9.72003736e-01 -9.88286623e-03 9.75866623e+01] [ 3.42672981e-02 1.88532247e-03 9.99410925e-01 1.95062308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.50687500000004 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:148.54, Y:97.60, Z:19.50 [[ 9.70075730e-01 -2.40557558e-01 -3.29414577e-02 1.48537248e+02] [ 2.40371102e-01 9.70633919e-01 -9.56705524e-03 9.75969869e+01] [ 3.42755236e-02 1.36259360e-03 9.99411493e-01 1.95047493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.536875 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:148.58, Y:97.60, Z:19.51 [[ 9.70968422e-01 -2.36947215e-01 -3.28076375e-02 1.48575279e+02] [ 2.36739860e-01 9.71520337e-01 -1.01229510e-02 9.75994606e+01] [ 3.42718921e-02 2.06219028e-03 9.99410419e-01 1.95086196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56687500000004 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:148.59, Y:97.61, Z:19.51 [[ 9.69048475e-01 -2.44658746e-01 -3.29719922e-02 1.48594018e+02] [ 2.44478903e-01 9.69608639e-01 -9.44212377e-03 9.76109338e+01] [ 3.42800267e-02 1.08891915e-03 9.99411674e-01 1.95066713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.596875 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:148.65, Y:97.60, Z:19.52 [[ 9.72663677e-01 -2.29889690e-01 -3.28039940e-02 1.48649789e+02] [ 2.29677882e-01 9.73213915e-01 -1.01363371e-02 9.76016008e+01] [ 3.42555429e-02 2.32489504e-03 9.99410403e-01 1.95205879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62687500000004 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:148.66, Y:97.62, Z:19.51 [[ 9.69493605e-01 -2.42841308e-01 -3.33204116e-02 1.48655397e+02] [ 2.42710392e-01 9.70065965e-01 -7.98055090e-03 9.76196086e+01] [ 3.42610046e-02 -3.50117098e-04 9.99412858e-01 1.95102545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.656875 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:148.68, Y:97.63, Z:19.51 [[ 9.68329886e-01 -2.47489660e-01 -3.29560435e-02 1.48675394e+02] [ 2.47309288e-01 9.68889961e-01 -9.50575344e-03 9.76299606e+01] [ 3.42833554e-02 1.05436948e-03 9.99411597e-01 1.95067325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68687500000004 meters Centerline goodness : 0.996541 Centerline is valid? [True, True] Translation: X:148.70, Y:97.64, Z:19.51 [[ 9.68915650e-01 -2.45203246e-01 -3.28303305e-02 1.48704547e+02] [ 2.45003445e-01 9.69470234e-01 -1.00387628e-02 9.76352744e+01] [ 3.42895654e-02 1.68317036e-03 9.99410523e-01 1.95084429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.716875 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:148.74, Y:97.64, Z:19.51 [[ 9.69565223e-01 -2.42620486e-01 -3.28417011e-02 1.48739131e+02] [ 2.42420843e-01 9.70119747e-01 -9.99053674e-03 9.76388056e+01] [ 3.42842917e-02 1.72496411e-03 9.99410632e-01 1.95112962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.746875 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:148.77, Y:97.65, Z:19.51 [[ 9.67891444e-01 -2.49198375e-01 -3.29594022e-02 1.48768501e+02] [ 2.49019507e-01 9.68451967e-01 -9.49064719e-03 9.76475027e+01] [ 3.42846517e-02 9.78382138e-04 9.99411630e-01 1.95099838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.776875 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:148.79, Y:97.65, Z:19.51 [[ 9.67861900e-01 -2.49309366e-01 -3.29876127e-02 1.48791750e+02] [ 2.49134660e-01 9.68423521e-01 -9.37045807e-03 9.76526054e+01] [ 3.42821230e-02 8.50951666e-04 9.99411833e-01 1.95118076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.806875 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:148.82, Y:97.66, Z:19.51 [[ 9.66789772e-01 -2.53441940e-01 -3.29350702e-02 1.48818861e+02] [ 2.53261978e-01 9.67350148e-01 -9.59489915e-03 9.76592145e+01] [ 3.42914949e-02 9.35049332e-04 9.99411436e-01 1.95129982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.836875 meters Centerline goodness : 0.996608 Centerline is valid? [True, True] Translation: X:148.87, Y:97.65, Z:19.53 [[ 9.69765889e-01 -2.41803692e-01 -3.29407783e-02 1.48869807e+02] [ 2.41617835e-01 9.70324289e-01 -9.57052958e-03 9.76527898e+01] [ 3.42774266e-02 1.32209359e-03 9.99411482e-01 1.95264399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.866875 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:148.90, Y:97.66, Z:19.53 [[ 9.69273662e-01 -2.43711702e-01 -3.33642723e-02 1.48896974e+02] [ 2.43589330e-01 9.69847526e-01 -7.74689328e-03 9.76597131e+01] [ 3.42462655e-02 -6.18321132e-04 9.99413233e-01 1.95294805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.896875 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:148.92, Y:97.67, Z:19.53 [[ 9.68988522e-01 -2.44843245e-01 -3.33621075e-02 1.48923503e+02] [ 2.44721222e-01 9.69562460e-01 -7.75620515e-03 9.76671347e+01] [ 3.42457014e-02 -6.48741950e-04 9.99413233e-01 1.95286287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.926875 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:148.93, Y:97.69, Z:19.52 [[ 9.65266371e-01 -2.59129053e-01 -3.33611710e-02 1.48928421e+02] [ 2.59015383e-01 9.65842021e-01 -7.76023123e-03 9.76872900e+01] [ 3.42325222e-02 -1.15036623e-03 9.99413233e-01 1.95173095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.956875 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:148.98, Y:97.68, Z:19.53 [[ 9.68926415e-01 -2.45143953e-01 -3.29552022e-02 1.48978513e+02] [ 2.44962522e-01 9.69486032e-01 -9.49715064e-03 9.76819176e+01] [ 3.42777772e-02 1.12925069e-03 9.99411706e-01 1.95294846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.986875 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:149.01, Y:97.69, Z:19.53 [[ 9.69095637e-01 -2.44418595e-01 -3.33646057e-02 1.49005333e+02] [ 2.44297207e-01 9.69669591e-01 -7.73040487e-03 9.76911939e+01] [ 3.42420983e-02 -6.59378374e-04 9.99413350e-01 1.95310230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.016875 meters Centerline goodness : 0.996580 Centerline is valid? [True, True] Translation: X:149.03, Y:97.70, Z:19.53 [[ 9.69343519e-01 -2.43433946e-01 -3.33624971e-02 1.49032098e+02] [ 2.43311661e-01 9.69917283e-01 -7.73949448e-03 9.76992498e+01] [ 3.42429182e-02 -6.15255785e-04 9.99413350e-01 1.95324209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.046875 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:149.04, Y:97.72, Z:19.52 [[ 9.66603169e-01 -2.54097223e-01 -3.33603800e-02 1.49039308e+02] [ 2.53980953e-01 9.67178182e-01 -7.74860940e-03 9.77185356e+01] [ 3.42343318e-02 -9.83070691e-04 9.99413350e-01 1.95225285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.07687500000003 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:149.09, Y:97.72, Z:19.53 [[ 9.70431798e-01 -2.39109696e-01 -3.29951269e-02 1.49086856e+02] [ 2.38931086e-01 9.70991876e-01 -9.31194482e-03 9.77153440e+01] [ 3.42645765e-02 1.15304585e-03 9.99412132e-01 1.95332438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.106875 meters Centerline goodness : 0.996620 Centerline is valid? [True, True] Translation: X:149.11, Y:97.73, Z:19.53 [[ 9.71769821e-01 -2.33560405e-01 -3.33609375e-02 1.49113662e+02] [ 2.33432469e-01 9.72342256e-01 -7.73425668e-03 9.77258973e+01] [ 3.42446653e-02 -2.71608771e-04 9.99413443e-01 1.95347148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.13687500000003 meters Centerline goodness : 0.996203 Centerline is valid? [True, True] Translation: X:149.14, Y:97.73, Z:19.54 [[ 9.72462288e-01 -2.30660431e-01 -3.33596272e-02 1.49140775e+02] [ 2.30530595e-01 9.73034295e-01 -7.73990395e-03 9.77345735e+01] [ 3.42453509e-02 -1.63650016e-04 9.99413443e-01 1.95362276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.166875 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:149.17, Y:97.74, Z:19.54 [[ 9.73129990e-01 -2.27827346e-01 -3.33574971e-02 1.49167759e+02] [ 2.27695530e-01 9.73701544e-01 -7.74907347e-03 9.77430880e+01] [ 3.42456973e-02 -5.44972048e-05 9.99413443e-01 1.95368932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.19687500000003 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:149.17, Y:97.76, Z:19.53 [[ 9.71009717e-01 -2.36701229e-01 -3.33565140e-02 1.49172392e+02] [ 2.36574491e-01 9.71582419e-01 -7.75330290e-03 9.77626319e+01] [ 3.42438189e-02 -3.62767871e-04 9.99413443e-01 1.95265748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.226875 meters Centerline goodness : 0.995805 Centerline is valid? [True, True] Translation: X:149.22, Y:97.76, Z:19.54 [[ 9.74890666e-01 -2.20229367e-01 -3.29729579e-02 1.49222197e+02] [ 2.20037296e-01 9.75446267e-01 -9.38976684e-03 9.77607016e+01] [ 3.42312511e-02 1.89871556e-03 9.99412135e-01 1.95387716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.25687500000004 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:149.23, Y:97.78, Z:19.53 [[ 9.72752104e-01 -2.29436070e-01 -3.33531637e-02 1.49229160e+02] [ 2.29305006e-01 9.73323728e-01 -7.75470600e-03 9.77789379e+01] [ 3.42426349e-02 -1.04640822e-04 9.99413544e-01 1.95303953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.286875 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:149.26, Y:97.79, Z:19.53 [[ 9.73485309e-01 -2.26355099e-01 -3.30109301e-02 1.49255489e+02] [ 2.26171675e-01 9.74043653e-01 -9.23767588e-03 9.77869322e+01] [ 3.42450819e-02 1.52660441e-03 9.99412299e-01 1.95306592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31687500000004 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:149.29, Y:97.79, Z:19.53 [[ 9.74106879e-01 -2.23670969e-01 -3.29709773e-02 1.49285108e+02] [ 2.23480153e-01 9.74663051e-01 -9.41053780e-03 9.77938646e+01] [ 3.42404574e-02 1.79851056e-03 9.99412005e-01 1.95312288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.346875 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:149.33, Y:97.79, Z:19.54 [[ 9.77162699e-01 -2.09915728e-01 -3.29916339e-02 1.49333423e+02] [ 2.09720096e-01 9.77717031e-01 -9.32135566e-03 9.77891562e+01] [ 3.42131816e-02 2.18947240e-03 9.99412159e-01 1.95423441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37687500000004 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:149.34, Y:97.81, Z:19.53 [[ 9.74655910e-01 -2.21206247e-01 -3.33714529e-02 1.49338278e+02] [ 2.21073299e-01 9.75227044e-01 -7.66874936e-03 9.78085153e+01] [ 3.42411186e-02 9.68547133e-05 9.99413596e-01 1.95323018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.406875 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:149.37, Y:97.82, Z:19.53 [[ 9.74178529e-01 -2.23358640e-01 -3.29713642e-02 1.49371385e+02] [ 2.23167999e-01 9.74734672e-01 -9.40020361e-03 9.78174096e+01] [ 3.42379485e-02 1.79932316e-03 9.99412090e-01 1.95310887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43687500000004 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:149.39, Y:97.82, Z:19.53 [[ 9.74748115e-01 -2.20848071e-01 -3.30490878e-02 1.49390938e+02] [ 2.20667568e-01 9.75307012e-01 -9.05852797e-03 9.78219666e+01] [ 3.42335655e-02 1.53692125e-03 9.99412678e-01 1.95335739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.466875 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:149.42, Y:97.83, Z:19.53 [[ 9.74255802e-01 -2.23027685e-01 -3.29284609e-02 1.49417802e+02] [ 2.22830511e-01 9.74810052e-01 -9.58777712e-03 9.78290773e+01] [ 3.42373344e-02 2.00348173e-03 9.99411722e-01 1.95347478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.496875 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:149.45, Y:97.83, Z:19.54 [[ 9.75237429e-01 -2.18695276e-01 -3.29292237e-02 1.49450202e+02] [ 2.18495754e-01 9.75790830e-01 -9.58441594e-03 9.78323145e+01] [ 3.42281010e-02 2.15218561e-03 9.99411730e-01 1.95387741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.526875 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:149.48, Y:97.84, Z:19.54 [[ 9.74932489e-01 -2.20040570e-01 -3.29967947e-02 1.49478879e+02] [ 2.19851880e-01 9.75489062e-01 -9.28661208e-03 9.78387372e+01] [ 3.42314437e-02 1.79941247e-03 9.99412313e-01 1.95389306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.556875 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:149.53, Y:97.83, Z:19.55 [[ 9.77468364e-01 -2.08487512e-01 -3.29932401e-02 1.49528389e+02] [ 2.08291726e-01 9.78022509e-01 -9.30210269e-03 9.78332913e+01] [ 3.42075037e-02 2.22029218e-03 9.99412286e-01 1.95507132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.586875 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:149.55, Y:97.84, Z:19.55 [[ 9.77244985e-01 -2.09470570e-01 -3.33814136e-02 1.49554421e+02] [ 2.09333230e-01 9.77814855e-01 -7.59660547e-03 9.78396757e+01] [ 3.42321074e-02 4.35905457e-04 9.99413815e-01 1.95517337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.616875 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:149.55, Y:97.86, Z:19.54 [[ 9.73403837e-01 -2.26651159e-01 -3.33799693e-02 1.49553910e+02] [ 2.26523661e-01 9.73975989e-01 -7.60294686e-03 9.78602323e+01] [ 3.42345053e-02 -1.60615175e-04 9.99413815e-01 1.95406089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.646875 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:149.61, Y:97.85, Z:19.55 [[ 9.77316888e-01 -2.09216752e-01 -3.28641183e-02 1.49609447e+02] [ 2.09003118e-01 9.77865416e-01 -9.84507022e-03 9.78520417e+01] [ 3.41964384e-02 2.75305019e-03 9.99411339e-01 1.95534487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.676875 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:149.61, Y:97.87, Z:19.54 [[ 9.74363485e-01 -2.22489894e-01 -3.33773411e-02 1.49614825e+02] [ 2.22360465e-01 9.74934996e-01 -7.58795815e-03 9.78691814e+01] [ 3.42289819e-02 -2.83717504e-05 9.99414016e-01 1.95435084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.706875 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:149.67, Y:97.86, Z:19.56 [[ 9.77541935e-01 -2.08147422e-01 -3.29608405e-02 1.49665713e+02] [ 2.07947780e-01 9.78094652e-01 -9.41130605e-03 9.78628303e+01] [ 3.41977609e-02 2.34581270e-03 9.99412332e-01 1.95550601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.736875 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:149.69, Y:97.87, Z:19.56 [[ 9.77483930e-01 -2.08352712e-01 -3.33813577e-02 1.49693679e+02] [ 2.08216211e-01 9.78053659e-01 -7.55308404e-03 9.78687005e+01] [ 3.42224646e-02 4.32478466e-04 9.99414146e-01 1.95570125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.766875 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:149.72, Y:97.88, Z:19.56 [[ 9.77264867e-01 -2.09378134e-01 -3.33792794e-02 1.49720686e+02] [ 2.09241918e-01 9.77834665e-01 -7.56225734e-03 9.78751558e+01] [ 3.42227878e-02 4.05983968e-04 9.99414146e-01 1.95578419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.796875 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:149.75, Y:97.88, Z:19.56 [[ 9.77180301e-01 -2.09772785e-01 -3.33772058e-02 1.49747755e+02] [ 2.09636487e-01 9.77750079e-01 -7.57139850e-03 9.78813986e+01] [ 3.42228390e-02 4.01541296e-04 9.99414146e-01 1.95589580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.82687500000003 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:149.77, Y:97.89, Z:19.56 [[ 9.77024800e-01 -2.10496187e-01 -3.33750848e-02 1.49774899e+02] [ 2.10359991e-01 9.77594602e-01 -7.58073658e-03 9.78880302e+01] [ 3.42230189e-02 3.85785107e-04 9.99414146e-01 1.95598833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.856875 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:149.78, Y:97.90, Z:19.55 [[ 9.74616633e-01 -2.21379006e-01 -3.33729663e-02 1.49783900e+02] [ 2.21248854e-01 9.75187846e-01 -7.59005148e-03 9.79048291e+01] [ 3.42251892e-02 1.36598659e-05 9.99414147e-01 1.95507247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.88687500000003 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:149.83, Y:97.90, Z:19.56 [[ 9.77135293e-01 -2.10037508e-01 -3.30282315e-02 1.49831515e+02] [ 2.09849454e-01 9.77691363e-01 -9.09976549e-03 9.79000394e+01] [ 3.42027088e-02 1.96074566e-03 9.99412993e-01 1.95624625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.916875 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:149.84, Y:97.92, Z:19.55 [[ 9.74588460e-01 -2.21502440e-01 -3.33766841e-02 1.49839382e+02] [ 2.21373322e-01 9.75159817e-01 -7.56197440e-03 9.79180427e+01] [ 3.42225970e-02 -1.88944684e-05 9.99414235e-01 1.95534268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.94687500000003 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:149.86, Y:97.93, Z:19.55 [[ 9.74364820e-01 -2.22533787e-01 -3.30440972e-02 1.49862462e+02] [ 2.22355135e-01 9.74923895e-01 -9.03294096e-03 9.79261990e+01] [ 3.42256145e-02 1.45385520e-03 9.99413075e-01 1.95527182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.976875 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:149.89, Y:97.93, Z:19.55 [[ 9.74950028e-01 -2.19972004e-01 -3.29356875e-02 1.49893251e+02] [ 2.19775639e-01 9.75504060e-01 -9.51300290e-03 9.79314597e+01] [ 3.42214912e-02 2.03624067e-03 9.99412199e-01 1.95537846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.00687500000004 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:149.92, Y:97.94, Z:19.55 [[ 9.74996918e-01 -2.19756200e-01 -3.29882258e-02 1.49919076e+02] [ 2.19567625e-01 9.75553155e-01 -9.27895593e-03 9.79375992e+01] [ 3.42208759e-02 1.80380703e-03 9.99412667e-01 1.95541318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.036875 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:149.95, Y:97.94, Z:19.55 [[ 9.75426949e-01 -2.17845999e-01 -3.29452335e-02 1.49949544e+02] [ 2.17649853e-01 9.75980966e-01 -9.47077293e-03 9.79437029e+01] [ 3.42170908e-02 2.06752190e-03 9.99412285e-01 1.95547231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06687500000004 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:149.98, Y:97.95, Z:19.55 [[ 9.75719655e-01 -2.16525008e-01 -3.29859830e-02 1.49977756e+02] [ 2.16334265e-01 9.76275170e-01 -9.28861142e-03 9.79493148e+01] [ 3.42146128e-02 1.92708235e-03 9.99412651e-01 1.95549523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.096875 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:150.00, Y:97.95, Z:19.56 [[ 9.75914583e-01 -2.15641819e-01 -3.30050460e-02 1.50004968e+02] [ 2.15453470e-01 9.76470741e-01 -9.20293361e-03 9.79549444e+01] [ 3.42129990e-02 1.87022543e-03 9.99412814e-01 1.95554629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12687500000004 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:150.04, Y:97.96, Z:19.56 [[ 9.76062741e-01 -2.14971176e-01 -3.29987837e-02 1.50035635e+02] [ 2.14781492e-01 9.76618501e-01 -9.23112448e-03 9.79604414e+01] [ 3.42116484e-02 1.92262866e-03 9.99412761e-01 1.95561149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.156875 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:150.06, Y:97.97, Z:19.56 [[ 9.76294188e-01 -2.13912795e-01 -3.30298990e-02 1.50062701e+02] [ 2.13727227e-01 9.76851071e-01 -9.09157643e-03 9.79660648e+01] [ 3.42100967e-02 1.81666451e-03 9.99413012e-01 1.95569051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18687500000004 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:150.11, Y:97.96, Z:19.57 [[ 9.79421663e-01 -1.99103987e-01 -3.30273850e-02 1.50113682e+02] [ 1.98909626e-01 9.79975560e-01 -9.10287455e-03 9.79583270e+01] [ 3.41784487e-02 2.34608772e-03 9.99412992e-01 1.95694065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.216875 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:150.14, Y:97.96, Z:19.57 [[ 9.79626625e-01 -1.98028941e-01 -3.34098036e-02 1.50139985e+02] [ 1.97892705e-01 9.80195985e-01 -7.36939647e-03 9.79631580e+01] [ 3.42075092e-02 6.07700574e-04 9.99414567e-01 1.95700079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.246875 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:150.15, Y:97.98, Z:19.56 [[ 9.77466753e-01 -2.08428863e-01 -3.34089099e-02 1.50151045e+02] [ 2.08298547e-01 9.78037498e-01 -7.37344594e-03 9.79791162e+01] [ 3.42120056e-02 2.48270881e-04 9.99414567e-01 1.95598395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.276875 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:150.18, Y:97.99, Z:19.56 [[ 9.77654541e-01 -2.07594031e-01 -3.31106620e-02 1.50177763e+02] [ 2.07417351e-01 9.78213660e-01 -8.72231973e-03 9.79852692e+01] [ 3.42000034e-02 1.65968968e-03 9.99413631e-01 1.95592136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.306875 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:150.21, Y:97.99, Z:19.56 [[ 9.78239071e-01 -2.04827989e-01 -3.30728694e-02 1.50210183e+02] [ 2.04643959e-01 9.78796080e-01 -8.89295265e-03 9.79890052e+01] [ 3.41931205e-02 1.93127080e-03 9.99413378e-01 1.95611796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.336875 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:150.25, Y:97.98, Z:19.57 [[ 9.80229816e-01 -1.95069211e-01 -3.31286897e-02 1.50252810e+02] [ 1.94888105e-01 9.80787410e-01 -8.64190115e-03 9.79847882e+01] [ 3.41779706e-02 2.01466160e-03 9.99413732e-01 1.95727007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.366875 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:150.28, Y:97.99, Z:19.57 [[ 9.80184203e-01 -1.95250898e-01 -3.34068170e-02 1.50279719e+02] [ 1.95112562e-01 9.80753063e-01 -7.38366781e-03 9.79894724e+01] [ 3.42055059e-02 7.19264883e-04 9.99414562e-01 1.95740987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.396875 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:150.31, Y:97.99, Z:19.57 [[ 9.80116508e-01 -1.95590578e-01 -3.34059329e-02 1.50307301e+02] [ 1.95452303e-01 9.80685383e-01 -7.38766569e-03 9.79946070e+01] [ 3.42056679e-02 7.11506579e-04 9.99414562e-01 1.95748663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.426875 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:150.32, Y:98.01, Z:19.57 [[ 9.78498564e-01 -2.03530666e-01 -3.34040190e-02 1.50322771e+02] [ 2.03396713e-01 9.79068471e-01 -7.39630964e-03 9.80078793e+01] [ 3.42101976e-02 4.43010710e-04 9.99414562e-01 1.95677697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.456875 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:150.35, Y:98.01, Z:19.57 [[ 9.78268122e-01 -2.04668002e-01 -3.32037798e-02 1.50349443e+02] [ 2.04503923e-01 9.78830547e-01 -8.30099213e-03 9.80111930e+01] [ 3.41998214e-02 1.33029278e-03 9.99414130e-01 1.95681579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.486875 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:150.38, Y:98.02, Z:19.57 [[ 9.78262933e-01 -2.04693367e-01 -3.32002946e-02 1.50375921e+02] [ 2.04528760e-01 9.78825222e-01 -8.31694785e-03 9.80153184e+01] [ 3.41997098e-02 1.34574670e-03 9.99414113e-01 1.95702768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.516875 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:150.41, Y:98.02, Z:19.57 [[ 9.78164253e-01 -2.05168548e-01 -3.31747107e-02 1.50405911e+02] [ 2.05000237e-01 9.78725583e-01 -8.43423990e-03 9.80192639e+01] [ 3.41993788e-02 1.44924844e-03 9.99413979e-01 1.95714618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.546875 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:150.43, Y:98.02, Z:19.57 [[ 9.77650031e-01 -2.07602643e-01 -3.31897668e-02 1.50433380e+02] [ 2.07438070e-01 9.78212385e-01 -8.36523556e-03 9.80235269e+01] [ 3.42032859e-02 1.29345162e-03 9.99414059e-01 1.95712288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.57687500000003 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:150.48, Y:98.02, Z:19.58 [[ 9.78696837e-01 -2.02612586e-01 -3.31759046e-02 1.50476339e+02] [ 2.02443000e-01 9.79257775e-01 -8.42857993e-03 9.80165027e+01] [ 3.41954989e-02 1.53279486e-03 9.99413988e-01 1.95814375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.606875 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:150.49, Y:98.03, Z:19.57 [[ 9.76019946e-01 -2.15099263e-01 -3.34271064e-02 1.50490153e+02] [ 2.14976241e-01 9.76592187e-01 -7.27437258e-03 9.80291234e+01] [ 3.42093632e-02 -8.61009402e-05 9.99414685e-01 1.95727493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.63687500000003 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:150.52, Y:98.03, Z:19.57 [[ 9.75628939e-01 -2.16903031e-01 -3.31850743e-02 1.50518794e+02] [ 2.16743235e-01 9.76192657e-01 -8.38249213e-03 9.80332198e+01] [ 3.42132138e-02 9.85561536e-04 9.99414071e-01 1.95736025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.666875 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:150.55, Y:98.04, Z:19.57 [[ 9.75030546e-01 -2.19577640e-01 -3.31827356e-02 1.50546656e+02] [ 2.19419026e-01 9.75594611e-01 -8.39319741e-03 9.80375453e+01] [ 3.42158565e-02 9.02700333e-04 9.99414059e-01 1.95741445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.69687500000003 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:150.58, Y:98.04, Z:19.58 [[ 9.74198592e-01 -2.23239994e-01 -3.31814548e-02 1.50575429e+02] [ 2.23083301e-01 9.74763200e-01 -8.39907385e-03 9.80402717e+01] [ 3.42190703e-02 7.80137469e-04 9.99414052e-01 1.95757589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.726875 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:150.60, Y:98.04, Z:19.58 [[ 9.73673179e-01 -2.25521491e-01 -3.31752545e-02 1.50601620e+02] [ 2.25365149e-01 9.74237920e-01 -8.42758688e-03 9.80449741e+01] [ 3.42211929e-02 7.29169135e-04 9.99414017e-01 1.95751735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.75687500000004 meters Centerline goodness : 0.996193 Centerline is valid? [True, True] Translation: X:150.63, Y:98.05, Z:19.58 [[ 9.73751331e-01 -2.25188261e-01 -3.31450131e-02 1.50632943e+02] [ 2.25026996e-01 9.74314871e-01 -8.56642530e-03 9.80484477e+01] [ 3.42227376e-02 8.83045298e-04 9.99413840e-01 1.95776682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.786875 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:150.66, Y:98.05, Z:19.58 [[ 9.73626336e-01 -2.25718880e-01 -3.32075950e-02 1.50658372e+02] [ 2.25567768e-01 9.74192314e-01 -8.27756642e-03 9.80530542e+01] [ 3.42189868e-02 5.68693580e-04 9.99414197e-01 1.95782930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81687500000004 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:150.69, Y:98.06, Z:19.58 [[ 9.73629779e-01 -2.25710628e-01 -3.31627101e-02 1.50685706e+02] [ 2.25552428e-01 9.74194078e-01 -8.48534433e-03 9.80570033e+01] [ 3.42221482e-02 7.81654147e-04 9.99413945e-01 1.95791793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.846875 meters Centerline goodness : 0.996342 Centerline is valid? [True, True] Translation: X:150.71, Y:98.06, Z:19.58 [[ 9.73816792e-01 -2.24903858e-01 -3.31528265e-02 1.50712502e+02] [ 2.24743621e-01 9.74380583e-01 -8.53139753e-03 9.80623697e+01] [ 3.42222147e-02 8.57131886e-04 9.99413881e-01 1.95804022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87687500000004 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:150.74, Y:98.07, Z:19.58 [[ 9.74105915e-01 -2.23651536e-01 -3.31309081e-02 1.50739676e+02] [ 2.23487101e-01 9.74668651e-01 -8.63345007e-03 9.80677721e+01] [ 3.42225418e-02 1.00556418e-03 9.99413731e-01 1.95815947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.906875 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:150.77, Y:98.07, Z:19.58 [[ 9.74398076e-01 -2.22376592e-01 -3.31216046e-02 1.50771279e+02] [ 2.22209947e-01 9.74960232e-01 -8.67677625e-03 9.80733788e+01] [ 3.42217592e-02 1.09468410e-03 9.99413665e-01 1.95828347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93687500000004 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:150.80, Y:98.08, Z:19.58 [[ 9.75197317e-01 -2.18834745e-01 -3.31895555e-02 1.50795744e+02] [ 2.18676879e-01 9.75761526e-01 -8.35862960e-03 9.80785909e+01] [ 3.42142499e-02 8.93524765e-04 9.99414122e-01 1.95846452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.966875 meters Centerline goodness : 0.996617 Centerline is valid? [True, True] Translation: X:150.82, Y:98.09, Z:19.58 [[ 9.76088110e-01 -2.14834838e-01 -3.31359867e-02 1.50821285e+02] [ 2.14666136e-01 9.76649542e-01 -8.60947153e-03 9.80850057e+01] [ 3.42118607e-02 1.29042857e-03 9.99413770e-01 1.95849559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.996875 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:150.85, Y:98.09, Z:19.59 [[ 9.76527058e-01 -2.12833023e-01 -3.31211435e-02 1.50851253e+02] [ 2.12660807e-01 9.77087537e-01 -8.67909866e-03 9.80911383e+01] [ 3.42094553e-02 1.43180557e-03 9.99413660e-01 1.95850821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.026875 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:150.88, Y:98.10, Z:19.59 [[ 9.77651629e-01 -2.07598828e-01 -3.31665277e-02 1.50878250e+02] [ 2.07430882e-01 9.78213054e-01 -8.46468088e-03 9.80955693e+01] [ 3.42011881e-02 1.39574697e-03 9.99413994e-01 1.95862823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.056875 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:150.92, Y:98.09, Z:19.59 [[ 9.80311359e-01 -1.94652576e-01 -3.31664725e-02 1.50923340e+02] [ 1.94477211e-01 9.80870511e-01 -8.46494067e-03 9.80907478e+01] [ 3.41797374e-02 1.84815441e-03 9.99413993e-01 1.95948645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.086875 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:150.94, Y:98.11, Z:19.59 [[ 9.78869593e-01 -2.01728560e-01 -3.34650350e-02 1.50936044e+02] [ 2.01605480e-01 9.79441456e-01 -7.04736430e-03 9.81069211e+01] [ 3.41986973e-02 1.51716181e-04 9.99415042e-01 1.95881443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.116875 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:150.97, Y:98.11, Z:19.59 [[ 9.79035301e-01 -2.00965680e-01 -3.32065405e-02 1.50965857e+02] [ 2.00800595e-01 9.79597244e-01 -8.26809393e-03 9.81132102e+01] [ 3.41906386e-02 1.42686274e-03 9.99414311e-01 1.95883306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.146875 meters Centerline goodness : 0.996336 Centerline is valid? [True, True] Translation: X:150.99, Y:98.12, Z:19.59 [[ 9.79118496e-01 -2.00558480e-01 -3.32154651e-02 1.50992714e+02] [ 2.00394585e-01 9.79680734e-01 -8.22611295e-03 9.81190960e+01] [ 3.41903679e-02 1.39813999e-03 9.99414361e-01 1.95886446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.176875 meters Centerline goodness : 0.996199 Centerline is valid? [True, True] Translation: X:151.02, Y:98.12, Z:19.59 [[ 9.79351993e-01 -1.99415562e-01 -3.32130711e-02 1.51018919e+02] [ 1.99250627e-01 9.79913941e-01 -8.23745392e-03 9.81243287e+01] [ 3.41886279e-02 1.44964168e-03 9.99414347e-01 1.95897045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.206875 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:151.04, Y:98.13, Z:19.59 [[ 9.79336773e-01 -1.99494366e-01 -3.31886080e-02 1.51044771e+02] [ 1.99325552e-01 9.79897723e-01 -8.35321945e-03 9.81297697e+01] [ 3.41878617e-02 1.56527736e-03 9.99414198e-01 1.95897101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.236875 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:151.07, Y:98.14, Z:19.59 [[ 9.79292417e-01 -1.99713515e-01 -3.31794099e-02 1.51070487e+02] [ 1.99543343e-01 9.79853022e-01 -8.39700233e-03 9.81359803e+01] [ 3.41879399e-02 1.60239031e-03 9.99414137e-01 1.95901676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.266875 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:151.10, Y:98.14, Z:19.60 [[ 9.78569924e-01 -2.03228624e-01 -3.31516129e-02 1.51104938e+02] [ 2.03055982e-01 9.79129980e-01 -8.52934503e-03 9.81434033e+01] [ 3.41931452e-02 1.61492721e-03 9.99413939e-01 1.95984561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.296875 meters Centerline goodness : 0.996693 Centerline is valid? [True, True] Translation: X:151.13, Y:98.15, Z:19.59 [[ 9.79035026e-01 -2.00959760e-01 -3.32504670e-02 1.51128104e+02] [ 2.00801744e-01 9.79598745e-01 -8.05966859e-03 9.81484315e+01] [ 3.41917848e-02 1.21394607e-03 9.99414553e-01 1.95924756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.32687500000003 meters Centerline goodness : 0.996231 Centerline is valid? [True, True] Translation: X:151.15, Y:98.16, Z:19.59 [[ 9.78688626e-01 -2.02654441e-01 -3.31624968e-02 1.51152952e+02] [ 2.02483180e-01 9.79249034e-01 -8.47888355e-03 9.81554059e+01] [ 3.41926264e-02 1.58333909e-03 9.99414007e-01 1.95918832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.356875 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:151.18, Y:98.16, Z:19.59 [[ 9.78976597e-01 -2.01265556e-01 -3.31209805e-02 1.51182340e+02] [ 2.01086747e-01 9.79534995e-01 -8.67837365e-03 9.81603849e+01] [ 3.41898172e-02 1.83573447e-03 9.99413671e-01 1.95929805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.38687500000003 meters Centerline goodness : 0.996964 Centerline is valid? [True, True] Translation: X:151.21, Y:98.16, Z:19.59 [[ 9.79443761e-01 -1.98969793e-01 -3.31804267e-02 1.51208973e+02] [ 1.98799502e-01 9.80004285e-01 -8.38799720e-03 9.81649854e+01] [ 3.41859184e-02 1.61931921e-03 9.99414179e-01 1.95942953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.416875 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:151.24, Y:98.17, Z:19.59 [[ 9.79242352e-01 -1.99959309e-01 -3.31766613e-02 1.51235574e+02] [ 1.99788961e-01 9.79802890e-01 -8.40639708e-03 9.81711565e+01] [ 3.41875260e-02 1.60356935e-03 9.99414149e-01 1.95938483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.44687500000003 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:151.27, Y:98.18, Z:19.59 [[ 9.78826787e-01 -2.01986406e-01 -3.31604122e-02 1.51266691e+02] [ 2.01814512e-01 9.79386995e-01 -8.48630257e-03 9.81776698e+01] [ 3.41909942e-02 1.61436787e-03 9.99414013e-01 1.95944064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.476875 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:151.29, Y:98.18, Z:19.59 [[ 9.78901052e-01 -2.01618521e-01 -3.32069628e-02 1.51292348e+02] [ 2.01454186e-01 9.79463134e-01 -8.25712480e-03 9.81835968e+01] [ 3.41897852e-02 1.39322650e-03 9.99414387e-01 1.95948437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.50687500000004 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:151.32, Y:98.19, Z:19.59 [[ 9.78680155e-01 -2.02689262e-01 -3.31996522e-02 1.51319077e+02] [ 2.02524318e-01 9.79242117e-01 -8.29317824e-03 9.81893501e+01] [ 3.41914359e-02 1.39263203e-03 9.99414332e-01 1.95949986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.536875 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:151.35, Y:98.20, Z:19.59 [[ 9.78153459e-01 -2.05218176e-01 -3.31860150e-02 1.51350323e+02] [ 2.05052392e-01 9.78715288e-01 -8.36074004e-03 9.81952432e+01] [ 3.41954360e-02 1.37321505e-03 9.99414222e-01 1.95946665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56687500000004 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:151.40, Y:98.19, Z:19.60 [[ 9.79755193e-01 -1.97427428e-01 -3.31989738e-02 1.51397398e+02] [ 1.97259325e-01 9.80316231e-01 -8.29738077e-03 9.81888406e+01] [ 3.41836234e-02 1.58059476e-03 9.99414319e-01 1.96040043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.596875 meters Centerline goodness : 0.996589 Centerline is valid? [True, True] Translation: X:151.42, Y:98.19, Z:19.61 [[ 9.79249885e-01 -1.99868018e-01 -3.35027939e-02 1.51424963e+02] [ 1.99752281e-01 9.79822828e-01 -6.80089161e-03 9.81942582e+01] [ 3.41860830e-02 -3.24871591e-05 9.99415485e-01 1.96059551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62687500000004 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:151.43, Y:98.21, Z:19.60 [[ 9.75184352e-01 -2.18845079e-01 -3.35009045e-02 1.51432365e+02] [ 2.18740169e-01 9.75759376e-01 -6.81018588e-03 9.82117754e+01] [ 3.41791974e-02 -6.86806806e-04 9.99415485e-01 1.96025201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.656875 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:151.46, Y:98.22, Z:19.60 [[ 9.75348967e-01 -2.18160782e-01 -3.31702644e-02 1.51459717e+02] [ 2.18000016e-01 9.75912335e-01 -8.43248914e-03 9.82175148e+01] [ 3.42109086e-02 9.93501402e-04 9.99414142e-01 1.96026122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68687500000004 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:151.49, Y:98.22, Z:19.60 [[ 9.75232631e-01 -2.18682689e-01 -3.31541322e-02 1.51487653e+02] [ 2.18519525e-01 9.75795453e-01 -8.51182918e-03 9.82243973e+01] [ 3.42130412e-02 1.05618834e-03 9.99414004e-01 1.95984321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.716875 meters Centerline goodness : 0.996736 Centerline is valid? [True, True] Translation: X:151.54, Y:98.22, Z:19.61 [[ 9.77808677e-01 -2.06863312e-01 -3.31324732e-02 1.51537470e+02] [ 2.06689745e-01 9.78368580e-01 -8.61807382e-03 9.82166549e+01] [ 3.41985341e-02 1.57868492e-03 9.99413812e-01 1.96089429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.746875 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:151.54, Y:98.24, Z:19.60 [[ 9.74178682e-01 -2.23278224e-01 -3.35071794e-02 1.51541840e+02] [ 2.23177601e-01 9.74754349e-01 -6.76149444e-03 9.82355220e+01] [ 3.41709633e-02 -8.91148159e-04 9.99415605e-01 1.96002228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.776875 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:151.57, Y:98.24, Z:19.61 [[ 9.73286911e-01 -2.27190556e-01 -3.31215956e-02 1.51570075e+02] [ 2.27027140e-01 9.73849895e-01 -8.66368494e-03 9.82419622e+01] [ 3.42237698e-02 9.12750041e-04 9.99413778e-01 1.96055754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.806875 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:151.60, Y:98.25, Z:19.61 [[ 9.73604205e-01 -2.25827927e-01 -3.31149549e-02 1.51600691e+02] [ 2.25662610e-01 9.74166700e-01 -8.69639366e-03 9.82475692e+01] [ 3.42233749e-02 9.94038288e-04 9.99413714e-01 1.96072527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.836875 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:151.63, Y:98.25, Z:19.61 [[ 9.73325075e-01 -2.27024405e-01 -3.31393894e-02 1.51630544e+02] [ 2.26863877e-01 9.73888717e-01 -8.57607609e-03 9.82542680e+01] [ 3.42210560e-02 8.29179543e-04 9.99413944e-01 1.96083971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.866875 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:151.68, Y:98.24, Z:19.62 [[ 9.77024318e-01 -2.10535300e-01 -3.31416512e-02 1.51683872e+02] [ 2.10365641e-01 9.77585259e-01 -8.56501662e-03 9.82448531e+01] [ 3.42020280e-02 1.39636484e-03 9.99413964e-01 1.96174845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.896875 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:151.71, Y:98.25, Z:19.61 [[ 9.77339153e-01 -2.09005576e-01 -3.35387624e-02 1.51709099e+02] [ 2.08901991e-01 9.77914292e-01 -6.60268321e-03 9.82527152e+01] [ 3.41780327e-02 -5.53253412e-04 9.99415607e-01 1.96141226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.926875 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:151.74, Y:98.26, Z:19.62 [[ 9.77681221e-01 -2.07405785e-01 -3.35003058e-02 1.51736383e+02] [ 2.07294756e-01 9.78254950e-01 -6.79235662e-03 9.82591518e+01] [ 3.41806141e-02 -3.03678207e-04 9.99415626e-01 1.96154292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.956875 meters Centerline goodness : 0.996391 Centerline is valid? [True, True] Translation: X:151.77, Y:98.26, Z:19.62 [[ 9.78279986e-01 -2.04563260e-01 -3.34983883e-02 1.51765715e+02] [ 2.04450241e-01 9.78853326e-01 -6.80180022e-03 9.82649656e+01] [ 3.41814073e-02 -1.94688524e-04 9.99415626e-01 1.96194433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.986875 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:151.79, Y:98.27, Z:19.62 [[ 9.78515715e-01 -2.03429871e-01 -3.35154188e-02 1.51792312e+02] [ 2.03319057e-01 9.79089490e-01 -6.71796318e-03 9.82725277e+01] [ 3.41812287e-02 -2.40690829e-04 9.99415622e-01 1.96165449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.016875 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:151.82, Y:98.28, Z:19.62 [[ 9.78987696e-01 -2.01149466e-01 -3.34960278e-02 1.51819857e+02] [ 2.01034054e-01 9.79560559e-01 -6.81329562e-03 9.82792203e+01] [ 3.41818785e-02 -6.37096814e-05 9.99415627e-01 1.96169776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.046875 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:151.83, Y:98.30, Z:19.61 [[ 9.77463094e-01 -2.08432347e-01 -3.34941224e-02 1.51828096e+02] [ 2.08320882e-01 9.78036738e-01 -6.82264993e-03 9.82996196e+01] [ 3.41805431e-02 -3.08636599e-04 9.99415627e-01 1.96063544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.07687500000003 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:151.88, Y:98.29, Z:19.62 [[ 9.80538372e-01 -1.93503346e-01 -3.31806673e-02 1.51876089e+02] [ 1.93331238e-01 9.81098014e-01 -8.34979818e-03 9.82935172e+01] [ 3.41692007e-02 1.77243803e-03 9.99414491e-01 1.96164898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.106875 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:151.90, Y:98.30, Z:19.62 [[ 9.81019810e-01 -1.90993085e-01 -3.34928918e-02 1.51902145e+02] [ 1.90871660e-01 9.81591338e-01 -6.81571617e-03 9.82990379e+01] [ 3.41780871e-02 2.93508731e-04 9.99415715e-01 1.96173258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.13687500000003 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:151.91, Y:98.32, Z:19.61 [[ 9.78036044e-01 -2.05727609e-01 -3.34910168e-02 1.51906409e+02] [ 2.05614480e-01 9.78609272e-01 -6.82491694e-03 9.83202565e+01] [ 3.41786934e-02 -2.11223233e-04 9.99415715e-01 1.96123129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.166875 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:151.94, Y:98.32, Z:19.61 [[ 9.79470418e-01 -1.98848521e-01 -3.31204747e-02 1.51939430e+02] [ 1.98669963e-01 9.80028446e-01 -8.63078625e-03 9.83237889e+01] [ 3.41752265e-02 1.87355633e-03 9.99414100e-01 1.96129562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.19687500000003 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:151.97, Y:98.33, Z:19.61 [[ 9.80341163e-01 -1.94497770e-01 -3.31936876e-02 1.51965489e+02] [ 1.94328895e-01 9.80901559e-01 -8.27119999e-03 9.83294807e+01] [ 3.41684699e-02 1.65810519e-03 9.99414712e-01 1.96085243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.226875 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:152.00, Y:98.33, Z:19.62 [[ 9.80570310e-01 -1.93345493e-01 -3.31570116e-02 1.51998506e+02] [ 1.93169879e-01 9.81128931e-01 -8.45097283e-03 9.83334340e+01] [ 3.41652608e-02 1.88183715e-03 9.99414425e-01 1.96160776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.25687500000004 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:152.03, Y:98.34, Z:19.61 [[ 9.81207459e-01 -1.90072023e-01 -3.32347641e-02 1.52025147e+02] [ 1.89907423e-01 9.81768834e-01 -8.07009664e-03 9.83393717e+01] [ 3.41627552e-02 1.60691058e-03 9.99414991e-01 1.96128014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.286875 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:152.05, Y:98.34, Z:19.62 [[ 9.81237025e-01 -1.89923259e-01 -3.32122811e-02 1.52053165e+02] [ 1.89754821e-01 9.81797423e-01 -8.18102043e-03 9.83446743e+01] [ 3.41614981e-02 1.72532970e-03 9.99414836e-01 1.96184946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31687500000004 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:152.08, Y:98.35, Z:19.62 [[ 9.81733443e-01 -1.87336751e-01 -3.32323582e-02 1.52082730e+02] [ 1.87170197e-01 9.82294255e-01 -8.08164838e-03 9.83495678e+01] [ 3.41579443e-02 1.71391747e-03 9.99414978e-01 1.96205885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.346875 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:152.13, Y:98.35, Z:19.63 [[ 9.84192797e-01 -1.73950974e-01 -3.32505154e-02 1.52126219e+02] [ 1.73779825e-01 9.84752102e-01 -7.99190073e-03 9.83456835e+01] [ 3.41337138e-02 2.08730239e-03 9.99415095e-01 1.96256200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37687500000004 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:152.13, Y:98.36, Z:19.62 [[ 9.81605146e-01 -1.87959736e-01 -3.35033586e-02 1.52134049e+02] [ 1.87839332e-01 9.82176683e-01 -6.73410324e-03 9.83646096e+01] [ 3.41719579e-02 3.16981868e-04 9.99415918e-01 1.96196310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.406875 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:152.16, Y:98.37, Z:19.62 [[ 9.82550652e-01 -1.83002050e-01 -3.32334947e-02 1.52163160e+02] [ 1.82832734e-01 9.83110748e-01 -8.09002508e-03 9.83674242e+01] [ 3.41526970e-02 1.87268872e-03 9.99414872e-01 1.96214199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43687500000004 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:152.21, Y:98.36, Z:19.63 [[ 9.85095059e-01 -1.68765756e-01 -3.32542418e-02 1.52208524e+02] [ 1.68591862e-01 9.85653595e-01 -7.98586078e-03 9.83603933e+01] [ 3.41249028e-02 2.26043746e-03 9.99415020e-01 1.96276209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.466875 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:152.21, Y:98.38, Z:19.62 [[ 9.82367971e-01 -1.83927715e-01 -3.35226071e-02 1.52214579e+02] [ 1.83808555e-01 9.82939710e-01 -6.62889452e-03 9.83789088e+01] [ 3.41699391e-02 3.50271694e-04 9.99415976e-01 1.96209046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.496875 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:152.27, Y:98.37, Z:19.63 [[ 9.85300043e-01 -1.67576858e-01 -3.31937054e-02 1.52265191e+02] [ 1.67392396e-01 9.85855581e-01 -8.28006575e-03 9.83698723e+01] [ 3.41117471e-02 2.60197528e-03 9.99414638e-01 1.96287304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.526875 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:152.29, Y:98.37, Z:19.63 [[ 9.85297345e-01 -1.67527257e-01 -3.35225391e-02 1.52293405e+02] [ 1.67399108e-01 9.85867029e-01 -6.61353549e-03 9.83746201e+01] [ 3.41567135e-02 9.04655813e-04 9.99416080e-01 1.96299888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.556875 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:152.30, Y:98.39, Z:19.62 [[ 9.82787845e-01 -1.81671149e-01 -3.35208348e-02 1.52304977e+02] [ 1.81550907e-01 9.83359250e-01 -6.62216222e-03 9.83902927e+01] [ 3.41660788e-02 4.22442575e-04 9.99416080e-01 1.96225017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.586875 meters Centerline goodness : 0.996749 Centerline is valid? [True, True] Translation: X:152.35, Y:98.38, Z:19.63 [[ 9.85326343e-01 -1.67408455e-01 -3.32626895e-02 1.52350017e+02] [ 1.67235879e-01 9.85885069e-01 -7.92414517e-03 9.83827646e+01] [ 3.41197578e-02 2.24515385e-03 9.99415230e-01 1.96313337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.616875 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:152.36, Y:98.40, Z:19.62 [[ 9.82939959e-01 -1.80845748e-01 -3.35239026e-02 1.52363330e+02] [ 1.80725889e-01 9.83511380e-01 -6.59687919e-03 9.83994487e+01] [ 3.41641572e-02 4.25699058e-04 9.99416144e-01 1.96234788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.646875 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:152.39, Y:98.41, Z:19.62 [[ 9.83398672e-01 -1.78376865e-01 -3.32978441e-02 1.52389152e+02] [ 1.78216676e-01 9.83960809e-01 -7.74230889e-03 9.84054429e+01] [ 3.41448224e-02 1.67954521e-03 9.99415484e-01 1.96207547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.676875 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:152.42, Y:98.41, Z:19.62 [[ 9.83614973e-01 -1.77186718e-01 -3.32633760e-02 1.52415026e+02] [ 1.77019882e-01 9.84175418e-01 -7.91877901e-03 9.84096972e+01] [ 3.41400994e-02 1.90075071e-03 9.99415249e-01 1.96222149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.706875 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:152.44, Y:98.41, Z:19.62 [[ 9.83789029e-01 -1.76217062e-01 -3.32670095e-02 1.52441125e+02] [ 1.76050309e-01 9.84349470e-01 -7.89997812e-03 9.84144027e+01] [ 3.41384741e-02 1.91524450e-03 9.99415277e-01 1.96232925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.736875 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:152.47, Y:98.42, Z:19.62 [[ 9.83477667e-01 -1.77952003e-01 -3.32379643e-02 1.52473127e+02] [ 1.77781166e-01 9.84037119e-01 -8.05014272e-03 9.84189297e+01] [ 3.41399297e-02 2.00805154e-03 9.99415045e-01 1.96237210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.766875 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:152.50, Y:98.42, Z:19.63 [[ 9.83452788e-01 -1.78085814e-01 -3.32574303e-02 1.52501160e+02] [ 1.77918423e-01 9.84013123e-01 -7.95037573e-03 9.84231730e+01] [ 3.41415970e-02 1.90170963e-03 9.99415196e-01 1.96259908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.796875 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:152.53, Y:98.43, Z:19.63 [[ 9.83514837e-01 -1.77734012e-01 -3.33044474e-02 1.52526931e+02] [ 1.77574706e-01 9.84077157e-01 -7.70538934e-03 9.84255587e+01] [ 3.41436557e-02 1.66433729e-03 9.99415550e-01 1.96301997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.82687500000003 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:152.55, Y:98.43, Z:19.63 [[ 9.83341040e-01 -1.78696247e-01 -3.32874049e-02 1.52554371e+02] [ 1.78534474e-01 9.83902783e-01 -7.79452241e-03 9.84300541e+01] [ 3.41444222e-02 1.72172445e-03 9.99415426e-01 1.96318874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.856875 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:152.58, Y:98.44, Z:19.63 [[ 9.82851399e-01 -1.81371463e-01 -3.32794122e-02 1.52584933e+02] [ 1.81209800e-01 9.83413239e-01 -7.83644480e-03 9.84357459e+01] [ 3.41487220e-02 1.67150509e-03 9.99415365e-01 1.96320542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.88687500000003 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:152.61, Y:98.44, Z:19.63 [[ 9.82541266e-01 -1.83043469e-01 -3.32828774e-02 1.52613261e+02] [ 1.82883372e-01 9.83103527e-01 -7.81844008e-03 9.84404026e+01] [ 3.41516285e-02 1.59505516e-03 9.99415390e-01 1.96327054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.916875 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:152.64, Y:98.45, Z:19.63 [[ 9.81708006e-01 -1.87457702e-01 -3.33016583e-02 1.52639303e+02] [ 1.87303476e-01 9.82271760e-01 -7.71990026e-03 9.84450087e+01] [ 3.41584333e-02 1.34117154e-03 9.99415531e-01 1.96339267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.94687500000003 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:152.67, Y:98.45, Z:19.64 [[ 9.81745225e-01 -1.87262590e-01 -3.33021994e-02 1.52666966e+02] [ 1.87108349e-01 9.82308970e-01 -7.71703567e-03 9.84497047e+01] [ 3.41581612e-02 1.34504339e-03 9.99415535e-01 1.96358976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.976875 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:152.69, Y:98.46, Z:19.64 [[ 9.81156713e-01 -1.90322269e-01 -3.33007206e-02 1.52693472e+02] [ 1.90169520e-01 9.81720877e-01 -7.72487242e-03 9.84553720e+01] [ 3.41622279e-02 1.24652839e-03 9.99415523e-01 1.96353443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.00687500000004 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:152.72, Y:98.46, Z:19.64 [[ 9.80632081e-01 -1.93012016e-01 -3.32728747e-02 1.52722027e+02] [ 1.92855783e-01 9.81195527e-01 -7.87305122e-03 9.84602466e+01] [ 3.41667893e-02 1.30370029e-03 9.99415295e-01 1.96369484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.036875 meters Centerline goodness : 0.996236 Centerline is valid? [True, True] Translation: X:152.77, Y:98.45, Z:19.65 [[ 9.82269297e-01 -1.84497993e-01 -3.32794115e-02 1.52768516e+02] [ 1.84338053e-01 9.82831645e-01 -7.83836246e-03 9.84528590e+01] [ 3.41542209e-02 1.56472086e-03 9.99415350e-01 1.96478338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06687500000004 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:152.78, Y:98.47, Z:19.64 [[ 9.79243051e-01 -1.99889817e-01 -3.35724203e-02 1.52776835e+02] [ 1.99792277e-01 9.79818217e-01 -6.26959666e-03 9.84701416e+01] [ 3.41480976e-02 -5.68051339e-04 9.99416622e-01 1.96374524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.096875 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:152.83, Y:98.46, Z:19.65 [[ 9.80529857e-01 -1.93529435e-01 -3.32799840e-02 1.52825688e+02] [ 1.93374963e-01 9.81093683e-01 -7.82997234e-03 9.84628671e+01] [ 3.41661122e-02 1.24200596e-03 9.99415396e-01 1.96489784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12687500000004 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:152.85, Y:98.47, Z:19.65 [[ 9.79888521e-01 -1.96700555e-01 -3.35764642e-02 1.52852861e+02] [ 1.96602389e-01 9.80463487e-01 -6.23315364e-03 9.84682314e+01] [ 3.41465619e-02 -4.93417379e-04 9.99416714e-01 1.96513364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.156875 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:152.88, Y:98.47, Z:19.65 [[ 9.79382721e-01 -1.99203973e-01 -3.35747406e-02 1.52879817e+02] [ 1.99106960e-01 9.79957882e-01 -6.24242379e-03 9.84741684e+01] [ 3.41453473e-02 -5.71242524e-04 9.99416714e-01 1.96514590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18687500000004 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:152.91, Y:98.48, Z:19.65 [[ 9.78852633e-01 -2.01792813e-01 -3.35735662e-02 1.52906849e+02] [ 2.01697104e-01 9.79428013e-01 -6.24873386e-03 9.84807545e+01] [ 3.41438408e-02 -6.55101475e-04 9.99416714e-01 1.96521279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.216875 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:152.93, Y:98.49, Z:19.65 [[ 9.78454078e-01 -2.03716830e-01 -3.35718643e-02 1.52934195e+02] [ 2.03621939e-01 9.79029594e-01 -6.25786426e-03 9.84882045e+01] [ 3.41426809e-02 -7.12935300e-04 9.99416714e-01 1.96528204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.246875 meters Centerline goodness : 0.996884 Centerline is valid? [True, True] Translation: X:152.96, Y:98.49, Z:19.65 [[ 9.78383770e-01 -2.04054510e-01 -3.35701515e-02 1.52960290e+02] [ 2.03959504e-01 9.78959266e-01 -6.26703865e-03 9.84943745e+01] [ 3.41426284e-02 -7.15382537e-04 9.99416714e-01 1.96537000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.276875 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:152.99, Y:98.50, Z:19.65 [[ 9.78359470e-01 -2.04171110e-01 -3.35694107e-02 1.52988070e+02] [ 2.04076036e-01 9.78934955e-01 -6.27100432e-03 9.85013652e+01] [ 3.41426275e-02 -7.15415821e-04 9.99416714e-01 1.96547723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.306875 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:153.01, Y:98.51, Z:19.65 [[ 9.78883005e-01 -2.01646405e-01 -3.35676889e-02 1.53013432e+02] [ 2.01549532e-01 9.79458190e-01 -6.28020745e-03 9.85104489e+01] [ 3.41445291e-02 -6.17963637e-04 9.99416715e-01 1.96541352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.336875 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:153.04, Y:98.52, Z:19.65 [[ 9.79353408e-01 -1.99349350e-01 -3.35669387e-02 1.53039206e+02] [ 1.99250989e-01 9.79928340e-01 -6.28421451e-03 9.85173619e+01] [ 3.41459486e-02 -5.33778851e-04 9.99416715e-01 1.96547814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.366875 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:153.04, Y:98.54, Z:19.65 [[ 9.76728962e-01 -2.11834476e-01 -3.35662059e-02 1.53042676e+02] [ 2.11743329e-01 9.77305081e-01 -6.28812629e-03 9.85380028e+01] [ 3.41364655e-02 -9.65625116e-04 9.99416715e-01 1.96456971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.396875 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:153.07, Y:98.55, Z:19.65 [[ 9.77400566e-01 -2.08773027e-01 -3.31957467e-02 1.53074189e+02] [ 2.08613265e-01 9.77963466e-01 -8.24410759e-03 9.85453133e+01] [ 3.41853748e-02 1.13272230e-03 9.99414867e-01 1.96452654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.426875 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:153.10, Y:98.55, Z:19.65 [[ 9.77874315e-01 -2.06539534e-01 -3.32151453e-02 1.53098875e+02] [ 2.06381974e-01 9.78437631e-01 -8.14150921e-03 9.85543715e+01] [ 3.41804916e-02 1.10636548e-03 9.99415064e-01 1.96451972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.456875 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:153.15, Y:98.55, Z:19.66 [[ 9.82298254e-01 -1.84365602e-01 -3.31581952e-02 1.53152819e+02] [ 1.84185190e-01 9.82855305e-01 -8.44193995e-03 9.85470360e+01] [ 3.41461113e-02 2.18525440e-03 9.99414462e-01 1.96565356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.486875 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:153.16, Y:98.57, Z:19.65 [[ 9.80398151e-01 -1.94146897e-01 -3.35626134e-02 1.53159483e+02] [ 1.94045574e-01 9.80972404e-01 -6.28156918e-03 9.85660972e+01] [ 3.41435448e-02 -3.54237801e-04 9.99416876e-01 1.96485135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.516875 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:153.18, Y:98.57, Z:19.65 [[ 9.80948199e-01 -1.91391593e-01 -3.33150003e-02 1.53181695e+02] [ 1.91242797e-01 9.81513131e-01 -7.62674317e-03 9.85731203e+01] [ 3.41588048e-02 1.11018614e-03 9.99415801e-01 1.96479867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.546875 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:153.21, Y:98.58, Z:19.65 [[ 9.81118305e-01 -1.90533382e-01 -3.32250196e-02 1.53209173e+02] [ 1.90367437e-01 9.81679348e-01 -8.11764314e-03 9.85779207e+01] [ 3.41629976e-02 1.63940644e-03 9.99414930e-01 1.96486970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.57687500000003 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:153.26, Y:98.57, Z:19.66 [[ 9.84315689e-01 -1.73260517e-01 -3.32177314e-02 1.53260436e+02] [ 1.73083396e-01 9.84873390e-01 -8.15739639e-03 9.85688958e+01] [ 3.41286145e-02 2.28001548e-03 9.99414848e-01 1.96600700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.606875 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:153.29, Y:98.57, Z:19.66 [[ 9.84592047e-01 -1.71609964e-01 -3.35934811e-02 1.53286828e+02] [ 1.71502284e-01 9.85164945e-01 -6.08260185e-03 9.85739841e+01] [ 3.41389551e-02 2.27522654e-04 9.99417070e-01 1.96613342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.63687500000003 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:153.31, Y:98.58, Z:19.66 [[ 9.85025982e-01 -1.69101575e-01 -3.35927552e-02 1.53313678e+02] [ 1.68992300e-01 9.85598577e-01 -6.08660839e-03 9.85801803e+01] [ 3.41382268e-02 3.18550450e-04 9.99417070e-01 1.96620857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.666875 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:153.34, Y:98.59, Z:19.66 [[ 9.85180597e-01 -1.68198555e-01 -3.35922381e-02 1.53341592e+02] [ 1.68088657e-01 9.85753073e-01 -6.08946121e-03 9.85860309e+01] [ 3.41378905e-02 3.52744841e-04 9.99417070e-01 1.96644304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.69687500000003 meters Centerline goodness : 0.996832 Centerline is valid? [True, True] Translation: X:153.34, Y:98.61, Z:19.65 [[ 9.82882115e-01 -1.81147525e-01 -3.35904967e-02 1.53344287e+02] [ 1.81044842e-01 9.83455930e-01 -6.09905162e-03 9.86057351e+01] [ 3.41396013e-02 -8.67374276e-05 9.99417070e-01 1.96531003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.726875 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:153.40, Y:98.60, Z:19.66 [[ 9.85808836e-01 -1.64544831e-01 -3.32556397e-02 1.53396961e+02] [ 1.64370329e-01 9.86366795e-01 -7.93354911e-03 9.85966440e+01] [ 3.41076832e-02 2.35472239e-03 9.99415390e-01 1.96644934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.75687500000004 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:153.40, Y:98.62, Z:19.65 [[ 9.83402221e-01 -1.78301799e-01 -3.35937479e-02 1.53399785e+02] [ 1.78198810e-01 9.83975847e-01 -6.05940216e-03 9.86160094e+01] [ 3.41358389e-02 -2.75363663e-05 9.99417202e-01 1.96546619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.786875 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:153.45, Y:98.61, Z:19.67 [[ 9.86205334e-01 -1.62155268e-01 -3.32371600e-02 1.53453383e+02] [ 1.61976568e-01 9.86762027e-01 -8.01831367e-03 9.86057640e+01] [ 3.40973792e-02 2.52406260e-03 9.99415328e-01 1.96659397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81687500000004 meters Centerline goodness : 0.996942 Centerline is valid? [True, True] Translation: X:153.48, Y:98.61, Z:19.67 [[ 9.86417662e-01 -1.60784611e-01 -3.35932209e-02 1.53481473e+02] [ 1.60672183e-01 9.86989360e-01 -6.03757180e-03 9.86101484e+01] [ 3.41269002e-02 5.58071340e-04 9.99417352e-01 1.96689757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.846875 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:153.51, Y:98.62, Z:19.67 [[ 9.86364481e-01 -1.61110901e-01 -3.35914971e-02 1.53507819e+02] [ 1.60998335e-01 9.86936152e-01 -6.04714705e-03 9.86152016e+01] [ 3.41269242e-02 5.56515946e-04 9.99417352e-01 1.96695941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87687500000004 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:153.53, Y:98.62, Z:19.67 [[ 9.86349950e-01 -1.61199994e-01 -3.35907484e-02 1.53534564e+02] [ 1.61087339e-01 9.86921603e-01 -6.05130308e-03 9.86199313e+01] [ 3.41269053e-02 5.57658225e-04 9.99417352e-01 1.96690903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.906875 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:153.54, Y:98.64, Z:19.66 [[ 9.83789224e-01 -1.76154864e-01 -3.35890843e-02 1.53537429e+02] [ 1.76050585e-01 9.84362464e-01 -6.06052634e-03 9.86407141e+01] [ 3.41314250e-02 4.89025640e-05 9.99417352e-01 1.96582199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93687500000004 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:153.59, Y:98.63, Z:19.67 [[ 9.86631769e-01 -1.59532239e-01 -3.32748758e-02 1.53590641e+02] [ 1.59358806e-01 9.87189776e-01 -7.81773570e-03 9.86279242e+01] [ 3.40957981e-02 2.41058192e-03 9.99415662e-01 1.96713605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.966875 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:153.60, Y:98.65, Z:19.66 [[ 9.84255659e-01 -1.73526235e-01 -3.36072059e-02 1.53597906e+02] [ 1.73424647e-01 9.84829247e-01 -5.93684411e-03 9.86461091e+01] [ 3.41275575e-02 1.50545862e-05 9.99417485e-01 1.96626246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.996875 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:153.65, Y:98.64, Z:19.67 [[ 9.86048393e-01 -1.63091737e-01 -3.33114522e-02 1.53646430e+02] [ 1.62927973e-01 9.86608763e-01 -7.59111548e-03 9.86369717e+01] [ 3.41034188e-02 2.05783984e-03 9.99416191e-01 1.96737702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.026875 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:153.65, Y:98.65, Z:19.67 [[ 9.84005146e-01 -1.74942028e-01 -3.36029568e-02 1.53654201e+02] [ 1.74841048e-01 9.84578735e-01 -5.94322477e-03 9.86541288e+01] [ 3.41244765e-02 -2.70123985e-05 9.99417590e-01 1.96658875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.056875 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:153.70, Y:98.65, Z:19.68 [[ 9.85887719e-01 -1.64054544e-01 -3.33393368e-02 1.53703255e+02] [ 1.63896946e-01 9.86449523e-01 -7.42489120e-03 9.86454827e+01] [ 3.41056601e-02 1.85589358e-03 9.99416510e-01 1.96757082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.086875 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:153.73, Y:98.65, Z:19.68 [[ 9.85776525e-01 -1.64667552e-01 -3.36041629e-02 1.53730791e+02] [ 1.64561301e-01 9.86349077e-01 -5.92250184e-03 9.86496008e+01] [ 3.41206790e-02 3.08318523e-04 9.99417673e-01 1.96770770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.116875 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:153.74, Y:98.67, Z:19.67 [[ 9.83459470e-01 -1.77984099e-01 -3.36025573e-02 1.53737052e+02] [ 1.77885290e-01 9.84033353e-01 -5.93159769e-03 9.86658889e+01] [ 3.41217672e-02 -1.43914715e-04 9.99417673e-01 1.96713041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.146875 meters Centerline goodness : 0.996695 Centerline is valid? [True, True] Translation: X:153.77, Y:98.67, Z:19.67 [[ 9.82927771e-01 -1.80950457e-01 -3.33155977e-02 1.53767073e+02] [ 1.80798130e-01 9.83491213e-01 -7.55447960e-03 9.86717959e+01] [ 3.41325841e-02 1.40211003e-03 9.99416330e-01 1.96695487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.176875 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:153.82, Y:98.66, Z:19.68 [[ 9.84481818e-01 -1.72302135e-01 -3.32794963e-02 1.53816751e+02] [ 1.72138145e-01 9.85042308e-01 -7.75308263e-03 9.86632798e+01] [ 3.41175845e-02 1.90409813e-03 9.99416012e-01 1.96778630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.206875 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:153.85, Y:98.67, Z:19.68 [[ 9.84118601e-01 -1.74305698e-01 -3.35872433e-02 1.53846159e+02] [ 1.74200945e-01 9.84691583e-01 -6.04286503e-03 9.86675137e+01] [ 3.41263816e-02 9.59663532e-05 9.99417521e-01 1.96797745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.236875 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:153.85, Y:98.69, Z:19.67 [[ 9.81614161e-01 -1.87895262e-01 -3.36007245e-02 1.53849870e+02] [ 1.87801000e-01 9.82188967e-01 -5.96809818e-03 9.86852243e+01] [ 3.41236382e-02 -4.51879959e-04 9.99417517e-01 1.96716914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.266875 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:153.86, Y:98.70, Z:19.67 [[ 9.79626551e-01 -1.98048523e-01 -3.32957044e-02 1.53859437e+02] [ 1.97901705e-01 9.80191770e-01 -7.68171790e-03 9.86988948e+01] [ 3.41575283e-02 9.35938159e-04 9.99416023e-01 1.96660214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.296875 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:153.93, Y:98.68, Z:19.68 [[ 9.84694386e-01 -1.71137668e-01 -3.29979635e-02 1.53928097e+02] [ 1.70919860e-01 9.85240729e-01 -9.33312447e-03 9.86787765e+01] [ 3.41081868e-02 3.55026794e-03 9.99411841e-01 1.96819719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.32687500000003 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:153.95, Y:98.68, Z:19.68 [[ 9.84676948e-01 -1.71120981e-01 -3.35993684e-02 1.53954521e+02] [ 1.71018488e-01 9.85250020e-01 -5.92233325e-03 9.86824771e+01] [ 3.41172139e-02 8.54718439e-05 9.99417835e-01 1.96846682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.356875 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:153.98, Y:98.69, Z:19.69 [[ 9.84642049e-01 -1.71321894e-01 -3.35982685e-02 1.53981768e+02] [ 1.71219306e-01 9.85215104e-01 -5.92856664e-03 9.86873501e+01] [ 3.41172148e-02 8.48437851e-05 9.99417835e-01 1.96860123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.38687500000003 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:154.01, Y:98.69, Z:19.69 [[ 9.84616727e-01 -1.71467676e-01 -3.35966790e-02 1.54008185e+02] [ 1.71364866e-01 9.85189742e-01 -5.93756059e-03 9.86925699e+01] [ 3.41172032e-02 8.89310865e-05 9.99417835e-01 1.96864547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.416875 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:154.04, Y:98.70, Z:19.69 [[ 9.84584652e-01 -1.71651892e-01 -3.35959892e-02 1.54035365e+02] [ 1.71549056e-01 9.85157663e-01 -5.94146095e-03 9.86979474e+01] [ 3.41172092e-02 8.65110345e-05 9.99417835e-01 1.96871316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.44687500000003 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:154.06, Y:98.70, Z:19.69 [[ 9.84473117e-01 -1.72290741e-01 -3.35943726e-02 1.54063442e+02] [ 1.72187966e-01 9.85046139e-01 -5.95058779e-03 9.87031885e+01] [ 3.41172381e-02 7.36470499e-05 9.99417835e-01 1.96873283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.476875 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:154.09, Y:98.71, Z:19.69 [[ 9.84406268e-01 -1.72672598e-01 -3.35927610e-02 1.54090939e+02] [ 1.72569735e-01 9.84979273e-01 -5.95967141e-03 9.87080828e+01] [ 3.41172453e-02 6.96440278e-05 9.99417835e-01 1.96883805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.50687500000004 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:154.12, Y:98.71, Z:19.69 [[ 9.84295936e-01 -1.73300746e-01 -3.35910850e-02 1.54117995e+02] [ 1.73197926e-01 9.84868950e-01 -5.96910306e-03 9.87125834e+01] [ 3.41172667e-02 5.74576082e-05 9.99417835e-01 1.96881755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.536875 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:154.15, Y:98.72, Z:19.69 [[ 9.84227585e-01 -1.73688617e-01 -3.35905678e-02 1.54145749e+02] [ 1.73585924e-01 9.84800621e-01 -5.97201262e-03 9.87174843e+01] [ 3.41172826e-02 4.69698179e-05 9.99417835e-01 1.96887074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56687500000004 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:154.17, Y:98.72, Z:19.69 [[ 9.84249047e-01 -1.73567274e-01 -3.35889061e-02 1.54173113e+02] [ 1.73464191e-01 9.84822013e-01 -5.98134363e-03 9.87221354e+01] [ 3.41172597e-02 6.06593227e-05 9.99417835e-01 1.96888447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.596875 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:154.20, Y:98.73, Z:19.69 [[ 9.84290504e-01 -1.73332342e-01 -3.35872543e-02 1.54199988e+02] [ 1.73228807e-01 9.84863388e-01 -5.99060502e-03 9.87268312e+01] [ 3.41172226e-02 7.82156417e-05 9.99417835e-01 1.96890365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62687500000004 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:154.23, Y:98.73, Z:19.69 [[ 9.84373042e-01 -1.72863121e-01 -3.35865390e-02 1.54226489e+02] [ 1.72759176e-01 9.84945852e-01 -5.99461243e-03 9.87312087e+01] [ 3.41171697e-02 9.85520617e-05 9.99417835e-01 1.96893767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.656875 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:154.23, Y:98.75, Z:19.68 [[ 9.82084067e-01 -1.85426203e-01 -3.35858316e-02 1.54233180e+02] [ 1.85329450e-01 9.82658136e-01 -5.99857335e-03 9.87495071e+01] [ 3.41156833e-02 -3.33340393e-04 9.99417835e-01 1.96792493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68687500000004 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:154.26, Y:98.75, Z:19.68 [[ 9.82428412e-01 -1.83646956e-01 -3.32897876e-02 1.54262028e+02] [ 1.83493107e-01 9.82991266e-01 -7.64535555e-03 9.87538472e+01] [ 3.41276167e-02 1.40256796e-03 9.99416499e-01 1.96798846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.716875 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:154.29, Y:98.76, Z:19.68 [[ 9.82672462e-01 -1.82336888e-01 -3.32880157e-02 1.54288419e+02] [ 1.82181953e-01 9.83235034e-01 -7.65525010e-03 9.87581196e+01] [ 3.41257778e-02 1.45812773e-03 9.99416482e-01 1.96797834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.746875 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:154.32, Y:98.76, Z:19.68 [[ 9.82783918e-01 -1.81738642e-01 -3.32691623e-02 1.54315909e+02] [ 1.81579786e-01 9.83345590e-01 -7.76090986e-03 9.87627605e+01] [ 3.41255412e-02 1.58629003e-03 9.99416295e-01 1.96799254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.776875 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:154.37, Y:98.75, Z:19.69 [[ 9.85537557e-01 -1.66160780e-01 -3.32613857e-02 1.54367362e+02] [ 1.65991596e-01 9.86096286e-01 -7.80414287e-03 9.87520126e+01] [ 3.40956714e-02 2.17016540e-03 9.99416217e-01 1.96921816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.806875 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:154.37, Y:98.77, Z:19.68 [[ 9.83181090e-01 -1.79518419e-01 -3.35869324e-02 1.54372952e+02] [ 1.79419046e-01 9.83754601e-01 -5.97428194e-03 9.87690051e+01] [ 3.41137929e-02 -1.52334328e-04 9.99417944e-01 1.96832575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.836875 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:154.40, Y:98.77, Z:19.68 [[ 9.83285473e-01 -1.79007189e-01 -3.32581538e-02 1.54402147e+02] [ 1.78845201e-01 9.83846247e-01 -7.80751292e-03 9.87736622e+01] [ 3.41185107e-02 1.72895284e-03 9.99416299e-01 1.96828395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.866875 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:154.43, Y:98.78, Z:19.68 [[ 9.83426730e-01 -1.78229455e-01 -3.32584984e-02 1.54428839e+02] [ 1.78067088e-01 9.83987391e-01 -7.80557699e-03 9.87784359e+01] [ 3.41171268e-02 1.75396909e-03 9.99416302e-01 1.96842928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.896875 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:154.48, Y:98.77, Z:19.70 [[ 9.86012397e-01 -1.63324812e-01 -3.32349047e-02 1.54480836e+02] [ 1.63149558e-01 9.86569424e-01 -7.93679672e-03 9.87678861e+01] [ 3.40848166e-02 2.40351995e-03 9.99416054e-01 1.96960401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.926875 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:154.51, Y:98.77, Z:19.70 [[ 9.86045949e-01 -1.63050413e-01 -3.35849668e-02 1.54508226e+02] [ 1.62941718e-01 9.86617653e-01 -5.96681963e-03 9.87713910e+01] [ 3.41084136e-02 4.11166136e-04 9.99418054e-01 1.96990218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.956875 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:154.53, Y:98.78, Z:19.70 [[ 9.86055456e-01 -1.62993264e-01 -3.35832460e-02 1.54534684e+02] [ 1.62884206e-01 9.86627091e-01 -5.97648942e-03 9.87758834e+01] [ 3.41082678e-02 4.22969622e-04 9.99418054e-01 1.96985457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.986875 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:154.56, Y:98.78, Z:19.70 [[ 9.86021312e-01 -1.63199841e-01 -3.35825117e-02 1.54562228e+02] [ 1.63090762e-01 9.86592943e-01 -5.98061275e-03 9.87805005e+01] [ 3.41083041e-02 4.20014205e-04 9.99418054e-01 1.96993124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.016875 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:154.59, Y:98.78, Z:19.70 [[ 9.85951664e-01 -1.63620403e-01 -3.35809467e-02 1.54589668e+02] [ 1.63511270e-01 9.86523285e-01 -5.98938745e-03 9.87849361e+01] [ 3.41083718e-02 4.14383291e-04 9.99418054e-01 1.97003959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.046875 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:154.62, Y:98.79, Z:19.70 [[ 9.85953068e-01 -1.63612272e-01 -3.35793288e-02 1.54617108e+02] [ 1.63502825e-01 9.86524630e-01 -5.99844405e-03 9.87891519e+01] [ 3.41082540e-02 4.23869184e-04 9.99418054e-01 1.97015043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.07687500000003 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:154.62, Y:98.81, Z:19.69 [[ 9.83507840e-01 -1.77721329e-01 -3.35776569e-02 1.54621908e+02] [ 1.77619763e-01 9.84080854e-01 -6.00778887e-03 9.88066711e+01] [ 3.41108414e-02 -5.53480008e-05 9.99418054e-01 1.96892548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.106875 meters Centerline goodness : 0.993202 Centerline is valid? [True, True] Translation: X:154.64, Y:98.81, Z:19.69 [[ 9.82891140e-01 -1.81159604e-01 -3.32596501e-02 1.54643802e+02] [ 1.80999651e-01 9.83452357e-01 -7.78378404e-03 9.88147618e+01] [ 3.41193885e-02 1.63062732e-03 9.99416434e-01 1.96860349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.13687500000003 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:154.70, Y:98.80, Z:19.70 [[ 9.86225834e-01 -1.62051772e-01 -3.31334772e-02 1.54703398e+02] [ 1.61857344e-01 9.86777677e-01 -8.48619693e-03 9.87994428e+01] [ 3.40705789e-02 3.00641004e-03 9.99414907e-01 1.97011250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.166875 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:154.73, Y:98.80, Z:19.70 [[ 9.85796104e-01 -1.64554342e-01 -3.35843789e-02 1.54731404e+02] [ 1.64447584e-01 9.86367964e-01 -5.93559090e-03 9.88045228e+01] [ 3.41032827e-02 3.28412402e-04 9.99418260e-01 1.97040476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.19687500000003 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:154.73, Y:98.82, Z:19.69 [[ 9.83099729e-01 -1.79964222e-01 -3.35827664e-02 1.54734661e+02] [ 1.79866118e-01 9.83673137e-01 -5.94470061e-03 9.88196693e+01] [ 3.41042985e-02 -1.96168250e-04 9.99418260e-01 1.96923914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.226875 meters Centerline goodness : 0.991727 Centerline is valid? [True, True] Translation: X:154.77, Y:98.82, Z:19.69 [[ 9.82665614e-01 -1.82385054e-01 -3.32262450e-02 1.54765489e+02] [ 1.82220411e-01 9.83225623e-01 -7.94333208e-03 9.88237601e+01] [ 3.41176405e-02 1.75113929e-03 9.99416290e-01 1.96890656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.25687500000004 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:154.80, Y:98.83, Z:19.70 [[ 9.82398036e-01 -1.83826103e-01 -3.31973243e-02 1.54803624e+02] [ 1.83656882e-01 9.82957014e-01 -8.10294928e-03 9.88286004e+01] [ 3.41210764e-02 1.86340437e-03 9.99415969e-01 1.96982844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.286875 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:154.85, Y:98.82, Z:19.71 [[ 9.84327603e-01 -1.73170352e-01 -3.33346569e-02 1.54849380e+02] [ 1.73020682e-01 9.84890801e-01 -7.34530043e-03 9.88169653e+01] [ 3.41029852e-02 1.46259689e-03 9.99417254e-01 1.97050437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31687500000004 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:154.88, Y:98.82, Z:19.71 [[ 9.84285405e-01 -1.73364708e-01 -3.35696357e-02 1.54876359e+02] [ 1.73259530e-01 9.84857686e-01 -6.03934182e-03 9.88201471e+01] [ 3.41083225e-02 1.28176691e-04 9.99418134e-01 1.97066703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.346875 meters Centerline goodness : 0.991255 Centerline is valid? [True, True] Translation: X:154.89, Y:98.84, Z:19.70 [[ 9.81862743e-01 -1.86597812e-01 -3.35680002e-02 1.54887416e+02] [ 1.86500037e-01 9.82436335e-01 -6.04841874e-03 9.88363336e+01] [ 3.41070448e-02 -3.21716256e-04 9.99418134e-01 1.97036586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37687500000004 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:154.90, Y:98.84, Z:19.70 [[ 9.82040760e-01 -1.85696494e-01 -3.33580186e-02 1.54904159e+02] [ 1.85558358e-01 9.82606740e-01 -7.21731083e-03 9.88428021e+01] [ 3.41180432e-02 8.97834249e-04 9.99417407e-01 1.96950780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.406875 meters Centerline goodness : 0.992034 Centerline is valid? [True, True] Translation: X:154.93, Y:98.85, Z:19.70 [[ 9.82362250e-01 -1.84017750e-01 -3.31945383e-02 1.54934323e+02] [ 1.83847144e-01 9.82921083e-01 -8.14687531e-03 9.88469478e+01] [ 3.41267813e-02 1.90046168e-03 9.99415705e-01 1.96957281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43687500000004 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:154.99, Y:98.84, Z:19.71 [[ 9.84961857e-01 -1.69551941e-01 -3.32005925e-02 1.54990214e+02] [ 1.69374288e-01 9.85518409e-01 -8.11267411e-03 9.88359668e+01] [ 3.40953148e-02 2.36734783e-03 9.99415782e-01 1.97055513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.466875 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:155.02, Y:98.84, Z:19.71 [[ 9.84917029e-01 -1.69734909e-01 -3.35932419e-02 1.55018458e+02] [ 1.69633612e-01 9.85489754e-01 -5.86369298e-03 9.88402752e+01] [ 3.41010691e-02 7.67081059e-05 9.99418386e-01 1.97077246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.496875 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:155.02, Y:98.86, Z:19.70 [[ 9.82626271e-01 -1.82530021e-01 -3.35916955e-02 1.55017236e+02] [ 1.82435879e-01 9.83200215e-01 -5.87253869e-03 9.88623461e+01] [ 3.40992769e-02 -3.57819707e-04 9.99418387e-01 1.96965981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.526875 meters Centerline goodness : 0.990686 Centerline is valid? [True, True] Translation: X:155.04, Y:98.87, Z:19.69 [[ 9.82640287e-01 -1.82518063e-01 -3.32448957e-02 1.55042786e+02] [ 1.82356301e-01 9.83201097e-01 -7.86020487e-03 9.88699519e+01] [ 3.41210473e-02 1.66133776e-03 9.99416327e-01 1.96945177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.556875 meters Centerline goodness : 0.990453 Centerline is valid? [True, True] Translation: X:155.07, Y:98.88, Z:19.69 [[ 9.83012119e-01 -1.80515156e-01 -3.31881479e-02 1.55070136e+02] [ 1.80341180e-01 9.83570039e-01 -8.18767618e-03 9.88756673e+01] [ 3.41208675e-02 2.06339517e-03 9.99415584e-01 1.96947951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.586875 meters Centerline goodness : 0.990602 Centerline is valid? [True, True] Translation: X:155.09, Y:98.88, Z:19.69 [[ 9.83251068e-01 -1.79211553e-01 -3.31746476e-02 1.55094304e+02] [ 1.79034207e-01 9.83808128e-01 -8.26556661e-03 9.88841033e+01] [ 3.41187730e-02 2.18773046e-03 9.99415391e-01 1.96938486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.616875 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:155.13, Y:98.89, Z:19.70 [[ 9.84047352e-01 -1.74796504e-01 -3.31208478e-02 1.55126904e+02] [ 1.74606211e-01 9.84601000e-01 -8.57566261e-03 9.88869269e+01] [ 3.41098157e-02 2.65575235e-03 9.99414562e-01 1.96954831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.646875 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:155.19, Y:98.87, Z:19.71 [[ 9.86978188e-01 -1.57390144e-01 -3.32024029e-02 1.55185201e+02] [ 1.57205971e-01 9.87532595e-01 -8.10282376e-03 9.88724965e+01] [ 3.40637597e-02 2.77769434e-03 9.99415802e-01 1.97080359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.676875 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:155.18, Y:98.89, Z:19.70 [[ 9.84751034e-01 -1.70692216e-01 -3.36090535e-02 1.55184819e+02] [ 1.70596727e-01 9.85324391e-01 -5.70979054e-03 9.88929289e+01] [ 3.40904370e-02 -1.10872395e-04 9.99418746e-01 1.97009041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.706875 meters Centerline goodness : 0.990949 Centerline is valid? [True, True] Translation: X:155.22, Y:98.90, Z:19.70 [[ 9.84986972e-01 -1.69397633e-01 -3.32431443e-02 1.55216935e+02] [ 1.69228688e-01 9.85545532e-01 -7.85205596e-03 9.88981252e+01] [ 3.40927520e-02 2.10847913e-03 9.99416449e-01 1.97011472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.736875 meters Centerline goodness : 0.990288 Centerline is valid? [True, True] Translation: X:155.25, Y:98.90, Z:19.71 [[ 9.85155284e-01 -1.68411724e-01 -3.32649762e-02 1.55252076e+02] [ 1.68246534e-01 9.85714685e-01 -7.72426975e-03 9.88997903e+01] [ 3.40906331e-02 2.01288821e-03 9.99416718e-01 1.97079204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.766875 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:155.28, Y:98.90, Z:19.70 [[ 9.86130616e-01 -1.62583654e-01 -3.33611021e-02 1.55277374e+02] [ 1.62434277e-01 9.86693400e-01 -7.15817659e-03 9.89036397e+01] [ 3.40809818e-02 1.63991058e-03 9.99417729e-01 1.97040433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.796875 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:155.31, Y:98.91, Z:19.70 [[ 9.87156538e-01 -1.56242967e-01 -3.33182465e-02 1.55310664e+02] [ 1.56081482e-01 9.87716389e-01 -7.40987874e-03 9.89055662e+01] [ 3.40667195e-02 2.11434898e-03 9.99417324e-01 1.97046852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.82687500000003 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:155.36, Y:98.90, Z:19.71 [[ 9.88929053e-01 -1.44581236e-01 -3.34005077e-02 1.55355886e+02] [ 1.44429657e-01 9.89490873e-01 -6.91995975e-03 9.88974771e+01] [ 3.40499939e-02 2.01932539e-03 9.99418091e-01 1.97133446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.856875 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:155.37, Y:98.92, Z:19.71 [[ 9.86680109e-01 -1.59160339e-01 -3.36206506e-02 1.55370978e+02] [ 1.59061959e-01 9.87252731e-01 -5.59800579e-03 9.89155687e+01] [ 3.40830597e-02 1.75674418e-04 9.99418988e-01 1.97086115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.88687500000003 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:155.40, Y:98.92, Z:19.71 [[ 9.87723964e-01 -1.52580152e-01 -3.34763924e-02 1.55400309e+02] [ 1.52448505e-01 9.88290267e-01 -6.46538052e-03 9.89164146e+01] [ 3.40708815e-02 1.28258530e-03 9.99418596e-01 1.97131541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.916875 meters Centerline goodness : 0.990800 Centerline is valid? [True, True] Translation: X:155.43, Y:98.92, Z:19.71 [[ 9.87872614e-01 -1.51609716e-01 -3.34991411e-02 1.55427821e+02] [ 1.51482148e-01 9.88439734e-01 -6.32857712e-03 9.89204890e+01] [ 3.40713559e-02 1.17730617e-03 9.99418709e-01 1.97125770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.94687500000003 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:155.46, Y:98.92, Z:19.72 [[ 9.88094899e-01 -1.50154527e-01 -3.34975974e-02 1.55458518e+02] [ 1.50025809e-01 9.88661766e-01 -6.33785958e-03 9.89238408e+01] [ 3.40694521e-02 1.23690257e-03 9.99418702e-01 1.97153529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.976875 meters Centerline goodness : 0.991836 Centerline is valid? [True, True] Translation: X:155.49, Y:98.93, Z:19.72 [[ 9.88236866e-01 -1.49210601e-01 -3.35275060e-02 1.55485846e+02] [ 1.49087435e-01 9.88804842e-01 -6.15809344e-03 9.89274119e+01] [ 3.40710131e-02 1.08712509e-03 9.99418823e-01 1.97168033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.00687500000004 meters Centerline goodness : 0.990707 Centerline is valid? [True, True] Translation: X:155.52, Y:98.93, Z:19.72 [[ 9.88012449e-01 -1.50692335e-01 -3.35144940e-02 1.55521523e+02] [ 1.50567372e-01 9.88580081e-01 -6.23620353e-03 9.89334604e+01] [ 3.40715093e-02 1.11525743e-03 9.99418775e-01 1.97188105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.036875 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:155.54, Y:98.93, Z:19.72 [[ 9.88067682e-01 -1.50305475e-01 -3.36232238e-02 1.55544100e+02] [ 1.50202534e-01 9.88639494e-01 -5.58122364e-03 9.89342314e+01] [ 3.40801354e-02 4.64333280e-04 9.99418996e-01 1.97193474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06687500000004 meters Centerline goodness : 0.991597 Centerline is valid? [True, True] Translation: X:155.57, Y:98.94, Z:19.72 [[ 9.88155040e-01 -1.49749761e-01 -3.35354569e-02 1.55573774e+02] [ 1.49628617e-01 9.88723406e-01 -6.10761930e-03 9.89373290e+01] [ 3.40719057e-02 1.01741074e-03 9.99418866e-01 1.97212579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.096875 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:155.60, Y:98.94, Z:19.72 [[ 9.87760696e-01 -1.52326353e-01 -3.35483125e-02 1.55601474e+02] [ 1.52209310e-01 9.88329884e-01 -6.03047128e-03 9.89411613e+01] [ 3.40753995e-02 8.50297008e-04 9.99418903e-01 1.97215491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12687500000004 meters Centerline goodness : 0.992609 Centerline is valid? [True, True] Translation: X:155.63, Y:98.95, Z:19.72 [[ 9.87421346e-01 -1.54513744e-01 -3.35348823e-02 1.55627454e+02] [ 1.54395223e-01 9.87990268e-01 -6.11112572e-03 9.89457873e+01] [ 3.40763903e-02 8.56630344e-04 9.99418864e-01 1.97227243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.156875 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:155.66, Y:98.95, Z:19.72 [[ 9.87301462e-01 -1.55283090e-01 -3.35109659e-02 1.55655983e+02] [ 1.55160126e-01 9.87869530e-01 -6.25510096e-03 9.89491678e+01] [ 3.40757735e-02 9.76104642e-04 9.99418776e-01 1.97232229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18687500000004 meters Centerline goodness : 0.992328 Centerline is valid? [True, True] Translation: X:155.68, Y:98.95, Z:19.72 [[ 9.87023570e-01 -1.57037438e-01 -3.35218555e-02 1.55683472e+02] [ 1.56917711e-01 9.87592285e-01 -6.18949055e-03 9.89526754e+01] [ 3.40779077e-02 8.49000224e-04 9.99418819e-01 1.97249910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.216875 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:155.71, Y:98.96, Z:19.73 [[ 9.86587767e-01 -1.59753513e-01 -3.35170631e-02 1.55710424e+02] [ 1.59634368e-01 9.87156624e-01 -6.21842991e-03 9.89567257e+01] [ 3.40800069e-02 7.84551678e-04 9.99418800e-01 1.97282648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.246875 meters Centerline goodness : 0.992280 Centerline is valid? [True, True] Translation: X:155.74, Y:98.96, Z:19.73 [[ 9.86579840e-01 -1.59807593e-01 -3.34925821e-02 1.55739872e+02] [ 1.59683468e-01 9.87147742e-01 -6.36601265e-03 9.89603760e+01] [ 3.40794639e-02 9.32368065e-04 9.99418691e-01 1.97300749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.276875 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:155.77, Y:98.96, Z:19.73 [[ 9.86582214e-01 -1.59783693e-01 -3.35366451e-02 1.55765945e+02] [ 1.59668625e-01 9.87151829e-01 -6.09897474e-03 9.89645966e+01] [ 3.40802773e-02 6.62389978e-04 9.99418879e-01 1.97302243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.306875 meters Centerline goodness : 0.991497 Centerline is valid? [True, True] Translation: X:155.79, Y:98.97, Z:19.73 [[ 9.86281589e-01 -1.61632745e-01 -3.35184041e-02 1.55794024e+02] [ 1.61514995e-01 9.86850724e-01 -6.20931603e-03 9.89705253e+01] [ 3.40812902e-02 7.10409224e-04 9.99418812e-01 1.97302771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.336875 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:155.82, Y:98.98, Z:19.73 [[ 9.85497059e-01 -1.66346578e-01 -3.35315291e-02 1.55815538e+02] [ 1.66234249e-01 9.86067238e-01 -6.12997272e-03 9.89802508e+01] [ 3.40840423e-02 4.66981539e-04 9.99418861e-01 1.97305686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.366875 meters Centerline goodness : 0.990652 Centerline is valid? [True, True] Translation: X:155.84, Y:98.99, Z:19.73 [[ 9.85369509e-01 -1.67116243e-01 -3.34528250e-02 1.55841572e+02] [ 1.66988213e-01 9.85936768e-01 -6.60498610e-03 9.89863840e+01] [ 3.40861706e-02 9.22124454e-04 9.99418472e-01 1.97311968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.396875 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:155.87, Y:98.99, Z:19.73 [[ 9.84939883e-01 -1.69636277e-01 -3.34209671e-02 1.55867655e+02] [ 1.69503170e-01 9.85506201e-01 -6.79727300e-03 9.89928992e+01] [ 3.40896345e-02 1.02994541e-03 9.99418249e-01 1.97322448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.426875 meters Centerline goodness : 0.989350 Centerline is valid? [True, True] Translation: X:155.90, Y:99.00, Z:19.74 [[ 9.84889305e-01 -1.69935603e-01 -3.33908465e-02 1.55902514e+02] [ 1.69796521e-01 9.85454435e-01 -6.97843706e-03 9.89977720e+01] [ 3.40910427e-02 1.20333846e-03 9.99418007e-01 1.97366281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.456875 meters Centerline goodness : 0.991846 Centerline is valid? [True, True] Translation: X:155.95, Y:98.99, Z:19.74 [[ 9.87888973e-01 -1.51503947e-01 -3.34952527e-02 1.55945670e+02] [ 1.51375828e-01 9.88455929e-01 -6.34308819e-03 9.89857017e+01] [ 3.40695840e-02 1.19589525e-03 9.99418748e-01 1.97437134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.486875 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:155.97, Y:98.99, Z:19.74 [[ 9.88193141e-01 -1.49460825e-01 -3.37012972e-02 1.55973364e+02] [ 1.49374461e-01 9.88767648e-01 -5.08024705e-03 9.89935419e+01] [ 3.40820502e-02 -1.38477984e-05 9.99419038e-01 1.97431942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.516875 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:156.00, Y:99.00, Z:19.74 [[ 9.88342916e-01 -1.48468542e-01 -3.36952965e-02 1.56000227e+02] [ 1.48380348e-01 9.88917129e-01 -5.11699654e-03 9.90001465e+01] [ 3.40815689e-02 5.76274601e-05 9.99419053e-01 1.97437752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.546875 meters Centerline goodness : 0.991540 Centerline is valid? [True, True] Translation: X:156.03, Y:99.01, Z:19.74 [[ 9.88484433e-01 -1.47522636e-01 -3.36986289e-02 1.56027893e+02] [ 1.47434588e-01 9.89058677e-01 -5.09660719e-03 9.90067437e+01] [ 3.40817863e-02 6.95733972e-05 9.99419045e-01 1.97447742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.57687500000003 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:156.06, Y:99.01, Z:19.75 [[ 9.88915572e-01 -1.44607488e-01 -3.36848036e-02 1.56055019e+02] [ 1.44514873e-01 9.89489065e-01 -5.18097216e-03 9.90144966e+01] [ 3.40799521e-02 2.55588947e-04 9.99419077e-01 1.97455177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.606875 meters Centerline goodness : 0.992139 Centerline is valid? [True, True] Translation: X:156.08, Y:99.02, Z:19.75 [[ 9.89202382e-01 -1.42635179e-01 -3.36727479e-02 1.56082245e+02] [ 1.42538922e-01 9.89775251e-01 -5.25437282e-03 9.90200855e+01] [ 3.40779109e-02 3.97960918e-04 9.99419100e-01 1.97464978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.63687500000003 meters Centerline goodness : 0.990537 Centerline is valid? [True, True] Translation: X:156.09, Y:99.04, Z:19.74 [[ 9.87457447e-01 -1.54253884e-01 -3.36679373e-02 1.56091100e+02] [ 1.54163372e-01 9.88031244e-01 -5.28359043e-03 9.90391746e+01] [ 3.40799883e-02 2.69579907e-05 9.99419108e-01 1.97424532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.666875 meters Centerline goodness : 0.990599 Centerline is valid? [True, True] Translation: X:156.12, Y:99.05, Z:19.74 [[ 9.87391070e-01 -1.54725811e-01 -3.34484457e-02 1.56119382e+02] [ 1.54590668e-01 9.87956527e-01 -6.60508614e-03 9.90454316e+01] [ 3.40675876e-02 1.35098551e-03 9.99418618e-01 1.97385537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.69687500000003 meters Centerline goodness : 0.990852 Centerline is valid? [True, True] Translation: X:156.14, Y:99.05, Z:19.73 [[ 9.88481382e-01 -1.47598802e-01 -3.34537062e-02 1.56143367e+02] [ 1.47460660e-01 9.89046079e-01 -6.57324819e-03 9.90489212e+01] [ 3.40574605e-02 1.56442785e-03 9.99418652e-01 1.97340184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.726875 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:156.17, Y:99.06, Z:19.74 [[ 9.87810239e-01 -1.52040804e-01 -3.33845089e-02 1.56170091e+02] [ 1.51891090e-01 9.88372515e-01 -6.99061406e-03 9.90569905e+01] [ 3.40591896e-02 1.83459069e-03 9.99418134e-01 1.97440898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.75687500000004 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:156.20, Y:99.06, Z:19.74 [[ 9.88685658e-01 -1.46236603e-01 -3.33994855e-02 1.56195701e+02] [ 1.46086679e-01 9.89247737e-01 -6.89902175e-03 9.90599471e+01] [ 3.40492550e-02 1.94174393e-03 9.99418270e-01 1.97358639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.786875 meters Centerline goodness : 0.990193 Centerline is valid? [True, True] Translation: X:156.23, Y:99.06, Z:19.75 [[ 9.88628435e-01 -1.46626718e-01 -3.33829687e-02 1.56228676e+02] [ 1.46473587e-01 9.89189810e-01 -7.00063262e-03 9.90634086e+01] [ 3.40485722e-02 2.03130130e-03 9.99418115e-01 1.97456425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81687500000004 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:156.25, Y:99.07, Z:19.75 [[ 9.87769359e-01 -1.52291473e-01 -3.34514704e-02 1.56254492e+02] [ 1.52155843e-01 9.88334622e-01 -6.57838185e-03 9.90713722e+01] [ 3.40630778e-02 1.40808736e-03 9.99418693e-01 1.97464701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.846875 meters Centerline goodness : 0.990903 Centerline is valid? [True, True] Translation: X:156.28, Y:99.08, Z:19.74 [[ 9.87494396e-01 -1.54074443e-01 -3.34048585e-02 1.56278427e+02] [ 1.53930168e-01 9.88057888e-01 -6.86398646e-03 9.90781350e+01] [ 3.40634988e-02 1.63613267e-03 9.99418331e-01 1.97438360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87687500000004 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:156.30, Y:99.08, Z:19.74 [[ 9.87488750e-01 -1.54112234e-01 -3.33974394e-02 1.56301064e+02] [ 1.53966395e-01 9.88051916e-01 -6.91086607e-03 9.90826050e+01] [ 3.40634530e-02 1.68231915e-03 9.99418256e-01 1.97441446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.906875 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:156.33, Y:99.08, Z:19.75 [[ 9.87658303e-01 -1.53033333e-01 -3.33447896e-02 1.56332278e+02] [ 1.52875579e-01 9.88218884e-01 -7.24534425e-03 9.90844198e+01] [ 3.40607299e-02 2.05832039e-03 9.99417645e-01 1.97460903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93687500000004 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:156.36, Y:99.09, Z:19.75 [[ 9.86846865e-01 -1.58174942e-01 -3.33759180e-02 1.56364479e+02] [ 1.58026796e-01 9.87409673e-01 -7.04759238e-03 9.90907640e+01] [ 3.40704569e-02 1.68060506e-03 9.99418020e-01 1.97472950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.966875 meters Centerline goodness : 0.992147 Centerline is valid? [True, True] Translation: X:156.41, Y:99.08, Z:19.76 [[ 9.89354996e-01 -1.41638945e-01 -3.33931323e-02 1.56413917e+02] [ 1.41485041e-01 9.89916070e-01 -6.93960586e-03 9.90775122e+01] [ 3.40393167e-02 2.14110504e-03 9.99418201e-01 1.97550173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.996875 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:156.44, Y:99.08, Z:19.75 [[ 9.88851698e-01 -1.45051499e-01 -3.36508941e-02 1.56441444e+02] [ 1.44954930e-01 9.89424038e-01 -5.30479782e-03 9.90826965e+01] [ 3.40644724e-02 3.67795317e-04 9.99419570e-01 1.97544039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.026875 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:156.47, Y:99.09, Z:19.76 [[ 9.88561575e-01 -1.47015850e-01 -3.36504463e-02 1.56469200e+02] [ 1.46920322e-01 9.89134090e-01 -5.30763716e-03 9.90885646e+01] [ 3.40651103e-02 3.02991761e-04 9.99419570e-01 1.97568638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.056875 meters Centerline goodness : 0.992653 Centerline is valid? [True, True] Translation: X:156.50, Y:99.09, Z:19.76 [[ 9.88339558e-01 -1.48501381e-01 -3.36490312e-02 1.56496237e+02] [ 1.48406408e-01 9.88912166e-01 -5.31659306e-03 9.90939514e+01] [ 3.40654577e-02 2.60867384e-04 9.99419570e-01 1.97568220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.086875 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:156.52, Y:99.10, Z:19.76 [[ 9.88139909e-01 -1.49824205e-01 -3.36485933e-02 1.56523517e+02] [ 1.49729905e-01 9.88712628e-01 -5.31936332e-03 9.90995456e+01] [ 3.40657585e-02 2.18074531e-04 9.99419570e-01 1.97585178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.116875 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:156.55, Y:99.11, Z:19.76 [[ 9.87852096e-01 -1.51710590e-01 -3.36471867e-02 1.56551168e+02] [ 1.51617081e-01 9.88424944e-01 -5.32824596e-03 9.91058253e+01] [ 3.40660699e-02 1.62030720e-04 9.99419570e-01 1.97596299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.146875 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:156.58, Y:99.11, Z:19.76 [[ 9.87749691e-01 -1.52375995e-01 -3.36467514e-02 1.56578743e+02] [ 1.52282778e-01 9.88322587e-01 -5.33099321e-03 9.91109595e+01] [ 3.40661598e-02 1.41866133e-04 9.99419570e-01 1.97616492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.176875 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:156.58, Y:99.13, Z:19.75 [[ 9.85367812e-01 -1.67087604e-01 -3.36453218e-02 1.56580052e+02] [ 1.67002632e-01 9.85941989e-01 -5.34000017e-03 9.91321494e+01] [ 3.40645834e-02 -3.56993027e-04 9.99419570e-01 1.97483403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.206875 meters Centerline goodness : 0.991440 Centerline is valid? [True, True] Translation: X:156.61, Y:99.14, Z:19.75 [[ 9.85282214e-01 -1.67653673e-01 -3.33347386e-02 1.56608524e+02] [ 1.67502526e-01 9.85844648e-01 -7.29618080e-03 9.91377299e+01] [ 3.40861051e-02 1.60514426e-03 9.99417611e-01 1.97487729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.236875 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:156.64, Y:99.14, Z:19.75 [[ 9.85823755e-01 -1.64439032e-01 -3.33365950e-02 1.56641046e+02] [ 1.64286450e-01 9.86385776e-01 -7.28441032e-03 9.91397572e+01] [ 3.40805845e-02 1.70439390e-03 9.99417635e-01 1.97536063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.266875 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:156.69, Y:99.13, Z:19.77 [[ 9.87638446e-01 -1.53150339e-01 -3.33957198e-02 1.56688973e+02] [ 1.53003968e-01 9.88201412e-01 -6.91047719e-03 9.91302833e+01] [ 3.40600394e-02 1.71537530e-03 9.99418316e-01 1.97654870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.296875 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:156.70, Y:99.15, Z:19.76 [[ 9.85177415e-01 -1.68204972e-01 -3.36533703e-02 1.56698678e+02] [ 1.68123265e-01 9.85751928e-01 -5.26340876e-03 9.91486969e+01] [ 3.40592062e-02 -4.72523070e-04 9.99419705e-01 1.97610934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.32687500000003 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:156.72, Y:99.15, Z:19.75 [[ 9.85674532e-01 -1.65310689e-01 -3.34379079e-02 1.56723883e+02] [ 1.65180406e-01 9.86241010e-01 -6.64100985e-03 9.91544729e+01] [ 3.40756659e-02 1.02258708e-03 9.99418733e-01 1.97549099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.356875 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:156.75, Y:99.16, Z:19.76 [[ 9.85785394e-01 -1.64660738e-01 -3.33766173e-02 1.56751593e+02] [ 1.64516836e-01 9.86349211e-01 -7.03170802e-03 9.91585298e+01] [ 3.40788464e-02 1.44073958e-03 9.99418109e-01 1.97556770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.38687500000003 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:156.80, Y:99.15, Z:19.77 [[ 9.88267361e-01 -1.49042382e-01 -3.33765050e-02 1.56802989e+02] [ 1.48889553e-01 9.88828825e-01 -7.03242370e-03 9.91479514e+01] [ 3.40517794e-02 1.98050190e-03 9.99418108e-01 1.97696265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.416875 meters Centerline goodness : 0.992935 Centerline is valid? [True, True] Translation: X:156.83, Y:99.15, Z:19.77 [[ 9.88411194e-01 -1.48021817e-01 -3.36578777e-02 1.56830705e+02] [ 1.47929933e-01 9.88984080e-01 -5.21776808e-03 9.91518327e+01] [ 3.40594487e-02 1.78292799e-04 9.99419793e-01 1.97715618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.44687500000003 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:156.84, Y:99.17, Z:19.77 [[ 9.87310781e-01 -1.55192343e-01 -3.36564650e-02 1.56841600e+02] [ 1.55104310e-01 9.87884271e-01 -5.22686460e-03 9.91667233e+01] [ 3.40598618e-02 -5.97230055e-05 9.99419793e-01 1.97696325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.476875 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:156.89, Y:99.16, Z:19.77 [[ 9.89108502e-01 -1.43332642e-01 -3.34682591e-02 1.56886982e+02] [ 1.43196551e-01 9.89673311e-01 -6.44086055e-03 9.91606858e+01] [ 3.40458284e-02 1.57817067e-03 9.99419027e-01 1.97738812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.50687500000004 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:156.91, Y:99.16, Z:19.77 [[ 9.89649044e-01 -1.39504759e-01 -3.36629059e-02 1.56914085e+02] [ 1.39409405e-01 9.90221308e-01 -5.17484681e-03 9.91645599e+01] [ 3.40556425e-02 4.28356506e-04 9.99419847e-01 1.97748990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.536875 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:156.94, Y:99.17, Z:19.78 [[ 9.89942553e-01 -1.37406645e-01 -3.36623710e-02 1.56942216e+02] [ 1.37309960e-01 9.90514593e-01 -5.17832432e-03 9.91692372e+01] [ 3.40546059e-02 5.04064784e-04 9.99419847e-01 1.97763567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56687500000004 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:156.95, Y:99.19, Z:19.76 [[ 9.88339362e-01 -1.48499967e-01 -3.36610379e-02 1.56947431e+02] [ 1.48409409e-01 9.88912404e-01 -5.18697577e-03 9.91886251e+01] [ 3.40580836e-02 1.30877590e-04 9.99419847e-01 1.97631098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.596875 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:156.97, Y:99.19, Z:19.76 [[ 9.88879416e-01 -1.44924554e-01 -3.33822625e-02 1.56974508e+02] [ 1.44771289e-01 9.89440552e-01 -6.97624107e-03 9.91936581e+01] [ 3.40407929e-02 2.06586802e-03 9.99418309e-01 1.97637300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62687500000004 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:157.00, Y:99.20, Z:19.77 [[ 9.89050661e-01 -1.43752385e-01 -3.33772705e-02 1.57004572e+02] [ 1.43597359e-01 9.89611376e-01 -7.00874395e-03 9.91976590e+01] [ 3.40380503e-02 2.13911495e-03 9.99418248e-01 1.97690777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.656875 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:157.04, Y:99.20, Z:19.77 [[ 9.89625721e-01 -1.39730752e-01 -3.34103209e-02 1.57036737e+02] [ 1.39580714e-01 9.90187395e-01 -6.79323712e-03 9.92007470e+01] [ 3.40317028e-02 2.05932573e-03 9.99418632e-01 1.97704944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68687500000004 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:157.06, Y:99.21, Z:19.77 [[ 9.90754829e-01 -1.31473237e-01 -3.34612674e-02 1.57058891e+02] [ 1.31329724e-01 9.91317690e-01 -6.46080162e-03 9.92065523e+01] [ 3.40201688e-02 2.00661138e-03 9.99419132e-01 1.97686523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.716875 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:157.09, Y:99.21, Z:19.77 [[ 9.90928186e-01 -1.30170402e-01 -3.34215044e-02 1.57085312e+02] [ 1.30017140e-01 9.91488919e-01 -6.72805854e-03 9.92091717e+01] [ 3.40128454e-02 2.32165441e-03 9.99418699e-01 1.97740081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.746875 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:157.12, Y:99.21, Z:19.78 [[ 9.91283657e-01 -1.27437575e-01 -3.34121988e-02 1.57121935e+02] [ 1.27280664e-01 9.91843496e-01 -6.79056417e-03 9.92117555e+01] [ 3.40050451e-02 2.47864843e-03 9.99418588e-01 1.97758691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.776875 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:157.15, Y:99.21, Z:19.78 [[ 9.91538422e-01 -1.25415040e-01 -3.35055963e-02 1.57150228e+02] [ 1.25278004e-01 9.92102511e-01 -6.16679754e-03 9.92148701e+01] [ 3.40143954e-02 1.91710249e-03 9.99419504e-01 1.97776905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.806875 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:157.18, Y:99.22, Z:19.78 [[ 9.91755917e-01 -1.23680444e-01 -3.35163856e-02 1.57176958e+02] [ 1.23544886e-01 9.92320275e-01 -6.09375031e-03 9.92179707e+01] [ 3.40126667e-02 1.90273490e-03 9.99419591e-01 1.97788472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.836875 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:157.21, Y:99.22, Z:19.78 [[ 9.91782312e-01 -1.23473586e-01 -3.34980472e-02 1.57206583e+02] [ 1.23333727e-01 9.92345772e-01 -6.21772963e-03 9.92207919e+01] [ 3.40093709e-02 2.03519525e-03 9.99419442e-01 1.97804702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.866875 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:157.23, Y:99.22, Z:19.78 [[ 9.91560881e-01 -1.25231445e-01 -3.35276783e-02 1.57232989e+02] [ 1.25099359e-01 9.92125973e-01 -6.01706197e-03 9.92237008e+01] [ 3.40172058e-02 1.77199220e-03 9.99419677e-01 1.97802001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.896875 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:157.26, Y:99.23, Z:19.79 [[ 9.91418695e-01 -1.26358426e-01 -3.35040365e-02 1.57262119e+02] [ 1.26221592e-01 9.91982842e-01 -6.17669231e-03 9.92253413e+01] [ 3.40159064e-02 1.89475541e-03 9.99419496e-01 1.97852899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.926875 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:157.28, Y:99.23, Z:19.78 [[ 9.91514814e-01 -1.25595656e-01 -3.35276849e-02 1.57283179e+02] [ 1.25463823e-01 9.92079956e-01 -6.01574702e-03 9.92312314e+01] [ 3.40176959e-02 1.75819075e-03 9.99419684e-01 1.97791620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.956875 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:157.31, Y:99.23, Z:19.78 [[ 9.91444361e-01 -1.26174642e-01 -3.34370794e-02 1.57312558e+02] [ 1.26022490e-01 9.92005243e-01 -6.62794426e-03 9.92333767e+01] [ 3.40060366e-02 2.35741394e-03 9.99418847e-01 1.97809352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.986875 meters Centerline goodness : 0.992927 Centerline is valid? [True, True] Translation: X:157.34, Y:99.24, Z:19.78 [[ 9.90791344e-01 -1.31195408e-01 -3.34705477e-02 1.57341750e+02] [ 1.31053885e-01 9.91354606e-01 -6.39718906e-03 9.92358601e+01] [ 3.40204634e-02 1.95183425e-03 9.99419231e-01 1.97832361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.016875 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:157.37, Y:99.24, Z:19.78 [[ 9.90375181e-01 -1.34295684e-01 -3.34913460e-02 1.57372576e+02] [ 1.34160771e-01 9.90939846e-01 -6.25374345e-03 9.92376771e+01] [ 3.40277600e-02 1.70032750e-03 9.99419442e-01 1.97837046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.046875 meters Centerline goodness : 0.992019 Centerline is valid? [True, True] Translation: X:157.40, Y:99.24, Z:19.79 [[ 9.90529938e-01 -1.33141668e-01 -3.35222014e-02 1.57402166e+02] [ 1.33013283e-01 9.91095843e-01 -6.04120074e-03 9.92391687e+01] [ 3.40280500e-02 1.52509214e-03 9.99419715e-01 1.97867100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.07687500000003 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:157.43, Y:99.24, Z:19.79 [[ 9.90212913e-01 -1.35472950e-01 -3.35479911e-02 1.57425390e+02] [ 1.35351965e-01 9.90780239e-01 -5.86198534e-03 9.92435387e+01] [ 3.40328271e-02 1.26382705e-03 9.99419916e-01 1.97857850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.106875 meters Centerline goodness : 0.992454 Centerline is valid? [True, True] Translation: X:157.48, Y:99.23, Z:19.79 [[ 9.91934045e-01 -1.22249381e-01 -3.34953546e-02 1.57475903e+02] [ 1.22108548e-01 9.92497223e-01 -6.22609160e-03 9.92321231e+01] [ 3.40051822e-02 2.08580312e-03 9.99419480e-01 1.97937952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.13687500000003 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:157.48, Y:99.25, Z:19.79 [[ 9.90355957e-01 -1.34371671e-01 -3.37539861e-02 1.57484461e+02] [ 1.34299481e-01 9.90930989e-01 -4.40725841e-03 9.92483475e+01] [ 3.40400815e-02 -1.68388177e-04 9.99420454e-01 1.97888386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.166875 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:157.51, Y:99.25, Z:19.79 [[ 9.90641593e-01 -1.32296532e-01 -3.35687764e-02 1.57507992e+02] [ 1.32178885e-01 9.91209434e-01 -5.70974643e-03 9.92508094e+01] [ 3.40290675e-02 1.21922888e-03 9.99420100e-01 1.97913981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.19687500000003 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:157.52, Y:99.26, Z:19.79 [[ 9.90860645e-01 -1.30655905e-01 -3.35293567e-02 1.57524543e+02] [ 1.30527849e-01 9.91426551e-01 -5.98951439e-03 9.92568669e+01] [ 3.40244599e-02 1.55825929e-03 9.99419786e-01 1.97864762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.226875 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:157.56, Y:99.26, Z:19.79 [[ 9.90666941e-01 -1.32151373e-01 -3.33920036e-02 1.57561490e+02] [ 1.31991315e-01 9.91226419e-01 -6.96273766e-03 9.92584344e+01] [ 3.40191715e-02 2.49029955e-03 9.99418078e-01 1.97927293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.25687500000004 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:157.59, Y:99.26, Z:19.79 [[ 9.90141613e-01 -1.36009261e-01 -3.34823532e-02 1.57589449e+02] [ 1.35873014e-01 9.90706089e-01 -6.32208232e-03 9.92640408e+01] [ 3.40310329e-02 1.71040853e-03 9.99419313e-01 1.97909920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.286875 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:157.62, Y:99.26, Z:19.79 [[ 9.90693823e-01 -1.31921696e-01 -3.35024563e-02 1.57615068e+02] [ 1.31788017e-01 9.91258675e-01 -6.17721827e-03 9.92647424e+01] [ 3.40245096e-02 1.70450971e-03 9.99419545e-01 1.97931889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31687500000004 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:157.67, Y:99.25, Z:19.80 [[ 9.93014998e-01 -1.13139876e-01 -3.34750984e-02 1.57665328e+02] [ 1.12988933e-01 9.93575808e-01 -6.37304279e-03 9.92498028e+01] [ 3.39810932e-02 2.54621141e-03 9.99419232e-01 1.98020398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.346875 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:157.67, Y:99.27, Z:19.80 [[ 9.90526298e-01 -1.33120554e-01 -3.37130767e-02 1.57670436e+02] [ 1.33039476e-01 9.91099846e-01 -4.64689597e-03 9.92713811e+01] [ 3.40316225e-02 1.17702592e-04 9.99420750e-01 1.97952844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37687500000004 meters Centerline goodness : 0.990964 Centerline is valid? [True, True] Translation: X:157.72, Y:99.26, Z:19.80 [[ 9.92208622e-01 -1.20010172e-01 -3.34605697e-02 1.57716703e+02] [ 1.19863897e-01 9.92770019e-01 -6.35102351e-03 9.92647915e+01] [ 3.39808378e-02 2.29082601e-03 9.99419859e-01 1.97974929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.406875 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:157.73, Y:99.27, Z:19.80 [[ 9.90711097e-01 -1.31758401e-01 -3.36340164e-02 1.57729215e+02] [ 1.31658834e-01 9.91281618e-01 -5.16776900e-03 9.92749863e+01] [ 3.40216792e-02 6.91550720e-04 9.99420856e-01 1.97959641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43687500000004 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:157.78, Y:99.26, Z:19.80 [[ 9.92790114e-01 -1.15094622e-01 -3.34816050e-02 1.57779563e+02] [ 1.14948254e-01 9.93351690e-01 -6.27049917e-03 9.92596770e+01] [ 3.39807096e-02 2.37663753e-03 9.99419663e-01 1.98033596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.466875 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:157.81, Y:99.26, Z:19.81 [[ 9.92587141e-01 -1.16766502e-01 -3.37098081e-02 1.57807726e+02] [ 1.16677653e-01 9.93159195e-01 -4.59769877e-03 9.92617027e+01] [ 3.40160631e-02 6.30435389e-04 9.99421087e-01 1.98060556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.496875 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:157.82, Y:99.28, Z:19.80 [[ 9.90065966e-01 -1.36503177e-01 -3.37085441e-02 1.57818237e+02] [ 1.36425418e-01 9.90639632e-01 -4.60694712e-03 9.92809422e+01] [ 3.40218827e-02 -3.75206738e-05 9.99421087e-01 1.98021661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.526875 meters Centerline goodness : 0.992007 Centerline is valid? [True, True] Translation: X:157.84, Y:99.29, Z:19.80 [[ 9.89954789e-01 -1.37346371e-01 -3.35483240e-02 1.57838902e+02] [ 1.37229162e-01 9.90522447e-01 -5.78260453e-03 9.92854674e+01] [ 3.40245878e-02 1.12070865e-03 9.99420368e-01 1.98020704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.556875 meters Centerline goodness : 0.991294 Centerline is valid? [True, True] Translation: X:157.87, Y:99.29, Z:19.80 [[ 9.90002672e-01 -1.37022157e-01 -3.34610001e-02 1.57870199e+02] [ 1.36883025e-01 9.90566383e-01 -6.42485409e-03 9.92875068e+01] [ 3.40256892e-02 1.78037979e-03 9.99419373e-01 1.98028302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.586875 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:157.90, Y:99.29, Z:19.80 [[ 9.89715933e-01 -1.39073447e-01 -3.34805624e-02 1.57897208e+02] [ 1.38940346e-01 9.90280833e-01 -6.28110124e-03 9.92916852e+01] [ 3.40286936e-02 1.56470506e-03 9.99419631e-01 1.98028731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.616875 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:157.92, Y:99.29, Z:19.80 [[ 9.90110166e-01 -1.36235811e-01 -3.34912273e-02 1.57922568e+02] [ 1.36103802e-01 9.90675175e-01 -6.20099048e-03 9.92934507e+01] [ 3.40237245e-02 1.58138037e-03 9.99419774e-01 1.98038695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.646875 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:157.96, Y:99.30, Z:19.80 [[ 9.90065084e-01 -1.36566309e-01 -3.34779584e-02 1.57956158e+02] [ 1.36431123e-01 9.90629524e-01 -6.30046832e-03 9.92961568e+01] [ 3.40246856e-02 1.67043825e-03 9.99419597e-01 1.98047147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.676875 meters Centerline goodness : 0.992624 Centerline is valid? [True, True] Translation: X:157.98, Y:99.30, Z:19.80 [[ 9.90244653e-01 -1.35246505e-01 -3.35247624e-02 1.57978638e+02] [ 1.35122488e-01 9.90811048e-01 -5.94815150e-03 9.92985093e+01] [ 3.40211717e-02 1.36017591e-03 9.99420187e-01 1.98046542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.706875 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:158.01, Y:99.30, Z:19.80 [[ 9.90325208e-01 -1.34668819e-01 -3.34707498e-02 1.58009351e+02] [ 1.34530709e-01 9.90889047e-01 -6.35496596e-03 9.93014614e+01] [ 3.40216151e-02 1.79063930e-03 9.99419493e-01 1.98045771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.736875 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:158.03, Y:99.30, Z:19.80 [[ 9.90503902e-01 -1.33334569e-01 -3.35248193e-02 1.58030533e+02] [ 1.33209888e-01 9.91070076e-01 -5.93552394e-03 9.93040874e+01] [ 3.40168557e-02 1.41332220e-03 9.99420260e-01 1.98048834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.766875 meters Centerline goodness : 0.991248 Centerline is valid? [True, True] Translation: X:158.06, Y:99.31, Z:19.81 [[ 9.90430031e-01 -1.33897864e-01 -3.34621560e-02 1.58064370e+02] [ 1.33757099e-01 9.90993348e-01 -6.42052935e-03 9.93069641e+01] [ 3.40204692e-02 1.88328416e-03 9.99419362e-01 1.98054066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.796875 meters Centerline goodness : 0.992318 Centerline is valid? [True, True] Translation: X:158.09, Y:99.31, Z:19.81 [[ 9.90761284e-01 -1.31410917e-01 -3.35149015e-02 1.58089550e+02] [ 1.31282592e-01 9.91326763e-01 -6.01075650e-03 9.93090513e+01] [ 3.40140978e-02 1.55530170e-03 9.99420143e-01 1.98080029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.82687500000003 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:158.14, Y:99.29, Z:19.81 [[ 9.93004724e-01 -1.13226169e-01 -3.34880909e-02 1.58140887e+02] [ 1.13080562e-01 9.93566375e-01 -6.21657450e-03 9.92942443e+01] [ 3.39765200e-02 2.38623570e-03 9.99419783e-01 1.98148497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.856875 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:158.15, Y:99.31, Z:19.81 [[ 9.91564471e-01 -1.25148490e-01 -3.37306351e-02 1.58145068e+02] [ 1.25073725e-01 9.92138020e-01 -4.32581796e-03 9.93124919e+01] [ 3.40068151e-02 7.05112092e-05 9.99421599e-01 1.98124762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.88687500000003 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:158.17, Y:99.32, Z:19.81 [[ 9.91781850e-01 -1.23474272e-01 -3.35092013e-02 1.58174353e+02] [ 1.23339605e-01 9.92345990e-01 -6.06451541e-03 9.93195958e+01] [ 3.40015331e-02 1.88166465e-03 9.99420009e-01 1.98128292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.916875 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:158.20, Y:99.32, Z:19.81 [[ 9.91993315e-01 -1.21763460e-01 -3.35100527e-02 1.58203133e+02] [ 1.21628046e-01 9.92557263e-01 -6.05782494e-03 9.93240365e+01] [ 3.39982679e-02 1.93355960e-03 9.99420021e-01 1.98131508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.94687500000003 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:158.25, Y:99.31, Z:19.82 [[ 9.94183645e-01 -1.02349825e-01 -3.35170583e-02 1.58254602e+02] [ 1.02205252e-01 9.94745218e-01 -6.00318192e-03 9.93082185e+01] [ 3.39553581e-02 2.54264589e-03 9.99420116e-01 1.98194213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.976875 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:158.26, Y:99.33, Z:19.82 [[ 9.92467058e-01 -1.17775019e-01 -3.37369923e-02 1.58258375e+02] [ 1.17698126e-01 9.93040270e-01 -4.26310463e-03 9.93295595e+01] [ 3.40042791e-02 2.60210143e-04 9.99421653e-01 1.98153198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.00687500000004 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:158.29, Y:99.33, Z:19.82 [[ 9.93035328e-01 -1.12954182e-01 -3.34991008e-02 1.58291955e+02] [ 1.12811457e-01 9.93597525e-01 -6.12651109e-03 9.93321846e+01] [ 3.39766387e-02 2.30475956e-03 9.99419970e-01 1.98160968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.036875 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:158.32, Y:99.33, Z:19.82 [[ 9.93442620e-01 -1.09302399e-01 -3.35372444e-02 1.58318225e+02] [ 1.09167763e-01 9.94006271e-01 -5.82522064e-03 9.93345960e+01] [ 3.39729418e-02 2.12583652e-03 9.99420492e-01 1.98177320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06687500000004 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:158.34, Y:99.34, Z:19.82 [[ 9.93397707e-01 -1.09714346e-01 -3.35224981e-02 1.58344924e+02] [ 1.09575985e-01 9.93960658e-01 -5.94262948e-03 9.93392049e+01] [ 3.39720360e-02 2.23013375e-03 9.99420296e-01 1.98187275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.096875 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:158.37, Y:99.34, Z:19.82 [[ 9.93798884e-01 -1.06022571e-01 -3.35110728e-02 1.58372796e+02] [ 1.05879049e-01 9.94360710e-01 -6.03377098e-03 9.93414697e+01] [ 3.39618100e-02 2.44823434e-03 9.99420133e-01 1.98207984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12687500000004 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:158.40, Y:99.34, Z:19.82 [[ 9.94053185e-01 -1.03609698e-01 -3.35156070e-02 1.58403512e+02] [ 1.03466036e-01 9.94614906e-01 -5.99741407e-03 9.93446182e+01] [ 3.39565126e-02 2.49402155e-03 9.99420199e-01 1.98214802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.156875 meters Centerline goodness : 0.991867 Centerline is valid? [True, True] Translation: X:158.43, Y:99.35, Z:19.82 [[ 9.94183132e-01 -1.02347039e-01 -3.35407649e-02 1.58430070e+02] [ 1.02209448e-01 9.94746016e-01 -5.79593313e-03 9.93485767e+01] [ 3.39577389e-02 2.33403589e-03 9.99420544e-01 1.98220693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18687500000004 meters Centerline goodness : 0.992376 Centerline is valid? [True, True] Translation: X:158.46, Y:99.35, Z:19.82 [[ 9.94204126e-01 -1.02144812e-01 -3.35349604e-02 1.58455004e+02] [ 1.02005542e-01 9.94766674e-01 -5.84238287e-03 9.93532984e+01] [ 3.39562301e-02 2.38776935e-03 9.99420469e-01 1.98217141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.216875 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:158.48, Y:99.36, Z:19.82 [[ 9.94578082e-01 -9.84427621e-02 -3.35180895e-02 1.58483392e+02] [ 9.82967731e-02 9.95139179e-01 -5.97985902e-03 9.93551758e+01] [ 3.39438379e-02 2.65271667e-03 9.99420221e-01 1.98235266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.246875 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:158.51, Y:99.36, Z:19.82 [[ 9.94647543e-01 -9.77340879e-02 -3.35307837e-02 1.58511200e+02] [ 9.75911948e-02 9.95209240e-01 -5.87595380e-03 9.93581423e+01] [ 3.39444268e-02 2.57219377e-03 9.99420412e-01 1.98245287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.276875 meters Centerline goodness : 0.992751 Centerline is valid? [True, True] Translation: X:158.54, Y:99.36, Z:19.82 [[ 9.94691296e-01 -9.72876855e-02 -3.35310705e-02 1.58540013e+02] [ 9.71446193e-02 9.95252945e-01 -5.87360312e-03 9.93617521e+01] [ 3.39433259e-02 2.58505882e-03 9.99420416e-01 1.98238299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.306875 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:158.56, Y:99.36, Z:19.83 [[ 9.95051841e-01 -9.35146327e-02 -3.35685315e-02 1.58561721e+02] [ 9.33800641e-02 9.95615023e-01 -5.55783695e-03 9.93648640e+01] [ 3.39410734e-02 2.39570426e-03 9.99420964e-01 1.98251307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.336875 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:158.59, Y:99.37, Z:19.82 [[ 9.94945524e-01 -9.46562754e-02 -3.35200640e-02 1.58588908e+02] [ 9.45085318e-02 9.95506160e-01 -5.96850401e-03 9.93696982e+01] [ 3.39343866e-02 2.77040431e-03 9.99420223e-01 1.98246723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.366875 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:158.62, Y:99.37, Z:19.83 [[ 9.95088807e-01 -9.31435728e-02 -3.35043435e-02 1.58616915e+02] [ 9.29905194e-02 9.95648301e-01 -6.10114790e-03 9.93737069e+01] [ 3.39268254e-02 2.95559768e-03 9.99419949e-01 1.98253182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.396875 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:158.64, Y:99.38, Z:19.83 [[ 9.95443065e-01 -8.92720618e-02 -3.35202053e-02 1.58644611e+02] [ 8.91214353e-02 9.96002911e-01 -5.96412683e-03 9.93752478e+01] [ 3.39186520e-02 2.94957988e-03 9.99420244e-01 1.98281797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.426875 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:158.67, Y:99.38, Z:19.83 [[ 9.95209670e-01 -9.18357671e-02 -3.35246997e-02 1.58672345e+02] [ 9.16878919e-02 9.95770166e-01 -5.92519397e-03 9.93796075e+01] [ 3.39270405e-02 2.82300129e-03 9.99420325e-01 1.98282646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.456875 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:158.70, Y:99.38, Z:19.83 [[ 9.95342388e-01 -9.03943784e-02 -3.35020456e-02 1.58703624e+02] [ 9.02392064e-02 9.95901327e-01 -6.11825917e-03 9.93806766e+01] [ 3.39177878e-02 3.06656469e-03 9.99419922e-01 1.98300589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.486875 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:158.73, Y:99.38, Z:19.83 [[ 9.95422093e-01 -8.94931675e-02 -3.35533926e-02 1.58727842e+02] [ 8.93526569e-02 9.95983929e-01 -5.66702460e-03 9.93831136e+01] [ 3.39257998e-02 2.64299671e-03 9.99420860e-01 1.98309788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.516875 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:158.76, Y:99.39, Z:19.83 [[ 9.95340931e-01 -9.03987555e-02 -3.35335195e-02 1.58755737e+02] [ 9.02528336e-02 9.95901744e-01 -5.84307694e-03 9.93858112e+01] [ 3.39242975e-02 2.78935848e-03 9.99420513e-01 1.98332420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.546875 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:158.79, Y:99.39, Z:19.83 [[ 9.95005655e-01 -9.40161489e-02 -3.35366933e-02 1.58787080e+02] [ 9.38732159e-02 9.95567178e-01 -5.81486617e-03 9.93895223e+01] [ 3.39347224e-02 2.63762748e-03 9.99420571e-01 1.98331750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.57687500000003 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:158.82, Y:99.39, Z:19.83 [[ 9.95068057e-01 -9.33546439e-02 -3.35331411e-02 1.58817925e+02] [ 9.32103048e-02 9.95629283e-01 -5.84556556e-03 9.93916249e+01] [ 3.39322879e-02 2.69110126e-03 9.99420511e-01 1.98335075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.606875 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:158.84, Y:99.39, Z:19.84 [[ 9.95110215e-01 -9.28914022e-02 -3.35685475e-02 1.58844556e+02] [ 9.27572990e-02 9.95673371e-01 -5.53374519e-03 9.93935698e+01] [ 3.39373462e-02 2.39295857e-03 9.99421098e-01 1.98356337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.63687500000003 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:158.87, Y:99.39, Z:19.84 [[ 9.95387909e-01 -8.98625854e-02 -3.35801519e-02 1.58872108e+02] [ 8.97302895e-02 9.95951303e-01 -5.42921395e-03 9.93939060e+01] [ 3.39320793e-02 2.39101717e-03 9.99421281e-01 1.98373687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.666875 meters Centerline goodness : 0.991946 Centerline is valid? [True, True] Translation: X:158.90, Y:99.40, Z:19.84 [[ 9.94883647e-01 -9.52841604e-02 -3.35776252e-02 1.58899773e+02] [ 9.51541700e-02 9.95447618e-01 -5.45192663e-03 9.93981042e+01] [ 3.39442492e-02 2.22898159e-03 9.99421242e-01 1.98370462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.69687500000003 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:158.93, Y:99.40, Z:19.84 [[ 9.94946799e-01 -9.46207266e-02 -3.35825150e-02 1.58925104e+02] [ 9.44918770e-02 9.95510949e-01 -5.40694304e-03 9.93997420e+01] [ 3.39433703e-02 2.20634579e-03 9.99421322e-01 1.98394340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.726875 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:158.95, Y:99.40, Z:19.84 [[ 9.94751122e-01 -9.66647147e-02 -3.35579758e-02 1.58953428e+02] [ 9.65294249e-02 9.95314195e-01 -5.63231116e-03 9.94027327e+01] [ 3.39451754e-02 2.36341574e-03 9.99420902e-01 1.98398807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.75687500000004 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:158.98, Y:99.41, Z:19.84 [[ 9.94464564e-01 -9.95684824e-02 -3.35611201e-02 1.58983603e+02] [ 9.94358115e-02 9.95028201e-01 -5.60341869e-03 9.94051923e+01] [ 3.39521848e-02 2.23522411e-03 9.99420959e-01 1.98406232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.786875 meters Centerline goodness : 0.991828 Centerline is valid? [True, True] Translation: X:159.02, Y:99.40, Z:19.84 [[ 9.94113256e-01 -1.03017141e-01 -3.35604248e-02 1.59015764e+02] [ 1.02886214e-01 9.94677314e-01 -5.60969116e-03 9.94045587e+01] [ 3.39596876e-02 2.12376329e-03 9.99420947e-01 1.98441693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81687500000004 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:159.04, Y:99.41, Z:19.85 [[ 9.93731857e-01 -1.06622471e-01 -3.35953285e-02 1.59041585e+02] [ 1.06504276e-01 9.94298154e-01 -5.29340902e-03 9.94074281e+01] [ 3.39681694e-02 1.68218303e-03 9.99421500e-01 1.98459303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.846875 meters Centerline goodness : 0.992034 Centerline is valid? [True, True] Translation: X:159.07, Y:99.41, Z:19.85 [[ 9.93620221e-01 -1.07658400e-01 -3.35935448e-02 1.59067224e+02] [ 1.07540234e-01 9.94186553e-01 -5.31003130e-03 9.94092926e+01] [ 3.39699199e-02 1.66349681e-03 9.99421471e-01 1.98470580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87687500000004 meters Centerline goodness : 0.992451 Centerline is valid? [True, True] Translation: X:159.09, Y:99.41, Z:19.85 [[ 9.93397312e-01 -1.09696484e-01 -3.35925839e-02 1.59091536e+02] [ 1.09579170e-01 9.93963838e-01 -5.31917317e-03 9.94121199e+01] [ 3.39733082e-02 1.60300486e-03 9.99421455e-01 1.98474023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.906875 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:159.12, Y:99.42, Z:19.85 [[ 9.92645062e-01 -1.16318219e-01 -3.35537258e-02 1.59121033e+02] [ 1.16192127e-01 9.93210456e-01 -5.69028598e-03 9.94150012e+01] [ 3.39877952e-02 1.74975550e-03 9.99420716e-01 1.98493860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93687500000004 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:159.15, Y:99.42, Z:19.85 [[ 9.92544188e-01 -1.17177894e-01 -3.35466174e-02 1.59151952e+02] [ 1.17050016e-01 9.93109331e-01 -5.75757187e-03 9.94168210e+01] [ 3.39901190e-02 1.78801238e-03 9.99420570e-01 1.98505542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.966875 meters Centerline goodness : 0.992456 Centerline is valid? [True, True] Translation: X:159.18, Y:99.42, Z:19.85 [[ 9.92219835e-01 -1.19886723e-01 -3.35704291e-02 1.59180590e+02] [ 1.19768022e-01 9.92786492e-01 -5.53200984e-03 9.94195880e+01] [ 3.39914830e-02 1.46830599e-03 9.99421044e-01 1.98510800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.996875 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:159.21, Y:99.42, Z:19.85 [[ 9.91963754e-01 -1.21984092e-01 -3.35826291e-02 1.59208551e+02] [ 1.21870591e-01 9.92531233e-01 -5.41389283e-03 9.94205024e+01] [ 3.39922170e-02 1.27765062e-03 9.99421281e-01 1.98503331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.026875 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:159.24, Y:99.42, Z:19.85 [[ 9.91987931e-01 -1.21788871e-01 -3.35770055e-02 1.59238731e+02] [ 1.21673397e-01 9.92555125e-01 -5.46884042e-03 9.94209862e+01] [ 3.39930728e-02 1.33959538e-03 9.99421171e-01 1.98514907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.056875 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:159.27, Y:99.42, Z:19.85 [[ 9.91656176e-01 -1.24456886e-01 -3.35933325e-02 1.59269356e+02] [ 1.24348352e-01 9.92224421e-01 -5.30911417e-03 9.94238352e+01] [ 3.39928807e-02 1.08754033e-03 9.99421483e-01 1.98539510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.086875 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:159.32, Y:99.41, Z:19.86 [[ 9.93453365e-01 -1.09183092e-01 -3.36074870e-02 1.59320099e+02] [ 1.09070461e-01 9.94020565e-01 -5.17213443e-03 9.94068374e+01] [ 3.39712428e-02 1.47269025e-03 9.99421726e-01 1.98624663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.116875 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:159.33, Y:99.43, Z:19.86 [[ 9.91369996e-01 -1.26666365e-01 -3.37811178e-02 1.59326202e+02] [ 1.26621881e-01 9.91945017e-01 -3.46158170e-03 9.94279255e+01] [ 3.39474774e-02 -8.45720434e-04 9.99423260e-01 1.98565240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.146875 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:159.38, Y:99.41, Z:19.86 [[ 9.93528778e-01 -1.08496282e-01 -3.36024313e-02 1.59377502e+02] [ 1.08382297e-01 9.94095685e-01 -5.20066199e-03 9.94102113e+01] [ 3.39682845e-02 1.52509866e-03 9.99421748e-01 1.98645510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.176875 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:159.38, Y:99.43, Z:19.86 [[ 9.91372076e-01 -1.26649432e-01 -3.37835508e-02 1.59382476e+02] [ 1.26606920e-01 9.91947128e-01 -3.40329001e-03 9.94309009e+01] [ 3.39425210e-02 -9.03304636e-04 9.99423378e-01 1.98613189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.206875 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:159.43, Y:99.42, Z:19.87 [[ 9.93614371e-01 -1.07711616e-01 -3.35959675e-02 1.59434008e+02] [ 1.07595867e-01 9.94180907e-01 -5.23968686e-03 9.94152624e+01] [ 3.39648445e-02 1.59144093e-03 9.99421761e-01 1.98666230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.236875 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:159.44, Y:99.44, Z:19.86 [[ 9.91745094e-01 -1.23694952e-01 -3.37820603e-02 1.59438661e+02] [ 1.23651491e-01 9.92319948e-01 -3.38075870e-03 9.94358510e+01] [ 3.39407951e-02 -8.24351277e-04 9.99423505e-01 1.98622736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.266875 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:159.49, Y:99.42, Z:19.87 [[ 9.94163902e-01 -1.02515531e-01 -3.35961468e-02 1.59490088e+02] [ 1.02397695e-01 9.94729876e-01 -5.21397050e-03 9.94219643e+01] [ 3.39536039e-02 1.74337326e-03 9.99421890e-01 1.98680038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.296875 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:159.49, Y:99.44, Z:19.86 [[ 9.92925900e-01 -1.13828878e-01 -3.37808214e-02 1.59494188e+02] [ 1.13780569e-01 9.93500239e-01 -3.35526496e-03 9.94435416e+01] [ 3.39431802e-02 -5.12071606e-04 9.99423633e-01 1.98576458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.32687500000003 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:159.55, Y:99.43, Z:19.87 [[ 9.94712322e-01 -9.70505550e-02 -3.35944353e-02 1.59546536e+02] [ 9.69299458e-02 9.95277600e-01 -5.20419414e-03 9.94279583e+01] [ 3.39408589e-02 1.92036924e-03 9.99421998e-01 1.98692223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.356875 meters Centerline goodness : 0.993285 Centerline is valid? [True, True] Translation: X:159.57, Y:99.43, Z:19.87 [[ 9.94930820e-01 -9.47187294e-02 -3.37790796e-02 1.59573950e+02] [ 9.46601066e-02 9.95504067e-01 -3.33409997e-03 9.94315351e+01] [ 3.39430128e-02 1.19667541e-04 9.99423763e-01 1.98707237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.38687500000003 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:159.58, Y:99.45, Z:19.86 [[ 9.93827734e-01 -1.05666586e-01 -3.37788065e-02 1.59578331e+02] [ 1.05614184e-01 9.94401584e-01 -3.33686490e-03 9.94526043e+01] [ 3.39422938e-02 -2.51252192e-04 9.99423763e-01 1.98622279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.416875 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:159.61, Y:99.46, Z:19.86 [[ 9.94497756e-01 -9.92257120e-02 -3.35927208e-02 1.59608081e+02] [ 9.91061946e-02 9.95063231e-01 -5.20855200e-03 9.94570291e+01] [ 3.39437035e-02 1.85064656e-03 9.99422033e-01 1.98635677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.44687500000003 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:159.64, Y:99.46, Z:19.87 [[ 9.94447924e-01 -9.97228060e-02 -3.35959624e-02 1.59638538e+02] [ 9.96046811e-02 9.95013628e-01 -5.17570147e-03 9.94622190e+01] [ 3.39445759e-02 1.80065046e-03 9.99422095e-01 1.98695216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.476875 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:159.67, Y:99.46, Z:19.87 [[ 9.94898677e-01 -9.51133755e-02 -3.36164939e-02 1.59666078e+02] [ 9.49997944e-02 9.95464917e-01 -4.96359627e-03 9.94645256e+01] [ 3.39361447e-02 1.74471535e-03 9.99422480e-01 1.98717051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.50687500000004 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:159.69, Y:99.47, Z:19.87 [[ 9.95366522e-01 -9.00853451e-02 -3.36172148e-02 1.59691023e+02] [ 8.99691573e-02 9.95932220e-01 -4.95610796e-03 9.94714722e+01] [ 3.39269401e-02 1.90863146e-03 9.99422493e-01 1.98658999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.536875 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:159.72, Y:99.47, Z:19.87 [[ 9.95552592e-01 -8.80165501e-02 -3.35875624e-02 1.59720820e+02] [ 8.78887842e-02 9.96116382e-01 -5.26446583e-03 9.94749921e+01] [ 3.39204812e-02 2.28908258e-03 9.99421913e-01 1.98662006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56687500000004 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:159.75, Y:99.48, Z:19.87 [[ 9.95677031e-01 -8.65908395e-02 -3.36047037e-02 1.59746031e+02] [ 8.64683890e-02 9.96241628e-01 -5.08292153e-03 9.94789211e+01] [ 3.39185391e-02 2.15520363e-03 9.99422277e-01 1.98669457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.596875 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:159.80, Y:99.46, Z:19.88 [[ 9.96900633e-01 -7.11394999e-02 -3.35901666e-02 1.59797829e+02] [ 7.10031985e-02 9.97462351e-01 -5.23484373e-03 9.94642223e+01] [ 3.38773307e-02 2.83360976e-03 9.99421982e-01 1.98781829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62687500000004 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:159.80, Y:99.48, Z:19.87 [[ 9.95791571e-01 -8.51925115e-02 -3.37843666e-02 1.59801486e+02] [ 8.51343749e-02 9.96364473e-01 -3.15823474e-03 9.94846481e+01] [ 3.39306006e-02 2.68732602e-04 9.99424155e-01 1.98697120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.656875 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:159.83, Y:99.49, Z:19.87 [[ 9.95912559e-01 -8.38373733e-02 -3.36075823e-02 1.59830427e+02] [ 8.37141951e-02 9.96476968e-01 -5.05818331e-03 9.94893023e+01] [ 3.39132465e-02 2.22407658e-03 9.99422306e-01 1.98695829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68687500000004 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:159.86, Y:99.49, Z:19.87 [[ 9.95810207e-01 -8.50470612e-02 -3.36010283e-02 1.59857633e+02] [ 8.49221845e-02 9.96374386e-01 -5.12887106e-03 9.94933909e+01] [ 3.39153993e-02 2.25390943e-03 9.99422166e-01 1.98701632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.716875 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:159.89, Y:99.50, Z:19.87 [[ 9.95833712e-01 -8.47756430e-02 -3.35902931e-02 1.59887547e+02] [ 8.46466958e-02 9.96397223e-01 -5.24502742e-03 9.94956890e+01] [ 3.39139254e-02 2.37986780e-03 9.99421924e-01 1.98713763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.746875 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:159.91, Y:99.50, Z:19.88 [[ 9.95784873e-01 -8.53336208e-02 -3.36252932e-02 1.59913717e+02] [ 8.52184277e-02 9.96350505e-01 -4.84679698e-03 9.94991357e+01] [ 3.39161726e-02 1.96087249e-03 9.99422758e-01 1.98759731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.776875 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:159.94, Y:99.50, Z:19.88 [[ 9.95633456e-01 -8.70870301e-02 -3.36135624e-02 1.59942503e+02] [ 8.69683416e-02 9.96198629e-01 -4.97982061e-03 9.95034389e+01] [ 3.39194626e-02 2.03476022e-03 9.99422498e-01 1.98766341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.806875 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:159.97, Y:99.51, Z:19.87 [[ 9.95673345e-01 -8.66318430e-02 -3.36082462e-02 1.59969678e+02] [ 8.65108880e-02 9.96238160e-01 -5.03931861e-03 9.95078951e+01] [ 3.39183828e-02 2.11003599e-03 9.99422379e-01 1.98725681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.836875 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:160.00, Y:99.51, Z:19.87 [[ 9.95692690e-01 -8.64181588e-02 -3.35852430e-02 1.59998008e+02] [ 8.62885164e-02 9.96256128e-01 -5.29325438e-03 9.95115258e+01] [ 3.39169374e-02 2.37243391e-03 9.99421839e-01 1.98729141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.866875 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:160.02, Y:99.51, Z:19.88 [[ 9.96105708e-01 -8.15089790e-02 -3.36110757e-02 1.60024701e+02] [ 8.13869176e-02 9.96670110e-01 -4.98614864e-03 9.95122980e+01] [ 3.39055704e-02 2.23122927e-03 9.99422550e-01 1.98772960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.896875 meters Centerline goodness : 0.993723 Centerline is valid? [True, True] Translation: X:160.05, Y:99.52, Z:19.88 [[ 9.95853100e-01 -8.45402416e-02 -3.36087830e-02 1.60053260e+02] [ 8.44189721e-02 9.96417734e-01 -5.01359951e-03 9.95166675e+01] [ 3.39122383e-02 2.15558971e-03 9.99422490e-01 1.98769330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.926875 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:160.08, Y:99.52, Z:19.88 [[ 9.95980401e-01 -8.30324559e-02 -3.35954215e-02 1.60083831e+02] [ 8.29050157e-02 9.96544037e-01 -5.17118176e-03 9.95177063e+01] [ 3.39086929e-02 2.36516673e-03 9.99422136e-01 1.98799124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.956875 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:160.14, Y:99.50, Z:19.89 [[ 9.97109838e-01 -6.81361815e-02 -3.36070103e-02 1.60138014e+02] [ 6.80048842e-02 9.97672279e-01 -5.03586629e-03 9.95018436e+01] [ 3.38719073e-02 2.73587098e-03 9.99422438e-01 1.98933740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.986875 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:160.14, Y:99.52, Z:19.89 [[ 9.95861263e-01 -8.43708394e-02 -3.37921188e-02 1.60144754e+02] [ 8.43239133e-02 9.96434423e-01 -2.81396703e-03 9.95202329e+01] [ 3.39090472e-02 -4.71629364e-05 9.99424922e-01 1.98911959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.016875 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:160.17, Y:99.52, Z:19.89 [[ 9.95864541e-01 -8.43886673e-02 -3.36506955e-02 1.60172655e+02] [ 8.42838099e-02 9.96431515e-01 -4.52501600e-03 9.95240166e+01] [ 3.39124735e-02 1.67009416e-03 9.99423411e-01 1.98896357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.046875 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:160.21, Y:99.52, Z:19.89 [[ 9.96365503e-01 -7.82572852e-02 -3.36389878e-02 1.60206664e+02] [ 7.81441506e-02 9.96931147e-01 -4.66687896e-03 9.95227022e+01] [ 3.39009719e-02 2.02122707e-03 9.99423153e-01 1.98900628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.07687500000003 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:160.25, Y:99.51, Z:19.90 [[ 9.97142987e-01 -6.76194675e-02 -3.36670709e-02 1.60252457e+02] [ 6.75117143e-02 9.97709093e-01 -4.32841767e-03 9.95119352e+01] [ 3.38826281e-02 2.04312965e-03 9.99423731e-01 1.98969423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.106875 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:160.26, Y:99.53, Z:19.89 [[ 9.96072474e-01 -8.18381704e-02 -3.37955685e-02 1.60258535e+02] [ 8.17919733e-02 9.96645631e-01 -2.74952348e-03 9.95304679e+01] [ 3.39072217e-02 -2.54815824e-05 9.99424985e-01 1.98875796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.13687500000003 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:160.29, Y:99.53, Z:19.89 [[ 9.96177245e-01 -8.06165720e-02 -3.36432137e-02 1.60289140e+02] [ 8.05065856e-02 9.96743401e-01 -4.61333643e-03 9.95311703e+01] [ 3.39055626e-02 1.88720051e-03 9.99423259e-01 1.98890788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.166875 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:160.32, Y:99.53, Z:19.89 [[ 9.96240641e-01 -7.98318568e-02 -3.36371840e-02 1.60317024e+02] [ 7.97189499e-02 9.96806363e-01 -4.68663048e-03 9.95330976e+01] [ 3.39039015e-02 1.98749076e-03 9.99423121e-01 1.98899921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.19687500000003 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:160.35, Y:99.53, Z:19.90 [[ 9.96304856e-01 -7.90221251e-02 -3.36472664e-02 1.60347101e+02] [ 7.89130262e-02 9.96871074e-01 -4.56023742e-03 9.95338847e+01] [ 3.39023462e-02 1.88817907e-03 9.99423367e-01 1.98951314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.226875 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:160.39, Y:99.52, Z:19.90 [[ 9.97365649e-01 -6.42539060e-02 -3.36630172e-02 1.60394062e+02] [ 6.41430286e-02 9.97931172e-01 -4.36450174e-03 9.95221381e+01] [ 3.38738104e-02 2.19375623e-03 9.99423710e-01 1.99025179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.25687500000004 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:160.42, Y:99.52, Z:19.90 [[ 9.97412417e-01 -6.34524893e-02 -3.37972219e-02 1.60422448e+02] [ 6.33987677e-02 9.97984730e-01 -2.65990231e-03 9.95241940e+01] [ 3.38978888e-02 5.10317370e-04 9.99425171e-01 1.99044321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.286875 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:160.43, Y:99.54, Z:19.89 [[ 9.96625335e-01 -7.48046801e-02 -3.37964724e-02 1.60432473e+02] [ 7.47571564e-02 9.97198196e-01 -2.66939156e-03 9.95404628e+01] [ 3.39014643e-02 1.33855080e-04 9.99425171e-01 1.98945216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31687500000004 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:160.46, Y:99.54, Z:19.89 [[ 9.96538254e-01 -7.60119578e-02 -3.36703128e-02 1.60460823e+02] [ 7.59114495e-02 9.97105483e-01 -4.25527598e-03 9.95441701e+01] [ 3.38963054e-02 1.68458305e-03 9.99423935e-01 1.98932883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.346875 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:160.51, Y:99.53, Z:19.90 [[ 9.97462699e-01 -6.27381034e-02 -3.36466202e-02 1.60510177e+02] [ 6.26203506e-02 9.98027079e-01 -4.54316749e-03 9.95307241e+01] [ 3.38652678e-02 2.42467695e-03 9.99423466e-01 1.99039617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37687500000004 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:160.52, Y:99.55, Z:19.90 [[ 9.96739184e-01 -7.32734256e-02 -3.37935403e-02 1.60519501e+02] [ 7.32234579e-02 9.97311863e-01 -2.71551464e-03 9.95460643e+01] [ 3.39016737e-02 2.32179966e-04 9.99425146e-01 1.98962418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.406875 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:160.57, Y:99.53, Z:19.91 [[ 9.97575718e-01 -6.09039334e-02 -3.36659863e-02 1.60566629e+02] [ 6.07941476e-02 9.98141166e-01 -4.27605507e-03 9.95337917e+01] [ 3.38638354e-02 2.21899376e-03 9.99423992e-01 1.99068696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43687500000004 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:160.60, Y:99.54, Z:19.91 [[ 9.97558563e-01 -6.11148658e-02 -3.37918045e-02 1.60595907e+02] [ 6.10582917e-02 9.98130538e-01 -2.70456585e-03 9.95354320e+01] [ 3.38939212e-02 6.34692964e-04 9.99425234e-01 1.99101321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.466875 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:160.61, Y:99.55, Z:19.90 [[ 9.96498461e-01 -7.64786031e-02 -3.37911431e-02 1.60605522e+02] [ 7.64305697e-02 9.97071215e-01 -2.71280438e-03 9.95518487e+01] [ 3.38996476e-02 1.20629072e-04 9.99425235e-01 1.99036050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.496875 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:160.64, Y:99.55, Z:19.90 [[ 9.96355477e-01 -7.83745698e-02 -3.36628979e-02 1.60637097e+02] [ 7.82735482e-02 9.96922601e-01 -4.31042888e-03 9.95545369e+01] [ 3.38971318e-02 1.65980496e-03 9.99423949e-01 1.99042013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.526875 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:160.66, Y:99.56, Z:19.90 [[ 9.96790366e-01 -7.26325459e-02 -3.36672037e-02 1.60663163e+02] [ 7.25300701e-02 9.97357142e-01 -4.25676256e-03 9.95559249e+01] [ 3.38874056e-02 1.80121526e-03 9.99424034e-01 1.99020491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.556875 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:160.71, Y:99.54, Z:19.91 [[ 9.97653869e-01 -5.96172870e-02 -3.36531727e-02 1.60711610e+02] [ 5.95015857e-02 9.98218381e-01 -4.43002958e-03 9.95428588e+01] [ 3.38573219e-02 2.41721901e-03 9.99423753e-01 1.99142598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.586875 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:160.72, Y:99.56, Z:19.91 [[ 9.96813018e-01 -7.22626835e-02 -3.37921861e-02 1.60722938e+02] [ 7.22135495e-02 9.97385609e-01 -2.67382546e-03 9.95566469e+01] [ 3.38970579e-02 2.25050325e-04 9.99425304e-01 1.99107590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.616875 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:160.75, Y:99.56, Z:19.91 [[ 9.96969984e-01 -7.01106536e-02 -3.36949228e-02 1.60746913e+02] [ 7.00177810e-02 9.97538003e-01 -3.92983080e-03 9.95601713e+01] [ 3.38874890e-02 1.55867962e-03 9.99424439e-01 1.99062511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.646875 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:160.77, Y:99.56, Z:19.90 [[ 9.96720267e-01 -7.35914049e-02 -3.36602852e-02 1.60774183e+02] [ 7.34854774e-02 9.97286691e-01 -4.37500817e-03 9.95638146e+01] [ 3.38909174e-02 1.88711718e-03 9.99423756e-01 1.99046643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.676875 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:160.81, Y:99.56, Z:19.91 [[ 9.96582068e-01 -7.54484832e-02 -3.36408576e-02 1.60805345e+02] [ 7.53352766e-02 9.97147549e-01 -4.62188880e-03 9.95644168e+01] [ 3.38936132e-02 2.07174818e-03 9.99423299e-01 1.99097240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.706875 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:160.84, Y:99.56, Z:19.91 [[ 9.96712083e-01 -7.36997643e-02 -3.36655430e-02 1.60837208e+02] [ 7.35963288e-02 9.97278830e-01 -4.30305107e-03 9.95641322e+01] [ 3.38910672e-02 1.81124262e-03 9.99423892e-01 1.99118553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.736875 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:160.89, Y:99.55, Z:19.92 [[ 9.97578910e-01 -6.08372654e-02 -3.36919065e-02 1.60885757e+02] [ 6.07380786e-02 9.98145881e-01 -3.96058401e-03 9.95490023e+01] [ 3.38703888e-02 1.90461342e-03 9.99424419e-01 1.99212889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.766875 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:160.89, Y:99.57, Z:19.92 [[ 9.96410795e-01 -7.75964408e-02 -3.38277918e-02 1.60893030e+02] [ 7.75681172e-02 9.96984735e-01 -2.15082329e-03 9.95651325e+01] [ 3.38926883e-02 -4.80854581e-04 9.99425362e-01 1.99154373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.796875 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:160.92, Y:99.57, Z:19.92 [[ 9.96445409e-01 -7.72084967e-02 -3.36956280e-02 1.60922066e+02] [ 7.71212730e-02 9.97014160e-01 -3.88258279e-03 9.95659327e+01] [ 3.38947866e-02 1.27013207e-03 9.99424600e-01 1.99161470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.82687500000003 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:160.94, Y:99.57, Z:19.91 [[ 9.96421028e-01 -7.75214670e-02 -3.36980196e-02 1.60944292e+02] [ 7.74354894e-02 9.96989927e-01 -3.85102039e-03 9.95697822e+01] [ 3.38951229e-02 1.22781506e-03 9.99424641e-01 1.99133623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.856875 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:161.00, Y:99.56, Z:19.93 [[ 9.97260687e-01 -6.58702121e-02 -3.36487411e-02 1.60995378e+02] [ 6.57561838e-02 9.97825639e-01 -4.48544058e-03 9.95563582e+01] [ 3.38710335e-02 2.26054076e-03 9.99423655e-01 1.99252306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.88687500000003 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:161.00, Y:99.57, Z:19.92 [[ 9.96234802e-01 -7.98381726e-02 -3.37947622e-02 1.61002637e+02] [ 7.97974403e-02 9.96807827e-01 -2.55448417e-03 9.95715531e+01] [ 3.38908288e-02 -1.51869493e-04 9.99425529e-01 1.99167424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.916875 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:161.05, Y:99.56, Z:19.93 [[ 9.97216818e-01 -6.65228714e-02 -3.36648989e-02 1.61052514e+02] [ 6.64166144e-02 9.97782859e-01 -4.26604530e-03 9.95572869e+01] [ 3.38740487e-02 2.01826350e-03 9.99424072e-01 1.99283041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.94687500000003 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:161.08, Y:99.56, Z:19.93 [[ 9.97183569e-01 -6.69536051e-02 -3.37956245e-02 1.61080219e+02] [ 6.69073641e-02 9.97756063e-01 -2.49858632e-03 9.95584607e+01] [ 3.38870786e-02 2.30373066e-04 9.99425641e-01 1.99304470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.976875 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:161.11, Y:99.56, Z:19.93 [[ 9.97170057e-01 -6.71548946e-02 -3.37949448e-02 1.61108345e+02] [ 6.71084588e-02 9.97742535e-01 -2.50774600e-03 9.95604114e+01] [ 3.38870613e-02 2.32722560e-04 9.99425642e-01 1.99316472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.00687500000004 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:161.12, Y:99.58, Z:19.92 [[ 9.96479301e-01 -7.67264557e-02 -3.37942860e-02 1.61118572e+02] [ 7.66852188e-02 9.97052177e-01 -2.51659370e-03 9.95750566e+01] [ 3.38877557e-02 -8.37886836e-05 9.99425642e-01 1.99227893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.036875 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:161.14, Y:99.58, Z:19.92 [[ 9.96697363e-01 -7.38844003e-02 -3.36966288e-02 1.61143698e+02] [ 7.37959916e-02 9.97265882e-01 -3.86155522e-03 9.95759684e+01] [ 3.38898070e-02 1.36212576e-03 9.99424647e-01 1.99246697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06687500000004 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:161.17, Y:99.58, Z:19.93 [[ 9.96606022e-01 -7.51107674e-02 -3.36869316e-02 1.61172901e+02] [ 7.50184437e-02 9.97174132e-01 -3.99803199e-03 9.95778695e+01] [ 3.38920320e-02 1.45732158e-03 9.99424438e-01 1.99270018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.096875 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:161.20, Y:99.58, Z:19.93 [[ 9.96947845e-01 -7.04260942e-02 -3.36921402e-02 1.61201380e+02] [ 7.03335805e-02 9.97515807e-01 -3.92467249e-03 9.95798183e+01] [ 3.38848417e-02 1.54300492e-03 9.99424553e-01 1.99261186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12687500000004 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:161.23, Y:99.58, Z:19.93 [[ 9.97029546e-01 -6.92610425e-02 -3.36896444e-02 1.61227510e+02] [ 6.91666764e-02 9.97597259e-01 -3.95985694e-03 9.95825403e+01] [ 3.38829607e-02 1.61789364e-03 9.99424498e-01 1.99254140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.156875 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:161.26, Y:99.58, Z:19.93 [[ 9.97136297e-01 -6.77121117e-02 -3.36790017e-02 1.61255311e+02] [ 6.76117514e-02 9.97703237e-01 -4.11121492e-03 9.95844687e+01] [ 3.38800281e-02 1.82234533e-03 9.99424246e-01 1.99252948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18687500000004 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:161.30, Y:99.57, Z:19.94 [[ 9.97995837e-01 -5.35760591e-02 -3.36736725e-02 1.61304115e+02] [ 5.34651540e-02 9.98560942e-01 -4.18602780e-03 9.95706625e+01] [ 3.38494850e-02 2.37727023e-03 9.99424115e-01 1.99378491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.216875 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:161.31, Y:99.59, Z:19.93 [[ 9.97301727e-01 -6.51668917e-02 -3.38014894e-02 1.61311798e+02] [ 6.51249141e-02 9.97874370e-01 -2.34254916e-03 9.95858681e+01] [ 3.38822966e-02 1.34909230e-04 9.99425821e-01 1.99277671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.246875 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:161.34, Y:99.59, Z:19.93 [[ 9.97459288e-01 -6.27722699e-02 -3.36839791e-02 1.61339691e+02] [ 6.26718541e-02 9.98026052e-01 -4.02974112e-03 9.95863334e+01] [ 3.38704447e-02 1.90846529e-03 9.99424410e-01 1.99310395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.276875 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:161.37, Y:99.59, Z:19.93 [[ 9.97511769e-01 -6.19381785e-02 -3.36739143e-02 1.61369028e+02] [ 6.18323359e-02 9.98077812e-01 -4.17649482e-03 9.95883749e+01] [ 3.38678712e-02 2.08396596e-03 9.99424146e-01 1.99304582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.306875 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:161.40, Y:99.59, Z:19.93 [[ 9.97596700e-01 -6.05490975e-02 -3.36842958e-02 1.61396187e+02] [ 6.04477097e-02 9.98163266e-01 -4.02113559e-03 9.95897559e+01] [ 3.38659028e-02 1.97533306e-03 9.99424434e-01 1.99311184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.336875 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:161.43, Y:99.59, Z:19.93 [[ 9.97605976e-01 -6.04008391e-02 -3.36757262e-02 1.61425684e+02] [ 6.02950376e-02 9.98171975e-01 -4.14942608e-03 9.95907638e+01] [ 3.38647950e-02 2.10901307e-03 9.99424198e-01 1.99330940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.366875 meters Centerline goodness : 0.995909 Centerline is valid? [True, True] Translation: X:161.45, Y:99.59, Z:19.93 [[ 9.97662241e-01 -5.94583356e-02 -3.36861958e-02 1.61451574e+02] [ 5.93574369e-02 9.98228826e-01 -3.98831105e-03 9.95921264e+01] [ 3.38636700e-02 1.97946110e-03 9.99424501e-01 1.99340916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.396875 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:161.48, Y:99.59, Z:19.94 [[ 9.97741346e-01 -5.81199475e-02 -3.36790571e-02 1.61479972e+02] [ 5.80145399e-02 9.98307321e-01 -4.09940216e-03 9.95922074e+01] [ 3.38603063e-02 2.13626802e-03 9.99424292e-01 1.99370078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.426875 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:161.53, Y:99.58, Z:19.95 [[ 9.98450746e-01 -4.42911559e-02 -3.36808659e-02 1.61528768e+02] [ 4.41788524e-02 9.99015341e-01 -4.07163149e-03 9.95782653e+01] [ 3.38280390e-02 2.57734150e-03 9.99424345e-01 1.99464267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.456875 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:161.54, Y:99.59, Z:19.94 [[ 9.97748490e-01 -5.79248715e-02 -3.38032573e-02 1.61535537e+02] [ 5.78858337e-02 9.98320930e-01 -2.13318248e-03 9.95933483e+01] [ 3.38700636e-02 1.71649867e-04 9.99426230e-01 1.99384166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.486875 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:161.57, Y:99.59, Z:19.94 [[ 9.97773053e-01 -5.75683489e-02 -3.36870834e-02 1.61566237e+02] [ 5.74677000e-02 9.98339555e-01 -3.94920937e-03 9.95938446e+01] [ 3.38584973e-02 2.00449549e-03 9.99424627e-01 1.99399352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.516875 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:161.60, Y:99.60, Z:19.94 [[ 9.97641462e-01 -5.98023786e-02 -3.36925711e-02 1.61596548e+02] [ 5.97059158e-02 9.98208537e-01 -3.86280247e-03 9.95962645e+01] [ 3.38632168e-02 1.84204609e-03 9.99424779e-01 1.99395183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.546875 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:161.65, Y:99.58, Z:19.95 [[ 9.98301562e-01 -4.75292131e-02 -3.36892458e-02 1.61645159e+02] [ 4.74240990e-02 9.98867181e-01 -3.91278952e-03 9.95808132e+01] [ 3.38370538e-02 2.30846176e-03 9.99424697e-01 1.99516133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.57687500000003 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:161.65, Y:99.60, Z:19.94 [[ 9.97612365e-01 -6.02251161e-02 -3.38009446e-02 1.61651309e+02] [ 6.01855386e-02 9.98184809e-01 -2.18806082e-03 9.95981384e+01] [ 3.38713657e-02 1.48508470e-04 9.99426190e-01 1.99413342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.606875 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:161.68, Y:99.60, Z:19.94 [[ 9.97742986e-01 -5.80749014e-02 -3.37081696e-02 1.61675736e+02] [ 5.79823683e-02 9.98310688e-01 -3.71700670e-03 9.95996414e+01] [ 3.38670908e-02 1.75413785e-03 9.99424806e-01 1.99422570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.63687500000003 meters Centerline goodness : 0.995440 Centerline is valid? [True, True] Translation: X:161.71, Y:99.60, Z:19.94 [[ 9.97777983e-01 -5.74859210e-02 -3.36818259e-02 1.61711055e+02] [ 5.73785344e-02 9.98343882e-01 -4.14702033e-03 9.95992829e+01] [ 3.38644401e-02 2.20519177e-03 9.99424003e-01 1.99430627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.666875 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:161.74, Y:99.60, Z:19.95 [[ 9.97970742e-01 -5.40190234e-02 -3.37096982e-02 1.61736379e+02] [ 5.39251400e-02 9.98538168e-01 -3.68869244e-03 9.95998758e+01] [ 3.38596799e-02 1.86340693e-03 9.99424860e-01 1.99461372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.69687500000003 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:161.77, Y:99.60, Z:19.95 [[ 9.98077202e-01 -5.20232229e-02 -3.36969448e-02 1.61766996e+02] [ 5.19211410e-02 9.98643580e-01 -3.89799475e-03 9.96003329e+01] [ 3.38540238e-02 2.14091587e-03 9.99424495e-01 1.99479776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.726875 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:161.79, Y:99.60, Z:19.95 [[ 9.98109129e-01 -5.13998168e-02 -3.37079331e-02 1.61793957e+02] [ 5.13034855e-02 9.98676192e-01 -3.71710934e-03 9.96007907e+01] [ 3.38543690e-02 1.98074631e-03 9.99424814e-01 1.99483192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.75687500000004 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:161.84, Y:99.59, Z:19.96 [[ 9.98674776e-01 -3.88942430e-02 -3.37035473e-02 1.61841829e+02] [ 3.87883789e-02 9.99240262e-01 -3.78945091e-03 9.95866727e+01] [ 3.38253293e-02 2.47712308e-03 9.99424690e-01 1.99599432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.786875 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:161.85, Y:99.60, Z:19.95 [[ 9.98136717e-01 -5.07937970e-02 -3.38095352e-02 1.61848878e+02] [ 5.07556323e-02 9.98709126e-01 -1.98667295e-03 9.96010198e+01] [ 3.38668020e-02 2.66946884e-04 9.99426320e-01 1.99521468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81687500000004 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:161.88, Y:99.60, Z:19.96 [[ 9.98374236e-01 -4.59558959e-02 -3.37185455e-02 1.61877997e+02] [ 4.58601496e-02 9.98941355e-01 -3.60789813e-03 9.95995300e+01] [ 3.38486537e-02 2.05569500e-03 9.99424856e-01 1.99553680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.846875 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:161.90, Y:99.60, Z:19.96 [[ 9.98404724e-01 -4.52823059e-02 -3.37271464e-02 1.61904553e+02] [ 4.51914357e-02 9.98972381e-01 -3.45211688e-03 9.96003680e+01] [ 3.38488075e-02 1.92243164e-03 9.99425116e-01 1.99573469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87687500000004 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:161.94, Y:99.60, Z:19.96 [[ 9.98563099e-01 -4.16497138e-02 -3.37200116e-02 1.61939178e+02] [ 4.15524283e-02 9.99129907e-01 -3.58105139e-03 9.95985859e+01] [ 3.38398218e-02 2.17475741e-03 9.99424903e-01 1.99597035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.906875 meters Centerline goodness : 0.996210 Centerline is valid? [True, True] Translation: X:161.97, Y:99.60, Z:19.96 [[ 9.98535724e-01 -4.22762007e-02 -3.37510025e-02 1.61967237e+02] [ 4.21982617e-02 9.99104697e-01 -3.01854373e-03 9.95994461e+01] [ 3.38483977e-02 1.58989011e-03 9.99425714e-01 1.99595867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93687500000004 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:161.99, Y:99.60, Z:19.96 [[ 9.98467688e-01 -4.38516329e-02 -3.37536787e-02 1.61988398e+02] [ 4.37762485e-02 9.99036947e-01 -2.96950821e-03 9.96033933e+01] [ 3.38513899e-02 1.48734857e-03 9.99425771e-01 1.99595443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.966875 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:162.02, Y:99.60, Z:19.96 [[ 9.98478266e-01 -4.36355017e-02 -3.37208348e-02 1.62018242e+02] [ 4.35394936e-02 9.99045305e-01 -3.57657066e-03 9.96036861e+01] [ 3.38447071e-02 2.10294000e-03 9.99424891e-01 1.99588419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.996875 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:162.05, Y:99.60, Z:19.96 [[ 9.98500664e-01 -4.31207835e-02 -3.37197575e-02 1.62046100e+02] [ 4.30238227e-02 9.99067575e-01 -3.59614193e-03 9.96044947e+01] [ 3.38433848e-02 2.13999724e-03 9.99424857e-01 1.99581875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.026875 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:162.08, Y:99.60, Z:19.96 [[ 9.98640385e-01 -3.97548380e-02 -3.37184635e-02 1.62079100e+02] [ 3.96551628e-02 9.99206867e-01 -3.61997877e-03 9.96016545e+01] [ 3.38356320e-02 2.27794583e-03 9.99424815e-01 1.99617209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.056875 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:162.11, Y:99.60, Z:19.96 [[ 9.98657328e-01 -3.93077066e-02 -3.37408684e-02 1.62106336e+02] [ 3.92219106e-02 9.99225397e-01 -3.20117308e-03 9.96027256e+01] [ 3.38405634e-02 1.87349363e-03 9.99425488e-01 1.99628507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.086875 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:162.14, Y:99.60, Z:19.96 [[ 9.98699517e-01 -3.82199654e-02 -3.37418035e-02 1.62136720e+02] [ 3.81341380e-02 9.99267557e-01 -3.18377219e-03 9.96022645e+01] [ 3.38387732e-02 1.89291716e-03 9.99425512e-01 1.99644257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.116875 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:162.16, Y:99.60, Z:19.96 [[ 9.98665005e-01 -3.91050496e-02 -3.37491052e-02 1.62161685e+02] [ 3.90243618e-02 9.99233615e-01 -3.04646995e-03 9.96030993e+01] [ 3.38423727e-02 1.72536564e-03 9.99425694e-01 1.99643265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.146875 meters Centerline goodness : 0.996158 Centerline is valid? [True, True] Translation: X:162.19, Y:99.60, Z:19.97 [[ 9.98749534e-01 -3.68890985e-02 -3.37426058e-02 1.62189763e+02] [ 3.68028087e-02 9.99317503e-01 -3.17503105e-03 9.96027026e+01] [ 3.38367006e-02 1.92923812e-03 9.99425513e-01 1.99660863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.176875 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:162.22, Y:99.60, Z:19.97 [[ 9.98712347e-01 -3.78837133e-02 -3.37412437e-02 1.62217844e+02] [ 3.77970843e-02 9.99280305e-01 -3.20183386e-03 9.96035611e+01] [ 3.38382576e-02 1.92239038e-03 9.99425473e-01 1.99658436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.206875 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:162.25, Y:99.60, Z:19.97 [[ 9.98782473e-01 -3.59880291e-02 -3.37406827e-02 1.62248578e+02] [ 3.58999551e-02 9.99350225e-01 -3.21271076e-03 9.96022077e+01] [ 3.38343779e-02 1.99751020e-03 9.99425457e-01 1.99687828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.236875 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:162.27, Y:99.60, Z:19.97 [[ 9.98797588e-01 -3.55497639e-02 -3.37578382e-02 1.62274199e+02] [ 3.54731460e-02 9.99366520e-01 -2.86603503e-03 9.96017889e+01] [ 3.38383401e-02 1.66509215e-03 9.99425932e-01 1.99713687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.266875 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:162.31, Y:99.60, Z:19.98 [[ 9.98787412e-01 -3.58432486e-02 -3.37485894e-02 1.62309866e+02] [ 3.57604784e-02 9.99355726e-01 -3.05316502e-03 9.96002722e+01] [ 3.38362814e-02 1.84259709e-03 9.99425691e-01 1.99756625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.296875 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:162.34, Y:99.60, Z:19.97 [[ 9.98870953e-01 -3.34062818e-02 -3.37763078e-02 1.62336066e+02] [ 3.33408422e-02 9.99440915e-01 -2.49897131e-03 9.96010600e+01] [ 3.38409053e-02 1.37001931e-03 9.99426294e-01 1.99730074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.32687500000003 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:162.35, Y:99.61, Z:19.97 [[ 9.98738654e-01 -3.71585479e-02 -3.37689839e-02 1.62352274e+02] [ 3.70902239e-02 9.99308413e-01 -2.64767562e-03 9.96052876e+01] [ 3.38440135e-02 1.39183681e-03 9.99426158e-01 1.99706324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.356875 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:162.41, Y:99.59, Z:19.98 [[ 9.99160534e-01 -2.32737388e-02 -3.37129254e-02 1.62405471e+02] [ 2.31599619e-02 9.99724696e-01 -3.76151184e-03 9.95913433e+01] [ 3.37911885e-02 2.97756410e-03 9.99424479e-01 1.99799492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.38687500000003 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:162.42, Y:99.60, Z:19.98 [[ 9.98811668e-01 -3.50963755e-02 -3.38156291e-02 1.62415166e+02] [ 3.50615615e-02 9.99383838e-01 -1.62214390e-03 9.96035529e+01] [ 3.38517246e-02 4.34587494e-04 9.99426772e-01 1.99754481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.416875 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:162.46, Y:99.59, Z:19.98 [[ 9.99240706e-01 -1.94638813e-02 -3.37515716e-02 1.62460817e+02] [ 1.93740443e-02 9.99807844e-01 -2.98674936e-03 9.95909771e+01] [ 3.38032198e-02 2.33057709e-03 9.99425791e-01 1.99833772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.44687500000003 meters Centerline goodness : 0.997089 Centerline is valid? [True, True] Translation: X:162.47, Y:99.60, Z:19.98 [[ 9.98973405e-01 -3.01415295e-02 -3.38175041e-02 1.62469641e+02] [ 3.01068381e-02 9.99545508e-01 -1.53470363e-03 9.96024524e+01] [ 3.38483926e-02 5.14989997e-04 9.99426846e-01 1.99752670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.476875 meters Centerline goodness : 0.996763 Centerline is valid? [True, True] Translation: X:162.50, Y:99.60, Z:19.98 [[ 9.98966146e-01 -3.04600875e-02 -3.37464454e-02 1.62498545e+02] [ 3.03694255e-02 9.99533633e-01 -3.19600954e-03 9.96014240e+01] [ 3.38280580e-02 2.16784517e-03 9.99425316e-01 1.99786957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.50687500000004 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:162.52, Y:99.60, Z:19.98 [[ 9.99012296e-01 -2.89045186e-02 -3.37484892e-02 1.62523829e+02] [ 2.88146218e-02 9.99579818e-01 -3.14716122e-03 9.96027397e+01] [ 3.38252759e-02 2.17160281e-03 9.99425402e-01 1.99777340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.536875 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:162.56, Y:99.60, Z:19.98 [[ 9.99091072e-01 -2.60563329e-02 -3.37357043e-02 1.62557080e+02] [ 2.59544228e-02 9.99657156e-01 -3.45531521e-03 9.96013862e+01] [ 3.38141711e-02 2.57658384e-03 9.99424816e-01 1.99791144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56687500000004 meters Centerline goodness : 0.996585 Centerline is valid? [True, True] Translation: X:162.58, Y:99.60, Z:19.98 [[ 9.99072419e-01 -2.67419535e-02 -3.37515977e-02 1.62581547e+02] [ 2.66536180e-02 9.99640032e-01 -3.06452673e-03 9.96030910e+01] [ 3.38213996e-02 2.16208194e-03 9.99425554e-01 1.99798417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.596875 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:162.61, Y:99.60, Z:19.98 [[ 9.99048617e-01 -2.76336599e-02 -3.37378467e-02 1.62614061e+02] [ 2.75342327e-02 9.99615051e-01 -3.40819822e-03 9.96033476e+01] [ 3.38190404e-02 2.47601000e-03 9.99424906e-01 1.99800017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62687500000004 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:162.64, Y:99.60, Z:19.98 [[ 9.99067640e-01 -2.69319002e-02 -3.37420156e-02 1.62639867e+02] [ 2.68353754e-02 9.99634385e-01 -3.31036585e-03 9.96025399e+01] [ 3.38188334e-02 2.40179975e-03 9.99425094e-01 1.99820295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.656875 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:162.67, Y:99.60, Z:19.98 [[ 9.99119193e-01 -2.49532975e-02 -3.37367879e-02 1.62670003e+02] [ 2.48512801e-02 9.99685241e-01 -3.43993128e-03 9.96026499e+01] [ 3.38120065e-02 2.59849900e-03 9.99424833e-01 1.99833076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68687500000004 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:162.70, Y:99.60, Z:19.99 [[ 9.99185423e-01 -2.21223347e-02 -3.37504491e-02 1.62696552e+02] [ 2.20313757e-02 9.99752583e-01 -3.06460712e-03 9.96014463e+01] [ 3.38098949e-02 2.31854193e-03 9.99425593e-01 1.99865368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.716875 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:162.74, Y:99.59, Z:20.00 [[ 9.99390646e-01 -8.91221482e-03 -3.37477352e-02 1.62744915e+02] [ 8.81134414e-03 9.99956260e-01 -3.13650946e-03 9.95864911e+01] [ 3.37742123e-02 2.83723531e-03 9.99425461e-01 1.99960963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.746875 meters Centerline goodness : 0.996714 Centerline is valid? [True, True] Translation: X:162.76, Y:99.60, Z:19.99 [[ 9.99182969e-01 -2.21319898e-02 -3.38167006e-02 1.62756186e+02] [ 2.21037558e-02 9.99754952e-01 -1.20857383e-03 9.96000416e+01] [ 3.38351620e-02 4.60110294e-04 9.99427321e-01 1.99871123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.776875 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:162.78, Y:99.60, Z:19.99 [[ 9.99188120e-01 -2.19913015e-02 -3.37562269e-02 1.62784744e+02] [ 2.19056059e-02 9.99755819e-01 -2.90644042e-03 9.95999338e+01] [ 3.38119007e-02 2.16463013e-03 9.99425870e-01 1.99869204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.806875 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:162.83, Y:99.58, Z:20.00 [[ 9.99365796e-01 -1.13420613e-02 -3.37544700e-02 1.62832861e+02] [ 1.12486839e-02 9.99932365e-01 -2.95499305e-03 9.95832926e+01] [ 3.37857027e-02 2.57342562e-03 9.99425787e-01 1.99973727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.836875 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:162.86, Y:99.58, Z:20.00 [[ 9.99347017e-01 -1.27283155e-02 -3.38161167e-02 1.62860939e+02] [ 1.26963119e-02 9.99918725e-01 -1.16097080e-03 9.95826111e+01] [ 3.38281454e-02 7.30872735e-04 9.99427397e-01 1.99995795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.866875 meters Centerline goodness : 0.996887 Centerline is valid? [True, True] Translation: X:162.89, Y:99.58, Z:20.00 [[ 9.99326239e-01 -1.42674342e-02 -3.38157901e-02 1.62888611e+02] [ 1.42359921e-02 9.99897978e-01 -1.17040456e-03 9.95822320e+01] [ 3.38290389e-02 6.88214667e-04 9.99427397e-01 2.00004295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.896875 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:162.90, Y:99.60, Z:19.99 [[ 9.99081606e-01 -2.63144772e-02 -3.38155841e-02 1.62898838e+02] [ 2.62897299e-02 9.99653673e-01 -1.17632801e-03 9.95955317e+01] [ 3.38348273e-02 2.86245101e-04 9.99427397e-01 1.99919969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.926875 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:162.93, Y:99.60, Z:19.99 [[ 9.99047456e-01 -2.76438799e-02 -3.37638297e-02 1.62925487e+02] [ 2.75674219e-02 9.99616224e-01 -2.72800960e-03 9.95957256e+01] [ 3.38262848e-02 1.79462931e-03 9.99426116e-01 1.99924126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.956875 meters Centerline goodness : 0.997194 Centerline is valid? [True, True] Translation: X:162.95, Y:99.59, Z:20.00 [[ 9.99017121e-01 -2.87175660e-02 -3.37652612e-02 1.62950159e+02] [ 2.86433966e-02 9.99586105e-01 -2.67838272e-03 9.95941921e+01] [ 3.38282026e-02 1.70859843e-03 9.99426202e-01 1.99954031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.986875 meters Centerline goodness : 0.997095 Centerline is valid? [True, True] Translation: X:162.98, Y:99.60, Z:19.99 [[ 9.98862378e-01 -3.36794513e-02 -3.37586257e-02 1.62975777e+02] [ 3.36003496e-02 9.99431119e-01 -2.90789638e-03 9.95967224e+01] [ 3.38373574e-02 1.77028666e-03 9.99425785e-01 1.99942688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.016875 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:163.03, Y:99.58, Z:20.01 [[ 9.99238697e-01 -1.95763323e-02 -3.37460231e-02 1.63029807e+02] [ 1.94762133e-02 9.99804898e-01 -3.29303546e-03 9.95775122e+01] [ 3.38039047e-02 2.63328372e-03 9.99425016e-01 2.00076688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.046875 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:163.06, Y:99.58, Z:20.01 [[ 9.99209951e-01 -2.08813832e-02 -3.38148255e-02 1.63058321e+02] [ 2.08586794e-02 9.99781910e-01 -1.02408043e-03 9.95771021e+01] [ 3.38288350e-02 3.17938755e-04 9.99427591e-01 2.00122078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.07687500000003 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:163.08, Y:99.58, Z:20.01 [[ 9.99184549e-01 -2.20639007e-02 -3.38145264e-02 1.63084945e+02] [ 2.20415430e-02 9.99756521e-01 -1.03386063e-03 9.95772876e+01] [ 3.38291043e-02 2.87693230e-04 9.99427591e-01 2.00127099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.106875 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:163.11, Y:99.58, Z:20.01 [[ 9.99141350e-01 -2.39405473e-02 -3.38143978e-02 1.63112877e+02] [ 2.39191220e-02 9.99713358e-01 -1.03805168e-03 9.95771425e+01] [ 3.38295567e-02 2.28349656e-04 9.99427591e-01 2.00134718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.13687500000003 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:163.13, Y:99.59, Z:20.00 [[ 9.98847174e-01 -3.40724192e-02 -3.38141122e-02 1.63125678e+02] [ 3.40564841e-02 9.99419361e-01 -1.04727180e-03 9.95906757e+01] [ 3.38301615e-02 -1.05525294e-04 9.99427591e-01 2.00038821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.166875 meters Centerline goodness : 0.996739 Centerline is valid? [True, True] Translation: X:163.15, Y:99.59, Z:20.00 [[ 9.98714880e-01 -3.77892356e-02 -3.37722243e-02 1.63149340e+02] [ 3.77304585e-02 9.99285128e-01 -2.37623710e-03 9.95948421e+01] [ 3.38378777e-02 1.09894184e-03 9.99426731e-01 2.00016082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.19687500000003 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:163.18, Y:99.60, Z:20.00 [[ 9.98723277e-01 -3.75782243e-02 -3.37593337e-02 1.63178957e+02] [ 3.75052702e-02 9.99292530e-01 -2.79189469e-03 9.95951627e+01] [ 3.38403644e-02 1.52217729e-03 9.99426092e-01 2.00023059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.226875 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:163.21, Y:99.59, Z:20.00 [[ 9.98807216e-01 -3.52757572e-02 -3.37604274e-02 1.63211256e+02] [ 3.52026930e-02 9.99376392e-01 -2.75633989e-03 9.95923051e+01] [ 3.38366061e-02 1.56459421e-03 9.99426153e-01 2.00038646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.25687500000004 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:163.26, Y:99.58, Z:20.02 [[ 9.99101884e-01 -2.55930962e-02 -3.37700843e-02 1.63255730e+02] [ 2.55251646e-02 9.99671199e-01 -2.44124803e-03 9.95787242e+01] [ 3.38214598e-02 1.57706854e-03 9.99426647e-01 2.00152906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.286875 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:163.28, Y:99.58, Z:20.02 [[ 9.99102207e-01 -2.55243416e-02 -3.38125508e-02 1.63283997e+02] [ 2.55055987e-02 9.99674193e-01 -9.85599654e-04 9.95793403e+01] [ 3.38266912e-02 1.22305437e-04 9.99427706e-01 2.00183685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31687500000004 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:163.31, Y:99.58, Z:20.02 [[ 9.99113712e-01 -2.50703288e-02 -3.38122757e-02 1.63311890e+02] [ 2.50510097e-02 9.99685679e-01 -9.94947601e-04 9.95807374e+01] [ 3.38265915e-02 1.47034144e-04 9.99427706e-01 2.00188443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.346875 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:163.34, Y:99.58, Z:20.02 [[ 9.99123488e-01 -2.46777597e-02 -3.38121910e-02 1.63339665e+02] [ 2.46581186e-02 9.99695444e-01 -9.97819072e-04 9.95814730e+01] [ 3.38265172e-02 1.63199455e-04 9.99427706e-01 2.00199661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37687500000004 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:163.37, Y:99.58, Z:20.02 [[ 9.99124614e-01 -2.46324923e-02 -3.38119161e-02 1.63367973e+02] [ 2.46125130e-02 9.99696559e-01 -1.00705060e-03 9.95827466e+01] [ 3.38264623e-02 1.73972824e-04 9.99427706e-01 2.00210882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.406875 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:163.40, Y:99.58, Z:20.02 [[ 9.99135667e-01 -2.41804112e-02 -3.38116331e-02 1.63395347e+02] [ 2.41598545e-02 9.99707591e-01 -1.01646274e-03 9.95841161e+01] [ 3.38263248e-02 1.98700039e-04 9.99427706e-01 2.00209561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43687500000004 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:163.42, Y:99.59, Z:20.02 [[ 9.99151750e-01 -2.35066345e-02 -3.38115094e-02 1.63422688e+02] [ 2.34855535e-02 9.99723655e-01 -1.02056095e-03 9.95853596e+01] [ 3.38261557e-02 2.25613251e-04 9.99427706e-01 2.00206183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.466875 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:163.45, Y:99.59, Z:20.02 [[ 9.99177294e-01 -2.23949656e-02 -3.38112378e-02 1.63450275e+02] [ 2.23729464e-02 9.99749164e-01 -1.02948270e-03 9.95866247e+01] [ 3.38258119e-02 2.72178729e-04 9.99427706e-01 2.00220459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.496875 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:163.48, Y:99.59, Z:20.02 [[ 9.99188077e-01 -2.19090201e-02 -3.38109587e-02 1.63477529e+02] [ 2.18864154e-02 9.99759924e-01 -1.03856875e-03 9.95875177e+01] [ 3.38255955e-02 2.97724826e-04 9.99427706e-01 2.00227079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.526875 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:163.51, Y:99.59, Z:20.03 [[ 9.99189884e-01 -2.18266652e-02 -3.38108368e-02 1.63505912e+02] [ 2.18038796e-02 9.99761724e-01 -1.04252214e-03 9.95888670e+01] [ 3.38255352e-02 3.04470164e-04 9.99427706e-01 2.00250370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.556875 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:163.53, Y:99.59, Z:20.03 [[ 9.99202982e-01 -2.12189703e-02 -3.38105875e-02 1.63533060e+02] [ 2.11955655e-02 9.99774797e-01 -1.05054318e-03 9.95897860e+01] [ 3.38252647e-02 3.33071357e-04 9.99427707e-01 2.00253783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.586875 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:163.56, Y:99.59, Z:20.03 [[ 9.99231069e-01 -1.98525301e-02 -3.38104634e-02 1.63559860e+02] [ 1.98282087e-02 9.99802846e-01 -1.05452228e-03 9.95911133e+01] [ 3.38247325e-02 3.83310500e-04 9.99427707e-01 2.00267262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.616875 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:163.59, Y:99.59, Z:20.03 [[ 9.99250623e-01 -1.88428511e-02 -3.38103396e-02 1.63588391e+02] [ 1.88178182e-02 9.99822369e-01 -1.05847910e-03 9.95923932e+01] [ 3.38242786e-02 4.21449081e-04 9.99427707e-01 2.00282011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.646875 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:163.62, Y:99.59, Z:20.03 [[ 9.99263116e-01 -1.81687861e-02 -3.38100476e-02 1.63616517e+02] [ 1.81430547e-02 9.99834831e-01 -1.06772438e-03 9.95943448e+01] [ 3.38238625e-02 4.53520047e-04 9.99427707e-01 2.00283049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.676875 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:163.64, Y:99.60, Z:20.03 [[ 9.99287524e-01 -1.67733287e-02 -3.38097480e-02 1.63643155e+02] [ 1.67464808e-02 9.99859188e-01 -1.07712912e-03 9.95957724e+01] [ 3.38230542e-02 5.10167397e-04 9.99427707e-01 2.00274128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.706875 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:163.66, Y:99.61, Z:20.02 [[ 9.99160266e-01 -2.31446241e-02 -3.38096176e-02 1.63657832e+02] [ 2.31212838e-02 9.99732083e-01 -1.08120720e-03 9.96086022e+01] [ 3.38255835e-02 2.98577510e-04 9.99427707e-01 2.00191208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.736875 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:163.69, Y:99.61, Z:20.02 [[ 9.99158645e-01 -2.32729945e-02 -3.37693656e-02 1.63686728e+02] [ 2.32084214e-02 9.99727996e-01 -2.30295116e-03 9.96104185e+01] [ 3.38137767e-02 1.51727989e-03 9.99426999e-01 2.00187238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.766875 meters Centerline goodness : 0.997335 Centerline is valid? [True, True] Translation: X:163.71, Y:99.61, Z:20.02 [[ 9.99222769e-01 -2.03332254e-02 -3.37700765e-02 1.63713869e+02] [ 2.02677242e-02 9.99791987e-01 -2.28084509e-03 9.96105665e+01] [ 3.38094288e-02 1.59462975e-03 9.99427026e-01 2.00202457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.796875 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:163.74, Y:99.61, Z:20.02 [[ 9.99281187e-01 -1.72208768e-02 -3.37720296e-02 1.63743207e+02] [ 1.71557724e-02 9.99850372e-01 -2.21661044e-03 9.96104028e+01] [ 3.38051483e-02 1.63563186e-03 9.99427104e-01 2.00223566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.82687500000003 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:163.77, Y:99.61, Z:20.02 [[ 9.99276802e-01 -1.74659016e-02 -3.37759546e-02 1.63770254e+02] [ 1.74053030e-02 9.99846337e-01 -2.08734826e-03 9.96122727e+01] [ 3.38072219e-02 1.49795797e-03 9.99427250e-01 2.00213992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.856875 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:163.80, Y:99.61, Z:20.03 [[ 9.99218758e-01 -2.05239439e-02 -3.37733921e-02 1.63798071e+02] [ 2.04623086e-02 9.99788271e-01 -2.16963137e-03 9.96141093e+01] [ 3.38107707e-02 1.47685479e-03 9.99427161e-01 2.00267831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.88687500000003 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:163.83, Y:99.61, Z:20.02 [[ 9.99269411e-01 -1.78891289e-02 -3.37731133e-02 1.63828026e+02] [ 1.78256919e-02 9.99838736e-01 -2.17851904e-03 9.96138906e+01] [ 3.38066387e-02 1.57489833e-03 9.99427151e-01 2.00223722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.916875 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:163.85, Y:99.62, Z:20.02 [[ 9.99259317e-01 -1.84319276e-02 -3.37798988e-02 1.63851598e+02] [ 1.83766885e-02 9.99829243e-01 -1.94503102e-03 9.96160797e+01] [ 3.38099813e-02 1.32282769e-03 9.99427404e-01 2.00231267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.94687500000003 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:163.89, Y:99.62, Z:20.02 [[ 9.99278396e-01 -1.73872331e-02 -3.37693879e-02 1.63885491e+02] [ 1.73191810e-02 9.99847351e-01 -2.30669315e-03 9.96158030e+01] [ 3.38043400e-02 1.72017049e-03 9.99426990e-01 2.00246029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.976875 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:163.91, Y:99.62, Z:20.03 [[ 9.99283535e-01 -1.70700280e-02 -3.37791513e-02 1.63912796e+02] [ 1.70126868e-02 9.99853305e-01 -1.98424395e-03 9.96163524e+01] [ 3.38080671e-02 1.40814819e-03 9.99427352e-01 2.00256975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.00687500000004 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:163.94, Y:99.62, Z:20.03 [[ 9.99252328e-01 -1.88071052e-02 -3.37798396e-02 1.63944168e+02] [ 1.87515315e-02 9.99822251e-01 -1.96125200e-03 9.96173079e+01] [ 3.38107207e-02 1.32636190e-03 9.99427374e-01 2.00325854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.036875 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:163.97, Y:99.62, Z:20.03 [[ 9.99259907e-01 -1.83838235e-02 -3.37886698e-02 1.63968358e+02] [ 1.83381335e-02 9.99830462e-01 -1.66165664e-03 9.96205481e+01] [ 3.38134890e-02 1.04080572e-03 9.99427619e-01 2.00278231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06687500000004 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:164.00, Y:99.62, Z:20.03 [[ 9.99285128e-01 -1.69782931e-02 -3.37782423e-02 1.63996484e+02] [ 1.69193419e-02 9.99854796e-01 -2.03033274e-03 9.96216389e+01] [ 3.38078092e-02 1.45737568e-03 9.99427290e-01 2.00292755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.096875 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:164.03, Y:99.62, Z:20.04 [[ 9.99256787e-01 -1.85716678e-02 -3.37782009e-02 1.64028299e+02] [ 1.85135755e-02 9.99826545e-01 -2.03179687e-03 9.96223560e+01] [ 3.38100758e-02 1.40493154e-03 9.99427288e-01 2.00363448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12687500000004 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:164.05, Y:99.62, Z:20.03 [[ 9.99268041e-01 -1.79369329e-02 -3.37883062e-02 1.64053261e+02] [ 1.78905847e-02 9.99838550e-01 -1.67358169e-03 9.96242641e+01] [ 3.38128700e-02 1.06786414e-03 9.99427611e-01 2.00317238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.156875 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:164.08, Y:99.62, Z:20.03 [[ 9.99261887e-01 -1.82924503e-02 -3.37797062e-02 1.64082668e+02] [ 1.82359158e-02 9.99831749e-01 -1.98098278e-03 9.96248380e+01] [ 3.38102598e-02 1.36351672e-03 9.99427340e-01 2.00338025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18687500000004 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:164.11, Y:99.63, Z:20.04 [[ 9.99251404e-01 -1.88457422e-02 -3.37856502e-02 1.64109381e+02] [ 1.87972689e-02 9.99821781e-01 -1.75181543e-03 9.96262567e+01] [ 3.38126432e-02 1.11542608e-03 9.99427567e-01 2.00359749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.216875 meters Centerline goodness : 0.997526 Centerline is valid? [True, True] Translation: X:164.14, Y:99.63, Z:20.04 [[ 9.99205324e-01 -2.11520057e-02 -3.37833135e-02 1.64136062e+02] [ 2.11017290e-02 9.99775633e-01 -1.84410429e-03 9.96289257e+01] [ 3.38147402e-02 1.12975250e-03 9.99427480e-01 2.00366608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.246875 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:164.16, Y:99.63, Z:20.04 [[ 9.99056155e-01 -2.73076842e-02 -3.37800113e-02 1.64164875e+02] [ 2.72565478e-02 9.99626523e-01 -1.97346167e-03 9.96320677e+01] [ 3.38212859e-02 1.05087254e-03 9.99427344e-01 2.00363791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.276875 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:164.20, Y:99.63, Z:20.04 [[ 9.98956202e-01 -3.07515462e-02 -3.37764421e-02 1.64195036e+02] [ 3.06980378e-02 9.99526494e-01 -2.10175811e-03 9.96335086e+01] [ 3.38250811e-02 1.06269380e-03 9.99427203e-01 2.00436718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.306875 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:164.23, Y:99.62, Z:20.05 [[ 9.99197347e-01 -2.15276583e-02 -3.37819631e-02 1.64234911e+02] [ 2.14757459e-02 9.99767566e-01 -1.89883033e-03 9.96231700e+01] [ 3.38149884e-02 1.17181338e-03 9.99427423e-01 2.00496754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.336875 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:164.26, Y:99.62, Z:20.05 [[ 9.99154885e-01 -2.33773116e-02 -3.38085286e-02 1.64261411e+02] [ 2.33606605e-02 9.99726709e-01 -8.87490867e-04 9.96247250e+01] [ 3.38200362e-02 9.69512779e-05 9.99427934e-01 2.00516182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.366875 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:164.29, Y:99.63, Z:20.05 [[ 9.99101511e-01 -2.55570321e-02 -3.38084196e-02 1.64288958e+02] [ 2.55414888e-02 9.99673365e-01 -8.91621473e-04 9.96281246e+01] [ 3.38201638e-02 2.73029904e-05 9.99427934e-01 2.00528279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.396875 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:164.32, Y:99.63, Z:20.05 [[ 9.99074968e-01 -2.65747355e-02 -3.38081670e-02 1.64317151e+02] [ 2.65594539e-02 9.99646829e-01 -9.01098952e-04 9.96306027e+01] [ 3.38201735e-02 2.33895156e-06 9.99427934e-01 2.00530980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.426875 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:164.34, Y:99.63, Z:20.05 [[ 9.99053854e-01 -2.73570668e-02 -3.38080891e-02 1.64344474e+02] [ 2.73421344e-02 9.99625725e-01 -9.04015463e-04 9.96329587e+01] [ 3.38201668e-02 -2.12251812e-05 9.99427934e-01 2.00535611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.456875 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:164.37, Y:99.64, Z:20.05 [[ 9.99035525e-01 -2.80186508e-02 -3.38079202e-02 1.64372562e+02] [ 2.80038848e-02 9.99607400e-01 -9.10287681e-04 9.96352808e+01] [ 3.38201522e-02 -3.73433699e-05 9.99427934e-01 2.00547688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.486875 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:164.39, Y:99.65, Z:20.05 [[ 9.98711713e-01 -3.78411876e-02 -3.38076716e-02 1.64385958e+02] [ 3.78317364e-02 9.99283701e-01 -9.19429313e-04 9.96482788e+01] [ 3.38182474e-02 -3.60758093e-04 9.99427934e-01 2.00468482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.516875 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:164.43, Y:99.64, Z:20.06 [[ 9.99080187e-01 -2.64278166e-02 -3.37690856e-02 1.64429833e+02] [ 2.63660692e-02 9.99649772e-01 -2.27259742e-03 9.96414978e+01] [ 3.38173185e-02 1.38014901e-03 9.99427078e-01 2.00563415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.546875 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:164.46, Y:99.64, Z:20.06 [[ 9.99096633e-01 -2.57503705e-02 -3.38058589e-02 1.64456570e+02] [ 2.57341548e-02 9.99668403e-01 -9.14761695e-04 9.96442275e+01] [ 3.38182044e-02 4.39701240e-05 9.99428000e-01 2.00576106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.57687500000003 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:164.47, Y:99.66, Z:20.05 [[ 9.98795251e-01 -3.55698967e-02 -3.38057495e-02 1.64466650e+02] [ 3.55591659e-02 9.99367151e-01 -9.18786356e-04 9.96601328e+01] [ 3.38170367e-02 -2.84424805e-04 9.99428000e-01 2.00480341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.606875 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:164.50, Y:99.67, Z:20.05 [[ 9.98890490e-01 -3.28295646e-02 -3.37640121e-02 1.64495439e+02] [ 3.27661910e-02 9.99460093e-01 -2.42871325e-03 9.96652114e+01] [ 3.38255162e-02 1.31970050e-03 9.99426882e-01 2.00481842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.63687500000003 meters Centerline goodness : 0.997039 Centerline is valid? [True, True] Translation: X:164.52, Y:99.67, Z:20.05 [[ 9.98928306e-01 -3.16608836e-02 -3.37613476e-02 1.64522617e+02] [ 3.15935232e-02 9.99497606e-01 -2.52693389e-03 9.96684948e+01] [ 3.38243910e-02 1.45758587e-03 9.99426729e-01 2.00479641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.666875 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:164.55, Y:99.67, Z:20.05 [[ 9.99038041e-01 -2.79878745e-02 -3.37590265e-02 1.64553585e+02] [ 2.79154833e-02 9.99606869e-01 -2.61387373e-03 9.96696220e+01] [ 3.38189115e-02 1.66895975e-03 9.99426584e-01 2.00491788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.69687500000003 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:164.58, Y:99.67, Z:20.05 [[ 9.99180742e-01 -2.23049433e-02 -3.37688468e-02 1.64580214e+02] [ 2.22441823e-02 9.99750204e-01 -2.17398794e-03 9.96704462e+01] [ 3.38089022e-02 1.42104650e-03 9.99427305e-01 2.00519223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.726875 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:164.62, Y:99.66, Z:20.06 [[ 9.99379297e-01 -1.00333267e-02 -3.37691177e-02 1.64623461e+02] [ 9.96597433e-03 9.99948001e-01 -2.16222838e-03 9.96610033e+01] [ 3.37890561e-02 1.82434412e-03 9.99427322e-01 2.00611760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.75687500000004 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:164.65, Y:99.66, Z:20.06 [[ 9.99394450e-01 -8.26379372e-03 -3.38000399e-02 1.64650121e+02] [ 8.24390235e-03 9.99965754e-01 -7.27823573e-04 9.96631733e+01] [ 3.38048969e-02 4.48738612e-04 9.99428350e-01 2.00621224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.786875 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:164.66, Y:99.68, Z:20.05 [[ 9.99317271e-01 -1.49182698e-02 -3.37999521e-02 1.64663374e+02] [ 1.49020460e-02 9.99888691e-01 -7.31875869e-04 9.96812159e+01] [ 3.38071082e-02 2.27687756e-04 9.99428350e-01 2.00525452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81687500000004 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:164.69, Y:99.68, Z:20.05 [[ 9.99352334e-01 -1.24380101e-02 -3.37669704e-02 1.64692876e+02] [ 1.23700169e-02 9.99921020e-01 -2.22177207e-03 9.96834611e+01] [ 3.37919380e-02 1.80263511e-03 9.99427264e-01 2.00529111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.846875 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:164.72, Y:99.69, Z:20.05 [[ 9.99372319e-01 -1.06998000e-02 -3.37710152e-02 1.64717287e+02] [ 1.06377328e-02 9.99941383e-01 -2.01702878e-03 9.96858572e+01] [ 3.37906175e-02 1.65651570e-03 9.99427561e-01 2.00542162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87687500000004 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:164.75, Y:99.69, Z:20.06 [[ 9.99389351e-01 -8.99107285e-03 -3.37651683e-02 1.64751741e+02] [ 8.91798241e-03 9.99957555e-01 -2.31465092e-03 9.96861719e+01] [ 3.37845463e-02 2.01212031e-03 9.99427114e-01 2.00559402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.906875 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:164.78, Y:99.69, Z:20.06 [[ 9.99411910e-01 -5.92976993e-03 -3.37738441e-02 1.64776609e+02] [ 5.87073468e-03 9.99981062e-01 -1.84685735e-03 9.96895803e+01] [ 3.37841559e-02 1.64749395e-03 9.99427795e-01 2.00571486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93687500000004 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:164.81, Y:99.69, Z:20.06 [[ 9.99418896e-01 -4.63227216e-03 -3.37699994e-02 1.64805273e+02] [ 4.56523383e-03 9.99987453e-01 -2.06198099e-03 9.96909697e+01] [ 3.37791274e-02 1.90661482e-03 9.99427504e-01 2.00579351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.966875 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:164.85, Y:99.68, Z:20.07 [[ 9.99408399e-01 6.51380922e-03 -3.37701525e-02 1.64849899e+02] [-6.58689963e-03 9.99976198e-01 -2.05354822e-03 9.96797003e+01] [ 3.37559723e-02 2.27477394e-03 9.99427516e-01 2.00660145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.996875 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:164.88, Y:99.68, Z:20.07 [[ 9.99408163e-01 6.42071939e-03 -3.37949348e-02 1.64877825e+02] [-6.44331837e-03 9.99979085e-01 -5.59843735e-04 9.96806607e+01] [ 3.37906334e-02 7.77263923e-04 9.99428631e-01 2.00671566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.026875 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:164.90, Y:99.68, Z:20.07 [[ 9.99408347e-01 6.39232707e-03 -3.37948780e-02 1.64904914e+02] [-6.41502498e-03 9.99979265e-01 -5.63250908e-04 9.96827741e+01] [ 3.37905768e-02 7.79712646e-04 9.99428631e-01 2.00655149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.056875 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:164.93, Y:99.68, Z:20.07 [[ 9.99407278e-01 6.55775301e-03 -3.37947887e-02 1.64933647e+02] [-6.58072497e-03 9.99978185e-01 -5.68563304e-04 9.96835536e+01] [ 3.37903229e-02 7.90620514e-04 9.99428631e-01 2.00670993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.086875 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:164.96, Y:99.68, Z:20.07 [[ 9.99405458e-01 6.82978803e-03 -3.37947503e-02 1.64962480e+02] [-6.85299215e-03 9.99976355e-01 -5.70834653e-04 9.96842511e+01] [ 3.37900525e-02 8.02090426e-04 9.99428631e-01 2.00676600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.116875 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:164.98, Y:99.69, Z:20.06 [[ 9.99428445e-01 8.37045514e-04 -3.37947105e-02 1.64982913e+02] [-8.56905297e-04 9.99999469e-01 -5.73180307e-04 9.96935193e+01] [ 3.37942128e-02 6.01811569e-04 9.99428631e-01 2.00620499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.146875 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:165.01, Y:99.69, Z:20.06 [[ 9.99428741e-01 1.10532650e-03 -3.37782514e-02 1.65010256e+02] [-1.15806900e-03 9.99998141e-01 -1.54190943e-03 9.96945137e+01] [ 3.37764843e-02 1.58014615e-03 9.99428163e-01 2.00623843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.176875 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:165.03, Y:99.70, Z:20.06 [[ 9.99427849e-01 1.73163181e-03 -3.37783532e-02 1.65034472e+02] [-1.78450181e-03 9.99997230e-01 -1.53511887e-03 9.96953549e+01] [ 3.37756013e-02 1.59451808e-03 9.99428170e-01 2.00637397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.206875 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:165.07, Y:99.70, Z:20.06 [[ 9.99429477e-01 2.23268474e-04 -3.37738182e-02 1.65065869e+02] [-2.85450459e-04 9.99998273e-01 -1.83631943e-03 9.96959513e+01] [ 3.37733499e-02 1.84491252e-03 9.99427815e-01 2.00632700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.236875 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:165.10, Y:99.69, Z:20.06 [[ 9.99424815e-01 3.05066477e-03 -3.37747276e-02 1.65095725e+02] [-3.11260157e-03 9.99993569e-01 -1.78139409e-03 9.96946527e+01] [ 3.37690759e-02 1.88549673e-03 9.99427884e-01 2.00648324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.266875 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:165.12, Y:99.70, Z:20.07 [[ 9.99424608e-01 3.10187808e-03 -3.37762064e-02 1.65122777e+02] [-3.16085611e-03 9.99993572e-01 -1.69288528e-03 9.96952194e+01] [ 3.37707382e-02 1.79867294e-03 9.99427987e-01 2.00658613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.296875 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:165.15, Y:99.70, Z:20.07 [[ 9.99422011e-01 3.83305996e-03 -3.37779908e-02 1.65146739e+02] [-3.88820008e-03 9.99991213e-01 -1.56689195e-03 9.96957355e+01] [ 3.37716880e-02 1.69732189e-03 9.99428133e-01 2.00684903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.32687500000003 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:165.18, Y:99.70, Z:20.07 [[ 9.99417030e-01 4.98820143e-03 -3.37745310e-02 1.65176250e+02] [-5.05245111e-03 9.99985585e-01 -1.81723223e-03 9.96951005e+01] [ 3.37649795e-02 1.98681700e-03 9.99427826e-01 2.00704969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.356875 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:165.20, Y:99.70, Z:20.07 [[ 9.99420829e-01 4.15003892e-03 -3.37754814e-02 1.65204979e+02] [-4.21148697e-03 9.99989603e-01 -1.74836973e-03 9.96955232e+01] [ 3.37678744e-02 1.88960213e-03 9.99427916e-01 2.00713214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.38687500000003 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:165.25, Y:99.68, Z:20.08 [[ 9.99344511e-01 1.30311219e-02 -3.37748081e-02 1.65247912e+02] [-1.30991476e-02 9.99912594e-01 -1.79359658e-03 9.96843755e+01] [ 3.37484834e-02 2.23484210e-03 9.99427859e-01 2.00786010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.416875 meters Centerline goodness : 0.996651 Centerline is valid? [True, True] Translation: X:165.27, Y:99.69, Z:20.07 [[ 9.99416443e-01 4.98120613e-03 -3.37929026e-02 1.65265251e+02] [-4.99948954e-03 9.99987398e-01 -4.56566282e-04 9.96944134e+01] [ 3.37902025e-02 6.25247113e-04 9.99428752e-01 2.00730420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.44687500000003 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:165.29, Y:99.69, Z:20.07 [[ 9.99399972e-01 7.66078165e-03 -3.37788237e-02 1.65293187e+02] [-7.71866068e-03 9.99968957e-01 -1.58340132e-03 9.96930398e+01] [ 3.37656450e-02 1.84317851e-03 9.99428078e-01 2.00734890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.476875 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:165.32, Y:99.69, Z:20.07 [[ 9.99396591e-01 8.09307515e-03 -3.37780488e-02 1.65322730e+02] [-8.15332831e-03 9.99965406e-01 -1.64643474e-03 9.96930363e+01] [ 3.37635556e-02 1.92084479e-03 9.99428003e-01 2.00732269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.50687500000004 meters Centerline goodness : 0.996362 Centerline is valid? [True, True] Translation: X:165.35, Y:99.69, Z:20.07 [[ 9.99394254e-01 8.37518111e-03 -3.37784256e-02 1.65352027e+02] [-8.43461206e-03 9.99963120e-01 -1.61732199e-03 9.96932356e+01] [ 3.37636345e-02 1.90125022e-03 9.99428038e-01 2.00722242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.536875 meters Centerline goodness : 0.997240 Centerline is valid? [True, True] Translation: X:165.38, Y:99.69, Z:20.07 [[ 9.99377226e-01 1.02000135e-02 -3.37804792e-02 1.65376512e+02] [-1.02540580e-02 9.99946408e-01 -1.42701106e-03 9.96940345e+01] [ 3.37641133e-02 1.77250935e-03 9.99428258e-01 2.00729974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56687500000004 meters Centerline goodness : 0.996608 Centerline is valid? [True, True] Translation: X:165.41, Y:99.69, Z:20.07 [[ 9.99384859e-01 9.43235987e-03 -3.37777302e-02 1.65407847e+02] [-9.49423392e-03 9.99953531e-01 -1.67187286e-03 9.96940297e+01] [ 3.37603908e-02 1.99153810e-03 9.99427971e-01 2.00716158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.596875 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:165.43, Y:99.69, Z:20.07 [[ 9.99365185e-01 1.13206507e-02 -3.37797195e-02 1.65432838e+02] [-1.13769358e-02 9.99934193e-01 -1.47448860e-03 9.96936337e+01] [ 3.37608044e-02 1.85786227e-03 9.99428215e-01 2.00740630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62687500000004 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:165.46, Y:99.69, Z:20.07 [[ 9.99376883e-01 1.02410038e-02 -3.37782060e-02 1.65460234e+02] [-1.03017781e-02 9.99945614e-01 -1.62566545e-03 9.96935999e+01] [ 3.37597205e-02 1.97262806e-03 9.99428031e-01 2.00746298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.656875 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:165.49, Y:99.69, Z:20.08 [[ 9.99383700e-01 9.55642943e-03 -3.37771338e-02 1.65488813e+02] [-9.62077804e-03 9.99952200e-01 -1.74307613e-03 9.96928396e+01] [ 3.37588617e-02 2.06696418e-03 9.99427870e-01 2.00762119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68687500000004 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:165.52, Y:99.69, Z:20.08 [[ 9.99414889e-01 5.38285664e-03 -3.37772670e-02 1.65518154e+02] [-5.44434512e-03 9.99983685e-01 -1.72870010e-03 9.96911898e+01] [ 3.37674106e-02 1.91158372e-03 9.99427890e-01 2.00780686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.716875 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:165.54, Y:99.69, Z:20.08 [[ 9.99420125e-01 4.29492653e-03 -3.37781957e-02 1.65544070e+02] [-4.35206002e-03 9.99989221e-01 -1.61808938e-03 9.96904924e+01] [ 3.37708820e-02 1.76415582e-03 9.99428044e-01 2.00799282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.746875 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:165.57, Y:99.69, Z:20.08 [[ 9.99425655e-01 2.72575912e-03 -3.37776612e-02 1.65571693e+02] [-2.78462578e-03 9.99994685e-01 -1.69584892e-03 9.96898933e+01] [ 3.37728592e-02 1.78893306e-03 9.99427933e-01 2.00814212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.776875 meters Centerline goodness : 0.997188 Centerline is valid? [True, True] Translation: X:165.59, Y:99.69, Z:20.08 [[ 9.99425973e-01 -2.61534402e-03 -3.37769861e-02 1.65594109e+02] [ 2.55616613e-03 9.99995122e-01 -1.79508171e-03 9.96929061e+01] [ 3.37815161e-02 1.70771169e-03 9.99427783e-01 2.00802884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.806875 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:165.63, Y:99.69, Z:20.08 [[ 9.99427011e-01 -2.23057018e-03 -3.37738584e-02 1.65630859e+02] [ 2.15394722e-03 9.99995024e-01 -2.30492044e-03 9.96885026e+01] [ 3.37788316e-02 2.23085264e-03 9.99426843e-01 2.00820312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.836875 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:165.66, Y:99.69, Z:20.08 [[ 9.99416912e-01 -4.99054034e-03 -3.37776532e-02 1.65658811e+02] [ 4.93610338e-03 9.99986381e-01 -1.69482396e-03 9.96866156e+01] [ 3.37856513e-02 1.52710574e-03 9.99427935e-01 2.00831185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.866875 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:165.69, Y:99.69, Z:20.08 [[ 9.99419784e-01 -4.37768824e-03 -3.37776749e-02 1.65686835e+02] [ 4.32302977e-03 9.99989226e-01 -1.69104597e-03 9.96864601e+01] [ 3.37847138e-02 1.54404290e-03 9.99427941e-01 2.00840672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.896875 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:165.72, Y:99.69, Z:20.08 [[ 9.99411369e-01 -5.99883667e-03 -3.37776539e-02 1.65716140e+02] [ 5.94497330e-03 9.99980892e-01 -1.69485250e-03 9.96856938e+01] [ 3.37871756e-02 1.49304761e-03 9.99427935e-01 2.00841035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.926875 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:165.75, Y:99.68, Z:20.09 [[ 9.99414376e-01 -5.47199233e-03 -3.37781351e-02 1.65745383e+02] [ 5.42136696e-03 9.99984040e-01 -1.59016817e-03 9.96839255e+01] [ 3.37862974e-02 1.40611327e-03 9.99428091e-01 2.00856293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.956875 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:165.79, Y:99.67, Z:20.10 [[ 9.99424072e-01 3.24624011e-03 -3.37784790e-02 1.65788152e+02] [-3.29935800e-03 9.99993407e-01 -1.51691568e-03 9.96708894e+01] [ 3.37733320e-02 1.62748934e-03 9.99428193e-01 2.00961203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.986875 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:165.81, Y:99.68, Z:20.09 [[ 9.99408492e-01 -6.43172941e-03 -3.37831078e-02 1.65807009e+02] [ 6.43167188e-03 9.99979311e-01 -1.10376160e-04 9.96812306e+01] [ 3.37831188e-02 -1.06970992e-04 9.99429182e-01 2.00901435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.016875 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:165.83, Y:99.68, Z:20.09 [[ 9.99399600e-01 -7.70745602e-03 -3.37792181e-02 1.65834402e+02] [ 7.66955725e-03 9.99969806e-01 -1.25138654e-03 9.96807576e+01] [ 3.37878432e-02 9.91563564e-04 9.99428536e-01 2.00904939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.046875 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:165.86, Y:99.68, Z:20.09 [[ 9.99390979e-01 -8.75650030e-03 -3.37786034e-02 1.65862610e+02] [ 8.71312452e-03 9.99961016e-01 -1.43110994e-03 9.96805207e+01] [ 3.37898181e-02 1.13592119e-03 9.99428316e-01 2.00909224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.07687500000003 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:165.91, Y:99.67, Z:20.10 [[ 9.99428078e-01 1.59499172e-03 -3.37782999e-02 1.65905547e+02] [-1.64659378e-03 9.99997520e-01 -1.49990691e-03 9.96678293e+01] [ 3.37758238e-02 1.55466822e-03 9.99428225e-01 2.01025173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.106875 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:165.93, Y:99.68, Z:20.10 [[ 9.99417803e-01 -4.77463050e-03 -3.37825241e-02 1.65925034e+02] [ 4.77393564e-03 9.99988600e-01 -1.01230031e-04 9.96779861e+01] [ 3.37826223e-02 -6.01045004e-05 9.99429203e-01 2.00950256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.13687500000003 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:165.96, Y:99.67, Z:20.10 [[ 9.99422832e-01 3.60373171e-03 -3.37789429e-02 1.65964882e+02] [-3.64325213e-03 9.99992749e-01 -1.10849487e-03 9.96676017e+01] [ 3.37747032e-02 1.23092029e-03 9.99428714e-01 2.01039547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.166875 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:165.98, Y:99.68, Z:20.10 [[ 9.99422602e-01 -3.64302718e-03 -3.37815183e-02 1.65981852e+02] [ 3.64225593e-03 9.99993363e-01 -8.43687106e-05 9.96785149e+01] [ 3.37816015e-02 -3.87209392e-05 9.99429238e-01 2.00971363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.19687500000003 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:166.01, Y:99.68, Z:20.10 [[ 9.99427571e-01 -1.82969872e-03 -3.37813836e-02 1.66006034e+02] [ 1.79117879e-03 9.99997711e-01 -1.17049885e-03 9.96795066e+01] [ 3.37834480e-02 1.10932033e-03 9.99428561e-01 2.00983249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.226875 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:166.03, Y:99.68, Z:20.10 [[ 9.99428506e-01 -1.21650279e-03 -3.37813799e-02 1.66033764e+02] [ 1.16548391e-03 9.99998151e-01 -1.52991682e-03 9.96803842e+01] [ 3.37831785e-02 1.48967083e-03 9.99428075e-01 2.00969526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.25687500000004 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:166.06, Y:99.68, Z:20.10 [[ 9.99428554e-01 1.18160672e-03 -3.37812119e-02 1.66063860e+02] [-1.23950438e-03 9.99997799e-01 -1.69301090e-03 9.96790150e+01] [ 3.37791370e-02 1.73391539e-03 9.99427818e-01 2.00984582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.286875 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:166.09, Y:99.68, Z:20.10 [[ 9.99427523e-01 1.85899462e-03 -3.37812282e-02 1.66090759e+02] [-1.91104064e-03 9.99997036e-01 -1.50845619e-03 9.96790360e+01] [ 3.37783238e-02 1.57214993e-03 9.99428113e-01 2.00985690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31687500000004 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:166.12, Y:99.68, Z:20.10 [[ 9.99417852e-01 4.77331391e-03 -3.37812618e-02 1.66118955e+02] [-4.82761191e-03 9.99987183e-01 -1.52595822e-03 9.96778494e+01] [ 3.37735449e-02 1.68815271e-03 9.99428085e-01 2.01005864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.346875 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:166.16, Y:99.66, Z:20.11 [[ 9.99291652e-01 1.65838095e-02 -3.37812341e-02 1.66164257e+02] [-1.66442145e-02 9.99860339e-01 -1.50767804e-03 9.96640892e+01] [ 3.37515132e-02 2.06887218e-03 9.99428114e-01 2.01118563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37687500000004 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:166.19, Y:99.66, Z:20.11 [[ 9.99280418e-01 1.72573676e-02 -3.37761539e-02 1.66191919e+02] [-1.72635981e-02 9.99850967e-01 1.07179094e-04 9.96627801e+01] [ 3.37729698e-02 4.75995978e-04 9.99429417e-01 2.01122159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.406875 meters Centerline goodness : 0.997336 Centerline is valid? [True, True] Translation: X:166.21, Y:99.67, Z:20.10 [[ 9.99379290e-01 1.00103250e-02 -3.37761629e-02 1.66210204e+02] [-1.00125164e-02 9.99949868e-01 1.04263872e-04 9.96733885e+01] [ 3.37755133e-02 2.33985231e-04 9.99429417e-01 2.01044619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43687500000004 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:166.24, Y:99.67, Z:20.10 [[ 9.99376737e-01 1.02508285e-02 -3.37795400e-02 1.66235958e+02] [-1.02895644e-02 9.99946588e-01 -9.73083835e-04 9.96739349e+01] [ 3.37677608e-02 1.32005410e-03 9.99428835e-01 2.01042785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.466875 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:166.26, Y:99.67, Z:20.11 [[ 9.99365149e-01 1.13211306e-02 -3.37806434e-02 1.66264894e+02] [-1.13698651e-02 9.99934579e-01 -1.25092167e-03 9.96732702e+01] [ 3.37642715e-02 1.63420888e-03 9.99428488e-01 2.01056062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.496875 meters Centerline goodness : 0.997582 Centerline is valid? [True, True] Translation: X:166.29, Y:99.67, Z:20.11 [[ 9.99361258e-01 1.16613421e-02 -3.37800057e-02 1.66289681e+02] [-1.17059612e-02 9.99930852e-01 -1.12339748e-03 9.96728666e+01] [ 3.37645696e-02 1.51810736e-03 9.99428661e-01 2.01067939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.526875 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:166.34, Y:99.66, Z:20.12 [[ 9.99151565e-01 2.35578237e-02 -3.37813571e-02 1.66335205e+02] [-2.36176860e-02 9.99720119e-01 -1.37405788e-03 9.96581510e+01] [ 3.37395325e-02 2.17072957e-03 9.99428303e-01 2.01197900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.556875 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:166.35, Y:99.67, Z:20.11 [[ 9.99330866e-01 1.40500410e-02 -3.37700477e-02 1.66348900e+02] [-1.40500228e-02 9.99901265e-01 2.37853473e-04 9.96699518e+01] [ 3.37700553e-02 2.36775623e-04 9.99429601e-01 2.01107294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.586875 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:166.38, Y:99.67, Z:20.11 [[ 9.99310679e-01 1.53973675e-02 -3.37799967e-02 1.66378429e+02] [-1.54478430e-02 9.99879914e-01 -1.23374764e-03 9.96693283e+01] [ 3.37569437e-02 1.75472528e-03 9.99428532e-01 2.01114974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.616875 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:166.40, Y:99.67, Z:20.11 [[ 9.99293488e-01 1.64781462e-02 -3.37786138e-02 1.66403827e+02] [-1.65241783e-02 9.99862879e-01 -1.08402948e-03 9.96691664e+01] [ 3.37561192e-02 1.64142744e-03 9.99428752e-01 2.01121708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.646875 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:166.43, Y:99.67, Z:20.11 [[ 9.99311696e-01 1.53274166e-02 -3.37817080e-02 1.66434806e+02] [-1.53838732e-02 9.99880664e-01 -1.41191608e-03 9.96681675e+01] [ 3.37560356e-02 1.93063776e-03 9.99428238e-01 2.01109869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.676875 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:166.47, Y:99.67, Z:20.11 [[ 9.99280805e-01 1.72238035e-02 -3.37818639e-02 1.66465531e+02] [-1.72820769e-02 9.99849626e-01 -1.43373476e-03 9.96660825e+01] [ 3.37520896e-02 2.01652440e-03 9.99428202e-01 2.01124164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.706875 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:166.49, Y:99.66, Z:20.11 [[ 9.99263726e-01 1.81904054e-02 -3.37804052e-02 1.66494789e+02] [-1.82428182e-02 9.99832812e-01 -1.24398306e-03 9.96643995e+01] [ 3.37521289e-02 1.85931694e-03 9.99428505e-01 2.01132257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.736875 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:166.52, Y:99.66, Z:20.11 [[ 9.99266314e-01 1.80494768e-02 -3.37794366e-02 1.66523610e+02] [-1.80978889e-02 9.99835584e-01 -1.12795283e-03 9.96633857e+01] [ 3.37535238e-02 1.73846176e-03 9.99428676e-01 2.01139412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.766875 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:166.55, Y:99.66, Z:20.12 [[ 9.99275150e-01 1.75539052e-02 -3.37792167e-02 1.66551662e+02] [-1.76012755e-02 9.99844474e-01 -1.10547636e-03 9.96613455e+01] [ 3.37545577e-02 1.69923235e-03 9.99428708e-01 2.01158399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.796875 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:166.58, Y:99.66, Z:20.12 [[ 9.99270071e-01 1.78399173e-02 -3.37796197e-02 1.66580670e+02] [-1.78887677e-02 9.99839328e-01 -1.14445437e-03 9.96594932e+01] [ 3.37537752e-02 1.74789477e-03 9.99428651e-01 2.01172644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.82687500000003 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:166.62, Y:99.64, Z:20.13 [[ 9.99061397e-01 2.71167701e-02 -3.37787773e-02 1.66624370e+02] [-2.71681985e-02 9.99630310e-01 -1.06436871e-03 9.96447073e+01] [ 3.37374274e-02 1.98107822e-03 9.99428768e-01 2.01289576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.856875 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:166.66, Y:99.64, Z:20.13 [[ 9.99108772e-01 2.53347088e-02 -3.37611229e-02 1.66655830e+02] [-2.53354417e-02 9.99678924e-01 4.06157563e-04 9.96423046e+01] [ 3.37605729e-02 4.49557378e-04 9.99429848e-01 2.01297087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.88687500000003 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:166.67, Y:99.65, Z:20.12 [[ 9.99320913e-01 1.47616256e-02 -3.37610187e-02 1.66671992e+02] [-1.47560389e-02 9.99891038e-01 4.14646023e-04 9.96544135e+01] [ 3.37634608e-02 8.38144623e-05 9.99429848e-01 2.01209357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.916875 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:166.70, Y:99.65, Z:20.12 [[ 9.99341399e-01 1.32643556e-02 -3.37760956e-02 1.66698816e+02] [-1.33012974e-02 9.99911156e-01 -8.69254464e-04 9.96542874e+01] [ 3.37615647e-02 1.31794787e-03 9.99429047e-01 2.01206013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.94687500000003 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:166.74, Y:99.64, Z:20.13 [[ 9.99156271e-01 2.33620025e-02 -3.37781423e-02 1.66744860e+02] [-2.34101466e-02 9.99725414e-01 -1.03046618e-03 9.96378597e+01] [ 3.37447936e-02 1.82034802e-03 9.99428825e-01 2.01340579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.976875 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:166.76, Y:99.65, Z:20.13 [[ 9.99355365e-01 1.22207612e-02 -3.37566063e-02 1.66759491e+02] [-1.22114620e-02 9.99925321e-01 4.81638259e-04 9.96499070e+01] [ 3.37599714e-02 -6.91102631e-05 9.99429967e-01 2.01253254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.00687500000004 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:166.79, Y:99.65, Z:20.13 [[ 9.99369519e-01 1.09421056e-02 -3.37762489e-02 1.66786779e+02] [-1.09793515e-02 9.99939304e-01 -9.17441664e-04 9.96501937e+01] [ 3.37641601e-02 1.28770454e-03 9.99428999e-01 2.01250166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.036875 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:166.82, Y:99.65, Z:20.13 [[ 9.99365750e-01 1.12717679e-02 -3.37793562e-02 1.66817078e+02] [-1.13160598e-02 9.99935344e-01 -1.12031309e-03 9.96472472e+01] [ 3.37645442e-02 1.50185174e-03 9.99428687e-01 2.01263957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06687500000004 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:166.86, Y:99.63, Z:20.14 [[ 9.99199309e-01 2.14436415e-02 -3.37773793e-02 1.66862164e+02] [-2.14892584e-02 9.99768591e-01 -9.88026335e-04 9.96315724e+01] [ 3.37483761e-02 1.71308606e-03 9.99428893e-01 2.01381560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.096875 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:166.88, Y:99.64, Z:20.13 [[ 9.99369704e-01 1.10003794e-02 -3.37518278e-02 1.66875849e+02] [-1.09877881e-02 9.99939476e-01 5.58518874e-04 9.96436143e+01] [ 3.37559289e-02 -1.87308909e-04 9.99430089e-01 2.01284634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12687500000004 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:166.91, Y:99.64, Z:20.13 [[ 9.99364490e-01 1.13913362e-02 -3.37765224e-02 1.66906888e+02] [-1.14295365e-02 9.99934241e-01 -9.38103563e-04 9.96414677e+01] [ 3.37636151e-02 1.32355739e-03 9.99428970e-01 2.01285071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.156875 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:166.95, Y:99.63, Z:20.14 [[ 9.99201954e-01 2.13239344e-02 -3.37749222e-02 1.66951149e+02] [-2.13643330e-02 9.99771407e-01 -8.35630567e-04 9.96261527e+01] [ 3.37493825e-02 1.55654238e-03 9.99429115e-01 2.01401911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18687500000004 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:166.97, Y:99.64, Z:20.13 [[ 9.99368321e-01 1.11284177e-02 -3.37508237e-02 1.66966802e+02] [-1.11152857e-02 9.99938057e-01 5.76695129e-04 9.96375096e+01] [ 3.37551507e-02 -2.01180795e-04 9.99430112e-01 2.01322378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.216875 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:167.00, Y:99.64, Z:20.13 [[ 9.99365650e-01 1.12970978e-02 -3.37738478e-02 1.66996104e+02] [-1.13304899e-02 9.99935490e-01 -7.97465129e-04 9.96367572e+01] [ 3.37626600e-02 1.17963350e-03 9.99429183e-01 2.01323786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.246875 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:167.04, Y:99.62, Z:20.14 [[ 9.99176288e-01 2.24944756e-02 -3.37749135e-02 1.67039560e+02] [-2.25365789e-02 9.99745644e-01 -8.66361299e-04 9.96219550e+01] [ 3.37468343e-02 1.62681867e-03 9.99429089e-01 2.01445800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.276875 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:167.06, Y:99.63, Z:20.13 [[ 9.99301144e-01 1.60662391e-02 -3.37505418e-02 1.67056691e+02] [-1.60560642e-02 9.99870929e-01 5.72494865e-04 9.96339408e+01] [ 3.37553834e-02 -3.01939066e-05 9.99430124e-01 2.01349042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.306875 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:167.09, Y:99.63, Z:20.14 [[ 9.99254582e-01 1.87049154e-02 -3.37698948e-02 1.67087630e+02] [-1.87366141e-02 9.99824261e-01 -6.22425831e-04 9.96326330e+01] [ 3.37523176e-02 1.25469535e-03 9.99429441e-01 2.01360269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.336875 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:167.12, Y:99.63, Z:20.14 [[ 9.99225465e-01 2.02038970e-02 -3.37679205e-02 1.67115850e+02] [-2.02324395e-02 9.99795176e-01 -5.03731473e-04 9.96325816e+01] [ 3.37508267e-02 1.18654872e-03 9.99429574e-01 2.01360695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.366875 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:167.15, Y:99.63, Z:20.14 [[ 9.99138366e-01 2.41272003e-02 -3.37698775e-02 1.67145164e+02] [-2.41614885e-02 9.99707884e-01 -6.07576476e-04 9.96309113e+01] [ 3.37453536e-02 1.42298347e-03 9.99429450e-01 2.01383898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.396875 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:167.17, Y:99.63, Z:20.14 [[ 9.99049728e-01 2.75580907e-02 -3.37667526e-02 1.67174732e+02] [-2.75892430e-02 9.99619240e-01 -4.56899530e-04 9.96301712e+01] [ 3.37413043e-02 1.38806449e-03 9.99429636e-01 2.01400058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.426875 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:167.20, Y:99.63, Z:20.14 [[ 9.98992985e-01 2.95427431e-02 -3.37674710e-02 1.67204303e+02] [-2.95761533e-02 9.99562410e-01 -4.90240073e-04 9.96297537e+01] [ 3.37382117e-02 1.48845829e-03 9.99429596e-01 2.01405716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.456875 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:167.24, Y:99.63, Z:20.14 [[ 9.98853813e-01 3.39213302e-02 -3.37698565e-02 1.67237027e+02] [-3.39607525e-02 9.99422991e-01 -5.94312842e-04 9.96287693e+01] [ 3.37302111e-02 1.74048139e-03 9.99429459e-01 2.01422684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.486875 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:167.27, Y:99.63, Z:20.14 [[ 9.98767440e-01 3.63776536e-02 -3.37678510e-02 1.67268630e+02] [-3.64156290e-02 9.99336601e-01 -5.10067603e-04 9.96274879e+01] [ 3.37268944e-02 1.73911645e-03 9.99429573e-01 2.01434954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.516875 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:167.30, Y:99.63, Z:20.14 [[ 9.98743971e-01 3.70168711e-02 -3.37673250e-02 1.67302114e+02] [-3.70544931e-02 9.99313127e-01 -4.88825786e-04 9.96262095e+01] [ 3.37260363e-02 1.73944292e-03 9.99429602e-01 2.01441370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.546875 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:167.34, Y:99.61, Z:20.15 [[ 9.98250045e-01 4.85452345e-02 -3.37669771e-02 1.67344891e+02] [-4.85889020e-02 9.98818750e-01 -4.73336843e-04 9.96120267e+01] [ 3.37041116e-02 2.11320887e-03 9.99429621e-01 2.01538504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.57687500000003 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:167.36, Y:99.62, Z:20.15 [[ 9.98641342e-01 3.97154264e-02 -3.37365655e-02 1.67363660e+02] [-3.97109169e-02 9.99210887e-01 8.03967574e-04 9.96217194e+01] [ 3.37418735e-02 5.36834696e-04 9.99430437e-01 2.01470292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.606875 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:167.39, Y:99.62, Z:20.15 [[ 9.98611205e-01 4.04447187e-02 -3.37621969e-02 1.67394381e+02] [-4.04778199e-02 9.99180393e-01 -2.97214444e-04 9.96212925e+01] [ 3.37225044e-02 1.66342180e-03 9.99429850e-01 2.01461093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.63687500000003 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:167.44, Y:99.61, Z:20.16 [[ 9.98106328e-01 5.14162770e-02 -3.37657389e-02 1.67436095e+02] [-5.14605951e-02 9.98674927e-01 -4.44205142e-04 9.96073582e+01] [ 3.36981575e-02 2.18096898e-03 9.99429676e-01 2.01557425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.666875 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:167.47, Y:99.61, Z:20.16 [[ 9.98104231e-01 5.14785708e-02 -3.37327784e-02 1.67468489e+02] [-5.14790149e-02 9.98673710e-01 8.55924721e-04 9.96056463e+01] [ 3.37321007e-02 8.82228116e-04 9.99430521e-01 2.01565869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.69687500000003 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:167.50, Y:99.60, Z:20.16 [[ 9.98107960e-01 5.14063901e-02 -3.37325346e-02 1.67500544e+02] [-5.14064720e-02 9.98677438e-01 8.65427678e-04 9.96038960e+01] [ 3.37324098e-02 8.70280342e-04 9.99430521e-01 2.01570409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.726875 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:167.53, Y:99.60, Z:20.16 [[ 9.98127291e-01 5.10298239e-02 -3.37323045e-02 1.67533167e+02] [-5.10293911e-02 9.98696769e-01 8.74306647e-04 9.96019757e+01] [ 3.37329592e-02 8.48669631e-04 9.99430521e-01 2.01586919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.75687500000004 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:167.56, Y:99.60, Z:20.16 [[ 9.98155483e-01 5.04755342e-02 -3.37320578e-02 1.67564773e+02] [-5.04744672e-02 9.98724961e-01 8.83720874e-04 9.96002003e+01] [ 3.37336544e-02 8.20516811e-04 9.99430522e-01 2.01592647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.786875 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:167.60, Y:99.60, Z:20.16 [[ 9.98141904e-01 5.07434474e-02 -3.37319039e-02 1.67598118e+02] [-5.07423360e-02 9.98711382e-01 8.89558976e-04 9.95992181e+01] [ 3.37335756e-02 8.23729510e-04 9.99430522e-01 2.01603940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81687500000004 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:167.63, Y:99.60, Z:20.16 [[ 9.98272182e-01 4.81126454e-02 -3.37316627e-02 1.67630608e+02] [-4.81097275e-02 9.98841652e-01 8.98611393e-04 9.95968460e+01] [ 3.37358243e-02 7.25762346e-04 9.99430522e-01 2.01619107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.846875 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:167.65, Y:99.60, Z:20.16 [[ 9.98587415e-01 4.10558372e-02 -3.37282197e-02 1.67648689e+02] [-4.10445056e-02 9.99156790e-01 1.02856758e-03 9.96040102e+01] [ 3.37420084e-02 3.57243464e-04 9.99430512e-01 2.01558934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87687500000004 meters Centerline goodness : 0.998173 Centerline is valid? [True, True] Translation: X:167.69, Y:99.59, Z:20.17 [[ 9.98280407e-01 4.79226231e-02 -3.37587281e-02 1.67689717e+02] [-4.79538388e-02 9.98849546e-01 -1.15151084e-04 9.95922713e+01] [ 3.37143719e-02 1.73381367e-03 9.99430005e-01 2.01656012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.906875 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:167.72, Y:99.59, Z:20.17 [[ 9.98300868e-01 4.75154185e-02 -3.37292523e-02 1.67722561e+02] [-4.75107106e-02 9.98870285e-01 9.41497036e-04 9.95898527e+01] [ 3.37358835e-02 6.62603438e-04 9.99430563e-01 2.01678407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93687500000004 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:167.74, Y:99.60, Z:20.16 [[ 9.98696487e-01 3.83103350e-02 -3.37289824e-02 1.67742688e+02] [-3.83000547e-02 9.99265831e-01 9.51068044e-04 9.95979119e+01] [ 3.37406554e-02 3.41993559e-04 9.99430563e-01 2.01613552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.966875 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:167.77, Y:99.60, Z:20.16 [[ 9.98817473e-01 3.49867775e-02 -3.37576752e-02 1.67774038e+02] [-3.50092818e-02 9.99386984e-01 -7.56067174e-05 9.95960419e+01] [ 3.37343360e-02 1.25734927e-03 9.99430044e-01 2.01606937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.996875 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:167.81, Y:99.59, Z:20.16 [[ 9.98771251e-01 3.62771311e-02 -3.37632607e-02 1.67808786e+02] [-3.63073582e-02 9.99340631e-01 -2.82393955e-04 9.95920503e+01] [ 3.37307538e-02 1.50790177e-03 9.99429819e-01 2.01627749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.026875 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:167.85, Y:99.58, Z:20.17 [[ 9.98514007e-01 4.27823099e-02 -3.37557546e-02 1.67847425e+02] [-4.28067772e-02 9.99083370e-01 -2.14257090e-06 9.95811117e+01] [ 3.37247214e-02 1.44711445e-03 9.99430112e-01 2.01713471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.056875 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:167.88, Y:99.58, Z:20.17 [[ 9.98549341e-01 4.19705342e-02 -3.37296380e-02 1.67879155e+02] [-4.19627904e-02 9.99118734e-01 9.37760832e-04 9.95798173e+01] [ 3.37392716e-02 4.78989269e-04 9.99430554e-01 2.01730958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.086875 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:167.91, Y:99.58, Z:20.17 [[ 9.98528274e-01 4.24689639e-02 -3.37293976e-02 1.67911454e+02] [-4.24612149e-02 9.99097668e-01 9.46329064e-04 9.95785294e+01] [ 3.37391521e-02 4.87254874e-04 9.99430554e-01 2.01738843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.116875 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:167.93, Y:99.59, Z:20.17 [[ 9.98799482e-01 3.55237836e-02 -3.37291599e-02 1.67933053e+02] [-3.55117914e-02 9.99368801e-01 9.54727279e-04 9.95866807e+01] [ 3.37417856e-02 2.44201779e-04 9.99430554e-01 2.01680360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.146875 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:167.96, Y:99.59, Z:20.17 [[ 9.98831123e-01 3.45978183e-02 -3.37546904e-02 1.67960228e+02] [-3.46158041e-02 9.99400692e-01 5.15796362e-05 9.95875652e+01] [ 3.37362455e-02 1.11692641e-03 9.99430147e-01 2.01680052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.176875 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:168.00, Y:99.58, Z:20.18 [[ 9.98494943e-01 4.32174019e-02 -3.37654486e-02 1.68003020e+02] [-4.32528043e-02 9.99064109e-01 -3.18409424e-04 9.95760032e+01] [ 3.37200870e-02 1.77838054e-03 9.99429734e-01 2.01763992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.206875 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:168.02, Y:99.59, Z:20.17 [[ 9.98789204e-01 3.58159051e-02 -3.37245659e-02 1.68021517e+02] [-3.58016664e-02 9.99358388e-01 1.02617624e-03 9.95853668e+01] [ 3.37396813e-02 1.82461904e-04 9.99430638e-01 2.01695242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.236875 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:168.06, Y:99.57, Z:20.18 [[ 9.98444725e-01 4.43685491e-02 -3.37574179e-02 1.68063244e+02] [-4.43960502e-02 9.99014007e-01 -6.51739312e-05 9.95748252e+01] [ 3.37212416e-02 1.56376859e-03 9.99430054e-01 2.01784499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.266875 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:168.08, Y:99.58, Z:20.17 [[ 9.98806474e-01 3.53330872e-02 -3.37224114e-02 1.68079580e+02] [-3.53176086e-02 9.99375582e-01 1.05474036e-03 9.95839393e+01] [ 3.37386217e-02 1.37513432e-04 9.99430681e-01 2.01722567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.296875 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:168.11, Y:99.58, Z:20.17 [[ 9.98832896e-01 3.45375281e-02 -3.37639537e-02 1.68113838e+02] [-3.45661960e-02 9.99402375e-01 -2.65549789e-04 9.95829781e+01] [ 3.37346041e-02 1.43233131e-03 9.99429800e-01 2.01724073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.32687500000003 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:168.15, Y:99.58, Z:20.17 [[ 9.98820994e-01 3.48818210e-02 -3.37621088e-02 1.68145597e+02] [-3.49086215e-02 9.99390487e-01 -2.04487236e-04 9.95819747e+01] [ 3.37343975e-02 1.38283482e-03 9.99429877e-01 2.01740461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.356875 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:168.17, Y:99.58, Z:20.18 [[ 9.98758493e-01 3.66333936e-02 -3.37559837e-02 1.68174051e+02] [-3.66549510e-02 9.99327981e-01 -1.98015769e-05 9.95810570e+01] [ 3.37325736e-02 1.25710092e-03 9.99430104e-01 2.01758272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.38687500000003 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:168.22, Y:99.57, Z:20.18 [[ 9.98393188e-01 4.55106771e-02 -3.37612199e-02 1.68215879e+02] [-4.55426275e-02 9.98962380e-01 -1.77561875e-04 9.95694856e+01] [ 3.37181077e-02 1.71485123e-03 9.99429912e-01 2.01847674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.416875 meters Centerline goodness : 0.998173 Centerline is valid? [True, True] Translation: X:168.23, Y:99.58, Z:20.18 [[ 9.98774623e-01 3.62292706e-02 -3.37148572e-02 1.68232871e+02] [-3.62105793e-02 9.99343503e-01 1.16502156e-03 9.95795419e+01] [ 3.37349314e-02 5.72405390e-05 9.99430814e-01 2.01780052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.44687500000003 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:168.27, Y:99.58, Z:20.18 [[ 9.98724865e-01 3.75347061e-02 -3.37607751e-02 1.68265661e+02] [-3.75620391e-02 9.99294282e-01 -1.75506504e-04 9.95785811e+01] [ 3.37303619e-02 1.44340626e-03 9.99429927e-01 2.01784431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.476875 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:168.30, Y:99.58, Z:20.18 [[ 9.98733165e-01 3.73149568e-02 -3.37588344e-02 1.68299499e+02] [-3.73402826e-02 9.99302601e-01 -1.19827287e-04 9.95780274e+01] [ 3.37308197e-02 1.38023990e-03 9.99430001e-01 2.01783257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.50687500000004 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:168.33, Y:99.58, Z:20.18 [[ 9.98667959e-01 3.90223957e-02 -3.37573878e-02 1.68331841e+02] [-3.90472497e-02 9.99237362e-01 -7.70636334e-05 9.95770769e+01] [ 3.37286359e-02 1.39509413e-03 9.99430054e-01 2.01790646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.536875 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:168.37, Y:99.57, Z:20.19 [[ 9.98202310e-01 4.95265213e-02 -3.37530956e-02 1.68372681e+02] [-4.95531667e-02 9.98771486e-01 4.71604388e-05 9.95667714e+01] [ 3.37139651e-02 1.62549711e-03 9.99430201e-01 2.01888806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56687500000004 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:168.41, Y:99.57, Z:20.19 [[ 9.98127052e-01 5.10481291e-02 -3.37116698e-02 1.68405888e+02] [-5.10365017e-02 9.98696061e-01 1.20588843e-03 9.95661046e+01] [ 3.37292702e-02 5.16895832e-04 9.99430873e-01 2.01904998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.596875 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:168.43, Y:99.58, Z:20.18 [[ 9.98480904e-01 4.35824671e-02 -3.37113225e-02 1.68425418e+02] [-4.35662596e-02 9.99049800e-01 1.21551963e-03 9.95766166e+01] [ 3.37322654e-02 2.55003088e-04 9.99430873e-01 2.01829218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62687500000004 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:168.45, Y:99.58, Z:20.18 [[ 9.98460120e-01 4.40250911e-02 -3.37517495e-02 1.68453739e+02] [-4.40467088e-02 9.99029467e-01 1.03141113e-04 9.95775390e+01] [ 3.37235331e-02 1.38367119e-03 9.99430242e-01 2.01820071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.656875 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:168.49, Y:99.58, Z:20.18 [[ 9.98412305e-01 4.50883049e-02 -3.37626122e-02 1.68487615e+02] [-4.51205469e-02 9.98981531e-01 -1.93270758e-04 9.95773070e+01] [ 3.37195118e-02 1.71635143e-03 9.99429862e-01 2.01811638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68687500000004 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:168.52, Y:99.58, Z:20.18 [[ 9.98348208e-01 4.64894241e-02 -3.37578100e-02 1.68520759e+02] [-4.65179438e-02 9.98917453e-01 -5.95023891e-05 9.95757850e+01] [ 3.37184994e-02 1.62974801e-03 9.99430041e-01 2.01816906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.716875 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:168.55, Y:99.57, Z:20.18 [[ 9.98207799e-01 4.94204671e-02 -3.37462265e-02 1.68550024e+02] [-4.94406363e-02 9.98777036e-01 2.37029662e-04 9.95745569e+01] [ 3.37166702e-02 1.43183005e-03 9.99430406e-01 2.01844110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.746875 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:168.58, Y:99.57, Z:20.19 [[ 9.98231741e-01 4.89323885e-02 -3.37492486e-02 1.68584179e+02] [-4.89548748e-02 9.98800978e-01 1.60228762e-04 9.95732999e+01] [ 3.37166229e-02 1.49224480e-03 9.99430319e-01 2.01855042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.776875 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:168.61, Y:99.57, Z:20.19 [[ 9.98286701e-01 4.78004064e-02 -3.37458795e-02 1.68614692e+02] [-4.78192800e-02 9.98855973e-01 2.48036452e-04 9.95725319e+01] [ 3.37191296e-02 1.36609217e-03 9.99430415e-01 2.01871852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.806875 meters Centerline goodness : 0.998076 Centerline is valid? [True, True] Translation: X:168.64, Y:99.57, Z:20.19 [[ 9.98398121e-01 4.54128485e-02 -3.37470887e-02 1.68642019e+02] [-4.54314033e-02 9.98967437e-01 2.17179923e-04 9.95732020e+01] [ 3.37221054e-02 1.31634557e-03 9.99430381e-01 2.01883771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.836875 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:168.69, Y:99.56, Z:20.20 [[ 9.97953849e-01 5.42987799e-02 -3.37603086e-02 1.68686674e+02] [-5.43339845e-02 9.98522810e-01 -1.25548980e-04 9.95579057e+01] [ 3.37036210e-02 1.95962417e-03 9.99429950e-01 2.02001860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.866875 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:168.70, Y:99.57, Z:20.19 [[ 9.98396665e-01 4.54790383e-02 -3.37009946e-02 1.68704831e+02] [-4.54592726e-02 9.98965277e-01 1.35289666e-03 9.95666427e+01] [ 3.37276519e-02 1.81295186e-04 9.99431044e-01 2.01941223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.896875 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:168.75, Y:99.55, Z:20.20 [[ 9.97992931e-01 5.35839403e-02 -3.37471544e-02 1.68747185e+02] [-5.36074476e-02 9.98562065e-01 2.08501496e-04 9.95534300e+01] [ 3.37098005e-02 1.60101579e-03 9.99430381e-01 2.02037260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.926875 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:168.77, Y:99.56, Z:20.20 [[ 9.98379562e-01 4.58555852e-02 -3.36974106e-02 1.68768890e+02] [-4.58343274e-02 9.98948069e-01 1.40344980e-03 9.95610858e+01] [ 3.37263193e-02 1.43322557e-04 9.99431096e-01 2.01978066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.956875 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:168.81, Y:99.55, Z:20.21 [[ 9.97984160e-01 5.37533422e-02 -3.37371478e-02 1.68810025e+02] [-5.37695081e-02 9.98553282e-01 4.28574856e-04 9.95511357e+01] [ 3.37113770e-02 1.38631893e-03 9.99430649e-01 2.02051938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.986875 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:168.84, Y:99.55, Z:20.21 [[ 9.97945386e-01 5.44940629e-02 -3.36957402e-02 1.68841956e+02] [-5.44773351e-02 9.98514005e-01 1.41500945e-03 9.95497426e+01] [ 3.37227781e-02 4.23551979e-04 9.99431136e-01 2.02068859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.016875 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:168.87, Y:99.55, Z:20.21 [[ 9.97888736e-01 5.55219995e-02 -3.36953694e-02 1.68874180e+02] [-5.55055612e-02 9.98457363e-01 1.42378463e-03 9.95486911e+01] [ 3.37224411e-02 4.49501746e-04 9.99431136e-01 2.02071284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.046875 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:168.90, Y:99.56, Z:20.20 [[ 9.98192816e-01 4.97568964e-02 -3.36950061e-02 1.68896469e+02] [-4.97368852e-02 9.98761328e-01 1.43233113e-03 9.95562953e+01] [ 3.37245374e-02 2.46142003e-04 9.99431136e-01 2.02000199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.07687500000003 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:168.93, Y:99.56, Z:20.20 [[ 9.98108170e-01 5.14020416e-02 -3.37329506e-02 1.68927897e+02] [-5.14131922e-02 9.98677323e-01 5.37342579e-04 9.95563103e+01] [ 3.37159533e-02 1.19799265e-03 9.99430738e-01 2.01997241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.106875 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:168.96, Y:99.55, Z:20.20 [[ 9.98006516e-01 5.33400321e-02 -3.37318088e-02 1.68956744e+02] [-5.33514141e-02 9.98575640e-01 5.63202435e-04 9.95548427e+01] [ 3.37138038e-02 1.23756000e-03 9.99430762e-01 2.02014162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.13687500000003 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:168.99, Y:99.55, Z:20.20 [[ 9.97939920e-01 5.45670856e-02 -3.37394203e-02 1.68990281e+02] [-5.45849313e-02 9.98509054e-01 3.92625726e-04 9.95523923e+01] [ 3.37105411e-02 1.44984705e-03 9.99430587e-01 2.02030650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.166875 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:169.02, Y:99.55, Z:20.20 [[ 9.97820187e-01 5.67179520e-02 -3.37335015e-02 1.69022260e+02] [-5.67325343e-02 9.98389275e-01 5.25499939e-04 9.95503057e+01] [ 3.37089713e-02 1.38943258e-03 9.99430725e-01 2.02047674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.19687500000003 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:169.05, Y:99.55, Z:20.20 [[ 9.98023382e-01 5.30229631e-02 -3.37326883e-02 1.69047988e+02] [-5.30348328e-02 9.98592515e-01 5.43416399e-04 9.95526307e+01] [ 3.37140236e-02 1.24666521e-03 9.99430743e-01 2.02039912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.226875 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:169.09, Y:99.54, Z:20.21 [[ 9.97342275e-01 6.45655118e-02 -3.37591589e-02 1.69094501e+02] [-6.46043656e-02 9.97910954e-01 -6.02337008e-05 9.95366389e+01] [ 3.36847454e-02 2.24106266e-03 9.99429995e-01 2.02148148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.25687500000004 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:169.11, Y:99.55, Z:20.21 [[ 9.98039395e-01 5.27502106e-02 -3.36865273e-02 1.69105860e+02] [-5.27284434e-02 9.98607709e-01 1.53483097e-03 9.95490114e+01] [ 3.37205885e-02 2.44416379e-04 9.99431269e-01 2.02070164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.286875 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:169.14, Y:99.54, Z:20.21 [[ 9.97678699e-01 5.91409147e-02 -3.37574639e-02 1.69141667e+02] [-5.91739251e-02 9.98247688e-01 2.12309677e-05 9.95425106e+01] [ 3.36995659e-02 1.97637996e-03 9.99430054e-01 2.02098410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31687500000004 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:169.18, Y:99.53, Z:20.22 [[ 9.97161473e-01 6.73093273e-02 -3.37409301e-02 1.69184533e+02] [-6.73351566e-02 9.97730344e-01 3.71486457e-04 9.95296216e+01] [ 3.36893543e-02 1.90151883e-03 9.99430544e-01 2.02187266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.346875 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:169.20, Y:99.54, Z:20.21 [[ 9.97873346e-01 5.58076446e-02 -3.36792636e-02 1.69198444e+02] [-5.57840981e-02 9.98441509e-01 1.63911732e-03 9.95406943e+01] [ 3.37182501e-02 2.43135866e-04 9.99431349e-01 2.02122306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37687500000004 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:169.25, Y:99.52, Z:20.22 [[ 9.97176866e-01 6.70749118e-02 -3.37528274e-02 1.69246061e+02] [-6.71093580e-02 9.97745620e-01 1.12585925e-04 9.95238625e+01] [ 3.36842873e-02 2.15286250e-03 9.99430205e-01 2.02208646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.406875 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:169.25, Y:99.54, Z:20.21 [[ 9.98077643e-01 5.20293926e-02 -3.36743430e-02 1.69254608e+02] [-5.20022008e-02 9.98645551e-01 1.68340219e-03 9.95398240e+01] [ 3.37163192e-02 7.09738613e-05 9.99431441e-01 2.02116643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43687500000004 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:169.31, Y:99.52, Z:20.22 [[ 9.97283902e-01 6.54566201e-02 -3.37675986e-02 1.69305245e+02] [-6.55022089e-02 9.97852394e-01 -2.44416541e-04 9.95187180e+01] [ 3.36790805e-02 2.45560498e-03 9.99429682e-01 2.02232382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.466875 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:169.32, Y:99.53, Z:20.22 [[ 9.98059973e-01 5.23705674e-02 -3.36691761e-02 1.69316869e+02] [-5.23429127e-02 9.98627718e-01 1.70286758e-03 9.95324998e+01] [ 3.37121526e-02 6.27787749e-05 9.99431582e-01 2.02168863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.496875 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:169.35, Y:99.53, Z:20.22 [[ 9.98097756e-01 5.15893864e-02 -3.37550613e-02 1.69345803e+02] [-5.16169868e-02 9.98666953e-01 5.38180474e-05 9.95319221e+01] [ 3.37128407e-02 1.68861888e-03 9.99430134e-01 2.02164888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.526875 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:169.38, Y:99.53, Z:20.22 [[ 9.98062079e-01 5.22657434e-02 -3.37694841e-02 1.69377840e+02] [-5.23029940e-02 9.98631237e-01 -2.20049941e-04 9.95293049e+01] [ 3.37117607e-02 1.98586863e-03 9.99429624e-01 2.02180519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.556875 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:169.41, Y:99.53, Z:20.22 [[ 9.98084867e-01 5.18298596e-02 -3.37678064e-02 1.69410866e+02] [-5.18657971e-02 9.98654046e-01 -1.88586739e-04 9.95272340e+01] [ 3.37125820e-02 1.93961976e-03 9.99429687e-01 2.02183275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.586875 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:169.44, Y:99.53, Z:20.22 [[ 9.98044852e-01 5.25967806e-02 -3.37646611e-02 1.69442595e+02] [-5.26311366e-02 9.98614013e-01 -1.28915599e-04 9.95252009e+01] [ 3.37110831e-02 1.90573604e-03 9.99429803e-01 2.02194302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.616875 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:169.49, Y:99.50, Z:20.23 [[ 9.97193720e-01 6.68186029e-02 -3.37632710e-02 1.69492689e+02] [-6.68601835e-02 9.97762349e-01 -1.02740532e-04 9.95031737e+01] [ 3.36808556e-02 2.35987071e-03 9.99429853e-01 2.02317297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.646875 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:169.52, Y:99.50, Z:20.23 [[ 9.97195610e-01 6.68449425e-02 -3.36551384e-02 1.69524726e+02] [-6.68203036e-02 9.97763297e-01 1.85756810e-03 9.95005488e+01] [ 3.37040309e-02 3.96487818e-04 9.99431779e-01 2.02335131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.676875 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:169.56, Y:99.50, Z:20.23 [[ 9.97177377e-01 6.71166430e-02 -3.36546588e-02 1.69558027e+02] [-6.70918670e-02 9.97745057e-01 1.86621800e-03 9.94986138e+01] [ 3.37040237e-02 3.97003523e-04 9.99431779e-01 2.02346426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.706875 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:169.56, Y:99.52, Z:20.22 [[ 9.98081860e-01 5.19615150e-02 -3.36541481e-02 1.69564633e+02] [-5.19278095e-02 9.98649080e-01 1.87538302e-03 9.95184983e+01] [ 3.37061318e-02 -1.24199579e-04 9.99431779e-01 2.02225978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.736875 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:169.59, Y:99.52, Z:20.22 [[ 9.98129850e-01 5.09598826e-02 -3.37623121e-02 1.69591453e+02] [-5.09886674e-02 9.98699232e-01 8.43099140e-06 9.95177895e+01] [ 3.37188248e-02 1.71308008e-03 9.99429891e-01 2.02208040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.766875 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:169.64, Y:99.49, Z:20.23 [[ 9.97182424e-01 6.69763915e-02 -3.37842543e-02 1.69644776e+02] [-6.70274343e-02 9.97751061e-01 -3.79281624e-04 9.94913742e+01] [ 3.36828726e-02 2.64268485e-03 9.99429077e-01 2.02349449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.796875 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:169.65, Y:99.51, Z:20.22 [[ 9.98144433e-01 5.07520301e-02 -3.36440448e-02 1.69652120e+02] [-5.07137314e-02 9.98711246e-01 1.99127148e-03 9.95108600e+01] [ 3.37017470e-02 -2.81361488e-04 9.99431895e-01 2.02242273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.82687500000003 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:169.70, Y:99.49, Z:20.24 [[ 9.97300186e-01 6.52117778e-02 -3.37603842e-02 1.69703486e+02] [-6.52494752e-02 9.97868982e-01 -1.49113661e-05 9.94852375e+01] [ 3.36874678e-02 2.21771846e-03 9.99429956e-01 2.02381607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.856875 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:169.74, Y:99.48, Z:20.24 [[ 9.97417750e-01 6.34536825e-02 -3.36372155e-02 1.69736110e+02] [-6.34213428e-02 9.97984779e-01 2.02859142e-03 9.94827724e+01] [ 3.36981506e-02 1.09964281e-04 9.99432050e-01 2.02416775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.88687500000003 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:169.75, Y:99.50, Z:20.23 [[ 9.98204439e-01 4.95628206e-02 -3.36366602e-02 1.69745491e+02] [-4.95222818e-02 9.98770940e-01 2.03775704e-03 9.95011821e+01] [ 3.36963157e-02 -3.68333957e-04 9.99432050e-01 2.02309564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.916875 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:169.80, Y:99.48, Z:20.24 [[ 9.97390234e-01 6.38281370e-02 -3.37444795e-02 1.69795049e+02] [-6.38560352e-02 9.97959089e-01 2.51405897e-04 9.94793620e+01] [ 3.36916568e-02 1.90403888e-03 9.99430461e-01 2.02429205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.94687500000003 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:169.83, Y:99.48, Z:20.24 [[ 9.97417158e-01 6.34672242e-02 -3.36292063e-02 1.69827676e+02] [-6.34325144e-02 9.97983923e-01 2.09909955e-03 9.94775216e+01] [ 3.36946312e-02 3.95072084e-05 9.99432174e-01 2.02444285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.976875 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:169.86, Y:99.48, Z:20.24 [[ 9.97421183e-01 6.34042511e-02 -3.36286225e-02 1.69859512e+02] [-6.33691917e-02 9.97987926e-01 2.10841048e-03 9.94760732e+01] [ 3.36946414e-02 2.80453452e-05 9.99432174e-01 2.02448604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.00687500000004 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:169.89, Y:99.48, Z:20.25 [[ 9.97476304e-01 6.25314029e-02 -3.36280768e-02 1.69892885e+02] [-6.24955553e-02 9.98042997e-01 2.11707821e-03 9.94751896e+01] [ 3.36946505e-02 -1.01300169e-05 9.99432174e-01 2.02456246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.036875 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:169.93, Y:99.47, Z:20.25 [[ 9.97482094e-01 6.24392880e-02 -3.36274959e-02 1.69926083e+02] [-6.24030783e-02 9.98048764e-01 2.12626523e-03 9.94734373e+01] [ 3.36946432e-02 -2.24522271e-05 9.99432174e-01 2.02470124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06687500000004 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:169.96, Y:99.47, Z:20.25 [[ 9.97477717e-01 6.25094770e-02 -3.36269023e-02 1.69957530e+02] [-6.24729921e-02 9.98044370e-01 2.13561274e-03 9.94719163e+01] [ 3.36946366e-02 -2.94529216e-05 9.99432174e-01 2.02479785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.096875 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:169.99, Y:99.47, Z:20.25 [[ 9.97442032e-01 6.30766309e-02 -3.36263505e-02 1.69990557e+02] [-6.30401764e-02 9.98008687e-01 2.14426669e-03 9.94705562e+01] [ 3.36946430e-02 -1.89706565e-05 9.99432174e-01 2.02494585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12687500000004 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:170.02, Y:99.47, Z:20.25 [[ 9.97401507e-01 6.37145334e-02 -3.36257649e-02 1.70023808e+02] [-6.36781331e-02 9.97968165e-01 2.15340991e-03 9.94695142e+01] [ 3.36946464e-02 -6.58835938e-06 9.99432174e-01 2.02509867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.156875 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:170.06, Y:99.47, Z:20.25 [[ 9.97264309e-01 6.58273912e-02 -3.36251735e-02 1.70055525e+02] [-6.57918814e-02 9.97831024e-01 2.16260508e-03 9.94687118e+01] [ 3.36946000e-02 5.55745706e-05 9.99432174e-01 2.02513016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18687500000004 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:170.09, Y:99.47, Z:20.25 [[ 9.97206696e-01 6.66947487e-02 -3.36246213e-02 1.70087963e+02] [-6.66594434e-02 9.97773424e-01 2.17115774e-03 9.94675128e+01] [ 3.36945583e-02 7.63055048e-05 9.99432174e-01 2.02515130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.216875 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:170.12, Y:99.47, Z:20.25 [[ 9.97090087e-01 6.84162525e-02 -3.36240255e-02 1.70120321e+02] [-6.83816159e-02 9.97656855e-01 2.18034600e-03 9.94667875e+01] [ 3.36944106e-02 1.25263814e-04 9.99432174e-01 2.02520324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.246875 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:170.15, Y:99.47, Z:20.25 [[ 9.97035386e-01 6.92091135e-02 -3.36234673e-02 1.70152586e+02] [-6.91746384e-02 9.97602164e-01 2.18892057e-03 9.94650571e+01] [ 3.36943370e-02 1.43459923e-04 9.99432174e-01 2.02527554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.276875 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:170.18, Y:99.46, Z:20.25 [[ 9.96971226e-01 7.01275514e-02 -3.36229188e-02 1.70184112e+02] [-7.00933154e-02 9.97538019e-01 2.19731359e-03 9.94633045e+01] [ 3.36942320e-02 1.66083421e-04 9.99432174e-01 2.02538969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.306875 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:170.22, Y:99.46, Z:20.25 [[ 9.96917739e-01 7.08841206e-02 -3.36223741e-02 1.70216363e+02] [-7.08500347e-02 9.97484540e-01 2.20561654e-03 9.94616373e+01] [ 3.36941416e-02 1.83328115e-04 9.99432174e-01 2.02548877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.336875 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:170.23, Y:99.48, Z:20.24 [[ 9.97503551e-01 6.20986223e-02 -3.36218328e-02 1.70230474e+02] [-6.20592672e-02 9.98070011e-01 2.21383669e-03 9.94775866e+01] [ 3.36944193e-02 -1.21763655e-04 9.99432174e-01 2.02436856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.366875 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:170.26, Y:99.48, Z:20.24 [[ 9.97281404e-01 6.55263652e-02 -3.37060324e-02 1.70259759e+02] [-6.55307223e-02 9.97850074e-01 9.76608762e-04 9.94751586e+01] [ 3.36975605e-02 1.23482689e-03 9.99431313e-01 2.02446921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.396875 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:170.31, Y:99.46, Z:20.26 [[ 9.96294194e-01 7.91279551e-02 -3.37141736e-02 1.70306490e+02] [-7.91440744e-02 9.96862819e-01 8.58230770e-04 9.94558963e+01] [ 3.36763162e-02 1.81322673e-03 9.99431147e-01 2.02575929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.426875 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:170.34, Y:99.45, Z:20.26 [[ 9.96191465e-01 8.04555498e-02 -3.36075837e-02 1.70337878e+02] [-8.04213562e-02 9.96758139e-01 2.37016504e-03 9.94534690e+01] [ 3.36893255e-02 3.41629271e-04 9.99432295e-01 2.02587948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.456875 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:170.35, Y:99.47, Z:20.25 [[ 9.96948104e-01 7.04631113e-02 -3.36069748e-02 1.70352484e+02] [-7.04229476e-02 9.97514386e-01 2.37876696e-03 9.94678847e+01] [ 3.36910562e-02 -4.80497807e-06 9.99432295e-01 2.02480770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.486875 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:170.38, Y:99.47, Z:20.25 [[ 9.96858390e-01 7.16735222e-02 -3.37084170e-02 1.70381698e+02] [-7.16818355e-02 9.97427083e-01 9.63354104e-04 9.94666107e+01] [ 3.36907350e-02 1.45595358e-03 9.99431246e-01 2.02489011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.516875 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:170.43, Y:99.45, Z:20.26 [[ 9.95686436e-01 8.64359028e-02 -3.37247174e-02 1.70429150e+02] [-8.64603469e-02 9.96255021e-01 7.35588682e-04 9.94459304e+01] [ 3.36620003e-02 2.18343510e-03 9.99430889e-01 2.02622277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.546875 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:170.46, Y:99.44, Z:20.26 [[ 9.95597664e-01 8.75015201e-02 -3.35972451e-02 1.70460739e+02] [-8.74679626e-02 9.96164271e-01 2.47010460e-03 9.94433273e+01] [ 3.36845131e-02 4.79452209e-04 9.99432401e-01 2.02643636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.57687500000003 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:170.49, Y:99.44, Z:20.27 [[ 9.95492723e-01 8.86876626e-02 -3.35966780e-02 1.70493698e+02] [-8.86545207e-02 9.96059354e-01 2.47779394e-03 9.94407400e+01] [ 3.36840351e-02 5.11871548e-04 9.99432401e-01 2.02659770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.606875 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:170.51, Y:99.46, Z:20.25 [[ 9.96369072e-01 7.82303082e-02 -3.35960113e-02 1.70507074e+02] [-7.81909150e-02 9.96935302e-01 2.48680051e-03 9.94559183e+01] [ 3.36875929e-02 1.49131745e-04 9.99432401e-01 2.02546890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.63687500000003 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:170.55, Y:99.44, Z:20.27 [[ 9.95340453e-01 9.03397517e-02 -3.37062682e-02 1.70554061e+02] [-9.03584937e-02 9.95908832e-01 9.69925967e-04 9.94363042e+01] [ 3.36559930e-02 2.08024107e-03 9.99431312e-01 2.02661832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.666875 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:170.58, Y:99.43, Z:20.27 [[ 9.95249810e-01 9.13749006e-02 -3.35922959e-02 1.70584945e+02] [-9.13424981e-02 9.95816395e-01 2.50117603e-03 9.94330660e+01] [ 3.36803038e-02 5.79109256e-04 9.99432490e-01 2.02659215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.69687500000003 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:170.62, Y:99.43, Z:20.27 [[ 9.95198339e-01 9.19340006e-02 -3.35917460e-02 1.70617437e+02] [-9.19016678e-02 9.95764927e-01 2.50854083e-03 9.94299340e+01] [ 3.36801027e-02 5.90641806e-04 9.99432490e-01 2.02659731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.726875 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:170.65, Y:99.43, Z:20.27 [[ 9.95178467e-01 9.21491069e-02 -3.35910735e-02 1.70649345e+02] [-9.21165938e-02 9.95745045e-01 2.51751375e-03 9.94267620e+01] [ 3.36801316e-02 5.88919797e-04 9.99432490e-01 2.02661904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.75687500000004 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:170.67, Y:99.44, Z:20.26 [[ 9.95909110e-01 8.38852175e-02 -3.35904054e-02 1.70666499e+02] [-8.38477030e-02 9.96475379e-01 2.52639590e-03 9.94376618e+01] [ 3.36839392e-02 3.00417644e-04 9.99432490e-01 2.02570941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.786875 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:170.69, Y:99.44, Z:20.26 [[ 9.96050283e-01 8.21518994e-02 -3.36882651e-02 1.70693805e+02] [-8.21573708e-02 9.96618617e-01 1.22416316e-03 9.94381996e+01] [ 3.36749195e-02 1.54841122e-03 9.99431640e-01 2.02555476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81687500000004 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:170.74, Y:99.42, Z:20.27 [[ 9.94695759e-01 9.71755621e-02 -3.37232369e-02 1.70742634e+02] [-9.72055241e-02 9.95264044e-01 7.53793702e-04 9.94160879e+01] [ 3.36367754e-02 2.52828952e-03 9.99430926e-01 2.02697775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.846875 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:170.77, Y:99.41, Z:20.27 [[ 9.94608552e-01 9.81116372e-02 -3.35847511e-02 1.70774607e+02] [-9.80808604e-02 9.95175139e-01 2.56663155e-03 9.94125229e+01] [ 3.36745257e-02 7.41227593e-04 9.99432577e-01 2.02710379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87687500000004 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:170.79, Y:99.43, Z:20.26 [[ 9.95491067e-01 8.87118059e-02 -3.35820172e-02 1.70787588e+02] [-8.86744737e-02 9.96057260e-01 2.60234195e-03 9.94260736e+01] [ 3.36804705e-02 3.87259532e-04 9.99432577e-01 2.02610854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.906875 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:170.82, Y:99.42, Z:20.26 [[ 9.95083261e-01 9.31353502e-02 -3.36913878e-02 1.70819180e+02] [-9.31474459e-02 9.95651586e-01 1.21380876e-03 9.94216205e+01] [ 3.36579321e-02 1.93042593e-03 9.99431547e-01 2.02624066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93687500000004 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:170.86, Y:99.40, Z:20.27 [[ 9.93888269e-01 1.05123190e-01 -3.36930737e-02 1.70863684e+02] [-1.05142867e-01 9.94456412e-01 1.19217030e-03 9.94038190e+01] [ 3.36316179e-02 2.35770230e-03 9.99431516e-01 2.02739634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.966875 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:170.90, Y:99.40, Z:20.28 [[ 9.93735975e-01 1.06590383e-01 -3.35753342e-02 1.70895271e+02] [-1.06560879e-01 9.94302589e-01 2.67206954e-03 9.94001897e+01] [ 3.36688586e-02 9.22485478e-04 9.99432618e-01 2.02758244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.996875 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:170.93, Y:99.40, Z:20.28 [[ 9.93572616e-01 1.08102732e-01 -3.35746507e-02 1.70927658e+02] [-1.08073800e-01 9.94139260e-01 2.68062972e-03 9.93958524e+01] [ 3.36676618e-02 9.65139812e-04 9.99432618e-01 2.02761325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.026875 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:170.96, Y:99.39, Z:20.28 [[ 9.93497516e-01 1.08790911e-01 -3.35741482e-02 1.70960243e+02] [-1.08762160e-01 9.94064170e-01 2.68690918e-03 9.93924243e+01] [ 3.36671690e-02 9.82159284e-04 9.99432618e-01 2.02780306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.056875 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:170.99, Y:99.39, Z:20.28 [[ 9.93422948e-01 1.09469963e-01 -3.35734153e-02 1.70993156e+02] [-1.09441292e-01 9.93989605e-01 2.69603599e-03 9.93889085e+01] [ 3.36667608e-02 9.96013912e-04 9.99432618e-01 2.02807769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.086875 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:171.03, Y:99.39, Z:20.28 [[ 9.93353444e-01 1.10099104e-01 -3.35726517e-02 1.71025271e+02] [-1.10070471e-01 9.93920103e-01 2.70551130e-03 9.93852969e+01] [ 3.36664078e-02 1.00782864e-03 9.99432618e-01 2.02830168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.116875 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:171.06, Y:99.38, Z:20.28 [[ 9.93298367e-01 1.10595100e-01 -3.35719728e-02 1.71057008e+02] [-1.10566466e-01 9.93865027e-01 2.71390959e-03 9.93819199e+01] [ 3.36661547e-02 1.01621244e-03 9.99432618e-01 2.02824935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.146875 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:171.09, Y:99.38, Z:20.29 [[ 9.93297523e-01 1.10602919e-01 -3.35711991e-02 1.71089363e+02] [-1.10573968e-01 9.93864166e-01 2.72344636e-03 9.93786905e+01] [ 3.36664329e-02 1.00690819e-03 9.99432618e-01 2.02852526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.176875 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:171.12, Y:99.38, Z:20.29 [[ 9.93292480e-01 1.10648433e-01 -3.35704282e-02 1.71122278e+02] [-1.10619188e-01 9.93859108e-01 2.73291636e-03 9.93751074e+01] [ 3.36666687e-02 9.98948253e-04 9.99432618e-01 2.02862651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.206875 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:171.15, Y:99.37, Z:20.29 [[ 9.93285946e-01 1.10707298e-01 -3.35696701e-02 1.71153675e+02] [-1.10677774e-01 9.93852560e-01 2.74219646e-03 9.93719126e+01] [ 3.36668838e-02 9.91631145e-04 9.99432618e-01 2.02864851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.236875 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:171.17, Y:99.38, Z:20.28 [[ 9.94147617e-01 1.02682230e-01 -3.35689609e-02 1.71174428e+02] [-1.02647838e-01 9.94713956e-01 2.75085094e-03 9.93790497e+01] [ 3.36739774e-02 7.11029359e-04 9.99432618e-01 2.02791960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.266875 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:171.21, Y:99.37, Z:20.28 [[ 9.94256152e-01 1.01598293e-01 -3.36525138e-02 1.71208556e+02] [-1.01598088e-01 9.94824039e-01 1.72054654e-03 9.93741958e+01] [ 3.36531343e-02 1.70836707e-03 9.99432113e-01 2.02785507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.296875 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:171.25, Y:99.36, Z:20.29 [[ 9.93661506e-01 1.07260630e-01 -3.36447423e-02 1.71248841e+02] [-1.07260408e-01 9.94229302e-01 1.81671908e-03 9.93611828e+01] [ 3.36454511e-02 1.80354498e-03 9.99432204e-01 2.02885918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.32687500000003 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:171.27, Y:99.37, Z:20.28 [[ 9.94663753e-01 9.75560193e-02 -3.35684568e-02 1.71267623e+02] [-9.75187851e-02 9.95229889e-01 2.74857648e-03 9.93686485e+01] [ 3.36764717e-02 5.39645727e-04 9.99432641e-01 2.02796851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.356875 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:171.30, Y:99.36, Z:20.28 [[ 9.94841539e-01 9.56931266e-02 -3.36621285e-02 1.71300072e+02] [-9.56934995e-02 9.95409555e-01 1.60370995e-03 9.93629477e+01] [ 3.36610684e-02 1.62580961e-03 9.99431983e-01 2.02809547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.38687500000003 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:171.33, Y:99.36, Z:20.28 [[ 9.94906749e-01 9.50180921e-02 -3.36470330e-02 1.71330068e+02] [-9.50120130e-02 9.95474529e-01 1.78314361e-03 9.93593633e+01] [ 3.36641952e-02 1.42281072e-03 9.99432188e-01 2.02831288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.416875 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:171.36, Y:99.35, Z:20.28 [[ 9.95064400e-01 9.33500500e-02 -3.36542419e-02 1.71364628e+02] [-9.33459032e-02 9.95632291e-01 1.69782582e-03 9.93539802e+01] [ 3.36657421e-02 1.45203957e-03 9.99432093e-01 2.02840610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.44687500000003 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:171.39, Y:99.35, Z:20.29 [[ 9.95372023e-01 9.00164784e-02 -3.36388073e-02 1.71394440e+02] [-9.00041922e-02 9.95939608e-01 1.88238803e-03 9.93512882e+01] [ 3.36716665e-02 1.15395730e-03 9.99432282e-01 2.02854235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.476875 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:171.44, Y:99.34, Z:20.30 [[ 9.94860615e-01 9.54980257e-02 -3.36524006e-02 1.71437058e+02] [-9.54943572e-02 9.95428485e-01 1.71994061e-03 9.93354818e+01] [ 3.36628091e-02 1.50251319e-03 9.99432118e-01 2.02965259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.50687500000004 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:171.46, Y:99.34, Z:20.29 [[ 9.95806588e-01 8.51070760e-02 -3.35562852e-02 1.71456162e+02] [-8.50592997e-02 9.96371811e-01 2.85134094e-03 9.93426207e+01] [ 3.36772059e-02 1.48900222e-05 9.99432762e-01 2.02896452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.536875 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:171.49, Y:99.34, Z:20.29 [[ 9.96052804e-01 8.21420473e-02 -3.36377260e-02 1.71485700e+02] [-8.21244644e-02 9.96620258e-01 1.90635169e-03 9.93383677e+01] [ 3.36806307e-02 8.63653285e-04 9.99432273e-01 2.02918961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56687500000004 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:171.52, Y:99.33, Z:20.29 [[ 9.96022075e-01 8.25090110e-02 -3.36495173e-02 1.71520067e+02] [-8.24962646e-02 9.96589803e-01 1.76937037e-03 9.93326058e+01] [ 3.36807548e-02 1.01362753e-03 9.99432128e-01 2.02936805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.596875 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:171.55, Y:99.33, Z:20.29 [[ 9.95964027e-01 8.32180146e-02 -3.36217149e-02 1.71552037e+02] [-8.31947925e-02 9.96531109e-01 2.09150300e-03 9.93293687e+01] [ 3.36791356e-02 7.14089838e-04 9.99432442e-01 2.02949309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62687500000004 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:171.58, Y:99.33, Z:20.29 [[ 9.96140830e-01 8.10748757e-02 -3.36201037e-02 1.71582141e+02] [-8.10498070e-02 9.96707819e-01 2.11006203e-03 9.93273335e+01] [ 3.36804932e-02 6.22983973e-04 9.99432457e-01 2.02944174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.656875 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:171.61, Y:99.32, Z:20.29 [[ 9.96154547e-01 8.09021823e-02 -3.36296824e-02 1.71612042e+02] [-8.08806893e-02 9.96721781e-01 2.00123266e-03 9.93239944e+01] [ 3.36813411e-02 7.26454885e-04 9.99432359e-01 2.02946193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68687500000004 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:171.64, Y:99.32, Z:20.29 [[ 9.96174917e-01 8.06488507e-02 -3.36347787e-02 1.71642509e+02] [-8.06291498e-02 9.96742274e-01 1.94389141e-03 9.93204523e+01] [ 3.36819785e-02 7.75487753e-04 9.99432300e-01 2.02943237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.716875 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:171.68, Y:99.31, Z:20.30 [[ 9.95471894e-01 8.89039501e-02 -3.36421702e-02 1.71684235e+02] [-8.88917751e-02 9.96039553e-01 1.86037485e-03 9.93064618e+01] [ 3.36743268e-02 1.13856135e-03 9.99432211e-01 2.03041128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.746875 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:171.72, Y:99.30, Z:20.30 [[ 9.95466134e-01 8.90074061e-02 -3.35389006e-02 1.71716294e+02] [-8.89564654e-02 9.96030964e-01 3.01094527e-03 9.93029858e+01] [ 3.36737799e-02 -1.37919985e-05 9.99432877e-01 2.03049691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.776875 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:171.75, Y:99.30, Z:20.31 [[ 9.95437987e-01 8.93219348e-02 -3.35381216e-02 1.71749358e+02] [-8.92708811e-02 9.96002807e-01 3.01959719e-03 9.92995555e+01] [ 3.36737795e-02 -1.18440829e-05 9.99432877e-01 2.03057623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.806875 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:171.78, Y:99.30, Z:20.31 [[ 9.95420665e-01 8.95149878e-02 -3.35375543e-02 1.71782157e+02] [-8.94638318e-02 9.95985475e-01 3.02588466e-03 9.92959751e+01] [ 3.36737790e-02 -1.16299974e-05 9.99432877e-01 2.03069656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.836875 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:171.82, Y:99.29, Z:20.31 [[ 9.95343532e-01 9.03689180e-02 -3.35367258e-02 1.71815133e+02] [-9.03179381e-02 9.95908359e-01 3.03503931e-03 9.92910887e+01] [ 3.36737788e-02 8.06118709e-06 9.99432877e-01 2.03081823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.866875 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:171.85, Y:99.29, Z:20.31 [[ 9.95307311e-01 9.07671944e-02 -3.35361597e-02 1.71848236e+02] [-9.07162302e-02 9.95872139e-01 3.04128215e-03 9.92874120e+01] [ 3.36737757e-02 1.52636283e-05 9.99432878e-01 2.03100698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.896875 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:171.88, Y:99.28, Z:20.31 [[ 9.95285400e-01 9.10074370e-02 -3.35353257e-02 1.71880093e+02] [-9.09563002e-02 9.95850213e-01 3.05045054e-03 9.92841899e+01] [ 3.36737749e-02 1.41802641e-05 9.99432878e-01 2.03110893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.926875 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:171.91, Y:99.28, Z:20.31 [[ 9.95301245e-01 9.08342879e-02 -3.35345104e-02 1.71913265e+02] [-9.07827517e-02 9.95866021e-01 3.05938765e-03 9.92808340e+01] [ 3.36737767e-02 -6.57205276e-07 9.99432878e-01 2.03123466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.956875 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:171.95, Y:99.28, Z:20.31 [[ 9.95318819e-01 9.06416503e-02 -3.35341511e-02 1.71945843e+02] [-9.05898723e-02 9.95883573e-01 3.06332052e-03 9.92777111e+01] [ 3.36737747e-02 -1.11260915e-05 9.99432878e-01 2.03134303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.986875 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:171.96, Y:99.28, Z:20.31 [[ 9.95988397e-01 8.29616166e-02 -3.35333213e-02 1.71964576e+02] [-8.29051790e-02 9.96552704e-01 3.07237768e-03 9.92832546e+01] [ 3.36726114e-02 -2.79966517e-04 9.99432878e-01 2.03074169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.016875 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:171.99, Y:99.28, Z:20.31 [[ 9.95829732e-01 8.48091932e-02 -3.36235926e-02 1.71994083e+02] [-8.47863948e-02 9.96396925e-01 2.10586089e-03 9.92804377e+01] [ 3.36810406e-02 7.53744312e-04 9.99432349e-01 2.03077490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.046875 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:172.02, Y:99.28, Z:20.31 [[ 9.96012418e-01 8.26314540e-02 -3.36348958e-02 1.72023832e+02] [-8.26115045e-02 9.96579851e-01 1.98477812e-03 9.92797441e+01] [ 3.36838645e-02 8.01765692e-04 9.99432216e-01 2.03076950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.07687500000003 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:172.06, Y:99.27, Z:20.31 [[ 9.95808548e-01 8.50441095e-02 -3.36576135e-02 1.72057812e+02] [-8.50338726e-02 9.96376545e-01 1.73805551e-03 9.92746896e+01] [ 3.36834680e-02 1.13126669e-03 9.99431911e-01 2.03085939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.106875 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:172.10, Y:99.26, Z:20.32 [[ 9.95052462e-01 9.34844400e-02 -3.36341805e-02 1.72099743e+02] [-9.34704719e-02 9.95620062e-01 1.99085704e-03 9.92626518e+01] [ 3.36729790e-02 1.16279552e-03 9.99432228e-01 2.03174570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.13687500000003 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:172.11, Y:99.27, Z:20.31 [[ 9.95963525e-01 8.32629658e-02 -3.35251381e-02 1.72112526e+02] [-8.32040462e-02 9.96527549e-01 3.15119055e-03 9.92742811e+01] [ 3.36711012e-02 -3.49043709e-04 9.99432907e-01 2.03094965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.166875 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:172.16, Y:99.26, Z:20.32 [[ 9.94787809e-01 9.62407917e-02 -3.36886612e-02 1.72160310e+02] [-9.62492587e-02 9.95356314e-01 1.37406798e-03 9.92585114e+01] [ 3.36644630e-02 1.87560259e-03 9.99431431e-01 2.03178786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.19687500000003 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:172.19, Y:99.26, Z:20.32 [[ 9.94650621e-01 9.77061130e-02 -3.35209911e-02 1.72191626e+02] [-9.76552315e-02 9.95215302e-01 3.15569752e-03 9.92554128e+01] [ 3.36689342e-02 1.34683639e-04 9.99433032e-01 2.03198452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.226875 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:172.21, Y:99.26, Z:20.31 [[ 9.95146161e-01 9.25230504e-02 -3.35202022e-02 1.72210124e+02] [-9.24689462e-02 9.95710542e-01 3.16405489e-03 9.92638175e+01] [ 3.36691667e-02 -4.91193049e-05 9.99433032e-01 2.03140151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.25687500000004 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:172.25, Y:99.25, Z:20.32 [[ 9.94131583e-01 1.02819598e-01 -3.36232849e-02 1.72252287e+02] [-1.02808324e-01 9.94699035e-01 2.06857354e-03 9.92501293e+01] [ 3.36577390e-02 1.40031930e-03 9.99432437e-01 2.03217279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.286875 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:172.29, Y:99.25, Z:20.33 [[ 9.93972112e-01 1.04384596e-01 -3.35156077e-02 1.72285280e+02] [-1.04336099e-01 9.94536955e-01 3.19746617e-03 9.92473649e+01] [ 3.36662767e-02 3.18695579e-04 9.99433079e-01 2.03252694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31687500000004 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:172.31, Y:99.25, Z:20.32 [[ 9.94307160e-01 1.01143469e-01 -3.35152199e-02 1.72309290e+02] [-1.01092994e-01 9.94871829e-01 3.20152623e-03 9.92516286e+01] [ 3.36671616e-02 2.04853471e-04 9.99433079e-01 2.03196070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.346875 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:172.35, Y:99.24, Z:20.33 [[ 9.93543430e-01 1.08369496e-01 -3.35783401e-02 1.72347234e+02] [-1.08345405e-01 9.94110061e-01 2.54155978e-03 9.92423027e+01] [ 3.36559933e-02 1.11290882e-03 9.99432857e-01 2.03282208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37687500000004 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:172.38, Y:99.24, Z:20.33 [[ 9.93333699e-01 1.10295637e-01 -3.35117132e-02 1.72378584e+02] [-1.10249323e-01 9.93898706e-01 3.23239599e-03 9.92392656e+01] [ 3.36637675e-02 4.83795843e-04 9.99433098e-01 2.03291541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.406875 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:172.39, Y:99.25, Z:20.32 [[ 9.93963420e-01 1.04468870e-01 -3.35108096e-02 1.72394935e+02] [-1.04418929e-01 9.94528119e-01 3.24173600e-03 9.92479860e+01] [ 3.36661030e-02 2.76995845e-04 9.99433098e-01 2.03222821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43687500000004 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:172.43, Y:99.24, Z:20.32 [[ 9.93565830e-01 1.08144576e-01 -3.36406324e-02 1.72430361e+02] [-1.08143022e-01 9.94133586e-01 1.87104709e-03 9.92429059e+01] [ 3.36456261e-02 1.77899120e-03 9.99432242e-01 2.03239994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.466875 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:172.46, Y:99.24, Z:20.32 [[ 9.93496623e-01 1.08787182e-01 -3.36126210e-02 1.72457215e+02] [-1.08776102e-01 9.94063921e-01 2.16356170e-03 9.92418469e+01] [ 3.36484616e-02 1.50675865e-03 9.99432594e-01 2.03239941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.496875 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:172.50, Y:99.23, Z:20.33 [[ 9.92221378e-01 1.19854448e-01 -3.36399957e-02 1.72501985e+02] [-1.19859158e-01 9.92789118e-01 1.88385344e-03 9.92265903e+01] [ 3.36232098e-02 2.16286191e-03 9.99432240e-01 2.03332914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.526875 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:172.52, Y:99.23, Z:20.33 [[ 9.93144943e-01 1.11987290e-01 -3.34957985e-02 1.72521121e+02] [-1.11938534e-01 9.93709542e-01 3.33325015e-03 9.92342015e+01] [ 3.36583762e-02 4.39070042e-04 9.99433300e-01 2.03271226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.556875 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:172.55, Y:99.23, Z:20.33 [[ 9.92562005e-01 1.17012163e-01 -3.35979101e-02 1.72552695e+02] [-1.17000386e-01 9.93129152e-01 2.32315448e-03 9.92285566e+01] [ 3.36389013e-02 1.62509357e-03 9.99432731e-01 2.03284764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.586875 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:172.59, Y:99.22, Z:20.34 [[ 9.91677963e-01 1.24286046e-01 -3.35826754e-02 1.72592465e+02] [-1.24273385e-01 9.92244937e-01 2.47216989e-03 9.92168740e+01] [ 3.36294959e-02 1.72183636e-03 9.99432885e-01 2.03365982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.616875 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:172.61, Y:99.23, Z:20.33 [[ 9.92957142e-01 1.13644877e-01 -3.34806899e-02 1.72609372e+02] [-1.13592809e-01 9.93521367e-01 3.45937294e-03 9.92253905e+01] [ 3.36569208e-02 3.68156548e-04 9.99433378e-01 2.03298053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.646875 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:172.64, Y:99.22, Z:20.33 [[ 9.93022156e-01 1.13032913e-01 -3.36237774e-02 1.72644632e+02] [-1.13027926e-01 9.93589686e-01 2.05513830e-03 9.92204937e+01] [ 3.36405367e-02 1.75962796e-03 9.99432448e-01 2.03297543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.676875 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:172.67, Y:99.22, Z:20.33 [[ 9.93158210e-01 1.11839189e-01 -3.35971011e-02 1.72674836e+02] [-1.11824671e-01 9.93725252e-01 2.31675422e-03 9.92153150e+01] [ 3.36453916e-02 1.45608129e-03 9.99432773e-01 2.03323454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.706875 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:172.72, Y:99.20, Z:20.34 [[ 9.92514243e-01 1.17416494e-01 -3.35982838e-02 1.72716449e+02] [-1.17405554e-01 9.93081377e-01 2.30517566e-03 9.92019543e+01] [ 3.36364956e-02 1.65670544e-03 9.99432760e-01 2.03407531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.736875 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:172.75, Y:99.20, Z:20.34 [[ 9.92720236e-01 1.15696724e-01 -3.34783569e-02 1.72749188e+02] [-1.15645655e-01 9.93284491e-01 3.46433668e-03 9.91975496e+01] [ 3.36543452e-02 4.32509387e-04 9.99433439e-01 2.03423208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.766875 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:172.77, Y:99.20, Z:20.34 [[ 9.93520465e-01 1.08611005e-01 -3.34773952e-02 1.72774118e+02] [-1.08555599e-01 9.94084310e-01 3.47360573e-03 9.92003616e+01] [ 3.36566251e-02 1.83060290e-04 9.99433439e-01 2.03368758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.796875 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:172.81, Y:99.19, Z:20.34 [[ 9.93054886e-01 1.12769177e-01 -3.35425948e-02 1.72812553e+02] [-1.12737338e-01 9.93620752e-01 2.84504088e-03 9.91897639e+01] [ 3.36494512e-02 9.56221108e-04 9.99433239e-01 2.03443242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.82687500000003 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:172.84, Y:99.19, Z:20.34 [[ 9.93372174e-01 1.09960155e-01 -3.34736998e-02 1.72844474e+02] [-1.09904511e-01 9.93935976e-01 3.50338145e-03 9.91857028e+01] [ 3.36559469e-02 1.98748961e-04 9.99433458e-01 2.03446052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.856875 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:172.88, Y:99.18, Z:20.35 [[ 9.93523596e-01 1.08583785e-01 -3.34727737e-02 1.72877137e+02] [-1.08527062e-01 9.94087291e-01 3.51220804e-03 9.91820188e+01] [ 3.36562278e-02 1.43240236e-04 9.99433458e-01 2.03451538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.88687500000003 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:172.90, Y:99.19, Z:20.34 [[ 9.94250653e-01 1.01711739e-01 -3.34717989e-02 1.72901533e+02] [-1.01650808e-01 9.94813908e-01 3.52147330e-03 9.91851349e+01] [ 3.36563863e-02 -9.87917244e-05 9.99433458e-01 2.03388621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.916875 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:172.94, Y:99.17, Z:20.35 [[ 9.93808821e-01 1.05916868e-01 -3.35506261e-02 1.72939510e+02] [-1.05883668e-01 9.94374667e-01 2.76975592e-03 9.91743707e+01] [ 3.36552565e-02 7.99855478e-04 9.99433181e-01 2.03458098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.94687500000003 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:172.96, Y:99.18, Z:20.34 [[ 9.94569527e-01 9.85458196e-02 -3.34690609e-02 1.72960472e+02] [-9.84824447e-02 9.95132489e-01 3.54083206e-03 9.91793268e+01] [ 3.36550841e-02 -2.25488724e-04 9.99433482e-01 2.03396676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.976875 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:173.00, Y:99.17, Z:20.35 [[ 9.93884404e-01 1.05201750e-01 -3.35616284e-02 1.73001471e+02] [-1.05171498e-01 9.94450514e-01 2.67039109e-03 9.91665904e+01] [ 3.36563084e-02 8.75666685e-04 9.99433082e-01 2.03494415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.00687500000004 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:173.03, Y:99.16, Z:20.35 [[ 9.93826726e-01 1.05776737e-01 -3.34622428e-02 1.73032671e+02] [-1.05715618e-01 9.94389904e-01 3.59548343e-03 9.91633029e+01] [ 3.36548349e-02 -3.58058522e-05 9.99433515e-01 2.03503106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.036875 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:173.06, Y:99.17, Z:20.35 [[ 9.94262903e-01 1.01595397e-01 -3.34612419e-02 1.73055622e+02] [-1.01531597e-01 9.94825784e-01 3.60477481e-03 9.91675466e+01] [ 3.36543347e-02 -1.86720538e-04 9.99433515e-01 2.03457358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06687500000004 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:173.10, Y:99.16, Z:20.35 [[ 9.93515678e-01 1.08633384e-01 -3.35467808e-02 1.73095341e+02] [-1.08600384e-01 9.94081517e-01 2.80966248e-03 9.91575285e+01] [ 3.36534579e-02 8.51749546e-04 9.99433199e-01 2.03525423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.096875 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:173.12, Y:99.16, Z:20.35 [[ 9.94053098e-01 1.03629288e-01 -3.34575771e-02 1.73116520e+02] [-1.03565737e-01 9.94615981e-01 3.63159547e-03 9.91629385e+01] [ 3.36537805e-02 -1.44940092e-04 9.99433541e-01 2.03469316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12687500000004 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:173.15, Y:99.16, Z:20.34 [[ 9.94097105e-01 1.03170260e-01 -3.35684755e-02 1.73148697e+02] [-1.03141138e-01 9.94663326e-01 2.60265678e-03 9.91636422e+01] [ 3.36578483e-02 8.74997207e-04 9.99433031e-01 2.03432571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.156875 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:173.19, Y:99.15, Z:20.35 [[ 9.92940680e-01 1.13753325e-01 -3.36003904e-02 1.73193114e+02] [-1.13740495e-01 9.93507833e-01 2.29922655e-03 9.91490770e+01] [ 3.36437957e-02 1.53872946e-03 9.99432703e-01 2.03515691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18687500000004 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:173.23, Y:99.15, Z:20.35 [[ 9.92703654e-01 1.15842839e-01 -3.34647805e-02 1.73226043e+02] [-1.15788273e-01 9.93267500e-01 3.57049968e-03 9.91456225e+01] [ 3.36530957e-02 3.30381054e-04 9.99433520e-01 2.03529626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.216875 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:173.24, Y:99.15, Z:20.35 [[ 9.93421123e-01 1.09520078e-01 -3.34637920e-02 1.73244517e+02] [-1.09461611e-01 9.93984578e-01 3.57974055e-03 9.91530604e+01] [ 3.36545466e-02 1.06810717e-04 9.99433520e-01 2.03451902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.246875 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:173.28, Y:99.15, Z:20.34 [[ 9.93461496e-01 1.09115831e-01 -3.35855883e-02 1.73275633e+02] [-1.09095647e-01 9.94028266e-01 2.43842280e-03 9.91520822e+01] [ 3.36510947e-02 1.24156232e-03 9.99432870e-01 2.03438952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.276875 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:173.32, Y:99.13, Z:20.35 [[ 9.92185499e-01 1.20161201e-01 -3.36038991e-02 1.73320890e+02] [-1.20153178e-01 9.92752780e-01 2.26538724e-03 9.91349195e+01] [ 3.36325759e-02 1.78993089e-03 9.99432662e-01 2.03538981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.306875 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:173.35, Y:99.13, Z:20.36 [[ 9.92110226e-01 1.20820647e-01 -3.34614966e-02 1.73352139e+02] [-1.20768178e-01 9.92674238e-01 3.59216630e-03 9.91306569e+01] [ 3.36503735e-02 4.77259056e-04 9.99433552e-01 2.03552962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.336875 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:173.38, Y:99.13, Z:20.36 [[ 9.92066873e-01 1.21176355e-01 -3.34605781e-02 1.73384944e+02] [-1.21123801e-01 9.92630878e-01 3.60070126e-03 9.91263259e+01] [ 3.36503229e-02 4.80735961e-04 9.99433552e-01 2.03562404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.366875 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:173.40, Y:99.14, Z:20.35 [[ 9.93403141e-01 1.09684346e-01 -3.34595893e-02 1.73399023e+02] [-1.09624958e-01 9.93966467e-01 3.60986628e-03 9.91371383e+01] [ 3.36536556e-02 8.19535630e-05 9.99433552e-01 2.03469387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.396875 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:173.42, Y:99.14, Z:20.35 [[ 9.93546742e-01 1.08327825e-01 -3.36147918e-02 1.73424255e+02] [-1.08315844e-01 9.94114135e-01 2.18260624e-03 9.91353603e+01] [ 3.36533767e-02 1.47249323e-03 9.99432480e-01 2.03454392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.426875 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:173.47, Y:99.11, Z:20.36 [[ 9.91832797e-01 1.23020081e-01 -3.36713799e-02 1.73474005e+02] [-1.23033980e-01 9.92401059e-01 1.66677325e-03 9.91118834e+01] [ 3.36205596e-02 2.48956349e-03 9.99431568e-01 2.03577725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.456875 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:173.51, Y:99.11, Z:20.36 [[ 9.91896415e-01 1.22569919e-01 -3.34382622e-02 1.73506601e+02] [-1.22513205e-01 9.92459808e-01 3.74750168e-03 9.91067121e+01] [ 3.36454622e-02 3.79495172e-04 9.99433759e-01 2.03608359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.486875 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:173.54, Y:99.10, Z:20.36 [[ 9.91861946e-01 1.22848822e-01 -3.34372087e-02 1.73539732e+02] [-1.22791950e-01 9.92425324e-01 3.75687792e-03 9.91029086e+01] [ 3.36454607e-02 3.79515815e-04 9.99433759e-01 2.03619636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.516875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:173.55, Y:99.12, Z:20.35 [[ 9.93496063e-01 1.08846669e-01 -3.34361503e-02 1.73550458e+02] [-1.08781540e-01 9.94058545e-01 3.76627440e-03 9.91157170e+01] [ 3.36474373e-02 -1.04542870e-04 9.99433759e-01 2.03525762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.546875 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:173.60, Y:99.10, Z:20.36 [[ 9.91993285e-01 1.21726438e-01 -3.36451494e-02 1.73599927e+02] [-1.21732410e-01 9.92561178e-01 1.87852447e-03 9.90955897e+01] [ 3.36235352e-02 2.23222148e-03 9.99432076e-01 2.03634485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.57687500000003 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:173.63, Y:99.09, Z:20.37 [[ 9.91991385e-01 1.21800941e-01 -3.34308625e-02 1.73632584e+02] [-1.21742822e-01 9.92554495e-01 3.77617476e-03 9.90916474e+01] [ 3.36418945e-02 3.24034710e-04 9.99433899e-01 2.03654193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.606875 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:173.65, Y:99.10, Z:20.36 [[ 9.93362896e-01 1.10057285e-01 -3.34297956e-02 1.73646621e+02] [-1.09992191e-01 9.93925242e-01 3.78559704e-03 9.91042059e+01] [ 3.36433502e-02 -8.34551688e-05 9.99433899e-01 2.03569409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.63687500000003 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:173.68, Y:99.10, Z:20.36 [[ 9.92773366e-01 1.15204278e-01 -3.36008547e-02 1.73679179e+02] [-1.15192679e-01 9.93340533e-01 2.28730419e-03 9.90973358e+01] [ 3.36405982e-02 1.59979779e-03 9.99432715e-01 2.03579460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.666875 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:173.71, Y:99.09, Z:20.36 [[ 9.92810481e-01 1.14889988e-01 -3.35803423e-02 1.73713496e+02] [-1.14872240e-01 9.93377219e-01 2.46373199e-03 9.90936777e+01] [ 3.36410051e-02 1.41143018e-03 9.99432985e-01 2.03588862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.69687500000003 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:173.75, Y:99.09, Z:20.36 [[ 9.92596561e-01 1.16726587e-01 -3.35703985e-02 1.73745470e+02] [-1.16706957e-01 9.93163119e-01 2.55038344e-03 9.90888583e+01] [ 3.36385792e-02 1.38639721e-03 9.99433101e-01 2.03608953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.726875 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:173.79, Y:99.07, Z:20.37 [[ 9.91617573e-01 1.24773002e-01 -3.35602117e-02 1.73788160e+02] [-1.24754960e-01 9.92184073e-01 2.63929334e-03 9.90733786e+01] [ 3.36272200e-02 1.56963320e-03 9.99433213e-01 2.03688693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.75687500000004 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:173.82, Y:99.07, Z:20.37 [[ 9.91532375e-01 1.25486537e-01 -3.34167247e-02 1.73821048e+02] [-1.25427131e-01 9.92095262e-01 3.87644349e-03 9.90691122e+01] [ 3.36390157e-02 3.47744671e-04 9.99433988e-01 2.03714481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.786875 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:173.85, Y:99.07, Z:20.37 [[ 9.91444032e-01 1.26182907e-01 -3.34156488e-02 1.73852736e+02] [-1.26123584e-01 9.92006927e-01 3.88569544e-03 9.90656574e+01] [ 3.36388635e-02 3.62051842e-04 9.99433988e-01 2.03724648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81687500000004 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:173.87, Y:99.07, Z:20.37 [[ 9.92300319e-01 1.19262383e-01 -3.34149833e-02 1.73871378e+02] [-1.19198942e-01 9.92862765e-01 3.89141070e-03 9.90741532e+01] [ 3.36405916e-02 1.21582567e-04 9.99433988e-01 2.03654111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.846875 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:173.90, Y:99.07, Z:20.36 [[ 9.92118162e-01 1.20731350e-01 -3.35483818e-02 1.73901925e+02] [-1.20707393e-01 9.92684333e-01 2.74596541e-03 9.90727086e+01] [ 3.36344771e-02 1.32521555e-03 9.99433322e-01 2.03646085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87687500000004 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:173.94, Y:99.07, Z:20.37 [[ 9.91740247e-01 1.23794112e-01 -3.35604101e-02 1.73937231e+02] [-1.23775407e-01 9.92306740e-01 2.64236091e-03 9.90665186e+01] [ 3.36293299e-02 1.53341777e-03 9.99433198e-01 2.03661652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.906875 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:173.98, Y:99.05, Z:20.37 [[ 9.90926762e-01 1.30156403e-01 -3.35181152e-02 1.73977590e+02] [-1.30129044e-01 9.91492510e-01 3.00572486e-03 9.90535155e+01] [ 3.36241745e-02 1.38322709e-03 9.99433590e-01 2.03736502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93687500000004 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:174.00, Y:99.06, Z:20.37 [[ 9.92008965e-01 1.21663393e-01 -3.34100620e-02 1.73995839e+02] [-1.21600164e-01 9.92571403e-01 3.92549379e-03 9.90610095e+01] [ 3.36394610e-02 1.68544003e-04 9.99434019e-01 2.03672860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.966875 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:174.03, Y:99.06, Z:20.37 [[ 9.92122510e-01 1.20694302e-01 -3.35531038e-02 1.74029002e+02] [-1.20671625e-01 9.92688787e-01 2.70748844e-03 9.90570352e+01] [ 3.36345683e-02 1.36274734e-03 9.99433269e-01 2.03679288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.996875 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:174.06, Y:99.05, Z:20.37 [[ 9.92152034e-01 1.20450662e-01 -3.35556199e-02 1.74061460e+02] [-1.20428577e-01 9.92718361e-01 2.68585962e-03 9.90521489e+01] [ 3.36347936e-02 1.37627447e-03 9.99433243e-01 2.03696068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.026875 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:174.09, Y:99.05, Z:20.37 [[ 9.92047298e-01 1.21315896e-01 -3.35352438e-02 1.74091858e+02] [-1.21288450e-01 9.92613186e-01 2.85905900e-03 9.90474072e+01] [ 3.36343745e-02 1.23111598e-03 9.99433446e-01 2.03713762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.056875 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:174.12, Y:99.04, Z:20.37 [[ 9.92087655e-01 1.20989972e-01 -3.35188367e-02 1.74121257e+02] [-1.20957704e-01 9.92653140e-01 2.99625022e-03 9.90433415e+01] [ 3.36350948e-02 1.08181867e-03 9.99433595e-01 2.03730907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.086875 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:174.15, Y:99.04, Z:20.37 [[ 9.92467798e-01 1.17827393e-01 -3.35317116e-02 1.74153818e+02] [-1.17796961e-01 9.93033500e-01 2.88855627e-03 9.90393047e+01] [ 3.36384640e-02 1.08313463e-03 9.99433480e-01 2.03725338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.116875 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:174.19, Y:99.02, Z:20.38 [[ 9.91590372e-01 1.24996548e-01 -3.35320292e-02 1.74194837e+02] [-1.24970295e-01 9.92156287e-01 2.88587638e-03 9.90226669e+01] [ 3.36297382e-02 1.32890036e-03 9.99433477e-01 2.03834639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.146875 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:174.22, Y:99.03, Z:20.38 [[ 9.93221295e-01 1.11337318e-01 -3.33985110e-02 1.74215007e+02] [-1.11265714e-01 9.93782640e-01 4.00069011e-03 9.90291552e+01] [ 3.36362865e-02 -2.57461432e-04 9.99434107e-01 2.03755274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.176875 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:174.25, Y:99.01, Z:20.39 [[ 9.92329847e-01 1.18985792e-01 -3.35239575e-02 1.74254954e+02] [-1.18954066e-01 9.92895387e-01 2.94636072e-03 9.90129568e+01] [ 3.36363578e-02 1.06404937e-03 9.99433571e-01 2.03856863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.206875 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:174.27, Y:99.02, Z:20.38 [[ 9.93738355e-01 1.06624898e-01 -3.33948086e-02 1.74272032e+02] [-1.06550001e-01 9.94299221e-01 4.01951589e-03 9.90217853e+01] [ 3.36330127e-02 -4.36130229e-04 9.99434155e-01 2.03763381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.236875 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:174.31, Y:99.00, Z:20.39 [[ 9.92851121e-01 1.14548654e-01 -3.35448598e-02 1.74314436e+02] [-1.14520558e-01 9.93417033e-01 2.76403826e-03 9.90035117e+01] [ 3.36406520e-02 1.09729759e-03 9.99433391e-01 2.03875008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.266875 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:174.33, Y:99.01, Z:20.38 [[ 9.94177542e-01 1.02450459e-01 -3.33903822e-02 1.74331099e+02] [-1.02372494e-01 9.94737928e-01 4.04077439e-03 9.90135793e+01] [ 3.36286587e-02 -5.98990455e-04 9.99434217e-01 2.03774760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.296875 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:174.38, Y:98.99, Z:20.39 [[ 9.92942895e-01 1.13747780e-01 -3.35536765e-02 1.74375107e+02] [-1.13721935e-01 9.93508992e-01 2.68391794e-03 9.89942591e+01] [ 3.36411691e-02 1.15081178e-03 9.99433313e-01 2.03896836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.32687500000003 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:174.41, Y:98.99, Z:20.39 [[ 9.92987222e-01 1.13410293e-01 -3.33838780e-02 1.74406913e+02] [-1.13337357e-01 9.93548205e-01 4.07518019e-03 9.89895411e+01] [ 3.36306595e-02 -2.62961349e-04 9.99434295e-01 2.03916545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.356875 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:174.44, Y:98.99, Z:20.39 [[ 9.93006606e-01 1.13240749e-01 -3.33828402e-02 1.74439434e+02] [-1.13167432e-01 9.93567540e-01 4.08366419e-03 9.89852752e+01] [ 3.36305436e-02 -2.77255209e-04 9.99434295e-01 2.03933092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.38687500000003 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:174.47, Y:98.98, Z:20.40 [[ 9.92892215e-01 1.14239710e-01 -3.33817132e-02 1.74470952e+02] [-1.14166649e-01 9.93453182e-01 4.09285594e-03 9.89815259e+01] [ 3.36307359e-02 -2.52686451e-04 9.99434295e-01 2.03953276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.416875 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:174.50, Y:98.98, Z:20.40 [[ 9.92730429e-01 1.15637481e-01 -3.33806613e-02 1.74503085e+02] [-1.15564922e-01 9.93291461e-01 4.10141691e-03 9.89778480e+01] [ 3.36310034e-02 -2.13967855e-04 9.99434295e-01 2.03965902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.44687500000003 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:174.54, Y:98.97, Z:20.40 [[ 9.92472275e-01 1.17832867e-01 -3.33796265e-02 1.74536070e+02] [-1.17761266e-01 9.93033430e-01 4.10982208e-03 9.89738674e+01] [ 3.36313571e-02 -1.48057384e-04 9.99434295e-01 2.03978681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.476875 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:174.57, Y:98.97, Z:20.40 [[ 9.92188601e-01 1.20198225e-01 -3.33791333e-02 1.74568699e+02] [-1.20127827e-01 9.92749909e-01 4.11382379e-03 9.89706524e+01] [ 3.36316058e-02 -7.19263147e-05 9.99434295e-01 2.03990878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.50687500000004 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:174.60, Y:98.97, Z:20.40 [[ 9.91843181e-01 1.23016323e-01 -3.33779751e-02 1.74600811e+02] [-1.22947205e-01 9.92404647e-01 4.12319931e-03 9.89675749e+01] [ 3.36316784e-02 1.41616257e-05 9.99434295e-01 2.03992868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.536875 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:174.63, Y:98.96, Z:20.40 [[ 9.91488884e-01 1.25840277e-01 -3.33768962e-02 1.74632406e+02] [-1.25772464e-01 9.92050510e-01 4.13191463e-03 9.89644837e+01] [ 3.36315282e-02 1.01147056e-04 9.99434295e-01 2.03990419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56687500000004 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:174.67, Y:98.96, Z:20.40 [[ 9.90894017e-01 1.30441959e-01 -3.33757864e-02 1.74665615e+02] [-1.30376453e-01 9.91455916e-01 4.14086005e-03 9.89615187e+01] [ 3.36307627e-02 2.48263189e-04 9.99434295e-01 2.03987959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.596875 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:174.70, Y:98.96, Z:20.40 [[ 9.90580187e-01 1.32804465e-01 -3.33746367e-02 1.74697704e+02] [-1.32739988e-01 9.91142206e-01 4.15010513e-03 9.89577085e+01] [ 3.36301636e-02 3.19136980e-04 9.99434295e-01 2.03989082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62687500000004 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:174.73, Y:98.95, Z:20.40 [[ 9.90337780e-01 1.34600473e-01 -3.33735634e-02 1.74730164e+02] [-1.34536725e-01 9.90899881e-01 4.15871854e-03 9.89541473e+01] [ 3.36296255e-02 3.71433850e-04 9.99434295e-01 2.04002980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.656875 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:174.75, Y:98.97, Z:20.39 [[ 9.91652829e-01 1.24542969e-01 -3.33723777e-02 1.74745878e+02] [-1.24473201e-01 9.92214215e-01 4.16821167e-03 9.89656371e+01] [ 3.36316690e-02 2.05477688e-05 9.99434295e-01 2.03905885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68687500000004 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:174.79, Y:98.95, Z:20.40 [[ 9.89781048e-01 1.38589948e-01 -3.35604404e-02 1.74791234e+02] [-1.38579388e-01 9.90347778e-01 2.65179950e-03 9.89475629e+01] [ 3.36040203e-02 2.02608439e-03 9.99433172e-01 2.04011960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.716875 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:174.81, Y:98.96, Z:20.39 [[ 9.90991792e-01 1.29699625e-01 -3.33657947e-02 1.74808777e+02] [-1.29631745e-01 9.91553317e-01 4.19885865e-03 9.89571188e+01] [ 3.36285548e-02 1.64231729e-04 9.99434387e-01 2.03945030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.746875 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:174.85, Y:98.94, Z:20.40 [[ 9.89527599e-01 1.40396364e-01 -3.35259811e-02 1.74851921e+02] [-1.40377806e-01 9.90093710e-01 2.91843405e-03 9.89404877e+01] [ 3.36036005e-02 1.81843264e-03 9.99433585e-01 2.04029468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.776875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:174.87, Y:98.95, Z:20.40 [[ 9.90882227e-01 1.30535380e-01 -3.33605509e-02 1.74869787e+02] [-1.30467096e-01 9.91443638e-01 4.22492399e-03 9.89497184e+01] [ 3.36266080e-02 1.66052103e-04 9.99434452e-01 2.03957451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.806875 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:174.91, Y:98.93, Z:20.40 [[ 9.89645021e-01 1.39567410e-01 -3.35211893e-02 1.74912357e+02] [-1.39547375e-01 9.90211008e-01 2.94799378e-03 9.89335933e+01] [ 3.36044945e-02 1.76032661e-03 9.99433659e-01 2.04030519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.836875 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:174.93, Y:98.94, Z:20.40 [[ 9.90956028e-01 1.29975256e-01 -3.33553972e-02 1.74930768e+02] [-1.29905825e-01 9.91517230e-01 4.24955088e-03 9.89426549e+01] [ 3.36247875e-02 1.21942343e-04 9.99434520e-01 2.03952000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.866875 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:174.97, Y:98.93, Z:20.40 [[ 9.89960883e-01 1.37313771e-01 -3.35019212e-02 1.74973110e+02] [-1.37287588e-01 9.90526406e-01 3.09158513e-03 9.89260532e+01] [ 3.36090549e-02 1.53884963e-03 9.99433871e-01 2.04037559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.896875 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:175.01, Y:98.92, Z:20.41 [[ 9.90213059e-01 1.35520360e-01 -3.33516000e-02 1.75005493e+02] [-1.35453491e-01 9.90774519e-01 4.26677047e-03 9.89215927e+01] [ 3.36221497e-02 2.92578814e-04 9.99434573e-01 2.04058346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.926875 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:175.04, Y:98.92, Z:20.41 [[ 9.90465106e-01 1.33666077e-01 -3.33504579e-02 1.75036819e+02] [-1.33597857e-01 9.91026403e-01 4.27567909e-03 9.89170831e+01] [ 3.36226976e-02 2.20638750e-04 9.99434573e-01 2.04064254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.956875 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:175.07, Y:98.91, Z:20.41 [[ 9.90864728e-01 1.30670996e-01 -3.33494035e-02 1.75069337e+02] [-1.30600803e-01 9.91425781e-01 4.28388727e-03 9.89127539e+01] [ 3.36232383e-02 1.10706083e-04 9.99434573e-01 2.04076465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.986875 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:175.10, Y:98.91, Z:20.41 [[ 9.91700422e-01 1.24169907e-01 -3.33482767e-02 1.75100882e+02] [-1.24095742e-01 9.92260964e-01 4.29264112e-03 9.89077117e+01] [ 3.36232101e-02 -1.18634860e-04 9.99434573e-01 2.04087163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.016875 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:175.13, Y:98.90, Z:20.41 [[ 9.92096776e-01 1.20962594e-01 -3.33472274e-02 1.75133261e+02] [-1.20886343e-01 9.92657038e-01 4.30077741e-03 9.89032634e+01] [ 3.36225932e-02 -2.35563042e-04 9.99434573e-01 2.04103103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.046875 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:175.17, Y:98.90, Z:20.41 [[ 9.92472227e-01 1.17842759e-01 -3.33461184e-02 1.75165496e+02] [-1.17764458e-01 9.93032206e-01 4.30935870e-03 9.88992653e+01] [ 3.36215963e-02 -3.49931245e-04 9.99434573e-01 2.04116893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.07687500000003 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:175.20, Y:98.89, Z:20.42 [[ 9.93112391e-01 1.12320478e-01 -3.33450129e-02 1.75198156e+02] [-1.12238778e-01 9.93671884e-01 4.31789585e-03 9.88949496e+01] [ 3.36189900e-02 -5.45552366e-04 9.99434573e-01 2.04154581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.106875 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:175.23, Y:98.89, Z:20.42 [[ 9.93315337e-01 1.10511678e-01 -3.33438318e-02 1.75229259e+02] [-1.10428653e-01 9.93874635e-01 4.32699782e-03 9.88905515e+01] [ 3.36177724e-02 -6.15958875e-04 9.99434573e-01 2.04163575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.13687500000003 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:175.26, Y:98.89, Z:20.42 [[ 9.93478656e-01 1.09034045e-01 -3.33427321e-02 1.75261676e+02] [-1.08949904e-01 9.94037787e-01 4.33545495e-03 9.88861786e+01] [ 3.36166479e-02 -6.74494476e-04 9.99434573e-01 2.04187488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.166875 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:175.29, Y:98.88, Z:20.42 [[ 9.93617247e-01 1.07764128e-01 -3.33415514e-02 1.75293571e+02] [-1.07678969e-01 9.94176224e-01 4.34451656e-03 9.88822546e+01] [ 3.36155607e-02 -7.26602701e-04 9.99434573e-01 2.04189592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.19687500000003 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:175.33, Y:98.88, Z:20.42 [[ 9.93670523e-01 1.07272114e-01 -3.33404459e-02 1.75325740e+02] [-1.07186394e-01 9.94229414e-01 4.35298404e-03 9.88785572e+01] [ 3.36150058e-02 -7.51789749e-04 9.99434573e-01 2.04209068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.226875 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:175.36, Y:98.88, Z:20.42 [[ 9.93643667e-01 1.07520968e-01 -3.33392330e-02 1.75357085e+02] [-1.07435078e-01 9.94202532e-01 4.36225382e-03 9.88758918e+01] [ 3.36149836e-02 -7.52722795e-04 9.99434573e-01 2.04218127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.25687500000004 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:175.39, Y:98.87, Z:20.42 [[ 9.93510176e-01 1.08747768e-01 -3.33384770e-02 1.75389814e+02] [-1.08662375e-01 9.94069117e-01 4.36802381e-03 9.88724940e+01] [ 3.36157632e-02 -7.17038030e-04 9.99434573e-01 2.04228173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.286875 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:175.42, Y:98.87, Z:20.42 [[ 9.93335882e-01 1.10328825e-01 -3.33373202e-02 1.75422313e+02] [-1.10244025e-01 9.93894913e-01 4.37683495e-03 9.88694510e+01] [ 3.36166840e-02 -6.72426849e-04 9.99434573e-01 2.04236984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31687500000004 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:175.45, Y:98.87, Z:20.42 [[ 9.93137431e-01 1.12101503e-01 -3.33361226e-02 1.75454457e+02] [-1.12017395e-01 9.93696567e-01 4.38593699e-03 9.88663630e+01] [ 3.36176607e-02 -6.21612563e-04 9.99434573e-01 2.04248289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.346875 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:175.49, Y:98.86, Z:20.43 [[ 9.92699040e-01 1.15919774e-01 -3.33350058e-02 1.75487048e+02] [-1.15837533e-01 9.93258453e-01 4.39440883e-03 9.88644328e+01] [ 3.36196752e-02 -5.00880593e-04 9.99434573e-01 2.04261031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37687500000004 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:175.52, Y:98.86, Z:20.43 [[ 9.92448370e-01 1.18046987e-01 -3.33338054e-02 1.75520220e+02] [-1.17965640e-01 9.93007914e-01 4.40349623e-03 9.88612956e+01] [ 3.36205520e-02 -4.37998977e-04 9.99434573e-01 2.04274764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.406875 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:175.55, Y:98.86, Z:20.43 [[ 9.92416272e-01 1.18316863e-01 -3.33326074e-02 1.75553281e+02] [-1.18235365e-01 9.92975794e-01 4.41254583e-03 9.88568327e+01] [ 3.36205509e-02 -4.37989296e-04 9.99434574e-01 2.04286034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43687500000004 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:175.59, Y:98.85, Z:20.43 [[ 9.92101840e-01 1.20925415e-01 -3.33314057e-02 1.75585645e+02] [-1.20845083e-01 9.92661531e-01 4.42160469e-03 9.88535330e+01] [ 3.36214886e-02 -3.58745658e-04 9.99434574e-01 2.04298793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.466875 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:175.62, Y:98.85, Z:20.43 [[ 9.91784825e-01 1.23498826e-01 -3.33301824e-02 1.75618643e+02] [-1.23419638e-01 9.92344679e-01 4.43080643e-03 9.88503133e+01] [ 3.36222286e-02 -2.80807544e-04 9.99434574e-01 2.04308573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.496875 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:175.65, Y:98.85, Z:20.43 [[ 9.91129307e-01 1.28654101e-01 -3.33289660e-02 1.75651784e+02] [-1.28577517e-01 9.91689522e-01 4.43993785e-03 9.88487849e+01] [ 3.36232026e-02 -1.15196821e-04 9.99434574e-01 2.04307012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.526875 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:175.68, Y:98.85, Z:20.43 [[ 9.90717555e-01 1.31787663e-01 -3.33277419e-02 1.75684327e+02] [-1.31712542e-01 9.91277969e-01 4.44910711e-03 9.88459608e+01] [ 3.36233938e-02 -1.81268921e-05 9.99434574e-01 2.04305603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.556875 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:175.72, Y:98.84, Z:20.43 [[ 9.90291405e-01 1.34952867e-01 -3.33265221e-02 1.75716721e+02] [-1.34879231e-01 9.90852016e-01 4.45822594e-03 9.88429881e+01] [ 3.36233019e-02 8.01128403e-05 9.99434574e-01 2.04308487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.586875 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:175.73, Y:98.85, Z:20.42 [[ 9.91214697e-01 1.27995504e-01 -3.33253010e-02 1.75732865e+02] [-1.27917626e-01 9.91774734e-01 4.46733472e-03 9.88536032e+01] [ 3.36229903e-02 -1.65194426e-04 9.99434574e-01 2.04223731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.616875 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:175.78, Y:98.84, Z:20.43 [[ 9.89549445e-01 1.40246944e-01 -3.35065683e-02 1.75777327e+02] [-1.40221950e-01 9.90115223e-01 3.10630361e-03 9.88371165e+01] [ 3.36110129e-02 1.62451533e-03 9.99433670e-01 2.04312404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.646875 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:175.81, Y:98.83, Z:20.43 [[ 9.89280208e-01 1.42177604e-01 -3.33196354e-02 1.75809689e+02] [-1.42106895e-01 9.89841121e-01 4.49286649e-03 9.88334092e+01] [ 3.36199302e-02 2.90246031e-04 9.99434648e-01 2.04332377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.676875 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:175.84, Y:98.83, Z:20.43 [[ 9.88826680e-01 1.45298592e-01 -3.33184107e-02 1.75842046e+02] [-1.45229347e-01 9.89387775e-01 4.50193043e-03 9.88308906e+01] [ 3.36189524e-02 3.87182118e-04 9.99434648e-01 2.04347463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.706875 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:175.87, Y:98.83, Z:20.44 [[ 9.88632294e-01 1.46615677e-01 -3.33171263e-02 1.75873391e+02] [-1.46546861e-01 9.89193442e-01 4.51141600e-03 9.88270866e+01] [ 3.36185271e-02 4.22388713e-04 9.99434648e-01 2.04354614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.736875 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:175.89, Y:98.83, Z:20.43 [[ 9.89678835e-01 1.39376564e-01 -3.33163243e-02 1.75891521e+02] [-1.39303443e-01 9.90239438e-01 4.51733066e-03 9.88349172e+01] [ 3.36207483e-02 1.70372149e-04 9.99434648e-01 2.04288798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.766875 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:175.93, Y:98.82, Z:20.44 [[ 9.88255656e-01 1.49097532e-01 -3.34766302e-02 1.75934437e+02] [-1.49070099e-01 9.88821031e-01 3.32791241e-03 9.88192860e+01] [ 3.35985795e-02 1.70153630e-03 9.99433960e-01 2.04378308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.796875 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:175.95, Y:98.83, Z:20.43 [[ 9.89573949e-01 1.40120399e-01 -3.33117556e-02 1.75947431e+02] [-1.40046993e-01 9.90134457e-01 4.53830057e-03 9.88325620e+01] [ 3.36190256e-02 1.74227191e-04 9.99434706e-01 2.04302624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.82687500000003 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:175.98, Y:98.83, Z:20.43 [[ 9.89058934e-01 1.43662593e-01 -3.35184133e-02 1.75978184e+02] [-1.43641745e-01 9.89625079e-01 3.04172723e-03 9.88280143e+01] [ 3.36076448e-02 1.80619589e-03 9.99433471e-01 2.04308915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.856875 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:176.01, Y:98.82, Z:20.43 [[ 9.88320939e-01 1.48652259e-01 -3.35295094e-02 1.76013388e+02] [-1.48636983e-01 9.88887393e-01 2.96162953e-03 9.88197791e+01] [ 3.35971621e-02 2.05668465e-03 9.99433340e-01 2.04326210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.88687500000003 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:176.05, Y:98.81, Z:20.43 [[ 9.88004348e-01 1.50753547e-01 -3.34779907e-02 1.76045397e+02] [-1.50726962e-01 9.88569819e-01 3.33095572e-03 9.88146726e+01] [ 3.35974846e-02 1.75503708e-03 9.99433904e-01 2.04336217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.916875 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:176.09, Y:98.80, Z:20.44 [[ 9.86416299e-01 1.60818947e-01 -3.34686582e-02 1.76087022e+02] [-1.60795859e-01 9.86981837e-01 3.39791026e-03 9.87976707e+01] [ 3.35794061e-02 2.02986758e-03 9.99433991e-01 2.04426570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.94687500000003 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:176.12, Y:98.79, Z:20.44 [[ 9.86022753e-01 1.63251701e-01 -3.32868122e-02 1.76118301e+02] [-1.63186349e-01 9.86584121e-01 4.68901941e-03 9.87922541e+01] [ 3.36057308e-02 8.08473530e-04 9.99434841e-01 2.04426952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.976875 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:176.15, Y:98.79, Z:20.44 [[ 9.85781750e-01 1.64700977e-01 -3.32855667e-02 1.76151059e+02] [-1.64636153e-01 9.86343179e-01 4.69784400e-03 9.87867638e+01] [ 3.36047312e-02 8.48958763e-04 9.99434841e-01 2.04439531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.00687500000004 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:176.18, Y:98.78, Z:20.44 [[ 9.85627551e-01 1.65621523e-01 -3.32842689e-02 1.76183600e+02] [-1.65556914e-01 9.86189004e-01 4.70702097e-03 9.87811641e+01] [ 3.36041640e-02 8.71071289e-04 9.99434841e-01 2.04449402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.036875 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:176.20, Y:98.79, Z:20.44 [[ 9.86520938e-01 1.60214406e-01 -3.32833758e-02 1.76203284e+02] [-1.60146506e-01 9.87082003e-01 4.71332791e-03 9.87864586e+01] [ 3.36085643e-02 6.80419673e-04 9.99434841e-01 2.04379864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06687500000004 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:176.24, Y:98.77, Z:20.45 [[ 9.85096360e-01 1.68722438e-01 -3.34350260e-02 1.76244239e+02] [-1.68695616e-01 9.85661466e-01 3.64193536e-03 9.87696415e+01] [ 3.35700929e-02 2.05268503e-03 9.99434258e-01 2.04462389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.096875 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:176.28, Y:98.76, Z:20.45 [[ 9.84944471e-01 1.69638169e-01 -3.32758325e-02 1.76277030e+02] [-1.69574196e-01 9.85505948e-01 4.75591801e-03 9.87637541e+01] [ 3.36003161e-02 9.58407404e-04 9.99434890e-01 2.04482051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12687500000004 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:176.31, Y:98.76, Z:20.45 [[ 9.84806729e-01 1.70436245e-01 -3.32745170e-02 1.76309192e+02] [-1.70372418e-01 9.85368222e-01 4.76510438e-03 9.87584122e+01] [ 3.35997982e-02 9.76353054e-04 9.99434890e-01 2.04494819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.156875 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:176.34, Y:98.75, Z:20.45 [[ 9.84514488e-01 1.72116585e-01 -3.32731746e-02 1.76341205e+02] [-1.72053400e-01 9.85076054e-01 4.77445965e-03 9.87518320e+01] [ 3.35983712e-02 1.02423811e-03 9.99434891e-01 2.04501504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18687500000004 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:176.36, Y:98.76, Z:20.44 [[ 9.85806401e-01 1.64556143e-01 -3.32718451e-02 1.76359551e+02] [-1.64488339e-01 9.86367428e-01 4.78370619e-03 9.87587736e+01] [ 3.36054526e-02 7.57022350e-04 9.99434891e-01 2.04426351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.216875 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:176.40, Y:98.74, Z:20.45 [[ 9.84278330e-01 1.73430981e-01 -3.34344765e-02 1.76402996e+02] [-1.73406566e-01 9.84843559e-01 3.65069398e-03 9.87405913e+01] [ 3.35608723e-02 2.20445879e-03 9.99434244e-01 2.04515463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.246875 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:176.42, Y:98.75, Z:20.44 [[ 9.85984464e-01 1.63487306e-01 -3.32646518e-02 1.76418832e+02] [-1.63417589e-01 9.86545203e-01 4.82231912e-03 9.87508999e+01] [ 3.36054706e-02 6.81297474e-04 9.99434944e-01 2.04437198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.276875 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:176.44, Y:98.75, Z:20.44 [[ 9.85843707e-01 1.64298020e-01 -3.34416876e-02 1.76444422e+02] [-1.64269355e-01 9.86408872e-01 3.62166997e-03 9.87461793e+01] [ 3.35822105e-02 1.92304390e-03 9.99434108e-01 2.04443665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.306875 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:176.49, Y:98.72, Z:20.45 [[ 9.83767664e-01 1.76291278e-01 -3.35047510e-02 1.76489427e+02] [-1.76283987e-01 9.84334165e-01 3.19484602e-03 9.87235699e+01] [ 3.35430946e-02 2.76336487e-03 9.99433452e-01 2.04542766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.336875 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:176.52, Y:98.72, Z:20.46 [[ 9.83923593e-01 1.75469717e-01 -3.32376466e-02 1.76521452e+02] [-1.75401551e-01 9.84484388e-01 4.97847583e-03 9.87170344e+01] [ 3.35955160e-02 9.31494939e-04 9.99435077e-01 2.04566014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.366875 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:176.55, Y:98.71, Z:20.46 [[ 9.84398569e-01 1.72785447e-01 -3.32362122e-02 1.76552666e+02] [-1.72715429e-01 9.84959136e-01 4.98803403e-03 9.87096138e+01] [ 3.35981705e-02 8.30193089e-04 9.99435077e-01 2.04565191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.396875 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:176.58, Y:98.70, Z:20.46 [[ 9.84618645e-01 1.71527159e-01 -3.32348844e-02 1.76584644e+02] [-1.71456127e-01 9.85179084e-01 4.99686485e-03 9.87033917e+01] [ 3.35994111e-02 7.78318254e-04 9.99435077e-01 2.04577858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.426875 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:176.62, Y:98.70, Z:20.46 [[ 9.84917593e-01 1.69802446e-01 -3.32334950e-02 1.76615654e+02] [-1.69730121e-01 9.85477866e-01 5.00608850e-03 9.86975009e+01] [ 3.36009199e-02 7.10140511e-04 9.99435077e-01 2.04582075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.456875 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:176.65, Y:98.69, Z:20.46 [[ 9.85224369e-01 1.68013584e-01 -3.32321940e-02 1.76648423e+02] [-1.67939951e-01 9.85784472e-01 5.01471073e-03 9.86913126e+01] [ 3.36023203e-02 6.40397807e-04 9.99435077e-01 2.04589474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.486875 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:176.67, Y:98.69, Z:20.45 [[ 9.87200942e-01 1.55980819e-01 -3.32307674e-02 1.76667548e+02] [-1.55900040e-01 9.87760060e-01 5.02414608e-03 9.86944541e+01] [ 3.36076952e-02 2.20836240e-04 9.99435077e-01 2.04506251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.516875 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:176.70, Y:98.69, Z:20.45 [[ 9.87502664e-01 1.54023432e-01 -3.33956858e-02 1.76698243e+02] [-1.53978434e-01 9.88066391e-01 3.93053330e-03 9.86880454e+01] [ 3.36025490e-02 1.26080331e-03 9.99434480e-01 2.04506802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.546875 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:176.73, Y:98.68, Z:20.45 [[ 9.88016197e-01 1.50695090e-01 -3.33913672e-02 1.76728022e+02] [-1.50647233e-01 9.88579657e-01 3.95893223e-03 9.86832850e+01] [ 3.36066179e-02 1.11882791e-03 9.99434512e-01 2.04514892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.57687500000003 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:176.76, Y:98.67, Z:20.45 [[ 9.88469406e-01 1.47687992e-01 -3.34139217e-02 1.76759818e+02] [-1.47643394e-01 9.89033315e-01 3.81177611e-03 9.86735814e+01] [ 3.36104353e-02 1.16552074e-03 9.99434330e-01 2.04529184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.606875 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:176.80, Y:98.65, Z:20.46 [[ 9.87382699e-01 1.54789490e-01 -3.34008815e-02 1.76801780e+02] [-1.54746077e-01 9.87946592e-01 3.89661506e-03 9.86544873e+01] [ 3.36014421e-02 1.32120507e-03 9.99434439e-01 2.04638645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.63687500000003 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:176.83, Y:98.65, Z:20.47 [[ 9.87667489e-01 1.53004267e-01 -3.32058198e-02 1.76833498e+02] [-1.52917449e-01 9.88225528e-01 5.15361561e-03 9.86480674e+01] [ 3.36033639e-02 -1.23093440e-05 9.99435247e-01 2.04664264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.666875 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:176.87, Y:98.64, Z:20.47 [[ 9.87969648e-01 1.51041174e-01 -3.32044898e-02 1.76865635e+02] [-1.50952959e-01 9.88527469e-01 5.16217021e-03 9.86420362e+01] [ 3.36032505e-02 -8.77514860e-05 9.99435247e-01 2.04678209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.69687500000003 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:176.89, Y:98.65, Z:20.46 [[ 9.89661765e-01 1.39524725e-01 -3.32030485e-02 1.76885670e+02] [-1.39429710e-01 9.90218467e-01 5.17142443e-03 9.86458221e+01] [ 3.35998133e-02 -4.88469613e-04 9.99435248e-01 2.04609865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.726875 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:176.91, Y:98.64, Z:20.46 [[ 9.90154852e-01 1.35943792e-01 -3.33564839e-02 1.76912966e+02] [-1.35879910e-01 9.90716475e-01 4.18516526e-03 9.86427830e+01] [ 3.36157654e-02 3.88514336e-04 9.99434755e-01 2.04607423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.75687500000004 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:176.96, Y:98.62, Z:20.47 [[ 9.88910055e-01 1.44707330e-01 -3.34169390e-02 1.76957011e+02] [-1.44661506e-01 9.89473914e-01 3.79780778e-03 9.86219628e+01] [ 3.36147600e-02 1.07845440e-03 9.99434282e-01 2.04706910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.786875 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:176.99, Y:98.62, Z:20.47 [[ 9.89287949e-01 1.42154011e-01 -3.31902324e-02 1.76988930e+02] [-1.42058333e-01 9.89844443e-01 5.23529069e-03 9.86155064e+01] [ 3.35973846e-02 -4.64260903e-04 9.99435341e-01 2.04722168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81687500000004 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:177.01, Y:98.62, Z:20.46 [[ 9.90634152e-01 1.32448029e-01 -3.31888034e-02 1.77005255e+02] [-1.32346597e-01 9.91189626e-01 5.24433424e-03 9.86241132e+01] [ 3.35909993e-02 -8.02791426e-04 9.99435341e-01 2.04628477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.846875 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:177.05, Y:98.61, Z:20.47 [[ 9.89147987e-01 1.43078697e-01 -3.33878214e-02 1.77049657e+02] [-1.43025764e-01 9.89710960e-01 3.98074557e-03 9.86051917e+01] [ 3.36138527e-02 8.37772188e-04 9.99434544e-01 2.04724842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87687500000004 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:177.08, Y:98.60, Z:20.47 [[ 9.88968100e-01 1.44364386e-01 -3.31816556e-02 1.77082223e+02] [-1.44268546e-01 9.89524501e-01 5.27723783e-03 9.85998039e+01] [ 3.35959063e-02 -4.31950682e-04 9.99435405e-01 2.04735981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.906875 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:177.11, Y:98.60, Z:20.47 [[ 9.88708438e-01 1.46132463e-01 -3.31802263e-02 1.77114454e+02] [-1.46037317e-01 9.89264958e-01 5.28620905e-03 9.85952648e+01] [ 3.35965219e-02 -3.80968272e-04 9.99435405e-01 2.04743304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93687500000004 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:177.14, Y:98.59, Z:20.47 [[ 9.88193569e-01 1.49574859e-01 -3.31787706e-02 1.77144994e+02] [-1.49481346e-01 9.88750366e-01 5.29532972e-03 9.85916899e+01] [ 3.35975698e-02 -2.73203503e-04 9.99435405e-01 2.04738642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.966875 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:177.18, Y:98.59, Z:20.47 [[ 9.87903163e-01 1.51481210e-01 -3.31780492e-02 1.77176256e+02] [-1.51388619e-01 9.88460114e-01 5.29984604e-03 9.85871396e+01] [ 3.35980054e-02 -2.12955623e-04 9.99435405e-01 2.04738560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.996875 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:177.21, Y:98.58, Z:20.48 [[ 9.87624335e-01 1.53288891e-01 -3.31766220e-02 1.77208326e+02] [-1.53197020e-01 9.88181406e-01 5.30876507e-03 9.85827597e+01] [ 3.35982957e-02 -1.60505962e-04 9.99435405e-01 2.04752468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.026875 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:177.24, Y:98.58, Z:20.48 [[ 9.87220510e-01 1.55868767e-01 -3.31751669e-02 1.77241084e+02] [-1.55778046e-01 9.87777769e-01 5.31784248e-03 9.85794879e+01] [ 3.35985779e-02 -8.19204776e-05 9.99435405e-01 2.04763090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.056875 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:177.26, Y:98.58, Z:20.47 [[ 9.88158754e-01 1.49805816e-01 -3.31737135e-02 1.77262126e+02] [-1.49711373e-01 9.88715393e-01 5.32689369e-03 9.85842463e+01] [ 3.35973609e-02 -2.97334421e-04 9.99435405e-01 2.04699448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.086875 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:177.30, Y:98.57, Z:20.48 [[ 9.86876235e-01 1.57999023e-01 -3.33407538e-02 1.77302544e+02] [-1.57944424e-01 9.87438720e-01 4.28167599e-03 9.85701913e+01] [ 3.35984518e-02 1.04050188e-03 9.99434871e-01 2.04780191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.116875 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:177.33, Y:98.56, Z:20.48 [[ 9.86774083e-01 1.58671652e-01 -3.31694991e-02 1.77334831e+02] [-1.58581614e-01 9.87331407e-01 5.34462828e-03 9.85649816e+01] [ 3.35973292e-02 -1.38679691e-05 9.99435450e-01 2.04797174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.146875 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:177.37, Y:98.56, Z:20.48 [[ 9.86693256e-01 1.59173633e-01 -3.31688587e-02 1.77367368e+02] [-1.59083745e-01 9.87250604e-01 5.34859958e-03 9.85603675e+01] [ 3.35973318e-02 -8.00882347e-07 9.99435450e-01 2.04822121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.176875 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:177.40, Y:98.56, Z:20.48 [[ 9.86625536e-01 1.59593160e-01 -3.31673726e-02 1.77398833e+02] [-1.59503199e-01 9.87182872e-01 5.35779939e-03 9.85568084e+01] [ 3.35973303e-02 4.16034745e-06 9.99435450e-01 2.04843484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.206875 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:177.42, Y:98.56, Z:20.48 [[ 9.87669693e-01 1.52998527e-01 -3.31666769e-02 1.77420935e+02] [-1.52904701e-01 9.88226391e-01 5.36210231e-03 9.85622919e+01] [ 3.35965792e-02 -2.24645121e-04 9.99435450e-01 2.04779747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.236875 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:177.46, Y:98.55, Z:20.49 [[ 9.86638186e-01 1.59485954e-01 -3.33064546e-02 1.77460083e+02] [-1.59425010e-01 9.87199810e-01 4.49463393e-03 9.85486647e+01] [ 3.35969566e-02 8.75304391e-04 9.99435080e-01 2.04865804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.266875 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:177.49, Y:98.54, Z:20.49 [[ 9.86830551e-01 1.58321475e-01 -3.31628386e-02 1.77491504e+02] [-1.58230051e-01 9.87387617e-01 5.37998374e-03 9.85444966e+01] [ 3.35963431e-02 -6.17746928e-05 9.99435482e-01 2.04878436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.296875 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:177.52, Y:98.54, Z:20.49 [[ 9.86787813e-01 1.58587949e-01 -3.31613345e-02 1.77524413e+02] [-1.58496364e-01 9.87344853e-01 5.38923864e-03 9.85390401e+01] [ 3.35963413e-02 -6.20840613e-05 9.99435482e-01 2.04889699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.32687500000003 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:177.55, Y:98.54, Z:20.48 [[ 9.87982536e-01 1.50966659e-01 -3.31598777e-02 1.77546383e+02] [-1.50870477e-01 9.88538800e-01 5.39818761e-03 9.85448234e+01] [ 3.35947720e-02 -3.30468512e-04 9.99435482e-01 2.04810268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.356875 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:177.57, Y:98.55, Z:20.48 [[ 9.88395511e-01 1.48209734e-01 -3.32894773e-02 1.77571446e+02] [-1.48138554e-01 9.88955880e-01 4.60824385e-03 9.85452202e+01] [ 3.36048109e-02 3.76687501e-04 9.99435128e-01 2.04795643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.38687500000003 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:177.62, Y:98.53, Z:20.49 [[ 9.86912795e-01 1.57761617e-01 -3.33827507e-02 1.77615996e+02] [-1.57715069e-01 9.87476399e-01 4.03964186e-03 9.85271341e+01] [ 3.36019788e-02 1.27818859e-03 9.99434477e-01 2.04890064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.416875 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:177.65, Y:98.52, Z:20.49 [[ 9.86964708e-01 1.57487440e-01 -3.31416722e-02 1.77648216e+02] [-1.57391713e-01 9.87520969e-01 5.49410439e-03 9.85224670e+01] [ 3.35933487e-02 -2.06262576e-04 9.99435563e-01 2.04907736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.44687500000003 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:177.66, Y:98.53, Z:20.48 [[ 9.88651606e-01 1.46525535e-01 -3.31401474e-02 1.77663323e+02] [-1.46423332e-01 9.89206713e-01 5.50328672e-03 9.85318893e+01] [ 3.35888283e-02 -5.88342434e-04 9.99435563e-01 2.04814082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.476875 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:177.71, Y:98.51, Z:20.49 [[ 9.87009809e-01 1.57153429e-01 -3.33831934e-02 1.77707457e+02] [-1.57106807e-01 9.87573389e-01 4.03151148e-03 9.85136927e+01] [ 3.36019192e-02 1.26558553e-03 9.99434495e-01 2.04920475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.50687500000004 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:177.74, Y:98.51, Z:20.49 [[ 9.87056899e-01 1.56910434e-01 -3.31329654e-02 1.77740193e+02] [-1.56813150e-01 9.87612802e-01 5.53077612e-03 9.85091000e+01] [ 3.35903773e-02 -2.63506042e-04 9.99435649e-01 2.04949298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.536875 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:177.77, Y:98.50, Z:20.50 [[ 9.87100526e-01 1.56636078e-01 -3.31314140e-02 1.77773002e+02] [-1.56538329e-01 9.87656347e-01 5.54005418e-03 9.85046403e+01] [ 3.35902237e-02 -2.82254219e-04 9.99435649e-01 2.04964051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56687500000004 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:177.80, Y:98.50, Z:20.50 [[ 9.87100000e-01 1.56639730e-01 -3.31298297e-02 1.77804663e+02] [-1.56541666e-01 9.87655765e-01 5.54951212e-03 9.85002165e+01] [ 3.35901414e-02 -2.91724675e-04 9.99435649e-01 2.04972646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.596875 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:177.84, Y:98.50, Z:20.50 [[ 9.87152410e-01 1.56309413e-01 -3.31283508e-02 1.77837192e+02] [-1.56210867e-01 9.87708090e-01 5.55832655e-03 9.84974699e+01] [ 3.35899589e-02 -3.11907050e-04 9.99435649e-01 2.04993304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62687500000004 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:177.85, Y:98.51, Z:20.49 [[ 9.88497245e-01 1.47566299e-01 -3.31267907e-02 1.77854617e+02] [-1.47462527e-01 9.89051973e-01 5.56760890e-03 9.85059612e+01] [ 3.35857092e-02 -6.18605785e-04 9.99435650e-01 2.04909646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.656875 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:177.88, Y:98.50, Z:20.49 [[ 9.88282407e-01 1.48952810e-01 -3.33308446e-02 1.77883845e+02] [-1.48890210e-01 9.88844093e-01 4.36627321e-03 9.85035283e+01] [ 3.36093775e-02 6.47525465e-04 9.99434836e-01 2.04917929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68687500000004 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:177.93, Y:98.49, Z:20.50 [[ 9.86457413e-01 1.60587181e-01 -3.33695903e-02 1.77928631e+02] [-1.60538938e-01 9.87020836e-01 4.13755087e-03 9.84883368e+01] [ 3.36009186e-02 1.27560087e-03 9.99434516e-01 2.05015323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.716875 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:177.96, Y:98.48, Z:20.50 [[ 9.86323925e-01 1.61458978e-01 -3.31075981e-02 1.77960640e+02] [-1.61359648e-01 9.86879393e-01 5.66809820e-03 9.84840190e+01] [ 3.35883717e-02 -2.48350488e-04 9.99435721e-01 2.05032463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.746875 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:177.98, Y:98.49, Z:20.50 [[ 9.87645746e-01 1.53166137e-01 -3.31061178e-02 1.77976651e+02] [-1.53061853e-01 9.88200306e-01 5.67673133e-03 9.84942185e+01] [ 3.35849587e-02 -5.39315796e-04 9.99435721e-01 2.04957701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.776875 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:178.02, Y:98.48, Z:20.50 [[ 9.85926358e-01 1.63824519e-01 -3.33278295e-02 1.78020856e+02] [-1.63769825e-01 9.86488842e-01 4.38291535e-03 9.84791717e+01] [ 3.35955609e-02 1.13686105e-03 9.99434863e-01 2.05037457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.806875 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:178.05, Y:98.47, Z:20.51 [[ 9.85895963e-01 1.64054338e-01 -3.30956890e-02 1.78052499e+02] [-1.63954558e-01 9.86451279e-01 5.72506515e-03 9.84747688e+01] [ 3.35865066e-02 -2.18129569e-04 9.99435790e-01 2.05051559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.836875 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:178.08, Y:98.47, Z:20.51 [[ 9.85930109e-01 1.63849203e-01 -3.30947050e-02 1.78084903e+02] [-1.63749116e-01 9.86485370e-01 5.73074788e-03 9.84708126e+01] [ 3.35864208e-02 -2.30888178e-04 9.99435790e-01 2.05060401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.866875 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:178.12, Y:98.47, Z:20.51 [[ 9.86091908e-01 1.62872933e-01 -3.30931516e-02 1.78116722e+02] [-1.62771996e-01 9.86647015e-01 5.73970402e-03 9.84682504e+01] [ 3.35861017e-02 -2.73237341e-04 9.99435790e-01 2.05072287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.896875 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:178.15, Y:98.46, Z:20.51 [[ 9.86002968e-01 1.63410691e-01 -3.30921854e-02 1.78149133e+02] [-1.63309870e-01 9.86558097e-01 5.74526957e-03 9.84639151e+01] [ 3.35862019e-02 -2.60572362e-04 9.99435790e-01 2.05086207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.926875 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:178.18, Y:98.46, Z:20.51 [[ 9.85973477e-01 1.63588858e-01 -3.30906146e-02 1.78182093e+02] [-1.63487834e-01 9.86528568e-01 5.75430241e-03 9.84597525e+01] [ 3.35861764e-02 -2.63676652e-04 9.99435790e-01 2.05095917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.956875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:178.21, Y:98.46, Z:20.51 [[ 9.85829437e-01 1.64454967e-01 -3.30890414e-02 1.78213934e+02] [-1.64354128e-01 9.86384562e-01 5.76333483e-03 9.84574171e+01] [ 3.35863286e-02 -2.43344574e-04 9.99435791e-01 2.05096573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.986875 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:178.23, Y:98.46, Z:20.50 [[ 9.86939911e-01 1.57654128e-01 -3.30875755e-02 1.78233114e+02] [-1.57549183e-01 9.87494274e-01 5.77173807e-03 9.84648799e+01] [ 3.35837297e-02 -4.83438178e-04 9.99435791e-01 2.05036542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.016875 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:178.27, Y:98.45, Z:20.51 [[ 9.85522681e-01 1.66244671e-01 -3.32829512e-02 1.78274596e+02] [-1.66182409e-01 9.86084076e-01 4.64772664e-03 9.84497618e+01] [ 3.35924480e-02 9.50600991e-04 9.99435162e-01 2.05100176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.046875 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:178.31, Y:98.44, Z:20.51 [[ 9.85351901e-01 1.67293802e-01 -3.30819359e-02 1.78307068e+02] [-1.67193488e-01 9.85907071e-01 5.79533037e-03 9.84448132e+01] [ 3.35852373e-02 -1.79355541e-04 9.99435841e-01 2.05120822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.07687500000003 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:178.34, Y:98.44, Z:20.51 [[ 9.84921785e-01 1.69808024e-01 -3.30804073e-02 1.78339421e+02] [-1.69708834e-01 9.85477156e-01 5.80404264e-03 9.84411354e+01] [ 3.35855587e-02 -1.02490673e-04 9.99435841e-01 2.05145832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.106875 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:178.37, Y:98.44, Z:20.52 [[ 9.84655677e-01 1.71344647e-01 -3.30788352e-02 1.78371738e+02] [-1.71246024e-01 9.85211149e-01 5.81298856e-03 9.84366829e+01] [ 3.35856617e-02 -5.91731712e-05 9.99435841e-01 2.05163096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.13687500000003 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:178.40, Y:98.43, Z:20.52 [[ 9.84411324e-01 1.72743282e-01 -3.30772309e-02 1.78403832e+02] [-1.72645142e-01 9.84966882e-01 5.82210304e-03 9.84325025e+01] [ 3.35857062e-02 -2.07209434e-05 9.99435841e-01 2.05172148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.166875 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:178.44, Y:98.43, Z:20.52 [[ 9.84051985e-01 1.74778872e-01 -3.30762289e-02 1.78435869e+02] [-1.74681690e-01 9.84607711e-01 5.82779005e-03 9.84282504e+01] [ 3.35856846e-02 4.29631988e-05 9.99435841e-01 2.05178891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.19687500000003 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:178.47, Y:98.43, Z:20.52 [[ 9.83276794e-01 1.79088825e-01 -3.30747675e-02 1.78468859e+02] [-1.78993800e-01 9.83832892e-01 5.83607226e-03 9.84252574e+01] [ 3.35852195e-02 1.81703899e-04 9.99435841e-01 2.05185400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.226875 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:178.48, Y:98.43, Z:20.51 [[ 9.84749682e-01 1.70804657e-01 -3.30731332e-02 1.78484955e+02] [-1.70704644e-01 9.85304906e-01 5.84531937e-03 9.84349543e+01] [ 3.35855281e-02 -1.10438979e-04 9.99435841e-01 2.05120659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.25687500000004 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:178.53, Y:98.42, Z:20.52 [[ 9.81776360e-01 1.87093410e-01 -3.33351791e-02 1.78529574e+02] [-1.87053022e-01 9.82340171e-01 4.35386591e-03 9.84165412e+01] [ 3.35610652e-02 1.96092338e-03 9.99434745e-01 2.05186812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.286875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:178.56, Y:98.41, Z:20.52 [[ 9.81293608e-01 1.89656265e-01 -3.30659260e-02 1.78561974e+02] [-1.89566062e-01 9.81850418e-01 5.87064107e-03 9.84108304e+01] [ 3.35791971e-02 5.07354817e-04 9.99435931e-01 2.05201583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31687500000004 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:178.59, Y:98.41, Z:20.52 [[ 9.80848975e-01 1.91942816e-01 -3.30642330e-02 1.78593424e+02] [-1.91853590e-01 9.81405942e-01 5.88016048e-03 9.84057552e+01] [ 3.35780894e-02 5.75942431e-04 9.99435931e-01 2.05197275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.346875 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:178.62, Y:98.40, Z:20.52 [[ 9.80414958e-01 1.94147808e-01 -3.30626569e-02 1.78624636e+02] [-1.94059536e-01 9.80972077e-01 5.88900956e-03 9.84007332e+01] [ 3.35768815e-02 6.42450801e-04 9.99435931e-01 2.05196086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37687500000004 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:178.64, Y:98.41, Z:20.51 [[ 9.81125960e-01 1.90522468e-01 -3.30611552e-02 1.78643049e+02] [-1.90431854e-01 9.81682703e-01 5.89742786e-03 9.84054915e+01] [ 3.35791567e-02 5.09777501e-04 9.99435931e-01 2.05118505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.406875 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:178.68, Y:98.39, Z:20.52 [[ 9.78954578e-01 2.01348050e-01 -3.32700599e-02 1.78684166e+02] [-2.01303402e-01 9.79517562e-01 4.72089041e-03 9.83887852e+01] [ 3.35391500e-02 2.07583896e-03 9.99435249e-01 2.05193756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43687500000004 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:178.71, Y:98.38, Z:20.52 [[ 9.78474722e-01 2.03702028e-01 -3.30560375e-02 1.78712974e+02] [-2.03618257e-01 9.79032480e-01 5.91674486e-03 9.83824896e+01] [ 3.35681873e-02 9.41427462e-04 9.99435986e-01 2.05161679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.466875 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:178.74, Y:98.38, Z:20.51 [[ 9.78778943e-01 2.02228115e-01 -3.30993908e-02 1.78738387e+02] [-2.02151690e-01 9.79337785e-01 5.67431185e-03 9.83793619e+01] [ 3.35629895e-02 1.13720084e-03 9.99435957e-01 2.05145572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.496875 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:178.78, Y:98.37, Z:20.52 [[ 9.77371748e-01 2.08908761e-01 -3.31903154e-02 1.78776172e+02] [-2.08853315e-01 9.77933326e-01 5.16745745e-03 9.83650271e+01] [ 3.35374427e-02 1.88138048e-03 9.99435691e-01 2.05217897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.526875 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:178.80, Y:98.36, Z:20.52 [[ 9.78178272e-01 2.05122220e-01 -3.30476047e-02 1.78800285e+02] [-2.05037832e-01 9.78735908e-01 5.95897159e-03 9.83629366e+01] [ 3.35671949e-02 9.47072701e-04 9.99436014e-01 2.05176473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.556875 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:178.84, Y:98.35, Z:20.52 [[ 9.76822373e-01 2.11465950e-01 -3.31693197e-02 1.78835396e+02] [-2.11408064e-01 9.77383611e-01 5.28280769e-03 9.83473809e+01] [ 3.35362834e-02 1.85189692e-03 9.99435785e-01 2.05248609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.586875 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:178.87, Y:98.34, Z:20.53 [[ 9.76623406e-01 2.12402516e-01 -3.30438243e-02 1.78867081e+02] [-2.12321685e-01 9.77181550e-01 5.97669128e-03 9.83390925e+01] [ 3.35592797e-02 1.17894387e-03 9.99436033e-01 2.05263595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.616875 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:178.90, Y:98.33, Z:20.53 [[ 9.76404152e-01 2.13408403e-01 -3.30421644e-02 1.78899160e+02] [-2.13327837e-01 9.76962335e-01 5.98585413e-03 9.83309038e+01] [ 3.35583817e-02 1.20420065e-03 9.99436033e-01 2.05279840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.646875 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:178.93, Y:98.32, Z:20.52 [[ 9.76123626e-01 2.14688135e-01 -3.30404473e-02 1.78929251e+02] [-2.14607981e-01 9.76681868e-01 5.99531706e-03 9.83204741e+01] [ 3.35571292e-02 1.23857307e-03 9.99436033e-01 2.05243851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.676875 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:178.96, Y:98.32, Z:20.52 [[ 9.76248961e-01 2.14114145e-01 -3.30620607e-02 1.78958065e+02] [-2.14037688e-01 9.76807728e-01 5.87623873e-03 9.83159491e+01] [ 3.35534623e-02 1.33985509e-03 9.99436026e-01 2.05240630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.706875 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:178.99, Y:98.31, Z:20.52 [[ 9.76036929e-01 2.15073304e-01 -3.30966404e-02 1.78988181e+02] [-2.15003787e-01 9.76596654e-01 5.68737678e-03 9.83089773e+01] [ 3.35452712e-02 1.56481325e-03 9.99435974e-01 2.05247785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.736875 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:179.02, Y:98.30, Z:20.52 [[ 9.75917517e-01 2.15610491e-01 -3.31227407e-02 1.79020453e+02] [-2.15546098e-01 9.76477921e-01 5.54516740e-03 9.82974396e+01] [ 3.35392213e-02 1.72785153e-03 9.99435909e-01 2.05249507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.766875 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:179.05, Y:98.29, Z:20.53 [[ 9.75645029e-01 2.16845804e-01 -3.30858717e-02 1.79051018e+02] [-2.16775312e-01 9.76204612e-01 5.74621023e-03 9.82878464e+01] [ 3.35446221e-02 1.56593870e-03 9.99435994e-01 2.05262585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.796875 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:179.08, Y:98.28, Z:20.53 [[ 9.76034226e-01 2.15086984e-01 -3.30874587e-02 1.79081168e+02] [-2.15015776e-01 9.76593721e-01 5.73756361e-03 9.82808916e+01] [ 3.35470797e-02 1.51426717e-03 9.99435991e-01 2.05265106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.82687500000003 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:179.11, Y:98.27, Z:20.53 [[ 9.76275431e-01 2.13988483e-01 -3.30939801e-02 1.79111394e+02] [-2.13917848e-01 9.76835012e-01 5.70203200e-03 9.82697770e+01] [ 3.35475276e-02 1.51263926e-03 9.99435979e-01 2.05286980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.856875 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:179.14, Y:98.26, Z:20.53 [[ 9.76420212e-01 2.13327118e-01 -3.30924486e-02 1.79142963e+02] [-2.13255822e-01 9.76979706e-01 5.71035938e-03 9.82615178e+01] [ 3.35488252e-02 1.48144701e-03 9.99435982e-01 2.05310172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.88687500000003 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:179.18, Y:98.25, Z:20.54 [[ 9.76188571e-01 2.14385199e-01 -3.30886794e-02 1.79176362e+02] [-2.14313818e-01 9.76748046e-01 5.73080193e-03 9.82506221e+01] [ 3.35479021e-02 1.49701785e-03 9.99435990e-01 2.05371700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.916875 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:179.21, Y:98.24, Z:20.54 [[ 9.77340150e-01 2.09083656e-01 -3.30190291e-02 1.79208125e+02] [-2.08996515e-01 9.77897314e-01 6.10737428e-03 9.82402057e+01] [ 3.35661720e-02 9.31879925e-04 9.99436063e-01 2.05391638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.94687500000003 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:179.24, Y:98.23, Z:20.54 [[ 9.77814528e-01 2.06854063e-01 -3.30173459e-02 1.79238710e+02] [-2.06765345e-01 9.78371443e-01 6.11646031e-03 9.82322153e+01] [ 3.35684430e-02 8.46079177e-04 9.99436063e-01 2.05412397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.976875 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:179.27, Y:98.22, Z:20.54 [[ 9.78246302e-01 2.04802684e-01 -3.30156602e-02 1.79270476e+02] [-2.04712492e-01 9.78802980e-01 6.12554587e-03 9.82247304e+01] [ 3.35703548e-02 7.66425500e-04 9.99436063e-01 2.05430546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.00687500000004 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:179.29, Y:98.22, Z:20.54 [[ 9.80195617e-01 1.95260418e-01 -3.30139662e-02 1.79294167e+02] [-1.95164499e-01 9.80751337e-01 6.13466250e-03 9.82234816e+01] [ 3.35763482e-02 4.29984867e-04 9.99436063e-01 2.05403258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.036875 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:179.33, Y:98.21, Z:20.55 [[ 9.79461330e-01 1.98889715e-01 -3.31418880e-02 1.79330555e+02] [-1.98819109e-01 9.80021074e-01 5.44577077e-03 9.82103321e+01] [ 3.35628565e-02 1.25531877e-03 9.99435820e-01 2.05461528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06687500000004 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:179.36, Y:98.20, Z:20.55 [[ 9.79800164e-01 1.97236164e-01 -3.30080959e-02 1.79361169e+02] [-1.97140429e-01 9.80355892e-01 6.16245319e-03 9.82031816e+01] [ 3.35751399e-02 4.69257548e-04 9.99436086e-01 2.05469891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.096875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:179.39, Y:98.20, Z:20.55 [[ 9.80167925e-01 1.95400629e-01 -3.30065637e-02 1.79393652e+02] [-1.95303577e-01 9.80723425e-01 6.17064885e-03 9.81962139e+01] [ 3.35760589e-02 3.98027869e-04 9.99436086e-01 2.05480999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12687500000004 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:179.43, Y:98.19, Z:20.55 [[ 9.80389216e-01 1.94287582e-01 -3.30048643e-02 1.79425949e+02] [-1.94189594e-01 9.80944551e-01 6.17972489e-03 9.81882397e+01] [ 3.35765856e-02 3.50665551e-04 9.99436086e-01 2.05497197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.156875 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:179.46, Y:98.18, Z:20.55 [[ 9.80357292e-01 1.94448889e-01 -3.30031669e-02 1.79457551e+02] [-1.94350688e-01 9.80912590e-01 6.18877671e-03 9.81815089e+01] [ 3.35766227e-02 3.46975815e-04 9.99436086e-01 2.05508722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18687500000004 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:179.49, Y:98.18, Z:20.55 [[ 9.80254266e-01 1.94967775e-01 -3.30021171e-02 1.79489974e+02] [-1.94869680e-01 9.80809583e-01 6.19437020e-03 9.81753451e+01] [ 3.35764952e-02 3.59054161e-04 9.99436086e-01 2.05520947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.216875 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:179.52, Y:98.17, Z:20.55 [[ 9.80200462e-01 1.95238388e-01 -3.30003995e-02 1.79522740e+02] [-1.95140138e-01 9.80755751e-01 6.20350717e-03 9.81690921e+01] [ 3.35764943e-02 3.59021928e-04 9.99436086e-01 2.05532202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.246875 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:179.55, Y:98.17, Z:20.55 [[ 9.81068797e-01 1.90827416e-01 -3.29986853e-02 1.79545287e+02] [-1.90726364e-01 9.81623583e-01 6.21261197e-03 9.81724940e+01] [ 3.35778244e-02 1.98719500e-04 9.99436086e-01 2.05482611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.276875 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:179.58, Y:98.16, Z:20.55 [[ 9.79727761e-01 1.97571259e-01 -3.31528654e-02 1.79583763e+02] [-1.97501750e-01 9.80287710e-01 5.39106568e-03 9.81590083e+01] [ 3.35644662e-02 1.26597225e-03 9.99435753e-01 2.05532231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.306875 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:179.62, Y:98.15, Z:20.56 [[ 9.79517221e-01 1.98638768e-01 -3.29947551e-02 1.79615644e+02] [-1.98541598e-01 9.80072670e-01 6.22867875e-03 9.81526339e+01] [ 3.35745148e-02 4.49733280e-04 9.99436116e-01 2.05550242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.336875 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:179.64, Y:98.16, Z:20.55 [[ 9.80715782e-01 1.92634402e-01 -3.29930528e-02 1.79636034e+02] [-1.92533528e-01 9.81270570e-01 6.23768281e-03 9.81561476e+01] [ 3.35767040e-02 2.34874862e-04 9.99436116e-01 2.05516474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.366875 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:179.67, Y:98.14, Z:20.56 [[ 9.79221869e-01 2.00059329e-01 -3.31782447e-02 1.79674905e+02] [-1.99995871e-01 9.79782651e-01 5.25431877e-03 9.81406216e+01] [ 3.35586441e-02 1.49036810e-03 9.99435639e-01 2.05568071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.396875 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:179.71, Y:98.13, Z:20.56 [[ 9.79228653e-01 2.00057398e-01 -3.29891267e-02 1.79706960e+02] [-1.99960237e-01 9.79784064e-01 6.25226458e-03 9.81342713e+01] [ 3.35730324e-02 4.74116952e-04 9.99436154e-01 2.05586483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.426875 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:179.74, Y:98.13, Z:20.56 [[ 9.79293758e-01 1.99738586e-01 -3.29883883e-02 1.79739228e+02] [-1.99641113e-01 9.79849114e-01 6.25615792e-03 9.81286088e+01] [ 3.35732392e-02 4.59222162e-04 9.99436154e-01 2.05594107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.456875 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:179.77, Y:98.12, Z:20.56 [[ 9.79335683e-01 1.99533199e-01 -3.29867023e-02 1.79770121e+02] [-1.99435311e-01 9.79890966e-01 6.26503519e-03 9.81228486e+01] [ 3.35734541e-02 4.43140714e-04 9.99436154e-01 2.05600884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.486875 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:179.80, Y:98.12, Z:20.56 [[ 9.79264066e-01 1.99884555e-01 -3.29856557e-02 1.79801625e+02] [-1.99786681e-01 9.79819352e-01 6.27054040e-03 9.81171151e+01] [ 3.35733680e-02 4.49579786e-04 9.99436154e-01 2.05600399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.516875 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:179.83, Y:98.11, Z:20.56 [[ 9.79185720e-01 2.00268252e-01 -3.29841223e-02 1.79833075e+02] [-2.00170324e-01 9.79740997e-01 6.27859633e-03 9.81115749e+01] [ 3.35733004e-02 4.54530558e-04 9.99436155e-01 2.05607770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.546875 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:179.87, Y:98.11, Z:20.56 [[ 9.79004117e-01 2.01154386e-01 -3.29826061e-02 1.79865121e+02] [-2.01056693e-01 9.79559434e-01 6.28655127e-03 9.81057994e+01] [ 3.35729903e-02 4.76814129e-04 9.99436155e-01 2.05612029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.57687500000003 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:179.89, Y:98.11, Z:20.56 [[ 9.79875178e-01 1.96867695e-01 -3.29809881e-02 1.79888015e+02] [-1.96767287e-01 9.80430011e-01 6.29502817e-03 9.81088948e+01] [ 3.35748382e-02 3.21237704e-04 9.99436155e-01 2.05580181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.606875 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:179.93, Y:98.10, Z:20.56 [[ 9.78151814e-01 2.05235783e-01 -3.31255584e-02 1.79927844e+02] [-2.05165751e-01 9.78711585e-01 5.53611691e-03 9.80962168e+01] [ 3.35565770e-02 1.38106728e-03 9.99435865e-01 2.05618261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.63687500000003 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:179.96, Y:98.09, Z:20.56 [[ 9.77868323e-01 2.06606146e-01 -3.29764004e-02 1.79958933e+02] [-2.06510587e-01 9.78423987e-01 6.31505669e-03 9.80908074e+01] [ 3.35696307e-02 6.34681902e-04 9.99436180e-01 2.05619453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.666875 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:179.98, Y:98.10, Z:20.56 [[ 9.78894380e-01 2.01688926e-01 -3.29752947e-02 1.79980025e+02] [-2.01590381e-01 9.79449522e-01 6.32082479e-03 9.80953997e+01] [ 3.35724770e-02 4.60082362e-04 9.99436180e-01 2.05577702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.69687500000003 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:180.01, Y:98.09, Z:20.56 [[ 9.78368726e-01 2.04194973e-01 -3.31519038e-02 1.80012516e+02] [-2.04128946e-01 9.78929114e-01 5.40021911e-03 9.80891217e+01] [ 3.35560615e-02 1.48385770e-03 9.99435735e-01 2.05589775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.726875 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:180.04, Y:98.09, Z:20.56 [[ 9.78086124e-01 2.05548914e-01 -3.31236939e-02 1.80039633e+02] [-2.05478729e-01 9.78645868e-01 5.54591356e-03 9.80851264e+01] [ 3.35563227e-02 1.38183344e-03 9.99435873e-01 2.05593806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.75687500000004 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:180.07, Y:98.08, Z:20.56 [[ 9.78095617e-01 2.05496028e-01 -3.31714719e-02 1.80073582e+02] [-2.05434139e-01 9.78656591e-01 5.30007905e-03 9.80777093e+01] [ 3.35526248e-02 1.63056868e-03 9.99435622e-01 2.05607005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.786875 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:180.11, Y:98.06, Z:20.57 [[ 9.76919567e-01 2.11020353e-01 -3.31446952e-02 1.80112846e+02] [-2.10956925e-01 9.77480226e-01 5.43901265e-03 9.80611779e+01] [ 3.35460266e-02 1.67862510e-03 9.99435764e-01 2.05681355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81687500000004 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:180.13, Y:98.07, Z:20.56 [[ 9.78436559e-01 2.03900808e-01 -3.29599915e-02 1.80131956e+02] [-2.03801134e-01 9.78991443e-01 6.39157383e-03 9.80667092e+01] [ 3.35707967e-02 4.63534133e-04 9.99436234e-01 2.05640133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.846875 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:180.16, Y:98.06, Z:20.56 [[ 9.78453907e-01 2.03785937e-01 -3.31548471e-02 1.80157647e+02] [-2.03720042e-01 9.79014350e-01 5.38945372e-03 9.80634460e+01] [ 3.35573660e-02 1.48097479e-03 9.99435696e-01 2.05632481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87687500000004 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:180.20, Y:98.04, Z:20.57 [[ 9.76169114e-01 2.14452659e-01 -3.32252736e-02 1.80200679e+02] [-2.14405093e-01 9.76731876e-01 5.02983489e-03 9.80418333e+01] [ 3.35308453e-02 2.21369842e-03 9.99435232e-01 2.05708590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.906875 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:180.22, Y:98.04, Z:20.57 [[ 9.77024111e-01 2.10568958e-01 -3.29332626e-02 1.80224035e+02] [-2.10469151e-01 9.77578838e-01 6.50778148e-03 9.80436531e+01] [ 3.35651974e-02 5.73176399e-04 9.99436366e-01 2.05658070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93687500000004 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:180.26, Y:98.03, Z:20.57 [[ 9.75754983e-01 2.16350564e-01 -3.30854308e-02 1.80262327e+02] [-2.16280157e-01 9.76314499e-01 5.73519240e-03 9.80289320e+01] [ 3.35425979e-02 1.55957962e-03 9.99436072e-01 2.05713943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.966875 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:180.29, Y:98.02, Z:20.57 [[ 9.75639270e-01 2.16895420e-01 -3.29301130e-02 1.80294725e+02] [-2.16798805e-01 9.76194536e-01 6.51973286e-03 9.80217979e+01] [ 3.35602965e-02 7.78301737e-04 9.99436392e-01 2.05727736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.996875 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:180.33, Y:98.02, Z:20.57 [[ 9.75537687e-01 2.17352139e-01 -3.29282456e-02 1.80326228e+02] [-2.17255467e-01 9.76092942e-01 6.52915078e-03 9.80150131e+01] [ 3.35601530e-02 7.84408723e-04 9.99436392e-01 2.05732250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.026875 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:180.36, Y:98.01, Z:20.57 [[ 9.75432275e-01 2.17824984e-01 -3.29264922e-02 1.80357178e+02] [-2.17728283e-01 9.75987525e-01 6.53798117e-03 9.80081225e+01] [ 3.35599813e-02 7.91670757e-04 9.99436392e-01 2.05735388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.056875 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:180.39, Y:98.00, Z:20.57 [[ 9.75468301e-01 2.17663872e-01 -3.29246641e-02 1.80389345e+02] [-2.17566769e-01 9.76023481e-01 6.54717449e-03 9.80009353e+01] [ 3.35603286e-02 7.76751613e-04 9.99436392e-01 2.05746646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.086875 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:180.42, Y:97.99, Z:20.58 [[ 9.75555806e-01 2.17271622e-01 -3.29228235e-02 1.80420729e+02] [-2.17173984e-01 9.76110892e-01 6.55641657e-03 9.79924956e+01] [ 3.35608499e-02 7.53830495e-04 9.99436392e-01 2.05760585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.116875 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:180.45, Y:97.99, Z:20.58 [[ 9.75685650e-01 2.16687984e-01 -3.29215588e-02 1.80452557e+02] [-2.16589801e-01 9.76240641e-01 6.56276117e-03 9.79854967e+01] [ 3.35614351e-02 7.27281948e-04 9.99436392e-01 2.05777914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.146875 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:180.48, Y:97.99, Z:20.57 [[ 9.76916711e-01 2.11068786e-01 -3.29197164e-02 1.80477271e+02] [-2.10967098e-01 9.77471070e-01 6.57199001e-03 9.79860612e+01] [ 3.35652123e-02 5.24690166e-04 9.99436392e-01 2.05729690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.176875 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:180.51, Y:97.98, Z:20.57 [[ 9.77385423e-01 2.08866668e-01 -3.30522395e-02 1.80508667e+02] [-2.08786133e-01 9.77943478e-01 5.90800615e-03 9.79769724e+01] [ 3.35572076e-02 1.12645020e-03 9.99436164e-01 2.05744071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.206875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:180.55, Y:97.96, Z:20.58 [[ 9.76320907e-01 2.13787732e-01 -3.30498430e-02 1.80546743e+02] [-2.13709602e-01 9.76879296e-01 5.92003275e-03 9.79589082e+01] [ 3.35513377e-02 1.28321705e-03 9.99436172e-01 2.05824953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.236875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:180.58, Y:97.95, Z:20.58 [[ 9.76927831e-01 2.11023637e-01 -3.28791420e-02 1.80576852e+02] [-2.10915171e-01 9.77480907e-01 6.77255133e-03 9.79541726e+01] [ 3.35679020e-02 3.18415978e-04 9.99436388e-01 2.05834732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.266875 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:180.61, Y:97.95, Z:20.58 [[ 9.77345882e-01 2.09073141e-01 -3.29157917e-02 1.80607926e+02] [-2.08969733e-01 9.77899908e-01 6.58948206e-03 9.79458652e+01] [ 3.35660333e-02 4.38201023e-04 9.99436406e-01 2.05840234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.296875 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:180.64, Y:97.94, Z:20.58 [[ 9.77589285e-01 2.07932322e-01 -3.29141127e-02 1.80639179e+02] [-2.07827984e-01 9.78143137e-01 6.59785776e-03 9.79387460e+01] [ 3.35666213e-02 3.90478646e-04 9.99436406e-01 2.05845933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.32687500000003 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:180.67, Y:97.93, Z:20.59 [[ 9.77842094e-01 2.06740442e-01 -3.29124581e-02 1.80671209e+02] [-2.06635152e-01 9.78395765e-01 6.60610116e-03 9.79312255e+01] [ 3.35671579e-02 3.41146991e-04 9.99436406e-01 2.05855804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.356875 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:180.70, Y:97.92, Z:20.59 [[ 9.78209111e-01 2.04997121e-01 -3.29107269e-02 1.80702899e+02] [-2.04890555e-01 9.78762538e-01 6.61471461e-03 9.79240492e+01] [ 3.35677840e-02 2.72522988e-04 9.99436406e-01 2.05864987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.38687500000003 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:180.73, Y:97.92, Z:20.59 [[ 9.78902328e-01 2.01661176e-01 -3.29090050e-02 1.80734758e+02] [-2.01552436e-01 9.79455332e-01 6.62327027e-03 9.79158452e+01] [ 3.35685569e-02 1.49355449e-04 9.99436406e-01 2.05880340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.416875 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:180.77, Y:97.91, Z:20.59 [[ 9.79141191e-01 2.00498496e-01 -3.29071653e-02 1.80766898e+02] [-2.00388793e-01 9.79694005e-01 6.63239789e-03 9.79087348e+01] [ 3.35687384e-02 1.00173162e-04 9.99436406e-01 2.05889739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.44687500000003 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:180.80, Y:97.90, Z:20.59 [[ 9.79599259e-01 1.98248661e-01 -3.29053342e-02 1.80797727e+02] [-1.98137383e-01 9.80151758e-01 6.64147037e-03 9.79017221e+01] [ 3.35688837e-02 1.37973613e-05 9.99436406e-01 2.05900642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.476875 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:180.83, Y:97.89, Z:20.59 [[ 9.79810976e-01 1.97199927e-01 -3.29035125e-02 1.80829091e+02] [-1.97087755e-01 9.80363294e-01 6.65048306e-03 9.78948791e+01] [ 3.35688707e-02 -3.13368806e-05 9.99436406e-01 2.05910585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.50687500000004 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:180.86, Y:97.89, Z:20.59 [[ 9.79933272e-01 1.96591593e-01 -3.29018029e-02 1.80861058e+02] [-1.96478794e-01 9.80485462e-01 6.65893030e-03 9.78877758e+01] [ 3.35688291e-02 -6.08007876e-05 9.99436406e-01 2.05918429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.536875 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:180.89, Y:97.88, Z:20.59 [[ 9.80016505e-01 1.96176551e-01 -3.29000047e-02 1.80892797e+02] [-1.96063221e-01 9.80568587e-01 6.66780285e-03 9.78807192e+01] [ 3.35687777e-02 -8.40759439e-05 9.99436406e-01 2.05934770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56687500000004 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:180.91, Y:97.89, Z:20.59 [[ 9.81316615e-01 1.89566370e-01 -3.28982190e-02 1.80914656e+02] [-1.89449026e-01 9.81867857e-01 6.67660187e-03 9.78851491e+01] [ 3.35673630e-02 -3.19324794e-04 9.99436406e-01 2.05870481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.596875 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:180.95, Y:97.87, Z:20.60 [[ 9.79779692e-01 1.97324375e-01 -3.30884684e-02 1.80953667e+02] [-1.97243146e-01 9.80337832e-01 5.73376531e-03 9.78686614e+01] [ 3.35692890e-02 9.08646785e-04 9.99435980e-01 2.05957077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62687500000004 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:180.99, Y:97.86, Z:20.60 [[ 9.79581384e-01 1.98338310e-01 -3.28972317e-02 1.80985727e+02] [-1.98225918e-01 9.80133621e-01 6.67617314e-03 9.78622689e+01] [ 3.35678237e-02 -1.87709787e-05 9.99436442e-01 2.05980754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.656875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:181.02, Y:97.86, Z:20.60 [[ 9.78986610e-01 2.01253852e-01 -3.28953709e-02 1.81018312e+02] [-2.01142796e-01 9.79539117e-01 6.68532941e-03 9.78566331e+01] [ 3.35677508e-02 7.18188974e-05 9.99436442e-01 2.05998860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68687500000004 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:181.05, Y:97.85, Z:20.60 [[ 9.78573029e-01 2.03255606e-01 -3.28935411e-02 1.81050470e+02] [-2.03145378e-01 9.79125703e-01 6.69432016e-03 9.78502747e+01] [ 3.35675697e-02 1.31289680e-04 9.99436442e-01 2.06011056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.716875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:181.08, Y:97.84, Z:20.60 [[ 9.78139473e-01 2.05332195e-01 -3.28916475e-02 1.81081567e+02] [-2.05222828e-01 9.78692318e-01 6.70361116e-03 9.78439901e+01] [ 3.35672699e-02 1.93050234e-04 9.99436442e-01 2.06014131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.746875 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:181.11, Y:97.84, Z:20.60 [[ 9.77367141e-01 2.08977838e-01 -3.28897285e-02 1.81112819e+02] [-2.08870217e-01 9.77920328e-01 6.71301336e-03 9.78376532e+01] [ 3.35664051e-02 3.08606032e-04 9.99436442e-01 2.06020665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.776875 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:181.15, Y:97.83, Z:20.60 [[ 9.77082207e-01 2.10306304e-01 -3.28879784e-02 1.81145466e+02] [-2.10199147e-01 9.77635484e-01 6.72157624e-03 9.78311825e+01] [ 3.35660445e-02 3.45492460e-04 9.99436442e-01 2.06035802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.806875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:181.17, Y:97.84, Z:20.60 [[ 9.78391207e-01 2.04130231e-01 -3.28860995e-02 1.81167618e+02] [-2.04019272e-01 9.78943734e-01 6.73075656e-03 9.78358727e+01] [ 3.35675919e-02 1.24085052e-04 9.99436442e-01 2.05963499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.836875 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:181.20, Y:97.83, Z:20.60 [[ 9.77867162e-01 2.06599180e-01 -3.30543800e-02 1.81197426e+02] [-2.06517209e-01 9.78425106e-01 5.91229576e-03 9.78297209e+01] [ 3.35627107e-02 1.04485842e-03 9.99436067e-01 2.05967791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.866875 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:181.24, Y:97.81, Z:20.61 [[ 9.75997344e-01 2.15255656e-01 -3.30784884e-02 1.81236059e+02] [-2.15182596e-01 9.76556637e-01 5.79524027e-03 9.78120654e+01] [ 3.35504756e-02 1.46177588e-03 9.99435955e-01 2.06058980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.896875 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:181.25, Y:97.82, Z:20.60 [[ 9.78139415e-01 2.05336216e-01 -3.28682815e-02 1.81253740e+02] [-2.05223279e-01 9.78691489e-01 6.80990146e-03 9.78203955e+01] [ 3.35662268e-02 8.43034611e-05 9.99436492e-01 2.05980817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.926875 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:181.30, Y:97.80, Z:20.61 [[ 9.75894084e-01 2.15713717e-01 -3.31410562e-02 1.81296491e+02] [-2.15651446e-01 9.76455003e-01 5.48467195e-03 9.77987200e+01] [ 3.35438691e-02 1.79445778e-03 9.99435635e-01 2.06063530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.956875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:181.33, Y:97.79, Z:20.61 [[ 9.75883154e-01 2.15805467e-01 -3.28644378e-02 1.81328851e+02] [-2.15698172e-01 9.76436281e-01 6.81816191e-03 9.77915603e+01] [ 3.35614261e-02 4.35069821e-04 9.99436562e-01 2.06087986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.986875 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:181.35, Y:97.80, Z:20.60 [[ 9.77609486e-01 2.07845495e-01 -3.28625045e-02 1.81350492e+02] [-2.07733383e-01 9.78161657e-01 6.82746746e-03 9.77971852e+01] [ 3.35639002e-02 1.52042291e-04 9.99436562e-01 2.06003702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.016875 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:181.39, Y:97.78, Z:20.61 [[ 9.76073681e-01 2.14911445e-01 -3.30641652e-02 1.81389610e+02] [-2.14836211e-01 9.76632551e-01 5.85352433e-03 9.77790282e+01] [ 3.35495294e-02 1.38990892e-03 9.99436090e-01 2.06089722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.046875 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:181.41, Y:97.78, Z:20.60 [[ 9.77790553e-01 2.06992809e-01 -3.28574484e-02 1.81411736e+02] [-2.06879600e-01 9.78342459e-01 6.84577991e-03 9.77815497e+01] [ 3.35628641e-02 1.03796874e-04 9.99436603e-01 2.06034428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.07687500000003 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:181.45, Y:97.76, Z:20.61 [[ 9.76438540e-01 2.13249733e-01 -3.30504092e-02 1.81449717e+02] [-2.13171357e-01 9.76996902e-01 5.91821980e-03 9.77640055e+01] [ 3.35522062e-02 1.26662269e-03 9.99436164e-01 2.06110471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.106875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:181.48, Y:97.76, Z:20.61 [[ 9.76380263e-01 2.13547202e-01 -3.28507893e-02 1.81482266e+02] [-2.13436799e-01 9.76932701e-01 6.87248911e-03 9.77567857e+01] [ 3.35606112e-02 3.01404599e-04 9.99436639e-01 2.06126802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.13687500000003 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:181.51, Y:97.75, Z:20.61 [[ 9.77243246e-01 2.09562845e-01 -3.28489182e-02 1.81514435e+02] [-2.09449890e-01 9.77795168e-01 6.88142106e-03 9.77482222e+01] [ 3.35616037e-02 1.55380036e-04 9.99436639e-01 2.06139922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.166875 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:181.55, Y:97.74, Z:20.62 [[ 9.77688744e-01 2.07474797e-01 -3.28470389e-02 1.81545369e+02] [-2.07360362e-01 9.78240361e-01 6.89038001e-03 9.77410043e+01] [ 3.35618794e-02 7.45268957e-05 9.99436639e-01 2.06152598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.19687500000003 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:181.58, Y:97.73, Z:20.62 [[ 9.78045582e-01 2.05786383e-01 -3.28451644e-02 1.81577775e+02] [-2.05670695e-01 9.78596937e-01 6.89930361e-03 9.77332743e+01] [ 3.35619600e-02 7.45439798e-06 9.99436639e-01 2.06170252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.226875 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:181.61, Y:97.73, Z:20.62 [[ 9.78480556e-01 2.03708423e-01 -3.28432563e-02 1.81610091e+02] [-2.03591260e-01 9.79031600e-01 6.90837528e-03 9.77261203e+01] [ 3.35618800e-02 -7.31109459e-05 9.99436639e-01 2.06186058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.25687500000004 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:181.64, Y:97.72, Z:20.62 [[ 9.79231973e-01 2.00065461e-01 -3.28413481e-02 1.81641560e+02] [-1.99945945e-01 9.79782511e-01 6.91743448e-03 9.77190899e+01] [ 3.35613182e-02 -2.07278641e-04 9.99436639e-01 2.06191365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.286875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:181.67, Y:97.71, Z:20.62 [[ 9.79577102e-01 1.98369011e-01 -3.28395661e-02 1.81672354e+02] [-1.98248258e-01 9.80127370e-01 6.92588397e-03 9.77125866e+01] [ 3.35608383e-02 -2.74050584e-04 9.99436639e-01 2.06200081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31687500000004 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:181.70, Y:97.71, Z:20.62 [[ 9.79847278e-01 1.97030333e-01 -3.28384004e-02 1.81704363e+02] [-1.96908643e-01 9.80397339e-01 6.93140683e-03 9.77058895e+01] [ 3.35603777e-02 -3.25555274e-04 9.99436639e-01 2.06214492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.346875 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:181.74, Y:97.70, Z:20.62 [[ 9.80183090e-01 1.95353195e-01 -3.28365521e-02 1.81736485e+02] [-1.95230271e-01 9.80732877e-01 6.94015178e-03 9.76986559e+01] [ 3.35596670e-02 -3.91930445e-04 9.99436639e-01 2.06243357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37687500000004 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:181.77, Y:97.69, Z:20.63 [[ 9.80158651e-01 1.95476092e-01 -3.28346748e-02 1.81768933e+02] [-1.95352940e-01 9.80708387e-01 6.94902230e-03 9.76919430e+01] [ 3.35596086e-02 -3.96794084e-04 9.99436639e-01 2.06259290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.406875 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:181.80, Y:97.69, Z:20.63 [[ 9.80024227e-01 1.96149058e-01 -3.28338383e-02 1.81800515e+02] [-1.96026151e-01 9.80574018e-01 6.95297212e-03 9.76855136e+01] [ 3.35598277e-02 -3.77790180e-04 9.99436639e-01 2.06272717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43687500000004 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:181.83, Y:97.68, Z:20.63 [[ 9.79869529e-01 1.96920701e-01 -3.28320487e-02 1.81831556e+02] [-1.96797944e-01 9.80419353e-01 6.96141249e-03 9.76797941e+01] [ 3.35600222e-02 -3.59996305e-04 9.99436639e-01 2.06283001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.466875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:181.86, Y:97.68, Z:20.63 [[ 9.79329731e-01 1.99588195e-01 -3.28303269e-02 1.81862946e+02] [-1.99466664e-01 9.79879827e-01 6.96952337e-03 9.76750626e+01] [ 3.35608096e-02 -2.76905676e-04 9.99436639e-01 2.06299037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.496875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:181.90, Y:97.67, Z:20.63 [[ 9.78980779e-01 2.01293133e-01 -3.28284928e-02 1.81895015e+02] [-2.01172270e-01 9.79531022e-01 6.97815158e-03 9.76693828e+01] [ 3.35611811e-02 -2.27293839e-04 9.99436639e-01 2.06315569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.526875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:181.92, Y:97.67, Z:20.63 [[ 9.79448822e-01 1.99003572e-01 -3.28265821e-02 1.81919847e+02] [-1.98881122e-01 9.79998714e-01 6.98712832e-03 9.76729711e+01] [ 3.35604718e-02 -3.14947113e-04 9.99436639e-01 2.06261966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.556875 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:181.95, Y:97.67, Z:20.63 [[ 9.79220889e-01 2.00099199e-01 -3.29660667e-02 1.81946493e+02] [-1.99999309e-01 9.79775565e-01 6.33393844e-03 9.76694423e+01] [ 3.35667626e-02 3.90865729e-04 9.99436401e-01 2.06257281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.586875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:181.99, Y:97.65, Z:20.63 [[ 9.77365582e-01 2.08961972e-01 -3.30365523e-02 1.81985807e+02] [-2.08878229e-01 9.77923223e-01 6.00467007e-03 9.76529210e+01] [ 3.35619594e-02 1.03185869e-03 9.99436106e-01 2.06334524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.616875 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:182.02, Y:97.65, Z:20.63 [[ 9.76879721e-01 2.11257344e-01 -3.28076924e-02 1.82018145e+02] [-2.11139103e-01 9.77430475e-01 7.06719017e-03 9.76461741e+01] [ 3.35602342e-02 2.31919901e-05 9.99436696e-01 2.06347581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.646875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:182.05, Y:97.64, Z:20.64 [[ 9.76638101e-01 2.12371844e-01 -3.28057906e-02 1.82049900e+02] [-2.12253935e-01 9.77188926e-01 7.07600742e-03 9.76397875e+01] [ 3.35602000e-02 5.24596819e-05 9.99436696e-01 2.06356124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.676875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:182.08, Y:97.63, Z:20.64 [[ 9.76354936e-01 2.13670174e-01 -3.28038922e-02 1.82082119e+02] [-2.13552703e-01 9.76905855e-01 7.08479748e-03 9.76335269e+01] [ 3.35601242e-02 8.80828297e-05 9.99436697e-01 2.06364601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.706875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:182.11, Y:97.63, Z:20.64 [[ 9.75854450e-01 2.15944724e-01 -3.28019567e-02 1.82114546e+02] [-2.15828235e-01 9.76405577e-01 7.09374725e-03 9.76279110e+01] [ 3.35598708e-02 1.57123598e-04 9.99436697e-01 2.06367954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.736875 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:182.14, Y:97.63, Z:20.63 [[ 9.76940657e-01 2.10976571e-01 -3.28000035e-02 1.82138392e+02] [-2.10856977e-01 9.77491118e-01 7.10276695e-03 9.76296085e+01] [ 3.35602295e-02 -2.28722384e-05 9.99436697e-01 2.06322595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.766875 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:182.18, Y:97.62, Z:20.64 [[ 9.75523073e-01 2.17410573e-01 -3.29754065e-02 1.82176397e+02] [-2.17322033e-01 9.76079700e-01 6.28920116e-03 9.76153808e+01] [ 3.35539637e-02 1.03102154e-03 9.99436375e-01 2.06374893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.796875 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:182.21, Y:97.61, Z:20.64 [[ 9.75323256e-01 2.18331858e-01 -3.27985801e-02 1.82207276e+02] [-2.18216324e-01 9.75874556e-01 7.10547896e-03 9.76084189e+01] [ 3.35586522e-02 2.27046712e-04 9.99436724e-01 2.06382992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.82687500000003 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:182.24, Y:97.60, Z:20.64 [[ 9.75259891e-01 2.18615005e-01 -3.27967122e-02 1.82239353e+02] [-2.18499341e-01 9.75811164e-01 7.11409055e-03 9.76017283e+01] [ 3.35586448e-02 2.27972820e-04 9.99436724e-01 2.06397001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.856875 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:182.27, Y:97.60, Z:20.64 [[ 9.75234952e-01 2.18726524e-01 -3.27947632e-02 1.82271703e+02] [-2.18610621e-01 9.75786175e-01 7.12306386e-03 9.75951434e+01] [ 3.35586795e-02 2.22622699e-04 9.99436724e-01 2.06407518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.88687500000003 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:182.30, Y:97.59, Z:20.64 [[ 9.75148806e-01 2.19110562e-01 -3.27928052e-02 1.82302646e+02] [-2.18994574e-01 9.75700010e-01 7.13206661e-03 9.75885943e+01] [ 3.35586515e-02 2.26620162e-04 9.99436724e-01 2.06421965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.916875 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:182.33, Y:97.59, Z:20.64 [[ 9.76296621e-01 2.13938451e-01 -3.27909727e-02 1.82325631e+02] [-2.13819260e-01 9.76847141e-01 7.14048155e-03 9.75909475e+01] [ 3.35593915e-02 4.01135043e-05 9.99436724e-01 2.06394842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.94687500000003 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:182.36, Y:97.58, Z:20.65 [[ 9.74934670e-01 2.20033431e-01 -3.29799774e-02 1.82363778e+02] [-2.19947045e-01 9.75491664e-01 6.26980486e-03 9.75764187e+01] [ 3.35512597e-02 1.14119843e-03 9.99436346e-01 2.06453075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.976875 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:182.40, Y:97.57, Z:20.65 [[ 9.74765302e-01 2.20811314e-01 -3.27867297e-02 1.82395084e+02] [-2.20695504e-01 9.75316510e-01 7.15535440e-03 9.75699866e+01] [ 3.35574221e-02 2.61092648e-04 9.99436757e-01 2.06468219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.00687500000004 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:182.43, Y:97.56, Z:20.65 [[ 9.74625975e-01 2.21425742e-01 -3.27849053e-02 1.82427532e+02] [-2.21309999e-01 9.75177197e-01 7.16370424e-03 9.75630933e+01] [ 3.35573205e-02 2.73695115e-04 9.99436757e-01 2.06494118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.036875 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:182.45, Y:97.57, Z:20.64 [[ 9.75954324e-01 2.15495802e-01 -3.27828840e-02 1.82449605e+02] [-2.15376399e-01 9.76504765e-01 7.17294189e-03 9.75664336e+01] [ 3.35583813e-02 6.01958603e-05 9.99436757e-01 2.06438037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06687500000004 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:182.49, Y:97.55, Z:20.65 [[ 9.74334266e-01 2.22677378e-01 -3.29776253e-02 1.82488587e+02] [-2.22592171e-01 9.74891426e-01 6.27963211e-03 9.75515108e+01] [ 3.35479361e-02 1.22210046e-03 9.99436362e-01 2.06494354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.096875 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:182.52, Y:97.55, Z:20.65 [[ 9.74207735e-01 2.23259452e-01 -3.27796515e-02 1.82521161e+02] [-2.23144092e-01 9.74759004e-01 7.18313597e-03 9.75450627e+01] [ 3.35559635e-02 3.16718952e-04 9.99436790e-01 2.06508548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12687500000004 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:182.55, Y:97.54, Z:20.65 [[ 9.74002158e-01 2.24154882e-01 -3.27778089e-02 1.82552946e+02] [-2.24039746e-01 9.74553474e-01 7.19153439e-03 9.75388336e+01] [ 3.35557451e-02 3.38961961e-04 9.99436790e-01 2.06526087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.156875 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:182.58, Y:97.53, Z:20.65 [[ 9.73812250e-01 2.24978770e-01 -3.27758248e-02 1.82584339e+02] [-2.24863797e-01 9.74363600e-01 7.20056580e-03 9.75326342e+01] [ 3.35555451e-02 3.58097218e-04 9.99436790e-01 2.06530609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18687500000004 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:182.62, Y:97.53, Z:20.65 [[ 9.73326153e-01 2.27072824e-01 -3.27739675e-02 1.82615561e+02] [-2.26958753e-01 9.73877690e-01 7.20900947e-03 9.75273724e+01] [ 3.35548059e-02 4.21621342e-04 9.99436790e-01 2.06526963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.216875 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:182.65, Y:97.52, Z:20.65 [[ 9.73113011e-01 2.27984791e-01 -3.27719988e-02 1.82647942e+02] [-2.27870936e-01 9.73664592e-01 7.21794795e-03 9.75211116e+01] [ 3.35545172e-02 4.43906969e-04 9.99436790e-01 2.06538408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.246875 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:182.68, Y:97.52, Z:20.66 [[ 9.72915393e-01 2.28826843e-01 -3.27706133e-02 1.82679204e+02] [-2.28713254e-01 9.73467030e-01 7.22423286e-03 9.75151565e+01] [ 3.35542100e-02 4.66506246e-04 9.99436790e-01 2.06553256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.276875 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:182.71, Y:97.51, Z:20.66 [[ 9.72550198e-01 2.30374222e-01 -3.27693554e-02 1.82712021e+02] [-2.30261318e-01 9.73101975e-01 7.22993447e-03 9.75100493e+01] [ 3.35535150e-02 5.14040763e-04 9.99436790e-01 2.06570895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.306875 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:182.73, Y:97.51, Z:20.65 [[ 9.73807580e-01 2.25000215e-01 -3.27673612e-02 1.82734980e+02] [-2.24883962e-01 9.74358662e-01 7.23896138e-03 9.75128213e+01] [ 3.35559300e-02 3.19498523e-04 9.99436790e-01 2.06529572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.336875 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:182.77, Y:97.51, Z:20.66 [[ 9.73621207e-01 2.25777011e-01 -3.29618994e-02 1.82767912e+02] [-2.25690935e-01 9.74178208e-01 6.35776552e-03 9.75059345e+01] [ 3.35462014e-02 1.24914656e-03 9.99436387e-01 2.06552831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.366875 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:182.80, Y:97.49, Z:20.66 [[ 9.72370275e-01 2.31108992e-01 -3.29345225e-02 1.82804989e+02] [-2.31021764e-01 9.72926991e-01 6.48194592e-03 9.74911686e+01] [ 3.35409218e-02 1.30573993e-03 9.99436492e-01 2.06619278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.396875 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:182.84, Y:97.48, Z:20.66 [[ 9.72496607e-01 2.30601290e-01 -3.27626921e-02 1.82837419e+02] [-2.30487580e-01 9.73048201e-01 7.25767383e-03 9.74842574e+01] [ 3.35533076e-02 4.93330438e-04 9.99436808e-01 2.06640487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.426875 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:182.87, Y:97.48, Z:20.66 [[ 9.72780011e-01 2.29403107e-01 -3.27607132e-02 1.82868406e+02] [-2.29288417e-01 9.73331402e-01 7.26659549e-03 9.74782248e+01] [ 3.35540105e-02 4.42853235e-04 9.99436808e-01 2.06649259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.456875 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:182.90, Y:97.47, Z:20.67 [[ 9.72840743e-01 2.29145598e-01 -3.27594902e-02 1.82900555e+02] [-2.29030576e-01 9.73392065e-01 7.27210508e-03 9.74711886e+01] [ 3.35541986e-02 4.28324803e-04 9.99436808e-01 2.06660301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.486875 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:182.93, Y:97.46, Z:20.67 [[ 9.72838736e-01 2.29154399e-01 -3.27575139e-02 1.82931416e+02] [-2.29039083e-01 9.73389997e-01 7.28099641e-03 9.74642561e+01] [ 3.35543087e-02 4.19515602e-04 9.99436808e-01 2.06666361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.516875 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:182.96, Y:97.46, Z:20.67 [[ 9.72866305e-01 2.29037592e-01 -3.27556722e-02 1.82963141e+02] [-2.28921931e-01 9.73417493e-01 7.28927256e-03 9.74580390e+01] [ 3.35544617e-02 4.07004079e-04 9.99436808e-01 2.06664465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.546875 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:182.99, Y:97.46, Z:20.66 [[ 9.73899088e-01 2.24605597e-01 -3.27550346e-02 1.82986437e+02] [-2.24487332e-01 9.74449723e-01 7.29213655e-03 9.74589071e+01] [ 3.35559891e-02 2.51285186e-04 9.99436808e-01 2.06610355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.57687500000003 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:183.02, Y:97.44, Z:20.67 [[ 9.72545674e-01 2.30374401e-01 -3.29020812e-02 1.83023930e+02] [-2.30281687e-01 9.73101416e-01 6.63171115e-03 9.74445417e+01] [ 3.35448383e-02 1.12710475e-03 9.99436578e-01 2.06662895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.606875 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:183.05, Y:97.44, Z:20.67 [[ 9.72416305e-01 2.30941788e-01 -3.27478405e-02 1.83054741e+02] [-2.30826117e-01 9.72967470e-01 7.32162985e-03 9.74377931e+01] [ 3.35534538e-02 4.39384614e-04 9.99436828e-01 2.06669571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.63687500000003 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:183.08, Y:97.44, Z:20.66 [[ 9.73509261e-01 2.26290565e-01 -3.27459825e-02 1.83078790e+02] [-2.26171981e-01 9.74059807e-01 7.32993050e-03 9.74387154e+01] [ 3.35552395e-02 2.70468519e-04 9.99436828e-01 2.06628330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.666875 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:183.12, Y:97.42, Z:20.67 [[ 9.72172744e-01 2.31941911e-01 -3.29105574e-02 1.83117150e+02] [-2.31851373e-01 9.72728874e-01 6.59388102e-03 9.74241122e+01] [ 3.35424468e-02 1.21996653e-03 9.99436549e-01 2.06688944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.69687500000003 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:183.15, Y:97.42, Z:20.67 [[ 9.71891662e-01 2.33140954e-01 -3.27397800e-02 1.83147666e+02] [-2.33025432e-01 9.72442833e-01 7.35420249e-03 9.74168736e+01] [ 3.35521302e-02 4.81713305e-04 9.99436853e-01 2.06707552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.726875 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:183.18, Y:97.41, Z:20.67 [[ 9.71661790e-01 2.34097412e-01 -3.27378604e-02 1.83180033e+02] [-2.33982146e-01 9.72213015e-01 7.36273760e-03 9.74092741e+01] [ 3.35517718e-02 5.05984041e-04 9.99436853e-01 2.06724995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.75687500000004 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:183.21, Y:97.40, Z:20.67 [[ 9.71152445e-01 2.36201812e-01 -3.27358117e-02 1.83212259e+02] [-2.36087433e-01 9.71703854e-01 7.37183516e-03 9.74024769e+01] [ 3.35507553e-02 5.69338026e-04 9.99436853e-01 2.06744647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.786875 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:183.24, Y:97.40, Z:20.68 [[ 9.70891896e-01 2.37270784e-01 -3.27337855e-02 1.83244020e+02] [-2.37156710e-01 9.71443369e-01 7.38082170e-03 9.73952334e+01] [ 3.35502722e-02 5.97056867e-04 9.99436853e-01 2.06760290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81687500000004 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:183.28, Y:97.39, Z:20.68 [[ 9.70679375e-01 2.38139000e-01 -3.27317448e-02 1.83275619e+02] [-2.38025114e-01 9.71230887e-01 7.38986039e-03 9.73879797e+01] [ 3.35498955e-02 6.17792211e-04 9.99436853e-01 2.06773980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.846875 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:183.31, Y:97.38, Z:20.68 [[ 9.70437974e-01 2.39121109e-01 -3.27297028e-02 1.83307990e+02] [-2.39007476e-01 9.70989538e-01 7.39889315e-03 9.73803126e+01] [ 3.35494306e-02 6.42476789e-04 9.99436853e-01 2.06787182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87687500000004 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:183.34, Y:97.37, Z:20.68 [[ 9.70294242e-01 2.39703948e-01 -3.27276886e-02 1.83340283e+02] [-2.39590347e-01 9.70845812e-01 7.40779214e-03 9.73732775e+01] [ 3.35492164e-02 6.53500216e-04 9.99436853e-01 2.06795913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.906875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:183.37, Y:97.37, Z:20.68 [[ 9.69934555e-01 2.41155534e-01 -3.27256517e-02 1.83371011e+02] [-2.41042456e-01 9.70486232e-01 7.41677960e-03 9.73663337e+01] [ 3.35483919e-02 6.94480641e-04 9.99436853e-01 2.06797233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.936875 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:183.40, Y:97.36, Z:20.68 [[ 9.69752552e-01 2.41886634e-01 -3.27237700e-02 1.83403347e+02] [-2.41773692e-01 9.70304257e-01 7.42507275e-03 9.73586470e+01] [ 3.35480392e-02 7.11263437e-04 9.99436853e-01 2.06807816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.966875 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:183.43, Y:97.36, Z:20.68 [[ 9.71160578e-01 2.36170314e-01 -3.27217762e-02 1.83425611e+02] [-2.36053828e-01 9.71711546e-01 7.43384903e-03 9.73607004e+01] [ 3.35517822e-02 5.04639411e-04 9.99436853e-01 2.06757180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.996875 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:183.46, Y:97.35, Z:20.68 [[ 9.70975363e-01 2.36902315e-01 -3.29262435e-02 1.83456924e+02] [-2.36816695e-01 9.71532386e-01 6.53264317e-03 9.73534947e+01] [ 3.35365102e-02 1.45444859e-03 9.99436435e-01 2.06763440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.026875 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:183.48, Y:97.35, Z:20.68 [[ 9.71262622e-01 2.35723691e-01 -3.29129370e-02 1.83482865e+02] [-2.35635424e-01 9.71819175e-01 6.59080344e-03 9.73498726e+01] [ 3.35390318e-02 1.35405285e-03 9.99436491e-01 2.06757352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.056875 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:183.51, Y:97.34, Z:20.68 [[ 9.71466554e-01 2.34868936e-01 -3.30047998e-02 1.83513987e+02] [-2.34793728e-01 9.72025500e-01 6.19126413e-03 9.73425297e+01] [ 3.35356427e-02 1.73471396e-03 9.99436017e-01 2.06757112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.086875 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:183.56, Y:97.32, Z:20.68 [[ 9.69320875e-01 2.43572913e-01 -3.30042115e-02 1.83555802e+02] [-2.43502634e-01 9.69880458e-01 6.19383438e-03 9.73201830e+01] [ 3.35187901e-02 2.03279948e-03 9.99436020e-01 2.06846204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.116875 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:183.59, Y:97.31, Z:20.69 [[ 9.70029178e-01 2.40778862e-01 -3.26945584e-02 1.83587123e+02] [-2.40661508e-01 9.70579842e-01 7.53718038e-03 9.73108740e+01] [ 3.35474730e-02 5.57036852e-04 9.99436970e-01 2.06863128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.146875 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:183.61, Y:97.31, Z:20.68 [[ 9.72483767e-01 2.30665396e-01 -3.26924845e-02 1.83605774e+02] [-2.30542013e-01 9.73033111e-01 7.54616520e-03 9.73147068e+01] [ 3.35515091e-02 1.98468013e-04 9.99436970e-01 2.06793248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.176875 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:183.65, Y:97.29, Z:20.69 [[ 9.71588539e-01 2.34371000e-01 -3.29537005e-02 1.83645219e+02] [-2.34288019e-01 9.72146086e-01 6.41190432e-03 9.72940302e+01] [ 3.35385754e-02 1.49092447e-03 9.99436312e-01 2.06896163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.206875 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:183.68, Y:97.29, Z:20.69 [[ 9.72091860e-01 2.32312619e-01 -3.26842840e-02 1.83676994e+02] [-2.32189212e-01 9.72641145e-01 7.57454662e-03 9.72854490e+01] [ 3.35497422e-02 2.25783021e-04 9.99437023e-01 2.06920888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.236875 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:183.71, Y:97.28, Z:20.69 [[ 9.72586824e-01 2.30231935e-01 -3.26821981e-02 1.83709088e+02] [-2.30107051e-01 9.73135774e-01 7.58353609e-03 9.72772117e+01] [ 3.35501883e-02 1.44756933e-04 9.99437024e-01 2.06938117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.266875 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:183.74, Y:97.27, Z:20.70 [[ 9.73413501e-01 2.26711634e-01 -3.26801229e-02 1.83740719e+02] [-2.26584464e-01 9.73961927e-01 7.59246850e-03 9.72680481e+01] [ 3.35504964e-02 1.41967885e-05 9.99437024e-01 2.06958633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.296875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:183.77, Y:97.26, Z:20.70 [[ 9.73733975e-01 2.25331515e-01 -3.26780365e-02 1.83772334e+02] [-2.25203268e-01 9.74282149e-01 7.60143759e-03 9.72601048e+01] [ 3.35504711e-02 -4.25774391e-05 9.99437024e-01 2.06968952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.32687500000003 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:183.80, Y:97.25, Z:20.70 [[ 9.73990793e-01 2.24219128e-01 -3.26759628e-02 1.83804629e+02] [-2.24089956e-01 9.74538750e-01 7.61034138e-03 9.72522195e+01] [ 3.35503760e-02 -9.00473830e-05 9.99437024e-01 2.06979249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.356875 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:183.84, Y:97.24, Z:20.70 [[ 9.74107689e-01 2.23711038e-01 -3.26738819e-02 1.83836206e+02] [-2.23581281e-01 9.74655507e-01 7.61926472e-03 9.72442468e+01] [ 3.35502926e-02 -1.16715969e-04 9.99437024e-01 2.06985633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.38687500000003 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:183.87, Y:97.24, Z:20.70 [[ 9.74297932e-01 2.22881353e-01 -3.26717468e-02 1.83866839e+02] [-2.22750822e-01 9.74845567e-01 7.62840956e-03 9.72364776e+01] [ 3.35501377e-02 -1.54685195e-04 9.99437024e-01 2.06988779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.416875 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:183.90, Y:97.23, Z:20.70 [[ 9.74157630e-01 2.23494070e-01 -3.26697495e-02 1.83899208e+02] [-2.23363597e-01 9.74705279e-01 7.63695355e-03 9.72284750e+01] [ 3.35501911e-02 -1.42363815e-04 9.99437024e-01 2.06999429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.44687500000003 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:183.93, Y:97.22, Z:20.70 [[ 9.74010869e-01 2.24133118e-01 -3.26676013e-02 1.83930211e+02] [-2.24002697e-01 9.74558530e-01 7.64613176e-03 9.72213543e+01] [ 3.35502408e-02 -1.29784662e-04 9.99437024e-01 2.06998315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.476875 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:183.96, Y:97.21, Z:20.70 [[ 9.73560122e-01 2.26083278e-01 -3.26656003e-02 1.83961800e+02] [-2.25953667e-01 9.74107975e-01 7.65467069e-03 9.72141021e+01] [ 3.35504148e-02 -7.13699647e-05 9.99437024e-01 2.07008981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.50687500000004 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:183.99, Y:97.21, Z:20.70 [[ 9.73309834e-01 2.27158669e-01 -3.26635370e-02 1.83993350e+02] [-2.27029368e-01 9.73857760e-01 7.66346512e-03 9.72066803e+01] [ 3.35504615e-02 -4.33437966e-05 9.99437024e-01 2.07019490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.536875 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:184.03, Y:97.20, Z:20.70 [[ 9.73016538e-01 2.28412016e-01 -3.26614111e-02 1.84025259e+02] [-2.28283118e-01 9.73564559e-01 7.67251479e-03 9.71989038e+01] [ 3.35504869e-02 -9.43502832e-06 9.99437024e-01 2.07031272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56687500000004 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:184.06, Y:97.19, Z:20.70 [[ 9.72758281e-01 2.29509693e-01 -3.26592776e-02 1.84056495e+02] [-2.29381108e-01 9.73306376e-01 7.68158566e-03 9.71916188e+01] [ 3.35504815e-02 1.90952152e-05 9.99437024e-01 2.07043284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.596875 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:184.09, Y:97.18, Z:20.71 [[ 9.72599241e-01 2.30183012e-01 -3.26572744e-02 1.84088154e+02] [-2.30054521e-01 9.73147358e-01 7.69009241e-03 9.71841454e+01] [ 3.35504690e-02 3.35755771e-05 9.99437024e-01 2.07056054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62687500000004 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:184.11, Y:97.19, Z:20.70 [[ 9.73559591e-01 2.26087065e-01 -3.26551859e-02 1.84112863e+02] [-2.25955971e-01 9.74107091e-01 7.69895080e-03 9.71851570e+01] [ 3.35502814e-02 -1.16753158e-04 9.99437024e-01 2.07009736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.656875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:184.15, Y:97.17, Z:20.71 [[ 9.72153552e-01 2.32034969e-01 -3.28214142e-02 1.84149535e+02] [-2.31931030e-01 9.72707103e-01 6.99201634e-03 9.71706956e+01] [ 3.35480151e-02 8.14990898e-04 9.99436775e-01 2.07078335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.686875 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:184.18, Y:97.16, Z:20.71 [[ 9.72002589e-01 2.32690417e-01 -3.26517522e-02 1.84180391e+02] [-2.32562654e-01 9.72550852e-01 7.71052377e-03 9.71632020e+01] [ 3.35496544e-02 9.89290841e-05 9.99437047e-01 2.07085258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.716875 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:184.20, Y:97.17, Z:20.70 [[ 9.73308288e-01 2.27167264e-01 -3.26498120e-02 1.84204785e+02] [-2.27036114e-01 9.73855751e-01 7.71873094e-03 9.71651323e+01] [ 3.35496501e-02 -1.00018376e-04 9.99437047e-01 2.07030726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.746875 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:184.24, Y:97.15, Z:20.71 [[ 9.71923298e-01 2.32999934e-01 -3.28044615e-02 1.84240391e+02] [-2.32894140e-01 9.72476442e-01 7.06326282e-03 9.71492689e+01] [ 3.35473058e-02 7.75017150e-04 9.99436830e-01 2.07101760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.776875 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:184.27, Y:97.14, Z:20.71 [[ 9.71945568e-01 2.32929286e-01 -3.26459958e-02 1.84271100e+02] [-2.32800924e-01 9.72493671e-01 7.73234058e-03 9.71419162e+01] [ 3.35491129e-02 8.46038301e-05 9.99437067e-01 2.07110897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.806875 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:184.30, Y:97.13, Z:20.71 [[ 9.72047234e-01 2.32504922e-01 -3.26440771e-02 1.84302798e+02] [-2.32376049e-01 9.72595218e-01 7.74043242e-03 9.71347654e+01] [ 3.35491619e-02 6.16357318e-05 9.99437067e-01 2.07121229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.836875 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:184.33, Y:97.13, Z:20.71 [[ 9.72521453e-01 2.30513615e-01 -3.26419417e-02 1.84334578e+02] [-2.30383319e-01 9.73069100e-01 7.74942694e-03 9.71275375e+01] [ 3.35492133e-02 -1.63250811e-05 9.99437067e-01 2.07116272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.866875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:184.37, Y:97.12, Z:20.71 [[ 9.72791880e-01 2.29370019e-01 -3.26397336e-02 1.84365949e+02] [-2.29238767e-01 9.73339299e-01 7.75871626e-03 9.71194656e+01] [ 3.35491523e-02 -6.53238995e-05 9.99437067e-01 2.07120252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.896875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:184.40, Y:97.11, Z:20.71 [[ 9.73434656e-01 2.26626919e-01 -3.26375535e-02 1.84397042e+02] [-2.26493817e-01 9.73981628e-01 7.76787600e-03 9.71107910e+01] [ 3.35487873e-02 -1.69315614e-04 9.99437067e-01 2.07128981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.926875 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:184.43, Y:97.10, Z:20.71 [[ 9.73721268e-01 2.25392564e-01 -3.26356397e-02 1.84427809e+02] [-2.25258499e-01 9.74268004e-01 7.77590852e-03 9.71031994e+01] [ 3.35484915e-02 -2.20112290e-04 9.99437067e-01 2.07131095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.956875 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:184.46, Y:97.10, Z:20.71 [[ 9.73971397e-01 2.24309528e-01 -3.26336178e-02 1.84460136e+02] [-2.24174571e-01 9.74517914e-01 7.78438466e-03 9.70952554e+01] [ 3.35481568e-02 -2.66140730e-04 9.99437067e-01 2.07148001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.986875 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:184.49, Y:97.09, Z:20.72 [[ 9.74343454e-01 2.22688178e-01 -3.26314265e-02 1.84490685e+02] [-2.22552005e-01 9.74889668e-01 7.79355947e-03 9.70878127e+01] [ 3.35475741e-02 -3.31414258e-04 9.99437067e-01 2.07164562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.016875 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:184.51, Y:97.09, Z:20.71 [[ 9.76116643e-01 2.14782732e-01 -3.26293883e-02 1.84512697e+02] [-2.14641850e-01 9.76661663e-01 7.80208354e-03 9.70913228e+01] [ 3.35436255e-02 -6.12111314e-04 9.99437067e-01 2.07107384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.046875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:184.55, Y:97.07, Z:20.72 [[ 9.74058703e-01 2.23901064e-01 -3.28322422e-02 1.84551032e+02] [-2.23793857e-01 9.74611708e-01 6.95184183e-03 9.70725157e+01] [ 3.35552124e-02 5.76152065e-04 9.99436699e-01 2.07196127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.07687500000003 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:184.58, Y:97.06, Z:20.72 [[ 9.73782989e-01 2.25127529e-01 -3.26234090e-02 1.84581670e+02] [-2.24991745e-01 9.74329266e-01 7.82279650e-03 9.70648494e+01] [ 3.35470690e-02 -2.77708449e-04 9.99437100e-01 2.07212191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.106875 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:184.61, Y:97.06, Z:20.72 [[ 9.73574843e-01 2.26026257e-01 -3.26213967e-02 1.84612630e+02] [-2.25890696e-01 9.74121176e-01 7.83117887e-03 9.70575613e+01] [ 3.35472454e-02 -2.55368729e-04 9.99437100e-01 2.07226261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.13687500000003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:184.64, Y:97.05, Z:20.72 [[ 9.73348292e-01 2.27000168e-01 -3.26194252e-02 1.84644552e+02] [-2.26864879e-01 9.73894692e-01 7.83938208e-03 9.70502436e+01] [ 3.35474261e-02 -2.30247197e-04 9.99437100e-01 2.07231545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.166875 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:184.68, Y:97.04, Z:20.72 [[ 9.73038699e-01 2.28323894e-01 -3.26173330e-02 1.84676430e+02] [-2.28189057e-01 9.73585210e-01 7.84807767e-03 9.70424520e+01] [ 3.35476566e-02 -1.93564833e-04 9.99437100e-01 2.07239258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.19687500000003 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:184.71, Y:97.03, Z:20.73 [[ 9.72738562e-01 2.29599516e-01 -3.26152218e-02 1.84707079e+02] [-2.29465102e-01 9.73285178e-01 7.85684164e-03 9.70347876e+01] [ 3.35478390e-02 -1.58597638e-04 9.99437100e-01 2.07250368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.226875 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:184.74, Y:97.03, Z:20.73 [[ 9.72630331e-01 2.30057760e-01 -3.26139096e-02 1.84738712e+02] [-2.29923421e-01 9.73176965e-01 7.86228480e-03 9.70269566e+01] [ 3.35478852e-02 -1.48395010e-04 9.99437100e-01 2.07263145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.25687500000004 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:184.77, Y:97.02, Z:20.73 [[ 9.72504623e-01 2.30588872e-01 -3.26117985e-02 1.84770579e+02] [-2.30454538e-01 9.73051259e-01 7.87103158e-03 9.70189774e+01] [ 3.35479239e-02 -1.39077633e-04 9.99437100e-01 2.07285851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.286875 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:184.80, Y:97.01, Z:20.73 [[ 9.72368715e-01 2.31161620e-01 -3.26096295e-02 1.84801151e+02] [-2.31027307e-01 9.72915355e-01 7.88000756e-03 9.70114209e+01] [ 3.35479646e-02 -1.28557937e-04 9.99437100e-01 2.07300592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31687500000004 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:184.83, Y:97.00, Z:20.73 [[ 9.72226229e-01 2.31760443e-01 -3.26076078e-02 1.84833576e+02] [-2.31626186e-01 9.72772884e-01 7.88836453e-03 9.70038198e+01] [ 3.35480075e-02 -1.16499066e-04 9.99437100e-01 2.07314354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.346875 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:184.86, Y:97.00, Z:20.73 [[ 9.71563344e-01 2.34524101e-01 -3.26054413e-02 1.84864939e+02] [-2.34391099e-01 9.72110305e-01 7.89730939e-03 9.69971397e+01] [ 3.35481949e-02 -3.03111174e-05 9.99437100e-01 2.07320651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37687500000004 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:184.89, Y:97.00, Z:20.73 [[ 9.72580232e-01 2.30270854e-01 -3.26040966e-02 1.84887090e+02] [-2.30135274e-01 9.73126559e-01 7.90285696e-03 9.70005052e+01] [ 3.35477100e-02 -1.82809753e-04 9.99437100e-01 2.07268470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.406875 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:184.93, Y:96.98, Z:20.73 [[ 9.70380440e-01 2.39340315e-01 -3.28331334e-02 1.84925991e+02] [-2.39241747e-01 9.70935113e-01 6.95650915e-03 9.69833645e+01] [ 3.35438152e-02 1.10459578e-03 9.99436637e-01 2.07333723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.436875 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:184.96, Y:96.98, Z:20.74 [[ 9.69203390e-01 2.44094788e-01 -3.25963597e-02 1.84956890e+02] [-2.43966092e-01 9.69751341e-01 7.92985873e-03 9.69765559e+01] [ 3.35460007e-02 2.66760545e-04 9.99437139e-01 2.07360869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.466875 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:184.98, Y:96.98, Z:20.73 [[ 9.69972871e-01 2.41019165e-01 -3.25943588e-02 1.84979553e+02] [-2.40888455e-01 9.70520345e-01 7.93807483e-03 9.69782689e+01] [ 3.35467165e-02 1.51887505e-04 9.99437139e-01 2.07313608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.496875 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:185.02, Y:96.96, Z:20.74 [[ 9.67783087e-01 2.49639511e-01 -3.28026122e-02 1.85018149e+02] [-2.49542578e-01 9.68337927e-01 7.08236290e-03 9.69620815e+01] [ 3.35320511e-02 1.33145739e-03 9.99436756e-01 2.07382784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.526875 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:185.05, Y:96.96, Z:20.74 [[ 9.67251269e-01 2.51720411e-01 -3.25855465e-02 1.85049777e+02] [-2.51594685e-01 9.67799873e-01 7.96991035e-03 9.69550123e+01] [ 3.35424769e-02 4.89444410e-04 9.99437173e-01 2.07396202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.556875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:185.08, Y:96.95, Z:20.74 [[ 9.66231632e-01 2.55606652e-01 -3.25833285e-02 1.85081256e+02] [-2.55482827e-01 9.66780669e-01 7.97896773e-03 9.69479909e+01] [ 3.35404094e-02 6.14949889e-04 9.99437173e-01 2.07396184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.586875 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:185.11, Y:96.95, Z:20.73 [[ 9.67183998e-01 2.51979333e-01 -3.25811169e-02 1.85105258e+02] [-2.51853145e-01 9.67732497e-01 7.98798860e-03 9.69491918e+01] [ 3.35426136e-02 4.79802011e-04 9.99437173e-01 2.07344516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.616875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:185.14, Y:96.93, Z:20.74 [[ 9.65103624e-01 2.59810916e-01 -3.27610129e-02 1.85141862e+02] [-2.59714021e-01 9.65658332e-01 7.25351654e-03 9.69330637e+01] [ 3.35204879e-02 1.50809930e-03 9.99436893e-01 2.07404240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.646875 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:185.17, Y:96.93, Z:20.74 [[ 9.66218556e-01 2.55657130e-01 -3.25750431e-02 1.85165646e+02] [-2.55532291e-01 9.66767340e-01 8.00987287e-03 9.69341749e+01] [ 3.35402688e-02 5.84687582e-04 9.99437196e-01 2.07359435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.676875 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:185.20, Y:96.92, Z:20.74 [[ 9.64416864e-01 2.62348196e-01 -3.27648769e-02 1.85203248e+02] [-2.62253331e-01 9.64971927e-01 7.23670486e-03 9.69170027e+01] [ 3.35157229e-02 1.61349790e-03 9.99436888e-01 2.07426025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.706875 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:185.23, Y:96.91, Z:20.74 [[ 9.63918378e-01 2.64198044e-01 -3.25692069e-02 1.85234900e+02] [-2.64077375e-01 9.64468068e-01 8.03034393e-03 9.69085913e+01] [ 3.35335612e-02 8.60194560e-04 9.99437222e-01 2.07439997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.736875 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:185.27, Y:96.90, Z:20.75 [[ 9.63622786e-01 2.65274411e-01 -3.25670457e-02 1.85267157e+02] [-2.65154061e-01 9.64172545e-01 8.03909907e-03 9.69002600e+01] [ 3.35328186e-02 8.88625359e-04 9.99437222e-01 2.07457506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.766875 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:185.30, Y:96.89, Z:20.75 [[ 9.63422629e-01 2.66000703e-01 -3.25647605e-02 1.85297827e+02] [-2.65880455e-01 9.63972410e-01 8.04834530e-03 9.68926133e+01] [ 3.35323962e-02 9.04375335e-04 9.99437222e-01 2.07454331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.796875 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:185.33, Y:96.88, Z:20.74 [[ 9.63291054e-01 2.66476967e-01 -3.25633364e-02 1.85329338e+02] [-2.66356796e-01 9.63840852e-01 8.05410285e-03 9.68844814e+01] [ 3.35321068e-02 9.15020716e-04 9.99437222e-01 2.07448294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.82687500000003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:185.36, Y:96.88, Z:20.74 [[ 9.63214778e-01 2.66752780e-01 -3.25614162e-02 1.85359880e+02] [-2.66632505e-01 9.63764553e-01 8.06185854e-03 9.68762643e+01] [ 3.35320619e-02 9.16630670e-04 9.99437222e-01 2.07448852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.856875 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:185.39, Y:96.87, Z:20.75 [[ 9.63287888e-01 2.66488917e-01 -3.25592212e-02 1.85391722e+02] [-2.66368191e-01 9.63837564e-01 8.07071382e-03 9.68676717e+01] [ 3.35325562e-02 8.98319986e-04 9.99437222e-01 2.07479616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.88687500000003 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:185.41, Y:96.87, Z:20.74 [[ 9.66076726e-01 2.56194859e-01 -3.25569278e-02 1.85411947e+02] [-2.56067963e-01 9.66625011e-01 8.07995448e-03 9.68726267e+01] [ 3.35403835e-02 5.30930227e-04 9.99437222e-01 2.07406142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.916875 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:185.44, Y:96.86, Z:20.74 [[ 9.65864833e-01 2.56956410e-01 -3.28409357e-02 1.85443094e+02] [-2.56868992e-01 9.66421416e-01 6.92585661e-03 9.68648081e+01] [ 3.35178268e-02 1.74637670e-03 9.99436594e-01 2.07411073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.94687500000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:185.48, Y:96.84, Z:20.75 [[ 9.63379624e-01 2.66125295e-01 -3.28180921e-02 1.85481199e+02] [-2.66040045e-01 9.63936432e-01 7.01775005e-03 9.68416009e+01] [ 3.35021555e-02 1.97016930e-03 9.99436703e-01 2.07530967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.976875 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:185.50, Y:96.85, Z:20.75 [[ 9.65888872e-01 2.56904390e-01 -3.25395544e-02 1.85500350e+02] [-2.56776130e-01 9.66436694e-01 8.13234129e-03 9.68454917e+01] [ 3.35366536e-02 5.00442892e-04 9.99437363e-01 2.07465732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.00687500000004 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:185.53, Y:96.84, Z:20.75 [[ 9.67271831e-01 2.51611429e-01 -3.28160581e-02 1.85529272e+02] [-2.51517537e-01 9.67827239e-01 7.02601776e-03 9.68384949e+01] [ 3.35281013e-02 1.45774504e-03 9.99436712e-01 2.07468497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.036875 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:185.57, Y:96.81, Z:20.76 [[ 9.64821708e-01 2.60842419e-01 -3.28679700e-02 1.85571498e+02] [-2.60760882e-01 9.65379338e-01 6.81885673e-03 9.68121975e+01] [ 3.35087062e-02 1.99169986e-03 9.99436441e-01 2.07577278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06687500000004 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:185.59, Y:96.82, Z:20.75 [[ 9.67604258e-01 2.50368905e-01 -3.25178597e-02 1.85591598e+02] [-2.50234457e-01 9.68150491e-01 8.20632230e-03 9.68168341e+01] [ 3.35367898e-02 1.96616587e-04 9.99437464e-01 2.07509117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.096875 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:185.63, Y:96.80, Z:20.76 [[ 9.65901008e-01 2.56825575e-01 -3.28004190e-02 1.85631648e+02] [-2.56732804e-01 9.66456478e-01 7.08118295e-03 9.67984469e+01] [ 3.35188063e-02 1.58122180e-03 9.99436836e-01 2.07566125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12687500000004 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:185.66, Y:96.79, Z:20.75 [[ 9.66185408e-01 2.55790049e-01 -3.25147448e-02 1.85662283e+02] [-2.55658463e-01 9.66732284e-01 8.21233365e-03 9.67922088e+01] [ 3.35336867e-02 3.78032735e-04 9.99437516e-01 2.07542811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.156875 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:185.69, Y:96.78, Z:20.75 [[ 9.66637626e-01 2.54075999e-01 -3.25128824e-02 1.85694264e+02] [-2.53943195e-01 9.67184207e-01 8.21970052e-03 9.67845392e+01] [ 3.35343750e-02 3.10953439e-04 9.99437516e-01 2.07544344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.186875 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:185.73, Y:96.78, Z:20.76 [[ 9.67061590e-01 2.52457795e-01 -3.25106623e-02 1.85725948e+02] [-2.52323782e-01 9.67607876e-01 8.22847219e-03 9.67753464e+01] [ 3.35349148e-02 2.45773856e-04 9.99437516e-01 2.07571567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.216875 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:185.76, Y:96.77, Z:20.76 [[ 9.67900814e-01 2.49221218e-01 -3.25084426e-02 1.85757830e+02] [-2.49085084e-01 9.68446575e-01 8.23723199e-03 9.67678277e+01] [ 3.35355829e-02 1.24544631e-04 9.99437516e-01 2.07607814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.246875 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:185.79, Y:96.76, Z:20.77 [[ 9.68791316e-01 2.45737123e-01 -3.25062010e-02 1.85789089e+02] [-2.45598730e-01 9.69336508e-01 8.24606865e-03 9.67609797e+01] [ 3.35358126e-02 -5.23802396e-06 9.99437516e-01 2.07658239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.276875 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:185.82, Y:96.75, Z:20.77 [[ 9.69005281e-01 2.44892302e-01 -3.25042380e-02 1.85820103e+02] [-2.44753174e-01 9.69550287e-01 8.25379901e-03 9.67543720e+01] [ 3.35357851e-02 -4.24594194e-05 9.99437516e-01 2.07676818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.306875 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:185.85, Y:96.75, Z:20.77 [[ 9.68886756e-01 2.45361000e-01 -3.25028345e-02 1.85852777e+02] [-2.45221950e-01 9.69431781e-01 8.25932217e-03 9.67478184e+01] [ 3.35357963e-02 -3.19393883e-05 9.99437516e-01 2.07688300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.336875 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:185.88, Y:96.75, Z:20.76 [[ 9.69906752e-01 2.41297749e-01 -3.25005823e-02 1.85875667e+02] [-2.41156120e-01 9.70451113e-01 8.26817510e-03 9.67541064e+01] [ 3.35353183e-02 -1.81644534e-04 9.99437517e-01 2.07611006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.366875 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:185.91, Y:96.74, Z:20.77 [[ 9.67471030e-01 2.50856230e-01 -3.27255008e-02 1.85913929e+02] [-2.50749815e-01 9.68023771e-01 7.38296835e-03 9.67356289e+01] [ 3.35311263e-02 1.06310530e-03 9.99437108e-01 2.07704015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.396875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:185.95, Y:96.73, Z:20.77 [[ 9.66723566e-01 2.53751345e-01 -3.24931116e-02 1.85945606e+02] [-2.53615876e-01 9.67269458e-01 8.29350574e-03 9.67284719e+01] [ 3.35340827e-02 2.23241514e-04 9.99437550e-01 2.07717299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.426875 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:185.98, Y:96.72, Z:20.77 [[ 9.65340764e-01 2.58962454e-01 -3.24908841e-02 1.85977954e+02] [-2.58829639e-01 9.65887308e-01 8.30222306e-03 9.67246327e+01] [ 3.35324966e-02 3.95129433e-04 9.99437550e-01 2.07708811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.456875 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:186.01, Y:96.72, Z:20.77 [[ 9.64704304e-01 2.61323713e-01 -3.24888079e-02 1.86009804e+02] [-2.61191962e-01 9.65251106e-01 8.31033965e-03 9.67182444e+01] [ 3.35315466e-02 4.68795054e-04 9.99437550e-01 2.07714685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.486875 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:186.04, Y:96.71, Z:20.77 [[ 9.64109482e-01 2.63510015e-01 -3.24865947e-02 1.86041854e+02] [-2.63379213e-01 9.64656511e-01 8.31898242e-03 9.67110677e+01] [ 3.35305403e-02 5.35883912e-04 9.99437550e-01 2.07734677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.516875 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:186.07, Y:96.70, Z:20.78 [[ 9.63280921e-01 2.66523238e-01 -3.24843233e-02 1.86074386e+02] [-2.66393848e-01 9.63828286e-01 8.32784243e-03 9.67043661e+01] [ 3.35288732e-02 6.31572182e-04 9.99437550e-01 2.07761154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.546875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:186.10, Y:96.71, Z:20.77 [[ 9.64911255e-01 2.60559382e-01 -3.24819704e-02 1.86096022e+02] [-2.60426300e-01 9.65457734e-01 8.33700986e-03 9.67090320e+01] [ 3.35322557e-02 4.14684716e-04 9.99437550e-01 2.07676894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.57687500000003 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:186.13, Y:96.70, Z:20.77 [[ 9.64561716e-01 2.61822614e-01 -3.27049743e-02 1.86127597e+02] [-2.61719616e-01 9.65115060e-01 7.46753626e-03 9.67046503e+01] [ 3.35192331e-02 1.35663372e-03 9.99437152e-01 2.07676913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.606875 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:186.17, Y:96.69, Z:20.78 [[ 9.62456507e-01 2.69456823e-01 -3.27183856e-02 1.86165718e+02] [-2.69359987e-01 9.63011013e-01 7.41528262e-03 9.66864815e+01] [ 3.35062641e-02 1.67613691e-03 9.99437102e-01 2.07765245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.63687500000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:186.20, Y:96.68, Z:20.78 [[ 9.62447407e-01 2.69519242e-01 -3.24710224e-02 1.86197566e+02] [-2.69389983e-01 9.62994759e-01 8.37447010e-03 9.66792809e+01] [ 3.35265052e-02 6.87381129e-04 9.99437592e-01 2.07788719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.666875 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:186.23, Y:96.67, Z:20.78 [[ 9.62357797e-01 2.69839314e-01 -3.24686909e-02 1.86229608e+02] [-2.69709931e-01 9.62905120e-01 8.38350000e-03 9.66714341e+01] [ 3.35264666e-02 6.89201796e-04 9.99437592e-01 2.07808077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.69687500000003 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:186.26, Y:96.66, Z:20.78 [[ 9.62524511e-01 2.69244322e-01 -3.24663158e-02 1.86261432e+02] [-2.69114292e-01 9.63071680e-01 8.39268776e-03 9.66648480e+01] [ 3.35270728e-02 6.58981897e-04 9.99437592e-01 2.07827253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.726875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:186.29, Y:96.66, Z:20.78 [[ 9.62579678e-01 2.69047312e-01 -3.24639387e-02 1.86293179e+02] [-2.68916860e-01 9.63126747e-01 8.40187258e-03 9.66575370e+01] [ 3.35273889e-02 6.42628664e-04 9.99437592e-01 2.07837361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.75687500000004 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:186.32, Y:96.65, Z:20.78 [[ 9.62500826e-01 2.69329556e-01 -3.24615330e-02 1.86324066e+02] [-2.69198951e-01 9.63047858e-01 8.41115700e-03 9.66505272e+01] [ 3.35273830e-02 6.42865089e-04 9.99437593e-01 2.07839313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.786875 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:186.35, Y:96.66, Z:20.77 [[ 9.64573965e-01 2.61808060e-01 -3.24593018e-02 1.86346096e+02] [-2.61672900e-01 9.65119889e-01 8.41975845e-03 9.66565283e+01] [ 3.35314784e-02 3.72239856e-04 9.99437593e-01 2.07743743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81687500000004 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:186.38, Y:96.64, Z:20.78 [[ 9.62435058e-01 2.69534582e-01 -3.27088407e-02 1.86383680e+02] [-2.69436429e-01 9.62989318e-01 7.45541546e-03 9.66371456e+01] [ 3.35077565e-02 1.63760003e-03 9.99437116e-01 2.07847746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.846875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:186.41, Y:96.63, Z:20.79 [[ 9.62712363e-01 2.68573452e-01 -3.24531652e-02 1.86414314e+02] [-2.68441487e-01 9.63259028e-01 8.43874405e-03 9.66296304e+01] [ 3.35272270e-02 5.87692733e-04 9.99437632e-01 2.07862478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87687500000004 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:186.44, Y:96.63, Z:20.78 [[ 9.64306185e-01 2.62793674e-01 -3.24509846e-02 1.86439963e+02] [-2.62658151e-01 9.64851979e-01 8.44712125e-03 9.66301118e+01] [ 3.35302468e-02 3.77904343e-04 9.99437632e-01 2.07797158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.906875 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:186.48, Y:96.61, Z:20.79 [[ 9.63185450e-01 2.66855262e-01 -3.25892405e-02 1.86475298e+02] [-2.66739975e-01 9.63736026e-01 7.91571711e-03 9.66137994e+01] [ 3.35197758e-02 1.06854964e-03 9.99437483e-01 2.07891313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.936875 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:186.51, Y:96.61, Z:20.79 [[ 9.63515194e-01 2.65679774e-01 -3.24457878e-02 1.86506296e+02] [-2.65545265e-01 9.64061226e-01 8.46554743e-03 9.66059395e+01] [ 3.35288507e-02 4.59141748e-04 9.99437645e-01 2.07906438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.966875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:186.54, Y:96.60, Z:20.79 [[ 9.63680709e-01 2.65079052e-01 -3.24436179e-02 1.86538181e+02] [-2.64943922e-01 9.64226587e-01 8.47385532e-03 9.65985019e+01] [ 3.35292405e-02 4.29648491e-04 9.99437645e-01 2.07918323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.996875 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:186.57, Y:96.59, Z:20.79 [[ 9.63689898e-01 2.65045926e-01 -3.24413120e-02 1.86569937e+02] [-2.64910481e-01 9.64235698e-01 8.48267433e-03 9.65908339e+01] [ 3.35293693e-02 4.19375995e-04 9.99437645e-01 2.07930801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.026875 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:186.60, Y:96.58, Z:20.79 [[ 9.63589299e-01 2.65411717e-01 -3.24389331e-02 1.86601616e+02] [-2.65276173e-01 9.64135075e-01 8.49176169e-03 9.65829762e+01] [ 3.35293262e-02 4.22705337e-04 9.99437645e-01 2.07940013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.056875 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:186.63, Y:96.58, Z:20.79 [[ 9.63330434e-01 2.66350040e-01 -3.24365701e-02 1.86633448e+02] [-2.66214725e-01 9.63876267e-01 8.50077827e-03 9.65757971e+01] [ 3.35290227e-02 4.46034146e-04 9.99437645e-01 2.07949041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.086875 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:186.67, Y:96.57, Z:20.80 [[ 9.63005947e-01 2.67521155e-01 -3.24342122e-02 1.86665712e+02] [-2.67386201e-01 9.63551869e-01 8.50976499e-03 9.65678988e+01] [ 3.35285880e-02 4.77506496e-04 9.99437645e-01 2.07968588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.116875 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:186.70, Y:96.56, Z:20.80 [[ 9.62665099e-01 2.68745392e-01 -3.24317943e-02 1.86696302e+02] [-2.68610822e-01 9.63211116e-01 8.51897012e-03 9.65605576e+01] [ 3.35280987e-02 5.10615719e-04 9.99437645e-01 2.07975118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.146875 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:186.73, Y:96.55, Z:20.80 [[ 9.61727915e-01 2.72080395e-01 -3.24295432e-02 1.86728589e+02] [-2.71947430e-01 9.62274325e-01 8.52753106e-03 9.65535235e+01] [ 3.35262908e-02 6.17966241e-04 9.99437645e-01 2.07998374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.176875 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:186.76, Y:96.55, Z:20.80 [[ 9.61279803e-01 2.73659678e-01 -3.24271601e-02 1.86759466e+02] [-2.73527305e-01 9.61826357e-01 8.53658325e-03 9.65466210e+01] [ 3.35254159e-02 6.63668659e-04 9.99437645e-01 2.08001307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.206875 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:186.78, Y:96.55, Z:20.79 [[ 9.62291118e-01 2.70082174e-01 -3.24256798e-02 1.86782887e+02] [-2.69947579e-01 9.62837128e-01 8.54220267e-03 9.65506274e+01] [ 3.35277450e-02 5.33148006e-04 9.99437645e-01 2.07913887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.236875 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:186.81, Y:96.54, Z:20.79 [[ 9.61934166e-01 2.71324524e-01 -3.26444900e-02 1.86813007e+02] [-2.71218771e-01 9.62486850e-01 7.70987497e-03 9.65438348e+01] [ 3.35117705e-02 1.43740629e-03 9.99437289e-01 2.07906205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.266875 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:186.84, Y:96.54, Z:20.79 [[ 9.61392294e-01 2.73238089e-01 -3.26466607e-02 1.86842360e+02] [-2.73133714e-01 9.61945247e-01 7.70167440e-03 9.65365223e+01] [ 3.35086909e-02 1.51257327e-03 9.99437282e-01 2.07916247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.296875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:186.87, Y:96.53, Z:20.79 [[ 9.61149715e-01 2.74088397e-01 -3.26615232e-02 1.86872951e+02] [-2.73986414e-01 9.61703171e-01 7.64558360e-03 9.65299453e+01] [ 3.35062562e-02 1.60026313e-03 9.99437227e-01 2.07896363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.32687500000003 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:186.90, Y:96.52, Z:20.79 [[ 9.60866628e-01 2.75079034e-01 -3.26626529e-02 1.86903836e+02] [-2.74977767e-01 9.61420219e-01 7.64131582e-03 9.65228617e+01] [ 3.35045006e-02 1.63921797e-03 9.99437222e-01 2.07896566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.356875 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:186.93, Y:96.51, Z:20.79 [[ 9.60244191e-01 2.77247485e-01 -3.26332022e-02 1.86932420e+02] [-2.77143722e-01 9.60797206e-01 7.75160059e-03 9.65148166e+01] [ 3.35030012e-02 1.60065766e-03 9.99437335e-01 2.07910130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.38687500000003 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:186.96, Y:96.51, Z:20.79 [[ 9.60324402e-01 2.76967422e-01 -3.26510212e-02 1.86963032e+02] [-2.76865761e-01 9.60877876e-01 7.68494944e-03 9.65057247e+01] [ 3.35021245e-02 1.65990537e-03 9.99437268e-01 2.07926774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.416875 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:187.00, Y:96.49, Z:20.80 [[ 9.58493199e-01 2.83242201e-01 -3.26288661e-02 1.86999768e+02] [-2.83141344e-01 9.59046735e-01 7.76782504e-03 9.64861610e+01] [ 3.34927834e-02 1.79317354e-03 9.99437351e-01 2.08046906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.44687500000003 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:187.03, Y:96.48, Z:20.81 [[ 9.59717635e-01 2.79094319e-01 -3.23793620e-02 1.87030813e+02] [-2.78959629e-01 9.60263449e-01 8.69682005e-03 9.64761088e+01] [ 3.35199509e-02 6.86043267e-04 9.99437813e-01 2.08079858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.476875 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:187.05, Y:96.48, Z:20.80 [[ 9.62644983e-01 2.68824052e-01 -3.23769199e-02 1.87052659e+02] [-2.68683233e-01 9.63189248e-01 8.70590218e-03 9.64786885e+01] [ 3.35254571e-02 3.18442468e-04 9.99437813e-01 2.07992848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.50687500000004 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:187.09, Y:96.46, Z:20.81 [[ 9.61108910e-01 2.74235105e-01 -3.26308093e-02 1.87089762e+02] [-2.74129323e-01 9.61661529e-01 7.76001294e-03 9.64574519e+01] [ 3.35078620e-02 1.48684408e-03 9.99437348e-01 2.08132244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.536875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:187.12, Y:96.45, Z:20.82 [[ 9.61794473e-01 2.71852154e-01 -3.23697213e-02 1.87120442e+02] [-2.71712293e-01 9.62338945e-01 8.72834237e-03 9.64479188e+01] [ 3.35234622e-02 4.00379760e-04 9.99437851e-01 2.08158506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56687500000004 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:187.15, Y:96.44, Z:20.82 [[ 9.63246944e-01 2.66660220e-01 -3.23674420e-02 1.87151168e+02] [-2.66517140e-01 9.63790580e-01 8.73678678e-03 9.64380214e+01] [ 3.35251892e-02 2.10794906e-04 9.99437851e-01 2.08205194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.596875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:187.18, Y:96.43, Z:20.82 [[ 9.63874878e-01 2.64381740e-01 -3.23653478e-02 1.87182833e+02] [-2.64237114e-01 9.64418105e-01 8.74453771e-03 9.64286265e+01] [ 3.35256235e-02 1.23485893e-04 9.99437851e-01 2.08238622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62687500000004 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:187.21, Y:96.42, Z:20.83 [[ 9.64392149e-01 2.62488901e-01 -3.23629496e-02 1.87213373e+02] [-2.62342912e-01 9.64935011e-01 8.75340444e-03 9.64195169e+01] [ 3.35258146e-02 4.84759073e-05 9.99437851e-01 2.08257973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.656875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:187.24, Y:96.41, Z:20.83 [[ 9.65136885e-01 2.59737518e-01 -3.23607181e-02 1.87244796e+02] [-2.59589705e-01 9.65679253e-01 8.76164624e-03 9.64097815e+01] [ 3.35258023e-02 -5.56786950e-05 9.99437851e-01 2.08313573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.686875 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:187.28, Y:96.40, Z:20.83 [[ 9.65252828e-01 2.59306609e-01 -3.23583225e-02 1.87275918e+02] [-2.59158258e-01 9.65795049e-01 8.77048465e-03 9.64010026e+01] [ 3.35257523e-02 -7.98086048e-05 9.99437851e-01 2.08344786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.716875 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:187.31, Y:96.39, Z:20.84 [[ 9.65248987e-01 2.59321212e-01 -3.23558579e-02 1.87306212e+02] [-2.59172564e-01 9.65791127e-01 8.77956755e-03 9.63924554e+01] [ 3.35257286e-02 -8.87180163e-05 9.99437851e-01 2.08388192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.746875 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:187.34, Y:96.38, Z:20.84 [[ 9.64974561e-01 2.60340786e-01 -3.23538590e-02 1.87337151e+02] [-2.60192464e-01 9.65516790e-01 8.78692777e-03 9.63840347e+01] [ 3.35257898e-02 -6.09314562e-05 9.99437851e-01 2.08408018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.776875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:187.37, Y:96.38, Z:20.84 [[ 9.64661333e-01 2.61499311e-01 -3.23515654e-02 1.87368190e+02] [-2.61351358e-01 9.65203662e-01 8.79536411e-03 9.63760288e+01] [ 3.35258311e-02 -2.94221060e-05 9.99437851e-01 2.08441965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.806875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:187.40, Y:96.37, Z:20.85 [[ 9.64590107e-01 2.61762180e-01 -3.23494604e-02 1.87400367e+02] [-2.61614115e-01 9.65132406e-01 8.80309946e-03 9.63671839e+01] [ 3.35258311e-02 -2.83071808e-05 9.99437851e-01 2.08453196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.836875 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:187.43, Y:96.36, Z:20.85 [[ 9.63726619e-01 2.64923896e-01 -3.23470601e-02 1.87431017e+02] [-2.64777314e-01 9.64269321e-01 8.81191057e-03 9.63599894e+01] [ 3.35257634e-02 7.24949320e-05 9.99437851e-01 2.08505197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.866875 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:187.46, Y:96.35, Z:20.85 [[ 9.63178386e-01 2.66910460e-01 -3.23450573e-02 1.87461778e+02] [-2.66764751e-01 9.63721323e-01 8.81925593e-03 9.63518459e+01] [ 3.35255731e-02 1.34004484e-04 9.99437851e-01 2.08534289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.896875 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:187.49, Y:96.35, Z:20.86 [[ 9.62177764e-01 2.70495652e-01 -3.23427559e-02 1.87492653e+02] [-2.70351682e-01 9.62721164e-01 8.82768802e-03 9.63451001e+01] [ 3.35249068e-02 2.50113347e-04 9.99437851e-01 2.08584408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.926875 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:187.53, Y:96.34, Z:20.86 [[ 9.61678771e-01 2.72264545e-01 -3.23413021e-02 1.87525030e+02] [-2.72121396e-01 9.62222388e-01 8.83301106e-03 9.63377631e+01] [ 3.35244406e-02 3.06241045e-04 9.99437851e-01 2.08601120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.956875 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:187.56, Y:96.33, Z:20.86 [[ 9.61144422e-01 2.74145208e-01 -3.23389010e-02 1.87556691e+02] [-2.74002827e-01 9.61688241e-01 8.84179293e-03 9.63306285e+01] [ 3.35238760e-02 3.62710354e-04 9.99437851e-01 2.08608552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.986875 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:187.59, Y:96.33, Z:20.86 [[ 9.60191084e-01 2.77466093e-01 -3.23365105e-02 1.87588008e+02] [-2.77325299e-01 9.60735316e-01 8.85052680e-03 9.63255261e+01] [ 3.35225488e-02 4.69535546e-04 9.99437851e-01 2.08602966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.016875 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:187.62, Y:96.32, Z:20.86 [[ 9.59636656e-01 2.79377849e-01 -3.23342822e-02 1.87619403e+02] [-2.79237865e-01 9.60181097e-01 8.85866011e-03 9.63185030e+01] [ 3.35216800e-02 5.27860985e-04 9.99437851e-01 2.08600263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.046875 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:187.65, Y:96.31, Z:20.86 [[ 9.59037332e-01 2.81428473e-01 -3.23328085e-02 1.87651807e+02] [-2.81289472e-01 9.59582024e-01 8.86403580e-03 9.63112703e+01] [ 3.35205739e-02 5.93937398e-04 9.99437851e-01 2.08598985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.07687500000003 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:187.68, Y:96.31, Z:20.86 [[ 9.58010666e-01 2.84904037e-01 -3.23303758e-02 1.87684407e+02] [-2.84766713e-01 9.58555784e-01 8.87289998e-03 9.63053217e+01] [ 3.35183937e-02 7.06282031e-04 9.99437851e-01 2.08580957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.106875 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:187.71, Y:96.31, Z:20.85 [[ 9.59477597e-01 2.79924363e-01 -3.23278818e-02 1.87708482e+02] [-2.79783904e-01 9.60021915e-01 8.88197725e-03 9.63088453e+01] [ 3.35217569e-02 5.22762780e-04 9.99437851e-01 2.08546426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.13687500000003 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:187.75, Y:96.29, Z:20.86 [[ 9.57008078e-01 2.88229361e-01 -3.25480296e-02 1.87745033e+02] [-2.88120787e-01 9.57559987e-01 8.07982097e-03 9.62915663e+01] [ 3.34955325e-02 1.64530998e-03 9.99437513e-01 2.08568250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.166875 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:187.77, Y:96.30, Z:20.85 [[ 9.58965341e-01 2.81675184e-01 -3.23197307e-02 1.87767020e+02] [-2.81534835e-01 9.59509657e-01 8.90815992e-03 9.62961380e+01] [ 3.35203013e-02 5.56513435e-04 9.99437882e-01 2.08516526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.19687500000003 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:187.81, Y:96.28, Z:20.85 [[ 9.56260485e-01 2.90694402e-01 -3.25983052e-02 1.87805014e+02] [-2.90593512e-01 9.56814020e-01 7.89570125e-03 9.62779052e+01] [ 3.34857515e-02 1.92250889e-03 9.99437346e-01 2.08537775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.226875 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:187.84, Y:96.27, Z:20.85 [[ 9.56215333e-01 2.90874934e-01 -3.23111384e-02 1.87836912e+02] [-2.90738936e-01 9.56760706e-01 8.93431837e-03 9.62697153e+01] [ 3.35127969e-02 8.50973811e-04 9.99437926e-01 2.08542532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.25687500000004 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:187.87, Y:96.26, Z:20.85 [[ 9.56442099e-01 2.90128694e-01 -3.23086960e-02 1.87868354e+02] [-2.89991973e-01 9.56987291e-01 8.94314196e-03 9.62626011e+01] [ 3.35136736e-02 8.15665040e-04 9.99437926e-01 2.08533094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.286875 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:187.90, Y:96.26, Z:20.85 [[ 9.56690970e-01 2.89307239e-01 -3.23064974e-02 1.87898095e+02] [-2.89169783e-01 9.57235977e-01 8.95107745e-03 9.62550824e+01] [ 3.35145531e-02 7.78647858e-04 9.99437926e-01 2.08528531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31687500000004 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:187.93, Y:96.25, Z:20.85 [[ 9.56844707e-01 2.88798505e-01 -3.23052668e-02 1.87929885e+02] [-2.88660609e-01 9.57389603e-01 8.95551638e-03 9.62469922e+01] [ 3.35150663e-02 7.56219565e-04 9.99437926e-01 2.08538723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.346875 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:187.96, Y:96.24, Z:20.85 [[ 9.57147366e-01 2.87794114e-01 -3.23027537e-02 1.87960389e+02] [-2.87655341e-01 9.57692039e-01 8.96457224e-03 9.62396793e+01] [ 3.35160412e-02 7.11642911e-04 9.99437926e-01 2.08533407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37687500000004 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:187.99, Y:96.23, Z:20.85 [[ 9.57093846e-01 2.87972277e-01 -3.23007312e-02 1.87992260e+02] [-2.87833359e-01 9.57638483e-01 8.97185377e-03 9.62309661e+01] [ 3.35160683e-02 7.10321911e-04 9.99437926e-01 2.08549996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.406875 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:188.02, Y:96.23, Z:20.85 [[ 9.59195036e-01 2.80894470e-01 -3.22982999e-02 1.88015014e+02] [-2.80751239e-01 9.59738553e-01 8.98059779e-03 9.62335026e+01] [ 3.35205239e-02 4.53642873e-04 9.99437926e-01 2.08510124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.436875 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:188.05, Y:96.22, Z:20.85 [[ 9.58773973e-01 2.82299105e-01 -3.25527783e-02 1.88047925e+02] [-2.82187645e-01 9.59325336e-01 8.06427095e-03 9.62227656e+01] [ 3.35052415e-02 1.45417875e-03 9.99437484e-01 2.08533177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.466875 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:188.08, Y:96.21, Z:20.86 [[ 9.58737467e-01 2.82430597e-01 -3.24873479e-02 1.88078831e+02] [-2.82311253e-01 9.59286965e-01 8.29907197e-03 9.62143780e+01] [ 3.35086012e-02 1.21491267e-03 9.99437691e-01 2.08555074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.496875 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:188.11, Y:96.21, Z:20.86 [[ 9.58716695e-01 2.82500029e-01 -3.24966507e-02 1.88109680e+02] [-2.82381853e-01 9.59266473e-01 8.26576446e-03 9.62054099e+01] [ 3.35080262e-02 1.25193805e-03 9.99437664e-01 2.08575102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.526875 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:188.14, Y:96.19, Z:20.86 [[ 9.58822276e-01 2.82141015e-01 -3.25006193e-02 1.88141299e+02] [-2.82023114e-01 9.59372125e-01 8.25157502e-03 9.61948946e+01] [ 3.35082960e-02 1.25413191e-03 9.99437653e-01 2.08613144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.556875 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:188.17, Y:96.19, Z:20.86 [[ 9.59136521e-01 2.81074975e-01 -3.24652625e-02 1.88169482e+02] [-2.80952182e-01 9.59685198e-01 8.37804469e-03 9.61868141e+01] [ 3.35112906e-02 1.08549769e-03 9.99437750e-01 2.08643181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.586875 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:188.21, Y:96.17, Z:20.87 [[ 9.57437308e-01 2.86805154e-01 -3.25054563e-02 1.88206047e+02] [-2.86690512e-01 9.57987862e-01 8.23443914e-03 9.61673294e+01] [ 3.35015121e-02 1.43504664e-03 9.99437637e-01 2.08732849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.616875 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:188.23, Y:96.17, Z:20.87 [[ 9.58906880e-01 2.81879621e-01 -3.22719025e-02 1.88230258e+02] [-2.81734076e-01 9.59449697e-01 9.06586992e-03 9.61661116e+01] [ 3.35187510e-02 3.98769599e-04 9.99438009e-01 2.08716764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.646875 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:188.26, Y:96.16, Z:20.87 [[ 9.59243577e-01 2.80710936e-01 -3.24519678e-02 1.88260552e+02] [-2.80586366e-01 9.59791811e-01 8.42440224e-03 9.61573661e+01] [ 3.35119548e-02 1.02452598e-03 9.99437792e-01 2.08740852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.676875 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:188.30, Y:96.14, Z:20.88 [[ 9.57743133e-01 2.85785613e-01 -3.24757410e-02 1.88296180e+02] [-2.85666828e-01 9.58292710e-01 8.33936721e-03 9.61384445e+01] [ 3.35045370e-02 1.29027023e-03 9.99437733e-01 2.08815485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.706875 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:188.32, Y:96.14, Z:20.88 [[ 9.60021482e-01 2.78059438e-01 -3.22754289e-02 1.88317995e+02] [-2.77912149e-01 9.60563830e-01 9.05350691e-03 9.61385442e+01] [ 3.35200226e-02 2.78172692e-04 9.99438007e-01 2.08799850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.736875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:188.35, Y:96.13, Z:20.88 [[ 9.59881925e-01 2.78513133e-01 -3.25134666e-02 1.88349210e+02] [-2.78394745e-01 9.60431701e-01 8.20454854e-03 9.61285941e+01] [ 3.35120385e-02 1.17618039e-03 9.99437622e-01 2.08814134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.766875 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:188.38, Y:96.11, Z:20.89 [[ 9.58121386e-01 2.84511948e-01 -3.25017253e-02 1.88384450e+02] [-2.84395583e-01 9.58671555e-01 8.24635392e-03 9.61086112e+01] [ 3.35046658e-02 1.34233909e-03 9.99437660e-01 2.08861833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.796875 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:188.42, Y:96.10, Z:20.89 [[ 9.58145417e-01 2.84458322e-01 -3.22618034e-02 1.88415747e+02] [-2.84313181e-01 9.58688299e-01 9.09724386e-03 9.60992105e+01] [ 3.35168002e-02 4.55973436e-04 9.99438050e-01 2.08871176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.82687500000003 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:188.44, Y:96.10, Z:20.88 [[ 9.60090536e-01 2.77822789e-01 -3.22592694e-02 1.88438441e+02] [-2.77673595e-01 9.60632319e-01 9.10622088e-03 9.61011854e+01] [ 3.35192124e-02 2.14750799e-04 9.99438050e-01 2.08819027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.856875 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:188.47, Y:96.09, Z:20.88 [[ 9.59544760e-01 2.79680012e-01 -3.24491179e-02 1.88468874e+02] [-2.79554390e-01 9.60092777e-01 8.43811500e-03 9.60908815e+01] [ 3.35141358e-02 9.74544327e-04 9.99437768e-01 2.08814716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.88687500000003 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:188.50, Y:96.07, Z:20.89 [[ 9.58018833e-01 2.84864941e-01 -3.24327226e-02 1.88503298e+02] [-2.84740334e-01 9.58567037e-01 8.49574183e-03 9.60729250e+01] [ 3.35090778e-02 1.09582361e-03 9.99437812e-01 2.08851246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.916875 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:188.53, Y:96.06, Z:20.89 [[ 9.58158271e-01 2.84418425e-01 -3.22317761e-02 1.88534033e+02] [-2.84269810e-01 9.58700182e-01 9.19979693e-03 9.60632123e+01] [ 3.35172014e-02 3.47659341e-04 9.99438080e-01 2.08854922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.94687500000003 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:188.56, Y:96.06, Z:20.88 [[ 9.60097333e-01 2.77802761e-01 -3.22294450e-02 1.88557384e+02] [-2.77650138e-01 9.60638129e-01 9.20795611e-03 9.60630196e+01] [ 3.35188294e-02 1.07975753e-04 9.99438080e-01 2.08801122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.976875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:188.59, Y:96.04, Z:20.88 [[ 9.58224033e-01 2.84172387e-01 -3.24462130e-02 1.88593469e+02] [-2.84048999e-01 9.58772547e-01 8.44799821e-03 9.60449886e+01] [ 3.35092261e-02 1.12123942e-03 9.99437779e-01 2.08839618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.00687500000004 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:188.63, Y:96.04, Z:20.88 [[ 9.58068369e-01 2.84722066e-01 -3.22233676e-02 1.88625162e+02] [-2.84572730e-01 9.58610054e-01 9.22633524e-03 9.60352904e+01] [ 3.35165854e-02 3.30431727e-04 9.99438107e-01 2.08838557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.036875 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:188.65, Y:96.03, Z:20.88 [[ 9.57711697e-01 2.85919789e-01 -3.22207951e-02 1.88654956e+02] [-2.85770829e-01 9.58253485e-01 9.23531028e-03 9.60265748e+01] [ 3.35162472e-02 3.62998641e-04 9.99438107e-01 2.08808414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06687500000004 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:188.68, Y:96.03, Z:20.88 [[ 9.59089435e-01 2.81263951e-01 -3.22187225e-02 1.88680059e+02] [-2.81112118e-01 9.59630425e-01 9.24253506e-03 9.60260758e+01] [ 3.35176583e-02 1.92655611e-04 9.99438107e-01 2.08760708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.096875 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:188.72, Y:96.01, Z:20.88 [[ 9.56997641e-01 2.88278484e-01 -3.24196071e-02 1.88715287e+02] [-2.88154286e-01 9.57545901e-01 8.54140826e-03 9.60087271e+01] [ 3.35055661e-02 1.16774117e-03 9.99437849e-01 2.08810267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12687500000004 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:188.74, Y:96.01, Z:20.88 [[ 9.58778747e-01 2.82321931e-01 -3.22124521e-02 1.88736977e+02] [-2.82170043e-01 9.59319698e-01 9.26191636e-03 9.60100878e+01] [ 3.35168820e-02 2.09260461e-04 9.99438130e-01 2.08754811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.156875 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:188.77, Y:95.99, Z:20.88 [[ 9.56662802e-01 2.89381334e-01 -3.24765618e-02 1.88774265e+02] [-2.89264532e-01 9.57212852e-01 8.34185780e-03 9.59909346e+01] [ 3.35009603e-02 1.41397240e-03 9.99437685e-01 2.08844334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.186875 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:188.80, Y:95.98, Z:20.89 [[ 9.56959912e-01 2.88427731e-01 -3.22051198e-02 1.88804622e+02] [-2.88278566e-01 9.57501584e-01 9.28356138e-03 9.59815559e+01] [ 3.35140898e-02 4.00049673e-04 9.99438165e-01 2.08875191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.216875 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:188.83, Y:95.97, Z:20.89 [[ 9.57189944e-01 2.87663602e-01 -3.22034818e-02 1.88834804e+02] [-2.87513813e-01 9.57731443e-01 9.28923997e-03 9.59719926e+01] [ 3.35144633e-02 3.67378764e-04 9.99438165e-01 2.08894250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.246875 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:188.86, Y:95.97, Z:20.89 [[ 9.59558272e-01 2.79662318e-01 -3.22011066e-02 1.88857321e+02] [-2.79507738e-01 9.60098423e-01 9.29746618e-03 9.59736438e+01] [ 3.35163826e-02 7.89978783e-05 9.99438165e-01 2.08857831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.276875 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:188.89, Y:95.95, Z:20.90 [[ 9.58170420e-01 2.84350949e-01 -3.24651319e-02 1.88893947e+02] [-2.84229912e-01 9.58719514e-01 8.38159104e-03 9.59531114e+01] [ 3.35082688e-02 1.19656897e-03 9.99437724e-01 2.08972832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.306875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:188.93, Y:95.94, Z:20.90 [[ 9.58408771e-01 2.83577516e-01 -3.21934697e-02 1.88925075e+02] [-2.83424384e-01 9.58949298e-01 9.32003065e-03 9.59433647e+01] [ 3.35148563e-02 1.92015200e-04 9.99438201e-01 2.09000561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.336875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:188.96, Y:95.93, Z:20.90 [[ 9.58955089e-01 2.81724838e-01 -3.21908895e-02 1.88955596e+02] [-2.81570363e-01 9.59495233e-01 9.32893385e-03 9.59342054e+01] [ 3.35151974e-02 1.17971867e-04 9.99438201e-01 2.09040586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.366875 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:188.99, Y:95.93, Z:20.91 [[ 9.59151170e-01 2.81056805e-01 -3.21886002e-02 1.88986891e+02] [-2.80901688e-01 9.59691130e-01 9.33682630e-03 9.59250933e+01] [ 3.35152927e-02 8.64042679e-05 9.99438201e-01 2.09061961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.396875 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:189.02, Y:95.92, Z:20.91 [[ 9.59269309e-01 2.80653629e-01 -3.21859314e-02 1.89018084e+02] [-2.80497978e-01 9.59809115e-01 9.34601705e-03 9.59158591e+01] [ 3.35153439e-02 6.27413572e-05 9.99438201e-01 2.09075119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.426875 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:189.05, Y:95.91, Z:20.91 [[ 9.59679695e-01 2.79247416e-01 -3.21832768e-02 1.89048071e+02] [-2.79090667e-01 9.60219184e-01 9.35514938e-03 9.59066594e+01] [ 3.35154011e-02 4.10528864e-06 9.99438201e-01 2.09096638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.456875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:189.08, Y:95.90, Z:20.91 [[ 9.59778494e-01 2.78907921e-01 -3.21809694e-02 1.89079397e+02] [-2.78750716e-01 9.60317849e-01 9.36307988e-03 9.58971249e+01] [ 3.35153965e-02 -1.60144445e-05 9.99438201e-01 2.09108511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.486875 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:189.11, Y:95.89, Z:20.91 [[ 9.59900382e-01 2.78488445e-01 -3.21783041e-02 1.89109541e+02] [-2.78330697e-01 9.60439579e-01 9.37223104e-03 9.58880259e+01] [ 3.35153748e-02 -4.01983422e-05 9.99438201e-01 2.09103938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.516875 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:189.14, Y:95.88, Z:20.91 [[ 9.59821790e-01 2.78759384e-01 -3.21766459e-02 1.89141120e+02] [-2.78601598e-01 9.60360976e-01 9.37792022e-03 9.58785968e+01] [ 3.35153784e-02 -3.66672149e-05 9.99438201e-01 2.09109553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.546875 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:189.17, Y:95.87, Z:20.91 [[ 9.59701997e-01 2.79171827e-01 -3.21740243e-02 1.89172954e+02] [-2.79013971e-01 9.60241162e-01 9.38690613e-03 9.58691115e+01] [ 3.35153822e-02 -3.16302688e-05 9.99438201e-01 2.09110836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.57687500000003 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:189.20, Y:95.86, Z:20.91 [[ 9.59149108e-01 2.81065811e-01 -3.21714036e-02 1.89204100e+02] [-2.80908719e-01 9.59688496e-01 9.39587934e-03 9.58600600e+01] [ 3.35153864e-02 2.51784805e-05 9.99438201e-01 2.09102729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.606875 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:189.24, Y:95.85, Z:20.91 [[ 9.58745583e-01 2.82439490e-01 -3.21689615e-02 1.89235671e+02] [-2.82282890e-01 9.59285114e-01 9.40423286e-03 9.58506000e+01] [ 3.35153327e-02 6.44807191e-05 9.99438201e-01 2.09107877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.63687500000003 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:189.27, Y:95.84, Z:20.91 [[ 9.58239379e-01 2.84152456e-01 -3.21663568e-02 1.89267209e+02] [-2.83996522e-01 9.58779103e-01 9.41313358e-03 9.58409444e+01] [ 3.35151958e-02 1.15098196e-04 9.99438201e-01 2.09114886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.666875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:189.30, Y:95.83, Z:20.91 [[ 9.57429418e-01 2.86870017e-01 -3.21636982e-02 1.89298169e+02] [-2.86715310e-01 9.57969495e-01 9.42220894e-03 9.58325739e+01] [ 3.35147910e-02 2.00724684e-04 9.99438201e-01 2.09110662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.69687500000003 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:189.33, Y:95.82, Z:20.91 [[ 9.56845679e-01 2.88811363e-01 -3.21612214e-02 1.89329647e+02] [-2.88657467e-01 9.57385988e-01 9.43065563e-03 9.58237977e+01] [ 3.35143832e-02 2.59894635e-04 9.99438201e-01 2.09113816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.726875 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:189.36, Y:95.81, Z:20.91 [[ 9.56764451e-01 2.89080630e-01 -3.21585764e-02 1.89361646e+02] [-2.88926584e-01 9.57304717e-01 9.43966666e-03 9.58143228e+01] [ 3.35143816e-02 2.59930112e-04 9.99438202e-01 2.09125050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.75687500000004 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:189.39, Y:95.81, Z:20.91 [[ 9.55503106e-01 2.93223143e-01 -3.21559188e-02 1.89393437e+02] [-2.93071134e-01 9.56043949e-01 9.44871100e-03 9.58057961e+01] [ 3.35130523e-02 3.95698880e-04 9.99438202e-01 2.09109368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.786875 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:189.43, Y:95.80, Z:20.91 [[ 9.54761154e-01 2.95630354e-01 -3.21532551e-02 1.89425286e+02] [-2.95479405e-01 9.55302294e-01 9.45776675e-03 9.57967701e+01] [ 3.35120812e-02 4.70716358e-04 9.99438202e-01 2.09107517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81687500000004 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:189.46, Y:95.79, Z:20.91 [[ 9.53886937e-01 2.98439360e-01 -3.21505940e-02 1.89455555e+02] [-2.98289699e-01 9.54428434e-01 9.46680414e-03 9.57879199e+01] [ 3.35107080e-02 5.59930205e-04 9.99438202e-01 2.09107886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.846875 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:189.49, Y:95.78, Z:20.91 [[ 9.53092085e-01 3.00968396e-01 -3.21481198e-02 1.89486962e+02] [-3.00819889e-01 9.53633900e-01 9.47519857e-03 9.57786584e+01] [ 3.35092722e-02 6.40057076e-04 9.99438202e-01 2.09111467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87687500000004 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:189.52, Y:95.77, Z:20.91 [[ 9.51372703e-01 3.06360327e-01 -3.21454408e-02 1.89518287e+02] [-3.06214584e-01 9.51915268e-01 9.48427876e-03 9.57699223e+01] [ 3.35053426e-02 8.20318857e-04 9.99438202e-01 2.09106201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.906875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:189.55, Y:95.76, Z:20.91 [[ 9.50510777e-01 3.09024410e-01 -3.21430743e-02 1.89548245e+02] [-3.08879916e-01 9.51053675e-01 9.49229220e-03 9.57616077e+01] [ 3.35031390e-02 9.05824076e-04 9.99438202e-01 2.09104653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.936875 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:189.58, Y:95.75, Z:20.91 [[ 9.49684538e-01 3.11554467e-01 -3.21417521e-02 1.89580102e+02] [-3.11411268e-01 9.50227780e-01 9.49676734e-03 9.57526736e+01] [ 3.35007460e-02 9.90370679e-04 9.99438202e-01 2.09113844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.966875 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:189.61, Y:95.74, Z:20.91 [[ 9.48286515e-01 3.15784358e-01 -3.21391478e-02 1.89611331e+02] [-3.15643284e-01 9.48830312e-01 9.50557275e-03 9.57440305e+01] [ 3.34963088e-02 1.13049969e-03 9.99438202e-01 2.09138957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.996875 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:189.64, Y:95.73, Z:20.92 [[ 9.47710445e-01 3.17509303e-01 -3.21364975e-02 1.89641763e+02] [-3.17368916e-01 9.48254420e-01 9.51452431e-03 9.57348875e+01] [ 3.34945258e-02 1.18211132e-03 9.99438202e-01 2.09164435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.026875 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:189.67, Y:95.73, Z:20.92 [[ 9.47084943e-01 3.19370499e-01 -3.21340229e-02 1.89671164e+02] [-3.19230898e-01 9.47629120e-01 9.52287455e-03 9.57256713e+01] [ 3.34924611e-02 1.23920190e-03 9.99438202e-01 2.09204966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.056875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:189.70, Y:95.72, Z:20.92 [[ 9.46962416e-01 3.19733834e-01 -3.21319039e-02 1.89702166e+02] [-3.19594199e-01 9.47506584e-01 9.53001903e-03 9.57162966e+01] [ 3.34922601e-02 1.24460027e-03 9.99438202e-01 2.09233966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.086875 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:189.73, Y:95.71, Z:20.93 [[ 9.46794040e-01 3.20232347e-01 -3.21292587e-02 1.89733154e+02] [-3.20092697e-01 9.47338205e-01 9.53892870e-03 9.57065384e+01] [ 3.34919478e-02 1.25294022e-03 9.99438202e-01 2.09257693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.116875 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:189.76, Y:95.70, Z:20.93 [[ 9.46908463e-01 3.19894114e-01 -3.21266139e-02 1.89764109e+02] [-3.19753968e-01 9.47452500e-01 9.54782803e-03 9.56969335e+01] [ 3.34927346e-02 1.23169313e-03 9.99438202e-01 2.09285563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.146875 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:189.80, Y:95.69, Z:20.93 [[ 9.47159583e-01 3.19150089e-01 -3.21239107e-02 1.89795184e+02] [-3.19009208e-01 9.47703430e-01 9.55691439e-03 9.56866361e+01] [ 3.34940304e-02 1.19590027e-03 9.99438202e-01 2.09306153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.176875 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:189.83, Y:95.68, Z:20.93 [[ 9.47338236e-01 3.18619677e-01 -3.21211497e-02 1.89825232e+02] [-3.18478177e-01 9.47881922e-01 9.56618540e-03 9.56770088e+01] [ 3.34950320e-02 1.16747200e-03 9.99438202e-01 2.09318489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.206875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:189.85, Y:95.68, Z:20.93 [[ 9.50354476e-01 3.09507298e-01 -3.21185748e-02 1.89845642e+02] [-3.09360293e-01 9.50896699e-01 9.57482268e-03 9.56797762e+01] [ 3.35049243e-02 8.36736118e-04 9.99438202e-01 2.09272184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.236875 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:189.88, Y:95.66, Z:20.93 [[ 9.48430467e-01 3.15323567e-01 -3.24144774e-02 1.89884008e+02] [-3.15213643e-01 9.48981942e-01 8.58098597e-03 9.56574097e+01] [ 3.34665408e-02 2.07901697e-03 9.99437676e-01 2.09322258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.266875 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:189.91, Y:95.65, Z:20.93 [[ 9.48921359e-01 3.13874680e-01 -3.21082703e-02 1.89914840e+02] [-3.13729158e-01 9.49463936e-01 9.60469555e-03 9.56473220e+01] [ 3.35003155e-02 9.59199857e-04 9.99438247e-01 2.09331279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.296875 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:189.95, Y:95.64, Z:20.93 [[ 9.50205476e-01 3.09965785e-01 -3.21055363e-02 1.89945877e+02] [-3.09817723e-01 9.50747366e-01 9.61382601e-03 9.56363643e+01] [ 3.35042112e-02 8.11754010e-04 9.99438247e-01 2.09332471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.32687500000003 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:189.98, Y:95.63, Z:20.93 [[ 9.50962925e-01 3.07634402e-01 -3.21028040e-02 1.89977036e+02] [-3.07484703e-01 9.51504365e-01 9.62294106e-03 9.56262789e+01] [ 3.35063058e-02 7.20060970e-04 9.99438247e-01 2.09340121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.356875 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:190.01, Y:95.62, Z:20.93 [[ 9.52281614e-01 3.03528112e-01 -3.21000346e-02 1.90006725e+02] [-3.03375767e-01 9.52822316e-01 9.63217017e-03 9.56158298e+01] [ 3.35092638e-02 5.65834084e-04 9.99438247e-01 2.09340303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.38687500000003 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:190.04, Y:95.61, Z:20.93 [[ 9.52862982e-01 3.01698343e-01 -3.20974562e-02 1.90037501e+02] [-3.01544671e-01 9.53403308e-01 9.64075476e-03 9.56059042e+01] [ 3.35104206e-02 4.92498520e-04 9.99438247e-01 2.09333917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.416875 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:190.07, Y:95.60, Z:20.93 [[ 9.53457330e-01 2.99815006e-01 -3.20949015e-02 1.90067723e+02] [-2.99659981e-01 9.53997268e-01 9.64925220e-03 9.55962712e+01] [ 3.35114389e-02 4.17407318e-04 9.99438247e-01 2.09325392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.44687500000003 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:190.10, Y:95.59, Z:20.93 [[ 9.54691143e-01 2.95862954e-01 -3.20925958e-02 1.90097661e+02] [-2.95705436e-01 9.55230359e-01 9.65691447e-03 9.55855433e+01] [ 3.35129451e-02 2.70584325e-04 9.99438247e-01 2.09315788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.476875 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:190.13, Y:95.58, Z:20.93 [[ 9.55211202e-01 2.94179832e-01 -3.20902808e-02 1.90127844e+02] [-2.94021105e-01 9.55750064e-01 9.66460119e-03 9.55750449e+01] [ 3.35134187e-02 2.03484504e-04 9.99438247e-01 2.09321828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.50687500000004 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:190.16, Y:95.56, Z:20.93 [[ 9.55756227e-01 2.92404508e-01 -3.20879790e-02 1.90158959e+02] [-2.92244524e-01 9.56294717e-01 9.67223748e-03 9.55645920e+01] [ 3.35137707e-02 1.33234957e-04 9.99438247e-01 2.09337578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.536875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:190.19, Y:95.55, Z:20.93 [[ 9.56500429e-01 2.89961138e-01 -3.20853184e-02 1.90189125e+02] [-2.89799483e-01 9.57038420e-01 9.68105543e-03 9.55537868e+01] [ 3.35140123e-02 3.83750060e-05 9.99438247e-01 2.09349671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56687500000004 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:190.22, Y:95.54, Z:20.94 [[ 9.56649304e-01 2.89469863e-01 -3.20828416e-02 1.90220043e+02] [-2.89307656e-01 9.57187128e-01 9.68925649e-03 9.55436706e+01] [ 3.35140308e-02 1.25912326e-05 9.99438247e-01 2.09371938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.596875 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:190.25, Y:95.53, Z:20.94 [[ 9.56438030e-01 2.90167460e-01 -3.20801978e-02 1.90252218e+02] [-2.90005353e-01 9.56975885e-01 9.69800210e-03 9.55309447e+01] [ 3.35140203e-02 2.78910343e-05 9.99438247e-01 2.09396211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62687500000004 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:190.28, Y:95.52, Z:20.94 [[ 9.56542721e-01 2.89830798e-01 -3.20020391e-02 1.90279701e+02] [-2.89659855e-01 9.57077867e-01 9.95614344e-03 9.55231441e+01] [ 3.35140403e-02 -2.53770547e-04 9.99438215e-01 2.09414367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.656875 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:190.31, Y:95.51, Z:20.94 [[ 9.56361323e-01 2.90420539e-01 -3.20769543e-02 1.90310937e+02] [-2.90258217e-01 9.56899112e-01 9.70863014e-03 9.55130932e+01] [ 3.35139947e-02 2.56412194e-05 9.99438248e-01 2.09429757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.686875 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:190.34, Y:95.50, Z:20.94 [[ 9.56210260e-01 2.90917821e-01 -3.20742948e-02 1.90342154e+02] [-2.90755484e-01 9.56748044e-01 9.71740840e-03 9.55032854e+01] [ 3.35139861e-02 3.38914986e-05 9.99438248e-01 2.09445585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.716875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:190.37, Y:95.49, Z:20.95 [[ 9.55739630e-01 2.92460541e-01 -3.20716577e-02 1.90372593e+02] [-2.92298780e-01 9.56277588e-01 9.72610436e-03 9.54924883e+01] [ 3.35139092e-02 7.88830278e-05 9.99438248e-01 2.09465201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.746875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:190.40, Y:95.48, Z:20.95 [[ 9.55580928e-01 2.92978935e-01 -3.20691941e-02 1.90403842e+02] [-2.92817194e-01 9.56118892e-01 9.73422060e-03 9.54821589e+01] [ 3.35138839e-02 8.85758731e-05 9.99438248e-01 2.09502609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.776875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:190.43, Y:95.47, Z:20.95 [[ 9.55218325e-01 2.94159304e-01 -3.20664239e-02 1.90432624e+02] [-2.93997922e-01 9.55756397e-01 9.74333768e-03 9.54711533e+01] [ 3.35137832e-02 1.20447279e-04 9.99438248e-01 2.09537335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.806875 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:190.46, Y:95.46, Z:20.96 [[ 9.54923317e-01 2.95115819e-01 -3.20641938e-02 1.90462749e+02] [-2.94954729e-01 9.55461476e-01 9.75067119e-03 9.54611615e+01] [ 3.35136792e-02 1.46342309e-04 9.99438248e-01 2.09560244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.836875 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:190.49, Y:95.45, Z:20.96 [[ 9.54420838e-01 2.96737097e-01 -3.20617941e-02 1.90494077e+02] [-2.96576656e-01 9.54959192e-01 9.75855538e-03 9.54505582e+01] [ 3.35134303e-02 1.95011075e-04 9.99438248e-01 2.09578207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.866875 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:190.52, Y:95.44, Z:20.96 [[ 9.53976046e-01 2.98164254e-01 -3.20590350e-02 1.90523857e+02] [-2.98004315e-01 9.54514548e-01 9.76761117e-03 9.54405745e+01] [ 3.35131678e-02 2.35663686e-04 9.99438248e-01 2.09594000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.896875 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:190.55, Y:95.43, Z:20.96 [[ 9.53130583e-01 3.00856235e-01 -3.20564823e-02 1.90554688e+02] [-3.00697535e-01 9.53669451e-01 9.77598167e-03 9.54301199e+01] [ 3.35124529e-02 3.21518104e-04 9.99438248e-01 2.09599246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.926875 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:190.58, Y:95.43, Z:20.95 [[ 9.54381753e-01 2.96863651e-01 -3.20537508e-02 1.90577864e+02] [-2.96702397e-01 9.54919862e-01 9.78492962e-03 9.54308843e+01] [ 3.35135532e-02 1.71866411e-04 9.99438248e-01 2.09517728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.956875 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:190.61, Y:95.42, Z:20.95 [[ 9.54063269e-01 2.97860350e-01 -3.22876365e-02 1.90607212e+02] [-2.97725495e-01 9.54608923e-01 9.01857153e-03 9.54218552e+01] [ 3.35083408e-02 1.00856474e-03 9.99437929e-01 2.09498832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.986875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:190.64, Y:95.40, Z:20.96 [[ 9.51487055e-01 3.05986445e-01 -3.23214985e-02 1.90643187e+02] [-3.05860012e-01 9.52034824e-01 8.90765590e-03 9.53994918e+01] [ 3.34968141e-02 1.41033465e-03 9.99437829e-01 2.09581858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.016875 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:190.67, Y:95.39, Z:20.96 [[ 9.50853570e-01 3.07978555e-01 -3.20421438e-02 1.90672262e+02] [-3.07822431e-01 9.51393154e-01 9.81929318e-03 9.53889529e+01] [ 3.35088080e-02 5.26580632e-04 9.99438284e-01 2.09560127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.046875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:190.70, Y:95.39, Z:20.95 [[ 9.52611221e-01 3.02498432e-01 -3.20399774e-02 1.90696347e+02] [-3.02338967e-01 9.53149827e-01 9.82635693e-03 9.53888957e+01] [ 3.35113565e-02 3.26235795e-04 9.99438284e-01 2.09489674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.07687500000003 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:190.73, Y:95.37, Z:20.96 [[ 9.50153913e-01 3.10107560e-01 -3.22620828e-02 1.90731013e+02] [-3.09976937e-01 9.50700515e-01 9.10101472e-03 9.53680579e+01] [ 3.34938723e-02 1.35313688e-03 9.99438007e-01 2.09559355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.106875 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:190.76, Y:95.36, Z:20.96 [[ 9.49911235e-01 3.10873639e-01 -3.20347710e-02 1.90760499e+02] [-3.10718427e-01 9.50451058e-01 9.84100225e-03 9.53575258e+01] [ 3.35067902e-02 6.05715048e-04 9.99438306e-01 2.09570304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.13687500000003 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:190.79, Y:95.35, Z:20.96 [[ 9.49822486e-01 3.11144824e-01 -3.20334771e-02 1.90791363e+02] [-3.10989624e-01 9.50362313e-01 9.84521213e-03 9.53469816e+01] [ 3.35066962e-02 6.10875144e-04 9.99438306e-01 2.09580418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.166875 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:190.82, Y:95.34, Z:20.96 [[ 9.49530290e-01 3.12035474e-01 -3.20326601e-02 1.90821545e+02] [-3.11880691e-01 9.50070237e-01 9.84786965e-03 9.53355434e+01] [ 3.35061617e-02 6.39517636e-04 9.99438306e-01 2.09599038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.19687500000003 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:190.84, Y:95.34, Z:20.95 [[ 9.51501826e-01 3.05971130e-01 -3.20303379e-02 1.90844784e+02] [-3.05812652e-01 9.52040699e-01 9.85541715e-03 9.53360143e+01] [ 3.35096584e-02 4.17835128e-04 9.99438306e-01 2.09521624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.226875 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:190.88, Y:95.31, Z:20.96 [[ 9.49126264e-01 3.13236075e-01 -3.22876955e-02 1.90880943e+02] [-3.13110076e-01 9.49674027e-01 9.01792430e-03 9.53148766e+01] [ 3.34875250e-02 1.55045400e-03 9.99437933e-01 2.09618412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.25687500000004 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:190.90, Y:95.31, Z:20.96 [[ 9.51206080e-01 3.06890073e-01 -3.20230736e-02 1.90903994e+02] [-3.06731422e-01 9.51744871e-01 9.87600976e-03 9.53138403e+01] [ 3.35086454e-02 4.28362362e-04 9.99438336e-01 2.09563141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.286875 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:190.93, Y:95.30, Z:20.96 [[ 9.51103520e-01 3.07182398e-01 -3.22656094e-02 1.90934030e+02] [-3.07050494e-01 9.51649820e-01 9.08917362e-03 9.53033396e+01] [ 3.34975955e-02 1.26242629e-03 9.99438001e-01 2.09568894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31687500000004 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:190.97, Y:95.28, Z:20.97 [[ 9.49088549e-01 3.13351423e-01 -3.22771189e-02 1.90969905e+02] [-3.13224335e-01 9.49636024e-01 9.05193323e-03 9.52802337e+01] [ 3.34879510e-02 1.51889292e-03 9.99437967e-01 2.09704371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.346875 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:191.00, Y:95.27, Z:20.97 [[ 9.49368799e-01 3.12529346e-01 -3.20045564e-02 1.90999244e+02] [-3.12372059e-01 9.49907934e-01 9.93041761e-03 9.52694795e+01] [ 3.35049290e-02 5.69700550e-04 9.99438390e-01 2.09723349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37687500000004 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:191.02, Y:95.27, Z:20.97 [[ 9.51462070e-01 3.06097673e-01 -3.20022597e-02 1.91023381e+02] [-3.05936493e-01 9.52000054e-01 9.93781336e-03 9.52682969e+01] [ 3.35080945e-02 3.35206629e-04 9.99438390e-01 2.09659740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.406875 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:191.06, Y:95.25, Z:20.98 [[ 9.49948706e-01 3.10740712e-01 -3.22128150e-02 1.91059132e+02] [-3.10605080e-01 9.50493949e-01 9.25943662e-03 9.52475219e+01] [ 3.34953696e-02 1.20947411e-03 9.99438141e-01 2.09762242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.436875 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:191.09, Y:95.24, Z:20.98 [[ 9.50731304e-01 3.08360852e-01 -3.19933133e-02 1.91089554e+02] [-3.08200063e-01 9.51269381e-01 9.96424588e-03 9.52352551e+01] [ 3.35068426e-02 3.87020687e-04 9.99438413e-01 2.09796364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.466875 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:191.12, Y:95.22, Z:20.98 [[ 9.51440435e-01 3.06166146e-01 -3.19904544e-02 1.91119412e+02] [-3.06003807e-01 9.51978047e-01 9.97341601e-03 9.52237287e+01] [ 3.35077326e-02 3.00089556e-04 9.99438413e-01 2.09813213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.496875 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:191.15, Y:95.21, Z:20.98 [[ 9.51705762e-01 3.05340666e-01 -3.19878027e-02 1.91149287e+02] [-3.05177575e-01 9.52243146e-01 9.98191343e-03 9.52131513e+01] [ 3.35080500e-02 2.62115539e-04 9.99438413e-01 2.09822788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.526875 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:191.18, Y:95.20, Z:20.98 [[ 9.52001599e-01 3.04417318e-01 -3.19851801e-02 1.91179204e+02] [-3.04253424e-01 9.52538738e-01 9.99030996e-03 9.52030490e+01] [ 3.35083465e-02 2.20809498e-04 9.99438413e-01 2.09832341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.556875 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:191.21, Y:95.19, Z:20.98 [[ 9.52201875e-01 3.03790555e-01 -3.19826131e-02 1.91209827e+02] [-3.03626032e-01 9.52738822e-01 9.99852119e-03 9.51925759e+01] [ 3.35085334e-02 1.90143276e-04 9.99438413e-01 2.09847949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.586875 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:191.24, Y:95.18, Z:20.99 [[ 9.52590452e-01 3.02570196e-01 -3.19798106e-02 1.91240649e+02] [-3.02404684e-01 9.53127094e-01 1.00074767e-02 9.51818518e+01] [ 3.35087882e-02 1.37817738e-04 9.99438413e-01 2.09855938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.616875 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:191.27, Y:95.17, Z:20.99 [[ 9.52505430e-01 3.02838037e-01 -3.19769995e-02 1.91272457e+02] [-3.02672375e-01 9.53042027e-01 1.00164511e-02 9.51718076e+01] [ 3.35087868e-02 1.37830338e-04 9.99438413e-01 2.09867169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.646875 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:191.30, Y:95.17, Z:20.98 [[ 9.54730077e-01 2.95750116e-01 -3.19741821e-02 1.91295768e+02] [-2.95580169e-01 9.55265332e-01 1.00254367e-02 9.51732029e+01] [ 3.35088517e-02 -1.20651771e-04 9.99438413e-01 2.09795713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.676875 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:191.33, Y:95.15, Z:20.99 [[ 9.52474092e-01 3.02909303e-01 -3.22344183e-02 1.91331970e+02] [-3.02771413e-01 9.53018860e-01 9.19364841e-03 9.51520286e+01] [ 3.35048502e-02 1.00294845e-03 9.99438052e-01 2.09864607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.706875 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:191.36, Y:95.14, Z:20.99 [[ 9.52206497e-01 3.03777508e-01 -3.19689456e-02 1.91362047e+02] [-3.03611615e-01 9.52742990e-01 1.00390771e-02 9.51422544e+01] [ 3.35078346e-02 1.46868744e-04 9.99438444e-01 2.09870029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.736875 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:191.39, Y:95.13, Z:20.99 [[ 9.52074481e-01 3.04191257e-01 -3.19665742e-02 1.91392384e+02] [-3.04025344e-01 9.52610967e-01 1.00466225e-02 9.51332907e+01] [ 3.35078039e-02 1.53515819e-04 9.99438444e-01 2.09870454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.766875 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:191.42, Y:95.12, Z:20.99 [[ 9.51663054e-01 3.05476225e-01 -3.19641521e-02 1.91423101e+02] [-3.05310778e-01 9.52199685e-01 1.00543226e-02 9.51245083e+01] [ 3.35076121e-02 1.90672747e-04 9.99438444e-01 2.09865177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.796875 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:191.45, Y:95.12, Z:20.99 [[ 9.51474170e-01 3.06064293e-01 -3.19617266e-02 1.91452569e+02] [-3.05898918e-01 9.52010823e-01 1.00620272e-02 9.51155217e+01] [ 3.35075369e-02 2.03298576e-04 9.99438444e-01 2.09869173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.82687500000003 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:191.48, Y:95.11, Z:20.99 [[ 9.51315773e-01 3.06556507e-01 -3.19594780e-02 1.91483719e+02] [-3.06391171e-01 9.51852437e-01 1.00691642e-02 9.51061359e+01] [ 3.35074749e-02 2.13147147e-04 9.99438444e-01 2.09881103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.856875 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:191.51, Y:95.11, Z:20.98 [[ 9.53505748e-01 2.99675756e-01 -3.19567024e-02 1.91505232e+02] [-2.99506252e-01 9.54041110e-01 1.00779657e-02 9.51113389e+01] [ 3.35081298e-02 -3.81660450e-05 9.99438444e-01 2.09791698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.88687500000003 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:191.53, Y:95.10, Z:20.98 [[ 9.53090494e-01 3.00962329e-01 -3.22519259e-02 1.91534464e+02] [-3.00824965e-01 9.53635520e-01 9.14529401e-03 9.51031668e+01] [ 3.35089711e-02 9.85891671e-04 9.99437930e-01 2.09803309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.916875 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:191.57, Y:95.08, Z:20.99 [[ 9.50398289e-01 3.09355180e-01 -3.22872406e-02 1.91572509e+02] [-3.09226414e-01 9.50945538e-01 9.03370922e-03 9.50807954e+01] [ 3.34980321e-02 1.39844583e-03 9.99437805e-01 2.09919201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.94687500000003 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:191.60, Y:95.07, Z:21.00 [[ 9.50518568e-01 3.09022400e-01 -3.19313185e-02 1.91602061e+02] [-3.08855633e-01 9.51054736e-01 1.01531487e-02 9.50723448e+01] [ 3.35059821e-02 2.11411182e-04 9.99438495e-01 2.09959086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.976875 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:191.62, Y:95.08, Z:20.99 [[ 9.52969247e-01 3.01380407e-01 -3.19290623e-02 1.91623432e+02] [-3.01209102e-01 9.53503983e-01 1.01602389e-02 9.50768385e+01] [ 3.35065850e-02 -6.50709759e-05 9.99438495e-01 2.09891029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.00687500000004 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:191.66, Y:95.06, Z:21.00 [[ 9.50855337e-01 3.07952876e-01 -3.22359308e-02 1.91661163e+02] [-3.07817901e-01 9.51400878e-01 9.19291013e-03 9.50559255e+01] [ 3.35002760e-02 1.18166892e-03 9.99438010e-01 2.10024909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.036875 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:191.69, Y:95.05, Z:21.01 [[ 9.50901667e-01 3.07842222e-01 -3.19247033e-02 1.91693024e+02] [-3.07674226e-01 9.51437409e-01 1.01699492e-02 9.50466300e+01] [ 3.35050967e-02 1.51786671e-04 9.99438535e-01 2.10057931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06687500000004 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:191.72, Y:95.04, Z:21.01 [[ 9.50998525e-01 3.07543166e-01 -3.19218820e-02 1.91724559e+02] [-3.07374704e-01 9.51534121e-01 1.01787971e-02 9.50378321e+01] [ 3.35051794e-02 1.31957982e-04 9.99438535e-01 2.10077542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.096875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:191.76, Y:95.03, Z:21.01 [[ 9.51357429e-01 3.06431427e-01 -3.19190021e-02 1.91756600e+02] [-3.06262036e-01 9.51892732e-01 1.01878200e-02 9.50299662e+01] [ 3.35053343e-02 8.33202841e-05 9.99438535e-01 2.10094271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12687500000004 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:191.79, Y:95.02, Z:21.01 [[ 9.51524333e-01 3.05913072e-01 -3.19160896e-02 1.91787129e+02] [-3.05743084e-01 9.52059446e-01 1.01969360e-02 9.50209968e+01] [ 3.35053906e-02 5.54909218e-05 9.99438535e-01 2.10099219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.156875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:191.82, Y:95.01, Z:21.01 [[ 9.51751826e-01 3.05204846e-01 -3.19133743e-02 1.91818980e+02] [-3.05034175e-01 9.52286722e-01 1.02054271e-02 9.50114520e+01] [ 3.35054284e-02 2.16358612e-05 9.99438535e-01 2.10113883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.186875 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:191.85, Y:95.00, Z:21.01 [[ 9.52161863e-01 3.03923511e-01 -3.19105904e-02 1.91850546e+02] [-3.03751828e-01 9.52696436e-01 1.02141244e-02 9.50027685e+01] [ 3.35054183e-02 -3.25995856e-05 9.99438535e-01 2.10119725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.216875 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:191.87, Y:95.01, Z:21.00 [[ 9.54792592e-01 2.95555417e-01 -3.19076973e-02 1.91873368e+02] [-2.95378748e-01 9.55325537e-01 1.02231541e-02 9.50061508e+01] [ 3.35037466e-02 -3.36136137e-04 9.99438535e-01 2.10036350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.246875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:191.91, Y:94.99, Z:21.01 [[ 9.52417179e-01 3.03092583e-01 -3.21932096e-02 1.91909594e+02] [-3.02950184e-01 9.52960721e-01 9.33011821e-03 9.49866397e+01] [ 3.35067538e-02 8.66773891e-04 9.99438115e-01 2.10110151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.276875 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:191.94, Y:94.98, Z:21.01 [[ 9.52357811e-01 3.03309905e-01 -3.19014366e-02 1.91941349e+02] [-3.03137037e-01 9.52891964e-01 1.02392197e-02 9.49769652e+01] [ 3.35042793e-02 -8.08939102e-05 9.99438571e-01 2.10123114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.306875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:191.97, Y:94.97, Z:21.01 [[ 9.52285887e-01 3.03535948e-01 -3.18985488e-02 1.91973320e+02] [-3.03362906e-01 9.52819984e-01 1.02482082e-02 9.49676376e+01] [ 3.35042743e-02 -8.23875415e-05 9.99438571e-01 2.10130276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.336875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:192.00, Y:94.96, Z:21.01 [[ 9.52196134e-01 3.03817694e-01 -3.18956404e-02 1.92003551e+02] [-3.03644507e-01 9.52730183e-01 1.02572521e-02 9.49597154e+01] [ 3.35042740e-02 -8.19798339e-05 9.99438571e-01 2.10123356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.366875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:192.04, Y:94.95, Z:21.01 [[ 9.52059623e-01 3.04245350e-01 -3.18942168e-02 1.92035066e+02] [-3.04072255e-01 9.52593702e-01 1.02616768e-02 9.49507719e+01] [ 3.35042975e-02 -7.15817156e-05 9.99438571e-01 2.10134741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.396875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:192.07, Y:94.94, Z:21.01 [[ 9.51767996e-01 3.05156728e-01 -3.18912912e-02 1.92065573e+02] [-3.04983839e-01 9.52302142e-01 1.02707609e-02 9.49429633e+01] [ 3.35043367e-02 -4.90530939e-05 9.99438571e-01 2.10124650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.426875 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:192.10, Y:94.93, Z:21.01 [[ 9.51605974e-01 3.05661849e-01 -3.18889499e-02 1.92097340e+02] [-3.05489001e-01 9.52140133e-01 1.02780251e-02 9.49334866e+01] [ 3.35043491e-02 -3.89066039e-05 9.99438571e-01 2.10146840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.456875 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:192.13, Y:94.92, Z:21.02 [[ 9.51459341e-01 3.06118276e-01 -3.18860935e-02 1.92128634e+02] [-3.05945388e-01 9.51993487e-01 1.02868790e-02 9.49241407e+01] [ 3.35043550e-02 -3.21439030e-05 9.99438571e-01 2.10163195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.486875 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:192.16, Y:94.92, Z:21.02 [[ 9.50999197e-01 3.07545095e-01 -3.18832460e-02 1.92159963e+02] [-3.07372712e-01 9.51533507e-01 1.02956971e-02 9.49158474e+01] [ 3.35043680e-02 8.84006717e-06 9.99438571e-01 2.10188058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.516875 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:192.19, Y:94.91, Z:21.02 [[ 9.50656551e-01 3.08602923e-01 -3.18803670e-02 1.92191618e+02] [-3.08430836e-01 9.51190956e-01 1.03046042e-02 9.49065600e+01] [ 3.35043477e-02 3.67487444e-05 9.99438571e-01 2.10201332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.546875 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:192.22, Y:94.90, Z:21.02 [[ 9.49929611e-01 3.10833655e-01 -3.18774654e-02 1.92223309e+02] [-3.10662522e-01 9.50464322e-01 1.03135724e-02 9.48984435e+01] [ 3.35041990e-02 1.05965951e-04 9.99438571e-01 2.10227286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.57687500000003 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:192.25, Y:94.89, Z:21.02 [[ 9.49500597e-01 3.12142001e-01 -3.18745577e-02 1.92253909e+02] [-3.11971304e-01 9.50035447e-01 1.03225510e-02 9.48894485e+01] [ 3.35040614e-02 1.42678966e-04 9.99438571e-01 2.10246569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.606875 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:192.28, Y:94.88, Z:21.03 [[ 9.49140006e-01 3.13237010e-01 -3.18720174e-02 1.92283400e+02] [-3.13066666e-01 9.49674968e-01 1.03303885e-02 9.48808028e+01] [ 3.35039171e-02 1.73081199e-04 9.99438571e-01 2.10261376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.63687500000003 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:192.31, Y:94.87, Z:21.03 [[ 9.48397194e-01 3.15479043e-01 -3.18706223e-02 1.92314618e+02] [-3.15309819e-01 9.48932512e-01 1.03346906e-02 9.48721880e+01] [ 3.35034480e-02 2.47728565e-04 9.99438571e-01 2.10286972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.666875 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:192.35, Y:94.86, Z:21.03 [[ 9.47953489e-01 3.16810052e-01 -3.18680739e-02 1.92346511e+02] [-3.16641316e-01 9.48488961e-01 1.03425430e-02 9.48624973e+01] [ 3.35031379e-02 2.86499111e-04 9.99438571e-01 2.10305082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.69687500000003 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:192.37, Y:94.86, Z:21.02 [[ 9.49719791e-01 3.11475409e-01 -3.18651517e-02 1.92369287e+02] [-3.11303364e-01 9.50254209e-01 1.03515386e-02 9.48638132e+01] [ 3.35042442e-02 8.86678361e-05 9.99438571e-01 2.10240773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.726875 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:192.41, Y:94.84, Z:21.03 [[ 9.47083035e-01 3.19375946e-01 -3.21361348e-02 1.92405717e+02] [-3.19236582e-01 9.47627274e-01 9.51596063e-03 9.48443564e+01] [ 3.34922467e-02 1.24662495e-03 9.99438200e-01 2.10332019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.75687500000004 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:192.44, Y:94.83, Z:21.04 [[ 9.46828648e-01 3.20156993e-01 -3.18592404e-02 1.92437422e+02] [-3.19989329e-01 9.47364426e-01 1.03669437e-02 9.48346123e+01] [ 3.35013605e-02 3.78897617e-04 9.99438600e-01 2.10350015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.786875 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:192.47, Y:94.82, Z:21.04 [[ 9.46732207e-01 3.20442348e-01 -3.18563858e-02 1.92468364e+02] [-3.20274550e-01 9.47267944e-01 1.03757082e-02 9.48246181e+01] [ 3.35013493e-02 3.79772528e-04 9.99438600e-01 2.10350508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81687500000004 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:192.50, Y:94.81, Z:21.04 [[ 9.46649845e-01 3.20685704e-01 -3.18551344e-02 1.92499594e+02] [-3.20517914e-01 9.47185585e-01 1.03795488e-02 9.48143400e+01] [ 3.35012970e-02 3.84342993e-04 9.99438600e-01 2.10350821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.846875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:192.53, Y:94.80, Z:21.04 [[ 9.46697626e-01 3.20544907e-01 -3.18522756e-02 1.92530775e+02] [-3.20376743e-01 9.47233248e-01 1.03883142e-02 9.48041127e+01] [ 3.35014557e-02 3.70135981e-04 9.99438600e-01 2.10351310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87687500000004 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:192.55, Y:94.81, Z:21.02 [[ 9.49400425e-01 3.12449109e-01 -3.18494645e-02 1.92551618e+02] [-3.12276088e-01 9.49934497e-01 1.03969255e-02 9.48080086e+01] [ 3.35034152e-02 7.49806630e-05 9.99438600e-01 2.10242384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.906875 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:192.59, Y:94.78, Z:21.03 [[ 9.46838416e-01 3.20097238e-01 -3.21678818e-02 1.92588480e+02] [-3.19961561e-01 9.47383698e-01 9.41957975e-03 9.47843676e+01] [ 3.34905083e-02 1.37366571e-03 9.99438092e-01 2.10324261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.936875 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:192.62, Y:94.77, Z:21.03 [[ 9.47205819e-01 3.19041150e-01 -3.18415020e-02 1.92619170e+02] [-3.18871162e-01 9.47740821e-01 1.04172555e-02 9.47732781e+01] [ 3.35010244e-02 2.86051724e-04 9.99438642e-01 2.10333617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.966875 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:192.65, Y:94.76, Z:21.03 [[ 9.47365797e-01 3.18565884e-01 -3.18406127e-02 1.92649787e+02] [-3.18395536e-01 9.47900684e-01 1.04199728e-02 9.47626124e+01] [ 3.35011864e-02 2.66383122e-04 9.99438642e-01 2.10346954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.996875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:192.68, Y:94.75, Z:21.04 [[ 9.47450726e-01 3.18313492e-01 -3.18377497e-02 1.92680910e+02] [-3.18142708e-01 9.47985474e-01 1.04287133e-02 9.47516771e+01] [ 3.35013244e-02 2.48255875e-04 9.99438642e-01 2.10364367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.026875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:192.71, Y:94.74, Z:21.04 [[ 9.47687019e-01 3.17609605e-01 -3.18347773e-02 1.92711756e+02] [-3.17438119e-01 9.48221542e-01 1.04377791e-02 9.47408953e+01] [ 3.35015605e-02 2.13824064e-04 9.99438642e-01 2.10378625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.056875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:192.74, Y:94.73, Z:21.04 [[ 9.48226737e-01 3.15994923e-01 -3.18317949e-02 1.92742471e+02] [-3.15822222e-01 9.48760869e-01 1.04468665e-02 9.47288873e+01] [ 3.35019182e-02 1.47190106e-04 9.99438642e-01 2.10398882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.086875 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:192.77, Y:94.72, Z:21.04 [[ 9.48418090e-01 3.15420440e-01 -3.18287977e-02 1.92772380e+02] [-3.15247109e-01 9.48952018e-01 1.04559902e-02 9.47179434e+01] [ 3.35020348e-02 1.17286148e-04 9.99438642e-01 2.10408225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.116875 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:192.80, Y:94.71, Z:21.04 [[ 9.49045744e-01 3.13527162e-01 -3.18260090e-02 1.92801889e+02] [-3.13352482e-01 9.49579232e-01 1.04644716e-02 9.47068047e+01] [ 3.35022132e-02 4.14966326e-05 9.99438642e-01 2.10421964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.146875 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:192.83, Y:94.70, Z:21.04 [[ 9.49211140e-01 3.13026250e-01 -3.18241800e-02 1.92832769e+02] [-3.12851102e-01 9.49744474e-01 1.04700309e-02 9.46956503e+01] [ 3.35022336e-02 1.79597724e-05 9.99438642e-01 2.10443621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.176875 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:192.86, Y:94.68, Z:21.05 [[ 9.49469115e-01 3.12243182e-01 -3.18212946e-02 1.92864042e+02] [-3.12067301e-01 9.50002208e-01 1.04787930e-02 9.46846099e+01] [ 3.35022318e-02 -1.89047874e-05 9.99438643e-01 2.10463072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.206875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:192.89, Y:94.67, Z:21.05 [[ 9.50021480e-01 3.10558817e-01 -3.18183662e-02 1.92893262e+02] [-3.10381693e-01 9.50554161e-01 1.04876774e-02 9.46736793e+01] [ 3.35021211e-02 -8.76804315e-05 9.99438643e-01 2.10499066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.236875 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:192.92, Y:94.66, Z:21.05 [[ 9.50115771e-01 3.10270468e-01 -3.18160040e-02 1.92924153e+02] [-3.10092943e-01 9.50648318e-01 1.04948387e-02 9.46625417e+01] [ 3.35020692e-02 -1.05393454e-04 9.99438643e-01 2.10522182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.266875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:192.96, Y:94.65, Z:21.06 [[ 9.50340872e-01 3.09580609e-01 -3.18131035e-02 1.92955215e+02] [-3.09402403e-01 9.50873192e-01 1.05036237e-02 9.46511970e+01] [ 3.35019455e-02 -1.38972230e-04 9.99438643e-01 2.10551978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.296875 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:192.99, Y:94.64, Z:21.06 [[ 9.50284440e-01 3.09754093e-01 -3.18101259e-02 1.92985450e+02] [-3.09575683e-01 9.50816692e-01 1.05126335e-02 9.46409568e+01] [ 3.35019300e-02 -1.42350548e-04 9.99438643e-01 2.10560487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.32687500000003 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:193.02, Y:94.63, Z:21.06 [[ 9.50177291e-01 3.10082905e-01 -3.18073573e-02 1.93016780e+02] [-3.09904398e-01 9.50709510e-01 1.05210037e-02 9.46305969e+01] [ 3.35019405e-02 -1.39578901e-04 9.99438643e-01 2.10564624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.356875 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:193.05, Y:94.62, Z:21.06 [[ 9.49898045e-01 3.10937584e-01 -3.18044534e-02 1.93047862e+02] [-3.10759262e-01 9.50430326e-01 1.05297748e-02 9.46201436e+01] [ 3.35020197e-02 -1.18683980e-04 9.99438643e-01 2.10557045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.38687500000003 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:193.08, Y:94.61, Z:21.06 [[ 9.49729346e-01 3.11452772e-01 -3.18015678e-02 1.93079322e+02] [-3.11274448e-01 9.50261626e-01 1.05384825e-02 9.46097994e+01] [ 3.35020491e-02 -1.09690689e-04 9.99438643e-01 2.10559448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.416875 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:193.11, Y:94.60, Z:21.06 [[ 9.49484343e-01 3.12199178e-01 -3.17986615e-02 1.93110191e+02] [-3.12020978e-01 9.50016666e-01 1.05472447e-02 9.45989608e+01] [ 3.35020995e-02 -9.25942332e-05 9.99438643e-01 2.10557527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.44687500000003 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:193.14, Y:94.59, Z:21.06 [[ 9.49427036e-01 3.12373707e-01 -3.17957649e-02 1.93140932e+02] [-3.12195313e-01 9.49959293e-01 1.05559695e-02 9.45884492e+01] [ 3.35020897e-02 -9.56340810e-05 9.99438643e-01 2.10561991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.476875 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:193.17, Y:94.58, Z:21.06 [[ 9.49431061e-01 3.12361776e-01 -3.17928031e-02 1.93171265e+02] [-3.12183076e-01 9.49963215e-01 1.05648824e-02 9.45784650e+01] [ 3.35020589e-02 -1.05452423e-04 9.99438643e-01 2.10563851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.50687500000004 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:193.20, Y:94.57, Z:21.06 [[ 9.49404300e-01 3.12443383e-01 -3.17900453e-02 1.93202325e+02] [-3.12264452e-01 9.49936377e-01 1.05731742e-02 9.45683992e+01] [ 3.35020388e-02 -1.11316000e-04 9.99438643e-01 2.10568782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.536875 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:193.23, Y:94.56, Z:21.06 [[ 9.49315479e-01 3.12713454e-01 -3.17870499e-02 1.93233956e+02] [-3.12534373e-01 9.49847505e-01 1.05821720e-02 9.45577903e+01] [ 3.35020376e-02 -1.11273978e-04 9.99438643e-01 2.10580011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56687500000004 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:193.26, Y:94.55, Z:21.06 [[ 9.49203061e-01 3.13054827e-01 -3.17840386e-02 1.93264320e+02] [-3.12875635e-01 9.49735049e-01 1.05912088e-02 9.45476359e+01] [ 3.35020445e-02 -1.08756537e-04 9.99438643e-01 2.10585778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.596875 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:193.29, Y:94.54, Z:21.06 [[ 9.48865571e-01 3.14076459e-01 -3.17821675e-02 1.93294654e+02] [-3.13897651e-01 9.49397689e-01 1.05968206e-02 9.45375581e+01] [ 3.35021283e-02 -7.86105178e-05 9.99438643e-01 2.10602904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62687500000004 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:193.32, Y:94.53, Z:21.06 [[ 9.48531897e-01 3.15083007e-01 -3.17795427e-02 1.93324820e+02] [-3.14904501e-01 9.49064116e-01 1.06046864e-02 9.45274088e+01] [ 3.35021801e-02 -5.13622734e-05 9.99438643e-01 2.10607151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.656875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:193.36, Y:94.52, Z:21.06 [[ 9.47997908e-01 3.16686289e-01 -3.17767410e-02 1.93356397e+02] [-3.16508402e-01 9.48530334e-01 1.06130750e-02 9.45167968e+01] [ 3.35022181e-02 -3.56738951e-06 9.99438643e-01 2.10624198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.686875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:193.39, Y:94.51, Z:21.06 [[ 9.47752997e-01 3.17418782e-01 -3.17737791e-02 1.93388085e+02] [-3.17241009e-01 9.48285462e-01 1.06219352e-02 9.45065659e+01] [ 3.35022145e-02 1.29748482e-05 9.99438643e-01 2.10641083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.716875 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:193.42, Y:94.50, Z:21.07 [[ 9.47169350e-01 3.19156449e-01 -3.17707842e-02 1.93418693e+02] [-3.18979353e-01 9.47702040e-01 1.06308854e-02 9.44962706e+01] [ 3.35021527e-02 6.49753802e-05 9.99438643e-01 2.10656171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.746875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:193.45, Y:94.49, Z:21.07 [[ 9.47004543e-01 3.19645411e-01 -3.17680196e-02 1.93449773e+02] [-3.19468313e-01 9.47537232e-01 1.06391405e-02 9.44857581e+01] [ 3.35021338e-02 7.35612406e-05 9.99438643e-01 2.10677544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.776875 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:193.48, Y:94.48, Z:21.07 [[ 9.46753217e-01 3.20389331e-01 -3.17651230e-02 1.93478512e+02] [-3.20212361e-01 9.47285949e-01 1.06477819e-02 9.44753849e+01] [ 3.35020904e-02 9.07633002e-05 9.99438643e-01 2.10707534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.806875 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:193.51, Y:94.46, Z:21.07 [[ 9.46649863e-01 3.20694810e-01 -3.17627900e-02 1.93509156e+02] [-3.20517779e-01 9.47182575e-01 1.06547367e-02 9.44649450e+01] [ 3.35020800e-02 9.42338947e-05 9.99438643e-01 2.10734759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.836875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:193.54, Y:94.45, Z:21.08 [[ 9.46463042e-01 3.21246039e-01 -3.17599143e-02 1.93540620e+02] [-3.21069031e-01 9.46995761e-01 1.06633017e-02 9.44541893e+01] [ 3.35020477e-02 1.04703903e-04 9.99438643e-01 2.10752724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.866875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:193.57, Y:94.44, Z:21.08 [[ 9.46126863e-01 3.22235084e-01 -3.17570350e-02 1.93570440e+02] [-3.22058345e-01 9.46659672e-01 1.06718701e-02 9.44439134e+01] [ 3.35019552e-02 1.30675148e-04 9.99438643e-01 2.10770506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.896875 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:193.60, Y:94.43, Z:21.08 [[ 9.46032858e-01 3.22511231e-01 -3.17543492e-02 1.93601188e+02] [-3.22334379e-01 9.46565628e-01 1.06798557e-02 9.44334634e+01] [ 3.35019489e-02 1.32024000e-04 9.99438643e-01 2.10792088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.926875 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:193.63, Y:94.42, Z:21.08 [[ 9.45618030e-01 3.23725787e-01 -3.17514714e-02 1.93631343e+02] [-3.23549332e-01 9.46150933e-01 1.06884046e-02 9.44229494e+01] [ 3.35017965e-02 1.66019299e-04 9.99438643e-01 2.10793395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.956875 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:193.65, Y:94.42, Z:21.07 [[ 9.47534168e-01 3.18073914e-01 -3.17487946e-02 1.93654124e+02] [-3.17894015e-01 9.48065917e-01 1.06963499e-02 9.44238576e+01] [ 3.35021799e-02 -4.24052270e-05 9.99438644e-01 2.10730377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.986875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:193.69, Y:94.40, Z:21.08 [[ 9.45041301e-01 3.25378896e-01 -3.20236314e-02 1.93690064e+02] [-3.25230668e-01 9.45583106e-01 9.87938092e-03 9.44032437e+01] [ 3.34955469e-02 1.07864401e-03 9.99438285e-01 2.10795271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.016875 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:193.72, Y:94.39, Z:21.08 [[ 9.44632331e-01 3.26591870e-01 -3.17412749e-02 1.93719389e+02] [-3.26416113e-01 9.45165432e-01 1.07157909e-02 9.43936818e+01] [ 3.35004459e-02 2.38381042e-04 9.99438674e-01 2.10782290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.046875 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:193.74, Y:94.39, Z:21.07 [[ 9.46204978e-01 3.22007422e-01 -3.17389395e-02 1.93744405e+02] [-3.21828849e-01 9.46737142e-01 1.07227035e-02 9.43925049e+01] [ 3.35012230e-02 6.86309168e-05 9.99438674e-01 2.10707269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.07687500000003 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:193.77, Y:94.38, Z:21.07 [[ 9.46008173e-01 3.22565623e-01 -3.19367341e-02 1.93771473e+02] [-3.22407001e-01 9.46546841e-01 1.01392134e-02 9.43843554e+01] [ 3.35001765e-02 7.04847936e-04 9.99438463e-01 2.10694295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.106875 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:193.81, Y:94.36, Z:21.08 [[ 9.43452969e-01 3.29955980e-01 -3.20241647e-02 1.93807468e+02] [-3.29810309e-01 9.43995506e-01 9.88151540e-03 9.43630229e+01] [ 3.34911327e-02 1.23915461e-03 9.99438246e-01 2.10790705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.13687500000003 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:193.84, Y:94.35, Z:21.08 [[ 9.43361147e-01 3.30248669e-01 -3.17106231e-02 1.93838017e+02] [-3.30072078e-01 9.43893924e-01 1.08020049e-02 9.43521905e+01] [ 3.34988122e-02 2.76599544e-04 9.99438719e-01 2.10788305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.166875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:193.87, Y:94.34, Z:21.08 [[ 9.43278316e-01 3.30485466e-01 -3.17076636e-02 1.93868951e+02] [-3.30308717e-01 9.43811041e-01 1.08106849e-02 9.43414876e+01] [ 3.34988172e-02 2.75833083e-04 9.99438719e-01 2.10816554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.19687500000003 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:193.89, Y:94.34, Z:21.07 [[ 9.46126160e-01 3.22242295e-01 -3.17047662e-02 1.93889408e+02] [-3.22060620e-01 9.46657226e-01 1.08191755e-02 9.43444869e+01] [ 3.34999420e-02 -2.54483115e-05 9.99438719e-01 2.10740519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.226875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:193.93, Y:94.32, Z:21.09 [[ 9.43279664e-01 3.30446856e-01 -3.20679103e-02 1.93925980e+02] [-3.30305829e-01 9.43823573e-01 9.75310656e-03 9.43209645e+01] [ 3.34893331e-02 1.39231061e-03 9.99438105e-01 2.10852281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.25687500000004 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:193.96, Y:94.31, Z:21.09 [[ 9.43429192e-01 3.30055740e-01 -3.16949354e-02 1.93956460e+02] [-3.29877649e-01 9.43961417e-01 1.08433726e-02 9.43100959e+01] [ 3.34977135e-02 2.25496520e-04 9.99438769e-01 2.10875618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.286875 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:193.98, Y:94.32, Z:21.08 [[ 9.46698037e-01 3.20559588e-01 -3.16919300e-02 1.93975628e+02] [-3.20375865e-01 9.47228344e-01 1.08521494e-02 9.43153287e+01] [ 3.34982549e-02 -1.20379061e-04 9.99438769e-01 2.10774033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31687500000004 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:194.01, Y:94.29, Z:21.09 [[ 9.43672130e-01 3.29322259e-01 -3.20898975e-02 1.94014473e+02] [-3.29182819e-01 9.44216516e-01 9.68730037e-03 9.42889465e+01] [ 3.34900548e-02 1.42180754e-03 9.99438039e-01 2.10900813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.346875 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:194.05, Y:94.28, Z:21.09 [[ 9.44026423e-01 3.28344925e-01 -3.16815924e-02 1.94045589e+02] [-3.28164751e-01 9.44557883e-01 1.08766916e-02 9.42771939e+01] [ 3.34964043e-02 1.28897603e-04 9.99438830e-01 2.10917331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37687500000004 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:194.08, Y:94.27, Z:21.09 [[ 9.44410990e-01 3.27237449e-01 -3.16785937e-02 1.94076940e+02] [-3.27056360e-01 9.44942139e-01 1.08854186e-02 9.42661670e+01] [ 3.34965546e-02 8.03765913e-05 9.99438830e-01 2.10924776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.406875 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:194.11, Y:94.26, Z:21.09 [[ 9.44564442e-01 3.26794540e-01 -3.16755918e-02 1.94108332e+02] [-3.26612908e-01 9.45095406e-01 1.08941468e-02 9.42551211e+01] [ 3.34966039e-02 5.54334608e-05 9.99438830e-01 2.10934240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.436875 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:194.14, Y:94.24, Z:21.09 [[ 9.44638844e-01 3.26579701e-01 -3.16726032e-02 1.94139210e+02] [-3.26397658e-01 9.45169666e-01 1.09028285e-02 9.42438902e+01] [ 3.34966263e-02 3.86281730e-05 9.99438830e-01 2.10948987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.466875 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:194.17, Y:94.23, Z:21.09 [[ 9.44806651e-01 3.26094212e-01 -3.16695168e-02 1.94169345e+02] [-3.25911595e-01 9.45337276e-01 1.09117864e-02 9.42330947e+01] [ 3.34966451e-02 1.19344033e-05 9.99438830e-01 2.10949606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.496875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:194.20, Y:94.22, Z:21.10 [[ 9.45279994e-01 3.24719812e-01 -3.16666411e-02 1.94200354e+02] [-3.24536145e-01 9.45810257e-01 1.09201255e-02 9.42213971e+01] [ 3.34966150e-02 -4.56065160e-05 9.99438830e-01 2.10967478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.526875 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:194.23, Y:94.21, Z:21.10 [[ 9.45521835e-01 3.24015247e-01 -3.16635505e-02 1.94231085e+02] [-3.23830884e-01 9.46051856e-01 1.09290794e-02 9.42103952e+01] [ 3.34965491e-02 -8.00476236e-05 9.99438830e-01 2.10977703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.556875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:194.26, Y:94.20, Z:21.10 [[ 9.45922313e-01 3.22844530e-01 -3.16604864e-02 1.94260954e+02] [-3.22659215e-01 9.46452002e-01 1.09379487e-02 9.41992117e+01] [ 3.34963876e-02 -1.30902017e-04 9.99438830e-01 2.10983090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.586875 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:194.29, Y:94.19, Z:21.10 [[ 9.46001862e-01 3.22611641e-01 -3.16576306e-02 1.94292089e+02] [-3.22425920e-01 9.46531408e-01 1.09462079e-02 9.41885048e+01] [ 3.34963158e-02 -1.47892366e-04 9.99438830e-01 2.10997102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.616875 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:194.32, Y:94.18, Z:21.10 [[ 9.45958822e-01 3.22738129e-01 -3.16544930e-02 1.94321959e+02] [-3.22552174e-01 9.46488287e-01 1.09552738e-02 9.41781788e+01] [ 3.34962914e-02 -1.53012395e-04 9.99438830e-01 2.10999942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.646875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:194.35, Y:94.17, Z:21.10 [[ 9.45732676e-01 3.23400499e-01 -3.16515824e-02 1.94351717e+02] [-3.23214634e-01 9.46262172e-01 1.09636765e-02 9.41682733e+01] [ 3.34963536e-02 -1.38452522e-04 9.99438830e-01 2.10995564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.676875 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:194.38, Y:94.16, Z:21.10 [[ 9.45468482e-01 3.24172301e-01 -3.16491548e-02 1.94382539e+02] [-3.23986634e-01 9.45998047e-01 1.09706799e-02 9.41578200e+01] [ 3.34964292e-02 -1.18528967e-04 9.99438830e-01 2.10996781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.706875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:194.41, Y:94.16, Z:21.09 [[ 9.47567510e-01 3.17984796e-01 -3.16462251e-02 1.94405312e+02] [-3.17795389e-01 9.48095749e-01 1.09791245e-02 9.41596906e+01] [ 3.34948462e-02 -3.46437211e-04 9.99438830e-01 2.10926115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.736875 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:194.43, Y:94.15, Z:21.09 [[ 9.47368692e-01 3.18546501e-01 -3.19482027e-02 1.94434444e+02] [-3.18386652e-01 9.47907048e-01 1.01078366e-02 9.41505604e+01] [ 3.35037425e-02 5.96033374e-04 9.99438414e-01 2.10914570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.766875 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:194.46, Y:94.14, Z:21.09 [[ 9.47133769e-01 3.19240267e-01 -3.19886771e-02 1.94463221e+02] [-3.19084750e-01 9.47673519e-01 9.99120073e-03 9.41411687e+01] [ 3.35044158e-02 7.44095435e-04 9.99438292e-01 2.10920395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.796875 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:194.50, Y:94.12, Z:21.11 [[ 9.43785244e-01 3.29006796e-01 -3.19990919e-02 1.94500528e+02] [-3.28857876e-01 9.44326887e-01 9.96130064e-03 9.41163894e+01] [ 3.34949385e-02 1.12182486e-03 9.99438258e-01 2.11051481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.82687500000003 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:194.53, Y:94.11, Z:21.11 [[ 9.43433794e-01 3.30050371e-01 -3.16137547e-02 1.94529391e+02] [-3.29864923e-01 9.43963322e-01 1.10625579e-02 9.41062909e+01] [ 3.34934262e-02 -8.52218573e-06 9.99438938e-01 2.11069784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.856875 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:194.56, Y:94.10, Z:21.11 [[ 9.43331405e-01 3.30343028e-01 -3.16123966e-02 1.94560120e+02] [-3.30157614e-01 9.43860945e-01 1.10664372e-02 9.40959873e+01] [ 3.34934269e-02 -2.24436135e-06 9.99438938e-01 2.11090029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.88687500000003 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:194.59, Y:94.09, Z:21.11 [[ 9.43168903e-01 3.30806996e-01 -3.16093630e-02 1.94590709e+02] [-3.30621553e-01 9.43698432e-01 1.10750954e-02 9.40851781e+01] [ 3.34934254e-02 5.05107951e-06 9.99438938e-01 2.11110045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.916875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:194.62, Y:94.07, Z:21.11 [[ 9.43079083e-01 3.31063262e-01 -3.16063111e-02 1.94621842e+02] [-3.30877671e-01 9.43608561e-01 1.10837983e-02 9.40735334e+01] [ 3.34934241e-02 4.92427822e-06 9.99438938e-01 2.11143339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.94687500000003 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:194.65, Y:94.06, Z:21.12 [[ 9.43172475e-01 3.30797394e-01 -3.16032698e-02 1.94652591e+02] [-3.30611363e-01 9.43701798e-01 1.10924631e-02 9.40627806e+01] [ 3.34934204e-02 -1.37057679e-05 9.99438938e-01 2.11163821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.976875 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:194.68, Y:94.06, Z:21.11 [[ 9.45248945e-01 3.24816659e-01 -3.16001424e-02 1.94676103e+02] [-3.24626982e-01 9.45776973e-01 1.11013652e-02 9.40625691e+01] [ 3.34925954e-02 -2.35294933e-04 9.99438938e-01 2.11104771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.00687500000004 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:194.71, Y:94.04, Z:21.12 [[ 9.43363753e-01 3.30226323e-01 -3.18654193e-02 1.94711361e+02] [-3.30065108e-01 9.43901478e-01 1.03452336e-02 9.40423884e+01] [ 3.34940848e-02 7.58344640e-04 9.99438628e-01 2.11173677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.036875 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:194.74, Y:94.03, Z:21.12 [[ 9.43433969e-01 3.30051866e-01 -3.15928971e-02 1.94742268e+02] [-3.29864509e-01 9.43962796e-01 1.11195580e-02 9.40312673e+01] [ 3.34925503e-02 -6.91932123e-05 9.99438965e-01 2.11182098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06687500000004 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:194.77, Y:94.03, Z:21.11 [[ 9.45467108e-01 3.24182092e-01 -3.15898402e-02 1.94766618e+02] [-3.23991163e-01 9.45994656e-01 1.11282356e-02 9.40298587e+01] [ 3.34913947e-02 -2.86551633e-04 9.99438965e-01 2.11133175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.096875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:194.80, Y:94.01, Z:21.12 [[ 9.43865358e-01 3.28794217e-01 -3.18205704e-02 1.94801553e+02] [-3.28627876e-01 9.44401417e-01 1.04729914e-02 9.40105292e+01] [ 3.34948507e-02 5.72032642e-04 9.99438726e-01 2.11195309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12687500000004 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:194.83, Y:94.00, Z:21.12 [[ 9.44064566e-01 3.28244923e-01 -3.15811133e-02 1.94832900e+02] [-3.28055496e-01 9.44592633e-01 1.11511806e-02 9.39995633e+01] [ 3.34916054e-02 -1.67076650e-04 9.99438985e-01 2.11214588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.156875 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:194.86, Y:93.99, Z:21.12 [[ 9.43996969e-01 3.28439580e-01 -3.15779344e-02 1.94863838e+02] [-3.28249961e-01 9.44524967e-01 1.11601754e-02 9.39885690e+01] [ 3.34915908e-02 -1.69716039e-04 9.99438985e-01 2.11223274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.186875 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:194.89, Y:93.99, Z:21.12 [[ 9.46482228e-01 3.21207762e-01 -3.15747607e-02 1.94887549e+02] [-3.21013810e-01 9.47008650e-01 1.11691472e-02 9.39891312e+01] [ 3.34891883e-02 -4.35465087e-04 9.99438985e-01 2.11161077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.216875 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:194.92, Y:93.97, Z:21.12 [[ 9.44578617e-01 3.26735642e-01 -3.18599632e-02 1.94923000e+02] [-3.26571877e-01 9.45115569e-01 1.03619376e-02 9.39685942e+01] [ 3.34969616e-02 6.16903250e-04 9.99438629e-01 2.11229714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.246875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:194.95, Y:93.96, Z:21.12 [[ 9.45200884e-01 3.24959764e-01 -3.15664502e-02 1.94952923e+02] [-3.24767206e-01 9.45727787e-01 1.11899649e-02 9.39584061e+01] [ 3.34895574e-02 -3.25016862e-04 9.99439015e-01 2.11231095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.276875 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:194.98, Y:93.95, Z:21.12 [[ 9.45549366e-01 3.23944653e-01 -3.15635601e-02 1.94984230e+02] [-3.23751258e-01 9.46075962e-01 1.11981111e-02 9.39480828e+01] [ 3.34890937e-02 -3.69624575e-04 9.99439015e-01 2.11238423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.306875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:195.01, Y:93.94, Z:21.12 [[ 9.45666244e-01 3.23603601e-01 -3.15604834e-02 1.95014677e+02] [-3.23409727e-01 9.46192664e-01 1.12067755e-02 9.39377270e+01] [ 3.34888508e-02 -3.90902003e-04 9.99439015e-01 2.11243251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.336875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:195.05, Y:93.93, Z:21.13 [[ 9.46013500e-01 3.22587312e-01 -3.15576167e-02 1.95045402e+02] [-3.22392604e-01 9.46539612e-01 1.12148423e-02 9.39281145e+01] [ 3.34883001e-02 -4.35450041e-04 9.99439015e-01 2.11257176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.366875 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:195.08, Y:93.92, Z:21.13 [[ 9.46063089e-01 3.22442129e-01 -3.15547950e-02 1.95076557e+02] [-3.22247075e-01 9.46589072e-01 1.12227760e-02 9.39176126e+01] [ 3.34881199e-02 -4.49013756e-04 9.99439015e-01 2.11276828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.396875 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:195.11, Y:93.91, Z:21.13 [[ 9.46085436e-01 3.22376850e-01 -3.15517865e-02 1.95107228e+02] [-3.22181478e-01 9.46611301e-01 1.12312277e-02 9.39070247e+01] [ 3.34879655e-02 -4.60299689e-04 9.99439015e-01 2.11297153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.426875 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:195.14, Y:93.90, Z:21.13 [[ 9.45999729e-01 3.22628559e-01 -3.15487925e-02 1.95138636e+02] [-3.22433047e-01 9.46525542e-01 1.12396316e-02 9.38957382e+01] [ 3.34879641e-02 -4.60315133e-04 9.99439015e-01 2.11308378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.456875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:195.17, Y:93.89, Z:21.13 [[ 9.46056268e-01 3.22463022e-01 -3.15458015e-02 1.95168842e+02] [-3.22267139e-01 9.46581942e-01 1.12480202e-02 9.38855743e+01] [ 3.34877566e-02 -4.75084780e-04 9.99439015e-01 2.11330330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.486875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:195.20, Y:93.88, Z:21.14 [[ 9.46110388e-01 3.22304380e-01 -3.15439423e-02 1.95200173e+02] [-3.22108234e-01 9.46635965e-01 1.12532316e-02 9.38759063e+01] [ 3.34875961e-02 -4.86235750e-04 9.99439015e-01 2.11358303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.516875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:195.23, Y:93.87, Z:21.14 [[ 9.45890879e-01 3.22948309e-01 -3.15409993e-02 1.95231676e+02] [-3.22752246e-01 9.46416487e-01 1.12614744e-02 9.38651219e+01] [ 3.34877959e-02 -4.72197507e-04 9.99439015e-01 2.11363611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.546875 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:195.26, Y:93.86, Z:21.14 [[ 9.45684244e-01 3.23553180e-01 -3.15380651e-02 1.95262221e+02] [-3.23357180e-01 9.46209875e-01 1.12696856e-02 9.38561342e+01] [ 3.34879713e-02 -4.59504338e-04 9.99439015e-01 2.11360413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.57687500000003 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:195.29, Y:93.85, Z:21.14 [[ 9.45475521e-01 3.24162862e-01 -3.15353318e-02 1.95293955e+02] [-3.23966946e-01 9.46001184e-01 1.12773290e-02 9.38457660e+01] [ 3.34881525e-02 -4.46033394e-04 9.99439015e-01 2.11363698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.606875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:195.32, Y:93.84, Z:21.14 [[ 9.45191175e-01 3.24991305e-01 -3.15324409e-02 1.95324912e+02] [-3.24795580e-01 9.45716908e-01 1.12854065e-02 9.38353726e+01] [ 3.34884215e-02 -4.25269199e-04 9.99439015e-01 2.11367284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.63687500000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:195.36, Y:93.83, Z:21.14 [[ 9.44913075e-01 3.25799273e-01 -3.15295690e-02 1.95355387e+02] [-3.25603730e-01 9.45438877e-01 1.12934245e-02 9.38258069e+01] [ 3.34886697e-02 -4.05159179e-04 9.99439015e-01 2.11374315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.666875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:195.39, Y:93.82, Z:21.14 [[ 9.44760123e-01 3.26242800e-01 -3.15268915e-02 1.95386351e+02] [-3.26047255e-01 9.45285924e-01 1.13008939e-02 9.38152272e+01] [ 3.34887620e-02 -3.97377490e-04 9.99439015e-01 2.11383417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.69687500000003 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:195.42, Y:93.80, Z:21.14 [[ 9.44549599e-01 3.26852091e-01 -3.15240523e-02 1.95417259e+02] [-3.26656621e-01 9.45075427e-01 1.13088083e-02 9.38045513e+01] [ 3.34889149e-02 -3.84189969e-04 9.99439015e-01 2.11388221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.726875 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:195.45, Y:93.80, Z:21.14 [[ 9.44251985e-01 3.27711157e-01 -3.15212201e-02 1.95447839e+02] [-3.27515902e-01 9.44777893e-01 1.13166971e-02 9.37951291e+01] [ 3.34891598e-02 -3.62112904e-04 9.99439015e-01 2.11396179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.75687500000004 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:195.48, Y:93.78, Z:21.14 [[ 9.44045371e-01 3.28306132e-01 -3.15185780e-02 1.95479026e+02] [-3.28110963e-01 9.44571311e-01 1.13240509e-02 9.37848312e+01] [ 3.34892999e-02 -3.48826830e-04 9.99439015e-01 2.11415413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.786875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:195.51, Y:93.78, Z:21.14 [[ 9.43739292e-01 3.29185243e-01 -3.15154561e-02 1.95509753e+02] [-3.28990274e-01 9.44265307e-01 1.13327329e-02 9.37751490e+01] [ 3.34895202e-02 -3.26866815e-04 9.99439015e-01 2.11426590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81687500000004 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:195.54, Y:93.76, Z:21.14 [[ 9.43536556e-01 3.29766076e-01 -3.15135168e-02 1.95540669e+02] [-3.29571251e-01 9.44062624e-01 1.13381229e-02 9.37642264e+01] [ 3.34896617e-02 -3.11984284e-04 9.99439015e-01 2.11437184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.846875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:195.57, Y:93.75, Z:21.14 [[ 9.43418304e-01 3.30104525e-01 -3.15104099e-02 1.95571913e+02] [-3.29909600e-01 9.43944335e-01 1.13467510e-02 9.37532976e+01] [ 3.34896867e-02 -3.09145846e-04 9.99439015e-01 2.11442981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87687500000004 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:195.60, Y:93.74, Z:21.14 [[ 9.43266491e-01 3.30538379e-01 -3.15072407e-02 1.95602582e+02] [-3.30343402e-01 9.43792503e-01 1.13555442e-02 9.37427092e+01] [ 3.34897407e-02 -3.03095242e-04 9.99439015e-01 2.11444192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.906875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:195.62, Y:93.74, Z:21.14 [[ 9.45775066e-01 3.23290883e-01 -3.15044439e-02 1.95624052e+02] [-3.23091618e-01 9.46299467e-01 1.13632983e-02 9.37445022e+01] [ 3.34862892e-02 -5.68302428e-04 9.99439015e-01 2.11385869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.936875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:195.66, Y:93.73, Z:21.14 [[ 9.45674591e-01 3.23548851e-01 -3.18701981e-02 1.95655154e+02] [-3.23383720e-01 9.46211325e-01 1.03488671e-02 9.37331548e+01] [ 3.35043064e-02 5.19642534e-04 9.99438438e-01 2.11391496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.966875 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:195.69, Y:93.71, Z:21.15 [[ 9.43385069e-01 3.30166846e-01 -3.18506663e-02 1.95691849e+02] [-3.30003647e-01 9.43922332e-01 1.04031119e-02 9.37098093e+01] [ 3.34993179e-02 6.96695585e-04 9.99438498e-01 2.11482368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.996875 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:195.72, Y:93.70, Z:21.15 [[ 9.43331624e-01 3.30353481e-01 -3.14964247e-02 1.95722582e+02] [-3.30157474e-01 9.43857226e-01 1.13833143e-02 9.36980255e+01] [ 3.34886456e-02 -3.39460335e-04 9.99439040e-01 2.11511933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.026875 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:195.75, Y:93.69, Z:21.15 [[ 9.43072608e-01 3.31092484e-01 -3.14932396e-02 1.95751563e+02] [-3.30896595e-01 9.43598253e-01 1.13921197e-02 9.36876386e+01] [ 3.34888110e-02 -3.22590262e-04 9.99439040e-01 2.11540343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.056875 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:195.78, Y:93.68, Z:21.16 [[ 9.42763990e-01 3.31970378e-01 -3.14917110e-02 1.95782185e+02] [-3.31774838e-01 9.43289765e-01 1.13963434e-02 9.36770152e+01] [ 3.34890572e-02 -2.95904888e-04 9.99439040e-01 2.11555672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.086875 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:195.81, Y:93.67, Z:21.16 [[ 9.42322591e-01 3.33221553e-01 -3.14885912e-02 1.95812897e+02] [-3.33026423e-01 9.42848518e-01 1.14049573e-02 9.36665209e+01] [ 3.34893491e-02 -2.60616014e-04 9.99439040e-01 2.11567571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.116875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:195.84, Y:93.66, Z:21.16 [[ 9.41482038e-01 3.35589390e-01 -3.14854544e-02 1.95844167e+02] [-3.35395293e-01 9.42008348e-01 1.14136104e-02 9.36569610e+01] [ 3.34898474e-02 -1.85635946e-04 9.99439041e-01 2.11576374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.146875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:195.88, Y:93.65, Z:21.16 [[ 9.41126687e-01 3.36584941e-01 -3.14823152e-02 1.95875348e+02] [-3.36391112e-01 9.41653095e-01 1.14222626e-02 9.36463722e+01] [ 3.34899812e-02 -1.59425117e-04 9.99439041e-01 2.11581302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.176875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:195.91, Y:93.64, Z:21.16 [[ 9.40523325e-01 3.38267550e-01 -3.14791786e-02 1.95906267e+02] [-3.38074373e-01 9.41049973e-01 1.14309005e-02 9.36360455e+01] [ 3.34901829e-02 -1.08724997e-04 9.99439041e-01 2.11583593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.206875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:195.94, Y:93.63, Z:21.16 [[ 9.40348369e-01 3.38753903e-01 -3.14759817e-02 1.95937695e+02] [-3.38560704e-01 9.40875009e-01 1.14396967e-02 9.36250768e+01] [ 3.34902065e-02 -1.00769655e-04 9.99439041e-01 2.11593108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.236875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:195.97, Y:93.61, Z:21.16 [[ 9.40182307e-01 3.39214820e-01 -3.14727592e-02 1.95967712e+02] [-3.39021583e-01 9.40708933e-01 1.14485555e-02 9.36145222e+01] [ 3.34902254e-02 -9.37846529e-05 9.99439041e-01 2.11597417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.266875 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:196.00, Y:93.60, Z:21.16 [[ 9.40077310e-01 3.39505974e-01 -3.14697517e-02 1.95997500e+02] [-3.39312623e-01 9.40603894e-01 1.14568167e-02 9.36045614e+01] [ 3.34902287e-02 -9.22094333e-05 9.99439041e-01 2.11593594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.296875 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:196.03, Y:93.59, Z:21.16 [[ 9.39929580e-01 3.39914990e-01 -3.14671776e-02 1.96028317e+02] [-3.39721632e-01 9.40456162e-01 1.14638822e-02 9.35936280e+01] [ 3.34902465e-02 -8.51610962e-05 9.99439041e-01 2.11606196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.32687500000003 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:196.06, Y:93.58, Z:21.16 [[ 9.39901063e-01 3.39994136e-01 -3.14639519e-02 1.96058069e+02] [-3.39800526e-01 9.40427551e-01 1.14727288e-02 9.35830467e+01] [ 3.34902277e-02 -9.17625776e-05 9.99439041e-01 2.11607403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.356875 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:196.09, Y:93.57, Z:21.16 [[ 9.40002821e-01 3.39712976e-01 -3.14609493e-02 1.96088740e+02] [-3.39518933e-01 9.40529150e-01 1.14809566e-02 9.35719417e+01] [ 3.34901698e-02 -1.10543662e-04 9.99439041e-01 2.11621209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.38687500000003 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:196.12, Y:93.56, Z:21.16 [[ 9.40124655e-01 3.39375965e-01 -3.14577117e-02 1.96119656e+02] [-3.39181437e-01 9.40650805e-01 1.14898208e-02 9.35607554e+01] [ 3.34900909e-02 -1.31991984e-04 9.99439041e-01 2.11630478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.416875 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:196.15, Y:93.55, Z:21.17 [[ 9.40681645e-01 3.37829331e-01 -3.14544916e-02 1.96150182e+02] [-3.37633643e-01 9.41207365e-01 1.14986293e-02 9.35500171e+01] [ 3.34897734e-02 -1.96454877e-04 9.99439041e-01 2.11650524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.44687500000003 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:196.18, Y:93.54, Z:21.17 [[ 9.41001998e-01 3.36936284e-01 -3.14512506e-02 1.96180152e+02] [-3.36739801e-01 9.41527421e-01 1.15074873e-02 9.35391090e+01] [ 3.34895049e-02 -2.37680631e-04 9.99439041e-01 2.11661054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.476875 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:196.21, Y:93.53, Z:21.17 [[ 9.41408610e-01 3.35798806e-01 -3.14482397e-02 1.96210530e+02] [-3.35601413e-01 9.41933692e-01 1.15157099e-02 9.35279646e+01] [ 3.34891181e-02 -2.86914742e-04 9.99439041e-01 2.11679403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.50687500000004 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:196.24, Y:93.52, Z:21.17 [[ 9.41755221e-01 3.34825767e-01 -3.14453281e-02 1.96241717e+02] [-3.34627567e-01 9.42279999e-01 1.15236549e-02 9.35163941e+01] [ 3.34887203e-02 -3.29988571e-04 9.99439041e-01 2.11703393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.536875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:196.27, Y:93.51, Z:21.17 [[ 9.42334034e-01 3.33193584e-01 -3.14420653e-02 1.96271829e+02] [-3.32994179e-01 9.42858355e-01 1.15325506e-02 9.35055563e+01] [ 3.34879858e-02 -3.97490260e-04 9.99439041e-01 2.11723225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56687500000004 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:196.30, Y:93.49, Z:21.17 [[ 9.42424108e-01 3.32938919e-01 -3.14400389e-02 1.96302947e+02] [-3.32739187e-01 9.42948305e-01 1.15380723e-02 9.34943168e+01] [ 3.34878047e-02 -4.12424499e-04 9.99439041e-01 2.11741823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.596875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:196.33, Y:93.48, Z:21.18 [[ 9.42512227e-01 3.32689688e-01 -3.14368120e-02 1.96333107e+02] [-3.32489525e-01 9.43036259e-01 1.15468576e-02 9.34838584e+01] [ 3.34875741e-02 -4.30643741e-04 9.99439041e-01 2.11752768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62687500000004 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:196.36, Y:93.47, Z:21.18 [[ 9.42337952e-01 3.33183283e-01 -3.14338068e-02 1.96363868e+02] [-3.32983122e-01 9.42861985e-01 1.15550329e-02 9.34729811e+01] [ 3.34876853e-02 -4.21818899e-04 9.99439041e-01 2.11772141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.656875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:196.39, Y:93.46, Z:21.18 [[ 9.41992603e-01 3.34158726e-01 -3.14305760e-02 1.96394779e+02] [-3.33958814e-01 9.42516731e-01 1.15638143e-02 9.34616917e+01] [ 3.34879932e-02 -3.96509621e-04 9.99439041e-01 2.11786074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.686875 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:196.43, Y:93.45, Z:21.18 [[ 9.41293660e-01 3.36122847e-01 -3.14273254e-02 1.96425162e+02] [-3.35923735e-01 9.41818092e-01 1.15726418e-02 9.34510192e+01] [ 3.34886529e-02 -3.36069875e-04 9.99439041e-01 2.11791081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.716875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:196.46, Y:93.44, Z:21.18 [[ 9.40804149e-01 3.37490840e-01 -3.14242934e-02 1.96455674e+02] [-3.37292215e-01 9.41328766e-01 1.15808691e-02 9.34401101e+01] [ 3.34890285e-02 -2.96160199e-04 9.99439041e-01 2.11796362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.746875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:196.49, Y:93.43, Z:21.18 [[ 9.39719273e-01 3.40500228e-01 -3.14210486e-02 1.96486162e+02] [-3.40302989e-01 9.40244412e-01 1.15896660e-02 9.34296871e+01] [ 3.34897493e-02 -1.98355754e-04 9.99439041e-01 2.11806463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.776875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:196.52, Y:93.42, Z:21.18 [[ 9.39043394e-01 3.42359971e-01 -3.14190312e-02 1.96516849e+02] [-3.42163589e-01 9.39568854e-01 1.15951327e-02 9.34188837e+01] [ 3.34900524e-02 -1.37884279e-04 9.99439041e-01 2.11817340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.806875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:196.54, Y:93.42, Z:21.18 [[ 9.40013824e-01 3.39686704e-01 -3.14158234e-02 1.96541801e+02] [-3.39488538e-01 9.40538614e-01 1.16038173e-02 9.34163488e+01] [ 3.34894574e-02 -2.42436736e-04 9.99439041e-01 2.11776149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.836875 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:196.58, Y:93.40, Z:21.18 [[ 9.36841197e-01 3.48319837e-01 -3.16522272e-02 1.96576198e+02] [-3.48148065e-01 9.37375448e-01 1.09633252e-02 9.33977649e+01] [ 3.34887643e-02 7.48766973e-04 9.99438814e-01 2.11836886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.866875 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:196.60, Y:93.39, Z:21.18 [[ 9.37936593e-01 3.45381622e-01 -3.14083197e-02 1.96601166e+02] [-3.45186017e-01 9.38462323e-01 1.16224790e-02 9.33948461e+01] [ 3.34897153e-02 -5.94356112e-05 9.99439060e-01 2.11788410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.896875 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:196.64, Y:93.38, Z:21.18 [[ 9.34552091e-01 3.54415152e-01 -3.16589389e-02 1.96635793e+02] [-3.54247500e-01 9.35087657e-01 1.09445323e-02 9.33766036e+01] [ 3.34827911e-02 9.86864412e-04 9.99438807e-01 2.11843485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.926875 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:196.67, Y:93.37, Z:21.19 [[ 9.33854079e-01 3.56273217e-01 -3.13999247e-02 1.96666901e+02] [-3.56083050e-01 9.34381774e-01 1.16430874e-02 9.33655483e+01] [ 3.34876376e-02 3.08036334e-04 9.99439084e-01 2.11854236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.956875 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:196.69, Y:93.36, Z:21.18 [[ 9.34869104e-01 3.53601488e-01 -3.13965904e-02 1.96690672e+02] [-3.53409512e-01 9.35396144e-01 1.16520717e-02 9.33646803e+01] [ 3.34884395e-02 2.02691873e-04 9.99439084e-01 2.11789145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.986875 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:196.72, Y:93.36, Z:21.18 [[ 9.34321847e-01 3.55024161e-01 -3.16311661e-02 1.96716368e+02] [-3.54854239e-01 9.34856666e-01 1.10219103e-02 9.33567788e+01] [ 3.34836509e-02 9.26441734e-04 9.99438836e-01 2.11797892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.016875 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:196.75, Y:93.33, Z:21.19 [[ 9.31112480e-01 3.63346800e-01 -3.17593022e-02 1.96753498e+02] [-3.63193369e-01 9.31652599e-01 1.06775805e-02 9.33343725e+01] [ 3.34683012e-02 1.59273949e-03 9.99438510e-01 2.11880453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.046875 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:196.78, Y:93.32, Z:21.19 [[ 9.30555639e-01 3.64804237e-01 -3.13699154e-02 1.96784532e+02] [-3.64616317e-01 9.31084091e-01 1.17198880e-02 9.33225536e+01] [ 3.34834940e-02 5.31975207e-04 9.99439129e-01 2.11902952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.07687500000003 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:196.81, Y:93.32, Z:21.19 [[ 9.31955499e-01 3.61213349e-01 -3.13666157e-02 1.96807911e+02] [-3.61023096e-01 9.32483116e-01 1.17287125e-02 9.33219003e+01] [ 3.34854071e-02 3.93434628e-04 9.99439129e-01 2.11871368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.106875 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:196.84, Y:93.30, Z:21.19 [[ 9.29217658e-01 3.68174027e-01 -3.16611854e-02 1.96842679e+02] [-3.68014463e-01 9.29755708e-01 1.09397687e-02 9.33015966e+01] [ 3.34649065e-02 1.48634785e-03 9.99438788e-01 2.11930258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.13687500000003 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:196.87, Y:93.29, Z:21.19 [[ 9.28791046e-01 3.69274732e-01 -3.13586477e-02 1.96873158e+02] [-3.69088426e-01 9.29320038e-01 1.17474017e-02 9.32904163e+01] [ 3.34802383e-02 6.63232418e-04 9.99439160e-01 2.11948890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.166875 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:196.90, Y:93.29, Z:21.19 [[ 9.30557390e-01 3.64801019e-01 -3.13553806e-02 1.96895741e+02] [-3.64611876e-01 9.31085374e-01 1.17561156e-02 9.32911187e+01] [ 3.34831792e-02 4.92803900e-04 9.99439160e-01 2.11914857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.19687500000003 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:196.93, Y:93.28, Z:21.19 [[ 9.30621534e-01 3.64609737e-01 -3.16749334e-02 1.96925780e+02] [-3.64449354e-01 9.31159378e-01 1.09032323e-02 9.32813801e+01] [ 3.34698359e-02 1.39712620e-03 9.99438752e-01 2.11913708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.226875 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:196.96, Y:93.26, Z:21.20 [[ 9.27814235e-01 3.71692828e-01 -3.17046806e-02 1.96961752e+02] [-3.71539263e-01 9.28354148e-01 1.08236834e-02 9.32587877e+01] [ 3.34562572e-02 1.73716617e-03 9.99438673e-01 2.11974495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.25687500000004 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:196.99, Y:93.25, Z:21.20 [[ 9.27663910e-01 3.72097719e-01 -3.13521420e-02 1.96991472e+02] [-3.71912484e-01 9.28193260e-01 1.17633324e-02 9.32477673e+01] [ 3.34779561e-02 7.47834149e-04 9.99439176e-01 2.11980284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.286875 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:197.02, Y:93.24, Z:21.20 [[ 9.27718118e-01 3.71962810e-01 -3.13490170e-02 1.97022046e+02] [-3.71777217e-01 9.28247343e-01 1.17716547e-02 9.32374073e+01] [ 3.34782595e-02 7.34072915e-04 9.99439176e-01 2.11977979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31687500000004 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:197.05, Y:93.24, Z:21.19 [[ 9.29702479e-01 3.66975112e-01 -3.13459239e-02 1.97047691e+02] [-3.66786402e-01 9.30230600e-01 1.17798854e-02 9.32358443e+01] [ 3.34818623e-02 5.45470002e-04 9.99439176e-01 2.11934086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.346875 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:197.08, Y:93.22, Z:21.20 [[ 9.27560949e-01 3.72333969e-01 -3.15927379e-02 1.97081687e+02] [-3.72170592e-01 9.28097699e-01 1.11225949e-02 9.32158423e+01] [ 3.34624673e-02 1.44100326e-03 9.99438936e-01 2.11985694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37687500000004 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:197.11, Y:93.20, Z:21.20 [[ 9.27457338e-01 3.72613572e-01 -3.13370917e-02 1.97112813e+02] [-3.72427343e-01 9.27986315e-01 1.18014523e-02 9.32038148e+01] [ 3.34777735e-02 7.25446240e-04 9.99439199e-01 2.12000033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.406875 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:197.14, Y:93.19, Z:21.20 [[ 9.27371318e-01 3.72827882e-01 -3.13338202e-02 1.97143745e+02] [-3.72641483e-01 9.27900235e-01 1.18101320e-02 9.31924567e+01] [ 3.34778056e-02 7.23903502e-04 9.99439199e-01 2.12014390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.436875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:197.17, Y:93.18, Z:21.20 [[ 9.27150055e-01 3.73378056e-01 -3.13305384e-02 1.97173996e+02] [-3.73191676e-01 9.27678979e-01 1.18188317e-02 9.31812431e+01] [ 3.34775743e-02 7.34465658e-04 9.99439199e-01 2.12020638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.466875 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:197.20, Y:93.17, Z:21.20 [[ 9.26974316e-01 3.73814400e-01 -3.13274867e-02 1.97204068e+02] [-3.73627996e-01 9.27503232e-01 1.18269152e-02 9.31706423e+01] [ 3.34774164e-02 7.41579488e-04 9.99439199e-01 2.12035339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.496875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:197.23, Y:93.16, Z:21.21 [[ 9.26696683e-01 3.74502384e-01 -3.13244751e-02 1.97234734e+02] [-3.74316103e-01 9.27225642e-01 1.18348863e-02 9.31596878e+01] [ 3.34770496e-02 7.57905550e-04 9.99439199e-01 2.12051405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.526875 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:197.27, Y:93.15, Z:21.21 [[ 9.26186873e-01 3.75761715e-01 -3.13210914e-02 1.97265766e+02] [-3.75575852e-01 9.26715978e-01 1.18438346e-02 9.31489615e+01] [ 3.34762154e-02 7.93841457e-04 9.99439199e-01 2.12063922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.556875 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:197.30, Y:93.14, Z:21.21 [[ 9.25878389e-01 3.76521458e-01 -3.13177306e-02 1.97296525e+02] [-3.76335729e-01 9.26407541e-01 1.18527147e-02 9.31378433e+01] [ 3.34757832e-02 8.11808570e-04 9.99439199e-01 2.12077948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.586875 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:197.32, Y:93.14, Z:21.20 [[ 9.27032771e-01 3.73670514e-01 -3.13143489e-02 1.97320959e+02] [-3.73482855e-01 9.27561242e-01 1.18616421e-02 9.31360104e+01] [ 3.34783223e-02 6.99241452e-04 9.99439199e-01 2.12049740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.616875 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:197.35, Y:93.13, Z:21.21 [[ 9.26409108e-01 3.75193522e-01 -3.15592257e-02 1.97352098e+02] [-3.75028648e-01 9.26945376e-01 1.12152667e-02 9.31250704e+01] [ 3.34615738e-02 1.44568855e-03 9.99438959e-01 2.12058233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.646875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:197.38, Y:93.11, Z:21.21 [[ 9.25573012e-01 3.77251739e-01 -3.15551061e-02 1.97383376e+02] [-3.77087688e-01 9.26109524e-01 1.12261211e-02 9.31129104e+01] [ 3.34585580e-02 1.50844728e-03 9.99438967e-01 2.12074352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.676875 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:197.41, Y:93.10, Z:21.21 [[ 9.25145459e-01 3.78304059e-01 -3.14947276e-02 1.97412939e+02] [-3.78135210e-01 9.25680368e-01 1.13850335e-02 9.31029383e+01] [ 3.34610554e-02 1.37645334e-03 9.99439074e-01 2.12084942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.706875 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:197.45, Y:93.08, Z:21.21 [[ 9.22750544e-01 3.84104641e-01 -3.15445585e-02 1.97447011e+02] [-3.83943634e-01 9.23287952e-01 1.12536062e-02 9.30830106e+01] [ 3.34472731e-02 1.72706120e-03 9.99438991e-01 2.12136220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.736875 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:197.47, Y:93.08, Z:21.21 [[ 9.24157078e-01 3.80728303e-01 -3.12994295e-02 1.97470555e+02] [-3.80543433e-01 9.24686500e-01 1.18984518e-02 9.30812500e+01] [ 3.34722372e-02 9.14753864e-04 9.99439229e-01 2.12099640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.766875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:197.51, Y:93.06, Z:21.22 [[ 9.21518218e-01 3.87048508e-01 -3.15852156e-02 1.97505259e+02] [-3.86892902e-01 9.22057294e-01 1.11458029e-02 9.30609771e+01] [ 3.34373448e-02 1.94903529e-03 9.99438915e-01 2.12154592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.796875 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:197.53, Y:93.06, Z:21.21 [[ 9.23118813e-01 3.83239524e-01 -3.12909770e-02 1.97529425e+02] [-3.83055420e-01 9.23648471e-01 1.19183428e-02 9.30583601e+01] [ 3.34694431e-02 9.84131857e-04 9.99439257e-01 2.12116688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.82687500000003 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:197.56, Y:93.04, Z:21.22 [[ 9.21010793e-01 3.88257655e-01 -3.15454020e-02 1.97564390e+02] [-3.88099205e-01 9.21548942e-01 1.12496368e-02 9.30368964e+01] [ 3.34383894e-02 1.88170855e-03 9.99439009e-01 2.12166804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.856875 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:197.59, Y:93.03, Z:21.21 [[ 9.22762394e-01 3.84097451e-01 -3.12843959e-02 1.97589417e+02] [-3.83913311e-01 9.23292019e-01 1.19338833e-02 9.30318681e+01] [ 3.34684072e-02 9.98357356e-04 9.99439277e-01 2.12137634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.88687500000003 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:197.62, Y:93.02, Z:21.21 [[ 9.23117321e-01 3.83226090e-01 -3.14988284e-02 1.97618104e+02] [-3.83060549e-01 9.23653238e-01 1.13715637e-02 9.30194020e+01] [ 3.34518747e-02 1.56867108e-03 9.99439098e-01 2.12128137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.916875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:197.65, Y:93.01, Z:21.21 [[ 9.23232884e-01 3.82943883e-01 -3.15440019e-02 1.97647730e+02] [-3.82782208e-01 9.23770071e-01 1.12533620e-02 9.30074076e+01] [ 3.34488110e-02 1.68500888e-03 9.99439012e-01 2.12132503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.94687500000003 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:197.68, Y:92.99, Z:21.21 [[ 9.23009438e-01 3.83479830e-01 -3.15720966e-02 1.97677298e+02] [-3.83320973e-01 9.23547530e-01 1.11799253e-02 9.29937240e+01] [ 3.34456077e-02 1.78307024e-03 9.99438949e-01 2.12139286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.976875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:197.70, Y:92.98, Z:21.21 [[ 9.23563585e-01 3.82145140e-01 -3.15499121e-02 1.97704069e+02] [-3.81983527e-01 9.24100803e-01 1.12378994e-02 9.29828257e+01] [ 3.34498077e-02 1.67263204e-03 9.99438999e-01 2.12130920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.00687500000004 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:197.73, Y:92.97, Z:21.21 [[ 9.23187475e-01 3.83048865e-01 -3.15983167e-02 1.97732989e+02] [-3.82892089e-01 9.23726247e-01 1.11116636e-02 9.29669309e+01] [ 3.34445046e-02 1.84059687e-03 9.99438881e-01 2.12141705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.036875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:197.76, Y:92.95, Z:21.22 [[ 9.23121731e-01 3.83210398e-01 -3.15604262e-02 1.97760403e+02] [-3.83050354e-01 9.23659439e-01 1.12101026e-02 9.29538648e+01] [ 3.34469135e-02 1.74094310e-03 9.99438979e-01 2.12150044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06687500000004 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:197.79, Y:92.94, Z:21.22 [[ 9.22945963e-01 3.83631617e-01 -3.15837472e-02 1.97789679e+02] [-3.83473883e-01 9.23484416e-01 1.11496480e-02 9.29393965e+01] [ 3.34444558e-02 1.82101956e-03 9.99438919e-01 2.12159571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.096875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:197.82, Y:92.92, Z:21.22 [[ 9.23326235e-01 3.82717284e-01 -3.15617540e-02 1.97817805e+02] [-3.82557074e-01 9.23863896e-01 1.12065465e-02 9.29222256e+01] [ 3.34477041e-02 1.72687383e-03 9.99438977e-01 2.12175308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12687500000004 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:197.85, Y:92.91, Z:21.22 [[ 9.23733937e-01 3.81733798e-01 -3.15423783e-02 1.97845157e+02] [-3.81571309e-01 9.24270862e-01 1.12565749e-02 9.29089998e+01] [ 3.34507162e-02 1.63758631e-03 9.99439027e-01 2.12182274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.156875 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:197.88, Y:92.88, Z:21.23 [[ 9.21556204e-01 3.86958963e-01 -3.15740877e-02 1.97878835e+02] [-3.86802314e-01 9.22094949e-01 1.11747747e-02 9.28805551e+01] [ 3.34384860e-02 1.91474724e-03 9.99438943e-01 2.12263761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.186875 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:197.91, Y:92.87, Z:21.23 [[ 9.21733878e-01 3.86565891e-01 -3.12004809e-02 1.97907071e+02] [-3.86376340e-01 9.22261382e-01 1.21353796e-02 9.28657679e+01] [ 3.34661225e-02 8.69537126e-04 9.99439474e-01 2.12277665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.216875 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:197.93, Y:92.86, Z:21.22 [[ 9.23752386e-01 3.81717511e-01 -3.11973058e-02 1.97930633e+02] [-3.81524916e-01 9.24278785e-01 1.21435366e-02 9.28609351e+01] [ 3.34704085e-02 6.84928583e-04 9.99439474e-01 2.12235033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.246875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:197.96, Y:92.85, Z:21.23 [[ 9.23368322e-01 3.82624747e-01 -3.14522637e-02 1.97960321e+02] [-3.82454872e-01 9.23902746e-01 1.14885596e-02 9.28451575e+01] [ 3.34546400e-02 1.42089943e-03 9.99439227e-01 2.12253190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.276875 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:197.99, Y:92.82, Z:21.23 [[ 9.21428853e-01 3.87275075e-01 -3.14147287e-02 1.97991682e+02] [-3.87104615e-01 9.21963019e-01 1.15848763e-02 9.28202689e+01] [ 3.34497520e-02 1.48614717e-03 9.99439296e-01 2.12310065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.306875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:198.02, Y:92.81, Z:21.23 [[ 9.22916451e-01 3.83735413e-01 -3.11826277e-02 1.98015679e+02] [-3.83542766e-01 9.23442805e-01 1.21791500e-02 9.28149382e+01] [ 3.34689444e-02 7.19533388e-04 9.99439499e-01 2.12282098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.336875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:198.04, Y:92.80, Z:21.23 [[ 9.21721546e-01 3.86577957e-01 -3.14145649e-02 1.98042257e+02] [-3.86407026e-01 9.22255580e-01 1.15868770e-02 9.28002027e+01] [ 3.34514890e-02 1.45893442e-03 9.99439278e-01 2.12283539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.366875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:198.07, Y:92.79, Z:21.23 [[ 9.21912117e-01 3.86120553e-01 -3.14478449e-02 1.98070637e+02] [-3.85952249e-01 9.22447054e-01 1.15019498e-02 9.27877637e+01] [ 3.34501111e-02 1.53357959e-03 9.99439212e-01 2.12279110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.396875 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:198.10, Y:92.77, Z:21.23 [[ 9.21109161e-01 3.88028011e-01 -3.14988383e-02 1.98101357e+02] [-3.87865268e-01 9.21645932e-01 1.13714293e-02 9.27726474e+01] [ 3.34432093e-02 1.74297768e-03 9.99439100e-01 2.12288134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.426875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:198.13, Y:92.76, Z:21.23 [[ 9.20199291e-01 3.90185885e-01 -3.14362873e-02 1.98127826e+02] [-3.90018959e-01 9.20734627e-01 1.15307869e-02 9.27569318e+01] [ 3.34436286e-02 1.65012610e-03 9.99439243e-01 2.12291100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.456875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:198.15, Y:92.75, Z:21.23 [[ 9.19938958e-01 3.90799678e-01 -3.14312685e-02 1.98153920e+02] [-3.90632676e-01 9.20474258e-01 1.15435138e-02 9.27452796e+01] [ 3.34428751e-02 1.65875247e-03 9.99439254e-01 2.12291223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.486875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:198.19, Y:92.72, Z:21.24 [[ 9.16891918e-01 3.97889318e-01 -3.15166845e-02 1.98188572e+02] [-3.97733869e-01 9.17430907e-01 1.13269572e-02 9.27185645e+01] [ 3.34212557e-02 2.14965735e-03 9.99439042e-01 2.12354828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.516875 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:198.21, Y:92.72, Z:21.23 [[ 9.19555734e-01 3.91725164e-01 -3.11231244e-02 1.98210278e+02] [-3.91532279e-01 9.20081879e-01 1.23211397e-02 9.27155543e+01] [ 3.34623232e-02 8.55733166e-04 9.99439613e-01 2.12303978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.546875 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:198.24, Y:92.70, Z:21.23 [[ 9.19611426e-01 3.91567197e-01 -3.14635718e-02 1.98240588e+02] [-3.91403480e-01 9.20147801e-01 1.14603547e-02 9.27008790e+01] [ 3.34386354e-02 1.77587837e-03 9.99439195e-01 2.12304912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.57687500000003 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:198.27, Y:92.68, Z:21.23 [[ 9.20140676e-01 3.90324686e-01 -3.14288891e-02 1.98268962e+02] [-3.90157252e-01 9.20675818e-01 1.15480324e-02 9.26847809e+01] [ 3.34433003e-02 1.63639464e-03 9.99439277e-01 2.12310788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.606875 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:198.30, Y:92.67, Z:21.23 [[ 9.20537293e-01 3.89388960e-01 -3.14217954e-02 1.98298381e+02] [-3.89220372e-01 9.21072055e-01 1.15659311e-02 9.26708534e+01] [ 3.34453835e-02 1.58313199e-03 9.99439293e-01 2.12318052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.63687500000003 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:198.32, Y:92.66, Z:21.23 [[ 9.22250664e-01 3.85314885e-01 -3.14030544e-02 1.98324500e+02] [-3.85142326e-01 9.22784115e-01 1.16131786e-02 9.26583622e+01] [ 3.34529703e-02 1.38438375e-03 9.99439334e-01 2.12309483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.666875 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:198.35, Y:92.64, Z:21.23 [[ 9.22787512e-01 3.84023051e-01 -3.14563892e-02 1.98354388e+02] [-3.83854322e-01 9.23322316e-01 1.14787034e-02 9.26442253e+01] [ 3.34524729e-02 1.48226678e-03 9.99439210e-01 2.12328387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.69687500000003 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:198.38, Y:92.63, Z:21.23 [[ 9.23641331e-01 3.81969729e-01 -3.13977413e-02 1.98382142e+02] [-3.81794790e-01 9.24173991e-01 1.16263519e-02 9.26317547e+01] [ 3.34578904e-02 1.24891489e-03 9.99439348e-01 2.12346240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.726875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:198.41, Y:92.62, Z:21.24 [[ 9.25207922e-01 3.78157554e-01 -3.14191869e-02 1.98410977e+02] [-3.77982249e-01 9.25740513e-01 1.15724537e-02 9.26159362e+01] [ 3.34622250e-02 1.16896911e-03 9.99439299e-01 2.12382870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.75687500000004 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:198.44, Y:92.59, Z:21.25 [[ 9.23570544e-01 3.82142341e-01 -3.13796413e-02 1.98444655e+02] [-3.81965962e-01 9.24102687e-01 1.16716524e-02 9.25923935e+01] [ 3.34582434e-02 1.20636058e-03 9.99439388e-01 2.12490177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.786875 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:198.47, Y:92.59, Z:21.24 [[ 9.26478323e-01 3.75062626e-01 -3.10796417e-02 1.98468780e+02] [-3.74856881e-01 9.26999464e-01 1.24222602e-02 9.25892548e+01] [ 3.34699367e-02 1.41462753e-04 9.99439715e-01 2.12433583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81687500000004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:198.50, Y:92.58, Z:21.25 [[ 9.27438959e-01 3.72661942e-01 -3.13058234e-02 1.98497866e+02] [-3.72473837e-01 9.27966937e-01 1.18576494e-02 9.25759722e+01] [ 3.34696637e-02 6.63354176e-04 9.99439514e-01 2.12451664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.846875 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:198.53, Y:92.57, Z:21.25 [[ 9.28319164e-01 3.70464770e-01 -3.12951152e-02 1.98525382e+02] [-3.70274516e-01 9.28846352e-01 1.18843356e-02 9.25656609e+01] [ 3.34710812e-02 5.55327109e-04 9.99439532e-01 2.12452354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87687500000004 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:198.56, Y:92.55, Z:21.25 [[ 9.28854062e-01 3.69114573e-01 -3.13777473e-02 1.98555546e+02] [-3.68930498e-01 9.29383614e-01 1.16784648e-02 9.25534672e+01] [ 3.34726557e-02 7.28618431e-04 9.99439368e-01 2.12451828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.906875 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:198.59, Y:92.54, Z:21.25 [[ 9.28651413e-01 3.69626312e-01 -3.13519034e-02 1.98585253e+02] [-3.69440357e-01 9.29180246e-01 1.17427710e-02 9.25403706e+01] [ 3.34720065e-02 6.77717516e-04 9.99439426e-01 2.12471598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.936875 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:198.62, Y:92.52, Z:21.26 [[ 9.27127470e-01 3.73435371e-01 -3.13157959e-02 1.98618285e+02] [-3.73248554e-01 9.27655921e-01 1.18325489e-02 9.25197121e+01] [ 3.34689758e-02 7.18294454e-04 9.99439499e-01 2.12571093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.966875 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:198.65, Y:92.51, Z:21.26 [[ 9.27454131e-01 3.72646315e-01 -3.10412444e-02 1.98647363e+02] [-3.72436152e-01 9.27973449e-01 1.25136244e-02 9.25079301e+01] [ 3.34686066e-02 -4.49310059e-05 9.99439768e-01 2.12581724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.996875 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:198.68, Y:92.50, Z:21.26 [[ 9.27545449e-01 3.72419227e-01 -3.10380204e-02 1.98678058e+02] [-3.72208669e-01 9.28064607e-01 1.25216158e-02 9.24952059e+01] [ 3.34685787e-02 -6.17474495e-05 9.99439768e-01 2.12599638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.026875 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:198.71, Y:92.48, Z:21.26 [[ 9.27935919e-01 3.71445536e-01 -3.10345669e-02 1.98708955e+02] [-3.71234147e-01 9.28454739e-01 1.25301694e-02 9.24839892e+01] [ 3.34684662e-02 -1.06103299e-04 9.99439768e-01 2.12627216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.056875 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:198.74, Y:92.47, Z:21.26 [[ 9.27861820e-01 3.71630881e-01 -3.10311300e-02 1.98739439e+02] [-3.71419311e-01 9.28380567e-01 1.25386753e-02 9.24727990e+01] [ 3.34684570e-02 -1.08597192e-04 9.99439768e-01 2.12642079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.086875 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:198.77, Y:92.46, Z:21.26 [[ 9.27198104e-01 3.73284021e-01 -3.10276726e-02 1.98769537e+02] [-3.73073091e-01 9.27717110e-01 1.25472250e-02 9.24626327e+01] [ 3.34685813e-02 -5.81735398e-05 9.99439768e-01 2.12647974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.116875 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:198.79, Y:92.46, Z:21.26 [[ 9.29026133e-01 3.68711170e-01 -3.10244610e-02 1.98794172e+02] [-3.68497420e-01 9.29543985e-01 1.25551609e-02 9.24611977e+01] [ 3.34678292e-02 -2.31638775e-04 9.99439768e-01 2.12576861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.146875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:198.83, Y:92.44, Z:21.27 [[ 9.25907648e-01 3.76452710e-01 -3.12791327e-02 1.98827836e+02] [-3.76264469e-01 9.26435550e-01 1.19256519e-02 9.24410055e+01] [ 3.34675444e-02 7.27173926e-04 9.99439540e-01 2.12666212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.176875 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:198.86, Y:92.43, Z:21.27 [[ 9.24276468e-01 3.80461731e-01 -3.10142095e-02 1.98858623e+02] [-3.80253769e-01 9.24796650e-01 1.25788637e-02 9.24311466e+01] [ 3.34676133e-02 1.66922360e-04 9.99439789e-01 2.12661102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.206875 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:198.88, Y:92.43, Z:21.26 [[ 9.25282196e-01 3.78009513e-01 -3.10107472e-02 1.98884617e+02] [-3.77799887e-01 9.25801708e-01 1.25873934e-02 9.24280742e+01] [ 3.34679572e-02 6.89658242e-05 9.99439789e-01 2.12595798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.236875 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:198.91, Y:92.42, Z:21.26 [[ 9.25064256e-01 3.78525704e-01 -3.12156059e-02 1.98914436e+02] [-3.78333350e-01 9.25590563e-01 1.20824475e-02 9.24158615e+01] [ 3.34663872e-02 6.32864502e-04 9.99439643e-01 2.12603873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.266875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:198.95, Y:92.40, Z:21.27 [[ 9.21075368e-01 3.88131089e-01 -3.12157784e-02 1.98947530e+02] [-3.87944236e-01 9.21603654e-01 1.20820229e-02 9.24001543e+01] [ 3.34579841e-02 9.81527586e-04 9.99439643e-01 2.12682598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.296875 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:198.97, Y:92.40, Z:21.26 [[ 9.22362239e-01 3.85080542e-01 -3.09980012e-02 1.98971396e+02] [-3.84873900e-01 9.22882923e-01 1.26170789e-02 9.23993272e+01] [ 3.34661176e-02 2.92804531e-04 9.99439810e-01 2.12615467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.32687500000003 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:199.00, Y:92.39, Z:21.26 [[ 9.19929923e-01 3.90836717e-01 -3.12345485e-02 1.98998886e+02] [-3.90652894e-01 9.20459336e-01 1.20385411e-02 9.23906615e+01] [ 3.34552357e-02 1.12725261e-03 9.99439581e-01 2.12635305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.356875 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:199.03, Y:92.38, Z:21.26 [[ 9.19073641e-01 3.92841652e-01 -3.12902440e-02 1.99029614e+02] [-3.92663616e-01 9.19605144e-01 1.19022836e-02 9.23792062e+01] [ 3.34503821e-02 1.34746528e-03 9.99439471e-01 2.12645231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.38687500000003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:199.06, Y:92.37, Z:21.27 [[ 9.17829775e-01 3.95745322e-01 -3.12112850e-02 1.99057720e+02] [-3.95562412e-01 9.18359456e-01 1.20949589e-02 9.23691695e+01] [ 3.34497021e-02 1.24489778e-03 9.99439627e-01 2.12661865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.416875 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:199.09, Y:92.36, Z:21.27 [[ 9.16430495e-01 3.98974053e-01 -3.12226262e-02 1.99087597e+02] [-3.98793948e-01 9.16961158e-01 1.20673537e-02 9.23602143e+01] [ 3.34444965e-02 1.39250347e-03 9.99439606e-01 2.12672656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.44687500000003 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:199.12, Y:92.35, Z:21.27 [[ 9.15214009e-01 4.01754192e-01 -3.12552095e-02 1.99117929e+02] [-4.01578398e-01 9.15746184e-01 1.19881647e-02 9.23477429e+01] [ 3.34381343e-02 1.57968069e-03 9.99439541e-01 2.12684670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.476875 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:199.15, Y:92.34, Z:21.27 [[ 9.14420525e-01 4.03560840e-01 -3.12050023e-02 1.99148937e+02] [-4.03381944e-01 9.14951560e-01 1.21099498e-02 9.23355581e+01] [ 3.34381670e-02 1.51394778e-03 9.99439641e-01 2.12693667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.50687500000004 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:199.18, Y:92.32, Z:21.27 [[ 9.13477681e-01 4.05693504e-01 -3.11657943e-02 1.99179246e+02] [-4.05512610e-01 9.14007967e-01 1.22049339e-02 9.23235058e+01] [ 3.34372467e-02 1.48918781e-03 9.99439709e-01 2.12709420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.536875 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:199.21, Y:92.31, Z:21.27 [[ 9.13954422e-01 4.04620043e-01 -3.11437897e-02 1.99206223e+02] [-4.04436711e-01 9.14483834e-01 1.22582130e-02 9.23139605e+01] [ 3.34404109e-02 1.39224391e-03 9.99439743e-01 2.12709387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56687500000004 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:199.24, Y:92.30, Z:21.27 [[ 9.13260684e-01 4.06179395e-01 -3.11965266e-02 1.99235999e+02] [-4.06001305e-01 9.13791979e-01 1.21309586e-02 9.23013783e+01] [ 3.34344812e-02 1.58710292e-03 9.99439651e-01 2.12721650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.596875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:199.27, Y:92.29, Z:21.27 [[ 9.14491288e-01 4.03402260e-01 -3.11817275e-02 1.99268635e+02] [-4.03221341e-01 9.15021597e-01 1.21666346e-02 9.22886561e+01] [ 3.34400020e-02 1.44685669e-03 9.99439679e-01 2.12716728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62687500000004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:199.30, Y:92.27, Z:21.28 [[ 9.11188718e-01 4.10815280e-01 -3.10793528e-02 1.99299425e+02] [-4.10630241e-01 9.11717446e-01 1.24138607e-02 9.22679730e+01] [ 3.34353919e-02 1.45075230e-03 9.99439828e-01 2.12794013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.656875 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:199.32, Y:92.27, Z:21.27 [[ 9.14353318e-01 4.03735815e-01 -3.09095763e-02 1.99321445e+02] [-4.03532819e-01 9.14875309e-01 1.28231087e-02 9.22688420e+01] [ 3.34555564e-02 7.48176503e-04 9.99439926e-01 2.12733998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.686875 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:199.35, Y:92.26, Z:21.27 [[ 9.13805439e-01 4.04949085e-01 -3.12387327e-02 1.99348987e+02] [-4.04773598e-01 9.14337751e-01 1.20337818e-02 9.22573963e+01] [ 3.34358215e-02 1.64807897e-03 9.99439508e-01 2.12749540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.716875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:199.38, Y:92.24, Z:21.28 [[ 9.13686524e-01 4.05214433e-01 -3.12761877e-02 1.99379483e+02] [-4.05042165e-01 9.14219986e-01 1.19440934e-02 9.22443534e+01] [ 3.34332349e-02 1.75501765e-03 9.99439412e-01 2.12760026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.746875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:199.41, Y:92.23, Z:21.28 [[ 9.13680664e-01 4.05230348e-01 -3.12411393e-02 1.99409411e+02] [-4.05055226e-01 9.14213101e-01 1.20278972e-02 9.22315103e+01] [ 3.34351278e-02 1.66472965e-03 9.99439503e-01 2.12768227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.776875 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:199.44, Y:92.22, Z:21.28 [[ 9.14197828e-01 4.04063178e-01 -3.12294597e-02 1.99439370e+02] [-4.03886423e-01 9.14729695e-01 1.20558180e-02 9.22196126e+01] [ 3.34378263e-02 1.59175212e-03 9.99439532e-01 2.12770193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.806875 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:199.47, Y:92.21, Z:21.28 [[ 9.14093055e-01 4.04305218e-01 -3.11637167e-02 1.99465862e+02] [-4.04123268e-01 9.14623006e-01 1.22123088e-02 9.22096969e+01] [ 3.34405525e-02 1.43079641e-03 9.99439684e-01 2.12783587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.836875 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:199.50, Y:92.19, Z:21.29 [[ 9.11343300e-01 4.10458725e-01 -3.12574024e-02 1.99500621e+02] [-4.10287981e-01 9.11877202e-01 1.19892090e-02 9.21853612e+01] [ 3.34239880e-02 1.89825119e-03 9.99439460e-01 2.12866934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.866875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:199.53, Y:92.17, Z:21.29 [[ 9.11651914e-01 4.09804833e-01 -3.08348277e-02 1.99529530e+02] [-4.09599587e-01 9.12172890e-01 1.29921729e-02 9.21726277e+01] [ 3.34509491e-02 7.85593426e-04 9.99440052e-01 2.12880058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.896875 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:199.55, Y:92.17, Z:21.28 [[ 9.15507854e-01 4.01116932e-01 -3.08314066e-02 1.99550961e+02] [-4.00906468e-01 9.16026744e-01 1.30002863e-02 9.21737843e+01] [ 3.34570280e-02 4.58646128e-04 9.99440052e-01 2.12818011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.926875 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:199.59, Y:92.15, Z:21.29 [[ 9.12913512e-01 4.06955164e-01 -3.12476234e-02 1.99585878e+02] [-4.06781569e-01 9.13446469e-01 1.20126470e-02 9.21473624e+01] [ 3.34316400e-02 1.74444948e-03 9.99439484e-01 2.12898869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.956875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:199.62, Y:92.13, Z:21.29 [[ 9.13303438e-01 4.06112355e-01 -3.08153570e-02 1.99615811e+02] [-4.05903569e-01 9.13822954e-01 1.30346273e-02 9.21339357e+01] [ 3.34533038e-02 6.03493457e-04 9.99440099e-01 2.12919661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.986875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:199.64, Y:92.14, Z:21.29 [[ 9.16911324e-01 3.97899818e-01 -3.08116668e-02 1.99637721e+02] [-3.97686086e-01 9.17428825e-01 1.30433446e-02 9.21352443e+01] [ 3.34574557e-02 2.93780739e-04 9.99440099e-01 2.12860109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.016875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:199.67, Y:92.11, Z:21.29 [[ 9.14583251e-01 4.03192775e-01 -3.11939669e-02 1.99672701e+02] [-4.03012691e-01 9.15113887e-01 1.21385935e-02 9.21097087e+01] [ 3.34402255e-02 1.46981025e-03 9.99439639e-01 2.12938289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.046875 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:199.70, Y:92.11, Z:21.29 [[ 9.18039853e-01 3.95289740e-01 -3.08033908e-02 1.99696379e+02] [-3.95073982e-01 9.18556470e-01 1.30598612e-02 9.21091221e+01] [ 3.34570831e-02 1.80145222e-04 9.99440139e-01 2.12890033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.07687500000003 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:199.73, Y:92.10, Z:21.29 [[ 9.19098648e-01 3.92795199e-01 -3.11385103e-02 1.99726392e+02] [-3.92604708e-01 9.19625484e-01 1.22683738e-02 9.20962620e+01] [ 3.34547260e-02 9.49279959e-04 9.99439783e-01 2.12893083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.106875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:199.75, Y:92.09, Z:21.29 [[ 9.19897512e-01 3.90922010e-01 -3.11215294e-02 1.99753710e+02] [-3.90729090e-01 9.20423425e-01 1.23084503e-02 9.20855086e+01] [ 3.34566288e-02 8.37574022e-04 9.99439819e-01 2.12894155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.13687500000003 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:199.79, Y:92.06, Z:21.30 [[ 9.17985682e-01 3.95386176e-01 -3.11778606e-02 1.99787951e+02] [-3.95200320e-01 9.18514269e-01 1.21755922e-02 9.20597701e+01] [ 3.34513707e-02 1.14448117e-03 9.99439691e-01 2.12975958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.166875 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:199.82, Y:92.05, Z:21.30 [[ 9.18551975e-01 3.94099555e-01 -3.07865254e-02 1.99818120e+02] [-3.93881928e-01 9.19067751e-01 1.30956253e-02 9.20467243e+01] [ 3.34558828e-02 9.72434910e-05 9.99440191e-01 2.12992427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.19687500000003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:199.85, Y:92.03, Z:21.30 [[ 9.19179261e-01 3.92634567e-01 -3.07828229e-02 1.99847553e+02] [-3.92415827e-01 9.19694566e-01 1.31043228e-02 9.20342592e+01] [ 3.34560051e-02 3.44452026e-05 9.99440191e-01 2.12999012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.226875 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:199.87, Y:92.03, Z:21.30 [[ 9.23625092e-01 3.82059223e-01 -3.07805236e-02 1.99872107e+02] [-3.81834403e-01 9.24137773e-01 1.31097213e-02 9.20343987e+01] [ 3.34541345e-02 -3.55404733e-04 9.99440191e-01 2.12963862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.25687500000004 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:199.91, Y:92.01, Z:21.30 [[ 9.20738292e-01 3.88939957e-01 -3.10919193e-02 1.99905057e+02] [-3.88743555e-01 9.21262847e-01 1.23779869e-02 9.20109243e+01] [ 3.34581238e-02 6.89896711e-04 9.99439882e-01 2.13011347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.286875 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:199.94, Y:92.00, Z:21.30 [[ 9.21088085e-01 3.88136404e-01 -3.07712877e-02 1.99935478e+02] [-3.87914307e-01 9.21601925e-01 1.31294733e-02 9.19981691e+01] [ 3.34549045e-02 -1.56778702e-04 9.99440216e-01 2.13027727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31687500000004 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:199.97, Y:91.99, Z:21.30 [[ 9.21465007e-01 3.87241004e-01 -3.07676161e-02 1.99965645e+02] [-3.87018121e-01 9.21978506e-01 1.31380716e-02 9.19860064e+01] [ 3.34546808e-02 -1.98648211e-04 9.99440216e-01 2.13039776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.346875 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:200.00, Y:91.97, Z:21.31 [[ 9.22547474e-01 3.84655351e-01 -3.07639364e-02 1.99996725e+02] [-3.84430741e-01 9.23060220e-01 1.31466824e-02 9.19743489e+01] [ 3.34539076e-02 -3.01835748e-04 9.99440216e-01 2.13060264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37687500000004 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:200.02, Y:91.98, Z:21.30 [[ 9.25912105e-01 3.76487353e-01 -3.07253359e-02 2.00018556e+02] [-3.76255225e-01 9.26421496e-01 1.32369543e-02 9.19754124e+01] [ 3.34481575e-02 -6.95688039e-04 9.99440212e-01 2.12985626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.406875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:200.05, Y:91.95, Z:21.31 [[ 9.23534905e-01 3.82247459e-01 -3.11473919e-02 2.00054391e+02] [-3.82051776e-01 9.24059808e-01 1.22438351e-02 9.19515326e+01] [ 3.34622278e-02 5.92307360e-04 9.99439807e-01 2.13081481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.436875 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:200.08, Y:91.94, Z:21.31 [[ 9.23659382e-01 3.81980876e-01 -3.07238759e-02 2.00082728e+02] [-3.81751794e-01 9.24170094e-01 1.32364986e-02 9.19408197e+01] [ 3.34501766e-02 -4.97121399e-04 9.99440263e-01 2.13091419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.466875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:200.11, Y:91.93, Z:21.31 [[ 9.23524861e-01 3.82302257e-01 -3.07703545e-02 2.00113160e+02] [-3.82076979e-01 9.24037255e-01 1.31275556e-02 9.19287260e+01] [ 3.34516481e-02 -3.66979873e-04 9.99440270e-01 2.13105950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.496875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:200.14, Y:91.92, Z:21.31 [[ 9.23293522e-01 3.82860914e-01 -3.07667530e-02 2.00143532e+02] [-3.82635665e-01 9.23805929e-01 1.31359911e-02 9.19184499e+01] [ 3.34517663e-02 -3.55918465e-04 9.99440270e-01 2.13118018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.526875 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:200.17, Y:91.91, Z:21.31 [[ 9.23050752e-01 3.83446114e-01 -3.07633960e-02 2.00174245e+02] [-3.83220928e-01 9.23563187e-01 1.31438482e-02 9.19063916e+01] [ 3.34518975e-02 -3.43261806e-04 9.99440270e-01 2.13127715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.556875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:200.20, Y:91.90, Z:21.31 [[ 9.22731031e-01 3.84215145e-01 -3.07598399e-02 2.00204071e+02] [-3.83990108e-01 9.23243531e-01 1.31521649e-02 9.18958092e+01] [ 3.34520842e-02 -3.24436437e-04 9.99440270e-01 2.13133892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.586875 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:200.23, Y:91.88, Z:21.31 [[ 9.22563211e-01 3.84618197e-01 -3.07565212e-02 2.00233445e+02] [-3.84393126e-01 9.23075697e-01 1.31599212e-02 9.18843007e+01] [ 3.34521424e-02 -3.18263870e-04 9.99440270e-01 2.13143029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.616875 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:200.26, Y:91.87, Z:21.32 [[ 9.22227419e-01 3.85422919e-01 -3.07532434e-02 2.00263785e+02] [-3.85198040e-01 9.22739988e-01 1.31675767e-02 9.18722486e+01] [ 3.34523333e-02 -2.97411207e-04 9.99440270e-01 2.13154999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.646875 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:200.29, Y:91.86, Z:21.32 [[ 9.21519788e-01 3.87112041e-01 -3.07497769e-02 2.00294617e+02] [-3.86887831e-01 9.22032650e-01 1.31756668e-02 9.18617088e+01] [ 3.34527576e-02 -2.44923191e-04 9.99440270e-01 2.13172401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.676875 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:200.32, Y:91.85, Z:21.32 [[ 9.21170968e-01 3.87941658e-01 -3.07460205e-02 2.00324298e+02] [-3.87717618e-01 9.21683904e-01 1.31844269e-02 9.18506445e+01] [ 3.34529006e-02 -2.24337457e-04 9.99440270e-01 2.13197418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.706875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:200.36, Y:91.84, Z:21.32 [[ 9.19748323e-01 3.91305001e-01 -3.07151097e-02 2.00355447e+02] [-3.91080430e-01 9.20261030e-01 1.32564697e-02 9.18400875e+01] [ 3.34532414e-02 -1.80537489e-04 9.99440267e-01 2.13206283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.736875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:200.38, Y:91.83, Z:21.32 [[ 9.18970252e-01 3.93130825e-01 -3.06892549e-02 2.00383920e+02] [-3.92905261e-01 9.19482529e-01 1.33167004e-02 9.18299748e+01] [ 3.34534392e-02 -1.79681797e-04 9.99440261e-01 2.13204473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.766875 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:200.41, Y:91.82, Z:21.32 [[ 9.18098580e-01 3.95158154e-01 -3.07413473e-02 2.00414839e+02] [-3.94937780e-01 9.18613103e-01 1.31953409e-02 9.18184994e+01] [ 3.34536510e-02 2.62957026e-05 9.99440270e-01 2.13216871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.796875 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:200.45, Y:91.81, Z:21.32 [[ 9.16478831e-01 3.98900681e-01 -3.07375922e-02 2.00445099e+02] [-3.98682115e-01 9.16994124e-01 1.32040823e-02 9.18091163e+01] [ 3.34533089e-02 1.53266329e-04 9.99440270e-01 2.13221812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.82687500000003 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:200.47, Y:91.80, Z:21.32 [[ 9.15631136e-01 4.00842909e-01 -3.07340919e-02 2.00474794e+02] [-4.00625163e-01 9.16146776e-01 1.32122247e-02 9.17981450e+01] [ 3.34529658e-02 2.15326295e-04 9.99440270e-01 2.13226076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.856875 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:200.51, Y:91.79, Z:21.32 [[ 9.13954069e-01 4.04652423e-01 -3.07307066e-02 2.00505718e+02] [-4.04436562e-01 9.14470501e-01 1.32200939e-02 9.17876813e+01] [ 3.34518677e-02 3.46062703e-04 9.99440270e-01 2.13238725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.88687500000003 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:200.54, Y:91.78, Z:21.33 [[ 9.13083080e-01 4.06614243e-01 -3.07269731e-02 2.00536663e+02] [-4.06399199e-01 9.13599853e-01 1.32287660e-02 9.17753854e+01] [ 3.34511627e-02 4.08454824e-04 9.99440270e-01 2.13252077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.916875 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:200.57, Y:91.76, Z:21.33 [[ 9.12151337e-01 4.08700404e-01 -3.07232571e-02 2.00567680e+02] [-4.08486252e-01 9.12668479e-01 1.32373906e-02 9.17631834e+01] [ 3.34502752e-02 4.75524621e-04 9.99440270e-01 2.13268312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.94687500000003 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:200.59, Y:91.76, Z:21.32 [[ 9.13034970e-01 4.06722820e-01 -3.07195428e-02 2.00594274e+02] [-4.06507258e-01 9.13551527e-01 1.32460047e-02 9.17608847e+01] [ 3.34513376e-02 3.93651589e-04 9.99440270e-01 2.13227062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.976875 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:200.63, Y:91.74, Z:21.33 [[ 9.09961771e-01 4.13534149e-01 -3.09690695e-02 2.00627252e+02] [-4.13342071e-01 9.10487717e-01 1.26668568e-02 9.17406632e+01] [ 3.34351352e-02 1.27446384e-03 9.99440077e-01 2.13297191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.00687500000004 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:200.66, Y:91.73, Z:21.33 [[ 9.08485872e-01 4.16785578e-01 -3.07115941e-02 2.00657896e+02] [-4.16575159e-01 9.09004526e-01 1.32630770e-02 9.17291375e+01] [ 3.34448373e-02 7.44369140e-04 9.99440288e-01 2.13317704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.036875 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:200.69, Y:91.72, Z:21.33 [[ 9.07792754e-01 4.18293377e-01 -3.07077793e-02 2.00687452e+02] [-4.18083520e-01 9.08311635e-01 1.32719036e-02 9.17173339e+01] [ 3.34437826e-02 7.90278571e-04 9.99440288e-01 2.13331848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06687500000004 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:200.72, Y:91.70, Z:21.33 [[ 9.07027548e-01 4.19950327e-01 -3.07042201e-02 2.00717793e+02] [-4.19741140e-01 9.07546700e-01 1.32801326e-02 9.17049598e+01] [ 3.34425096e-02 8.42378229e-04 9.99440288e-01 2.13344914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.096875 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:200.74, Y:91.70, Z:21.33 [[ 9.07897850e-01 4.18065756e-01 -3.07004460e-02 2.00743004e+02] [-4.17855197e-01 9.08416447e-01 1.32888516e-02 9.17021549e+01] [ 3.34444039e-02 7.63421089e-04 9.99440288e-01 2.13313064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12687500000004 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:200.78, Y:91.68, Z:21.34 [[ 9.04932648e-01 4.24427548e-01 -3.09541433e-02 2.00775251e+02] [-4.24240588e-01 9.05460422e-01 1.27022713e-02 9.16822171e+01] [ 3.34189455e-02 1.63730394e-03 9.99440090e-01 2.13365087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.156875 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:200.81, Y:91.67, Z:21.34 [[ 9.03882602e-01 4.26678025e-01 -3.06937349e-02 2.00805314e+02] [-4.26471921e-01 9.04402967e-01 1.33031188e-02 9.16708316e+01] [ 3.34356534e-02 1.06555845e-03 9.99440304e-01 2.13375063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.186875 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:200.84, Y:91.66, Z:21.34 [[ 9.03759210e-01 4.26939582e-01 -3.06901206e-02 2.00835904e+02] [-4.26733346e-01 9.04279524e-01 1.33114518e-02 9.16574876e+01] [ 3.34356333e-02 1.06615066e-03 9.99440304e-01 2.13386273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.216875 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:200.87, Y:91.64, Z:21.34 [[ 9.03204593e-01 4.28111921e-01 -3.06862678e-02 2.00865142e+02] [-4.27906059e-01 9.03725054e-01 1.33203276e-02 9.16449461e+01] [ 3.34345401e-02 1.09985885e-03 9.99440304e-01 2.13392104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.246875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:200.89, Y:91.64, Z:21.34 [[ 9.05042865e-01 4.24212195e-01 -3.06826818e-02 2.00891380e+02] [-4.24003810e-01 9.05562321e-01 1.33285827e-02 9.16400868e+01] [ 3.34392279e-02 9.46635334e-04 9.99440304e-01 2.13356896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.276875 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:200.92, Y:91.63, Z:21.33 [[ 9.05906943e-01 4.22348388e-01 -3.08941539e-02 2.00916201e+02] [-4.22155473e-01 9.06432487e-01 1.28414504e-02 9.16318561e+01] [ 3.34270306e-02 1.40897711e-03 9.99440168e-01 2.13340546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.306875 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:200.95, Y:91.61, Z:21.34 [[ 9.02545294e-01 4.29472627e-01 -3.10685440e-02 2.00950297e+02] [-4.29297630e-01 9.03077410e-01 1.24393375e-02 9.16082583e+01] [ 3.33996552e-02 2.11058678e-03 9.99439847e-01 2.13403044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.336875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:200.98, Y:91.60, Z:21.34 [[ 9.02338557e-01 4.29935100e-01 -3.06747251e-02 2.00979076e+02] [-4.29729464e-01 9.02859075e-01 1.33446327e-02 9.15952805e+01] [ 3.34322799e-02 1.14045654e-03 9.99440334e-01 2.13410416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.366875 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:201.01, Y:91.58, Z:21.34 [[ 9.02262343e-01 4.30095272e-01 -3.06711923e-02 2.01009583e+02] [-4.29889452e-01 9.02782788e-01 1.33527475e-02 9.15817940e+01] [ 3.34323781e-02 1.13754087e-03 9.99440334e-01 2.13426958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.396875 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:201.04, Y:91.57, Z:21.34 [[ 9.02189094e-01 4.30249172e-01 -3.06673821e-02 2.01038899e+02] [-4.30043144e-01 9.02709457e-01 1.33614926e-02 9.15677187e+01] [ 3.34325070e-02 1.13370450e-03 9.99440335e-01 2.13440067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.426875 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:201.07, Y:91.55, Z:21.35 [[ 9.02236374e-01 4.30150287e-01 -3.06635994e-02 2.01068080e+02] [-4.29943908e-01 9.02756598e-01 1.33701681e-02 9.15543037e+01] [ 3.34329483e-02 1.12057579e-03 9.99440335e-01 2.13453267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.456875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:201.10, Y:91.54, Z:21.35 [[ 9.02269128e-01 4.30081830e-01 -3.06600819e-02 2.01097705e+02] [-4.29875137e-01 9.02789227e-01 1.33782294e-02 9.15402062e+01] [ 3.34333251e-02 1.10924357e-03 9.99440335e-01 2.13474261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.486875 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:201.13, Y:91.53, Z:21.35 [[ 9.02143910e-01 4.30344701e-01 -3.06562277e-02 2.01127989e+02] [-4.30137861e-01 9.02663951e-01 1.33870555e-02 9.15262157e+01] [ 3.34333200e-02 1.10935365e-03 9.99440335e-01 2.13483975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.516875 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:201.15, Y:91.52, Z:21.34 [[ 9.04914115e-01 4.24488961e-01 -3.06523413e-02 2.01151188e+02] [-4.24278453e-01 9.05432683e-01 1.33959482e-02 9.15233534e+01] [ 3.34400638e-02 8.82945318e-04 9.99440335e-01 2.13426309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.546875 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:201.18, Y:91.51, Z:21.34 [[ 9.04980612e-01 4.24325381e-01 -3.09525973e-02 2.01178466e+02] [-4.24138182e-01 9.05508321e-01 1.27075920e-02 9.15094502e+01] [ 3.34199883e-02 1.62805392e-03 9.99440070e-01 2.13428386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.57687500000003 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:201.21, Y:91.48, Z:21.35 [[ 9.01743647e-01 4.31159830e-01 -3.09773331e-02 2.01211376e+02] [-4.30978567e-01 9.02273477e-01 1.26510110e-02 9.14847142e+01] [ 3.34046338e-02 1.94259784e-03 9.99440022e-01 2.13507103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.606875 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:201.24, Y:91.48, Z:21.35 [[ 9.03682214e-01 4.27106459e-01 -3.06354325e-02 2.01236318e+02] [-4.26896267e-01 9.04200856e-01 1.34309047e-02 9.14773109e+01] [ 3.34370105e-02 9.40882083e-04 9.99440384e-01 2.13461425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.63687500000003 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:201.26, Y:91.46, Z:21.35 [[ 9.03425838e-01 4.27634499e-01 -3.08300281e-02 2.01264243e+02] [-4.27439671e-01 9.03950579e-01 1.29876554e-02 9.14639085e+01] [ 3.34227913e-02 1.44459358e-03 9.99440258e-01 2.13463470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.666875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:201.29, Y:91.45, Z:21.35 [[ 9.03365134e-01 4.27760136e-01 -3.08658612e-02 2.01293121e+02] [-4.27568162e-01 9.03890978e-01 1.29060832e-02 9.14494681e+01] [ 3.34200813e-02 1.53835398e-03 9.99440209e-01 2.13472441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:91.43, Z:21.35 [[ 9.02674252e-01 4.29216976e-01 -3.08542096e-02 2.01322999e+02] [-4.29024946e-01 9.03200058e-01 1.29326012e-02 9.14308156e+01] [ 3.34184158e-02 1.56329947e-03 9.99440226e-01 2.13485427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.726875 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:201.35, Y:91.42, Z:21.35 [[ 9.02906545e-01 4.28735911e-01 -3.07455701e-02 2.01349267e+02] [-4.28535201e-01 9.03428963e-01 1.31791862e-02 9.14182065e+01] [ 3.34268289e-02 1.27598556e-03 9.99440353e-01 2.13487728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.75687500000004 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:201.38, Y:91.40, Z:21.35 [[ 9.03252103e-01 4.28000419e-01 -3.08428461e-02 2.01378845e+02] [-4.27806797e-01 9.03777308e-01 1.29584964e-02 9.14037298e+01] [ 3.34213063e-02 1.48999006e-03 9.99440241e-01 2.13486902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.786875 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:201.41, Y:91.39, Z:21.35 [[ 9.02642193e-01 4.29285167e-01 -3.08434225e-02 2.01408622e+02] [-4.29092338e-01 9.03167691e-01 1.29571872e-02 9.13865373e+01] [ 3.34191109e-02 1.53897239e-03 9.99440241e-01 2.13501791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81687500000004 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:201.44, Y:91.37, Z:21.35 [[ 9.02692220e-01 4.29186631e-01 -3.07504926e-02 2.01435354e+02] [-4.28986580e-01 9.03214887e-01 1.31674603e-02 9.13694363e+01] [ 3.34256006e-02 1.30538466e-03 9.99440356e-01 2.13512168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.846875 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:201.46, Y:91.35, Z:21.35 [[ 9.02952962e-01 4.28637435e-01 -3.07554574e-02 2.01463327e+02] [-4.28437448e-01 9.03475659e-01 1.31562336e-02 9.13540323e+01] [ 3.34260614e-02 1.29732955e-03 9.99440351e-01 2.13520714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87687500000004 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:201.49, Y:91.33, Z:21.36 [[ 9.01495953e-01 4.31693846e-01 -3.07485067e-02 2.01492984e+02] [-4.31495096e-01 9.02019114e-01 1.31719587e-02 9.13337572e+01] [ 3.34219943e-02 1.39336239e-03 9.99440358e-01 2.13590538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.906875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:201.52, Y:91.32, Z:21.36 [[ 9.03666432e-01 4.27143434e-01 -3.05853789e-02 2.01517237e+02] [-4.26929555e-01 9.04183505e-01 1.35404412e-02 9.13224288e+01] [ 3.34385057e-02 8.21760035e-04 9.99440439e-01 2.13552069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.936875 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:201.55, Y:91.31, Z:21.36 [[ 9.03668687e-01 4.27125955e-01 -3.07623653e-02 2.01546379e+02] [-4.26925627e-01 9.04191260e-01 1.31405626e-02 9.13069273e+01] [ 3.34277372e-02 1.25852717e-03 9.99440345e-01 2.13558869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.966875 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:201.58, Y:91.29, Z:21.36 [[ 9.02106780e-01 4.30415724e-01 -3.07516051e-02 2.01575970e+02] [-4.30216474e-01 9.02629753e-01 1.31648550e-02 9.12873727e+01] [ 3.34236743e-02 1.35374213e-03 9.99440356e-01 2.13619277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.996875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:201.60, Y:91.27, Z:21.36 [[ 9.02389794e-01 4.29834683e-01 -3.05745886e-02 2.01604084e+02] [-4.29621552e-01 9.02907162e-01 1.35638788e-02 9.12704010e+01] [ 3.34362406e-02 8.95596400e-04 9.99440451e-01 2.13630752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.026875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:201.63, Y:91.26, Z:21.36 [[ 9.02413539e-01 4.29785106e-01 -3.05707057e-02 2.01632261e+02] [-4.29571650e-01 9.02930773e-01 1.35726246e-02 9.12556977e+01] [ 3.34365429e-02 8.84188303e-04 9.99440451e-01 2.13636657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.056875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:201.66, Y:91.24, Z:21.37 [[ 9.02545056e-01 4.29509111e-01 -3.05670677e-02 2.01660647e+02] [-4.29295221e-01 9.03062110e-01 1.35808130e-02 9.12391193e+01] [ 3.34370436e-02 8.65000452e-04 9.99440451e-01 2.13650533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.086875 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:201.69, Y:91.22, Z:21.37 [[ 9.02624713e-01 4.29341956e-01 -3.05632622e-02 2.01689023e+02] [-4.29127680e-01 9.03141607e-01 1.35893718e-02 9.12245037e+01] [ 3.34374412e-02 8.49438961e-04 9.99440451e-01 2.13664178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.116875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:201.72, Y:91.21, Z:21.37 [[ 9.02632001e-01 4.29326885e-01 -3.05597241e-02 2.01718513e+02] [-4.29112332e-01 9.03148780e-01 1.35973235e-02 9.12091395e+01] [ 3.34376741e-02 8.40175201e-04 9.99440451e-01 2.13679021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.146875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:201.75, Y:91.19, Z:21.37 [[ 9.02631902e-01 4.29327361e-01 -3.05559552e-02 2.01747286e+02] [-4.29112521e-01 9.03148563e-01 1.36057877e-02 9.11925041e+01] [ 3.34379040e-02 8.30924977e-04 9.99440452e-01 2.13705578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.176875 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:201.78, Y:91.18, Z:21.37 [[ 9.02328106e-01 4.29965766e-01 -3.05520762e-02 2.01776104e+02] [-4.29750997e-01 9.02844796e-01 1.36144925e-02 9.11777974e+01] [ 3.34375487e-02 8.45046021e-04 9.99440452e-01 2.13715291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.206875 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:201.80, Y:91.17, Z:21.37 [[ 9.04781161e-01 4.24779772e-01 -3.05482701e-02 2.01797655e+02] [-4.24561753e-01 9.05296488e-01 1.36230273e-02 9.11741749e+01] [ 3.34420281e-02 6.43768614e-04 9.99440452e-01 2.13665827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.236875 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:201.83, Y:91.15, Z:21.37 [[ 9.01551921e-01 4.31566063e-01 -3.09009323e-02 2.01830559e+02] [-4.31378895e-01 9.02079612e-01 1.28305201e-02 9.11491012e+01] [ 3.34123181e-02 1.76262995e-03 9.99440098e-01 2.13724902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.266875 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:201.86, Y:91.13, Z:21.37 [[ 9.01347584e-01 4.32018072e-01 -3.05436988e-02 2.01858914e+02] [-4.31803919e-01 9.01864497e-01 1.36310222e-02 9.11345153e+01] [ 3.34351255e-02 9.02599965e-04 9.99440482e-01 2.13743224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.296875 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:201.89, Y:91.12, Z:21.37 [[ 9.01244995e-01 4.32232207e-01 -3.05414025e-02 2.01887538e+02] [-4.32018003e-01 9.01761887e-01 1.36361653e-02 9.11186374e+01] [ 3.34350626e-02 9.04910002e-04 9.99440482e-01 2.13745228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.32687500000003 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:201.92, Y:91.10, Z:21.38 [[ 9.01398231e-01 4.31912812e-01 -3.05377060e-02 2.01916662e+02] [-4.31698145e-01 9.01914930e-01 1.36444385e-02 9.11042616e+01] [ 3.34356208e-02 8.83998258e-04 9.99440482e-01 2.13756375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.356875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:201.95, Y:91.09, Z:21.38 [[ 9.01538504e-01 4.31620201e-01 -3.05340460e-02 2.01945787e+02] [-4.31405088e-01 9.02055018e-01 1.36526242e-02 9.10896830e+01] [ 3.34361378e-02 8.64176420e-04 9.99440482e-01 2.13772747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.38687500000003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:201.97, Y:91.07, Z:21.38 [[ 9.02205949e-01 4.30223571e-01 -3.05303948e-02 2.01974402e+02] [-4.30007383e-01 9.02722013e-01 1.36607841e-02 9.10744532e+01] [ 3.34376508e-02 8.03454460e-04 9.99440482e-01 2.13792039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.416875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:202.00, Y:91.06, Z:21.38 [[ 9.02415724e-01 4.29783625e-01 -3.05269829e-02 2.02003845e+02] [-4.29566928e-01 9.02931575e-01 1.36684043e-02 9.10599401e+01] [ 3.34382331e-02 7.78799325e-04 9.99440483e-01 2.13800820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.44687500000003 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:202.03, Y:91.06, Z:21.37 [[ 9.06075636e-01 4.22013346e-01 -3.05233892e-02 2.02025386e+02] [-4.21791955e-01 9.06589490e-01 1.36764248e-02 9.10607363e+01] [ 3.34438176e-02 4.82644722e-04 9.99440483e-01 2.13745403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.476875 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:202.06, Y:91.03, Z:21.38 [[ 9.03492646e-01 4.27486925e-01 -3.09187242e-02 2.02059095e+02] [-4.27298690e-01 9.04020018e-01 1.27920421e-02 9.10322285e+01] [ 3.34195763e-02 1.65401436e-03 9.99440041e-01 2.13817058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.50687500000004 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:202.09, Y:91.02, Z:21.38 [[ 9.03661869e-01 4.27157867e-01 -3.05185818e-02 2.02088409e+02] [-4.26939128e-01 9.04176817e-01 1.36844639e-02 9.10182340e+01] [ 3.34396205e-02 6.63448480e-04 9.99440519e-01 2.13835152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.536875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:202.12, Y:91.00, Z:21.38 [[ 9.03656952e-01 4.27168535e-01 -3.05148507e-02 2.02118267e+02] [-4.26949521e-01 9.04171784e-01 1.36927788e-02 9.10042164e+01] [ 3.34397912e-02 6.54726159e-04 9.99440519e-01 2.13849064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56687500000004 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:202.15, Y:90.99, Z:21.39 [[ 9.03605814e-01 4.27276972e-01 -3.05110035e-02 2.02147507e+02] [-4.27057731e-01 9.04120549e-01 1.37013459e-02 9.09908647e+01] [ 3.34398948e-02 6.49344158e-04 9.99440519e-01 2.13864092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.596875 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:202.18, Y:90.98, Z:21.39 [[ 9.03381839e-01 4.27750572e-01 -3.05074103e-02 2.02177324e+02] [-4.27531331e-01 9.03896573e-01 1.37093419e-02 9.09773686e+01] [ 3.34397225e-02 6.58103234e-04 9.99440519e-01 2.13873153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62687500000004 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:202.21, Y:90.96, Z:21.39 [[ 9.03330253e-01 4.27859772e-01 -3.05036094e-02 2.02207388e+02] [-4.27640308e-01 9.03844892e-01 1.37177937e-02 9.09641436e+01] [ 3.34398237e-02 6.52874921e-04 9.99440519e-01 2.13884185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.656875 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:202.24, Y:90.95, Z:21.39 [[ 9.03055610e-01 4.28439407e-01 -3.04998380e-02 2.02236667e+02] [-4.28219990e-01 9.03570270e-01 1.37261738e-02 9.09512297e+01] [ 3.34395806e-02 6.65142055e-04 9.99440520e-01 2.13897084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.686875 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:202.27, Y:90.94, Z:21.39 [[ 9.02931266e-01 4.28701667e-01 -3.04960485e-02 2.02266819e+02] [-4.28482116e-01 9.03445869e-01 1.37345881e-02 9.09378068e+01] [ 3.34395698e-02 6.65622367e-04 9.99440520e-01 2.13906522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.716875 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:202.30, Y:90.93, Z:21.39 [[ 9.02758512e-01 4.29065610e-01 -3.04921401e-02 2.02296173e+02] [-4.28845974e-01 9.03273078e-01 1.37432597e-02 9.09255894e+01] [ 3.34394893e-02 6.69586816e-04 9.99440520e-01 2.13910169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.746875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:202.33, Y:90.91, Z:21.39 [[ 9.02488538e-01 4.29633432e-01 -3.04885676e-02 2.02326548e+02] [-4.29413852e-01 9.03003128e-01 1.37511805e-02 9.09119217e+01] [ 3.34392387e-02 6.81930440e-04 9.99440520e-01 2.13916436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.776875 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:202.36, Y:90.90, Z:21.39 [[ 9.02475407e-01 4.29661272e-01 -3.04849339e-02 2.02356960e+02] [-4.29441436e-01 9.02989888e-01 1.37592313e-02 9.08985885e+01] [ 3.34393958e-02 6.74125933e-04 9.99440520e-01 2.13924855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.806875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:202.39, Y:90.89, Z:21.39 [[ 9.02709006e-01 4.29170538e-01 -3.04811529e-02 2.02386112e+02] [-4.28950139e-01 9.03223245e-01 1.37676023e-02 9.08856006e+01] [ 3.34399351e-02 6.46756216e-04 9.99440520e-01 2.13938556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.836875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:202.41, Y:90.87, Z:21.39 [[ 9.02816738e-01 4.28944030e-01 -3.04788064e-02 2.02414763e+02] [-4.28723327e-01 9.03330847e-01 1.37727950e-02 9.08727369e+01] [ 3.34402042e-02 6.32665479e-04 9.99440520e-01 2.13949055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.866875 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:202.44, Y:90.86, Z:21.40 [[ 9.03154376e-01 4.28232924e-01 -3.04751787e-02 2.02444536e+02] [-4.28011546e-01 9.03668194e-01 1.37808174e-02 9.08597137e+01] [ 3.34408494e-02 5.97522846e-04 9.99440520e-01 2.13955994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.896875 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:202.47, Y:90.85, Z:21.40 [[ 9.03362594e-01 4.27793791e-01 -3.04712205e-02 2.02473576e+02] [-4.27571868e-01 9.03876178e-01 1.37895640e-02 9.08471421e+01] [ 3.34413002e-02 5.71660398e-04 9.99440520e-01 2.13964304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.926875 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:202.50, Y:90.83, Z:21.40 [[ 9.03621666e-01 4.27246548e-01 -3.04675476e-02 2.02503301e+02] [-4.27024041e-01 9.04134997e-01 1.37976742e-02 9.08341302e+01] [ 3.34417848e-02 5.42497928e-04 9.99440520e-01 2.13975325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.956875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:202.53, Y:90.82, Z:21.40 [[ 9.03832610e-01 4.26800392e-01 -3.04637232e-02 2.02532423e+02] [-4.26577347e-01 9.04345708e-01 1.38061129e-02 9.08211943e+01] [ 3.34421917e-02 5.16719161e-04 9.99440520e-01 2.13979334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.986875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:202.56, Y:90.81, Z:21.40 [[ 9.04447748e-01 4.25495537e-01 -3.04601352e-02 2.02562190e+02] [-4.25271485e-01 9.04960406e-01 1.38140245e-02 9.08082757e+01] [ 3.34430221e-02 4.59763617e-04 9.99440520e-01 2.13995835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.016875 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:202.59, Y:90.79, Z:21.40 [[ 9.04547896e-01 4.25282858e-01 -3.04564422e-02 2.02592226e+02] [-4.25058412e-01 9.05060382e-01 1.38221619e-02 9.07947316e+01] [ 3.34432477e-02 4.42959495e-04 9.99440520e-01 2.14001176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.046875 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:202.62, Y:90.78, Z:21.40 [[ 9.04429734e-01 4.25534364e-01 -3.04526120e-02 2.02622563e+02] [-4.25309776e-01 9.04942158e-01 1.38305955e-02 9.07808547e+01] [ 3.34432460e-02 4.42991810e-04 9.99440520e-01 2.14012387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.07687500000003 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:202.65, Y:90.77, Z:21.40 [[ 9.06582985e-01 4.20927742e-01 -3.04487660e-02 2.02648912e+02] [-4.20700266e-01 9.07094133e-01 1.38390574e-02 9.07742244e+01] [ 3.34451402e-02 2.63549982e-04 9.99440520e-01 2.13960514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.106875 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:202.68, Y:90.76, Z:21.40 [[ 9.04739291e-01 4.24862860e-01 -3.06327556e-02 2.02680318e+02] [-4.24651272e-01 9.05257323e-01 1.34341549e-02 9.07557968e+01] [ 3.34381998e-02 8.53830880e-04 9.99440422e-01 2.14007633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.13687500000003 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:202.71, Y:90.75, Z:21.40 [[ 9.06254226e-01 4.21635772e-01 -3.04393501e-02 2.02707206e+02] [-4.21408027e-01 9.06765242e-01 1.38589532e-02 9.07479040e+01] [ 3.34447751e-02 2.67651605e-04 9.99440531e-01 2.13965507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.166875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:202.74, Y:90.73, Z:21.40 [[ 9.04815351e-01 4.24705695e-01 -3.05655650e-02 2.02738973e+02] [-4.24489025e-01 9.05331211e-01 1.35818074e-02 9.07303191e+01] [ 3.34402309e-02 6.85719044e-04 9.99440484e-01 2.14013591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.19687500000003 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:202.77, Y:90.72, Z:21.40 [[ 9.04695997e-01 4.24969631e-01 -3.04296991e-02 2.02769041e+02] [-4.24743072e-01 9.05207533e-01 1.38796831e-02 9.07166078e+01] [ 3.34436366e-02 3.67910166e-04 9.99440537e-01 2.14020837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.226875 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:202.79, Y:90.71, Z:21.40 [[ 9.06894568e-01 4.20257670e-01 -3.04258832e-02 2.02794984e+02] [-4.20028172e-01 9.07404792e-01 1.38880429e-02 9.07109785e+01] [ 3.34451487e-02 1.84737428e-04 9.99440537e-01 2.13977365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.25687500000004 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:202.83, Y:90.70, Z:21.40 [[ 9.06550292e-01 4.20983489e-01 -3.06507830e-02 2.02825201e+02] [-4.20770994e-01 9.07067988e-01 1.33953646e-02 9.06966951e+01] [ 3.34415714e-02 7.53388738e-04 9.99440390e-01 2.13986107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.286875 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:202.86, Y:90.68, Z:21.40 [[ 9.04700806e-01 4.24946137e-01 -3.06142437e-02 2.02856462e+02] [-4.24733203e-01 9.05218273e-01 1.34753511e-02 9.06779015e+01] [ 3.34388712e-02 8.11724798e-04 9.99440435e-01 2.14048289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31687500000004 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:202.89, Y:90.66, Z:21.41 [[ 9.05118855e-01 4.24069479e-01 -3.04127609e-02 2.02886882e+02] [-4.23841201e-01 9.05629610e-01 1.39157011e-02 9.06649104e+01] [ 3.34439209e-02 2.94817632e-04 9.99440552e-01 2.14066670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.346875 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:202.92, Y:90.65, Z:21.41 [[ 9.05342373e-01 4.23592364e-01 -3.04088277e-02 2.02916234e+02] [-4.23363527e-01 9.05852879e-01 1.39242908e-02 9.06521757e+01] [ 3.34441474e-02 2.67738123e-04 9.99440552e-01 2.14073352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37687500000004 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:202.94, Y:90.65, Z:21.40 [[ 9.08510446e-01 4.16754478e-01 -3.04051646e-02 2.02938872e+02] [-4.16521532e-01 9.09019090e-01 1.39322851e-02 9.06502282e+01] [ 3.34452172e-02 6.77920581e-06 9.99440552e-01 2.14022292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.406875 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:202.97, Y:90.63, Z:21.41 [[ 9.05716391e-01 4.22766528e-01 -3.07617107e-02 2.02972325e+02] [-4.22563246e-01 9.06237985e-01 1.31536224e-02 9.06270547e+01] [ 3.34383420e-02 1.08531696e-03 9.99440193e-01 2.14089909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.436875 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:203.00, Y:90.61, Z:21.41 [[ 9.06393952e-01 4.21338634e-01 -3.03933953e-02 2.03001556e+02] [-4.21107472e-01 9.06903376e-01 1.39557838e-02 9.06148250e+01] [ 3.34439837e-02 1.49447864e-04 9.99440582e-01 2.14110908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.466875 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:203.03, Y:90.60, Z:21.41 [[ 9.06482844e-01 4.21147530e-01 -3.03909918e-02 2.03032078e+02] [-4.20916085e-01 9.06992138e-01 1.39610159e-02 9.06016147e+01] [ 3.34440380e-02 1.36635852e-04 9.99440582e-01 2.14119970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.496875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:203.06, Y:90.59, Z:21.41 [[ 9.06388145e-01 4.21351575e-01 -3.03871745e-02 2.03062351e+02] [-4.21119967e-01 9.06897366e-01 1.39693196e-02 9.05886096e+01] [ 3.34440433e-02 1.35020214e-04 9.99440582e-01 2.14125266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.526875 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:203.09, Y:90.58, Z:21.41 [[ 9.06340735e-01 4.21453822e-01 -3.03833399e-02 2.03093066e+02] [-4.21221991e-01 9.06849855e-01 1.39776549e-02 9.05758476e+01] [ 3.34440635e-02 1.29612966e-04 9.99440582e-01 2.14126959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.556875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:203.12, Y:90.56, Z:21.41 [[ 9.06034198e-01 4.22112683e-01 -3.03795040e-02 2.03124357e+02] [-4.21880943e-01 9.06543359e-01 1.39859870e-02 9.05639787e+01] [ 3.34440001e-02 1.44751250e-04 9.99440582e-01 2.14118415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.586875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:203.15, Y:90.55, Z:21.41 [[ 9.05780103e-01 4.22657926e-01 -3.03756849e-02 2.03154466e+02] [-4.22426215e-01 9.06289277e-01 1.39942768e-02 9.05512291e+01] [ 3.34439495e-02 1.55748137e-04 9.99440583e-01 2.14128603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.616875 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:203.18, Y:90.54, Z:21.41 [[ 9.05384411e-01 4.23505161e-01 -3.03718153e-02 2.03183915e+02] [-4.23273645e-01 9.05893673e-01 1.40026698e-02 9.05392897e+01] [ 3.34438383e-02 1.77790000e-04 9.99440583e-01 2.14137120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.646875 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:203.21, Y:90.53, Z:21.41 [[ 9.05116299e-01 4.24078126e-01 -3.03682144e-02 2.03213680e+02] [-4.23846670e-01 9.05625589e-01 1.40104750e-02 9.05263756e+01] [ 3.34437680e-02 1.90357290e-04 9.99440583e-01 2.14147961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.676875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:203.24, Y:90.51, Z:21.42 [[ 9.04908284e-01 4.24522085e-01 -3.03644124e-02 2.03244793e+02] [-4.24290602e-01 9.05417561e-01 1.40187100e-02 9.05143844e+01] [ 3.34437242e-02 1.97688080e-04 9.99440583e-01 2.14163427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.706875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:203.28, Y:90.50, Z:21.42 [[ 9.04572737e-01 4.25236874e-01 -3.03605835e-02 2.03275176e+02] [-4.25005516e-01 9.05082071e-01 1.40269975e-02 9.05013948e+01] [ 3.34436163e-02 2.14975880e-04 9.99440583e-01 2.14175332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.736875 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:203.31, Y:90.49, Z:21.42 [[ 9.04277692e-01 4.25864220e-01 -3.03565855e-02 2.03305592e+02] [-4.25632925e-01 9.04787054e-01 1.40356445e-02 9.04882848e+01] [ 3.34435243e-02 2.28642074e-04 9.99440583e-01 2.14183760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.766875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:203.33, Y:90.48, Z:21.41 [[ 9.06464571e-01 4.21189627e-01 -3.03525993e-02 2.03330252e+02] [-4.20955417e-01 9.06972599e-01 1.40442595e-02 9.04846178e+01] [ 3.34442723e-02 4.64674846e-05 9.99440583e-01 2.14137165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.796875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:203.36, Y:90.46, Z:21.42 [[ 9.03856338e-01 4.26741653e-01 -3.05823877e-02 2.03362221e+02] [-4.26527312e-01 9.04373221e-01 1.35473269e-02 9.04645186e+01] [ 3.34391011e-02 7.99386336e-04 9.99440437e-01 2.14209692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.82687500000003 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:203.39, Y:90.45, Z:21.42 [[ 9.03824150e-01 4.26826735e-01 -3.03454214e-02 2.03392334e+02] [-4.26595204e-01 9.04333391e-01 1.40588220e-02 9.04512398e+01] [ 3.34430589e-02 2.38508387e-04 9.99440596e-01 2.14228968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.856875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:203.42, Y:90.44, Z:21.42 [[ 9.03742271e-01 4.27000353e-01 -3.03414902e-02 2.03423027e+02] [-4.26768635e-01 9.04251427e-01 1.40673012e-02 9.04382503e+01] [ 3.34430784e-02 2.35581642e-04 9.99440596e-01 2.14243939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.88687500000003 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:203.45, Y:90.43, Z:21.43 [[ 9.03404709e-01 4.27714347e-01 -3.03375756e-02 2.03453245e+02] [-4.27482749e-01 9.03913919e-01 1.40757384e-02 9.04265414e+01] [ 3.34429521e-02 2.52701883e-04 9.99440596e-01 2.14253381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.916875 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:203.48, Y:90.41, Z:21.43 [[ 9.03095119e-01 4.28367900e-01 -3.03339377e-02 2.03483347e+02] [-4.28136407e-01 9.03604377e-01 1.40835739e-02 9.04136048e+01] [ 3.34428298e-02 2.68256223e-04 9.99440596e-01 2.14262241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.94687500000003 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:203.51, Y:90.40, Z:21.43 [[ 9.02375332e-01 4.29882369e-01 -3.03300176e-02 2.03513351e+02] [-4.29651447e-01 9.02884849e-01 1.40920111e-02 9.04019287e+01] [ 3.34424204e-02 3.15052784e-04 9.99440596e-01 2.14261641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.976875 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:203.54, Y:90.40, Z:21.42 [[ 9.04428951e-01 4.25545045e-01 -3.03263593e-02 2.03537789e+02] [-4.25311415e-01 9.04937232e-01 1.40998793e-02 9.04001772e+01] [ 3.34435854e-02 1.45807755e-04 9.99440596e-01 2.14217518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.00687500000004 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:203.57, Y:90.39, Z:21.42 [[ 9.03497304e-01 4.27497583e-01 -3.06339322e-02 2.03567727e+02] [-4.27287365e-01 9.04015994e-01 1.34383652e-02 9.03870585e+01] [ 3.34384333e-02 9.47965471e-04 9.99440330e-01 2.14212576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.036875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:203.60, Y:90.37, Z:21.43 [[ 9.00121294e-01 4.34561388e-01 -3.06277047e-02 2.03600848e+02] [-4.34354784e-01 9.00641423e-01 1.34517482e-02 9.03658464e+01] [ 3.34301899e-02 1.19508504e-03 9.99440340e-01 2.14252242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06687500000004 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:203.63, Y:90.35, Z:21.43 [[ 8.99696463e-01 4.35462631e-01 -3.03079452e-02 2.03630486e+02] [-4.35233343e-01 9.00206684e-01 1.41372813e-02 9.03525600e+01] [ 3.34396725e-02 4.71766360e-04 9.99440626e-01 2.14264137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.096875 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:203.66, Y:90.34, Z:21.43 [[ 8.99384995e-01 4.36105834e-01 -3.03039973e-02 2.03659217e+02] [-4.35876626e-01 8.99895252e-01 1.41457387e-02 9.03394282e+01] [ 3.34394624e-02 4.86338998e-04 9.99440626e-01 2.14272018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12687500000004 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:203.69, Y:90.33, Z:21.43 [[ 8.98999005e-01 4.36901140e-01 -3.03015449e-02 2.03689211e+02] [-4.36672206e-01 8.99509385e-01 1.41509900e-02 9.03257658e+01] [ 3.34391077e-02 5.10116575e-04 9.99440626e-01 2.14283137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.156875 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:203.72, Y:90.31, Z:21.43 [[ 8.98652192e-01 4.37614324e-01 -3.02975516e-02 2.03719694e+02] [-4.37385508e-01 8.99162625e-01 1.41595345e-02 9.03127014e+01] [ 3.34388412e-02 5.27213256e-04 9.99440627e-01 2.14290715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.186875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:203.75, Y:90.30, Z:21.43 [[ 8.98570896e-01 4.37781507e-01 -3.02935149e-02 2.03748982e+02] [-4.37552495e-01 8.99081241e-01 1.41681657e-02 9.02994268e+01] [ 3.34388919e-02 5.23901692e-04 9.99440627e-01 2.14300530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.216875 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:203.78, Y:90.29, Z:21.43 [[ 8.98688962e-01 4.37539347e-01 -3.02897616e-02 2.03779060e+02] [-4.37309927e-01 8.99199124e-01 1.41761851e-02 9.02854950e+01] [ 3.34391659e-02 5.06032310e-04 9.99440627e-01 2.14307506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.246875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:203.81, Y:90.27, Z:21.43 [[ 8.98640044e-01 4.37640083e-01 -3.02857923e-02 2.03809153e+02] [-4.37410434e-01 8.99150103e-01 1.41846600e-02 9.02711507e+01] [ 3.34392491e-02 5.00418031e-04 9.99440627e-01 2.14317417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.276875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:203.84, Y:90.26, Z:21.43 [[ 8.98710738e-01 4.37495168e-01 -3.02818003e-02 2.03838509e+02] [-4.37265150e-01 8.99220631e-01 1.41931772e-02 9.02573441e+01] [ 3.34394660e-02 4.85615127e-04 9.99440627e-01 2.14324948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.306875 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:203.87, Y:90.24, Z:21.43 [[ 8.99139691e-01 4.36613182e-01 -3.02778092e-02 2.03867250e+02] [-4.36382378e-01 8.99649228e-01 1.42016861e-02 9.02440253e+01] [ 3.34400510e-02 4.43402745e-04 9.99440627e-01 2.14325183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.336875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:203.90, Y:90.23, Z:21.43 [[ 8.99148112e-01 4.36596098e-01 -3.02740939e-02 2.03897371e+02] [-4.36365017e-01 8.99657523e-01 1.42096017e-02 9.02298578e+01] [ 3.34401730e-02 4.34018983e-04 9.99440627e-01 2.14332963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.366875 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:203.93, Y:90.22, Z:21.43 [[ 8.99165921e-01 4.36559695e-01 -3.02701090e-02 2.03926240e+02] [-4.36328308e-01 8.99675193e-01 1.42180856e-02 9.02162340e+01] [ 3.34403092e-02 4.23287409e-04 9.99440627e-01 2.14337825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.396875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:203.96, Y:90.20, Z:21.43 [[ 8.99079921e-01 4.36737039e-01 -3.02663984e-02 2.03956369e+02] [-4.36505487e-01 8.99589118e-01 1.42259800e-02 9.02019946e+01] [ 3.34403350e-02 4.21155992e-04 9.99440627e-01 2.14348663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.426875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:203.99, Y:90.19, Z:21.44 [[ 8.98727321e-01 4.37462446e-01 -3.02623765e-02 2.03985027e+02] [-4.37231017e-01 8.99236574e-01 1.42345304e-02 9.01883412e+01] [ 3.34401083e-02 4.38688331e-04 9.99440627e-01 2.14352170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.456875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:204.01, Y:90.17, Z:21.44 [[ 8.98283585e-01 4.38373147e-01 -3.02586277e-02 2.04014338e+02] [-4.38141966e-01 8.98792951e-01 1.42424949e-02 9.01744406e+01] [ 3.34397686e-02 4.63775204e-04 9.99440627e-01 2.14362030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.486875 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:204.04, Y:90.16, Z:21.44 [[ 8.97633030e-01 4.39703997e-01 -3.02545683e-02 2.04043107e+02] [-4.39473280e-01 8.98142606e-01 1.42511128e-02 9.01609335e+01] [ 3.34391881e-02 5.03804815e-04 9.99440627e-01 2.14358078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.516875 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:204.07, Y:90.15, Z:21.44 [[ 8.97244067e-01 4.40497417e-01 -3.02507829e-02 2.04071474e+02] [-4.40266880e-01 8.97753725e-01 1.42591436e-02 9.01473837e+01] [ 3.34388690e-02 5.24485786e-04 9.99440627e-01 2.14362145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.546875 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:204.10, Y:90.13, Z:21.44 [[ 8.96663589e-01 4.41678077e-01 -3.02470575e-02 2.04101367e+02] [-4.41447946e-01 8.97173430e-01 1.42670416e-02 9.01325616e+01] [ 3.34382959e-02 5.59764652e-04 9.99440627e-01 2.14374245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.57687500000003 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:204.13, Y:90.12, Z:21.44 [[ 8.96345127e-01 4.42324278e-01 -3.02431301e-02 2.04130979e+02] [-4.42094233e-01 8.96855007e-01 1.42753622e-02 9.01178557e+01] [ 3.34380419e-02 5.74662071e-04 9.99440627e-01 2.14389477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.606875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:204.15, Y:90.12, Z:21.43 [[ 8.99209971e-01 4.36471100e-01 -3.02391638e-02 2.04151833e+02] [-4.36237454e-01 8.99718210e-01 1.42837588e-02 9.01175325e+01] [ 3.34411743e-02 3.47357484e-04 9.99440627e-01 2.14344323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.63687500000003 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:204.19, Y:90.09, Z:21.44 [[ 8.95040942e-01 4.44927636e-01 -3.06775477e-02 2.04185739e+02] [-4.44730383e-01 8.95564929e-01 1.33545681e-02 9.00902161e+01] [ 3.34155523e-02 1.69035232e-03 9.99440115e-01 2.14403903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.666875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:204.22, Y:90.08, Z:21.44 [[ 8.94563386e-01 4.45917767e-01 -3.02273591e-02 2.04215274e+02] [-4.45688740e-01 8.95073678e-01 1.43058328e-02 9.00755710e+01] [ 3.34349385e-02 6.74519400e-04 9.99440669e-01 2.14419102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.69687500000003 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:204.24, Y:90.07, Z:21.44 [[ 8.97400288e-01 4.40180943e-01 -3.02235169e-02 2.04237797e+02] [-4.39948381e-01 8.97908978e-01 1.43139455e-02 9.00737129e+01] [ 3.34386932e-02 4.51448456e-04 9.99440669e-01 2.14373970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.726875 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:204.27, Y:90.06, Z:21.44 [[ 8.97117307e-01 4.40730655e-01 -3.06108941e-02 2.04267672e+02] [-4.40526148e-01 8.97638341e-01 1.34952705e-02 9.00580847e+01] [ 3.34252916e-02 1.37805856e-03 9.99440269e-01 2.14385422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.75687500000004 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:204.30, Y:90.03, Z:21.45 [[ 8.93876970e-01 4.47269717e-01 -3.05575212e-02 2.04299713e+02] [-4.47065166e-01 8.94397875e-01 1.36080672e-02 9.00334803e+01] [ 3.34170584e-02 1.49726544e-03 9.99440373e-01 2.14457216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.786875 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:204.33, Y:90.02, Z:21.45 [[ 8.94092246e-01 4.46862623e-01 -3.02134326e-02 2.04327751e+02] [-4.46633204e-01 8.94602334e-01 1.43333982e-02 9.00188347e+01] [ 3.34340672e-02 6.78942041e-04 9.99440695e-01 2.14479288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81687500000004 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:204.35, Y:90.02, Z:21.44 [[ 8.96890857e-01 4.41218959e-01 -3.02096220e-02 2.04350231e+02] [-4.40986059e-01 8.97399364e-01 1.43414251e-02 9.00155743e+01] [ 3.34378042e-02 4.59329094e-04 9.99440695e-01 2.14432469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.846875 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:204.38, Y:89.99, Z:21.45 [[ 8.94157971e-01 4.46711444e-01 -3.05026096e-02 2.04382401e+02] [-4.46502587e-01 8.94677076e-01 1.37247620e-02 8.99916236e+01] [ 3.34209939e-02 1.34738878e-03 9.99440454e-01 2.14498504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87687500000004 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:204.41, Y:89.98, Z:21.45 [[ 8.96606160e-01 4.41798493e-01 -3.01908153e-02 2.04407388e+02] [-4.41564642e-01 8.97114206e-01 1.43794212e-02 8.99849337e+01] [ 3.34374159e-02 4.38518966e-04 9.99440717e-01 2.14461106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.906875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:204.44, Y:89.97, Z:21.45 [[ 8.96998619e-01 4.40984643e-01 -3.04306272e-02 2.04436751e+02] [-4.40767339e-01 8.97514129e-01 1.38759347e-02 8.99699879e+01] [ 3.34309919e-02 9.66132280e-04 9.99440561e-01 2.14463886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.936875 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:204.47, Y:89.95, Z:21.45 [[ 8.94841362e-01 4.45345664e-01 -3.04331417e-02 2.04467469e+02] [-4.45131051e-01 8.95358002e-01 1.38706611e-02 8.99481141e+01] [ 3.34257957e-02 1.13469504e-03 9.99440558e-01 2.14518524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.966875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:204.49, Y:89.94, Z:21.45 [[ 8.97016047e-01 4.40966902e-01 -3.01728937e-02 2.04492117e+02] [-4.40731369e-01 8.97523290e-01 1.44154007e-02 8.99401001e+01] [ 3.34375894e-02 3.67294965e-04 9.99440740e-01 2.14480334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.996875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:204.52, Y:89.93, Z:21.45 [[ 8.96838506e-01 4.41314769e-01 -3.03639434e-02 2.04521233e+02] [-4.41092936e-01 8.97351991e-01 1.40152009e-02 8.99260826e+01] [ 3.34322602e-02 8.23949070e-04 9.99440646e-01 2.14489082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.026875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:204.55, Y:89.91, Z:21.45 [[ 8.96951614e-01 4.41085975e-01 -3.03474102e-02 2.04547577e+02] [-4.40862842e-01 8.97464517e-01 1.40497537e-02 8.99131594e+01] [ 3.34328732e-02 7.77096255e-04 9.99440663e-01 2.14488984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.056875 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:204.58, Y:89.90, Z:21.45 [[ 8.96897257e-01 4.41190993e-01 -3.04272668e-02 2.04577242e+02] [-4.40973567e-01 8.97412711e-01 1.38830419e-02 8.98982723e+01] [ 3.34308891e-02 9.65958187e-04 9.99440565e-01 2.14493750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.086875 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:204.61, Y:89.87, Z:21.46 [[ 8.94616811e-01 4.45797450e-01 -3.04202952e-02 2.04607746e+02] [-4.45582183e-01 8.95133161e-01 1.38975835e-02 8.98746437e+01] [ 3.34257223e-02 1.12172968e-03 9.99440575e-01 2.14563233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.116875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:204.64, Y:89.86, Z:21.46 [[ 8.94591308e-01 4.45867615e-01 -3.01406853e-02 2.04636529e+02] [-4.45632696e-01 8.95098788e-01 1.44796332e-02 8.98598076e+01] [ 3.34348905e-02 4.78320805e-04 9.99440783e-01 2.14577443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.146875 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:204.67, Y:89.84, Z:21.46 [[ 8.94531933e-01 4.45987004e-01 -3.01365797e-02 2.04665702e+02] [-4.45751865e-01 8.95039311e-01 1.44881732e-02 8.98448261e+01] [ 3.34349605e-02 4.73303024e-04 9.99440783e-01 2.14589285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.176875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:204.69, Y:89.83, Z:21.46 [[ 8.94528542e-01 4.45994084e-01 -3.01324448e-02 2.04694084e+02] [-4.45758659e-01 8.95035788e-01 1.44967680e-02 8.98302601e+01] [ 3.34350892e-02 4.64025425e-04 9.99440783e-01 2.14599241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.206875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:204.72, Y:89.82, Z:21.45 [[ 8.96545393e-01 4.41925954e-01 -3.01298910e-02 2.04719092e+02] [-4.41688048e-01 8.97051480e-01 1.45020738e-02 8.98224367e+01] [ 3.34369061e-02 3.06245325e-04 9.99440783e-01 2.14544391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.236875 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:204.75, Y:89.80, Z:21.46 [[ 8.94268411e-01 4.46499674e-01 -3.03652882e-02 2.04750436e+02] [-4.46280898e-01 8.94783214e-01 1.40128214e-02 8.98010757e+01] [ 3.34270704e-02 1.02022459e-03 9.99440639e-01 2.14619151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.266875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:204.78, Y:89.79, Z:21.46 [[ 8.94011359e-01 4.47030743e-01 -3.01198500e-02 2.04779170e+02] [-4.46795059e-01 8.94518468e-01 1.45218968e-02 8.97860624e+01] [ 3.34344964e-02 4.74659524e-04 9.99440798e-01 2.14636621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.296875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:204.80, Y:89.78, Z:21.46 [[ 8.96060020e-01 4.42910239e-01 -3.01157840e-02 2.04804427e+02] [-4.42671940e-01 8.96565906e-01 1.45303241e-02 8.97786651e+01] [ 3.34364145e-02 3.11370035e-04 9.99440798e-01 2.14591172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.32687500000003 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:204.83, Y:89.76, Z:21.47 [[ 8.93385371e-01 4.48265538e-01 -3.03411835e-02 2.04834498e+02] [-4.48046077e-01 8.93899852e-01 1.40629670e-02 8.97581655e+01] [ 3.34259229e-02 1.03059921e-03 9.99440666e-01 2.14651168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.356875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:204.86, Y:89.74, Z:21.47 [[ 8.93056612e-01 4.48935871e-01 -3.01076592e-02 2.04864047e+02] [-4.48700445e-01 8.93563828e-01 1.45463215e-02 8.97436197e+01] [ 3.34334807e-02 5.18631538e-04 9.99440810e-01 2.14665031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.38687500000003 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:204.89, Y:89.74, Z:21.46 [[ 8.94356901e-01 4.46340118e-01 -3.01037050e-02 2.04890152e+02] [-4.46102945e-01 8.94863302e-01 1.45545002e-02 8.97351741e+01] [ 3.34349582e-02 4.12433753e-04 9.99440810e-01 2.14616217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.416875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:204.92, Y:89.72, Z:21.47 [[ 8.92045474e-01 4.50927879e-01 -3.03136791e-02 2.04921834e+02] [-4.50708011e-01 8.92559751e-01 1.41201724e-02 8.97150550e+01] [ 3.34239492e-02 1.06678212e-03 9.99440694e-01 2.14686968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.44687500000003 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:204.95, Y:89.71, Z:21.46 [[ 8.93433277e-01 4.48186801e-01 -3.00927181e-02 2.04948060e+02] [-4.47949938e-01 8.93939809e-01 1.45763537e-02 8.97066078e+01] [ 3.34340080e-02 4.57031788e-04 9.99440823e-01 2.14631809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.476875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:204.98, Y:89.69, Z:21.47 [[ 8.92674727e-01 4.49683542e-01 -3.02744959e-02 2.04976706e+02] [-4.49460191e-01 8.93187465e-01 1.42017000e-02 8.96915400e+01] [ 3.34270710e-02 9.29682070e-04 9.99440727e-01 2.14657415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.50687500000004 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:205.01, Y:89.67, Z:21.47 [[ 8.90967208e-01 4.53059197e-01 -3.02456311e-02 2.05006760e+02] [-4.52835771e-01 8.91479884e-01 1.42611382e-02 8.96726626e+01] [ 3.34245115e-02 9.90097236e-04 9.99440755e-01 2.14727407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.536875 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:205.03, Y:89.66, Z:21.47 [[ 8.93033183e-01 4.48984958e-01 -3.00706149e-02 2.05032271e+02] [-4.48747041e-01 8.93539208e-01 1.46210931e-02 8.96635195e+01] [ 3.34339243e-02 4.36978154e-04 9.99440835e-01 2.14686041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56687500000004 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:205.06, Y:89.65, Z:21.47 [[ 8.93413133e-01 4.48215850e-01 -3.02576438e-02 2.05059455e+02] [-4.47990488e-01 8.93924970e-01 1.42362415e-02 8.96502915e+01] [ 3.34289724e-02 8.36291478e-04 9.99440746e-01 2.14694014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.596875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:205.09, Y:89.63, Z:21.48 [[ 8.91394433e-01 4.52212866e-01 -3.03230831e-02 2.05092035e+02] [-4.51994372e-01 8.91909319e-01 1.41015615e-02 8.96291576e+01] [ 3.34223480e-02 1.13580945e-03 9.99440672e-01 2.14779440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62687500000004 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:205.12, Y:89.61, Z:21.48 [[ 8.91213059e-01 4.52587530e-01 -3.00634449e-02 2.05120642e+02] [-4.52351192e-01 8.91719809e-01 1.46349305e-02 8.96146633e+01] [ 3.34317564e-02 5.56393919e-04 9.99440848e-01 2.14790630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.656875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:205.15, Y:89.61, Z:21.47 [[ 8.93244650e-01 4.48564842e-01 -3.00595655e-02 2.05146328e+02] [-4.48325953e-01 8.93750203e-01 1.46428941e-02 8.96080253e+01] [ 3.34340303e-02 3.96796509e-04 9.99440848e-01 2.14728898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.686875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:205.18, Y:89.60, Z:21.47 [[ 8.93104412e-01 4.48828189e-01 -3.02946690e-02 2.05175041e+02] [-4.48605756e-01 8.93617573e-01 1.41601454e-02 8.95950823e+01] [ 3.34273210e-02 9.43874535e-04 9.99440705e-01 2.14732611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.716875 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:205.21, Y:89.57, Z:21.48 [[ 8.90249633e-01 4.54462363e-01 -3.03240970e-02 2.05206638e+02] [-4.54245232e-01 8.90765102e-01 1.40997431e-02 8.95735285e+01] [ 3.34194500e-02 1.22228531e-03 9.99440667e-01 2.14799581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.746875 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:205.23, Y:89.57, Z:21.48 [[ 8.92421202e-01 4.50201776e-01 -3.00459548e-02 2.05231943e+02] [-4.49962920e-01 8.92926748e-01 1.46694492e-02 8.95665321e+01] [ 3.34330488e-02 4.28238128e-04 9.99440868e-01 2.14756036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.776875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:205.26, Y:89.55, Z:21.48 [[ 8.89930583e-01 4.55088775e-01 -3.02946289e-02 2.05263180e+02] [-4.54869970e-01 8.90445291e-01 1.41595830e-02 8.95460684e+01] [ 3.34195770e-02 1.17907101e-03 9.99440714e-01 2.14833332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.806875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:205.29, Y:89.53, Z:21.48 [[ 8.89362548e-01 4.56214745e-01 -3.00393878e-02 2.05292309e+02] [-4.55978888e-01 8.89869483e-01 1.46818257e-02 8.95319268e+01] [ 3.34291999e-02 6.39860694e-04 9.99440883e-01 2.14849844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.836875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:205.32, Y:89.53, Z:21.48 [[ 8.91484810e-01 4.52053880e-01 -3.00353472e-02 2.05316564e+02] [-4.51815380e-01 8.91990507e-01 1.46900871e-02 8.95263573e+01] [ 3.34319555e-02 4.74442246e-04 9.99440883e-01 2.14793756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.866875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:205.35, Y:89.51, Z:21.49 [[ 8.88572896e-01 4.57731992e-01 -3.03254522e-02 2.05348324e+02] [-4.57516867e-01 8.89089200e-01 1.40965203e-02 8.95051047e+01] [ 3.34144603e-02 1.34862001e-03 9.99440671e-01 2.14858620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.896875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:205.38, Y:89.49, Z:21.49 [[ 8.88266020e-01 4.58346989e-01 -3.00252499e-02 2.05378345e+02] [-4.58111420e-01 8.88773066e-01 1.47093228e-02 8.94907252e+01] [ 3.34276072e-02 6.89118253e-04 9.99440904e-01 2.14870781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.926875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:205.41, Y:89.48, Z:21.49 [[ 8.87404213e-01 4.60013570e-01 -3.00212952e-02 2.05408239e+02] [-4.59778680e-01 8.87911574e-01 1.47173897e-02 8.94765218e+01] [ 3.34264545e-02 7.42877861e-04 9.99440904e-01 2.14873146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.956875 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:205.44, Y:89.46, Z:21.49 [[ 8.87090390e-01 4.60618635e-01 -3.00185383e-02 2.05438318e+02] [-4.60383902e-01 8.87597823e-01 1.47230107e-02 8.94620867e+01] [ 3.34260824e-02 7.59410436e-04 9.99440904e-01 2.14883817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.986875 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:205.46, Y:89.46, Z:21.48 [[ 8.88851778e-01 4.57210722e-01 -3.00145285e-02 2.05463346e+02] [-4.56973767e-01 8.89358178e-01 1.47311806e-02 8.94560964e+01] [ 3.34289201e-02 6.22016050e-04 9.99440904e-01 2.14840985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.016875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:205.49, Y:89.44, Z:21.48 [[ 8.88710254e-01 4.57468541e-01 -3.02757029e-02 2.05492092e+02] [-4.57249778e-01 8.89224962e-01 1.41988511e-02 8.94424834e+01] [ 3.34174384e-02 1.22489387e-03 9.99440731e-01 2.14848637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.046875 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:205.52, Y:89.43, Z:21.49 [[ 8.88606892e-01 4.57667919e-01 -3.02963224e-02 2.05519867e+02] [-4.57450700e-01 8.89122286e-01 1.41568864e-02 8.94292365e+01] [ 3.34162882e-02 1.27916704e-03 9.99440701e-01 2.14856882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.07687500000003 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:205.55, Y:89.41, Z:21.49 [[ 8.85880527e-01 4.62920546e-01 -3.03357768e-02 2.05552511e+02] [-4.62709125e-01 8.86398395e-01 1.40766437e-02 8.94060058e+01] [ 3.34059514e-02 1.56641615e-03 9.99440638e-01 2.14937095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.106875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:205.58, Y:89.40, Z:21.49 [[ 8.88139358e-01 4.58594840e-01 -2.99875695e-02 2.05577898e+02] [-4.58356923e-01 8.88645258e-01 1.47830110e-02 8.94000035e+01] [ 3.34277240e-02 6.15636170e-04 9.99440948e-01 2.14874146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.13687500000003 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:205.61, Y:89.38, Z:21.49 [[ 8.85790480e-01 4.63098680e-01 -3.02462776e-02 2.05610641e+02] [-4.62881164e-01 8.86305666e-01 1.42581367e-02 8.93775273e+01] [ 3.34103715e-02 1.37071042e-03 9.99440778e-01 2.14945252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.166875 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:205.63, Y:89.37, Z:21.49 [[ 8.89415328e-01 4.56115990e-01 -2.99762978e-02 2.05633123e+02] [-4.55875928e-01 8.89920197e-01 1.48047975e-02 8.93749638e+01] [ 3.34292177e-02 4.97858752e-04 9.99440964e-01 2.14873729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.19687500000003 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:205.67, Y:89.35, Z:21.49 [[ 8.86372979e-01 4.61974230e-01 -3.03768485e-02 2.05665958e+02] [-4.61765129e-01 8.86891861e-01 1.39926156e-02 8.93499564e+01] [ 3.34052075e-02 1.62429302e-03 9.99440570e-01 2.14942912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.226875 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:205.69, Y:89.35, Z:21.49 [[ 8.89794826e-01 4.55375790e-01 -2.99676204e-02 2.05688116e+02] [-4.55134791e-01 8.90299211e-01 1.48201427e-02 8.93477040e+01] [ 3.34288830e-02 4.52420312e-04 9.99440996e-01 2.14894871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.25687500000004 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:205.72, Y:89.32, Z:21.50 [[ 8.87128636e-01 4.60522566e-01 -3.03603202e-02 2.05721908e+02] [-4.60311498e-01 8.87646673e-01 1.40252828e-02 8.93224550e+01] [ 3.34081964e-02 1.53297448e-03 9.99440615e-01 2.14993351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.286875 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:205.75, Y:89.31, Z:21.50 [[ 8.87514461e-01 4.59805108e-01 -2.99557016e-02 2.05751367e+02] [-4.59565889e-01 8.88019656e-01 1.48419605e-02 8.93081621e+01] [ 3.34256611e-02 5.94164038e-04 9.99441030e-01 2.15013307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31687500000004 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:205.78, Y:89.29, Z:21.50 [[ 8.87932441e-01 4.58997697e-01 -2.99515237e-02 2.05781210e+02] [-4.58757735e-01 8.88437284e-01 1.48503869e-02 8.92939082e+01] [ 3.34263437e-02 5.54352866e-04 9.99441030e-01 2.15023589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.346875 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:205.81, Y:89.28, Z:21.50 [[ 8.88812980e-01 4.57290547e-01 -2.99473177e-02 2.05810161e+02] [-4.57049330e-01 8.89317224e-01 1.48588639e-02 8.92800983e+01] [ 3.34274834e-02 4.80650399e-04 9.99441030e-01 2.15033410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37687500000004 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:205.83, Y:89.28, Z:21.50 [[ 8.91801614e-01 4.51434683e-01 -2.99434054e-02 2.05834321e+02] [-4.51189890e-01 8.92304132e-01 1.48667436e-02 8.92750347e+01] [ 3.34299881e-02 2.51975870e-04 9.99441030e-01 2.14983767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.406875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:205.87, Y:89.25, Z:21.51 [[ 8.89707537e-01 4.55527591e-01 -3.02508295e-02 2.05865704e+02] [-4.55306071e-01 8.90220989e-01 1.42468734e-02 8.92526295e+01] [ 3.34197672e-02 1.09783561e-03 9.99440801e-01 2.15057386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.436875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:205.89, Y:89.25, Z:21.50 [[ 8.92584026e-01 4.49886156e-01 -2.99366521e-02 2.05890461e+02] [-4.49640079e-01 8.93085894e-01 1.48790185e-02 8.92468502e+01] [ 3.34298661e-02 1.79944351e-04 9.99441050e-01 2.15000200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.466875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:205.92, Y:89.23, Z:21.51 [[ 8.90622382e-01 4.53741172e-01 -3.01781604e-02 2.05922321e+02] [-4.53513674e-01 8.91133097e-01 1.43927571e-02 8.92252238e+01] [ 3.34233440e-02 8.67696813e-04 9.99440907e-01 2.15073436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.496875 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:205.95, Y:89.21, Z:21.51 [[ 8.90549717e-01 4.53900184e-01 -2.99303118e-02 2.05951430e+02] [-4.53655969e-01 8.91052480e-01 1.48909366e-02 8.92109806e+01] [ 3.34284774e-02 3.16945186e-04 9.99441062e-01 2.15088153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.526875 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:205.98, Y:89.20, Z:21.51 [[ 8.90450180e-01 4.54095692e-01 -2.99262447e-02 2.05980622e+02] [-4.53851312e-01 8.90952863e-01 1.48991056e-02 8.91976015e+01] [ 3.34284931e-02 3.15154151e-04 9.99441062e-01 2.15094420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.556875 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:206.01, Y:89.18, Z:21.51 [[ 8.90228480e-01 4.54530417e-01 -2.99224531e-02 2.06010121e+02] [-4.54286027e-01 8.90731158e-01 1.49067165e-02 8.91833023e+01] [ 3.34284174e-02 3.22968750e-04 9.99441062e-01 2.15115007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.586875 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:206.04, Y:89.17, Z:21.51 [[ 8.90033355e-01 4.54912658e-01 -2.99182286e-02 2.06038608e+02] [-4.54668199e-01 8.90535999e-01 1.49151904e-02 8.91692819e+01] [ 3.34283685e-02 3.27850132e-04 9.99441062e-01 2.15115926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.616875 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:206.07, Y:89.15, Z:21.51 [[ 8.89733435e-01 4.55499146e-01 -2.99156047e-02 2.06068434e+02] [-4.55254841e-01 8.90236154e-01 1.49204514e-02 8.91545063e+01] [ 3.34282057e-02 3.43999389e-04 9.99441062e-01 2.15135729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.646875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:206.10, Y:89.14, Z:21.51 [[ 8.89622368e-01 4.55716298e-01 -2.99114941e-02 2.06098001e+02] [-4.55471840e-01 8.90125012e-01 1.49286876e-02 8.91397310e+01] [ 3.34282153e-02 3.42948846e-04 9.99441062e-01 2.15149480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.676875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:206.13, Y:89.13, Z:21.52 [[ 8.89392743e-01 4.56164555e-01 -2.99073142e-02 2.06126837e+02] [-4.55920068e-01 8.89895374e-01 1.49370566e-02 8.91250207e+01] [ 3.34281363e-02 3.50435025e-04 9.99441062e-01 2.15168827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.706875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:206.15, Y:89.11, Z:21.52 [[ 8.88976135e-01 4.56976191e-01 -2.99030502e-02 2.06154978e+02] [-4.56731876e-01 8.89478849e-01 1.49455880e-02 8.91103082e+01] [ 3.34279086e-02 3.71405126e-04 9.99441062e-01 2.15183136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.736875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:206.18, Y:89.10, Z:21.52 [[ 8.88824696e-01 4.57270931e-01 -2.98990813e-02 2.06183951e+02] [-4.57026516e-01 8.89327362e-01 1.49535236e-02 8.90958321e+01] [ 3.34278828e-02 3.73611896e-04 9.99441062e-01 2.15198048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.766875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:206.21, Y:89.08, Z:21.52 [[ 8.88522006e-01 4.57859085e-01 -2.98948504e-02 2.06212462e+02] [-4.57614719e-01 8.89024695e-01 1.49619773e-02 8.90812248e+01] [ 3.34277375e-02 3.86277399e-04 9.99441062e-01 2.15203769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.796875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:206.24, Y:89.07, Z:21.52 [[ 8.88255898e-01 4.58375299e-01 -2.98922217e-02 2.06242129e+02] [-4.58131048e-01 8.88758643e-01 1.49672272e-02 8.90662766e+01] [ 3.34275777e-02 3.99827059e-04 9.99441062e-01 2.15211562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.82687500000003 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:206.27, Y:89.05, Z:21.52 [[ 8.87532681e-01 4.59774338e-01 -2.98880908e-02 2.06271197e+02] [-4.59530601e-01 8.88035676e-01 1.49754717e-02 8.90509849e+01] [ 3.34270285e-02 4.43271808e-04 9.99441062e-01 2.15218404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.856875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:206.30, Y:89.04, Z:21.52 [[ 8.87405185e-01 4.60020639e-01 -2.98839126e-02 2.06300989e+02] [-4.59776762e-01 8.87908112e-01 1.49838048e-02 8.90359554e+01] [ 3.34270279e-02 4.43222465e-04 9.99441062e-01 2.15229609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.88687500000003 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:206.33, Y:89.03, Z:21.52 [[ 8.89376046e-01 4.56198913e-01 -2.98797542e-02 2.06326104e+02] [-4.55952596e-01 8.89877782e-01 1.49920927e-02 8.90294977e+01] [ 3.34287058e-02 2.90143375e-04 9.99441063e-01 2.15169016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.916875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:206.36, Y:89.01, Z:21.52 [[ 8.88890842e-01 4.57125676e-01 -3.01527399e-02 2.06355889e+02] [-4.56898269e-01 8.89401621e-01 1.44474400e-02 8.90140540e+01] [ 3.34221915e-02 9.34537523e-04 9.99440886e-01 2.15166537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.94687500000003 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:206.39, Y:88.99, Z:21.52 [[ 8.86230179e-01 4.62266174e-01 -3.01007349e-02 2.06386905e+02] [-4.62038203e-01 8.86740639e-01 1.45512407e-02 8.89919007e+01] [ 3.34180913e-02 1.01194079e-03 9.99440947e-01 2.15243476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.976875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:206.42, Y:88.98, Z:21.53 [[ 8.85406863e-01 4.63855640e-01 -2.98769730e-02 2.06415524e+02] [-4.63613494e-01 8.85910615e-01 1.49970269e-02 8.89769075e+01] [ 3.34247830e-02 5.72897291e-04 9.99441072e-01 2.15256082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.00687500000004 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:206.44, Y:88.96, Z:21.53 [[ 8.85074780e-01 4.64489216e-01 -2.98731022e-02 2.06444614e+02] [-4.64247171e-01 8.85578581e-01 1.50047333e-02 8.89616468e+01] [ 3.34245163e-02 5.88192159e-04 9.99441072e-01 2.15273079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.036875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:206.47, Y:88.96, Z:21.52 [[ 8.87876380e-01 4.59111512e-01 -2.98689300e-02 2.06466533e+02] [-4.58866136e-01 8.88378567e-01 1.50130341e-02 8.89582310e+01] [ 3.34275740e-02 3.76122135e-04 9.99441072e-01 2.15206821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06687500000004 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:206.50, Y:88.94, Z:21.52 [[ 8.87384386e-01 4.60036235e-01 -3.02591010e-02 2.06496427e+02] [-4.59817657e-01 8.87899220e-01 1.42372136e-02 8.89419021e+01] [ 3.34166663e-02 1.27978786e-03 9.99440688e-01 2.15218908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.096875 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:206.53, Y:88.93, Z:21.52 [[ 8.87007049e-01 4.60767071e-01 -3.02026684e-02 2.06525789e+02] [-4.60545095e-01 8.87520315e-01 1.43493986e-02 8.89262436e+01] [ 3.34172121e-02 1.18167308e-03 9.99440790e-01 2.15236170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12687500000004 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:206.56, Y:88.90, Z:21.53 [[ 8.84421957e-01 4.65712950e-01 -3.01537817e-02 2.06556469e+02] [-4.65490532e-01 8.84934948e-01 1.44465390e-02 8.89023816e+01] [ 3.34120756e-02 1.25946356e-03 9.99440867e-01 2.15317439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.156875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:206.58, Y:88.89, Z:21.53 [[ 8.83961572e-01 4.66605813e-01 -2.98488802e-02 2.06584488e+02] [-4.66363404e-01 8.84465170e-01 1.50512225e-02 8.88874458e+01] [ 3.34232828e-02 6.15723103e-04 9.99441096e-01 2.15328984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.186875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:206.61, Y:88.87, Z:21.53 [[ 8.83338692e-01 4.67784090e-01 -2.98462847e-02 2.06613653e+02] [-4.67542179e-01 8.83842529e-01 1.50563676e-02 8.88722613e+01] [ 3.34225450e-02 6.54524896e-04 9.99441096e-01 2.15334878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.216875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:206.64, Y:88.86, Z:21.53 [[ 8.82055530e-01 4.70199412e-01 -2.98421852e-02 2.06642112e+02] [-4.69958606e-01 8.82559896e-01 1.50644887e-02 8.88567405e+01] [ 3.34208295e-02 7.36876192e-04 9.99441096e-01 2.15349768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.246875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:206.67, Y:88.84, Z:21.53 [[ 8.81315780e-01 4.71584770e-01 -2.98378996e-02 2.06669981e+02] [-4.71344470e-01 8.81820388e-01 1.50729721e-02 8.88418579e+01] [ 3.34198523e-02 7.79880812e-04 9.99441096e-01 2.15349213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.276875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:206.70, Y:88.83, Z:21.54 [[ 8.80526622e-01 4.73056790e-01 -2.98352372e-02 2.06698301e+02] [-4.72817155e-01 8.81031546e-01 1.50782402e-02 8.88270453e+01] [ 3.34186491e-02 8.29820108e-04 9.99441096e-01 2.15355399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.306875 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:206.72, Y:88.82, Z:21.53 [[ 8.81681819e-01 4.70900474e-01 -2.98314207e-02 2.06722471e+02] [-4.70659349e-01 8.82186033e-01 1.50857871e-02 8.88200928e+01] [ 3.34207670e-02 7.39572811e-04 9.99441097e-01 2.15304601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.336875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:206.75, Y:88.80, Z:21.53 [[ 8.80414782e-01 4.73246249e-01 -3.01296950e-02 2.06751396e+02] [-4.73026543e-01 8.80928923e-01 1.44955863e-02 8.88030502e+01] [ 3.34021016e-02 1.49001704e-03 9.99440883e-01 2.15328301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.366875 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:206.78, Y:88.79, Z:21.53 [[ 8.80825694e-01 4.72486331e-01 -3.00460485e-02 2.06778392e+02] [-4.72260544e-01 8.81337075e-01 1.46608218e-02 8.87897080e+01] [ 3.34077344e-02 1.27593469e-03 9.99440991e-01 2.15335582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.396875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:206.81, Y:88.77, Z:21.54 [[ 8.78131294e-01 4.77470236e-01 -3.01264717e-02 2.06808776e+02] [-4.77252782e-01 8.78646387e-01 1.45019977e-02 8.87663601e+01] [ 3.33947878e-02 1.64328445e-03 9.99440888e-01 2.15411669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.426875 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:206.84, Y:88.75, Z:21.54 [[ 8.78212763e-01 4.77340321e-01 -2.98087276e-02 2.06836914e+02] [-4.77101456e-01 8.78718010e-01 1.51281055e-02 8.87505537e+01] [ 3.34147205e-02 9.36091954e-04 9.99441134e-01 2.15424801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.456875 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:206.86, Y:88.73, Z:21.55 [[ 8.78508553e-01 4.76795966e-01 -2.98048517e-02 2.06864681e+02] [-4.76556529e-01 8.79013529e-01 1.51357377e-02 8.87337326e+01] [ 3.34155266e-02 9.06821679e-04 9.99441134e-01 2.15456042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.486875 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:206.89, Y:88.73, Z:21.54 [[ 8.80914374e-01 4.72336521e-01 -2.98006263e-02 2.06887740e+02] [-4.72094245e-01 8.81417995e-01 1.51440526e-02 8.87265943e+01] [ 3.34198974e-02 7.28090590e-04 9.99441134e-01 2.15405154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.516875 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:206.92, Y:88.70, Z:21.55 [[ 8.78502608e-01 4.76786912e-01 -3.01232288e-02 2.06918960e+02] [-4.76568839e-01 8.79017434e-01 1.45083979e-02 8.87040764e+01] [ 3.33962575e-02 1.61012674e-03 9.99440892e-01 2.15465408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.546875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:206.95, Y:88.69, Z:21.55 [[ 8.78269898e-01 4.77236040e-01 -2.97951143e-02 2.06946523e+02] [-4.76996251e-01 8.78774684e-01 1.51535600e-02 8.86887860e+01] [ 3.34150172e-02 9.03242244e-04 9.99441154e-01 2.15470537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.57687500000003 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:206.97, Y:88.68, Z:21.54 [[ 8.78790702e-01 4.76276583e-01 -2.97912613e-02 2.06973479e+02] [-4.76035986e-01 8.79295104e-01 1.51611312e-02 8.86753404e+01] [ 3.34162019e-02 8.58251310e-04 9.99441154e-01 2.15446119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.606875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:207.00, Y:88.66, Z:21.55 [[ 8.77848021e-01 4.78007011e-01 -2.98688730e-02 2.07001561e+02] [-4.77772585e-01 8.78355337e-01 1.50086095e-02 8.86581607e+01] [ 3.34097046e-02 1.09525052e-03 9.99441140e-01 2.15482880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.63687500000003 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:207.03, Y:88.65, Z:21.55 [[ 8.78811821e-01 4.76237907e-01 -2.97865771e-02 2.07027822e+02] [-4.75996981e-01 8.79316064e-01 1.51701983e-02 8.86455974e+01] [ 3.34164392e-02 8.46571171e-04 9.99441156e-01 2.15475524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.666875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:207.06, Y:88.63, Z:21.55 [[ 8.78420464e-01 4.76951208e-01 -2.99170989e-02 2.07055897e+02] [-4.76719393e-01 8.78929005e-01 1.49139040e-02 8.86287344e+01] [ 3.34082105e-02 1.16138276e-03 9.99441115e-01 2.15492258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.69687500000003 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:207.08, Y:88.61, Z:21.55 [[ 8.77162108e-01 4.79262698e-01 -2.98982076e-02 2.07084515e+02] [-4.79030960e-01 8.77670671e-01 1.49509818e-02 8.86111467e+01] [ 3.34062278e-02 1.20773239e-03 9.99441127e-01 2.15508187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.726875 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:207.11, Y:88.59, Z:21.55 [[ 8.76646557e-01 4.80212481e-01 -2.97789739e-02 2.07112962e+02] [-4.79973344e-01 8.77151646e-01 1.51848139e-02 8.85944081e+01] [ 3.34126131e-02 9.81398846e-04 9.99441161e-01 2.15525186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.75687500000004 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:207.14, Y:88.58, Z:21.55 [[ 8.76278362e-01 4.80884291e-01 -2.97746717e-02 2.07140976e+02] [-4.80645256e-01 8.76783498e-01 1.51932451e-02 8.85788361e+01] [ 3.34121337e-02 9.97542814e-04 9.99441161e-01 2.15524613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.786875 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:207.17, Y:88.57, Z:21.55 [[ 8.78023182e-01 4.77691322e-01 -2.97706588e-02 2.07166454e+02] [-4.77450183e-01 8.78527318e-01 1.52011041e-02 8.85685785e+01] [ 3.34157726e-02 8.67084747e-04 9.99441161e-01 2.15486625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81687500000004 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:207.20, Y:88.55, Z:21.56 [[ 8.76513829e-01 4.80442513e-01 -2.99749600e-02 2.07195213e+02] [-4.80216587e-01 8.77025068e-01 1.48006446e-02 8.85471458e+01] [ 3.33996502e-02 1.42150330e-03 9.99441065e-01 2.15565326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.846875 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:207.22, Y:88.53, Z:21.56 [[ 8.77140666e-01 4.79310203e-01 -2.97654363e-02 2.07222915e+02] [-4.79069670e-01 8.77645080e-01 1.52106649e-02 8.85312392e+01] [ 3.34141156e-02 9.17824980e-04 9.99441171e-01 2.15575949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87687500000004 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:207.25, Y:88.52, Z:21.55 [[ 8.80142830e-01 4.73775131e-01 -2.97611188e-02 2.07246689e+02] [-4.73531140e-01 8.80645581e-01 1.52191078e-02 8.85221462e+01] [ 3.34194326e-02 6.97827868e-04 9.99441171e-01 2.15526915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.906875 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:207.28, Y:88.50, Z:21.56 [[ 8.78869880e-01 4.76115752e-01 -3.00253932e-02 2.07277508e+02] [-4.75890656e-01 8.79381556e-01 1.47024448e-02 8.85002872e+01] [ 3.34038426e-02 1.36726814e-03 9.99441001e-01 2.15592629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.936875 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:207.31, Y:88.48, Z:21.56 [[ 8.80725967e-01 4.72691010e-01 -2.97486193e-02 2.07305894e+02] [-4.72445605e-01 8.81228014e-01 1.52426303e-02 8.84837940e+01] [ 3.34203710e-02 6.30024123e-04 9.99441185e-01 2.15608506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.966875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:207.33, Y:88.48, Z:21.55 [[ 8.83871480e-01 4.66783117e-01 -2.97443733e-02 2.07329184e+02] [-4.66534078e-01 8.84371734e-01 1.52509115e-02 8.84765482e+01] [ 3.34239510e-02 3.96918035e-04 9.99441185e-01 2.15545894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.996875 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:207.36, Y:88.46, Z:21.55 [[ 8.84327919e-01 4.65897284e-01 -3.00641374e-02 2.07358856e+02] [-4.65668833e-01 8.84838170e-01 1.46270626e-02 8.84601947e+01] [ 3.34166050e-02 1.06481194e-03 9.99440942e-01 2.15542312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.026875 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:207.39, Y:88.44, Z:21.56 [[ 8.82365735e-01 4.69604761e-01 -3.00346029e-02 2.07390570e+02] [-4.69376490e-01 8.82876021e-01 1.46847588e-02 8.84371621e+01] [ 3.34128634e-02 1.14020853e-03 9.99440984e-01 2.15631960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.056875 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:207.42, Y:88.42, Z:21.56 [[ 8.82734693e-01 4.68929476e-01 -2.97423561e-02 2.07418217e+02] [-4.68681530e-01 8.83235485e-01 1.52545771e-02 8.84212325e+01] [ 3.34228252e-02 4.73948477e-04 9.99441189e-01 2.15643552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.086875 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:207.45, Y:88.41, Z:21.57 [[ 8.82614078e-01 4.69156711e-01 -2.97383602e-02 2.07447262e+02] [-4.68908631e-01 8.83114803e-01 1.52623630e-02 8.84058189e+01] [ 3.34228262e-02 4.73797332e-04 9.99441189e-01 2.15670516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.116875 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:207.47, Y:88.40, Z:21.56 [[ 8.84032417e-01 4.66478902e-01 -2.97341368e-02 2.07472938e+02] [-4.66229029e-01 8.84532250e-01 1.52705867e-02 8.83963541e+01] [ 3.34242094e-02 3.63224020e-04 9.99441189e-01 2.15628322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.146875 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:207.50, Y:88.38, Z:21.56 [[ 8.83576815e-01 4.67327614e-01 -2.99485066e-02 2.07501549e+02] [-4.67092327e-01 8.84083793e-01 1.48527823e-02 8.83828876e+01] [ 3.34181046e-02 8.65143557e-04 9.99441085e-01 2.15636113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.176875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:207.53, Y:88.36, Z:21.57 [[ 8.80952754e-01 4.72253834e-01 -2.99760165e-02 2.07532663e+02] [-4.72023205e-01 8.81461899e-01 1.47991337e-02 8.83623746e+01] [ 3.34116641e-02 1.11203776e-03 9.99441056e-01 2.15715841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.206875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:207.56, Y:88.35, Z:21.57 [[ 8.79696491e-01 4.74605114e-01 -2.97333080e-02 2.07561655e+02] [-4.74359820e-01 8.80198578e-01 1.52716870e-02 8.83486719e+01] [ 3.34192361e-02 6.69837155e-04 9.99441197e-01 2.15721274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.236875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:207.59, Y:88.34, Z:21.57 [[ 8.80558681e-01 4.73003795e-01 -2.97291172e-02 2.07588460e+02] [-4.72757312e-01 8.81060186e-01 1.52798408e-02 8.83386997e+01] [ 3.34205642e-02 5.99861076e-04 9.99441197e-01 2.15688097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.266875 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:207.62, Y:88.32, Z:21.57 [[ 8.78530056e-01 4.76752065e-01 -2.98732237e-02 2.07617684e+02] [-4.76517222e-01 8.79037172e-01 1.49995536e-02 8.83207441e+01] [ 3.34107423e-02 1.05754694e-03 9.99441146e-01 2.15747189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.296875 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:207.64, Y:88.31, Z:21.57 [[ 8.79303652e-01 4.75333359e-01 -2.97201188e-02 2.07644915e+02] [-4.75087624e-01 8.79805519e-01 1.52970207e-02 8.83104514e+01] [ 3.34191087e-02 6.68934469e-04 9.99441202e-01 2.15704454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.32687500000003 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:207.67, Y:88.30, Z:21.57 [[ 8.79900940e-01 4.74218565e-01 -2.98511054e-02 2.07671270e+02] [-4.73980803e-01 8.80406679e-01 1.50425607e-02 8.82997777e+01] [ 3.34145740e-02 9.12887614e-04 9.99441160e-01 2.15702920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.356875 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:207.70, Y:88.28, Z:21.57 [[ 8.79383698e-01 4.75168062e-01 -2.99937436e-02 2.07700075e+02] [-4.74940253e-01 8.79894155e-01 1.47659011e-02 8.82841914e+01] [ 3.34076043e-02 1.26034350e-03 9.99441016e-01 2.15713118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.38687500000003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:207.73, Y:88.27, Z:21.57 [[ 8.79421764e-01 4.75102250e-01 -2.99201234e-02 2.07728372e+02] [-4.74869565e-01 8.79929911e-01 1.49080235e-02 8.82714343e+01] [ 3.34104471e-02 1.09771564e-03 9.99441112e-01 2.15732297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.416875 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:207.76, Y:88.25, Z:21.58 [[ 8.76630885e-01 4.80229298e-01 -2.99685203e-02 2.07759674e+02] [-4.80002771e-01 8.77141874e-01 1.48146209e-02 8.82492452e+01] [ 3.34010591e-02 1.39801852e-03 9.99441051e-01 2.15807620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.44687500000003 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:207.78, Y:88.25, Z:21.57 [[ 8.79693307e-01 4.74615372e-01 -2.96636718e-02 2.07782872e+02] [-4.74365693e-01 8.80193147e-01 1.54017722e-02 8.82450683e+01] [ 3.34196785e-02 5.22592291e-04 9.99441270e-01 2.15738956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.476875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:207.82, Y:88.22, Z:21.58 [[ 8.77192349e-01 4.79200884e-01 -3.00016113e-02 2.07815669e+02] [-4.78975967e-01 8.77704087e-01 1.47498830e-02 8.82221928e+01] [ 3.34006938e-02 1.43156627e-03 9.99441016e-01 2.15819667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.50687500000004 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:207.84, Y:88.22, Z:21.58 [[ 8.80608004e-01 4.72916394e-01 -2.96585124e-02 2.07839180e+02] [-4.72665464e-01 8.81107192e-01 1.54102307e-02 8.82166432e+01] [ 3.34200793e-02 4.48181991e-04 9.99441293e-01 2.15760488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.536875 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:207.87, Y:88.19, Z:21.59 [[ 8.78550536e-01 4.76708705e-01 -2.99627466e-02 2.07870308e+02] [-4.76479793e-01 8.79060431e-01 1.48244839e-02 8.81942577e+01] [ 3.34060255e-02 1.25258503e-03 9.99441078e-01 2.15850031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56687500000004 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:207.90, Y:88.18, Z:21.59 [[ 8.79205821e-01 4.75518828e-01 -2.96474188e-02 2.07899813e+02] [-4.75268697e-01 8.79705388e-01 1.54303620e-02 8.81791464e+01] [ 3.34184217e-02 5.24026038e-04 9.99441311e-01 2.15863880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.596875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:207.93, Y:88.16, Z:21.59 [[ 8.79629189e-01 4.74735327e-01 -2.96455685e-02 2.07928811e+02] [-4.74484631e-01 8.80128473e-01 1.54339160e-02 8.81643369e+01] [ 3.34189341e-02 4.90243572e-04 9.99441311e-01 2.15880599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62687500000004 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:207.95, Y:88.16, Z:21.58 [[ 8.83590435e-01 4.67321454e-01 -2.96412032e-02 2.07952711e+02] [-4.67066288e-01 8.84087449e-01 1.54422950e-02 8.81614487e+01] [ 3.34219315e-02 1.99742558e-04 9.99441311e-01 2.15805441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.656875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:207.98, Y:88.15, Z:21.58 [[ 8.84138356e-01 4.66262263e-01 -2.99811478e-02 2.07979353e+02] [-4.66028480e-01 8.84646088e-01 1.47903737e-02 8.81491626e+01] [ 3.34188982e-02 8.95332072e-04 9.99441032e-01 2.15807779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.686875 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:208.01, Y:88.12, Z:21.59 [[ 8.80817062e-01 4.72501274e-01 -3.00640766e-02 2.08011886e+02] [-4.72276504e-01 8.81329012e-01 1.46313456e-02 8.81224352e+01] [ 3.34096724e-02 1.31101819e-03 9.99440881e-01 2.15919837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.716875 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:208.04, Y:88.11, Z:21.59 [[ 8.81434757e-01 4.71376297e-01 -2.96168230e-02 2.08040924e+02] [-4.71121924e-01 8.81932137e-01 1.54867083e-02 8.81087492e+01] [ 3.34200952e-02 3.02611658e-04 9.99441347e-01 2.15932040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.746875 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:208.06, Y:88.11, Z:21.59 [[ 8.84971264e-01 4.64703070e-01 -2.96128179e-02 2.08064392e+02] [-4.64444689e-01 8.85466575e-01 1.54943628e-02 8.81066190e+01] [ 3.34214384e-02 4.14501172e-05 9.99441347e-01 2.15857281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.776875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:208.10, Y:88.08, Z:21.59 [[ 8.81607795e-01 4.71027991e-01 -3.00054543e-02 2.08097137e+02] [-4.70798554e-01 8.82117542e-01 1.47432702e-02 8.80815610e+01] [ 3.34128305e-02 1.12874262e-03 9.99440998e-01 2.15945686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.806875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:208.13, Y:88.07, Z:21.60 [[ 8.81478099e-01 4.71296252e-01 -2.96007475e-02 2.08126518e+02] [-4.71040869e-01 8.81974927e-01 1.55154089e-02 8.80657801e+01] [ 3.34194712e-02 2.66668679e-04 9.99441378e-01 2.15961117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.836875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:208.15, Y:88.06, Z:21.59 [[ 8.84344346e-01 4.65896047e-01 -2.95964787e-02 2.08151479e+02] [-4.65637358e-01 8.84839460e-01 1.55235476e-02 8.80607525e+01] [ 3.34204917e-02 5.30645698e-05 9.99441378e-01 2.15892263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.866875 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:208.18, Y:88.04, Z:21.60 [[ 8.81598270e-01 4.71052468e-01 -2.99008785e-02 2.08182744e+02] [-4.70816269e-01 8.82104730e-01 1.49427589e-02 8.80371712e+01] [ 3.34145298e-02 9.04309640e-04 9.99441170e-01 2.15968986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.896875 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:208.21, Y:88.02, Z:21.60 [[ 8.81810936e-01 4.70674105e-01 -2.95864802e-02 2.08211632e+02] [-4.70417503e-01 8.82307113e-01 1.55413055e-02 8.80225079e+01] [ 3.34192519e-02 2.13504994e-04 9.99441398e-01 2.15995007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.926875 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:208.24, Y:88.01, Z:21.60 [[ 8.81605772e-01 4.71058553e-01 -2.95821242e-02 2.08241097e+02] [-4.70801889e-01 8.82101917e-01 1.55495925e-02 8.80069554e+01] [ 3.34192170e-02 2.18709434e-04 9.99441398e-01 2.16010850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.956875 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:208.27, Y:87.99, Z:21.60 [[ 8.81392719e-01 4.71457350e-01 -2.95777143e-02 2.08269519e+02] [-4.71200629e-01 8.81888835e-01 1.55579762e-02 8.79921405e+01] [ 3.34191782e-02 2.24350674e-04 9.99441398e-01 2.16015858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.986875 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:208.30, Y:87.98, Z:21.60 [[ 8.81115552e-01 4.71975408e-01 -2.95736153e-02 2.08298763e+02] [-4.71718717e-01 8.81611683e-01 1.55657641e-02 8.79770427e+01] [ 3.34191025e-02 2.35191058e-04 9.99441398e-01 2.16027291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.016875 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:208.33, Y:87.96, Z:21.60 [[ 8.80908505e-01 4.72362004e-01 -2.95692986e-02 2.08328024e+02] [-4.72105255e-01 8.81404606e-01 1.55739598e-02 8.79613227e+01] [ 3.34190628e-02 2.40587583e-04 9.99441398e-01 2.16043103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.046875 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:208.36, Y:87.95, Z:21.60 [[ 8.80618958e-01 4.72901860e-01 -2.95648743e-02 2.08355910e+02] [-4.72645134e-01 8.81115070e-01 1.55823543e-02 8.79459179e+01] [ 3.34189806e-02 2.51577395e-04 9.99441398e-01 2.16048396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.07687500000003 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:208.38, Y:87.94, Z:21.60 [[ 8.83573884e-01 4.67357841e-01 -2.95607926e-02 2.08380607e+02] [-4.67097743e-01 8.84068237e-01 1.55900936e-02 8.79400546e+01] [ 3.34199103e-02 3.27798952e-05 9.99441398e-01 2.15987297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:87.92, Z:21.61 [[ 8.80543356e-01 4.73023713e-01 -2.98657840e-02 2.08411088e+02] [-4.72786317e-01 8.81049234e-01 1.50114971e-02 8.79159251e+01] [ 3.34140202e-02 9.01859961e-04 9.99441189e-01 2.16065862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.13687500000003 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:208.44, Y:87.91, Z:21.60 [[ 8.82648930e-01 4.69103092e-01 -2.95491857e-02 2.08435344e+02] [-4.68843279e-01 8.83143410e-01 1.56107927e-02 8.79076174e+01] [ 3.34192397e-02 7.50876081e-05 9.99441418e-01 2.16001048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.166875 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:208.47, Y:87.88, Z:21.61 [[ 8.79865223e-01 4.74286608e-01 -2.98228654e-02 2.08465030e+02] [-4.74047193e-01 8.80370080e-01 1.50924305e-02 8.78849532e+01] [ 3.34132960e-02 8.58140921e-04 9.99441252e-01 2.16068956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.19687500000003 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:208.49, Y:87.87, Z:21.60 [[ 8.81246451e-01 4.71732974e-01 -2.95413991e-02 2.08489965e+02] [-4.71474173e-01 8.81741445e-01 1.56246107e-02 8.78748520e+01] [ 3.34185200e-02 1.58873995e-04 9.99441433e-01 2.16026930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.226875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:208.52, Y:87.85, Z:21.61 [[ 8.78760744e-01 4.76333601e-01 -2.97633307e-02 2.08518964e+02] [-4.76091551e-01 8.79264264e-01 1.52048867e-02 8.78531771e+01] [ 3.34124315e-02 8.08612774e-04 9.99441322e-01 2.16087347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.25687500000004 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:208.55, Y:87.84, Z:21.61 [[ 8.78137891e-01 4.77495168e-01 -2.95331999e-02 2.08546509e+02] [-4.77239114e-01 8.78634301e-01 1.56394689e-02 8.78370018e+01] [ 3.34166533e-02 3.60787949e-04 9.99441443e-01 2.16095668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.286875 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:208.57, Y:87.82, Z:21.61 [[ 8.77581262e-01 4.78517682e-01 -2.95288985e-02 2.08574839e+02] [-4.78261934e-01 8.78077830e-01 1.56475862e-02 8.78208804e+01] [ 3.34163178e-02 3.90519669e-04 9.99441443e-01 2.16107951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31687500000004 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:208.60, Y:87.80, Z:21.61 [[ 8.76422833e-01 4.80636364e-01 -2.95246381e-02 2.08603205e+02] [-4.80381546e-01 8.76919878e-01 1.56556208e-02 8.78038693e+01] [ 3.34154027e-02 4.62147761e-04 9.99441443e-01 2.16124079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.346875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:208.63, Y:87.79, Z:21.61 [[ 8.75617952e-01 4.82101395e-01 -2.95202839e-02 2.08631486e+02] [-4.81847132e-01 8.76115281e-01 1.56638267e-02 8.77876671e+01] [ 3.34147246e-02 5.08736308e-04 9.99441443e-01 2.16136022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37687500000004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:208.66, Y:87.77, Z:21.61 [[ 8.74954884e-01 4.83304002e-01 -2.95159609e-02 2.08659492e+02] [-4.83050148e-01 8.75452423e-01 1.56719686e-02 8.77720112e+01] [ 3.34141446e-02 5.45423839e-04 9.99441443e-01 2.16142378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.406875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:208.69, Y:87.76, Z:21.62 [[ 8.73528657e-01 4.85877281e-01 -2.95119291e-02 2.08687983e+02] [-4.85624636e-01 8.74026810e-01 1.56795571e-02 8.77554895e+01] [ 3.34125578e-02 6.35177393e-04 9.99441443e-01 2.16156987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.436875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:208.72, Y:87.74, Z:21.62 [[ 8.72998998e-01 4.86828567e-01 -2.95075636e-02 2.08715954e+02] [-4.86576188e-01 8.73497285e-01 1.56877683e-02 8.77401088e+01] [ 3.34120305e-02 6.62271762e-04 9.99441443e-01 2.16166565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.466875 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:208.74, Y:87.72, Z:21.62 [[ 8.72289626e-01 4.88098713e-01 -2.95034707e-02 2.08744674e+02] [-4.87846799e-01 8.72788149e-01 1.56954620e-02 8.77241855e+01] [ 3.34112144e-02 7.02185099e-04 9.99441443e-01 2.16170973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.496875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:208.77, Y:87.71, Z:21.62 [[ 8.71455097e-01 4.89587392e-01 -2.94991482e-02 2.08773212e+02] [-4.89336055e-01 8.71953911e-01 1.57035817e-02 8.77087878e+01] [ 3.34101733e-02 7.50030472e-04 9.99441443e-01 2.16171172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.526875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:208.80, Y:87.69, Z:21.62 [[ 8.70975020e-01 4.90441101e-01 -2.94964685e-02 2.08801934e+02] [-4.90190083e-01 8.71473994e-01 1.57086136e-02 8.76933573e+01] [ 3.34095549e-02 7.77066285e-04 9.99441443e-01 2.16178866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:87.68, Z:21.62 [[ 8.70616457e-01 4.91077586e-01 -2.94922126e-02 2.08829771e+02] [-4.90826661e-01 8.71115479e-01 1.57165998e-02 8.76782095e+01] [ 3.34091927e-02 7.92433806e-04 9.99441443e-01 2.16187799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.586875 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:208.85, Y:87.67, Z:21.62 [[ 8.73316767e-01 4.86259465e-01 -2.94882490e-02 2.08854001e+02] [-4.86005536e-01 8.73814267e-01 1.57240329e-02 8.76724764e+01] [ 3.34132125e-02 5.99390678e-04 9.99441443e-01 2.16162883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.616875 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:208.89, Y:87.65, Z:21.62 [[ 8.70781071e-01 4.90764968e-01 -2.98340941e-02 2.08885825e+02] [-4.90535706e-01 8.71290693e-01 1.50747591e-02 8.76484846e+01] [ 3.33923323e-02 1.50787354e-03 9.99441183e-01 2.16205564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.646875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:208.91, Y:87.64, Z:21.62 [[ 8.74159699e-01 4.84742934e-01 -2.94806525e-02 2.08908862e+02] [-4.84487708e-01 8.74656510e-01 1.57368975e-02 8.76446899e+01] [ 3.34137945e-02 5.26452191e-04 9.99441465e-01 2.16179955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.676875 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:208.94, Y:87.62, Z:21.62 [[ 8.72129633e-01 4.88363249e-01 -2.98536649e-02 2.08940646e+02] [-4.88133866e-01 8.72639222e-01 1.50372183e-02 8.76188054e+01] [ 3.33951037e-02 1.45818120e-03 9.99441164e-01 2.16231580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.706875 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:208.97, Y:87.60, Z:21.62 [[ 8.72657282e-01 4.87442907e-01 -2.94733950e-02 2.08968600e+02] [-4.87188813e-01 8.73154644e-01 1.57489002e-02 8.76037018e+01] [ 3.34115215e-02 6.15715897e-04 9.99441490e-01 2.16248737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.736875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:209.00, Y:87.59, Z:21.63 [[ 8.73268408e-01 4.86347454e-01 -2.94693240e-02 2.08998028e+02] [-4.86092478e-01 8.73765320e-01 1.57565142e-02 8.75883773e+01] [ 3.34124139e-02 5.65150721e-04 9.99441490e-01 2.16260360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.766875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:209.03, Y:87.57, Z:21.63 [[ 8.73781729e-01 4.85424867e-01 -2.94650542e-02 2.09027365e+02] [-4.85169098e-01 8.74278232e-01 1.57644949e-02 8.75732469e+01] [ 3.34131333e-02 5.20806136e-04 9.99441490e-01 2.16268259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.796875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:209.06, Y:87.56, Z:21.63 [[ 8.74733992e-01 4.83707051e-01 -2.94606814e-02 2.09057197e+02] [-4.83450032e-01 8.75229850e-01 1.57726626e-02 8.75584019e+01] [ 3.34142158e-02 4.45883248e-04 9.99441490e-01 2.16288312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.82687500000003 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:209.09, Y:87.54, Z:21.63 [[ 8.75244753e-01 4.82782507e-01 -2.94562994e-02 2.09086776e+02] [-4.82524688e-01 8.75740196e-01 1.57808418e-02 8.75432498e+01] [ 3.34147798e-02 4.01292720e-04 9.99441490e-01 2.16305950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.856875 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:209.12, Y:87.53, Z:21.63 [[ 8.76328971e-01 4.80811941e-01 -2.94518504e-02 2.09115564e+02] [-4.80552730e-01 8.76823686e-01 1.57891408e-02 8.75298107e+01] [ 3.34156874e-02 3.16685586e-04 9.99441490e-01 2.16321396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.88687500000003 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:209.15, Y:87.51, Z:21.63 [[ 8.76675699e-01 4.80179706e-01 -2.94477301e-02 2.09145085e+02] [-4.79919880e-01 8.77170092e-01 1.57968216e-02 8.75145714e+01] [ 3.34159813e-02 2.83861422e-04 9.99441490e-01 2.16334515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.916875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:209.17, Y:87.51, Z:21.63 [[ 8.79936791e-01 4.74177525e-01 -2.94434802e-02 2.09168269e+02] [-4.73914061e-01 8.80429255e-01 1.58047389e-02 8.75117894e+01] [ 3.34171533e-02 4.65080744e-05 9.99441490e-01 2.16315280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.94687500000003 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:209.20, Y:87.49, Z:21.64 [[ 8.76811780e-01 4.79906638e-01 -2.98449462e-02 2.09200863e+02] [-4.79671709e-01 8.77318857e-01 1.50557565e-02 8.74868753e+01] [ 3.34088916e-02 1.11471167e-03 9.99441146e-01 2.16352764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.976875 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:209.23, Y:87.47, Z:21.64 [[ 8.76301564e-01 4.80862906e-01 -2.94352580e-02 2.09231021e+02] [-4.80602748e-01 8.76795748e-01 1.58181527e-02 8.74737479e+01] [ 3.34150719e-02 2.85193945e-04 9.99441520e-01 2.16352098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.00687500000004 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:209.26, Y:87.46, Z:21.64 [[ 8.75920336e-01 4.81557249e-01 -2.94309623e-02 2.09260405e+02] [-4.81297214e-01 8.76414585e-01 1.58261410e-02 8.74595918e+01] [ 3.34149176e-02 3.02601389e-04 9.99441520e-01 2.16354133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.036875 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:209.29, Y:87.45, Z:21.64 [[ 8.75287812e-01 4.82706252e-01 -2.94265303e-02 2.09289998e+02] [-4.82446590e-01 8.75782256e-01 1.58343775e-02 8.74450665e+01] [ 3.34145861e-02 3.37091541e-04 9.99441520e-01 2.16359949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06687500000004 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:209.32, Y:87.43, Z:21.64 [[ 8.74780933e-01 4.83624503e-01 -2.94220911e-02 2.09318366e+02] [-4.83365083e-01 8.75275504e-01 1.58426217e-02 8.74310564e+01] [ 3.34143157e-02 3.62788086e-04 9.99441520e-01 2.16364409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.096875 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:209.34, Y:87.43, Z:21.63 [[ 8.76880956e-01 4.79806599e-01 -2.94179688e-02 2.09342275e+02] [-4.79544768e-01 8.77374256e-01 1.58502727e-02 8.74298123e+01] [ 3.34156339e-02 2.08430700e-04 9.99441520e-01 2.16312271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12687500000004 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:209.37, Y:87.40, Z:21.64 [[ 8.72615052e-01 4.87499724e-01 -2.97823761e-02 2.09374619e+02] [-4.87265164e-01 8.73122216e-01 1.51741513e-02 8.74032053e+01] [ 3.34010488e-02 1.27072154e-03 9.99441222e-01 2.16392746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.156875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:209.40, Y:87.39, Z:21.64 [[ 8.71245816e-01 4.89967986e-01 -2.93615552e-02 2.09403195e+02] [-4.89708445e-01 8.71740295e-01 1.59529389e-02 8.73904237e+01] [ 3.34120802e-02 4.79670273e-04 9.99441545e-01 2.16410926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.186875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:209.43, Y:87.38, Z:21.64 [[ 8.70481040e-01 4.91323312e-01 -2.93966474e-02 2.09432998e+02] [-4.91066731e-01 8.70977059e-01 1.58880102e-02 8.73755644e+01] [ 3.34099552e-02 6.05503930e-04 9.99441548e-01 2.16420177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.216875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:209.46, Y:87.36, Z:21.64 [[ 8.69751477e-01 4.92613904e-01 -2.93923651e-02 2.09462297e+02] [-4.92357792e-01 8.70247737e-01 1.58959284e-02 8.73606510e+01] [ 3.34091945e-02 6.46052752e-04 9.99441548e-01 2.16420993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.246875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:209.49, Y:87.35, Z:21.64 [[ 8.69065600e-01 4.93823169e-01 -2.93881035e-02 2.09491632e+02] [-4.93567481e-01 8.69562080e-01 1.59038031e-02 8.73450381e+01] [ 3.34084469e-02 6.83564008e-04 9.99441548e-01 2.16427077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.276875 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:209.52, Y:87.33, Z:21.64 [[ 8.69044943e-01 4.93859772e-01 -2.93838865e-02 2.09520272e+02] [-4.93603842e-01 8.69541298e-01 1.59115908e-02 8.73297766e+01] [ 3.34085974e-02 6.76111778e-04 9.99441548e-01 2.16423152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.306875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:209.55, Y:87.31, Z:21.64 [[ 8.69557608e-01 4.92956812e-01 -2.93793663e-02 2.09548508e+02] [-4.92700085e-01 8.70053551e-01 1.59199325e-02 8.73143529e+01] [ 3.34094612e-02 6.31917826e-04 9.99441548e-01 2.16434959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.336875 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:209.58, Y:87.30, Z:21.64 [[ 8.70682352e-01 4.90967761e-01 -2.93751436e-02 2.09576479e+02] [-4.90709638e-01 8.71177570e-01 1.59277203e-02 8.72979346e+01] [ 3.34109634e-02 5.46681071e-04 9.99441548e-01 2.16439184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.366875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:209.60, Y:87.28, Z:21.64 [[ 8.71261028e-01 4.89940388e-01 -2.93707020e-02 2.09604407e+02] [-4.89681405e-01 8.71755796e-01 1.59359064e-02 8.72819396e+01] [ 3.34117239e-02 4.97952483e-04 9.99441548e-01 2.16447663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.396875 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:209.63, Y:87.27, Z:21.65 [[ 8.71921297e-01 4.88764621e-01 -2.93666043e-02 2.09632533e+02] [-4.88504716e-01 8.72415582e-01 1.59434541e-02 8.72659612e+01] [ 3.34124795e-02 4.44287546e-04 9.99441548e-01 2.16462356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.426875 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:209.65, Y:87.26, Z:21.64 [[ 8.76782880e-01 4.79989191e-01 -2.93625347e-02 2.09653561e+02] [-4.79724088e-01 8.77274396e-01 1.59509454e-02 8.72648510e+01] [ 3.34152813e-02 1.00399385e-04 9.99441549e-01 2.16411604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.456875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:209.69, Y:87.23, Z:21.65 [[ 8.73666559e-01 4.85607021e-01 -2.98758204e-02 2.09686347e+02] [-4.85377141e-01 8.74176117e-01 1.50049030e-02 8.72348601e+01] [ 3.34032150e-02 1.39175833e-03 9.99440988e-01 2.16470823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.486875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:209.71, Y:87.22, Z:21.65 [[ 8.74240780e-01 4.84604680e-01 -2.93489933e-02 2.09714386e+02] [-4.84341433e-01 8.74733240e-01 1.59729474e-02 8.72189455e+01] [ 3.34131051e-02 2.50731465e-04 9.99441595e-01 2.16481202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.516875 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:209.74, Y:87.20, Z:21.65 [[ 8.74706521e-01 4.83763765e-01 -2.93448861e-02 2.09742745e+02] [-4.83499792e-01 8.75198592e-01 1.59804896e-02 8.72027139e+01] [ 3.34133848e-02 2.10007893e-04 9.99441595e-01 2.16486771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.546875 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:209.77, Y:87.19, Z:21.65 [[ 8.75154948e-01 4.82952328e-01 -2.93405160e-02 2.09771289e+02] [-4.82687630e-01 8.75646630e-01 1.59885091e-02 8.71864100e+01] [ 3.34136116e-02 1.69881243e-04 9.99441595e-01 2.16492288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.57687500000003 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:209.80, Y:87.17, Z:21.65 [[ 8.76393441e-01 4.80701495e-01 -2.93361286e-02 2.09798649e+02] [-4.80435264e-01 8.76884295e-01 1.59965551e-02 8.71706960e+01] [ 3.34139584e-02 7.48347044e-05 9.99441595e-01 2.16507491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.606875 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:209.83, Y:87.15, Z:21.65 [[ 8.76814756e-01 4.79932825e-01 -2.93320314e-02 2.09827354e+02] [-4.79665913e-01 8.77305239e-01 1.60040645e-02 8.71545640e+01] [ 3.34140207e-02 3.69757125e-05 9.99441595e-01 2.16522359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.63687500000003 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:209.85, Y:87.14, Z:21.65 [[ 8.77253333e-01 4.79130968e-01 -2.93275425e-02 2.09854774e+02] [-4.78863333e-01 8.77743422e-01 1.60122862e-02 8.71392353e+01] [ 3.34140397e-02 -2.94675812e-06 9.99441595e-01 2.16532330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.666875 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:209.88, Y:87.12, Z:21.65 [[ 8.77122306e-01 4.79370963e-01 -2.93247519e-02 2.09884017e+02] [-4.79103290e-01 8.77612375e-01 1.60173953e-02 8.71231659e+01] [ 3.34140393e-02 3.70426064e-07 9.99441595e-01 2.16543514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.69687500000003 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:209.91, Y:87.11, Z:21.66 [[ 8.77815062e-01 4.78101488e-01 -2.93203681e-02 2.09912872e+02] [-4.77832839e-01 8.78304596e-01 1.60254160e-02 8.71067007e+01] [ 3.34139893e-02 -5.71167921e-05 9.99441595e-01 2.16551299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.726875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:209.94, Y:87.09, Z:21.66 [[ 8.77984672e-01 4.77790225e-01 -2.93158217e-02 2.09940496e+02] [-4.77521125e-01 8.78473958e-01 1.60337284e-02 8.70915238e+01] [ 3.34139447e-02 -7.84435997e-05 9.99441595e-01 2.16557275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.75687500000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:209.97, Y:87.08, Z:21.66 [[ 8.77903233e-01 4.77940018e-01 -2.93129935e-02 2.09969095e+02] [-4.77670829e-01 8.78392471e-01 1.60388973e-02 8.70760201e+01] [ 3.34139437e-02 -7.86378737e-05 9.99441595e-01 2.16563543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.786875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:210.00, Y:87.06, Z:21.66 [[ 8.77560408e-01 4.78569464e-01 -2.93086675e-02 2.09997819e+02] [-4.78300362e-01 8.78049693e-01 1.60467986e-02 8.70609069e+01] [ 3.34139743e-02 -6.36888300e-05 9.99441595e-01 2.16569343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81687500000004 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:210.03, Y:87.05, Z:21.66 [[ 8.77214319e-01 4.79203817e-01 -2.93042725e-02 2.10026283e+02] [-4.78934800e-01 8.77703651e-01 1.60548206e-02 8.70456058e+01] [ 3.34139983e-02 -4.86826322e-05 9.99441595e-01 2.16579155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.846875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:210.05, Y:87.03, Z:21.66 [[ 8.76258655e-01 4.80949342e-01 -2.93001808e-02 2.10054418e+02] [-4.80681050e-01 8.76748385e-01 1.60622846e-02 8.70307929e+01] [ 3.34140314e-02 9.32575885e-06 9.99441595e-01 2.16589856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87687500000004 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:210.08, Y:87.02, Z:21.66 [[ 8.75410208e-01 4.82492180e-01 -2.92961353e-02 2.10083506e+02] [-4.82224505e-01 8.75900276e-01 1.60696598e-02 8.70151155e+01] [ 3.34139782e-02 5.97700788e-05 9.99441595e-01 2.16604011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.906875 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:210.11, Y:87.00, Z:21.66 [[ 8.74606369e-01 4.83948037e-01 -2.92915764e-02 2.10111925e+02] [-4.83680900e-01 8.75096730e-01 1.60779654e-02 8.70004971e+01] [ 3.34138625e-02 1.05885092e-04 9.99441595e-01 2.16611941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.936875 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:210.14, Y:86.99, Z:21.66 [[ 8.73704619e-01 4.85574307e-01 -2.92887404e-02 2.10140461e+02] [-4.85307910e-01 8.74195382e-01 1.60831300e-02 8.69856992e+01] [ 3.34136363e-02 1.62152412e-04 9.99441595e-01 2.16621077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.966875 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:210.17, Y:86.97, Z:21.66 [[ 8.71906146e-01 4.88796562e-01 -2.92846836e-02 2.10169490e+02] [-4.88531730e-01 8.72397756e-01 1.60905134e-02 8.69711585e+01] [ 3.34128799e-02 2.77079561e-04 9.99441595e-01 2.16626326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.996875 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:210.20, Y:86.96, Z:21.66 [[ 8.71019220e-01 4.90375556e-01 -2.92802417e-02 2.10198504e+02] [-4.90111343e-01 8.71511163e-01 1.60985922e-02 8.69555303e+01] [ 3.34124136e-02 3.28395360e-04 9.99441595e-01 2.16635549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:86.94, Z:21.66 [[ 8.70434909e-01 4.91412254e-01 -2.92756859e-02 2.10227221e+02] [-4.91148349e-01 8.70927016e-01 1.61068729e-02 8.69405511e+01] [ 3.34121005e-02 3.58720311e-04 9.99441596e-01 2.16647529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.056875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:210.25, Y:86.93, Z:21.67 [[ 8.68744244e-01 4.94395224e-01 -2.92711681e-02 2.10254813e+02] [-4.94132733e-01 8.69237106e-01 1.61150789e-02 8.69255424e+01] [ 3.34108035e-02 4.63960281e-04 9.99441596e-01 2.16656184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.086875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:210.28, Y:86.91, Z:21.67 [[ 8.67775233e-01 4.96094336e-01 -2.92669573e-02 2.10283703e+02] [-4.95832551e-01 8.68268472e-01 1.61227227e-02 8.69093878e+01] [ 3.34099677e-02 5.20610599e-04 9.99441596e-01 2.16671555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.116875 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:210.31, Y:86.89, Z:21.67 [[ 8.66881821e-01 4.97654112e-01 -2.92624841e-02 2.10312616e+02] [-4.97392941e-01 8.67375385e-01 1.61308374e-02 8.68934727e+01] [ 3.34091360e-02 5.71423308e-04 9.99441596e-01 2.16682780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.146875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:210.34, Y:86.88, Z:21.67 [[ 8.65822715e-01 4.99494739e-01 -2.92580215e-02 2.10341344e+02] [-4.99234344e-01 8.66316689e-01 1.61389275e-02 8.68777595e+01] [ 3.34080217e-02 6.33159176e-04 9.99441596e-01 2.16692082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.176875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:210.37, Y:86.86, Z:21.67 [[ 8.64102630e-01 5.02464802e-01 -2.92535042e-02 2.10370519e+02] [-5.02205828e-01 8.64597350e-01 1.61471115e-02 8.68624621e+01] [ 3.34058574e-02 7.38518755e-04 9.99441596e-01 2.16691837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.206875 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:210.40, Y:86.85, Z:21.66 [[ 8.65714482e-01 4.99682837e-01 -2.92488875e-02 2.10395130e+02] [-4.99421991e-01 8.66208217e-01 1.61554698e-02 8.68549172e+01] [ 3.34082377e-02 6.21513452e-04 9.99441596e-01 2.16645822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.236875 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:210.42, Y:86.83, Z:21.67 [[ 8.62548540e-01 5.05114658e-01 -2.94821640e-02 2.10424932e+02] [-5.04871293e-01 8.63051247e-01 1.57328563e-02 8.68328956e+01] [ 3.33915147e-02 1.31434597e-03 9.99441484e-01 2.16695068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.266875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:210.45, Y:86.82, Z:21.67 [[ 8.62357680e-01 5.05454298e-01 -2.92435227e-02 2.10453419e+02] [-5.05196446e-01 8.62852975e-01 1.61645931e-02 8.68165812e+01] [ 3.34033236e-02 8.34062760e-04 9.99441605e-01 2.16711191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.296875 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:210.48, Y:86.80, Z:21.67 [[ 8.62334364e-01 5.05494344e-01 -2.92389056e-02 2.10482176e+02] [-5.05236232e-01 8.62829523e-01 1.61729402e-02 8.67998935e+01] [ 3.34035208e-02 8.26072446e-04 9.99441605e-01 2.16719830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.32687500000003 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:210.51, Y:86.78, Z:21.67 [[ 8.62492192e-01 5.05225122e-01 -2.92368660e-02 2.10511070e+02] [-5.04966731e-01 8.62987206e-01 1.61766266e-02 8.67832923e+01] [ 3.34038794e-02 8.11430541e-04 9.99441605e-01 2.16731658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.356875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:210.54, Y:86.77, Z:21.67 [[ 8.63059597e-01 5.04255502e-01 -2.92321687e-02 2.10538734e+02] [-5.03996268e-01 8.63554170e-01 1.61851104e-02 8.67663079e+01] [ 3.34049921e-02 7.64189008e-04 9.99441605e-01 2.16748636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.38687500000003 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:210.57, Y:86.75, Z:21.68 [[ 8.63502648e-01 5.03496702e-01 -2.92275383e-02 2.10566270e+02] [-5.03236750e-01 8.63996843e-01 1.61934678e-02 8.67503376e+01] [ 3.34058584e-02 7.25269085e-04 9.99441605e-01 2.16759330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.416875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:210.59, Y:86.74, Z:21.67 [[ 8.65908776e-01 4.99347485e-01 -2.92246665e-02 2.10591793e+02] [-4.99084990e-01 8.66401625e-01 1.61986490e-02 8.67402879e+01] [ 3.34090532e-02 5.59040066e-04 9.99441605e-01 2.16722828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.44687500000003 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:210.62, Y:86.72, Z:21.68 [[ 8.64327957e-01 5.02066503e-01 -2.94348404e-02 2.10619856e+02] [-5.01818419e-01 8.64828319e-01 1.58193802e-02 8.67189477e+01] [ 3.33984644e-02 1.09781251e-03 9.99441513e-01 2.16778507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.476875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:210.65, Y:86.70, Z:21.68 [[ 8.65181202e-01 5.00607441e-01 -2.92177752e-02 2.10646604e+02] [-5.00345259e-01 8.65674210e-01 1.62106220e-02 8.67022330e+01] [ 3.34082325e-02 5.93849879e-04 9.99441613e-01 2.16786029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.50687500000004 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:210.67, Y:86.69, Z:21.68 [[ 8.65841743e-01 4.99464360e-01 -2.92135177e-02 2.10674639e+02] [-4.99201269e-01 8.66334266e-01 1.62182909e-02 8.66855731e+01] [ 3.34091297e-02 5.40951862e-04 9.99441613e-01 2.16791385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.536875 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:210.70, Y:86.67, Z:21.68 [[ 8.66490170e-01 4.98338710e-01 -2.92115568e-02 2.10703217e+02] [-4.98074860e-01 8.66982287e-01 1.62218221e-02 8.66684331e+01] [ 3.34098642e-02 4.93492681e-04 9.99441613e-01 2.16799799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56687500000004 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:210.73, Y:86.65, Z:21.68 [[ 8.68315607e-01 4.95151451e-01 -2.92069846e-02 2.10730554e+02] [-4.94885518e-01 8.68806601e-01 1.62300500e-02 8.66502909e+01] [ 3.34115538e-02 3.61307960e-04 9.99441613e-01 2.16808311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.596875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:210.75, Y:86.64, Z:21.67 [[ 8.72025357e-01 4.88588784e-01 -2.92023529e-02 2.10752982e+02] [-4.88318877e-01 8.72514177e-01 1.62383795e-02 8.66431787e+01] [ 3.34133570e-02 9.97814645e-05 9.99441613e-01 2.16746833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62687500000004 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:210.78, Y:86.62, Z:21.68 [[ 8.70851924e-01 4.90657424e-01 -2.95333439e-02 2.10782870e+02] [-4.90408775e-01 8.71352139e-01 1.56423163e-02 8.66160066e+01] [ 3.34089610e-02 8.61269765e-04 9.99441394e-01 2.16821243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.656875 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:210.81, Y:86.60, Z:21.68 [[ 8.71362982e-01 4.89769451e-01 -2.91965504e-02 2.10810728e+02] [-4.89499899e-01 8.71851975e-01 1.62475446e-02 8.65986019e+01] [ 3.34126212e-02 1.34199527e-04 9.99441634e-01 2.16837743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.686875 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:210.84, Y:86.58, Z:21.69 [[ 8.71924408e-01 4.88769522e-01 -2.91921465e-02 2.10838975e+02] [-4.88499143e-01 8.72412945e-01 1.62554533e-02 8.65816745e+01] [ 3.34127767e-02 8.68120457e-05 9.99441634e-01 2.16857682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.716875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:210.86, Y:86.58, Z:21.68 [[ 8.75162797e-01 4.82947366e-01 -2.91876886e-02 2.10862346e+02] [-4.82673470e-01 8.75649371e-01 1.62634539e-02 8.65752128e+01] [ 3.34125734e-02 -1.45046871e-04 9.99441634e-01 2.16812991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.746875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:210.89, Y:86.55, Z:21.69 [[ 8.72007159e-01 4.88601157e-01 -2.95368190e-02 2.10892278e+02] [-4.88351523e-01 8.72506898e-01 1.56365875e-02 8.65480961e+01] [ 3.34111331e-02 7.89134302e-04 9.99441381e-01 2.16881817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.776875 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:210.92, Y:86.53, Z:21.69 [[ 8.71503270e-01 4.89521056e-01 -2.91751011e-02 2.10919867e+02] [-4.89250121e-01 8.71991473e-01 1.62846497e-02 8.65314780e+01] [ 3.34121183e-02 8.17962471e-05 9.99441656e-01 2.16896345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.806875 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:210.95, Y:86.51, Z:21.69 [[ 8.70800200e-01 4.90770891e-01 -2.91709517e-02 2.10948689e+02] [-4.90500408e-01 8.71288654e-01 1.62920791e-02 8.65147519e+01] [ 3.34119974e-02 1.21217970e-04 9.99441656e-01 2.16906640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.836875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:210.98, Y:86.50, Z:21.69 [[ 8.69316826e-01 4.93393932e-01 -2.91665023e-02 2.10977401e+02] [-4.93124656e-01 8.69805945e-01 1.63000407e-02 8.64986861e+01] [ 3.34115383e-02 2.12821734e-04 9.99441656e-01 2.16914851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.866875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:211.01, Y:86.48, Z:21.69 [[ 8.68255916e-01 4.95258760e-01 -2.91620438e-02 2.11006255e+02] [-4.94990267e-01 8.68745466e-01 1.63080134e-02 8.64822523e+01] [ 3.34110798e-02 2.75398713e-04 9.99441656e-01 2.16923316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.896875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:211.03, Y:86.47, Z:21.69 [[ 8.67196302e-01 4.97112069e-01 -2.91575921e-02 2.11034143e+02] [-4.96844355e-01 8.67686278e-01 1.63159688e-02 8.64664028e+01] [ 3.34105076e-02 3.37637233e-04 9.99441656e-01 2.16932761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.926875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:211.06, Y:86.45, Z:21.69 [[ 8.66206342e-01 4.98835293e-01 -2.91534563e-02 2.11063006e+02] [-4.98568305e-01 8.66696714e-01 1.63233554e-02 8.64498886e+01] [ 3.34098705e-02 3.95595275e-04 9.99441656e-01 2.16943391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.956875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:211.09, Y:86.43, Z:21.70 [[ 8.64679160e-01 5.01478021e-01 -2.91503805e-02 2.11091225e+02] [-5.01212345e-01 8.65170245e-01 1.63288463e-02 8.64331379e+01] [ 3.34085994e-02 4.91317482e-04 9.99441656e-01 2.16953711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.986875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:211.12, Y:86.42, Z:21.70 [[ 8.64121710e-01 5.02438246e-01 -2.91458238e-02 2.11119621e+02] [-5.02172843e-01 8.64612942e-01 1.63369756e-02 8.64168976e+01] [ 3.34081779e-02 5.19105914e-04 9.99441656e-01 2.16965898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.016875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:211.15, Y:86.40, Z:21.70 [[ 8.63695948e-01 5.03169900e-01 -2.91438203e-02 2.11147879e+02] [-5.02904792e-01 8.64187339e-01 1.63405490e-02 8.64010034e+01] [ 3.34077929e-02 5.43300964e-04 9.99441656e-01 2.16986475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.046875 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:211.18, Y:86.39, Z:21.70 [[ 8.63129209e-01 5.04141725e-01 -2.91391292e-02 2.11175110e+02] [-5.03876888e-01 8.63620747e-01 1.63489101e-02 8.63852315e+01] [ 3.34073242e-02 5.71311881e-04 9.99441656e-01 2.16992925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.07687500000003 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:211.20, Y:86.37, Z:21.70 [[ 8.63098242e-01 5.04194990e-01 -2.91348229e-02 2.11203637e+02] [-5.03929924e-01 8.63589656e-01 1.63565806e-02 8.63689961e+01] [ 3.34074377e-02 5.64573082e-04 9.99441656e-01 2.17010961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.106875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:211.23, Y:86.35, Z:21.70 [[ 8.63130802e-01 5.04139510e-01 -2.91302690e-02 2.11231593e+02] [-5.03874140e-01 8.63622052e-01 1.63646869e-02 8.63529429e+01] [ 3.34076279e-02 5.53123877e-04 9.99441656e-01 2.17023161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.13687500000003 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:211.26, Y:86.34, Z:21.70 [[ 8.63334327e-01 5.03791158e-01 -2.91257358e-02 2.11259860e+02] [-5.03525317e-01 8.63825322e-01 1.63727510e-02 8.63358650e+01] [ 3.34079953e-02 5.30387365e-04 9.99441656e-01 2.17034267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.166875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:211.29, Y:86.32, Z:21.70 [[ 8.63533324e-01 5.03450249e-01 -2.91212269e-02 2.11288173e+02] [-5.03183944e-01 8.64024067e-01 1.63807668e-02 8.63198651e+01] [ 3.34083420e-02 5.07995849e-04 9.99441656e-01 2.17045045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.19687500000003 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:211.31, Y:86.31, Z:21.70 [[ 8.66056034e-01 4.99098347e-01 -2.91167765e-02 2.11313324e+02] [-4.98829310e-01 8.66545285e-01 1.63886736e-02 8.63122879e+01] [ 3.34105653e-02 3.30791857e-04 9.99441656e-01 2.17003120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.226875 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:211.34, Y:86.29, Z:21.71 [[ 8.63799689e-01 5.02978476e-01 -2.93726126e-02 2.11343081e+02] [-5.02727028e-01 8.64298355e-01 1.59338899e-02 8.62885269e+01] [ 3.34011045e-02 1.00271706e-03 9.99441524e-01 2.17058957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.25687500000004 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:211.37, Y:86.27, Z:21.71 [[ 8.63835910e-01 5.02931578e-01 -2.91092570e-02 2.11370890e+02] [-5.02664286e-01 8.64326103e-01 1.64013067e-02 8.62723300e+01] [ 3.34086258e-02 4.64146218e-04 9.99441668e-01 2.17068193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.286875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:211.40, Y:86.26, Z:21.71 [[ 8.63676514e-01 5.03205505e-01 -2.91049657e-02 2.11399711e+02] [-5.02938113e-01 8.64166652e-01 1.64089184e-02 8.62559885e+01] [ 3.34085988e-02 4.65999103e-04 9.99441668e-01 2.17074153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31687500000004 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:211.43, Y:86.24, Z:21.71 [[ 8.63539414e-01 5.03441001e-01 -2.91005202e-02 2.11427759e+02] [-5.03173476e-01 8.64029480e-01 1.64167985e-02 8.62399404e+01] [ 3.34085968e-02 4.66057345e-04 9.99441668e-01 2.17070280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.346875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:211.46, Y:86.22, Z:21.71 [[ 8.63338515e-01 5.03785680e-01 -2.90963515e-02 2.11456706e+02] [-5.03518102e-01 8.63828552e-01 1.64241835e-02 8.62234288e+01] [ 3.34085277e-02 4.70909504e-04 9.99441668e-01 2.17077469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37687500000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:211.48, Y:86.21, Z:21.71 [[ 8.63096817e-01 5.04199905e-01 -2.90919201e-02 2.11484459e+02] [-5.03932298e-01 8.63586838e-01 1.64320291e-02 8.62074353e+01] [ 3.34084268e-02 4.77926181e-04 9.99441668e-01 2.17079305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:86.19, Z:21.71 [[ 8.62902273e-01 5.04533019e-01 -2.90877912e-02 2.11513190e+02] [-5.04265355e-01 8.63392263e-01 1.64393347e-02 8.61906471e+01] [ 3.34083611e-02 4.82426055e-04 9.99441668e-01 2.17081690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.436875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:211.54, Y:86.17, Z:21.71 [[ 8.62931493e-01 5.04483295e-01 -2.90833754e-02 2.11540426e+02] [-5.04215340e-01 8.63421324e-01 1.64471433e-02 8.61749633e+01] [ 3.34085155e-02 4.71526079e-04 9.99441669e-01 2.17090726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.466875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:211.57, Y:86.16, Z:21.71 [[ 8.62826628e-01 5.04662883e-01 -2.90789460e-02 2.11568274e+02] [-5.04394766e-01 8.63316370e-01 1.64549707e-02 8.61582688e+01] [ 3.34085431e-02 4.69481280e-04 9.99441669e-01 2.17104903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:86.14, Z:21.71 [[ 8.62974264e-01 5.04410644e-01 -2.90744356e-02 2.11596715e+02] [-5.04142115e-01 8.63463780e-01 1.64629364e-02 8.61412269e+01] [ 3.34088024e-02 4.50557007e-04 9.99441669e-01 2.17117388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.526875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:211.62, Y:86.12, Z:21.71 [[ 8.63287533e-01 5.03874418e-01 -2.90724461e-02 2.11624811e+02] [-5.03605467e-01 8.63776817e-01 1.64664490e-02 8.61232065e+01] [ 3.34091274e-02 4.25762677e-04 9.99441669e-01 2.17134546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:86.11, Z:21.71 [[ 8.63258634e-01 5.03924191e-01 -2.90678572e-02 2.11652907e+02] [-5.03654995e-01 8.63747784e-01 1.64745458e-02 8.61062012e+01] [ 3.34092194e-02 4.18377591e-04 9.99441669e-01 2.17147099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.586875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:211.68, Y:86.09, Z:21.72 [[ 8.63321247e-01 5.03817033e-01 -2.90658288e-02 2.11681021e+02] [-5.03547656e-01 8.63810297e-01 1.64781235e-02 8.60894171e+01] [ 3.34093215e-02 4.10115839e-04 9.99441669e-01 2.17160781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.616875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:211.71, Y:86.07, Z:21.72 [[ 8.63179252e-01 5.04060539e-01 -2.90611685e-02 2.11709987e+02] [-5.03791024e-01 8.63668226e-01 1.64863386e-02 8.60728765e+01] [ 3.34093205e-02 4.10090424e-04 9.99441669e-01 2.17171980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.646875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:211.74, Y:86.06, Z:21.72 [[ 8.62956887e-01 5.04441404e-01 -2.90565183e-02 2.11736863e+02] [-5.04171829e-01 8.63445828e-01 1.64945302e-02 8.60565325e+01] [ 3.34092535e-02 4.15409585e-04 9.99441669e-01 2.17178464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.676875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:211.77, Y:86.04, Z:21.72 [[ 8.62648058e-01 5.04969601e-01 -2.90521901e-02 2.11765643e+02] [-5.04700069e-01 8.63137023e-01 1.65021501e-02 8.60396617e+01] [ 3.34091050e-02 4.27094592e-04 9.99441669e-01 2.17187463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.706875 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:211.79, Y:86.02, Z:21.72 [[ 8.62600423e-01 5.05051228e-01 -2.90476715e-02 2.11793991e+02] [-5.04781474e-01 8.63089265e-01 1.65101000e-02 8.60228755e+01] [ 3.34091798e-02 4.21107209e-04 9.99441669e-01 2.17192312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.82, Y:86.01, Z:21.72 [[ 8.62746088e-01 5.04802619e-01 -2.90431486e-02 2.11822745e+02] [-5.04532456e-01 8.63234704e-01 1.65180525e-02 8.60058031e+01] [ 3.34094100e-02 4.02325986e-04 9.99441669e-01 2.17198229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.766875 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:211.85, Y:85.99, Z:21.72 [[ 8.63232803e-01 5.03969994e-01 -2.90409009e-02 2.11849477e+02] [-5.03699228e-01 8.63721084e-01 1.65220033e-02 8.59890536e+01] [ 3.34098323e-02 3.65544122e-04 9.99441669e-01 2.17198360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.796875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:211.88, Y:85.97, Z:21.72 [[ 8.63701236e-01 5.03167016e-01 -2.90366911e-02 2.11877679e+02] [-5.02895547e-01 8.64189127e-01 1.65293985e-02 8.59724869e+01] [ 3.34102409e-02 3.25960749e-04 9.99441669e-01 2.17208215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.82687500000003 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:211.91, Y:85.96, Z:21.72 [[ 8.64161561e-01 5.02376277e-01 -2.90322814e-02 2.11906041e+02] [-5.02104101e-01 8.64649059e-01 1.65371401e-02 8.59556670e+01] [ 3.34106017e-02 2.86466750e-04 9.99441669e-01 2.17221451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.856875 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:211.93, Y:85.94, Z:21.72 [[ 8.64637475e-01 5.01556852e-01 -2.90303638e-02 2.11933746e+02] [-5.01284101e-01 8.65124651e-01 1.65405057e-02 8.59397260e+01] [ 3.34108873e-02 2.50918810e-04 9.99441669e-01 2.17233509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.88687500000003 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:211.96, Y:85.92, Z:21.73 [[ 8.65649717e-01 4.99808006e-01 -2.90262645e-02 2.11961979e+02] [-4.99534031e-01 8.66136205e-01 1.65476964e-02 8.59233194e+01] [ 3.34113697e-02 1.75098207e-04 9.99441669e-01 2.17261606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.916875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:211.99, Y:85.91, Z:21.72 [[ 8.68235540e-01 4.95302729e-01 -2.90216181e-02 2.11988070e+02] [-4.95025956e-01 8.68720442e-01 1.65558412e-02 8.59136799e+01] [ 3.34118263e-02 -7.91552326e-06 9.99441669e-01 2.17225408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.94687500000003 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:212.02, Y:85.89, Z:21.73 [[ 8.67254613e-01 4.97005805e-01 -2.92346726e-02 2.12017144e+02] [-4.96742534e-01 8.67747078e-01 1.61821779e-02 8.58926327e+01] [ 3.34109381e-02 4.88036905e-04 9.99441580e-01 2.17290366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.976875 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:212.05, Y:85.88, Z:21.73 [[ 8.67527495e-01 4.96542185e-01 -2.90155749e-02 2.12045400e+02] [-4.96265767e-01 8.68012591e-01 1.65659386e-02 8.58766814e+01] [ 3.34115717e-02 2.80293578e-05 9.99441677e-01 2.17305013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.00687500000004 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:212.07, Y:85.86, Z:21.73 [[ 8.67824483e-01 4.96023196e-01 -2.90113128e-02 2.12073630e+02] [-4.95746239e-01 8.68309270e-01 1.65733993e-02 8.58612995e+01] [ 3.34115823e-02 -5.52410927e-07 9.99441677e-01 2.17317238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.036875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:212.10, Y:85.85, Z:21.73 [[ 8.68006105e-01 4.95705533e-01 -2.90073511e-02 2.12103234e+02] [-4.95428167e-01 8.68490659e-01 1.65803303e-02 8.58462089e+01] [ 3.34115749e-02 -2.07691133e-05 9.99441677e-01 2.17329161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06687500000004 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:212.13, Y:85.83, Z:21.73 [[ 8.67973407e-01 4.95763054e-01 -2.90027499e-02 2.12132042e+02] [-4.95485452e-01 8.68457825e-01 1.65883749e-02 8.58309251e+01] [ 3.34115685e-02 -2.78275881e-05 9.99441677e-01 2.17331453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.096875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:212.16, Y:85.82, Z:21.73 [[ 8.67850139e-01 4.95979076e-01 -2.89981609e-02 2.12160971e+02] [-4.95701326e-01 8.68334472e-01 1.65963931e-02 8.58150471e+01] [ 3.34115665e-02 -2.87552255e-05 9.99441677e-01 2.17345342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12687500000004 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:212.19, Y:85.81, Z:21.73 [[ 8.70266207e-01 4.91727671e-01 -2.89935636e-02 2.12186550e+02] [-4.91447287e-01 8.70749021e-01 1.66044206e-02 8.58085287e+01] [ 3.34109702e-02 -2.01457967e-04 9.99441677e-01 2.17281245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.156875 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:212.22, Y:85.79, Z:21.74 [[ 8.67720275e-01 4.96191363e-01 -2.92515779e-02 2.12215795e+02] [-4.95928590e-01 8.68213045e-01 1.61537041e-02 8.57861375e+01] [ 3.34119300e-02 4.89797224e-04 9.99441546e-01 2.17362747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.186875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:212.24, Y:85.77, Z:21.74 [[ 8.67413825e-01 4.96742458e-01 -2.89859768e-02 2.12243672e+02] [-4.96464445e-01 8.67897995e-01 1.66170163e-02 8.57704424e+01] [ 3.34112487e-02 -2.33227616e-05 9.99441688e-01 2.17374349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.216875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:212.27, Y:85.76, Z:21.74 [[ 8.67205800e-01 4.97105783e-01 -2.89817419e-02 2.12272164e+02] [-4.96827725e-01 8.67689945e-01 1.66243992e-02 8.57550903e+01] [ 3.34112510e-02 -1.78424709e-05 9.99441688e-01 2.17389690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.246875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:212.30, Y:85.74, Z:21.74 [[ 8.66178941e-01 4.98893136e-01 -2.89772565e-02 2.12301454e+02] [-4.98615817e-01 8.66663508e-01 1.66322138e-02 8.57399803e+01] [ 3.34112281e-02 4.20451119e-05 9.99441688e-01 2.17407338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:85.73, Z:21.74 [[ 8.65797103e-01 4.99555770e-01 -2.89725636e-02 2.12329404e+02] [-4.99278547e-01 8.66281727e-01 1.66403847e-02 8.57254182e+01] [ 3.34112026e-02 5.81826191e-05 9.99441688e-01 2.17413969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.306875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:212.36, Y:85.71, Z:21.74 [[ 8.65051194e-01 5.00846558e-01 -2.89682001e-02 2.12358092e+02] [-5.00569805e-01 8.65536085e-01 1.66479772e-02 8.57099373e+01] [ 3.34111046e-02 9.92536972e-05 9.99441688e-01 2.17427144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.336875 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:212.39, Y:85.70, Z:21.74 [[ 8.63942061e-01 5.02757621e-01 -2.89636045e-02 2.12386351e+02] [-5.02481672e-01 8.64427410e-01 1.66559687e-02 8.56959696e+01] [ 3.34108488e-02 1.63888550e-04 9.99441688e-01 2.17435160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.366875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:212.42, Y:85.68, Z:21.74 [[ 8.63395432e-01 5.03696027e-01 -2.89593039e-02 2.12415552e+02] [-5.03420355e-01 8.63880938e-01 1.66634427e-02 8.56802646e+01] [ 3.34107005e-02 1.91562703e-04 9.99441688e-01 2.17448018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.396875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:212.44, Y:85.66, Z:21.75 [[ 8.62536231e-01 5.05166183e-01 -2.89547401e-02 2.12444409e+02] [-5.04891073e-01 8.63022057e-01 1.66713691e-02 8.56644509e+01] [ 3.34103912e-02 2.39329905e-04 9.99441688e-01 2.17460763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.426875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:212.47, Y:85.65, Z:21.75 [[ 8.61677749e-01 5.06629396e-01 -2.89501611e-02 2.12473446e+02] [-5.06354843e-01 8.62163890e-01 1.66793169e-02 8.56486421e+01] [ 3.34100157e-02 2.86858040e-04 9.99441688e-01 2.17470558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.456875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:212.50, Y:85.63, Z:21.75 [[ 8.60116303e-01 5.09276053e-01 -2.89455870e-02 2.12502938e+02] [-5.09002729e-01 8.60603136e-01 1.66872511e-02 8.56340705e+01] [ 3.34090803e-02 3.80406038e-04 9.99441688e-01 2.17475897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.486875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:212.53, Y:85.63, Z:21.74 [[ 8.61828895e-01 5.06372766e-01 -2.89409500e-02 2.12528640e+02] [-5.06097532e-01 8.62314650e-01 1.66952892e-02 8.56282870e+01] [ 3.34102449e-02 2.58460750e-04 9.99441689e-01 2.17415720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.516875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:212.56, Y:85.60, Z:21.75 [[ 8.58342958e-01 5.12243320e-01 -2.92257958e-02 2.12558250e+02] [-5.11988137e-01 8.58839719e-01 1.62013442e-02 8.56047124e+01] [ 3.33993046e-02 1.05695110e-03 9.99441529e-01 2.17482248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.546875 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:212.59, Y:85.59, Z:21.75 [[ 8.56871783e-01 5.14717129e-01 -2.89313757e-02 2.12587402e+02] [-5.14446092e-01 8.57359877e-01 1.67110763e-02 8.55896422e+01] [ 3.34060779e-02 5.64383386e-04 9.99441702e-01 2.17486814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.57687500000003 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:212.61, Y:85.58, Z:21.74 [[ 8.59082209e-01 5.11019570e-01 -2.89267699e-02 2.12612600e+02] [-5.10746163e-01 8.59568979e-01 1.67190452e-02 8.55845501e+01] [ 3.34083133e-02 4.11202452e-04 9.99441702e-01 2.17428272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.606875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:212.64, Y:85.57, Z:21.74 [[ 8.57978098e-01 5.12855014e-01 -2.92116113e-02 2.12640928e+02] [-5.12599313e-01 8.58474594e-01 1.62269732e-02 8.55681036e+01] [ 3.33995107e-02 1.05146426e-03 9.99441528e-01 2.17447144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.63687500000003 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:212.67, Y:85.55, Z:21.75 [[ 8.57156334e-01 5.14229035e-01 -2.91808116e-02 2.12668649e+02] [-5.13972323e-01 8.57652267e-01 1.62800717e-02 8.55523644e+01] [ 3.33986748e-02 1.04356292e-03 9.99441564e-01 2.17460600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.666875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:212.70, Y:85.54, Z:21.75 [[ 8.57049198e-01 5.14407233e-01 -2.91868240e-02 2.12696089e+02] [-5.14150976e-01 8.57545375e-01 1.62697131e-02 8.55384553e+01] [ 3.33982840e-02 1.06248948e-03 9.99441557e-01 2.17473014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.69687500000003 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:212.72, Y:85.52, Z:21.75 [[ 8.56573855e-01 5.15197789e-01 -2.91970710e-02 2.12722599e+02] [-5.14942591e-01 8.57070591e-01 1.62520908e-02 8.55238638e+01] [ 3.33969922e-02 1.11369930e-03 9.99441544e-01 2.17479324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.726875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:212.75, Y:85.50, Z:21.76 [[ 8.53107338e-01 5.20914929e-01 -2.92490643e-02 2.12752422e+02] [-5.20666115e-01 8.53607382e-01 1.61627320e-02 8.54973447e+01] [ 3.33866256e-02 1.44045147e-03 9.99441473e-01 2.17556418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.75687500000004 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:212.78, Y:85.49, Z:21.75 [[ 8.56722942e-01 5.14968744e-01 -2.88616250e-02 2.12776822e+02] [-5.14693931e-01 8.57208843e-01 1.68272756e-02 8.54934240e+01] [ 3.34059612e-02 4.38590166e-04 9.99441769e-01 2.17510285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.786875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:212.81, Y:85.47, Z:21.76 [[ 8.53378859e-01 5.20469545e-01 -2.92570762e-02 2.12807213e+02] [-5.20220951e-01 8.53879021e-01 1.61486990e-02 8.54653373e+01] [ 3.33869095e-02 1.43918567e-03 9.99441466e-01 2.17571902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:212.84, Y:85.45, Z:21.76 [[ 8.54012631e-01 5.19451797e-01 -2.88488597e-02 2.12835845e+02] [-5.19178843e-01 8.54499551e-01 1.68477220e-02 8.54489737e+01] [ 3.34029171e-02 5.89550237e-04 9.99441793e-01 2.17582573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.86, Y:85.43, Z:21.76 [[ 8.55060577e-01 5.17725246e-01 -2.88440649e-02 2.12863273e+02] [-5.17451032e-01 8.55546788e-01 1.68559269e-02 8.54335662e+01] [ 3.34041860e-02 5.12552561e-04 9.99441793e-01 2.17588622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:212.89, Y:85.42, Z:21.76 [[ 8.55576820e-01 5.16871920e-01 -2.88396132e-02 2.12891982e+02] [-5.16596965e-01 8.56062613e-01 1.68635401e-02 8.54173936e+01] [ 3.34048050e-02 4.70402566e-04 9.99441793e-01 2.17595924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.906875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:212.92, Y:85.40, Z:21.76 [[ 8.55990493e-01 5.16186809e-01 -2.88349430e-02 2.12920112e+02] [-5.15911196e-01 8.56475913e-01 1.68715218e-02 8.54013574e+01] [ 3.34052912e-02 4.34407676e-04 9.99441793e-01 2.17604671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.936875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:212.95, Y:85.39, Z:21.76 [[ 8.56562457e-01 5.15237395e-01 -2.88302549e-02 2.12947653e+02] [-5.14960975e-01 8.57047418e-01 1.68795292e-02 8.53858396e+01] [ 3.34058601e-02 3.88085181e-04 9.99441793e-01 2.17616005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.966875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:212.98, Y:85.37, Z:21.76 [[ 8.57244918e-01 5.14101370e-01 -2.88258783e-02 2.12976707e+02] [-5.13824056e-01 8.57729368e-01 1.68870000e-02 8.53699136e+01] [ 3.34064322e-02 3.35134791e-04 9.99441793e-01 2.17619034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.996875 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:213.01, Y:85.35, Z:21.76 [[ 8.57729519e-01 5.13292709e-01 -2.88212882e-02 2.13005246e+02] [-5.13014675e-01 8.58213556e-01 1.68948303e-02 8.53538953e+01] [ 3.34068135e-02 2.94549153e-04 9.99441793e-01 2.17627073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.026875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:213.03, Y:85.34, Z:21.76 [[ 8.58760853e-01 5.11565632e-01 -2.88167030e-02 2.13034246e+02] [-5.11286362e-01 8.59244178e-01 1.69026474e-02 8.53382802e+01] [ 3.34073978e-02 2.18255386e-04 9.99441793e-01 2.17625861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.056875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:213.06, Y:85.32, Z:21.76 [[ 8.59346643e-01 5.10581248e-01 -2.88120749e-02 2.13062669e+02] [-5.10301160e-01 8.59829495e-01 1.69105328e-02 8.53221988e+01] [ 3.34076727e-02 1.70825648e-04 9.99441793e-01 2.17635357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.086875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:213.09, Y:85.31, Z:21.76 [[ 8.59897802e-01 5.09652727e-01 -2.88074103e-02 2.13091188e+02] [-5.09371852e-01 8.60380196e-01 1.69184754e-02 8.53060350e+01] [ 3.34078724e-02 1.25524118e-04 9.99441793e-01 2.17645541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.116875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:213.12, Y:85.29, Z:21.77 [[ 8.60983831e-01 5.07816154e-01 -2.88027204e-02 2.13119394e+02] [-5.07533982e-01 8.61465468e-01 1.69264559e-02 8.52901395e+01] [ 3.34080767e-02 4.49545705e-05 9.99441793e-01 2.17659584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.146875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:213.15, Y:85.27, Z:21.77 [[ 8.61654634e-01 5.06677277e-01 -2.87998016e-02 2.13147886e+02] [-5.06394303e-01 8.62135799e-01 1.69314206e-02 8.52738472e+01] [ 3.34081061e-02 -4.98155045e-06 9.99441793e-01 2.17669747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.18, Y:85.26, Z:21.77 [[ 8.62197651e-01 5.05752951e-01 -2.87951826e-02 2.13176885e+02] [-5.05469199e-01 8.62678358e-01 1.69392725e-02 8.52576950e+01] [ 3.34080679e-02 -4.99230861e-05 9.99441793e-01 2.17673879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.206875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:213.21, Y:85.24, Z:21.77 [[ 8.63329333e-01 5.03818989e-01 -2.87904304e-02 2.13205974e+02] [-5.03533891e-01 8.63809243e-01 1.69473457e-02 8.52419396e+01] [ 3.34078344e-02 -1.34183222e-04 9.99441794e-01 2.17678001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.236875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:213.23, Y:85.23, Z:21.77 [[ 8.63866762e-01 5.02897211e-01 -2.87856579e-02 2.13234888e+02] [-5.02611330e-01 8.64346206e-01 1.69554480e-02 8.52256391e+01] [ 3.34076217e-02 -1.79250171e-04 9.99441794e-01 2.17684735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.266875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:213.26, Y:85.21, Z:21.77 [[ 8.63923917e-01 5.02799293e-01 -2.87808467e-02 2.13263542e+02] [-5.02513086e-01 8.64403167e-01 1.69636108e-02 8.52092570e+01] [ 3.34075465e-02 -1.92516995e-04 9.99441794e-01 2.17685949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.296875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:213.29, Y:85.19, Z:21.77 [[ 8.64217641e-01 5.02294543e-01 -2.87760426e-02 2.13291521e+02] [-5.02007786e-01 8.64696561e-01 1.69717562e-02 8.51938627e+01] [ 3.34073656e-02 -2.21493676e-04 9.99441794e-01 2.17690314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.32687500000003 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:213.32, Y:85.18, Z:21.77 [[ 8.63899599e-01 5.02841604e-01 -2.87715833e-02 2.13320570e+02] [-5.02554898e-01 8.64378550e-01 1.69793126e-02 8.51784290e+01] [ 3.34074442e-02 -2.09121279e-04 9.99441794e-01 2.17678673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.356875 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:213.35, Y:85.16, Z:21.77 [[ 8.63336966e-01 5.03807257e-01 -2.87668498e-02 2.13348583e+02] [-5.03520819e-01 8.63816077e-01 1.69873284e-02 8.51625161e+01] [ 3.34076067e-02 -1.81080769e-04 9.99441794e-01 2.17685966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.38687500000003 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:213.38, Y:85.15, Z:21.77 [[ 8.62475063e-01 5.05281592e-01 -2.87624453e-02 2.13377446e+02] [-5.04995725e-01 8.62954515e-01 1.69947828e-02 8.51458532e+01] [ 3.34078329e-02 -1.32664451e-04 9.99441794e-01 2.17692227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.416875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:213.41, Y:85.13, Z:21.77 [[ 8.60395707e-01 5.08814530e-01 -2.87576501e-02 2.13405243e+02] [-5.08530360e-01 8.60876167e-01 1.70028930e-02 8.51305950e+01] [ 3.34080946e-02 -5.07801295e-06 9.99441794e-01 2.17704584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.44687500000003 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:213.43, Y:85.11, Z:21.77 [[ 8.59191093e-01 5.10846279e-01 -2.87531896e-02 2.13432839e+02] [-5.10562993e-01 8.59672074e-01 1.70104328e-02 8.51149882e+01] [ 3.34080304e-02 6.51022045e-05 9.99441794e-01 2.17714410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.476875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:213.46, Y:85.10, Z:21.77 [[ 8.59054189e-01 5.11076709e-01 -2.87488843e-02 2.13461511e+02] [-5.10793309e-01 8.59535103e-01 1.70177059e-02 8.50979070e+01] [ 3.34080284e-02 6.56062141e-05 9.99441794e-01 2.17725605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.50687500000004 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:213.49, Y:85.08, Z:21.77 [[ 8.57590232e-01 5.13529705e-01 -2.87443201e-02 2.13489790e+02] [-5.13247422e-01 8.58071803e-01 1.70254117e-02 8.50813923e+01] [ 3.34077452e-02 1.52121390e-04 9.99441794e-01 2.17733846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.536875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:213.52, Y:85.06, Z:21.77 [[ 8.54701268e-01 5.18324003e-01 -2.87396984e-02 2.13518781e+02] [-5.18044159e-01 8.55184260e-01 1.70332098e-02 8.50649320e+01] [ 3.34064592e-02 3.30126907e-04 9.99441794e-01 2.17746847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56687500000004 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:213.55, Y:85.05, Z:21.78 [[ 8.53200481e-01 5.20790982e-01 -2.87348533e-02 2.13547288e+02] [-5.20512260e-01 8.53684121e-01 1.70413796e-02 8.50483677e+01] [ 3.34054848e-02 4.17130141e-04 9.99441794e-01 2.17755412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.596875 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:213.58, Y:85.03, Z:21.78 [[ 8.51918046e-01 5.22886440e-01 -2.87300153e-02 2.13575588e+02] [-5.22608632e-01 8.52402212e-01 1.70495320e-02 8.50320937e+01] [ 3.34044977e-02 4.89750012e-04 9.99441794e-01 2.17757532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62687500000004 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:213.60, Y:85.02, Z:21.77 [[ 8.52332209e-01 5.22211327e-01 -2.87251643e-02 2.13598840e+02] [-5.21932861e-01 8.52815996e-01 1.70577011e-02 8.50246053e+01] [ 3.34050043e-02 4.53779142e-04 9.99441794e-01 2.17735514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.656875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:213.63, Y:85.00, Z:21.78 [[ 8.48641242e-01 5.28169659e-01 -2.90663754e-02 2.13628083e+02] [-5.27914153e-01 8.49137781e-01 1.64826011e-02 8.49998481e+01] [ 3.33869673e-02 1.35673588e-03 9.99441579e-01 2.17760224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.686875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:213.66, Y:84.98, Z:21.78 [[ 8.47921182e-01 5.29343998e-01 -2.87158568e-02 2.13656083e+02] [-5.29069109e-01 8.48406988e-01 1.70721974e-02 8.49822944e+01] [ 3.33997988e-02 7.16794947e-04 9.99441814e-01 2.17773405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.716875 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:213.68, Y:84.96, Z:21.78 [[ 8.46575341e-01 5.31494001e-01 -2.87109557e-02 2.13682571e+02] [-5.31220066e-01 8.47061686e-01 1.70804357e-02 8.49645458e+01] [ 3.33980997e-02 7.91960134e-04 9.99441814e-01 2.17773403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.746875 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:213.71, Y:84.95, Z:21.78 [[ 8.45976805e-01 5.32446418e-01 -2.87064019e-02 2.13709863e+02] [-5.32172771e-01 8.46463312e-01 1.70880857e-02 8.49471939e+01] [ 3.33974060e-02 8.20641300e-04 9.99441814e-01 2.17783340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.776875 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:213.74, Y:84.93, Z:21.78 [[ 8.45439198e-01 5.33299882e-01 -2.87018971e-02 2.13737998e+02] [-5.33026470e-01 8.45925837e-01 1.70956489e-02 8.49294110e+01] [ 3.33967838e-02 8.45539208e-04 9.99441814e-01 2.17794113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.806875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:213.77, Y:84.91, Z:21.78 [[ 8.44825747e-01 5.34271411e-01 -2.86969893e-02 2.13765682e+02] [-5.33998279e-01 8.45312543e-01 1.71038831e-02 8.49110499e+01] [ 3.33960408e-02 8.74342074e-04 9.99441814e-01 2.17797139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.836875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:213.79, Y:84.89, Z:21.78 [[ 8.44455232e-01 5.34857108e-01 -2.86920682e-02 2.13793315e+02] [-5.34584034e-01 8.44942061e-01 1.71121345e-02 8.48934737e+01] [ 3.33956819e-02 8.87890055e-04 9.99441814e-01 2.17806009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.866875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:213.82, Y:84.88, Z:21.78 [[ 8.44095751e-01 5.35424513e-01 -2.86871891e-02 2.13821111e+02] [-5.35151488e-01 8.44582607e-01 1.71203099e-02 8.48753680e+01] [ 3.33953346e-02 9.00811073e-04 9.99441814e-01 2.17817119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.896875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:213.85, Y:84.86, Z:21.78 [[ 8.43906654e-01 5.35722770e-01 -2.86822780e-02 2.13847724e+02] [-5.35449638e-01 8.44393450e-01 1.71285338e-02 8.48581091e+01] [ 3.33952732e-02 9.03031693e-04 9.99441814e-01 2.17830911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.87, Y:84.84, Z:21.78 [[ 8.43981979e-01 5.35604259e-01 -2.86792071e-02 2.13874330e+02] [-5.35330884e-01 8.44468639e-01 1.71336740e-02 8.48395520e+01] [ 3.33955597e-02 8.92353204e-04 9.99441814e-01 2.17844800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.956875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:213.90, Y:84.82, Z:21.79 [[ 8.44003230e-01 5.35571012e-01 -2.86747052e-02 2.13901675e+02] [-5.35297362e-01 8.44489735e-01 1.71412050e-02 8.48216200e+01] [ 3.33958267e-02 8.82261710e-04 9.99441814e-01 2.17858327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.986875 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:213.93, Y:84.80, Z:21.79 [[ 8.44602406e-01 5.34625861e-01 -2.86699307e-02 2.13928771e+02] [-5.34351396e-01 8.45088451e-01 1.71491870e-02 8.48022490e+01] [ 3.33970262e-02 8.35572903e-04 9.99441814e-01 2.17868163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.016875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:213.96, Y:84.78, Z:21.79 [[ 8.44886028e-01 5.34177791e-01 -2.86651067e-02 2.13956006e+02] [-5.33902795e-01 8.45371773e-01 1.71572466e-02 8.47842376e+01] [ 3.33976921e-02 8.08462672e-04 9.99441815e-01 2.17876365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.046875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:213.98, Y:84.77, Z:21.79 [[ 8.45517224e-01 5.33178409e-01 -2.86602093e-02 2.13982990e+02] [-5.32902562e-01 8.46002487e-01 1.71654235e-02 8.47665905e+01] [ 3.33988415e-02 7.59437787e-04 9.99441815e-01 2.17879787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.07687500000003 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:214.01, Y:84.75, Z:21.79 [[ 8.47485374e-01 5.30044709e-01 -2.86556809e-02 2.14009365e+02] [-5.29766812e-01 8.47969465e-01 1.71729797e-02 8.47468301e+01] [ 3.34015895e-02 6.26979570e-04 9.99441815e-01 2.17881504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.106875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:214.04, Y:84.73, Z:21.79 [[ 8.48491125e-01 5.28433472e-01 -2.86509541e-02 2.14036015e+02] [-5.28154390e-01 8.48974533e-01 1.71808622e-02 8.47283219e+01] [ 3.34028731e-02 5.54318063e-04 9.99441815e-01 2.17898684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.13687500000003 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:214.06, Y:84.71, Z:21.79 [[ 8.49521625e-01 5.26775481e-01 -2.86461470e-02 2.14063156e+02] [-5.26495186e-01 8.50004331e-01 1.71888735e-02 8.47096968e+01] [ 3.34040261e-02 4.79738754e-04 9.99441815e-01 2.17916109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.166875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:214.09, Y:84.69, Z:21.79 [[ 8.50650317e-01 5.24951156e-01 -2.86412552e-02 2.14089870e+02] [-5.24669551e-01 8.51132260e-01 1.71970208e-02 8.46914425e+01] [ 3.34050922e-02 3.98543340e-04 9.99441815e-01 2.17931755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:84.67, Z:21.80 [[ 8.52862711e-01 5.21349358e-01 -2.86363899e-02 2.14115110e+02] [-5.21065445e-01 8.53343299e-01 1.72051186e-02 8.46720503e+01] [ 3.34065490e-02 2.47829125e-04 9.99441815e-01 2.17953577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.226875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:214.14, Y:84.65, Z:21.80 [[ 8.53855197e-01 5.19722456e-01 -2.86333994e-02 2.14142252e+02] [-5.19437461e-01 8.54335143e-01 1.72100940e-02 8.46539597e+01] [ 3.34069917e-02 1.78332101e-04 9.99441815e-01 2.17972258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.25687500000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:214.17, Y:84.63, Z:21.80 [[ 8.55583743e-01 5.16872183e-01 -2.86287419e-02 2.14169064e+02] [-5.16585330e-01 8.56062581e-01 1.72178382e-02 8.46345017e+01] [ 3.34074163e-02 5.78856557e-05 9.99441815e-01 2.17987283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:84.62, Z:21.80 [[ 8.56294224e-01 5.15694548e-01 -2.86240387e-02 2.14196062e+02] [-5.15406775e-01 8.56772510e-01 1.72256536e-02 8.46169011e+01] [ 3.34074651e-02 2.79580392e-06 9.99441815e-01 2.17997437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.22, Y:84.60, Z:21.80 [[ 8.56856865e-01 5.14759390e-01 -2.86196373e-02 2.14223832e+02] [-5.14470851e-01 8.57334689e-01 1.72329632e-02 8.45990170e+01] [ 3.34074375e-02 -4.22136473e-05 9.99441815e-01 2.18013485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.25, Y:84.58, Z:21.80 [[ 8.57396309e-01 5.13860643e-01 -2.86148309e-02 2.14251360e+02] [-5.13571337e-01 8.57873669e-01 1.72409405e-02 8.45813944e+01] [ 3.34073507e-02 -8.65617884e-05 9.99441815e-01 2.18023583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.28, Y:84.56, Z:21.80 [[ 8.58837889e-01 5.11447744e-01 -2.86126773e-02 2.14277844e+02] [-5.11156978e-01 8.59314361e-01 1.72445138e-02 8.45629361e+01] [ 3.34069522e-02 -1.84672158e-04 9.99441815e-01 2.18038109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:84.55, Z:21.81 [[ 8.59411814e-01 5.10483019e-01 -2.86080735e-02 2.14305180e+02] [-5.10191463e-01 8.59887803e-01 1.72521479e-02 8.45451137e+01] [ 3.34066620e-02 -2.31104876e-04 9.99441815e-01 2.18053634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.436875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:214.33, Y:84.53, Z:21.81 [[ 8.59959409e-01 5.09560272e-01 -2.86032099e-02 2.14332897e+02] [-5.09267938e-01 8.60434921e-01 1.72602078e-02 8.45274822e+01] [ 3.34063168e-02 -2.76380363e-04 9.99441815e-01 2.18061159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.36, Y:84.51, Z:21.81 [[ 8.60739385e-01 5.08241914e-01 -2.85983806e-02 2.14358732e+02] [-5.07948586e-01 8.61214284e-01 1.72682057e-02 8.45106626e+01] [ 3.34057598e-02 -3.36917753e-04 9.99441815e-01 2.18067061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:84.49, Z:21.81 [[ 8.60457576e-01 5.08719092e-01 -2.85944924e-02 2.14386991e+02] [-5.08425813e-01 8.60932506e-01 1.72746419e-02 8.44934973e+01] [ 3.34058681e-02 -3.25918423e-04 9.99441815e-01 2.18074546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.41, Y:84.48, Z:21.81 [[ 8.59938275e-01 5.09596694e-01 -2.85897387e-02 2.14414701e+02] [-5.09303638e-01 8.60413342e-01 1.72825056e-02 8.44772063e+01] [ 3.34061004e-02 -3.01030118e-04 9.99441815e-01 2.18082037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.44, Y:84.46, Z:21.81 [[ 8.58320151e-01 5.12317674e-01 -2.85853103e-02 2.14441696e+02] [-5.12025880e-01 8.58795994e-01 1.72898271e-02 8.44621435e+01] [ 3.34068340e-02 -2.03788368e-04 9.99441815e-01 2.18088140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.47, Y:84.45, Z:21.81 [[ 8.57366177e-01 5.13912770e-01 -2.85815336e-02 2.14469445e+02] [-5.13621654e-01 8.57842435e-01 1.72960681e-02 8.44457256e+01] [ 3.34071226e-02 -1.48969198e-04 9.99441815e-01 2.18090094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.50, Y:84.43, Z:21.81 [[ 8.56602225e-01 5.15185360e-01 -2.85774817e-02 2.14497821e+02] [-5.14894728e-01 8.57078779e-01 1.73027604e-02 8.44291413e+01] [ 3.34072819e-02 -1.07188377e-04 9.99441815e-01 2.18098151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.53, Y:84.41, Z:21.81 [[ 8.54967676e-01 5.17893681e-01 -2.85728647e-02 2.14525898e+02] [-5.17604304e-01 8.55444993e-01 1.73103812e-02 8.44134772e+01] [ 3.34074511e-02 -1.03787066e-05 9.99441815e-01 2.18099409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.55, Y:84.40, Z:21.81 [[ 8.54049281e-01 5.19407047e-01 -2.85682574e-02 2.14553511e+02] [-5.19118262e-01 8.54526956e-01 1.73179815e-02 8.43977486e+01] [ 3.34074277e-02 3.98944274e-05 9.99441815e-01 2.18113247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.58, Y:84.38, Z:21.81 [[ 8.53080606e-01 5.20996718e-01 -2.85639346e-02 2.14580791e+02] [-5.20708585e-01 8.53558674e-01 1.73251085e-02 8.43821366e+01] [ 3.34073189e-02 9.37719073e-05 9.99441815e-01 2.18126343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.61, Y:84.37, Z:21.82 [[ 8.51740123e-01 5.23185538e-01 -2.85596972e-02 2.14609372e+02] [-5.22898399e-01 8.52218788e-01 1.73320910e-02 8.43664941e+01] [ 3.34070099e-02 1.71382654e-04 9.99441815e-01 2.18166987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.64, Y:84.35, Z:21.82 [[ 8.51167085e-01 5.24117555e-01 -2.85548899e-02 2.14636789e+02] [-5.23830674e-01 8.51645906e-01 1.73400075e-02 8.43503773e+01] [ 3.34068574e-02 1.98683574e-04 9.99441815e-01 2.18169192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.66, Y:84.33, Z:21.82 [[ 8.50639464e-01 5.24973692e-01 -2.85504030e-02 2.14664310e+02] [-5.24687045e-01 8.51118425e-01 1.73473920e-02 8.43343031e+01] [ 3.34066984e-02 2.23650304e-04 9.99441815e-01 2.18178743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.69, Y:84.32, Z:21.82 [[ 8.50214151e-01 5.25662447e-01 -2.85462480e-02 2.14692835e+02] [-5.25375959e-01 8.50693207e-01 1.73542266e-02 8.43178937e+01] [ 3.34065645e-02 2.42703381e-04 9.99441816e-01 2.18205239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:84.30, Z:21.82 [[ 8.48948110e-01 5.27704924e-01 -2.85415443e-02 2.14721994e+02] [-5.27419328e-01 8.49427698e-01 1.73619590e-02 8.43021287e+01] [ 3.34059696e-02 3.13959829e-04 9.99441816e-01 2.18214832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:84.29, Z:21.82 [[ 8.48284403e-01 5.28771428e-01 -2.85368018e-02 2.14750460e+02] [-5.28486173e-01 8.48764194e-01 1.73697506e-02 8.42854207e+01] [ 3.34056434e-02 3.46816604e-04 9.99441816e-01 2.18225863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:84.27, Z:21.82 [[ 8.47214759e-01 5.30483807e-01 -2.85321132e-02 2.14779381e+02] [-5.30199263e-01 8.47694972e-01 1.73774488e-02 8.42694994e+01] [ 3.34049841e-02 4.05274264e-04 9.99441816e-01 2.18249064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.94687500000003 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:214.81, Y:84.25, Z:21.83 [[ 8.46746157e-01 5.31231719e-01 -2.85273060e-02 2.14806838e+02] [-5.30947333e-01 8.47226463e-01 1.73853368e-02 8.42538315e+01] [ 3.34047309e-02 4.25529893e-04 9.99441816e-01 2.18256293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:84.24, Z:21.83 [[ 8.46354043e-01 5.31856448e-01 -2.85228512e-02 2.14835169e+02] [-5.31572170e-01 8.46834414e-01 1.73926423e-02 8.42377332e+01] [ 3.34045210e-02 4.41620761e-04 9.99441816e-01 2.18268309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:84.22, Z:21.83 [[ 8.46331919e-01 5.31891909e-01 -2.85180589e-02 2.14864039e+02] [-5.31607387e-01 8.46812145e-01 1.74004967e-02 8.42221275e+01] [ 3.34046220e-02 4.33814963e-04 9.99441816e-01 2.18281100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.036875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:214.89, Y:84.21, Z:21.83 [[ 8.46337585e-01 5.31883152e-01 -2.85132354e-02 2.14892319e+02] [-5.31598359e-01 8.46817650e-01 1.74083970e-02 8.42056332e+01] [ 3.34047441e-02 4.24208498e-04 9.99441816e-01 2.18292382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:214.92, Y:84.19, Z:21.83 [[ 8.46478113e-01 5.31659737e-01 -2.85083918e-02 2.14919901e+02] [-5.31374550e-01 8.46957944e-01 1.74163254e-02 8.41894585e+01] [ 3.34049679e-02 4.06095552e-04 9.99441816e-01 2.18297188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:84.17, Z:21.83 [[ 8.47233616e-01 5.30455207e-01 -2.85039195e-02 2.14948477e+02] [-5.30169092e-01 8.47712894e-01 1.74236419e-02 8.41731792e+01] [ 3.34056016e-02 3.50001997e-04 9.99441816e-01 2.18316386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:214.98, Y:84.16, Z:21.83 [[ 8.47488078e-01 5.30048831e-01 -2.84990297e-02 2.14976920e+02] [-5.29762218e-01 8.47967058e-01 1.74316362e-02 8.41563748e+01] [ 3.34058567e-02 3.24605358e-04 9.99441816e-01 2.18330685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:84.14, Z:21.83 [[ 8.47665411e-01 5.29765456e-01 -2.84940932e-02 2.15005185e+02] [-5.29478411e-01 8.48144132e-01 1.74397018e-02 8.41397015e+01] [ 3.34060495e-02 3.03975213e-04 9.99441816e-01 2.18343090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.186875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:215.03, Y:84.12, Z:21.84 [[ 8.48094391e-01 5.29078699e-01 -2.84891809e-02 2.15032758e+02] [-5.28790997e-01 8.48572718e-01 1.74477227e-02 8.41234773e+01] [ 3.34063601e-02 2.67506670e-04 9.99441816e-01 2.18350095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.216875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:215.06, Y:84.11, Z:21.84 [[ 8.48716076e-01 5.28081102e-01 -2.84845987e-02 2.15060937e+02] [-5.27792587e-01 8.49193913e-01 1.74552002e-02 8.41073317e+01] [ 3.34067092e-02 2.19451040e-04 9.99441816e-01 2.18368232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.246875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:215.09, Y:84.09, Z:21.84 [[ 8.48913423e-01 5.27764056e-01 -2.84798307e-02 2.15089138e+02] [-5.27475101e-01 8.49390995e-01 1.74629762e-02 8.40908250e+01] [ 3.34068429e-02 1.97846652e-04 9.99441816e-01 2.18382763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.276875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:215.12, Y:84.07, Z:21.84 [[ 8.49239490e-01 5.27239479e-01 -2.84749251e-02 2.15116705e+02] [-5.26949961e-01 8.49716720e-01 1.74709716e-02 8.40746920e+01] [ 3.34070059e-02 1.67821640e-04 9.99441816e-01 2.18381970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:84.06, Z:21.84 [[ 8.50150263e-01 5.25769882e-01 -2.84703562e-02 2.15145073e+02] [-5.25479290e-01 8.50626840e-01 1.74784139e-02 8.40584455e+01] [ 3.34072727e-02 1.01304424e-04 9.99441816e-01 2.18400722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.336875 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:215.17, Y:84.04, Z:21.84 [[ 8.50427554e-01 5.25321508e-01 -2.84655744e-02 2.15172688e+02] [-5.25030404e-01 8.50903818e-01 1.74861980e-02 8.40419221e+01] [ 3.34073419e-02 7.45474446e-05 9.99441816e-01 2.18407123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.366875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:215.20, Y:84.03, Z:21.84 [[ 8.50683696e-01 5.24906782e-01 -2.84626061e-02 2.15200480e+02] [-5.24615284e-01 8.51159719e-01 1.74910283e-02 8.40253914e+01] [ 3.34073832e-02 5.25855481e-05 9.99441816e-01 2.18432622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.396875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:215.23, Y:84.01, Z:21.85 [[ 8.50954258e-01 5.24468295e-01 -2.84580226e-02 2.15227671e+02] [-5.24176303e-01 8.51429978e-01 1.74984825e-02 8.40092305e+01] [ 3.34074128e-02 2.66129227e-05 9.99441816e-01 2.18453538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.426875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:215.26, Y:83.99, Z:21.85 [[ 8.50809478e-01 5.24703376e-01 -2.84534757e-02 2.15256047e+02] [-5.24411268e-01 8.51285127e-01 1.75058728e-02 8.39916778e+01] [ 3.34074113e-02 2.71607499e-05 9.99441816e-01 2.18464733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.456875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:215.28, Y:83.97, Z:21.85 [[ 8.50565224e-01 5.25099491e-01 -2.84486394e-02 2.15284270e+02] [-5.24807342e-01 8.51040847e-01 1.75137287e-02 8.39742332e+01] [ 3.34074042e-02 3.34862480e-05 9.99441816e-01 2.18488295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.31, Y:83.96, Z:21.85 [[ 8.49919831e-01 5.26143742e-01 -2.84437009e-02 2.15312754e+02] [-5.25851909e-01 8.50395648e-01 1.75217456e-02 8.39581437e+01] [ 3.34073563e-02 6.50953774e-05 9.99441816e-01 2.18506094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.516875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:215.34, Y:83.94, Z:21.85 [[ 8.49257729e-01 5.27212053e-01 -2.84387389e-02 2.15340899e+02] [-5.26920548e-01 8.49733748e-01 1.75297955e-02 8.39417153e+01] [ 3.34072757e-02 9.76415467e-05 9.99441816e-01 2.18511027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.546875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:215.37, Y:83.93, Z:21.85 [[ 8.48493245e-01 5.28441796e-01 -2.84338061e-02 2.15368875e+02] [-5.28150714e-01 8.48969522e-01 1.75377930e-02 8.39252672e+01] [ 3.34071376e-02 1.36636161e-04 9.99441816e-01 2.18518876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.40, Y:83.91, Z:21.85 [[ 8.48052540e-01 5.29149026e-01 -2.84288261e-02 2.15396431e+02] [-5.28858070e-01 8.48528894e-01 1.75458619e-02 8.39089206e+01] [ 3.34070561e-02 1.55001367e-04 9.99441817e-01 2.18524886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.42, Y:83.89, Z:21.85 [[ 8.46929056e-01 5.30945527e-01 -2.84257313e-02 2.15424835e+02] [-5.30655413e-01 8.47405924e-01 1.75508743e-02 8.38920792e+01] [ 3.34066913e-02 2.19922769e-04 9.99441817e-01 2.18542295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.45, Y:83.88, Z:21.85 [[ 8.46110742e-01 5.32248881e-01 -2.84207769e-02 2.15452390e+02] [-5.31959232e-01 8.46587893e-01 1.75588935e-02 8.38753993e+01] [ 3.34063870e-02 2.61926197e-04 9.99441817e-01 2.18542572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.666875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:215.48, Y:83.86, Z:21.86 [[ 8.45151487e-01 5.33771006e-01 -2.84161572e-02 2.15480722e+02] [-5.33481966e-01 8.45629006e-01 1.75663666e-02 8.38583839e+01] [ 3.34059439e-02 3.13266531e-04 9.99441817e-01 2.18563287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.69687500000003 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:215.51, Y:83.84, Z:21.86 [[ 8.44233762e-01 5.35221597e-01 -2.84112225e-02 2.15508288e+02] [-5.34933109e-01 8.44711615e-01 1.75743441e-02 8.38418105e+01] [ 3.34054582e-02 3.61248949e-04 9.99441817e-01 2.18568447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.726875 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:215.54, Y:83.83, Z:21.86 [[ 8.42404921e-01 5.38095728e-01 -2.84066244e-02 2.15537158e+02] [-5.37808620e-01 8.42883604e-01 1.75817731e-02 8.38255635e+01] [ 3.34041550e-02 4.66355274e-04 9.99441817e-01 2.18596254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.75687500000004 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:215.57, Y:83.81, Z:21.86 [[ 8.41556273e-01 5.39422265e-01 -2.84017444e-02 2.15565218e+02] [-5.39135646e-01 8.42035249e-01 1.75896529e-02 8.38087852e+01] [ 3.34035203e-02 5.09710012e-04 9.99441817e-01 2.18603444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.786875 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:215.59, Y:83.79, Z:21.86 [[ 8.40287741e-01 5.41396462e-01 -2.83968762e-02 2.15592947e+02] [-5.41110702e-01 8.40767230e-01 1.75975087e-02 8.37924294e+01] [ 3.34023919e-02 5.78882777e-04 9.99441817e-01 2.18614277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81687500000004 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:215.62, Y:83.78, Z:21.86 [[ 8.39902040e-01 5.41994868e-01 -2.83923445e-02 2.15620995e+02] [-5.41709203e-01 8.40381586e-01 1.76048172e-02 8.37752014e+01] [ 3.34021241e-02 5.94072379e-04 9.99441817e-01 2.18629340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.846875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:215.65, Y:83.76, Z:21.86 [[ 8.39673958e-01 5.42348328e-01 -2.83889955e-02 2.15647776e+02] [-5.42062683e-01 8.40153515e-01 1.76102161e-02 8.37587726e+01] [ 3.34019856e-02 6.01775203e-04 9.99441817e-01 2.18641584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87687500000004 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:215.67, Y:83.74, Z:21.87 [[ 8.39281713e-01 5.42955287e-01 -2.83859548e-02 2.15674811e+02] [-5.42669822e-01 8.39761378e-01 1.76151159e-02 8.37420186e+01] [ 3.34016489e-02 6.20156372e-04 9.99441817e-01 2.18651758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.70, Y:83.73, Z:21.87 [[ 8.38785544e-01 5.43721715e-01 -2.83814667e-02 2.15701940e+02] [-5.43436444e-01 8.39265324e-01 1.76223442e-02 8.37252563e+01] [ 3.34012321e-02 6.42155720e-04 9.99441817e-01 2.18658054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.936875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:215.73, Y:83.71, Z:21.87 [[ 8.38583666e-01 5.44033250e-01 -2.83770670e-02 2.15730135e+02] [-5.43747917e-01 8.39063410e-01 1.76294261e-02 8.37075294e+01] [ 3.34011526e-02 6.46222276e-04 9.99441817e-01 2.18674395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.966875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:215.76, Y:83.69, Z:21.87 [[ 8.38371922e-01 5.44359756e-01 -2.83721050e-02 2.15757308e+02] [-5.44074341e-01 8.38851616e-01 1.76374082e-02 8.36903068e+01] [ 3.34010814e-02 6.49826560e-04 9.99441817e-01 2.18672152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.996875 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:215.78, Y:83.67, Z:21.87 [[ 8.38289205e-01 5.44487289e-01 -2.83690231e-02 2.15784803e+02] [-5.44201779e-01 8.38768843e-01 1.76423639e-02 8.36729951e+01] [ 3.34010956e-02 6.49069646e-04 9.99441817e-01 2.18684176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.026875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:215.81, Y:83.66, Z:21.87 [[ 8.38339443e-01 5.44410189e-01 -2.83641596e-02 2.15812465e+02] [-5.44124370e-01 8.38818897e-01 1.76501796e-02 8.36554384e+01] [ 3.34013307e-02 6.36788732e-04 9.99441817e-01 2.18701804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.84, Y:83.64, Z:21.87 [[ 8.38761714e-01 5.43759643e-01 -2.83591066e-02 2.15839794e+02] [-5.43473178e-01 8.39240782e-01 1.76582947e-02 8.36368163e+01] [ 3.34019868e-02 6.01312257e-04 9.99441817e-01 2.18719091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.086875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:215.87, Y:83.62, Z:21.87 [[ 8.38979011e-01 5.43424574e-01 -2.83540425e-02 2.15866179e+02] [-5.43137644e-01 8.39457800e-01 1.76664224e-02 8.36193749e+01] [ 3.34023902e-02 5.78390220e-04 9.99441817e-01 2.18723028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.116875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:215.89, Y:83.60, Z:21.87 [[ 8.39433371e-01 5.42722701e-01 -2.83493453e-02 2.15894023e+02] [-5.42435116e-01 8.39911767e-01 1.76739569e-02 8.36011546e+01] [ 3.34030063e-02 5.41571209e-04 9.99441817e-01 2.18735320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.92, Y:83.58, Z:21.87 [[ 8.40471889e-01 5.41113296e-01 -2.83444040e-02 2.15919806e+02] [-5.40824527e-01 8.40949572e-01 1.76818779e-02 8.35830457e+01] [ 3.34041136e-02 4.68227537e-04 9.99441817e-01 2.18745093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.176875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:215.95, Y:83.57, Z:21.88 [[ 8.40969073e-01 5.40340518e-01 -2.83397890e-02 2.15947194e+02] [-5.40051061e-01 8.41446339e-01 1.76892715e-02 8.35650237e+01] [ 3.34046418e-02 4.28802859e-04 9.99441817e-01 2.18753947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.206875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:215.97, Y:83.55, Z:21.88 [[ 8.41545343e-01 5.39442838e-01 -2.83347808e-02 2.15973608e+02] [-5.39152603e-01 8.42022136e-01 1.76972900e-02 8.35475014e+01] [ 3.34051890e-02 3.83698788e-04 9.99441817e-01 2.18756025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.236875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:216.00, Y:83.53, Z:21.88 [[ 8.42117731e-01 5.38549099e-01 -2.83301217e-02 2.16000697e+02] [-5.38258106e-01 8.42594062e-01 1.77047452e-02 8.35293373e+01] [ 3.34056669e-02 3.39437795e-04 9.99441817e-01 2.18777472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.03, Y:83.51, Z:21.88 [[ 8.43546388e-01 5.36308848e-01 -2.83251104e-02 2.16026223e+02] [-5.36016321e-01 8.44021778e-01 1.77127590e-02 8.35101570e+01] [ 3.34065194e-02 2.41187558e-04 9.99441817e-01 2.18792299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.05, Y:83.49, Z:21.88 [[ 8.44251437e-01 5.35198525e-01 -2.83204710e-02 2.16052505e+02] [-5.34905125e-01 8.44726289e-01 1.77201737e-02 8.34921380e+01] [ 3.34068572e-02 1.88482979e-04 9.99441817e-01 2.18801927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.32687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:216.08, Y:83.47, Z:21.88 [[ 8.45339553e-01 5.33478442e-01 -2.83159316e-02 2.16078757e+02] [-5.33183832e-01 8.45813655e-01 1.77274246e-02 8.34726301e+01] [ 3.34072004e-02 1.11903754e-04 9.99441817e-01 2.18812062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.11, Y:83.45, Z:21.88 [[ 8.45649580e-01 5.32987119e-01 -2.83111166e-02 2.16105997e+02] [-5.32691977e-01 8.46123350e-01 1.77351108e-02 8.34542845e+01] [ 3.34072825e-02 8.34156920e-05 9.99441817e-01 2.18829690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.38687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:216.13, Y:83.44, Z:21.88 [[ 8.45562603e-01 5.33125356e-01 -2.83061756e-02 2.16131758e+02] [-5.32830027e-01 8.46036257e-01 1.77429935e-02 8.34361401e+01] [ 3.34072906e-02 7.95685354e-05 9.99441818e-01 2.18834133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.16, Y:83.42, Z:21.88 [[ 8.45422196e-01 5.33348147e-01 -2.83031039e-02 2.16158204e+02] [-5.33052779e-01 8.45895825e-01 1.77478920e-02 8.34161432e+01] [ 3.34072827e-02 8.25864052e-05 9.99441818e-01 2.18846276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.44687500000003 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:216.18, Y:83.41, Z:21.88 [[ 8.48720677e-01 5.28083724e-01 -2.82982749e-02 2.16181683e+02] [-5.27785161e-01 8.49192300e-01 1.77555883e-02 8.34089290e+01] [ 3.34071143e-02 -1.34125384e-04 9.99441818e-01 2.18779307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.476875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:216.21, Y:83.38, Z:21.89 [[ 8.44790454e-01 5.34328133e-01 -2.86798808e-02 2.16210578e+02] [-5.34053585e-01 8.45276733e-01 1.71468020e-02 8.33804686e+01] [ 3.34044546e-02 8.31138520e-04 9.99441570e-01 2.18859048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.24, Y:83.36, Z:21.89 [[ 8.44280796e-01 5.35153907e-01 -2.82883963e-02 2.16237081e+02] [-5.34858810e-01 8.44754568e-01 1.77700295e-02 8.33621267e+01] [ 3.34064527e-02 1.27403314e-04 9.99441841e-01 2.18866584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.26, Y:83.34, Z:21.89 [[ 8.43106179e-01 5.37002794e-01 -2.82837532e-02 2.16263760e+02] [-5.36708488e-01 8.43580442e-01 1.77774166e-02 8.33429709e+01] [ 3.34061434e-02 1.91880683e-04 9.99441841e-01 2.18878689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:216.29, Y:83.32, Z:21.89 [[ 8.42292643e-01 5.38278188e-01 -2.82788897e-02 2.16291214e+02] [-5.37984341e-01 8.42767191e-01 1.77851497e-02 8.33246341e+01] [ 3.34058786e-02 2.33299139e-04 9.99441841e-01 2.18903898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.32, Y:83.31, Z:21.89 [[ 8.40118179e-01 5.41665978e-01 -2.82739083e-02 2.16317631e+02] [-5.41373778e-01 8.40593742e-01 1.77930654e-02 8.33060667e+01] [ 3.34047685e-02 3.58474801e-04 9.99441841e-01 2.18932604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.34, Y:83.29, Z:21.89 [[ 8.38888836e-01 5.43568183e-01 -2.82692654e-02 2.16344487e+02] [-5.43276812e-01 8.39364909e-01 1.78004389e-02 8.32884199e+01] [ 3.34039816e-02 4.25446882e-04 9.99441841e-01 2.18946984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.37, Y:83.27, Z:21.90 [[ 8.37838760e-01 5.45185585e-01 -2.82646523e-02 2.16372005e+02] [-5.44894886e-01 8.38315243e-01 1.78077609e-02 8.32703594e+01] [ 3.34032234e-02 4.81232176e-04 9.99441841e-01 2.18959770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.686875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:216.40, Y:83.26, Z:21.89 [[ 8.38420955e-01 5.44290076e-01 -2.82597788e-02 2.16397571e+02] [-5.43998608e-01 8.38896968e-01 1.78154914e-02 8.32594010e+01] [ 3.34038379e-02 4.36398947e-04 9.99441841e-01 2.18924714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.42, Y:83.24, Z:21.89 [[ 8.36695493e-01 5.46927563e-01 -2.84761779e-02 2.16424755e+02] [-5.46649219e-01 8.37179398e-01 1.74724689e-02 8.32399093e+01] [ 3.33958443e-02 9.47344416e-04 9.99441754e-01 2.18916210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.746875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:216.45, Y:83.22, Z:21.90 [[ 8.34109694e-01 5.50868004e-01 -2.83806526e-02 2.16451233e+02] [-5.50586795e-01 8.34591868e-01 1.76237448e-02 8.32173793e+01] [ 3.33946190e-02 9.25876195e-04 9.99441815e-01 2.18963387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.48, Y:83.20, Z:21.90 [[ 8.33810137e-01 5.51328603e-01 -2.82387375e-02 2.16477342e+02] [-5.51040042e-01 8.34287907e-01 1.78482786e-02 8.31995105e+01] [ 3.33995037e-02 6.78599455e-04 9.99441851e-01 2.18976735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.50, Y:83.19, Z:21.89 [[ 8.35720211e-01 5.48429022e-01 -2.82371575e-02 2.16503581e+02] [-5.48138719e-01 8.36196923e-01 1.78507780e-02 8.31865972e+01] [ 3.34017089e-02 5.59623383e-04 9.99441851e-01 2.18930632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.53, Y:83.16, Z:21.90 [[ 8.33686372e-01 5.51507704e-01 -2.83951760e-02 2.16529945e+02] [-5.51227643e-01 8.34169224e-01 1.76008606e-02 8.31648778e+01] [ 3.33933922e-02 9.78608344e-04 9.99441806e-01 2.18999620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.56, Y:83.15, Z:21.90 [[ 8.33694427e-01 5.51504104e-01 -2.82281045e-02 2.16556428e+02] [-5.51215083e-01 8.34171913e-01 1.78648520e-02 8.31476509e+01] [ 3.33996311e-02 6.65929383e-04 9.99441855e-01 2.19012188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.58, Y:83.13, Z:21.90 [[ 8.33724825e-01 5.51458310e-01 -2.82249703e-02 2.16584004e+02] [-5.51169095e-01 8.34202193e-01 1.78698024e-02 8.31299903e+01] [ 3.33997831e-02 6.58233482e-04 9.99441855e-01 2.19034021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.61, Y:83.11, Z:21.90 [[ 8.33475459e-01 5.51835243e-01 -2.82227542e-02 2.16611525e+02] [-5.51546125e-01 8.33952887e-01 1.78733017e-02 8.31125071e+01] [ 3.33995651e-02 6.69192406e-04 9.99441855e-01 2.19045303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.956875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:216.64, Y:83.10, Z:21.91 [[ 8.33593462e-01 5.51657237e-01 -2.82176131e-02 2.16638529e+02] [-5.51367743e-01 8.34070661e-01 1.78814145e-02 8.30957645e+01] [ 3.33998950e-02 6.52451444e-04 9.99441855e-01 2.19056964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.67, Y:83.08, Z:21.91 [[ 8.33196305e-01 5.52257063e-01 -2.82144291e-02 2.16666406e+02] [-5.51967742e-01 8.33673610e-01 1.78864370e-02 8.30784318e+01] [ 3.33995361e-02 6.70541515e-04 9.99441855e-01 2.19071450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.69, Y:83.06, Z:21.91 [[ 8.33012657e-01 5.52534288e-01 -2.82094645e-02 2.16693808e+02] [-5.52244862e-01 8.33489897e-01 1.78942635e-02 8.30612239e+01] [ 3.33994978e-02 6.72383890e-04 9.99441855e-01 2.19077407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.72, Y:83.04, Z:21.91 [[ 8.32824670e-01 5.52817834e-01 -2.82048250e-02 2.16721976e+02] [-5.52528322e-01 8.33301858e-01 1.79015733e-02 8.30437901e+01] [ 3.33994421e-02 6.75092750e-04 9.99441855e-01 2.19090621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.75, Y:83.03, Z:21.91 [[ 8.33092881e-01 5.52413816e-01 -2.81997987e-02 2.16749155e+02] [-5.52123805e-01 8.33569766e-01 1.79094875e-02 8.30274986e+01] [ 3.33999480e-02 6.49513593e-04 9.99441855e-01 2.19091709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.78, Y:83.01, Z:21.91 [[ 8.33149375e-01 5.52328845e-01 -2.81951451e-02 2.16777351e+02] [-5.52038537e-01 8.33626080e-01 1.79168108e-02 8.30099176e+01] [ 3.34001797e-02 6.37426905e-04 9.99441855e-01 2.19103749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.81, Y:82.99, Z:21.91 [[ 8.34045391e-01 5.50975129e-01 -2.81903027e-02 2.16805437e+02] [-5.50683791e-01 8.34521466e-01 1.79244266e-02 8.29925300e+01] [ 3.34013260e-02 5.74157375e-04 9.99441855e-01 2.19123702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.83, Y:82.98, Z:21.91 [[ 8.34381429e-01 5.50466367e-01 -2.81852926e-02 2.16833143e+02] [-5.50174472e-01 8.34857163e-01 1.79323013e-02 8.29752776e+01] [ 3.34018222e-02 5.44449336e-04 9.99441855e-01 2.19136252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.86, Y:82.96, Z:21.91 [[ 8.34680821e-01 5.50012548e-01 -2.81802182e-02 2.16860182e+02] [-5.49720125e-01 8.35156231e-01 1.79402721e-02 8.29586988e+01] [ 3.34022596e-02 5.16831995e-04 9.99441855e-01 2.19143125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.89, Y:82.94, Z:21.91 [[ 8.35360291e-01 5.48980180e-01 -2.81770623e-02 2.16888045e+02] [-5.48687003e-01 8.35835236e-01 1.79452273e-02 8.29422109e+01] [ 3.34029557e-02 4.69657534e-04 9.99441855e-01 2.19148337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.92, Y:82.92, Z:21.92 [[ 8.35591040e-01 5.48629137e-01 -2.81723849e-02 2.16915781e+02] [-5.48335513e-01 8.36065709e-01 1.79525675e-02 8.29249501e+01] [ 3.34032666e-02 4.46914540e-04 9.99441855e-01 2.19168175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:82.91, Z:21.92 [[ 8.35439516e-01 5.48860102e-01 -2.81674121e-02 2.16943863e+02] [-5.48566347e-01 8.35914104e-01 1.79603663e-02 8.29069398e+01] [ 3.34032655e-02 4.46894614e-04 9.99441855e-01 2.19179371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:82.89, Z:21.92 [[ 8.35598054e-01 5.48618965e-01 -2.81624479e-02 2.16970724e+02] [-5.48324810e-01 8.36072394e-01 1.79681469e-02 8.28901962e+01] [ 3.34035114e-02 4.28020313e-04 9.99441855e-01 2.19193680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.346875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:217.00, Y:82.87, Z:21.92 [[ 8.35759628e-01 5.48373030e-01 -2.81578269e-02 2.16998797e+02] [-5.48078492e-01 8.36233730e-01 1.79753856e-02 8.28730387e+01] [ 3.34037413e-02 4.09597717e-04 9.99441855e-01 2.19207053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:217.03, Y:82.86, Z:21.92 [[ 8.36218933e-01 5.47672629e-01 -2.81529116e-02 2.17025958e+02] [-5.47377435e-01 8.36692627e-01 1.79830806e-02 8.28570461e+01] [ 3.34041746e-02 3.72476104e-04 9.99441855e-01 2.19213277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.406875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:217.05, Y:82.84, Z:21.92 [[ 8.36344768e-01 5.47480686e-01 -2.81483277e-02 2.17053644e+02] [-5.47185142e-01 8.36818243e-01 1.79902528e-02 8.28396929e+01] [ 3.34043501e-02 3.56292922e-04 9.99441855e-01 2.19225640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.08, Y:82.82, Z:21.92 [[ 8.36646205e-01 5.47020176e-01 -2.81434552e-02 2.17081853e+02] [-5.46724115e-01 8.37119358e-01 1.79978719e-02 8.28224662e+01] [ 3.34046302e-02 3.28854393e-04 9.99441856e-01 2.19235160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.11, Y:82.81, Z:21.92 [[ 8.37734662e-01 5.45352047e-01 -2.81386012e-02 2.17109316e+02] [-5.45054789e-01 8.38207063e-01 1.80054578e-02 8.28064055e+01] [ 3.34052875e-02 2.53283254e-04 9.99441856e-01 2.19237086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.14, Y:82.79, Z:21.93 [[ 8.38347676e-01 5.44409449e-01 -2.81340819e-02 2.17136821e+02] [-5.44111423e-01 8.38819593e-01 1.80125165e-02 8.27890775e+01] [ 3.34056033e-02 2.07324022e-04 9.99441856e-01 2.19258500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.16, Y:82.77, Z:21.93 [[ 8.38952074e-01 5.43477852e-01 -2.81290313e-02 2.17163709e+02] [-5.43179037e-01 8.39423492e-01 1.80204003e-02 8.27718211e+01] [ 3.34058581e-02 1.60847939e-04 9.99441856e-01 2.19262298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.19, Y:82.75, Z:21.93 [[ 8.39847788e-01 5.42092903e-01 -2.81243280e-02 2.17192005e+02] [-5.41793065e-01 8.40318556e-01 1.80277377e-02 8.27545380e+01] [ 3.34061034e-02 9.70102710e-05 9.99441856e-01 2.19292637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.22, Y:82.74, Z:21.93 [[ 8.40172302e-01 5.41590080e-01 -2.81191893e-02 2.17219432e+02] [-5.41289692e-01 8.40642719e-01 1.80357493e-02 8.27377544e+01] [ 3.34061747e-02 6.74903489e-05 9.99441856e-01 2.19304262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.616875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:217.25, Y:82.72, Z:21.93 [[ 8.40489290e-01 5.41098266e-01 -2.81144027e-02 2.17246988e+02] [-5.40797353e-01 8.40959372e-01 1.80432077e-02 8.27215212e+01] [ 3.34062188e-02 3.90717851e-05 9.99441856e-01 2.19317681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.27, Y:82.70, Z:21.93 [[ 8.40500033e-01 5.41081825e-01 -2.81096769e-02 2.17274778e+02] [-5.40780657e-01 8.40969951e-01 1.80505671e-02 8.27048015e+01] [ 3.34062274e-02 2.96672813e-05 9.99441856e-01 2.19327458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.676875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:217.30, Y:82.69, Z:21.93 [[ 8.40206034e-01 5.41538504e-01 -2.81046156e-02 2.17301671e+02] [-5.41237328e-01 8.40675947e-01 1.80584441e-02 8.26882937e+01] [ 3.34062171e-02 3.84533354e-05 9.99441856e-01 2.19328436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.33, Y:82.67, Z:21.93 [[ 8.40074109e-01 5.41743377e-01 -2.80999086e-02 2.17328740e+02] [-5.41442071e-01 8.40543938e-01 1.80657654e-02 8.26717604e+01] [ 3.34062166e-02 3.78909712e-05 9.99441856e-01 2.19332778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.736875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:217.36, Y:82.65, Z:21.93 [[ 8.40014323e-01 5.41836316e-01 -2.80952514e-02 2.17356966e+02] [-5.41534820e-01 8.40484031e-01 1.80730053e-02 8.26548073e+01] [ 3.34062207e-02 3.29735803e-05 9.99441856e-01 2.19342781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.39, Y:82.64, Z:21.94 [[ 8.39886753e-01 5.42034291e-01 -2.80903742e-02 2.17385256e+02] [-5.41732652e-01 8.40356368e-01 1.80805825e-02 8.26371530e+01] [ 3.34062206e-02 3.18312076e-05 9.99441856e-01 2.19360905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.41, Y:82.62, Z:21.94 [[ 8.39452134e-01 5.42707399e-01 -2.80854582e-02 2.17412647e+02] [-5.42405881e-01 8.39921828e-01 1.80882156e-02 8.26198504e+01] [ 3.34061978e-02 4.95265754e-05 9.99441856e-01 2.19375447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.44, Y:82.60, Z:21.94 [[ 8.38635773e-01 5.43968215e-01 -2.80824036e-02 2.17440544e+02] [-5.43667245e-01 8.39105817e-01 1.80929568e-02 8.26031809e+01] [ 3.34061016e-02 9.40821684e-05 9.99441856e-01 2.19399685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.47, Y:82.59, Z:21.94 [[ 8.37895620e-01 5.45107875e-01 -2.80772893e-02 2.17467352e+02] [-5.44807278e-01 8.38365903e-01 1.81008898e-02 8.25864512e+01] [ 3.34059796e-02 1.30055310e-04 9.99441856e-01 2.19409650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.50, Y:82.57, Z:21.94 [[ 8.37039879e-01 5.46421161e-01 -2.80741095e-02 2.17495690e+02] [-5.46121136e-01 8.37510528e-01 1.81058203e-02 8.25692137e+01] [ 3.34057656e-02 1.76570967e-04 9.99441856e-01 2.19420750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.916875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:217.52, Y:82.55, Z:21.94 [[ 8.34812077e-01 5.49818990e-01 -2.80690840e-02 2.17524102e+02] [-5.49520619e-01 8.35283776e-01 1.81136078e-02 8.25534297e+01] [ 3.34048560e-02 3.03081904e-04 9.99441856e-01 2.19419731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.55, Y:82.54, Z:21.94 [[ 8.33846489e-01 5.51282543e-01 -2.80640667e-02 2.17551669e+02] [-5.50984738e-01 8.34318545e-01 1.81213780e-02 8.25370163e+01] [ 3.34043706e-02 3.52425076e-04 9.99441856e-01 2.19425866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.58, Y:82.52, Z:21.94 [[ 8.32291461e-01 5.53627667e-01 -2.80593941e-02 2.17579145e+02] [-5.53330949e-01 8.32764201e-01 1.81286103e-02 8.25205530e+01] [ 3.34033591e-02 4.37843604e-04 9.99441856e-01 2.19434078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.00687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:217.61, Y:82.50, Z:21.95 [[ 8.31578530e-01 5.54698187e-01 -2.80547731e-02 2.17606792e+02] [-5.54401836e-01 8.32051500e-01 1.81357586e-02 8.25030875e+01] [ 3.34028885e-02 4.72310195e-04 9.99441856e-01 2.19451122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.036875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:217.63, Y:82.49, Z:21.95 [[ 8.30774330e-01 5.55902169e-01 -2.80498022e-02 2.17634114e+02] [-5.55606244e-01 8.31247567e-01 1.81434436e-02 8.24857033e+01] [ 3.34023095e-02 5.11538032e-04 9.99441856e-01 2.19463234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.66, Y:82.47, Z:21.95 [[ 8.30289778e-01 5.56625881e-01 -2.80448527e-02 2.17661723e+02] [-5.56330110e-01 8.30763111e-01 1.81510909e-02 8.24686016e+01] [ 3.34019961e-02 5.31530760e-04 9.99441856e-01 2.19471809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.69, Y:82.45, Z:21.95 [[ 8.29379008e-01 5.57982284e-01 -2.80398305e-02 2.17688701e+02] [-5.57687025e-01 8.29852661e-01 1.81588460e-02 8.24521743e+01] [ 3.34012423e-02 5.76883947e-04 9.99441856e-01 2.19474394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.72, Y:82.43, Z:21.95 [[ 8.29088279e-01 5.58414413e-01 -2.80351471e-02 2.17716582e+02] [-5.58119157e-01 8.29561933e-01 1.81660737e-02 8.24345649e+01] [ 3.34010882e-02 5.85673856e-04 9.99441856e-01 2.19479086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.74, Y:82.42, Z:21.95 [[ 8.29014571e-01 5.58524080e-01 -2.80302079e-02 2.17744116e+02] [-5.58228630e-01 8.29488104e-01 1.81736918e-02 8.24169877e+01] [ 3.34011684e-02 5.81009223e-04 9.99441856e-01 2.19493414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.186875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:217.77, Y:82.40, Z:21.95 [[ 8.28939553e-01 5.58635670e-01 -2.80250971e-02 2.17771157e+02] [-5.58340017e-01 8.29412959e-01 1.81815695e-02 8.23997347e+01] [ 3.34012520e-02 5.76111128e-04 9.99441856e-01 2.19494669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.80, Y:82.38, Z:21.95 [[ 8.28660641e-01 5.59049553e-01 -2.80203392e-02 2.17798545e+02] [-5.58753888e-01 8.29134040e-01 1.81888992e-02 8.23817200e+01] [ 3.34011130e-02 5.84048578e-04 9.99441857e-01 2.19517105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.83, Y:82.36, Z:21.95 [[ 8.28349611e-01 5.59510566e-01 -2.80151404e-02 2.17825440e+02] [-5.59214894e-01 8.28823006e-01 1.81969029e-02 8.23639951e+01] [ 3.34009524e-02 5.93086316e-04 9.99441857e-01 2.19527775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.85, Y:82.36, Z:21.95 [[ 8.30909109e-01 5.55702686e-01 -2.80103023e-02 2.17850136e+02] [-5.55404594e-01 8.31380983e-01 1.82043473e-02 8.23558536e+01] [ 3.34034373e-02 4.30892591e-04 9.99441857e-01 2.19490659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.306875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:217.88, Y:82.33, Z:21.95 [[ 8.27736577e-01 5.60400008e-01 -2.83547316e-02 2.17878373e+02] [-5.60122633e-01 8.28221143e-01 1.76740913e-02 8.23297489e+01] [ 3.33885491e-02 1.25263504e-03 9.99441662e-01 2.19536798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.91, Y:82.31, Z:21.96 [[ 8.27454012e-01 5.60834970e-01 -2.79998984e-02 2.17905563e+02] [-5.60539294e-01 8.27927384e-01 1.82194177e-02 8.23118456e+01] [ 3.33999692e-02 6.19313075e-04 9.99441874e-01 2.19556829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.366875 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:217.93, Y:82.31, Z:21.95 [[ 8.30647235e-01 5.56094826e-01 -2.79949153e-02 2.17928232e+02] [-5.55796190e-01 8.31118745e-01 1.82270713e-02 8.23062817e+01] [ 3.34030789e-02 4.19200909e-04 9.99441874e-01 2.19510085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.396875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:217.96, Y:82.28, Z:21.96 [[ 8.26795706e-01 5.61782302e-01 -2.84518195e-02 2.17957880e+02] [-5.61510851e-01 8.27283770e-01 1.75250853e-02 8.22769890e+01] [ 3.33830113e-02 1.48634008e-03 9.99441527e-01 2.19584963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.98, Y:82.26, Z:21.96 [[ 8.26798133e-01 5.61802620e-01 -2.79761209e-02 2.17984672e+02] [-5.61506321e-01 8.27271078e-01 1.82541589e-02 8.22590709e+01] [ 3.33990700e-02 6.16264264e-04 9.99441905e-01 2.19596882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.01, Y:82.24, Z:21.96 [[ 8.26823291e-01 5.61765834e-01 -2.79712936e-02 2.18011884e+02] [-5.61469265e-01 8.27296066e-01 1.82615528e-02 8.22411272e+01] [ 3.33992576e-02 6.05944509e-04 9.99441905e-01 2.19604449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.04, Y:82.22, Z:21.96 [[ 8.27471023e-01 5.60811552e-01 -2.79661949e-02 2.18038822e+02] [-5.60514174e-01 8.27943290e-01 1.82693577e-02 8.22230654e+01] [ 3.34000903e-02 5.58084512e-04 9.99441906e-01 2.19605621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.516875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:218.07, Y:82.21, Z:21.96 [[ 8.27785223e-01 5.60347895e-01 -2.79617661e-02 2.18065847e+02] [-5.60050024e-01 8.28257179e-01 1.82761337e-02 8.22052202e+01] [ 3.34005266e-02 5.31274317e-04 9.99441906e-01 2.19606790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.09, Y:82.19, Z:21.96 [[ 8.29040595e-01 5.58489120e-01 -2.79570224e-02 2.18092744e+02] [-5.58189945e-01 8.29511725e-01 1.82833872e-02 8.21867114e+01] [ 3.34017508e-02 4.47658582e-04 9.99441906e-01 2.19628215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.12, Y:82.17, Z:21.96 [[ 8.29745292e-01 5.57441872e-01 -2.79519015e-02 2.18119694e+02] [-5.57141840e-01 8.30215877e-01 1.82912129e-02 8.21684394e+01] [ 3.34024003e-02 3.96126041e-04 9.99441906e-01 2.19644957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:82.15, Z:21.97 [[ 8.30470034e-01 5.56361844e-01 -2.79467521e-02 2.18146614e+02] [-5.56060935e-01 8.30940058e-01 1.82990772e-02 8.21500236e+01] [ 3.34029841e-02 3.43261841e-04 9.99441906e-01 2.19657326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.17, Y:82.13, Z:21.97 [[ 8.31295596e-01 5.55127821e-01 -2.79416236e-02 2.18173424e+02] [-5.54825951e-01 8.31765004e-01 1.83069046e-02 8.21317529e+01] [ 3.34035368e-02 2.84288720e-04 9.99441906e-01 2.19665984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.20, Y:82.11, Z:21.97 [[ 8.33677805e-01 5.51544075e-01 -2.79365381e-02 2.18198893e+02] [-5.51239927e-01 8.34145740e-01 1.83146619e-02 8.21131047e+01] [ 3.34044875e-02 1.31208136e-04 9.99441906e-01 2.19671240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.23, Y:82.09, Z:21.97 [[ 8.34978979e-01 5.49572487e-01 -2.79318043e-02 2.18225631e+02] [-5.49266992e-01 8.35446036e-01 1.83218786e-02 8.20944071e+01] [ 3.34047156e-02 4.36346852e-05 9.99441906e-01 2.19695335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.25, Y:82.08, Z:21.97 [[ 8.36105280e-01 5.47857705e-01 -2.79266127e-02 2.18252752e+02] [-5.47550989e-01 8.36571535e-01 1.83297884e-02 8.20752396e+01] [ 3.34047251e-02 -3.43884311e-05 9.99441906e-01 2.19707613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.28, Y:82.06, Z:21.97 [[ 8.38002620e-01 5.44951376e-01 -2.79214455e-02 2.18277993e+02] [-5.44642780e-01 8.38467634e-01 1.83376561e-02 8.20560877e+01] [ 3.34043593e-02 -1.59790154e-04 9.99441906e-01 2.19718790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.30, Y:82.04, Z:21.97 [[ 8.38637342e-01 5.43974328e-01 -2.79166373e-02 2.18304904e+02] [-5.43664947e-01 8.39101834e-01 1.83449731e-02 8.20372635e+01] [ 3.34040959e-02 -2.07482344e-04 9.99441906e-01 2.19735657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.33, Y:82.02, Z:21.97 [[ 8.38935814e-01 5.43514167e-01 -2.79114531e-02 2.18331098e+02] [-5.43204269e-01 8.39399961e-01 1.83528573e-02 8.20189609e+01] [ 3.34039106e-02 -2.35248753e-04 9.99441906e-01 2.19742651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.36, Y:82.00, Z:21.98 [[ 8.38930002e-01 5.43523387e-01 -2.79066193e-02 2.18358206e+02] [-5.43213250e-01 8.39393989e-01 1.83602044e-02 8.20001286e+01] [ 3.34038490e-02 -2.43680980e-04 9.99441906e-01 2.19758283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:218.38, Y:81.98, Z:21.98 [[ 8.38508110e-01 5.44174290e-01 -2.79014517e-02 2.18384690e+02] [-5.43864252e-01 8.38972163e-01 1.83680540e-02 8.19823899e+01] [ 3.34039641e-02 -2.27160103e-04 9.99441906e-01 2.19763312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.41, Y:81.96, Z:21.98 [[ 8.37456197e-01 5.45791989e-01 -2.78966525e-02 2.18411280e+02] [-5.45482604e-01 8.37920686e-01 1.83753400e-02 8.19641971e+01] [ 3.34042956e-02 -1.71403699e-04 9.99441906e-01 2.19757353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.44, Y:81.95, Z:21.98 [[ 8.36752271e-01 5.46870806e-01 -2.78919020e-02 2.18438317e+02] [-5.46561780e-01 8.37216999e-01 1.83825481e-02 8.19458996e+01] [ 3.34044533e-02 -1.36991263e-04 9.99441906e-01 2.19770928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.966875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:218.47, Y:81.93, Z:21.98 [[ 8.35959915e-01 5.48081512e-01 -2.78868647e-02 2.18465899e+02] [-5.47772904e-01 8.36424920e-01 1.83901866e-02 8.19275071e+01] [ 3.34045898e-02 -9.77899609e-05 9.99441906e-01 2.19786947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.49, Y:81.91, Z:21.98 [[ 8.34659355e-01 5.50060335e-01 -2.78817038e-02 2.18492001e+02] [-5.49752568e-01 8.35124917e-01 1.83980077e-02 8.19098391e+01] [ 3.34047199e-02 -2.80309714e-05 9.99441906e-01 2.19803253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.52, Y:81.89, Z:21.98 [[ 8.33720005e-01 5.51483302e-01 -2.78768904e-02 2.18519075e+02] [-5.51176086e-01 8.34185931e-01 1.84052982e-02 8.18911754e+01] [ 3.34047244e-02 2.02100307e-05 9.99441906e-01 2.19823401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:81.87, Z:21.98 [[ 8.32888322e-01 5.52738821e-01 -2.78718354e-02 2.18546233e+02] [-5.52432051e-01 8.33354542e-01 1.84129500e-02 8.18725466e+01] [ 3.34046729e-02 6.13642421e-05 9.99441906e-01 2.19837743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.57, Y:81.85, Z:21.99 [[ 8.31916056e-01 5.54201334e-01 -2.78667766e-02 2.18573412e+02] [-5.53895128e-01 8.32382646e-01 1.84206030e-02 8.18542892e+01] [ 3.34045440e-02 1.10876409e-04 9.99441906e-01 2.19852479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.60, Y:81.84, Z:21.99 [[ 8.29921430e-01 5.57184121e-01 -2.78617223e-02 2.18600479e+02] [-5.56879335e-01 8.30388949e-01 1.84282446e-02 8.18371504e+01] [ 3.34039916e-02 2.21622262e-04 9.99441906e-01 2.19862288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.63, Y:81.82, Z:21.99 [[ 8.28605638e-01 5.59139234e-01 -2.78570332e-02 2.18627759e+02] [-5.58835313e-01 8.29073719e-01 1.84353302e-02 8.18194951e+01] [ 3.34034505e-02 2.91875339e-04 9.99441906e-01 2.19871554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.176875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:218.65, Y:81.80, Z:21.99 [[ 8.27310945e-01 5.61053350e-01 -2.78520827e-02 2.18654558e+02] [-5.60750261e-01 8.27779565e-01 1.84428064e-02 8.18022532e+01] [ 3.34027832e-02 3.60127046e-04 9.99441906e-01 2.19878030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.206875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:218.68, Y:81.79, Z:21.99 [[ 8.25089958e-01 5.64314699e-01 -2.78474793e-02 2.18682716e+02] [-5.64013227e-01 8.25559620e-01 1.84497546e-02 8.17851795e+01] [ 3.34012221e-02 4.83639458e-04 9.99441907e-01 2.19880225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.236875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:218.71, Y:81.77, Z:21.99 [[ 8.24934065e-01 5.64542816e-01 -2.78423702e-02 2.18710478e+02] [-5.64241214e-01 8.25403644e-01 1.84574615e-02 8.17666737e+01] [ 3.34012211e-02 4.83623998e-04 9.99441907e-01 2.19891421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.74, Y:81.75, Z:21.99 [[ 8.24081499e-01 5.65786859e-01 -2.78372675e-02 2.18737084e+02] [-5.65485706e-01 8.24551366e-01 1.84651541e-02 8.17495153e+01] [ 3.34005985e-02 5.24784948e-04 9.99441907e-01 2.19890104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.76, Y:81.73, Z:21.99 [[ 8.22858888e-01 5.67563743e-01 -2.78325176e-02 2.18764619e+02] [-5.67263362e-01 8.23329249e-01 1.84723108e-02 8.17314896e+01] [ 3.33995397e-02 5.88262352e-04 9.99441907e-01 2.19915221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.79, Y:81.71, Z:21.99 [[ 8.22399674e-01 5.68229191e-01 -2.78273644e-02 2.18791567e+02] [-5.67928928e-01 8.22870111e-01 1.84800705e-02 8.17136958e+01] [ 3.33992220e-02 6.05961296e-04 9.99441907e-01 2.19918955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.82, Y:81.70, Z:21.99 [[ 8.22261493e-01 5.68429287e-01 -2.78241610e-02 2.18818184e+02] [-5.68128975e-01 8.22731898e-01 1.84848924e-02 8.16961012e+01] [ 3.33991790e-02 6.08296817e-04 9.99441907e-01 2.19922399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.85, Y:81.68, Z:22.00 [[ 8.22276615e-01 5.68407561e-01 -2.78210791e-02 2.18845132e+02] [-5.68107081e-01 8.22746913e-01 1.84895298e-02 8.16780879e+01] [ 3.33992954e-02 6.01844059e-04 9.99441907e-01 2.19955422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.416875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:218.87, Y:81.66, Z:22.00 [[ 8.22183719e-01 5.68542179e-01 -2.78158611e-02 2.18871496e+02] [-5.68241511e-01 8.22653896e-01 1.84973764e-02 8.16597253e+01] [ 3.33993652e-02 5.97885254e-04 9.99441907e-01 2.19966444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.90, Y:81.64, Z:22.00 [[ 8.22266192e-01 5.68423133e-01 -2.78109904e-02 2.18898945e+02] [-5.68122149e-01 8.22736167e-01 1.85046967e-02 8.16414478e+01] [ 3.33996053e-02 5.84253185e-04 9.99441907e-01 2.19988264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.93, Y:81.62, Z:22.00 [[ 8.22253642e-01 5.68441544e-01 -2.78057528e-02 2.18925242e+02] [-5.68140304e-01 8.22723453e-01 1.85125635e-02 8.16236278e+01] [ 3.33997551e-02 5.75546081e-04 9.99441907e-01 2.19988590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.95, Y:81.61, Z:22.00 [[ 8.22173698e-01 5.68557404e-01 -2.78008692e-02 2.18952812e+02] [-5.68255983e-01 8.22643393e-01 1.85198944e-02 8.16052978e+01] [ 3.33998245e-02 5.71440205e-04 9.99441907e-01 2.20009241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.536875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:218.98, Y:81.59, Z:22.00 [[ 8.21887486e-01 5.68971318e-01 -2.77956599e-02 2.18979520e+02] [-5.68669869e-01 8.22357163e-01 1.85277095e-02 8.15867797e+01] [ 3.33996954e-02 5.78861687e-04 9.99441907e-01 2.20022268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56687500000004 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:219.01, Y:81.57, Z:22.00 [[ 8.21620040e-01 5.69357707e-01 -2.77904844e-02 2.19005310e+02] [-5.69056217e-01 8.22089690e-01 1.85354692e-02 8.15688126e+01] [ 3.33995830e-02 5.85234949e-04 9.99441907e-01 2.20037997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.596875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:219.03, Y:81.55, Z:22.00 [[ 8.21340327e-01 5.69761376e-01 -2.77856373e-02 2.19031610e+02] [-5.69459870e-01 8.21809968e-01 1.85427325e-02 8.15509087e+01] [ 3.33994465e-02 5.92911444e-04 9.99441907e-01 2.20033063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.06, Y:81.53, Z:22.01 [[ 8.20943210e-01 5.70333648e-01 -2.77808572e-02 2.19059033e+02] [-5.70032228e-01 8.21412905e-01 1.85498914e-02 8.15331472e+01] [ 3.33991818e-02 6.07576532e-04 9.99441907e-01 2.20058633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.656875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:219.09, Y:81.52, Z:22.01 [[ 8.20337470e-01 5.71204823e-01 -2.77756375e-02 2.19085075e+02] [-5.70903637e-01 8.20807315e-01 1.85577037e-02 8.15154824e+01] [ 3.33986963e-02 6.33632835e-04 9.99441907e-01 2.20068450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.686875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:219.11, Y:81.50, Z:22.01 [[ 8.19962584e-01 5.71743077e-01 -2.77707521e-02 2.19112064e+02] [-5.71441952e-01 8.20432469e-01 1.85650116e-02 8.14974321e+01] [ 3.33984436e-02 6.46757854e-04 9.99441907e-01 2.20079277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.14, Y:81.48, Z:22.01 [[ 8.19575980e-01 5.72297375e-01 -2.77655631e-02 2.19139217e+02] [-5.71996306e-01 8.20045900e-01 1.85727690e-02 8.14789960e+01] [ 3.33981831e-02 6.60004100e-04 9.99441907e-01 2.20088708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.746875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:219.17, Y:81.46, Z:22.01 [[ 8.19426435e-01 5.72511727e-01 -2.77603969e-02 2.19165671e+02] [-5.72210519e-01 8.19896266e-01 1.85804876e-02 8.14612772e+01] [ 3.33981928e-02 6.59448399e-04 9.99441907e-01 2.20091729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.19, Y:81.44, Z:22.01 [[ 8.19228998e-01 5.72794446e-01 -2.77555765e-02 2.19192898e+02] [-5.72493156e-01 8.19698776e-01 1.85876855e-02 8.14432458e+01] [ 3.33981351e-02 6.62306616e-04 9.99441907e-01 2.20100814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.22, Y:81.43, Z:22.01 [[ 8.19227098e-01 5.72797409e-01 -2.77504897e-02 2.19219959e+02] [-5.72495864e-01 8.19696713e-01 1.85952768e-02 8.14251770e+01] [ 3.33983116e-02 6.53285966e-04 9.99441907e-01 2.20115657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.25, Y:81.41, Z:22.01 [[ 8.19216870e-01 5.72812286e-01 -2.77453594e-02 2.19246646e+02] [-5.72510491e-01 8.19686324e-01 1.86029284e-02 8.14070347e+01] [ 3.33984776e-02 6.44676569e-04 9.99441907e-01 2.20128650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.866875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:219.27, Y:81.39, Z:22.02 [[ 8.19341657e-01 5.72633932e-01 -2.77421851e-02 2.19273536e+02] [-5.72331875e-01 8.19810942e-01 1.86076610e-02 8.13881728e+01] [ 3.33987250e-02 6.31705031e-04 9.99441907e-01 2.20151685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.30, Y:81.37, Z:22.02 [[ 8.19644273e-01 5.72200948e-01 -2.77369734e-02 2.19300530e+02] [-5.71898380e-01 8.20113229e-01 1.86154264e-02 8.13700382e+01] [ 3.33992235e-02 6.04702473e-04 9.99441907e-01 2.20166826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.926875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:219.33, Y:81.35, Z:22.02 [[ 8.19925046e-01 5.71798808e-01 -2.77316015e-02 2.19326865e+02] [-5.71495739e-01 8.20393679e-01 1.86234255e-02 8.13519938e+01] [ 3.33996831e-02 5.78679084e-04 9.99441907e-01 2.20172945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.35, Y:81.33, Z:22.02 [[ 8.20999757e-01 5.70254885e-01 -2.77266219e-02 2.19352626e+02] [-5.69950685e-01 8.21467656e-01 1.86308363e-02 8.13339493e+01] [ 3.34008485e-02 5.06895068e-04 9.99441907e-01 2.20183208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.38, Y:81.32, Z:22.02 [[ 8.21717266e-01 5.69220726e-01 -2.77218327e-02 2.19379222e+02] [-5.68915696e-01 8.22184625e-01 1.86379596e-02 8.13155290e+01] [ 3.34015775e-02 4.56252520e-04 9.99441908e-01 2.20194817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.41, Y:81.30, Z:22.02 [[ 8.22277281e-01 5.68411602e-01 -2.77186648e-02 2.19406473e+02] [-5.68105954e-01 8.22744235e-01 1.86426698e-02 8.12966836e+01] [ 3.34020815e-02 4.17694686e-04 9.99441908e-01 2.20213440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.43, Y:81.28, Z:22.02 [[ 8.23573213e-01 5.66532537e-01 -2.77136627e-02 2.19433212e+02] [-5.66225573e-01 8.24039304e-01 1.86501028e-02 8.12779769e+01] [ 3.34030374e-02 3.32459431e-04 9.99441908e-01 2.20245353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.46, Y:81.26, Z:22.03 [[ 8.23982364e-01 5.65937549e-01 -2.77083723e-02 2.19459508e+02] [-5.65629985e-01 8.24448058e-01 1.86579595e-02 8.12602764e+01] [ 3.34033536e-02 2.98856635e-04 9.99441908e-01 2.20255841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.106875 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:219.49, Y:81.24, Z:22.03 [[ 8.24972634e-01 5.64493287e-01 -2.77034724e-02 2.19486104e+02] [-5.64184663e-01 8.25437626e-01 1.86652320e-02 8.12431897e+01] [ 3.34038867e-02 2.31568682e-04 9.99441908e-01 2.20258721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.51, Y:81.23, Z:22.03 [[ 8.25549955e-01 5.63648799e-01 -2.77002497e-02 2.19513291e+02] [-5.63339539e-01 8.26014525e-01 1.86700134e-02 8.12252731e+01] [ 3.34041392e-02 1.91617112e-04 9.99441908e-01 2.20267454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.54, Y:81.21, Z:22.03 [[ 8.25772732e-01 5.63322622e-01 -2.76950932e-02 2.19540304e+02] [-5.63012922e-01 8.26237009e-01 1.86776594e-02 8.12070286e+01] [ 3.34042591e-02 1.69193523e-04 9.99441908e-01 2.20276088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.57, Y:81.19, Z:22.03 [[ 8.26406260e-01 5.62393070e-01 -2.76898466e-02 2.19567030e+02] [-5.62082587e-01 8.26870014e-01 1.86854344e-02 8.11891787e+01] [ 3.34044626e-02 1.22220693e-04 9.99441908e-01 2.20278968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.59, Y:81.17, Z:22.03 [[ 8.27735149e-01 5.60435605e-01 -2.76849438e-02 2.19593777e+02] [-5.60123783e-01 8.28198002e-01 1.86926957e-02 8.11707092e+01] [ 3.34046674e-02 3.43942141e-05 9.99441908e-01 2.20284098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.25687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:219.62, Y:81.15, Z:22.03 [[ 8.28280268e-01 5.59629905e-01 -2.76797222e-02 2.19620484e+02] [-5.59317374e-01 8.28742644e-01 1.87004244e-02 8.11521436e+01] [ 3.34046829e-02 -7.44303037e-06 9.99441908e-01 2.20294472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.65, Y:81.13, Z:22.03 [[ 8.28624310e-01 5.59120626e-01 -2.76745024e-02 2.19646534e+02] [-5.58807553e-01 8.29086319e-01 1.87081461e-02 8.11340109e+01] [ 3.34046616e-02 -3.73037436e-05 9.99441908e-01 2.20307673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.67, Y:81.12, Z:22.03 [[ 8.28772225e-01 5.58901593e-01 -2.76696220e-02 2.19674105e+02] [-5.58588157e-01 8.29233988e-01 1.87153615e-02 8.11153978e+01] [ 3.34046363e-02 -5.48486718e-05 9.99441908e-01 2.20324610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.70, Y:81.10, Z:22.03 [[ 8.28817284e-01 5.58835029e-01 -2.76644092e-02 2.19700722e+02] [-5.58521299e-01 8.29278847e-01 1.87230636e-02 8.10976964e+01] [ 3.34046132e-02 -6.68369402e-05 9.99441908e-01 2.20326134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.73, Y:81.08, Z:22.03 [[ 8.28599148e-01 5.59158654e-01 -2.76595636e-02 2.19727777e+02] [-5.58844865e-01 8.29060671e-01 1.87302194e-02 8.10791266e+01] [ 3.34046206e-02 -6.24387572e-05 9.99441908e-01 2.20341340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.75, Y:81.06, Z:22.03 [[ 8.28733433e-01 5.58959872e-01 -2.76542861e-02 2.19754086e+02] [-5.58645712e-01 8.29194703e-01 1.87380080e-02 8.10610957e+01] [ 3.34045821e-02 -7.98653254e-05 9.99441908e-01 2.20348003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.78, Y:81.04, Z:22.04 [[ 8.28607134e-01 5.59147324e-01 -2.76493784e-02 2.19780634e+02] [-5.58833027e-01 8.29068311e-01 1.87452470e-02 8.10420709e+01] [ 3.34045781e-02 -8.10595270e-05 9.99441908e-01 2.20351785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.81, Y:81.02, Z:22.04 [[ 8.28567074e-01 5.59206944e-01 -2.76441352e-02 2.19806825e+02] [-5.58892422e-01 8.29028097e-01 1.87529761e-02 8.10238414e+01] [ 3.34045592e-02 -8.80008542e-05 9.99441908e-01 2.20352781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:81.00, Z:22.04 [[ 8.28194146e-01 5.59759348e-01 -2.76392561e-02 2.19833417e+02] [-5.59444894e-01 8.28655216e-01 1.87601645e-02 8.10049305e+01] [ 3.34045911e-02 -7.44177403e-05 9.99441908e-01 2.20365183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.86, Y:80.99, Z:22.04 [[ 8.27827356e-01 5.60301909e-01 -2.76340353e-02 2.19859526e+02] [-5.59987501e-01 8.28288456e-01 1.87678517e-02 8.09862025e+01] [ 3.34046155e-02 -6.18266572e-05 9.99441908e-01 2.20373152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.556875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:219.89, Y:80.97, Z:22.04 [[ 8.27061700e-01 5.61431717e-01 -2.76291727e-02 2.19885482e+02] [-5.61117699e-01 8.27523067e-01 1.87750074e-02 8.09678739e+01] [ 3.34046624e-02 -2.48716723e-05 9.99441908e-01 2.20381788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.586875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:219.91, Y:80.95, Z:22.04 [[ 8.26200506e-01 5.62698512e-01 -2.76244179e-02 2.19912694e+02] [-5.62384968e-01 8.26662195e-01 1.87820007e-02 8.09491303e+01] [ 3.34046658e-02 1.78588883e-05 9.99441908e-01 2.20401243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.94, Y:80.93, Z:22.04 [[ 8.23815559e-01 5.66184696e-01 -2.76191018e-02 2.19939168e+02] [-5.65872844e-01 8.24278392e-01 1.87898148e-02 8.09305663e+01] [ 3.34043344e-02 1.49557950e-04 9.99441908e-01 2.20414851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.97, Y:80.91, Z:22.04 [[ 8.22662379e-01 5.67859198e-01 -2.76141518e-02 2.19966358e+02] [-5.67548043e-01 8.23125682e-01 1.87970867e-02 8.09123852e+01] [ 3.34040161e-02 2.08701819e-04 9.99441908e-01 2.20432258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.99, Y:80.89, Z:22.04 [[ 8.21379437e-01 5.69713579e-01 -2.76090212e-02 2.19992757e+02] [-5.69403218e-01 8.21843271e-01 1.88046195e-02 8.08948218e+01] [ 3.34035354e-02 2.74937684e-04 9.99441908e-01 2.20443296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.706875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:220.02, Y:80.88, Z:22.05 [[ 8.19106078e-01 5.72977520e-01 -2.76042527e-02 2.20020410e+02] [-5.72668771e-01 8.19570987e-01 1.88116168e-02 8.08768321e+01] [ 3.34022782e-02 3.99383824e-04 9.99441908e-01 2.20454816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.05, Y:80.86, Z:22.05 [[ 8.17864614e-01 5.74748446e-01 -2.75988728e-02 2.20046576e+02] [-5.74440437e-01 8.18330013e-01 1.88195064e-02 8.08584265e+01] [ 3.34014680e-02 4.62100184e-04 9.99441908e-01 2.20465164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.766875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:220.07, Y:80.84, Z:22.05 [[ 8.17284365e-01 5.75573412e-01 -2.75955445e-02 2.20073719e+02] [-5.75265708e-01 8.17749966e-01 1.88243856e-02 8.08400504e+01] [ 3.34010714e-02 4.89894384e-04 9.99441909e-01 2.20472884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.796875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:220.10, Y:80.82, Z:22.05 [[ 8.16398791e-01 5.76829085e-01 -2.75902223e-02 2.20100488e+02] [-5.76521834e-01 8.16864691e-01 1.88321829e-02 8.08213964e+01] [ 3.34004292e-02 5.31794180e-04 9.99441909e-01 2.20480967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.82687500000003 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:220.12, Y:80.81, Z:22.04 [[ 8.19439294e-01 5.72501806e-01 -2.75848822e-02 2.20124851e+02] [-5.72191831e-01 8.19903386e-01 1.88400017e-02 8.08125636e+01] [ 3.34028733e-02 3.45606524e-04 9.99441909e-01 2.20435375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.856875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:220.15, Y:80.79, Z:22.05 [[ 8.16520999e-01 5.76639367e-01 -2.79374155e-02 2.20152269e+02] [-5.76349293e-01 8.16998005e-01 1.83235151e-02 8.07857427e+01] [ 3.33908728e-02 1.14017483e-03 9.99441719e-01 2.20492982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.18, Y:80.77, Z:22.05 [[ 8.16803266e-01 5.76256891e-01 -2.75757302e-02 2.20179226e+02] [-5.75948625e-01 8.17268476e-01 1.88525658e-02 8.07669154e+01] [ 3.34006960e-02 4.83366577e-04 9.99441924e-01 2.20509750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.916875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:220.21, Y:80.75, Z:22.05 [[ 8.17902101e-01 5.74696461e-01 -2.75704976e-02 2.20205212e+02] [-5.74387049e-01 8.18366550e-01 1.88602150e-02 8.07482967e+01] [ 3.34016718e-02 4.10327323e-04 9.99441924e-01 2.20519997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.23, Y:80.74, Z:22.05 [[ 8.20872941e-01 5.70445142e-01 -2.75672752e-02 2.20230108e+02] [-5.70133167e-01 8.21335672e-01 1.88649239e-02 8.07374023e+01] [ 3.34033907e-02 2.31312395e-04 9.99441924e-01 2.20493602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.26, Y:80.71, Z:22.05 [[ 8.18669843e-01 5.73590179e-01 -2.78207594e-02 2.20256818e+02] [-5.73292511e-01 8.19142022e-01 1.84944394e-02 8.07126071e+01] [ 3.33973820e-02 8.08593213e-04 9.99441825e-01 2.20548124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.28, Y:80.69, Z:22.06 [[ 8.19827592e-01 5.71947029e-01 -2.75556810e-02 2.20283469e+02] [-5.71635351e-01 8.20290511e-01 1.88813057e-02 8.06949983e+01] [ 3.34027703e-02 2.72385982e-04 9.99441935e-01 2.20563535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.31, Y:80.68, Z:22.06 [[ 8.20406016e-01 5.71117178e-01 -2.75524423e-02 2.20310842e+02] [-5.70804873e-01 8.20868512e-01 1.88860305e-02 8.06768624e+01] [ 3.34030688e-02 2.32855272e-04 9.99441935e-01 2.20576760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:220.34, Y:80.66, Z:22.06 [[ 8.20942513e-01 5.70345978e-01 -2.75473340e-02 2.20338048e+02] [-5.70032988e-01 8.21404546e-01 1.88934787e-02 8.06587380e+01] [ 3.34033249e-02 1.92429220e-04 9.99441935e-01 2.20586269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.096875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:220.36, Y:80.64, Z:22.06 [[ 8.22220986e-01 5.68501605e-01 -2.75422605e-02 2.20364643e+02] [-5.68187331e-01 8.22682146e-01 1.89008717e-02 8.06416065e+01] [ 3.34037019e-02 1.08470101e-04 9.99441935e-01 2.20596195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:220.39, Y:80.62, Z:22.06 [[ 8.22069866e-01 5.68720334e-01 -2.75375418e-02 2.20392098e+02] [-5.68405953e-01 8.22530954e-01 1.89077441e-02 8.06226366e+01] [ 3.34036991e-02 1.09016009e-04 9.99441935e-01 2.20607388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.42, Y:80.60, Z:22.06 [[ 8.22825452e-01 5.67626846e-01 -2.75325120e-02 2.20419315e+02] [-5.67311607e-01 8.23285953e-01 1.89150655e-02 8.06046950e+01] [ 3.34038293e-02 5.57163254e-05 9.99441935e-01 2.20622197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.186875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:220.45, Y:80.59, Z:22.06 [[ 8.23524328e-01 5.66612672e-01 -2.75274574e-02 2.20446261e+02] [-5.66296620e-01 8.23984272e-01 1.89224186e-02 8.05867647e+01] [ 3.34038741e-02 5.63404650e-06 9.99441935e-01 2.20635311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.47, Y:80.57, Z:22.06 [[ 8.23992522e-01 5.65931838e-01 -2.75223392e-02 2.20473985e+02] [-5.65615158e-01 8.24452032e-01 1.89298600e-02 8.05683546e+01] [ 3.34038590e-02 -3.10108124e-05 9.99441935e-01 2.20649400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.50, Y:80.55, Z:22.07 [[ 8.24842871e-01 5.64691985e-01 -2.75172637e-02 2.20502083e+02] [-5.64374368e-01 8.25301735e-01 1.89372351e-02 8.05518072e+01] [ 3.34037504e-02 -9.02050875e-05 9.99441935e-01 2.20653544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.276875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:220.53, Y:80.53, Z:22.07 [[ 8.25135008e-01 5.64265275e-01 -2.75121457e-02 2.20529683e+02] [-5.63947173e-01 8.25593535e-01 1.89446677e-02 8.05342510e+01] [ 3.34036678e-02 -1.16511755e-04 9.99441935e-01 2.20651966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.56, Y:80.52, Z:22.07 [[ 8.25300067e-01 5.64024089e-01 -2.75068551e-02 2.20556233e+02] [-5.63705597e-01 8.25758324e-01 1.89523463e-02 8.05170243e+01] [ 3.34035944e-02 -1.35604551e-04 9.99441935e-01 2.20652672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:80.50, Z:22.07 [[ 8.26370014e-01 5.62455548e-01 -2.75019543e-02 2.20584967e+02] [-5.62135949e-01 8.26827499e-01 1.89594553e-02 8.05000790e+01] [ 3.34032229e-02 -2.07688125e-04 9.99441935e-01 2.20651183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.61, Y:80.48, Z:22.07 [[ 8.26704449e-01 5.61964125e-01 -2.74968435e-02 2.20612495e+02] [-5.61644008e-01 8.27161572e-01 1.89668646e-02 8.04820384e+01] [ 3.34030297e-02 -2.36553987e-04 9.99441935e-01 2.20664601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.64, Y:80.47, Z:22.06 [[ 8.30177590e-01 5.56820775e-01 -2.74917017e-02 2.20637976e+02] [-5.56497579e-01 8.30632542e-01 1.89743144e-02 8.04736338e+01] [ 3.34007945e-02 -4.52985100e-04 9.99441935e-01 2.20636480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.67, Y:80.45, Z:22.07 [[ 8.27953910e-01 5.60108799e-01 -2.77570844e-02 2.20665629e+02] [-5.59800230e-01 8.28419044e-01 1.85900754e-02 8.04488861e+01] [ 3.34069621e-02 1.46696629e-04 9.99441821e-01 2.20681652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:80.43, Z:22.07 [[ 8.28304741e-01 5.59603950e-01 -2.74713524e-02 2.20693023e+02] [-5.59281327e-01 8.28760085e-01 1.90031430e-02 8.04314453e+01] [ 3.34013942e-02 -3.76179025e-04 9.99441947e-01 2.20689017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.486875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:220.72, Y:80.42, Z:22.07 [[ 8.28549438e-01 5.59241849e-01 -2.74660384e-02 2.20720797e+02] [-5.58918773e-01 8.29004460e-01 1.90108205e-02 8.04157936e+01] [ 3.34011147e-02 -4.00120135e-04 9.99441947e-01 2.20690876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.516875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:220.75, Y:80.40, Z:22.07 [[ 8.28370151e-01 5.59507624e-01 -2.74610965e-02 2.20748848e+02] [-5.59184457e-01 8.28825108e-01 1.90179564e-02 8.03980762e+01] [ 3.34011379e-02 -3.98089078e-04 9.99441947e-01 2.20702351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.546875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:220.78, Y:80.38, Z:22.07 [[ 8.28065085e-01 5.59959274e-01 -2.74558920e-02 2.20777058e+02] [-5.59636107e-01 8.28520042e-01 1.90254671e-02 8.03803172e+01] [ 3.34012435e-02 -3.89016482e-04 9.99441947e-01 2.20709963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.81, Y:80.36, Z:22.07 [[ 8.27833926e-01 5.60301222e-01 -2.74505530e-02 2.20805271e+02] [-5.59977987e-01 8.28288834e-01 1.90331672e-02 8.03628966e+01] [ 3.34012934e-02 -3.84596159e-04 9.99441947e-01 2.20720956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.83, Y:80.35, Z:22.07 [[ 8.26709775e-01 5.61958812e-01 -2.74452332e-02 2.20834283e+02] [-5.61636235e-01 8.27165151e-01 1.90408351e-02 8.03466823e+01] [ 3.34019055e-02 -3.27007115e-04 9.99441947e-01 2.20724748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.63687500000003 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:220.86, Y:80.33, Z:22.07 [[ 8.25882604e-01 5.63174020e-01 -2.74398846e-02 2.20862583e+02] [-5.62851857e-01 8.26338272e-01 1.90485399e-02 8.03289516e+01] [ 3.34022696e-02 -2.87267722e-04 9.99441947e-01 2.20731843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.666875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:220.89, Y:80.31, Z:22.07 [[ 8.25031829e-01 5.64419905e-01 -2.74345267e-02 2.20890434e+02] [-5.64098173e-01 8.25487802e-01 1.90562535e-02 8.03117683e+01] [ 3.34025959e-02 -2.46249276e-04 9.99441947e-01 2.20739960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.69687500000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:220.92, Y:80.29, Z:22.07 [[ 8.23859872e-01 5.66129447e-01 -2.74291790e-02 2.20918443e+02] [-5.65808406e-01 8.24316331e-01 1.90639477e-02 8.02938648e+01] [ 3.34029824e-02 -1.86361435e-04 9.99441947e-01 2.20747129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.726875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.95, Y:80.28, Z:22.07 [[ 8.21801269e-01 5.69113881e-01 -2.74238135e-02 2.20946686e+02] [-5.68794239e-01 8.22258710e-01 1.90716629e-02 8.02778793e+01] [ 3.34034176e-02 -7.46096262e-05 9.99441947e-01 2.20749799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.75687500000004 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:220.97, Y:80.27, Z:22.07 [[ 8.23010511e-01 5.67363999e-01 -2.74188196e-02 2.20972816e+02] [-5.67043146e-01 8.23467102e-01 1.90788398e-02 8.02658649e+01] [ 3.34031428e-02 -1.54431977e-04 9.99441947e-01 2.20737315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.786875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:221.00, Y:80.24, Z:22.08 [[ 8.19364062e-01 5.72607951e-01 -2.76164505e-02 2.20999840e+02] [-5.72299564e-01 8.19829232e-01 1.87946489e-02 8.02434883e+01] [ 3.34027388e-02 4.05222729e-04 9.99441891e-01 2.20766753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.03, Y:80.23, Z:22.08 [[ 8.16566392e-01 5.76600312e-01 -2.74118274e-02 2.21028209e+02] [-5.76284299e-01 8.17026338e-01 1.90884995e-02 8.02260281e+01] [ 3.34026196e-02 2.09978573e-04 9.99441955e-01 2.20779668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.846875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:221.06, Y:80.21, Z:22.08 [[ 8.14919444e-01 5.78925882e-01 -2.74066393e-02 2.21055431e+02] [-5.78610931e-01 8.15380117e-01 1.90959454e-02 8.02082080e+01] [ 3.34019658e-02 2.96123834e-04 9.99441955e-01 2.20786477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.08, Y:80.19, Z:22.08 [[ 8.13477117e-01 5.80951067e-01 -2.74014381e-02 2.21083331e+02] [-5.80637011e-01 8.13938401e-01 1.91034058e-02 8.01899762e+01] [ 3.34012267e-02 3.70105674e-04 9.99441955e-01 2.20794471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.11, Y:80.17, Z:22.08 [[ 8.11113969e-01 5.84246160e-01 -2.73962430e-02 2.21110839e+02] [-5.83933727e-01 8.11576354e-01 1.91108533e-02 8.01725609e+01] [ 3.33995856e-02 4.96510172e-04 9.99441955e-01 2.20800897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.936875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.14, Y:80.15, Z:22.08 [[ 8.09985710e-01 5.85809605e-01 -2.73907958e-02 2.21137452e+02] [-5.85497800e-01 8.10448520e-01 1.91186574e-02 8.01542772e+01] [ 3.33987230e-02 5.51411368e-04 9.99441955e-01 2.20815787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.966875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.16, Y:80.14, Z:22.08 [[ 8.08085359e-01 5.88428480e-01 -2.73857195e-02 2.21164707e+02] [-5.88117929e-01 8.08549010e-01 1.91259259e-02 8.01360953e+01] [ 3.33969359e-02 6.50651958e-04 9.99441955e-01 2.20834523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.996875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:221.19, Y:80.12, Z:22.08 [[ 8.07192433e-01 5.89653032e-01 -2.73802606e-02 2.21190763e+02] [-5.89342920e-01 8.07656377e-01 1.91337376e-02 8.01185500e+01] [ 3.33961084e-02 6.91754519e-04 9.99441955e-01 2.20840652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.026875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.22, Y:80.10, Z:22.08 [[ 8.06179280e-01 5.91037704e-01 -2.73751666e-02 2.21218066e+02] [-5.90728142e-01 8.06643592e-01 1.91410230e-02 8.00998195e+01] [ 3.33950690e-02 7.40185158e-04 9.99441955e-01 2.20849415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.056875 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:221.24, Y:80.08, Z:22.08 [[ 8.05017541e-01 5.92619318e-01 -2.73697329e-02 2.21244609e+02] [-5.92310403e-01 8.05482284e-01 1.91487894e-02 8.00826567e+01] [ 3.33937775e-02 7.96266222e-04 9.99441955e-01 2.20844321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.086875 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:221.27, Y:80.06, Z:22.08 [[ 8.04458834e-01 5.93377754e-01 -2.73646648e-02 2.21271765e+02] [-5.93069032e-01 8.04923704e-01 1.91560293e-02 8.00641073e+01] [ 3.33932290e-02 8.18898283e-04 9.99441955e-01 2.20849591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.116875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.30, Y:80.05, Z:22.09 [[ 8.03871212e-01 5.94173830e-01 -2.73593589e-02 2.21298890e+02] [-5.93865310e-01 8.04336217e-01 1.91636043e-02 8.00452438e+01] [ 3.33926354e-02 8.42704318e-04 9.99441955e-01 2.20860282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.146875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.32, Y:80.03, Z:22.09 [[ 8.03530236e-01 5.94635118e-01 -2.73539155e-02 2.21324643e+02] [-5.94326601e-01 8.03995243e-01 1.91713710e-02 8.00267558e+01] [ 3.33923884e-02 8.52383400e-04 9.99441955e-01 2.20867690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.35, Y:80.01, Z:22.09 [[ 8.03451356e-01 5.94741849e-01 -2.73505341e-02 2.21350838e+02] [-5.94433229e-01 8.03916295e-01 1.91761938e-02 8.00072411e+01] [ 3.33924250e-02 8.50927405e-04 9.99441955e-01 2.20880174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.38, Y:79.99, Z:22.09 [[ 8.03547147e-01 5.94612669e-01 -2.73451212e-02 2.21377282e+02] [-5.94303713e-01 8.04011862e-01 1.91839095e-02 7.99880818e+01] [ 3.33927975e-02 8.36131271e-04 9.99441955e-01 2.20892220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:79.97, Z:22.09 [[ 8.03711656e-01 5.94390541e-01 -2.73396961e-02 2.21403769e+02] [-5.94081194e-01 8.04176110e-01 1.91916379e-02 7.99687617e+01] [ 3.33932585e-02 8.17456195e-04 9.99441955e-01 2.20902975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.43, Y:79.95, Z:22.09 [[ 8.03782134e-01 5.94295482e-01 -2.73342628e-02 2.21430223e+02] [-5.93985817e-01 8.04246376e-01 1.91993733e-02 7.99491459e+01] [ 3.33935826e-02 8.04051168e-04 9.99441955e-01 2.20916764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.46, Y:79.93, Z:22.09 [[ 8.04430179e-01 5.93418253e-01 -2.73288126e-02 2.21456134e+02] [-5.93107819e-01 8.04893907e-01 1.92071281e-02 7.99292931e+01] [ 3.33946552e-02 7.58138930e-04 9.99441955e-01 2.20925982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.32687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.48, Y:79.91, Z:22.09 [[ 8.04667098e-01 5.93097208e-01 -2.73233080e-02 2.21482543e+02] [-5.92786322e-01 8.05130525e-01 1.92149555e-02 7.99094760e+01] [ 3.33951658e-02 7.35240759e-04 9.99441955e-01 2.20938479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.356875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:221.51, Y:79.89, Z:22.09 [[ 8.05187344e-01 5.92390983e-01 -2.73178312e-02 2.21508445e+02] [-5.92079428e-01 8.05650320e-01 1.92227388e-02 7.98903080e+01] [ 3.33959966e-02 6.96419799e-04 9.99441956e-01 2.20945996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.38687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.53, Y:79.87, Z:22.10 [[ 8.06394162e-01 5.90747384e-01 -2.73127216e-02 2.21534362e+02] [-5.90434638e-01 8.06856335e-01 1.92299960e-02 7.98699978e+01] [ 3.33975123e-02 6.19420364e-04 9.99441956e-01 2.20959962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.416875 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:221.56, Y:79.85, Z:22.10 [[ 8.07124202e-01 5.89749807e-01 -2.73072848e-02 2.21560137e+02] [-5.89436229e-01 8.07585811e-01 1.92377134e-02 7.98504582e+01] [ 3.33984135e-02 5.68678928e-04 9.99441956e-01 2.20968178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.58, Y:79.84, Z:22.09 [[ 8.10561243e-01 5.85017145e-01 -2.73022169e-02 2.21584198e+02] [-5.84700630e-01 8.11020843e-01 1.92449031e-02 7.98395813e+01] [ 3.34012652e-02 3.64450806e-04 9.99441956e-01 2.20921774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.476875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.61, Y:79.81, Z:22.10 [[ 8.09358984e-01 5.86667518e-01 -2.75546376e-02 2.21609440e+02] [-5.86364071e-01 8.09827429e-01 1.88868022e-02 7.98112310e+01] [ 3.33947747e-02 8.70846459e-04 9.99441860e-01 2.20990064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.64, Y:79.79, Z:22.10 [[ 8.10008590e-01 5.85782651e-01 -2.72904558e-02 2.21635553e+02] [-5.85466024e-01 8.10468102e-01 1.92611190e-02 7.97912103e+01] [ 3.34008732e-02 3.75962799e-04 9.99441964e-01 2.21007164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.66, Y:79.77, Z:22.10 [[ 8.11191540e-01 5.84143653e-01 -2.72851476e-02 2.21660188e+02] [-5.83825844e-01 8.11650235e-01 1.92686356e-02 7.97708512e+01] [ 3.34016476e-02 2.99220142e-04 9.99441965e-01 2.21012137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56687500000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.69, Y:79.75, Z:22.10 [[ 8.11331299e-01 5.83949752e-01 -2.72802128e-02 2.21686431e+02] [-5.83631599e-01 8.11789755e-01 1.92756196e-02 7.97507865e+01] [ 3.34017906e-02 2.82680688e-04 9.99441965e-01 2.21019177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.71, Y:79.73, Z:22.10 [[ 8.11879938e-01 5.83186980e-01 -2.72747557e-02 2.21712113e+02] [-5.82868137e-01 8.12337915e-01 1.92833382e-02 7.97315418e+01] [ 3.34021100e-02 2.41830660e-04 9.99441965e-01 2.21019454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.74, Y:79.71, Z:22.10 [[ 8.12584354e-01 5.82205318e-01 -2.72696794e-02 2.21737828e+02] [-5.81885681e-01 8.13041776e-01 1.92905143e-02 7.97102730e+01] [ 3.34024286e-02 1.92665847e-04 9.99441965e-01 2.21026069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.76, Y:79.69, Z:22.10 [[ 8.12782026e-01 5.81929578e-01 -2.72643446e-02 2.21763837e+02] [-5.81609532e-01 8.13239164e-01 1.92980513e-02 7.96901567e+01] [ 3.34025396e-02 1.72093487e-04 9.99441965e-01 2.21042916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.79, Y:79.67, Z:22.11 [[ 8.13297745e-01 5.81208848e-01 -2.72590096e-02 2.21789232e+02] [-5.80888145e-01 8.13754421e-01 1.93055841e-02 7.96709084e+01] [ 3.34027159e-02 1.33247530e-04 9.99441965e-01 2.21053945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.82, Y:79.65, Z:22.11 [[ 8.13659879e-01 5.80702005e-01 -2.72540383e-02 2.21815781e+02] [-5.80380782e-01 8.14116190e-01 1.93125997e-02 7.96510780e+01] [ 3.34028192e-02 1.03832584e-04 9.99441965e-01 2.21064193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.84, Y:79.63, Z:22.11 [[ 8.14060736e-01 5.80140174e-01 -2.72487944e-02 2.21842250e+02] [-5.79818389e-01 8.14516650e-01 1.93199957e-02 7.96312532e+01] [ 3.34029024e-02 7.17021290e-05 9.99441965e-01 2.21072766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.776875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:221.87, Y:79.61, Z:22.11 [[ 8.15119658e-01 5.78651650e-01 -2.72435607e-02 2.21868116e+02] [-5.78328786e-01 8.15574808e-01 1.93273730e-02 7.96105895e+01] [ 3.34029781e-02 1.61372242e-06 9.99441965e-01 2.21091793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.89, Y:79.59, Z:22.11 [[ 8.15301909e-01 5.78395091e-01 -2.72381284e-02 2.21894924e+02] [-5.78071828e-01 8.15756776e-01 1.93350257e-02 7.95907956e+01] [ 3.34029718e-02 -1.82887054e-05 9.99441965e-01 2.21102676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.836875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.92, Y:79.57, Z:22.11 [[ 8.15882591e-01 5.77575950e-01 -2.72326953e-02 2.21921034e+02] [-5.77251976e-01 8.16336951e-01 1.93426751e-02 7.95716262e+01] [ 3.34029194e-02 -6.12246717e-05 9.99441965e-01 2.21109809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.95, Y:79.55, Z:22.11 [[ 8.16085739e-01 5.77289136e-01 -2.72271984e-02 2.21947399e+02] [-5.76964743e-01 8.16539801e-01 1.93504096e-02 7.95529394e+01] [ 3.34028724e-02 -8.24597818e-05 9.99441965e-01 2.21116719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.97, Y:79.53, Z:22.11 [[ 8.16147962e-01 5.77201405e-01 -2.72220802e-02 2.21974212e+02] [-5.76876724e-01 8.16601818e-01 1.93576071e-02 7.95338885e+01] [ 3.34028382e-02 -9.48872018e-05 9.99441965e-01 2.21130713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.00, Y:79.52, Z:22.11 [[ 8.16588962e-01 5.76577589e-01 -2.72167397e-02 2.22001088e+02] [-5.76252311e-01 8.17042390e-01 1.93651130e-02 7.95150660e+01] [ 3.34027202e-02 -1.29628370e-04 9.99441965e-01 2.21139852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:79.50, Z:22.12 [[ 8.16760937e-01 5.76334207e-01 -2.72112868e-02 2.22027544e+02] [-5.76008539e-01 8.17214084e-01 1.93727722e-02 7.94961229e+01] [ 3.34026381e-02 -1.48990015e-04 9.99441965e-01 2.21150945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:79.48, Z:22.12 [[ 8.17325135e-01 5.75534068e-01 -2.72058695e-02 2.22053756e+02] [-5.75207703e-01 8.17777781e-01 1.93803769e-02 7.94778356e+01] [ 3.34024228e-02 -1.91043508e-04 9.99441965e-01 2.21150762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.016875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:222.08, Y:79.46, Z:22.12 [[ 8.17572027e-01 5.75183532e-01 -2.72008260e-02 2.22080879e+02] [-5.74856737e-01 8.18024363e-01 1.93874529e-02 7.94587691e+01] [ 3.34022820e-02 -2.14061106e-04 9.99441965e-01 2.21162890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.046875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:222.11, Y:79.44, Z:22.12 [[ 8.17417530e-01 5.75403320e-01 -2.71956133e-02 2.22107999e+02] [-5.75076403e-01 8.17869778e-01 1.93947623e-02 7.94393176e+01] [ 3.34022808e-02 -2.14063206e-04 9.99441965e-01 2.21174086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.07687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.13, Y:79.43, Z:22.11 [[ 8.20796004e-01 5.70573924e-01 -2.71903998e-02 2.22132897e+02] [-5.70244104e-01 8.21246139e-01 1.94020685e-02 7.94304827e+01] [ 3.34003253e-02 -4.19975114e-04 9.99441965e-01 2.21137558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.16, Y:79.41, Z:22.12 [[ 8.19867142e-01 5.71892167e-01 -2.75176054e-02 2.22160376e+02] [-5.71578392e-01 8.20328782e-01 1.89428551e-02 7.94094612e+01] [ 3.34067542e-02 1.97844158e-04 9.99441819e-01 2.21151737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.13687500000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:222.19, Y:79.39, Z:22.11 [[ 8.20703408e-01 5.70696902e-01 -2.74036854e-02 2.22185531e+02] [-5.70377109e-01 8.21160791e-01 1.91025977e-02 7.93935418e+01] [ 3.34046253e-02 -4.71321306e-05 9.99441909e-01 2.21146199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.21, Y:79.37, Z:22.12 [[ 8.19727496e-01 5.72095690e-01 -2.74472749e-02 2.22213170e+02] [-5.71778722e-01 8.20186877e-01 1.90415095e-02 7.93707147e+01] [ 3.34054602e-02 8.49189033e-05 9.99441878e-01 2.21173265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.24, Y:79.35, Z:22.12 [[ 8.18923772e-01 5.73253404e-01 -2.72835059e-02 2.22238849e+02] [-5.72929423e-01 8.19378125e-01 1.92708241e-02 7.93495109e+01] [ 3.34025734e-02 -1.49812680e-04 9.99441967e-01 2.21215901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.226875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:222.27, Y:79.33, Z:22.12 [[ 8.19055986e-01 5.73069635e-01 -2.71750954e-02 2.22265552e+02] [-5.72740510e-01 8.19506605e-01 1.94225081e-02 7.93298747e+01] [ 3.34006198e-02 -3.43843523e-04 9.99441985e-01 2.21232429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.29, Y:79.31, Z:22.13 [[ 8.19540496e-01 5.72376789e-01 -2.71695982e-02 2.22291373e+02] [-5.72047028e-01 8.19990650e-01 1.94301950e-02 7.93115964e+01] [ 3.34002091e-02 -3.81543750e-04 9.99441985e-01 2.21250567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.32, Y:79.29, Z:22.13 [[ 8.19401947e-01 5.72575358e-01 -2.71644763e-02 2.22317998e+02] [-5.72245469e-01 8.19852007e-01 1.94373530e-02 7.92929043e+01] [ 3.34001998e-02 -3.82256432e-04 9.99441985e-01 2.21263483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:222.34, Y:79.28, Z:22.13 [[ 8.20510046e-01 5.70986560e-01 -2.71590191e-02 2.22343598e+02] [-5.70655546e-01 8.20959281e-01 1.94449752e-02 7.92790171e+01] [ 3.33992682e-02 -4.56352599e-04 9.99441985e-01 2.21253472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.346875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.37, Y:79.26, Z:22.13 [[ 8.17969239e-01 5.74612581e-01 -2.73258980e-02 2.22369888e+02] [-5.74291324e-01 8.18425550e-01 1.92118349e-02 7.92562675e+01] [ 3.34035751e-02 -2.16637958e-05 9.99441945e-01 2.21289871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37687500000004 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:222.40, Y:79.24, Z:22.13 [[ 8.18106094e-01 5.74426008e-01 -2.71510751e-02 2.22395392e+02] [-5.74096524e-01 8.18556445e-01 1.94558072e-02 7.92393978e+01] [ 3.34006092e-02 -3.29576613e-04 9.99441990e-01 2.21289337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:79.22, Z:22.13 [[ 8.15230447e-01 5.78497470e-01 -2.72028561e-02 2.22421646e+02] [-5.78172643e-01 8.15684174e-01 1.93835597e-02 7.92190209e+01] [ 3.34022794e-02 -7.41208186e-05 9.99441985e-01 2.21314447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.45, Y:79.20, Z:22.13 [[ 8.14098601e-01 5.80091976e-01 -2.71434457e-02 2.22448354e+02] [-5.79765274e-01 8.14550973e-01 1.94664003e-02 7.91996244e+01] [ 3.34020227e-02 -1.10742052e-04 9.99441991e-01 2.21324671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.466875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.47, Y:79.18, Z:22.13 [[ 8.11810844e-01 5.83289536e-01 -2.71380009e-02 2.22474281e+02] [-5.82964361e-01 8.12264315e-01 1.94739879e-02 7.91802973e+01] [ 3.34022031e-02 1.12927512e-05 9.99441991e-01 2.21332342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.496875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:222.50, Y:79.16, Z:22.13 [[ 8.10467867e-01 5.85154373e-01 -2.71329252e-02 2.22500735e+02] [-5.84830005e-01 8.10921916e-01 1.94810573e-02 7.91611404e+01] [ 3.34021095e-02 7.93778260e-05 9.99441991e-01 2.21344182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:79.14, Z:22.14 [[ 8.08920657e-01 5.87291636e-01 -2.71275705e-02 2.22527033e+02] [-5.86968218e-01 8.09375382e-01 1.94885109e-02 7.91417391e+01] [ 3.34018272e-02 1.58362706e-04 9.99441991e-01 2.21352394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.55, Y:79.13, Z:22.13 [[ 8.09258722e-01 5.86825959e-01 -2.71222195e-02 2.22552004e+02] [-5.86502030e-01 8.09713083e-01 1.94959550e-02 7.91270994e+01] [ 3.34019485e-02 1.29965147e-04 9.99441991e-01 2.21328512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.58, Y:79.10, Z:22.14 [[ 8.06459272e-01 5.90659357e-01 -2.72940754e-02 2.22578647e+02] [-5.90345654e-01 8.06920804e-01 1.92568144e-02 7.91036527e+01] [ 3.33983749e-02 5.83102320e-04 9.99441949e-01 2.21365997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.60, Y:79.08, Z:22.14 [[ 8.04435423e-01 5.93420976e-01 -2.71145069e-02 2.22603964e+02] [-5.93100418e-01 8.04892163e-01 1.95064226e-02 7.90842637e+01] [ 3.33997745e-02 3.89968076e-04 9.99441996e-01 2.21372922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.63, Y:79.07, Z:22.13 [[ 8.05106607e-01 5.92510200e-01 -2.71111611e-02 2.22628319e+02] [-5.92188969e-01 8.05562873e-01 1.95110718e-02 7.90703569e+01] [ 3.34002538e-02 3.46437734e-04 9.99441996e-01 2.21334725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.65, Y:79.05, Z:22.14 [[ 8.02392256e-01 5.96171708e-01 -2.73123090e-02 2.22654569e+02] [-5.95862036e-01 8.02856515e-01 1.92315136e-02 7.90460582e+01] [ 3.33931496e-02 8.43150437e-04 9.99441938e-01 2.21380930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.706875 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:222.68, Y:79.03, Z:22.14 [[ 8.01137338e-01 5.97866524e-01 -2.71032307e-02 2.22679852e+02] [-5.97547981e-01 8.01595478e-01 1.95217928e-02 7.90250546e+01] [ 3.33972536e-02 5.55843634e-04 9.99442002e-01 2.21390009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.736875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:222.71, Y:79.00, Z:22.14 [[ 8.00741268e-01 5.98397129e-01 -2.70979274e-02 2.22706089e+02] [-5.98078640e-01 8.01199446e-01 1.95291514e-02 7.90045058e+01] [ 3.33970326e-02 5.68894103e-04 9.99442002e-01 2.21406557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.73, Y:78.98, Z:22.14 [[ 8.00384816e-01 5.98874061e-01 -2.70925428e-02 2.22732438e+02] [-5.98555593e-01 8.00843008e-01 1.95366186e-02 7.89842514e+01] [ 3.33968476e-02 5.79580162e-04 9.99442002e-01 2.21423822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.76, Y:78.96, Z:22.14 [[ 8.00042132e-01 5.99332030e-01 -2.70869833e-02 2.22757123e+02] [-5.99013563e-01 8.00500325e-01 1.95443237e-02 7.89637344e+01] [ 3.33966781e-02 5.89187945e-04 9.99442002e-01 2.21426394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.78, Y:78.95, Z:22.14 [[ 8.03502267e-01 5.94685364e-01 -2.70818289e-02 2.22779778e+02] [-5.94364006e-01 8.03958437e-01 1.95514633e-02 7.89535564e+01] [ 3.33996339e-02 3.86819239e-04 9.99442002e-01 2.21373212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.81, Y:78.92, Z:22.14 [[ 8.00051247e-01 5.99302250e-01 -2.74739209e-02 2.22806383e+02] [-5.99002043e-01 8.00521862e-01 1.90079037e-02 7.89244261e+01] [ 3.33849538e-02 1.24963773e-03 9.99441786e-01 2.21441305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.83, Y:78.90, Z:22.15 [[ 8.00536188e-01 5.98672661e-01 -2.70713159e-02 2.22829631e+02] [-5.98353118e-01 8.00993606e-01 1.95649862e-02 7.89034512e+01] [ 3.33969733e-02 5.35726860e-04 9.99442022e-01 2.21452356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.85, Y:78.88, Z:22.15 [[ 8.00696520e-01 5.98458327e-01 -2.70686824e-02 2.22854936e+02] [-5.98138538e-01 8.01153767e-01 1.95686291e-02 7.88827416e+01] [ 3.33971859e-02 5.22288889e-04 9.99442022e-01 2.21472460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.88, Y:78.86, Z:22.15 [[ 8.01256570e-01 5.97708531e-01 -2.70632694e-02 2.22879872e+02] [-5.97388062e-01 8.01713340e-01 1.95761123e-02 7.88607494e+01] [ 3.33977935e-02 4.81785484e-04 9.99442022e-01 2.21493172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.91, Y:78.84, Z:22.15 [[ 8.01467139e-01 5.97426400e-01 -2.70577599e-02 2.22906020e+02] [-5.97105513e-01 8.01923615e-01 1.95837245e-02 7.88403289e+01] [ 3.33980907e-02 4.60625906e-04 9.99442022e-01 2.21506514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.93, Y:78.82, Z:22.15 [[ 8.01575679e-01 5.97281014e-01 -2.70521807e-02 2.22931190e+02] [-5.96959784e-01 8.02031915e-01 1.95914283e-02 7.88200868e+01] [ 3.33983005e-02 4.45051506e-04 9.99442022e-01 2.21512702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.96, Y:78.80, Z:22.15 [[ 8.01970619e-01 5.96750856e-01 -2.70470335e-02 2.22956785e+02] [-5.96429085e-01 8.02426473e-01 1.95985318e-02 7.87993231e+01] [ 3.33986963e-02 4.14190743e-04 9.99442022e-01 2.21521669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.98, Y:78.78, Z:22.15 [[ 8.02983371e-01 5.95387657e-01 -2.70415075e-02 2.22979857e+02] [-5.95064856e-01 8.03438496e-01 1.96061535e-02 7.87769108e+01] [ 3.33994499e-02 3.48035535e-04 9.99442022e-01 2.21530652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.096875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:223.00, Y:78.76, Z:22.15 [[ 8.03541149e-01 5.94634892e-01 -2.70363906e-02 2.23004714e+02] [-5.94311427e-01 8.03995802e-01 1.96132070e-02 7.87558989e+01] [ 3.33998418e-02 3.08016946e-04 9.99442022e-01 2.21543563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.03, Y:78.73, Z:22.16 [[ 8.04285496e-01 5.93627968e-01 -2.70310182e-02 2.23029761e+02] [-5.93303685e-01 8.04739566e-01 1.96206085e-02 7.87349357e+01] [ 3.34002718e-02 2.57031799e-04 9.99442022e-01 2.21560784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.05, Y:78.72, Z:22.15 [[ 8.09070970e-01 5.87089075e-01 -2.70293090e-02 2.23051908e+02] [-5.86761043e-01 8.09522339e-01 1.96229628e-02 7.87200744e+01] [ 3.34012565e-02 -1.66240270e-05 9.99442022e-01 2.21493216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:78.69, Z:22.16 [[ 8.07211267e-01 5.89632067e-01 -2.72762935e-02 2.23076255e+02] [-5.89316905e-01 8.07671819e-01 1.92826120e-02 7.86925675e+01] [ 3.33999400e-02 5.09239192e-04 9.99441937e-01 2.21572586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.10, Y:78.67, Z:22.16 [[ 8.08787000e-01 5.87480634e-01 -2.70202596e-02 2.23100825e+02] [-5.87152420e-01 8.09238225e-01 1.96349535e-02 7.86725639e+01] [ 3.34009818e-02 -1.54842972e-05 9.99442031e-01 2.21580817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.13, Y:78.65, Z:22.16 [[ 8.11478378e-01 5.83757665e-01 -2.70153629e-02 2.23125643e+02] [-5.83427157e-01 8.11927926e-01 1.96416885e-02 7.86507955e+01] [ 3.34005138e-02 -1.77309155e-04 9.99442031e-01 2.21604443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.276875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:223.15, Y:78.63, Z:22.16 [[ 8.12596560e-01 5.82200387e-01 -2.70099897e-02 2.23151688e+02] [-5.81868771e-01 8.13045292e-01 1.96490746e-02 7.86306310e+01] [ 3.34000438e-02 -2.50500907e-04 9.99442032e-01 2.21612385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.18, Y:78.61, Z:22.16 [[ 8.13437982e-01 5.81024439e-01 -2.70046531e-02 2.23177555e+02] [-5.80691931e-01 8.13886053e-01 1.96564061e-02 7.86111202e+01] [ 3.33995629e-02 -3.07883158e-04 9.99442032e-01 2.21623543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.20, Y:78.59, Z:22.16 [[ 8.14688910e-01 5.79269381e-01 -2.69993520e-02 2.23203790e+02] [-5.78935667e-01 8.15136083e-01 1.96636848e-02 7.85923101e+01] [ 3.33987166e-02 -3.88898085e-04 9.99442032e-01 2.21619533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.23, Y:78.57, Z:22.16 [[ 8.14932815e-01 5.78926429e-01 -2.69943926e-02 2.23231039e+02] [-5.78592301e-01 8.15379679e-01 1.96704908e-02 7.85733657e+01] [ 3.33984462e-02 -4.11380737e-04 9.99442032e-01 2.21631042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.26, Y:78.56, Z:22.16 [[ 8.15001981e-01 5.78829311e-01 -2.69889021e-02 2.23257148e+02] [-5.78494880e-01 8.15448618e-01 1.96780212e-02 7.85555460e+01] [ 3.33982784e-02 -4.24684570e-04 9.99442032e-01 2.21633897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.426875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:223.28, Y:78.54, Z:22.17 [[ 8.14605808e-01 5.79386963e-01 -2.69837836e-02 2.23284213e+02] [-5.79052606e-01 8.15052501e-01 1.96850375e-02 7.85373555e+01] [ 3.33984544e-02 -4.10515665e-04 9.99442032e-01 2.21667815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.31, Y:78.52, Z:22.17 [[ 8.14419978e-01 5.79648405e-01 -2.69782377e-02 2.23309730e+02] [-5.79313940e-01 8.14866590e-01 1.96926352e-02 7.85191221e+01] [ 3.33984691e-02 -4.09206371e-04 9.99442032e-01 2.21686350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.486875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:223.34, Y:78.50, Z:22.17 [[ 8.13750758e-01 5.80587652e-01 -2.69755698e-02 2.23336842e+02] [-5.80253582e-01 8.14197665e-01 1.96962891e-02 7.84997784e+01] [ 3.33988682e-02 -3.75199132e-04 9.99442032e-01 2.21704650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.36, Y:78.48, Z:22.17 [[ 8.12554031e-01 5.82261592e-01 -2.69700973e-02 2.23363372e+02] [-5.81928193e-01 8.13001439e-01 1.97037798e-02 7.84828899e+01] [ 3.33994821e-02 -3.15725681e-04 9.99442032e-01 2.21718650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.39, Y:78.46, Z:22.17 [[ 8.11883737e-01 5.83196096e-01 -2.69650046e-02 2.23391160e+02] [-5.82862981e-01 8.12331356e-01 1.97107467e-02 7.84645890e+01] [ 3.33997493e-02 -2.85931700e-04 9.99442032e-01 2.21718567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.57687500000003 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:223.42, Y:78.45, Z:22.17 [[ 8.11134916e-01 5.84237390e-01 -2.69596107e-02 2.23419073e+02] [-5.83904605e-01 8.11582780e-01 1.97181216e-02 7.84465105e+01] [ 3.34000197e-02 -2.52216063e-04 9.99442032e-01 2.21715306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.45, Y:78.43, Z:22.17 [[ 8.10453350e-01 5.85182737e-01 -2.69542402e-02 2.23447296e+02] [-5.84850230e-01 8.10901421e-01 1.97254602e-02 7.84295798e+01] [ 3.34002305e-02 -2.22371713e-04 9.99442032e-01 2.21726900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.47, Y:78.41, Z:22.17 [[ 8.10455979e-01 5.85179354e-01 -2.69486408e-02 2.23473724e+02] [-5.84846591e-01 8.10903860e-01 1.97331071e-02 7.84115294e+01] [ 3.34001637e-02 -2.31993959e-04 9.99442032e-01 2.21729646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.666875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:223.50, Y:78.39, Z:22.17 [[ 8.10560140e-01 5.85035308e-01 -2.69434309e-02 2.23500307e+02] [-5.84702229e-01 8.11007785e-01 1.97402181e-02 7.83930555e+01] [ 3.34000568e-02 -2.46749854e-04 9.99442032e-01 2.21743720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.53, Y:78.38, Z:22.18 [[ 8.11388522e-01 5.83886111e-01 -2.69383742e-02 2.23527178e+02] [-5.83552168e-01 8.11835524e-01 1.97471162e-02 7.83750935e+01] [ 3.33995960e-02 -3.02636753e-04 9.99442032e-01 2.21761554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.55, Y:78.36, Z:22.18 [[ 8.11661624e-01 5.83506645e-01 -2.69333355e-02 2.23554327e+02] [-5.83172265e-01 8.12108299e-01 1.97539862e-02 7.83563794e+01] [ 3.33993675e-02 -3.26778211e-04 9.99442032e-01 2.21776606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.75687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:223.58, Y:78.34, Z:22.18 [[ 8.11842099e-01 5.83255768e-01 -2.69279667e-02 2.23581539e+02] [-5.82921008e-01 8.12288489e-01 1.97613021e-02 7.83376168e+01] [ 3.33991708e-02 -3.46179525e-04 9.99442032e-01 2.21790478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.61, Y:78.32, Z:22.18 [[ 8.11806079e-01 5.83306154e-01 -2.69225004e-02 2.23609146e+02] [-5.82971175e-01 8.12252305e-01 1.97687464e-02 7.83197690e+01] [ 3.33990944e-02 -3.53346768e-04 9.99442032e-01 2.21804974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.64, Y:78.30, Z:22.18 [[ 8.11532344e-01 5.83687184e-01 -2.69170137e-02 2.23635524e+02] [-5.83352167e-01 8.11978541e-01 1.97762142e-02 7.83015571e+01] [ 3.33991603e-02 -3.46939227e-04 9.99442032e-01 2.21811412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.66, Y:78.28, Z:22.18 [[ 8.11060340e-01 5.84343112e-01 -2.69119369e-02 2.23662532e+02] [-5.84008226e-01 8.11506636e-01 1.97831205e-02 7.82826821e+01] [ 3.33993456e-02 -3.28511863e-04 9.99442032e-01 2.21819146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:223.69, Y:78.27, Z:22.18 [[ 8.10053787e-01 5.85737913e-01 -2.69064823e-02 2.23688752e+02] [-5.85403550e-01 8.10500474e-01 1.97905363e-02 7.82652040e+01] [ 3.33997841e-02 -2.80248625e-04 9.99442032e-01 2.21821746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.72, Y:78.25, Z:22.18 [[ 8.09311153e-01 5.86763812e-01 -2.69014074e-02 2.23715371e+02] [-5.86429786e-01 8.09758092e-01 1.97974324e-02 7.82465081e+01] [ 3.34000492e-02 -2.46496278e-04 9.99442032e-01 2.21832339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.74, Y:78.23, Z:22.18 [[ 8.09152659e-01 5.86982603e-01 -2.68960682e-02 2.23742188e+02] [-5.86648456e-01 8.09599508e-01 1.98046832e-02 7.82266504e+01] [ 3.34000481e-02 -2.46475185e-04 9.99442032e-01 2.21843534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.966875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:223.77, Y:78.21, Z:22.18 [[ 8.08323674e-01 5.88123905e-01 -2.68907147e-02 2.23768635e+02] [-5.87790147e-01 8.08770814e-01 1.98119496e-02 7.82078011e+01] [ 3.34003064e-02 -2.08370788e-04 9.99442032e-01 2.21849867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.79, Y:78.19, Z:22.19 [[ 8.06698150e-01 5.90351822e-01 -2.68853352e-02 2.23794692e+02] [-5.90019056e-01 8.07146028e-01 1.98192471e-02 7.81895744e+01] [ 3.34007201e-02 -1.25289843e-04 9.99442032e-01 2.21863115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.026875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:223.82, Y:78.17, Z:22.19 [[ 8.05885251e-01 5.91461249e-01 -2.68803365e-02 2.23821445e+02] [-5.91128874e-01 8.06333419e-01 1.98260243e-02 7.81698808e+01] [ 3.34008388e-02 -8.77575265e-05 9.99442032e-01 2.21873875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.85, Y:78.15, Z:22.19 [[ 8.05015423e-01 5.92644838e-01 -2.68749966e-02 2.23847466e+02] [-5.92312880e-01 8.05463900e-01 1.98332602e-02 7.81505015e+01] [ 3.34009188e-02 -4.76737097e-05 9.99442033e-01 2.21887224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.87, Y:78.13, Z:22.19 [[ 8.03320296e-01 5.94940773e-01 -2.68696666e-02 2.23873482e+02] [-5.94609856e-01 8.03769541e-01 1.98404785e-02 7.81315920e+01] [ 3.34009292e-02 3.87094721e-05 9.99442033e-01 2.21893547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.90, Y:78.11, Z:22.19 [[ 8.02206623e-01 5.96441801e-01 -2.68647030e-02 2.23900488e+02] [-5.96111499e-01 8.02656321e-01 1.98471971e-02 7.81120199e+01] [ 3.34008217e-02 9.28054318e-05 9.99442033e-01 2.21907265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.93, Y:78.09, Z:22.19 [[ 8.00324562e-01 5.98965088e-01 -2.68592360e-02 2.23926964e+02] [-5.98635956e-01 8.00775117e-01 1.98545928e-02 7.80926873e+01] [ 3.34004158e-02 1.88786153e-04 9.99442033e-01 2.21917293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.95, Y:78.07, Z:22.19 [[ 7.99474477e-01 6.00099524e-01 -2.68537355e-02 2.23952263e+02] [-5.99770781e-01 7.99925315e-01 1.98620297e-02 7.80736720e+01] [ 3.34001773e-02 2.26900111e-04 9.99442033e-01 2.21926026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:78.05, Z:22.19 [[ 7.98747216e-01 6.01067415e-01 -2.68486154e-02 2.23978397e+02] [-6.00738986e-01 7.99198283e-01 1.98689483e-02 7.80533363e+01] [ 3.33999447e-02 2.58742851e-04 9.99442033e-01 2.21940605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.236875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:224.00, Y:78.03, Z:22.19 [[ 7.98222156e-01 6.01764766e-01 -2.68431814e-02 2.24004144e+02] [-6.01436484e-01 7.98673331e-01 1.98762870e-02 7.80336240e+01] [ 3.33997823e-02 2.78775921e-04 9.99442033e-01 2.21949455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.03, Y:78.01, Z:22.20 [[ 7.97736430e-01 6.02408775e-01 -2.68376132e-02 2.24029536e+02] [-6.02080604e-01 7.98187685e-01 1.98838026e-02 7.80136673e+01] [ 3.33996295e-02 2.96372711e-04 9.99442033e-01 2.21952695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.296875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:224.06, Y:77.99, Z:22.20 [[ 7.97580180e-01 6.02615862e-01 -2.68324113e-02 2.24055435e+02] [-6.02287573e-01 7.98031349e-01 1.98908199e-02 7.79935034e+01] [ 3.33996289e-02 2.96304133e-04 9.99442033e-01 2.21958187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:77.97, Z:22.20 [[ 7.97478824e-01 6.02750231e-01 -2.68269237e-02 2.24080218e+02] [-6.02421769e-01 7.97929867e-01 1.98982182e-02 7.79740411e+01] [ 3.33996593e-02 2.92715192e-04 9.99442033e-01 2.21956216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.11, Y:77.95, Z:22.20 [[ 7.97429381e-01 6.02815871e-01 -2.68217920e-02 2.24105905e+02] [-6.02487214e-01 7.97880281e-01 1.99051331e-02 7.79527437e+01] [ 3.33997091e-02 2.86848757e-04 9.99442033e-01 2.21970606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.13, Y:77.93, Z:22.20 [[ 7.97187587e-01 6.03135838e-01 -2.68162788e-02 2.24130881e+02] [-6.02807112e-01 7.97638437e-01 1.99125578e-02 7.79332913e+01] [ 3.33996719e-02 2.90999638e-04 9.99442033e-01 2.21983060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.16, Y:77.91, Z:22.20 [[ 7.96721726e-01 6.03751318e-01 -2.68111378e-02 2.24156192e+02] [-6.03422707e-01 7.97172661e-01 1.99194775e-02 7.79136869e+01] [ 3.33995168e-02 3.08168842e-04 9.99442033e-01 2.21995414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:77.89, Z:22.20 [[ 7.95235189e-01 6.05708130e-01 -2.68077477e-02 2.24181598e+02] [-6.05380475e-01 7.95686819e-01 1.99240388e-02 7.78933804e+01] [ 3.33987238e-02 3.84590296e-04 9.99442033e-01 2.22018378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:77.87, Z:22.20 [[ 7.94396715e-01 6.06807626e-01 -2.68023070e-02 2.24206814e+02] [-6.06480349e-01 7.94848619e-01 1.99313550e-02 7.78737211e+01] [ 3.33982750e-02 4.21669555e-04 9.99442033e-01 2.22032718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.23, Y:77.85, Z:22.21 [[ 7.93512922e-01 6.07963116e-01 -2.67972476e-02 2.24232593e+02] [-6.07636267e-01 7.93965136e-01 1.99381550e-02 7.78535633e+01] [ 3.33977432e-02 4.61795918e-04 9.99442033e-01 2.22052164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.26, Y:77.83, Z:22.21 [[ 7.91981875e-01 6.09956483e-01 -2.67917647e-02 2.24257874e+02] [-6.09630524e-01 7.92434730e-01 1.99455198e-02 7.78337248e+01] [ 3.33966240e-02 5.36587392e-04 9.99442033e-01 2.22061305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.28, Y:77.81, Z:22.21 [[ 7.91004279e-01 6.11223867e-01 -2.67883391e-02 2.24283844e+02] [-6.10898478e-01 7.91457543e-01 1.99501197e-02 7.78138749e+01] [ 3.33958224e-02 5.84325565e-04 9.99442033e-01 2.22077035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.596875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:224.31, Y:77.79, Z:22.21 [[ 7.89977535e-01 6.12550410e-01 -2.67859760e-02 2.24309326e+02] [-6.12225674e-01 7.90431268e-01 1.99532920e-02 7.77948663e+01] [ 3.33948702e-02 6.36409817e-04 9.99442033e-01 2.22086359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62687500000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:224.34, Y:77.77, Z:22.21 [[ 7.87753729e-01 6.15407869e-01 -2.67809241e-02 2.24335132e+02] [-6.15084549e-01 7.88208471e-01 1.99600703e-02 7.77747642e+01] [ 3.33925355e-02 7.48912844e-04 9.99442033e-01 2.22102171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.36, Y:77.75, Z:22.21 [[ 7.87045937e-01 6.16313050e-01 -2.67753366e-02 2.24361730e+02] [-6.15989997e-01 7.87500870e-01 1.99675628e-02 7.77546743e+01] [ 3.33918704e-02 7.77950321e-04 9.99442033e-01 2.22115335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.39, Y:77.74, Z:22.21 [[ 7.86097661e-01 6.17522211e-01 -2.67728750e-02 2.24386556e+02] [-6.17199746e-01 7.86553010e-01 1.99708628e-02 7.77352340e+01] [ 3.33907368e-02 8.25163161e-04 9.99442033e-01 2.22115617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.41, Y:77.72, Z:22.21 [[ 7.85503113e-01 6.18278541e-01 -2.67676140e-02 2.24412650e+02] [-6.17956274e-01 7.85958603e-01 1.99779117e-02 7.77151332e+01] [ 3.33901507e-02 8.48503200e-04 9.99442033e-01 2.22123068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.746875 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:224.44, Y:77.70, Z:22.21 [[ 7.87161399e-01 6.16166144e-01 -2.67621869e-02 2.24438765e+02] [-6.15842408e-01 7.87615846e-01 1.99851792e-02 7.76957398e+01] [ 3.33925133e-02 7.49728073e-04 9.99442033e-01 2.22125623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.46, Y:77.68, Z:22.21 [[ 7.91152685e-01 6.11033159e-01 -2.67564673e-02 2.24463067e+02] [-6.10706215e-01 7.91604829e-01 1.99928337e-02 7.76828957e+01] [ 3.33968331e-02 5.22956814e-04 9.99442033e-01 2.22086486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.49, Y:77.66, Z:22.21 [[ 7.89614069e-01 6.13008581e-01 -2.70203968e-02 2.24487887e+02] [-6.12694789e-01 7.90075555e-01 1.96395818e-02 7.76567965e+01] [ 3.33873872e-02 1.04756620e-03 9.99441937e-01 2.22146657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.836875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:224.51, Y:77.64, Z:22.22 [[ 7.92129380e-01 6.09767046e-01 -2.67431438e-02 2.24513102e+02] [-6.09438795e-01 7.92580564e-01 2.00101309e-02 7.76354726e+01] [ 3.33976144e-02 4.47696768e-04 9.99442044e-01 2.22176937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.54, Y:77.62, Z:22.22 [[ 7.93203969e-01 6.08368772e-01 -2.67376379e-02 2.24539291e+02] [-6.08039478e-01 7.93654392e-01 2.00174852e-02 7.76154251e+01] [ 3.33984567e-02 3.79590667e-04 9.99442044e-01 2.22185961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.56, Y:77.60, Z:22.22 [[ 7.94423010e-01 6.06776303e-01 -2.67319952e-02 2.24564559e+02] [-6.06445853e-01 7.94872585e-01 2.00250178e-02 7.75958014e+01] [ 3.33992364e-02 3.03172745e-04 9.99442044e-01 2.22189528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.926875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:224.59, Y:77.58, Z:22.21 [[ 8.00697419e-01 5.98472492e-01 -2.67267691e-02 2.24587716e+02] [-5.98137147e-01 8.01143354e-01 2.00319906e-02 7.75846916e+01] [ 3.34005687e-02 -5.32897497e-05 9.99442044e-01 2.22142257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.956875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:224.61, Y:77.56, Z:22.22 [[ 7.98389290e-01 6.01530778e-01 -2.71157696e-02 2.24613862e+02] [-6.01214648e-01 7.98849297e-01 1.95127504e-02 7.75561923e+01] [ 3.33989334e-02 7.23626883e-04 9.99441838e-01 2.22212067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.64, Y:77.54, Z:22.22 [[ 7.99663534e-01 5.99853894e-01 -2.67121401e-02 2.24639185e+02] [-5.99518700e-01 8.00109559e-01 2.00504957e-02 7.75358498e+01] [ 3.34000066e-02 -1.92227076e-05 9.99442064e-01 2.22232090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.66, Y:77.51, Z:22.23 [[ 8.01988440e-01 5.96742233e-01 -2.67067366e-02 2.24664574e+02] [-5.96405069e-01 8.02432977e-01 2.00576904e-02 7.75145707e+01] [ 3.33996371e-02 -1.58002750e-04 9.99442064e-01 2.22265643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.046875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:224.69, Y:77.49, Z:22.23 [[ 8.03044660e-01 5.95320349e-01 -2.67012438e-02 2.24690753e+02] [-5.94982155e-01 8.03488414e-01 2.00649999e-02 7.74947099e+01] [ 3.33992428e-02 -2.26327405e-04 9.99442064e-01 2.22283757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.07687500000003 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:224.72, Y:77.48, Z:22.23 [[ 8.03857126e-01 5.94223073e-01 -2.66957056e-02 2.24716085e+02] [-5.93884029e-01 8.04300230e-01 2.00723656e-02 7.74757541e+01] [ 3.33988249e-02 -2.81160875e-04 9.99442064e-01 2.22290711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.74, Y:77.46, Z:22.23 [[ 8.04886293e-01 5.92828534e-01 -2.66905529e-02 2.24742568e+02] [-5.92488495e-01 8.05328634e-01 2.00792149e-02 7.74564396e+01] [ 3.33981980e-02 -3.47639397e-04 9.99442064e-01 2.22293087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.77, Y:77.44, Z:22.23 [[ 8.04872505e-01 5.92847496e-01 -2.66851486e-02 2.24768758e+02] [-5.92507230e-01 8.05314671e-01 2.00863946e-02 7.74366517e+01] [ 3.33981104e-02 -3.55843301e-04 9.99442064e-01 2.22301828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.79, Y:77.42, Z:22.23 [[ 8.04619787e-01 5.93190686e-01 -2.66797354e-02 2.24794887e+02] [-5.92850369e-01 8.05061915e-01 2.00935821e-02 7.74171301e+01] [ 3.33981646e-02 -3.50602744e-04 9.99442064e-01 2.22312659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.82, Y:77.40, Z:22.23 [[ 8.03916030e-01 5.94144345e-01 -2.66742282e-02 2.24820634e+02] [-5.93804311e-01 8.04358374e-01 2.01008902e-02 7.73989473e+01] [ 3.33984691e-02 -3.20156119e-04 9.99442064e-01 2.22311872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.85, Y:77.38, Z:22.23 [[ 8.03250309e-01 5.95044285e-01 -2.66690993e-02 2.24847296e+02] [-5.94704520e-01 8.03692861e-01 2.01076928e-02 7.73794911e+01] [ 3.33987324e-02 -2.91276510e-04 9.99442064e-01 2.22324700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.87, Y:77.36, Z:22.23 [[ 8.02712761e-01 5.95769493e-01 -2.66633540e-02 2.24873253e+02] [-5.95429876e-01 8.03155426e-01 2.01153084e-02 7.73606319e+01] [ 3.33989045e-02 -2.70657218e-04 9.99442064e-01 2.22334375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.286875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:224.90, Y:77.34, Z:22.24 [[ 8.02100018e-01 5.96594428e-01 -2.66579975e-02 2.24900065e+02] [-5.96255030e-01 8.02542851e-01 2.01224046e-02 7.73410599e+01] [ 3.33990998e-02 -2.45215991e-04 9.99442064e-01 2.22350695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31687500000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:224.93, Y:77.32, Z:22.24 [[ 8.00564385e-01 5.98653756e-01 -2.66523225e-02 2.24926430e+02] [-5.98315247e-01 8.01007897e-01 2.01299184e-02 7.73225005e+01] [ 3.33995721e-02 -1.68804847e-04 9.99442064e-01 2.22375573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.95, Y:77.30, Z:22.24 [[ 7.99566932e-01 5.99985547e-01 -2.66470433e-02 2.24952839e+02] [-5.99647544e-01 8.00010830e-01 2.01369043e-02 7.73029642e+01] [ 3.33997748e-02 -1.21968658e-04 9.99442064e-01 2.22393988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:77.28, Z:22.24 [[ 7.98708447e-01 6.01128140e-01 -2.66416109e-02 2.24979132e+02] [-6.00790532e-01 7.99152646e-01 2.01440890e-02 7.72838275e+01] [ 3.33998926e-02 -8.32264549e-05 9.99442064e-01 2.22411468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.01, Y:77.27, Z:22.24 [[ 7.96467575e-01 6.04094295e-01 -2.66361599e-02 2.25005978e+02] [-6.03758100e-01 7.96912845e-01 2.01512942e-02 7.72652969e+01] [ 3.33999798e-02 3.19448639e-05 9.99442065e-01 2.22422160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.436875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:225.03, Y:77.25, Z:22.24 [[ 7.95005937e-01 6.06016803e-01 -2.66307165e-02 2.25032670e+02] [-6.05681444e-01 7.95451836e-01 2.01584852e-02 7.72463161e+01] [ 3.33998331e-02 1.03615409e-04 9.99442065e-01 2.22425215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.466875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:225.06, Y:77.23, Z:22.24 [[ 7.93761030e-01 6.07646713e-01 -2.66251671e-02 2.25058685e+02] [-6.07312024e-01 7.94207432e-01 2.01658122e-02 7.72278126e+01] [ 3.33995951e-02 1.62948300e-04 9.99442065e-01 2.22431485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:77.21, Z:22.24 [[ 7.91462965e-01 6.10637168e-01 -2.66199959e-02 2.25085934e+02] [-6.10303936e-01 7.91910456e-01 2.01726361e-02 7.72088665e+01] [ 3.33988145e-02 2.80393942e-04 9.99442065e-01 2.22429925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.526875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:225.11, Y:77.19, Z:22.24 [[ 7.90542997e-01 6.11827952e-01 -2.66144267e-02 2.25112098e+02] [-6.11495147e-01 7.90990805e-01 2.01799811e-02 7.71895233e+01] [ 3.33984433e-02 3.21450024e-04 9.99442065e-01 2.22431663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.556875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:225.14, Y:77.17, Z:22.24 [[ 7.89648903e-01 6.12981714e-01 -2.66088077e-02 2.25137457e+02] [-6.12649313e-01 7.90097012e-01 2.01873875e-02 7.71705068e+01] [ 3.33980388e-02 3.60919342e-04 9.99442065e-01 2.22430045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.16, Y:77.15, Z:22.24 [[ 7.88592865e-01 6.14339924e-01 -2.66035751e-02 2.25163806e+02] [-6.14008063e-01 7.89041374e-01 2.01942808e-02 7.71507425e+01] [ 3.33974744e-02 4.09743897e-04 9.99442065e-01 2.22432306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.616875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.19, Y:77.13, Z:22.24 [[ 7.87991754e-01 6.15110993e-01 -2.65981342e-02 2.25189658e+02] [-6.14779329e-01 7.88440409e-01 2.02014445e-02 7.71310547e+01] [ 3.33971744e-02 4.33411359e-04 9.99442065e-01 2.22440156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.646875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.21, Y:77.11, Z:22.24 [[ 7.87000916e-01 6.16378451e-01 -2.65925510e-02 2.25214625e+02] [-6.16047261e-01 7.87449921e-01 2.02087914e-02 7.71118438e+01] [ 3.33965657e-02 4.77930802e-04 9.99442065e-01 2.22442397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.676875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.24, Y:77.09, Z:22.25 [[ 7.86537993e-01 6.16969284e-01 -2.65873528e-02 2.25240595e+02] [-6.16638201e-01 7.86987076e-01 2.02156280e-02 7.70917580e+01] [ 3.33963246e-02 4.94417967e-04 9.99442065e-01 2.22453529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.706875 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:225.27, Y:77.07, Z:22.25 [[ 7.86061281e-01 6.17576771e-01 -2.65818267e-02 2.25266429e+02] [-6.17245789e-01 7.86510439e-01 2.02228918e-02 7.70716195e+01] [ 3.33960724e-02 5.11088373e-04 9.99442065e-01 2.22463348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.736875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:225.29, Y:77.05, Z:22.25 [[ 7.85563933e-01 6.18209517e-01 -2.65763286e-02 2.25292583e+02] [-6.17878652e-01 7.86013177e-01 2.02301147e-02 7.70512064e+01] [ 3.33957938e-02 5.28897628e-04 9.99442065e-01 2.22476214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.766875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:225.32, Y:77.03, Z:22.25 [[ 7.85208618e-01 6.18660986e-01 -2.65708556e-02 2.25318819e+02] [-6.18330137e-01 7.85657873e-01 2.02373005e-02 7.70306582e+01] [ 3.33956302e-02 5.39057994e-04 9.99442065e-01 2.22483608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.34, Y:77.01, Z:22.25 [[ 7.85098661e-01 6.18800753e-01 -2.65653922e-02 2.25344634e+02] [-6.18469741e-01 7.85547796e-01 2.02444698e-02 7.70097566e+01] [ 3.33956784e-02 5.35985127e-04 9.99442065e-01 2.22492813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.82687500000003 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.37, Y:76.99, Z:22.25 [[ 7.85208528e-01 6.18661576e-01 -2.65597897e-02 2.25370632e+02] [-6.18330236e-01 7.85657421e-01 2.02518173e-02 7.69889710e+01] [ 3.33959171e-02 5.20821377e-04 9.99442065e-01 2.22507176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.856875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.40, Y:76.97, Z:22.25 [[ 7.85035196e-01 6.18881751e-01 -2.65541012e-02 2.25397107e+02] [-6.18550284e-01 7.85483996e-01 2.02592733e-02 7.69686714e+01] [ 3.33959160e-02 5.20804228e-04 9.99442065e-01 2.22518371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.42, Y:76.95, Z:22.25 [[ 7.85895492e-01 6.17789169e-01 -2.65484209e-02 2.25421704e+02] [-6.17456827e-01 7.86343644e-01 2.02667141e-02 7.69473859e+01] [ 3.33967385e-02 4.64984478e-04 9.99442065e-01 2.22541229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.916875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.45, Y:76.93, Z:22.25 [[ 7.86271581e-01 6.17310689e-01 -2.65426877e-02 2.25446613e+02] [-6.16977821e-01 7.86719343e-01 2.02742199e-02 7.69269202e+01] [ 3.33971385e-02 4.35206664e-04 9.99442065e-01 2.22548856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:76.91, Z:22.26 [[ 7.86715858e-01 6.16744544e-01 -2.65391310e-02 2.25471997e+02] [-6.16411197e-01 7.87163263e-01 2.02788746e-02 7.69062301e+01] [ 3.33975143e-02 4.05305284e-04 9.99442065e-01 2.22566358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:76.89, Z:22.26 [[ 7.87197087e-01 6.16130447e-01 -2.65333654e-02 2.25497405e+02] [-6.15796497e-01 7.87644041e-01 2.02864158e-02 7.68854835e+01] [ 3.33979255e-02 3.69746023e-04 9.99442065e-01 2.22581148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.52, Y:76.86, Z:22.26 [[ 7.88551594e-01 6.14396184e-01 -2.65275818e-02 2.25521874e+02] [-6.14060997e-01 7.88997621e-01 2.02939758e-02 7.68643096e+01] [ 3.33987403e-02 2.86706364e-04 9.99442065e-01 2.22587423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.55, Y:76.84, Z:22.26 [[ 7.89016210e-01 6.13799636e-01 -2.65221950e-02 2.25547577e+02] [-6.13463875e-01 7.89461806e-01 2.03010134e-02 7.68433609e+01] [ 3.33990146e-02 2.52579805e-04 9.99442065e-01 2.22599409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.57, Y:76.82, Z:22.26 [[ 7.89577902e-01 6.13077160e-01 -2.65166468e-02 2.25573212e+02] [-6.12740748e-01 7.90023006e-01 2.03082577e-02 7.68225519e+01] [ 3.33992900e-02 2.12878492e-04 9.99442065e-01 2.22612654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.60, Y:76.80, Z:22.26 [[ 7.90094760e-01 6.12411161e-01 -2.65111274e-02 2.25598528e+02] [-6.12074132e-01 7.90539397e-01 2.03154604e-02 7.68019316e+01] [ 3.33995054e-02 1.75636510e-04 9.99442065e-01 2.22626305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12687500000004 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:225.62, Y:76.78, Z:22.27 [[ 7.91048343e-01 6.11179171e-01 -2.65054754e-02 2.25623477e+02] [-6.10841202e-01 7.91492267e-01 2.03228318e-02 7.67807482e+01] [ 3.33997703e-02 1.14294056e-04 9.99442066e-01 2.22656412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.65, Y:76.76, Z:22.27 [[ 7.91244286e-01 6.10925722e-01 -2.64998425e-02 2.25649583e+02] [-6.10587366e-01 7.91687914e-01 2.03301742e-02 7.67603590e+01] [ 3.33998314e-02 9.43348103e-05 9.99442066e-01 2.22668359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.68, Y:76.74, Z:22.27 [[ 7.91252502e-01 6.10915327e-01 -2.64941576e-02 2.25675929e+02] [-6.10576717e-01 7.91695936e-01 2.03375800e-02 7.67401100e+01] [ 3.33998563e-02 8.45546809e-05 9.99442066e-01 2.22682207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.70, Y:76.72, Z:22.27 [[ 7.91357131e-01 6.10780035e-01 -2.64884858e-02 2.25700777e+02] [-6.10441102e-01 7.91800318e-01 2.03449646e-02 7.67204999e+01] [ 3.33998897e-02 6.95276887e-05 9.99442066e-01 2.22686796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.73, Y:76.70, Z:22.27 [[ 7.91281483e-01 6.10878188e-01 -2.64849732e-02 2.25726804e+02] [-6.10539157e-01 7.91724595e-01 2.03495363e-02 7.67004619e+01] [ 3.33998925e-02 6.79019508e-05 9.99442066e-01 2.22699997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.276875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.75, Y:76.68, Z:22.27 [[ 7.91074288e-01 6.11146723e-01 -2.64793178e-02 2.25751877e+02] [-6.10807596e-01 7.91517326e-01 2.03568924e-02 7.66808010e+01] [ 3.33998870e-02 6.99542737e-05 9.99442066e-01 2.22702849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.306875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:225.78, Y:76.66, Z:22.27 [[ 7.90845104e-01 6.11443492e-01 -2.64740840e-02 2.25777651e+02] [-6.11104303e-01 7.91288096e-01 2.03636967e-02 7.66610103e+01] [ 3.33998774e-02 7.38968027e-05 9.99442066e-01 2.22717200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.80, Y:76.64, Z:22.27 [[ 7.90296374e-01 6.12152803e-01 -2.64685975e-02 2.25803828e+02] [-6.11813773e-01 7.90739487e-01 2.03708256e-02 7.66412235e+01] [ 3.33998232e-02 9.48628487e-05 9.99442066e-01 2.22733897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.366875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:225.83, Y:76.62, Z:22.27 [[ 7.89588398e-01 6.13065966e-01 -2.64628769e-02 2.25829203e+02] [-6.12727199e-01 7.90031712e-01 2.03782542e-02 7.66224436e+01] [ 3.33997261e-02 1.24091357e-04 9.99442066e-01 2.22740176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.86, Y:76.60, Z:22.27 [[ 7.88300775e-01 6.14720983e-01 -2.64575553e-02 2.25855452e+02] [-6.14382915e-01 7.88744622e-01 2.03851611e-02 7.66041975e+01] [ 3.33994407e-02 1.85431641e-04 9.99442066e-01 2.22749164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.88, Y:76.58, Z:22.28 [[ 7.87290052e-01 6.16015137e-01 -2.64523403e-02 2.25881533e+02] [-6.15677571e-01 7.87734281e-01 2.03919260e-02 7.65846342e+01] [ 3.33991503e-02 2.31752190e-04 9.99442066e-01 2.22754942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.91, Y:76.56, Z:22.28 [[ 7.86282971e-01 6.17300225e-01 -2.64484753e-02 2.25908073e+02] [-6.16963217e-01 7.86727624e-01 2.03969377e-02 7.65645707e+01] [ 3.33987803e-02 2.79971607e-04 9.99442066e-01 2.22759069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.93, Y:76.54, Z:22.28 [[ 7.84628161e-01 6.19402475e-01 -2.64428218e-02 2.25934751e+02] [-6.19066411e-01 7.85073528e-01 2.04042643e-02 7.65446879e+01] [ 3.33980112e-02 3.60102403e-04 9.99442066e-01 2.22763648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.96, Y:76.52, Z:22.28 [[ 7.83828841e-01 6.20413910e-01 -2.64372672e-02 2.25961443e+02] [-6.20078178e-01 7.84274458e-01 2.04114588e-02 7.65245495e+01] [ 3.33976263e-02 3.94082415e-04 9.99442066e-01 2.22769215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:76.50, Z:22.28 [[ 7.82861655e-01 6.21633998e-01 -2.64348369e-02 2.25986931e+02] [-6.21298855e-01 7.83307715e-01 2.04146057e-02 7.65049140e+01] [ 3.33970247e-02 4.42121840e-04 9.99442066e-01 2.22780910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.57687500000003 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:226.01, Y:76.49, Z:22.28 [[ 7.84590115e-01 6.19451229e-01 -2.64296415e-02 2.26012872e+02] [-6.19114618e-01 7.85035068e-01 2.04213298e-02 7.64904902e+01] [ 3.33982132e-02 3.40603910e-04 9.99442066e-01 2.22750489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:76.47, Z:22.28 [[ 7.80540942e-01 6.24538223e-01 -2.66053830e-02 2.26037270e+02] [-6.24212237e-01 7.80993786e-01 2.01938139e-02 7.64669834e+01] [ 3.33904474e-02 8.45307167e-04 9.99442026e-01 2.22820278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.06, Y:76.45, Z:22.28 [[ 7.79633290e-01 6.25678591e-01 -2.64241271e-02 2.26062981e+02] [-6.25345298e-01 7.80080729e-01 2.04282722e-02 7.64472602e+01] [ 3.33944849e-02 5.97642544e-04 9.99442070e-01 2.22839298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.666875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:226.09, Y:76.43, Z:22.29 [[ 7.78555857e-01 6.27019010e-01 -2.64185315e-02 2.26087814e+02] [-6.26686243e-01 7.79003686e-01 2.04355060e-02 7.64280438e+01] [ 3.33935842e-02 6.45947350e-04 9.99442070e-01 2.22850409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.69687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:226.11, Y:76.41, Z:22.29 [[ 7.76709731e-01 6.29304640e-01 -2.64133252e-02 2.26113932e+02] [-6.28972961e-01 7.77158368e-01 2.04422331e-02 7.64085590e+01] [ 3.33917288e-02 7.35586003e-04 9.99442070e-01 2.22857945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.726875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:226.14, Y:76.39, Z:22.29 [[ 7.75598500e-01 6.30673793e-01 -2.64108667e-02 2.26139694e+02] [-6.30342798e-01 7.76047642e-01 2.04454090e-02 7.63892166e+01] [ 3.33904744e-02 7.90471079e-04 9.99442070e-01 2.22860541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.75687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:226.17, Y:76.37, Z:22.29 [[ 7.74376301e-01 6.32174097e-01 -2.64056101e-02 2.26165717e+02] [-6.31843741e-01 7.74825913e-01 2.04521956e-02 7.63697169e+01] [ 3.33890993e-02 8.46523871e-04 9.99442070e-01 2.22859020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.19, Y:76.35, Z:22.28 [[ 7.72578324e-01 6.34370381e-01 -2.63998633e-02 2.26192270e+02] [-6.34041050e-01 7.73028687e-01 2.04596110e-02 7.63496370e+01] [ 3.33868229e-02 9.31945027e-04 9.99442070e-01 2.22847881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:226.22, Y:76.33, Z:22.28 [[ 7.71846388e-01 6.35260976e-01 -2.63940383e-02 2.26217264e+02] [-6.34931908e-01 7.72296944e-01 2.04671228e-02 7.63296596e+01] [ 3.33859995e-02 9.60942323e-04 9.99442070e-01 2.22848917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.24, Y:76.31, Z:22.29 [[ 7.71417354e-01 6.35782047e-01 -2.63904478e-02 2.26242608e+02] [-6.35453125e-01 7.71868016e-01 2.04717514e-02 7.63093582e+01] [ 3.33855146e-02 9.77628245e-04 9.99442070e-01 2.22856147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.27, Y:76.29, Z:22.29 [[ 7.71347821e-01 6.35866639e-01 -2.63847886e-02 2.26268707e+02] [-6.35537517e-01 7.71798337e-01 2.04790426e-02 7.62886422e+01] [ 3.33856759e-02 9.72058107e-04 9.99442070e-01 2.22862704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.906875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:226.29, Y:76.27, Z:22.29 [[ 7.72179765e-01 6.34856324e-01 -2.63791463e-02 2.26293370e+02] [-6.34526365e-01 7.72629668e-01 2.04863079e-02 7.62667941e+01] [ 3.33871731e-02 9.19151382e-04 9.99442070e-01 2.22875568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:76.25, Z:22.29 [[ 7.72988873e-01 6.33871024e-01 -2.63766407e-02 2.26318005e+02] [-6.33540382e-01 7.73438274e-01 2.04895333e-02 7.62464990e+01] [ 3.33884250e-02 8.72485748e-04 9.99442070e-01 2.22895056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.34, Y:76.23, Z:22.29 [[ 7.73854865e-01 6.32813720e-01 -2.63712829e-02 2.26343482e+02] [-6.32482229e-01 7.74303640e-01 2.04964269e-02 7.62254465e+01] [ 3.33898005e-02 8.18108132e-04 9.99442070e-01 2.22917659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.996875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:226.37, Y:76.20, Z:22.29 [[ 7.75975744e-01 6.30211468e-01 -2.63657052e-02 2.26368145e+02] [-6.29878228e-01 7.76423223e-01 2.05035994e-02 7.62044020e+01] [ 3.33925492e-02 6.96887863e-04 9.99442070e-01 2.22941341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.39, Y:76.18, Z:22.30 [[ 7.76895188e-01 6.29077910e-01 -2.63599947e-02 2.26393314e+02] [-6.28743769e-01 7.77341994e-01 2.05109383e-02 7.61838119e+01] [ 3.33937090e-02 6.38833131e-04 9.99442070e-01 2.22955007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.42, Y:76.16, Z:22.30 [[ 7.77594326e-01 6.28213616e-01 -2.63574794e-02 2.26418052e+02] [-6.27878868e-01 7.78040677e-01 2.05141700e-02 7.61636621e+01] [ 3.33944720e-02 5.97602126e-04 9.99442070e-01 2.22967801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.086875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:226.44, Y:76.14, Z:22.30 [[ 7.78253788e-01 6.27396692e-01 -2.63521008e-02 2.26443727e+02] [-6.27061242e-01 7.78699611e-01 2.05210769e-02 7.61430658e+01] [ 3.33952264e-02 5.53775221e-04 9.99442070e-01 2.22973392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.47, Y:76.12, Z:22.30 [[ 7.79960207e-01 6.25274289e-01 -2.63465236e-02 2.26469323e+02] [-6.24937384e-01 7.80404932e-01 2.05282349e-02 7.61221820e+01] [ 3.33967344e-02 4.53721237e-04 9.99442071e-01 2.22974446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:76.10, Z:22.30 [[ 7.80675278e-01 6.24381507e-01 -2.63409280e-02 2.26493789e+02] [-6.24043851e-01 7.81119433e-01 2.05354124e-02 7.61022977e+01] [ 3.33973425e-02 4.06405344e-04 9.99442071e-01 2.22980059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:76.08, Z:22.30 [[ 7.81228315e-01 6.23689628e-01 -2.63356826e-02 2.26519548e+02] [-6.23351352e-01 7.81671998e-01 2.05421371e-02 7.60813322e+01] [ 3.33977835e-02 3.68284205e-04 9.99442071e-01 2.22984565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.54, Y:76.06, Z:22.30 [[ 7.82506077e-01 6.22085979e-01 -2.63301010e-02 2.26544996e+02] [-6.21746554e-01 7.82948881e-01 2.05492889e-02 7.60609761e+01] [ 3.33985476e-02 2.90706098e-04 9.99442071e-01 2.22992319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.57, Y:76.04, Z:22.30 [[ 7.82897557e-01 6.21593467e-01 -2.63244367e-02 2.26570798e+02] [-6.21253519e-01 7.83339960e-01 2.05565426e-02 7.60401116e+01] [ 3.33987958e-02 2.60481908e-04 9.99442071e-01 2.23000299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.60, Y:76.02, Z:22.30 [[ 7.83311717e-01 6.21071582e-01 -2.63219425e-02 2.26595806e+02] [-6.20731232e-01 7.83753811e-01 2.05597358e-02 7.60199954e+01] [ 3.33989904e-02 2.34169807e-04 9.99442071e-01 2.23008495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:76.00, Z:22.30 [[ 7.84209546e-01 6.19937758e-01 -2.63166089e-02 2.26620388e+02] [-6.19596540e-01 7.84650970e-01 2.05665606e-02 7.59997142e+01] [ 3.33993402e-02 1.77186691e-04 9.99442071e-01 2.23005850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:75.98, Z:22.30 [[ 7.84281801e-01 6.19846568e-01 -2.63113884e-02 2.26645987e+02] [-6.19505074e-01 7.84723012e-01 2.05732372e-02 7.59788354e+01] [ 3.33994024e-02 1.64823051e-04 9.99442071e-01 2.23009947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:75.96, Z:22.30 [[ 7.84261317e-01 6.19872718e-01 -2.63058980e-02 2.26671654e+02] [-6.19531004e-01 7.84702357e-01 2.05802551e-02 7.59578181e+01] [ 3.33994388e-02 1.57021398e-04 9.99442071e-01 2.23010165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:75.94, Z:22.30 [[ 7.83917656e-01 6.20307503e-01 -2.63004083e-02 2.26697522e+02] [-6.19965797e-01 7.84358703e-01 2.05872682e-02 7.59373655e+01] [ 3.33993911e-02 1.66630533e-04 9.99442071e-01 2.23021007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:75.92, Z:22.30 [[ 7.83541608e-01 6.20782672e-01 -2.62949268e-02 2.26723452e+02] [-6.20441000e-01 7.83982680e-01 2.05942670e-02 7.59171210e+01] [ 3.33993313e-02 1.77985616e-04 9.99442071e-01 2.23035445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:75.90, Z:22.31 [[ 7.82972929e-01 6.21500005e-01 -2.62894888e-02 2.26749165e+02] [-6.21158503e-01 7.83414133e-01 2.06012066e-02 7.58969172e+01] [ 3.33992070e-02 1.99752463e-04 9.99442071e-01 2.23051532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:75.88, Z:22.31 [[ 7.82098367e-01 6.22600437e-01 -2.62838399e-02 2.26775415e+02] [-6.22259314e-01 7.82539864e-01 2.06084112e-02 7.58768213e+01] [ 3.33989583e-02 2.37559432e-04 9.99442071e-01 2.23065408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:75.86, Z:22.31 [[ 7.81725458e-01 6.23068830e-01 -2.62781429e-02 2.26800510e+02] [-6.22727728e-01 7.82166971e-01 2.06156730e-02 7.58576694e+01] [ 3.33988786e-02 2.48331800e-04 9.99442071e-01 2.23074554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:75.84, Z:22.31 [[ 7.81392005e-01 6.23487113e-01 -2.62746068e-02 2.26826504e+02] [-6.23146095e-01 7.81833583e-01 2.06201787e-02 7.58378806e+01] [ 3.33987857e-02 2.60475881e-04 9.99442071e-01 2.23092095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.85, Y:75.82, Z:22.31 [[ 7.80663652e-01 6.24398945e-01 -2.62720508e-02 2.26852129e+02] [-6.24058334e-01 7.81105544e-01 2.06234348e-02 7.58188651e+01] [ 3.33984954e-02 2.95326347e-04 9.99442071e-01 2.23090054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.88, Y:75.80, Z:22.31 [[ 7.80174619e-01 6.25010104e-01 -2.62665852e-02 2.26878549e+02] [-6.24669605e-01 7.80616597e-01 2.06303935e-02 7.57988699e+01] [ 3.33983368e-02 3.12627987e-04 9.99442071e-01 2.23104912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:75.78, Z:22.31 [[ 7.79447374e-01 6.25917048e-01 -2.62610086e-02 2.26905015e+02] [-6.25576824e-01 7.79889564e-01 2.06374898e-02 7.57787866e+01] [ 3.33980432e-02 3.42441118e-04 9.99442071e-01 2.23113834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.93, Y:75.76, Z:22.31 [[ 7.78837885e-01 6.26675522e-01 -2.62552809e-02 2.26930497e+02] [-6.26335482e-01 7.79280217e-01 2.06447740e-02 7.57597736e+01] [ 3.33977955e-02 3.65681843e-04 9.99442071e-01 2.23117107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.96, Y:75.74, Z:22.31 [[ 7.77954788e-01 6.27771685e-01 -2.62499323e-02 2.26957581e+02] [-6.27432040e-01 7.78397423e-01 2.06515725e-02 7.57406377e+01] [ 3.33973521e-02 4.04058820e-04 9.99442071e-01 2.23115585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.98, Y:75.72, Z:22.31 [[ 7.77506318e-01 6.28327272e-01 -2.62443282e-02 2.26983207e+02] [-6.27987703e-01 7.77949011e-01 2.06586918e-02 7.57211302e+01] [ 3.33971687e-02 4.18851987e-04 9.99442071e-01 2.23117341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.01, Y:75.70, Z:22.31 [[ 7.77338582e-01 6.28534994e-01 -2.62391057e-02 2.27009358e+02] [-6.28195319e-01 7.77781194e-01 2.06653229e-02 7.57004091e+01] [ 3.33971616e-02 4.19330572e-04 9.99442071e-01 2.23128533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.04, Y:75.68, Z:22.31 [[ 7.77075738e-01 6.28860156e-01 -2.62335850e-02 2.27035240e+02] [-6.28520430e-01 7.77518311e-01 2.06723288e-02 7.56807458e+01] [ 3.33970966e-02 4.24378999e-04 9.99442071e-01 2.23138692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.806875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:227.06, Y:75.67, Z:22.31 [[ 7.80447389e-01 6.24671088e-01 -2.62279521e-02 2.27059705e+02] [-6.24328746e-01 7.80887941e-01 2.06794731e-02 7.56706314e+01] [ 3.33989605e-02 2.35623695e-04 9.99442071e-01 2.23089343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.09, Y:75.64, Z:22.32 [[ 7.77915256e-01 6.27806456e-01 -2.65877415e-02 2.27086006e+02] [-6.27481379e-01 7.78368903e-01 2.02230188e-02 7.56424106e+01] [ 3.33912130e-02 9.51517859e-04 9.99441905e-01 2.23162062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.866875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:227.11, Y:75.62, Z:22.32 [[ 7.78281764e-01 6.27367781e-01 -2.62137914e-02 2.27111201e+02] [-6.27026387e-01 7.78723031e-01 2.06966630e-02 7.56226081e+01] [ 3.33977026e-02 3.28903478e-04 9.99442087e-01 2.23179521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.14, Y:75.60, Z:22.32 [[ 7.78925927e-01 6.26568044e-01 -2.62085198e-02 2.27137562e+02] [-6.26225971e-01 7.79366669e-01 2.07033364e-02 7.56025149e+01] [ 3.33980957e-02 2.86090224e-04 9.99442087e-01 2.23200595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.16, Y:75.58, Z:22.32 [[ 7.78901547e-01 6.26598594e-01 -2.62027123e-02 2.27163249e+02] [-6.26256291e-01 7.79342111e-01 2.07106839e-02 7.55826746e+01] [ 3.33981625e-02 2.78029634e-04 9.99442087e-01 2.23212898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.19, Y:75.56, Z:22.32 [[ 7.78763782e-01 6.26770046e-01 -2.61969657e-02 2.27189103e+02] [-6.26427596e-01 7.79204231e-01 2.07179503e-02 7.55630609e+01] [ 3.33981771e-02 2.76112909e-04 9.99442087e-01 2.23231429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.986875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:227.21, Y:75.54, Z:22.32 [[ 7.78521473e-01 6.27071238e-01 -2.61911850e-02 2.27214801e+02] [-6.26728713e-01 7.78961863e-01 2.07252555e-02 7.55437782e+01] [ 3.33981459e-02 2.79711245e-04 9.99442087e-01 2.23240498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:75.53, Z:22.33 [[ 7.78423050e-01 6.27193638e-01 -2.61857930e-02 2.27242103e+02] [-6.26850953e-01 7.78863315e-01 2.07320659e-02 7.55254579e+01] [ 3.33981734e-02 2.76271395e-04 9.99442087e-01 2.23254293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.046875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:227.27, Y:75.51, Z:22.33 [[ 7.78552816e-01 6.27032793e-01 -2.61799225e-02 2.27267490e+02] [-6.26689768e-01 7.78992817e-01 2.07394764e-02 7.55067442e+01] [ 3.33983034e-02 2.59911776e-04 9.99442087e-01 2.23263575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.07687500000003 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:227.29, Y:75.49, Z:22.33 [[ 7.78710503e-01 6.26837180e-01 -2.61744531e-02 2.27293638e+02] [-6.26493812e-01 7.79150237e-01 2.07463768e-02 7.54869250e+01] [ 3.33984316e-02 2.42711385e-04 9.99442087e-01 2.23275503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.106875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:227.32, Y:75.47, Z:22.33 [[ 7.79964351e-01 6.25276590e-01 -2.61686208e-02 2.27319625e+02] [-6.24932096e-01 7.80403202e-01 2.07537308e-02 7.54683317e+01] [ 3.33988975e-02 1.66440808e-04 9.99442087e-01 2.23288700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.35, Y:75.45, Z:22.33 [[ 7.80896549e-01 6.24112224e-01 -2.61631696e-02 2.27345447e+02] [-6.23766845e-01 7.81334705e-01 2.07606006e-02 7.54491854e+01] [ 3.33991370e-02 1.07836382e-04 9.99442087e-01 2.23293044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:75.43, Z:22.33 [[ 7.81897977e-01 6.22857387e-01 -2.61577827e-02 2.27371967e+02] [-6.22511078e-01 7.82335397e-01 2.07673857e-02 7.54290762e+01] [ 3.33992789e-02 4.55326062e-05 9.99442087e-01 2.23305633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:75.41, Z:22.33 [[ 7.84450760e-01 6.19639469e-01 -2.61521219e-02 2.27398604e+02] [-6.19291128e-01 7.84886564e-01 2.07745118e-02 7.54091854e+01] [ 3.33991566e-02 -1.00804510e-04 9.99442087e-01 2.23316321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.226875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:227.42, Y:75.39, Z:22.33 [[ 7.85402588e-01 6.18432807e-01 -2.61464772e-02 2.27424278e+02] [-6.18083560e-01 7.85837666e-01 2.07816137e-02 7.53892120e+01] [ 3.33989183e-02 -1.61225486e-04 9.99442088e-01 2.23335501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.25687500000004 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:227.45, Y:75.37, Z:22.33 [[ 7.86756465e-01 6.16709762e-01 -2.61406633e-02 2.27449665e+02] [-6.16359319e-01 7.87190581e-01 2.07889243e-02 7.53705865e+01] [ 3.33984165e-02 -2.43779154e-04 9.99442088e-01 2.23338137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.48, Y:75.35, Z:22.34 [[ 7.88693301e-01 6.14231084e-01 -2.61352737e-02 2.27476313e+02] [-6.13879053e-01 7.89126129e-01 2.07956978e-02 7.53514368e+01] [ 3.33973914e-02 -3.57530442e-04 9.99442088e-01 2.23357221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31687500000004 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:227.50, Y:75.34, Z:22.33 [[ 7.93731760e-01 6.07706456e-01 -2.61295924e-02 2.27499787e+02] [-6.07350633e-01 7.94161477e-01 2.08028338e-02 7.53444469e+01] [ 3.33931321e-02 -6.42045411e-04 9.99442088e-01 2.23290540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.53, Y:75.31, Z:22.34 [[ 7.89854988e-01 6.12714597e-01 -2.66443136e-02 2.27526762e+02] [-6.12383116e-01 7.90304160e-01 2.01557617e-02 7.53139048e+01] [ 3.34068413e-02 3.96398850e-04 9.99441757e-01 2.23367353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.55, Y:75.30, Z:22.34 [[ 7.90775728e-01 6.11548617e-01 -2.61158389e-02 2.27554477e+02] [-6.11194357e-01 7.91206698e-01 2.08187209e-02 7.52954197e+01] [ 3.33946866e-02 -5.01085762e-04 9.99442116e-01 2.23387507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.406875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:227.58, Y:75.28, Z:22.34 [[ 7.90992741e-01 6.11268149e-01 -2.61100281e-02 2.27580575e+02] [-6.10913497e-01 7.91423387e-01 2.08260060e-02 7.52762315e+01] [ 3.33943610e-02 -5.22251004e-04 9.99442116e-01 2.23400205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:75.26, Z:22.34 [[ 7.91059483e-01 6.11182007e-01 -2.61045798e-02 2.27607386e+02] [-6.10827082e-01 7.91489904e-01 2.08328330e-02 7.52563820e+01] [ 3.33941641e-02 -5.34625771e-04 9.99442116e-01 2.23417176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.466875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:227.63, Y:75.24, Z:22.34 [[ 7.91253130e-01 6.10931532e-01 -2.60987931e-02 2.27632802e+02] [-6.10576232e-01 7.91683242e-01 2.08400799e-02 7.52376854e+01] [ 3.33938391e-02 -5.54475742e-04 9.99442116e-01 2.23434691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:75.22, Z:22.35 [[ 7.91672272e-01 6.10388522e-01 -2.60934081e-02 2.27660138e+02] [-6.10032705e-01 7.92101956e-01 2.08468201e-02 7.52196453e+01] [ 3.33932994e-02 -5.86017085e-04 9.99442116e-01 2.23472922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.69, Y:75.20, Z:22.35 [[ 7.91912557e-01 6.10076990e-01 -2.60876946e-02 2.27687058e+02] [-6.09720769e-01 7.92341906e-01 2.08539675e-02 7.52004126e+01] [ 3.33928995e-02 -6.08309528e-04 9.99442117e-01 2.23492575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.556875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:227.71, Y:75.18, Z:22.35 [[ 7.92256390e-01 6.09630669e-01 -2.60818070e-02 2.27714328e+02] [-6.09273963e-01 7.92685337e-01 2.08613286e-02 7.51834718e+01] [ 3.33923716e-02 -6.36555002e-04 9.99442117e-01 2.23500917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.74, Y:75.16, Z:22.35 [[ 7.92064942e-01 6.09879545e-01 -2.60781424e-02 2.27741195e+02] [-6.09522823e-01 7.92493875e-01 2.08659086e-02 7.51643072e+01] [ 3.33924589e-02 -6.31931680e-04 9.99442117e-01 2.23510617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.616875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:227.77, Y:75.15, Z:22.35 [[ 7.91688998e-01 6.10367718e-01 -2.60725752e-02 2.27768098e+02] [-6.10011032e-01 7.92117961e-01 2.08728626e-02 7.51450573e+01] [ 3.33926766e-02 -6.20257117e-04 9.99442117e-01 2.23521504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.80, Y:75.13, Z:22.35 [[ 7.90863559e-01 6.11437122e-01 -2.60667851e-02 2.27795496e+02] [-6.11080778e-01 7.91292806e-01 2.08800911e-02 7.51271809e+01] [ 3.33933223e-02 -5.84391820e-04 9.99442117e-01 2.23529360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:75.12, Z:22.35 [[ 7.93966981e-01 6.07402061e-01 -2.60608741e-02 2.27820141e+02] [-6.07043294e-01 7.94394205e-01 2.08874661e-02 7.51181746e+01] [ 3.33896973e-02 -7.63879558e-04 9.99442117e-01 2.23468447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:75.09, Z:22.35 [[ 7.89558384e-01 6.13106627e-01 -2.64163259e-02 2.27845624e+02] [-6.12765692e-01 7.90000166e-01 2.04437044e-02 7.50899385e+01] [ 3.34030725e-02 4.55199406e-05 9.99441961e-01 2.23541655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:75.07, Z:22.36 [[ 7.88991770e-01 6.13851217e-01 -2.60513114e-02 2.27871131e+02] [-6.13495572e-01 7.89421577e-01 2.08987225e-02 7.50705225e+01] [ 3.33941735e-02 -5.06555882e-04 9.99442131e-01 2.23551085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:75.05, Z:22.36 [[ 7.87455244e-01 6.15821282e-01 -2.60458861e-02 2.27897294e+02] [-6.15466488e-01 7.87885755e-01 2.09054817e-02 7.50510755e+01] [ 3.33952232e-02 -4.31761139e-04 9.99442131e-01 2.23561843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:75.03, Z:22.36 [[ 7.86319093e-01 6.17271580e-01 -2.60399824e-02 2.27922510e+02] [-6.16917337e-01 7.86750057e-01 2.09128328e-02 7.50312803e+01] [ 3.33958550e-02 -3.79643096e-04 9.99442131e-01 2.23564260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.82687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.95, Y:75.01, Z:22.36 [[ 7.85110797e-01 6.18807920e-01 -2.60344882e-02 2.27948860e+02] [-6.18454294e-01 7.85542268e-01 2.09196704e-02 7.50110109e+01] [ 3.33964486e-02 -3.23118063e-04 9.99442131e-01 2.23576228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.856875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:227.97, Y:74.99, Z:22.36 [[ 7.82662224e-01 6.21902203e-01 -2.60286899e-02 2.27974976e+02] [-6.21550043e-01 7.83094892e-01 2.09268822e-02 7.49909781e+01] [ 3.33974083e-02 -2.00546865e-04 9.99442131e-01 2.23585363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.88687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.00, Y:74.97, Z:22.36 [[ 7.81596601e-01 6.23241173e-01 -2.60229277e-02 2.28000787e+02] [-6.22889516e-01 7.82029678e-01 2.09340452e-02 7.49705037e+01] [ 3.33976607e-02 -1.52569676e-04 9.99442131e-01 2.23600152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.916875 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:228.03, Y:74.95, Z:22.36 [[ 7.80437693e-01 6.24692020e-01 -2.60170634e-02 2.28025589e+02] [-6.24340925e-01 7.80871225e-01 2.09413309e-02 7.49505234e+01] [ 3.33978585e-02 -9.98865241e-05 9.99442131e-01 2.23608578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.94687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.05, Y:74.93, Z:22.36 [[ 7.78970579e-01 6.26520736e-01 -2.60116080e-02 2.28051925e+02] [-6.26170433e-01 7.79404751e-01 2.09481049e-02 7.49302222e+01] [ 3.33979930e-02 -3.02575721e-05 9.99442131e-01 2.23626580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.976875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:228.08, Y:74.91, Z:22.36 [[ 7.78340698e-01 6.27303317e-01 -2.60058926e-02 2.28078096e+02] [-6.26953213e-01 7.78775030e-01 2.09551979e-02 7.49100132e+01] [ 3.33980050e-02 -5.80545481e-06 9.99442131e-01 2.23644896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:74.89, Z:22.37 [[ 7.77488421e-01 6.28359573e-01 -2.60000472e-02 2.28102981e+02] [-6.28009817e-01 7.77923034e-01 2.09624480e-02 7.48905757e+01] [ 3.33979905e-02 3.02242505e-05 9.99442131e-01 2.23659605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.036875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:228.13, Y:74.87, Z:22.37 [[ 7.76897314e-01 6.29090490e-01 -2.59946092e-02 2.28127661e+02] [-6.28740917e-01 7.77332074e-01 2.09691893e-02 7.48702385e+01] [ 3.33979610e-02 5.29675888e-05 9.99442131e-01 2.23667425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:74.85, Z:22.37 [[ 7.76537923e-01 6.29534285e-01 -2.59891981e-02 2.28153288e+02] [-6.29184736e-01 7.76972702e-01 2.09758937e-02 7.48496427e+01] [ 3.33979417e-02 6.34297553e-05 9.99442131e-01 2.23680085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.096875 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:228.18, Y:74.83, Z:22.37 [[ 7.75651268e-01 6.30626649e-01 -2.59834656e-02 2.28179170e+02] [-6.30277474e-01 7.76086348e-01 2.09829923e-02 7.48289657e+01] [ 3.33978470e-02 1.01308450e-04 9.99442131e-01 2.23687695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12687500000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:228.20, Y:74.81, Z:22.37 [[ 7.75008878e-01 6.31416190e-01 -2.59775618e-02 2.28204626e+02] [-6.31067214e-01 7.75444118e-01 2.09902989e-02 7.48086048e+01] [ 3.33977620e-02 1.25919509e-04 9.99442131e-01 2.23695627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.156875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:228.23, Y:74.79, Z:22.37 [[ 7.73853854e-01 6.32831481e-01 -2.59716938e-02 2.28229294e+02] [-6.32483057e-01 7.74289535e-01 2.09975569e-02 7.47886086e+01] [ 3.33975258e-02 1.77616011e-04 9.99442131e-01 2.23697315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.25, Y:74.77, Z:22.37 [[ 7.72850331e-01 6.34056874e-01 -2.59662539e-02 2.28254818e+02] [-6.33708915e-01 7.73286383e-01 2.10042819e-02 7.47681168e+01] [ 3.33972599e-02 2.21880405e-04 9.99442131e-01 2.23717607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.216875 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:228.28, Y:74.75, Z:22.37 [[ 7.71021555e-01 6.36279674e-01 -2.59603173e-02 2.28279054e+02] [-6.35932725e-01 7.71458412e-01 2.10116167e-02 7.47489700e+01] [ 3.33965698e-02 3.08605880e-04 9.99442131e-01 2.23723265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.246875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.30, Y:74.73, Z:22.37 [[ 7.69985243e-01 6.37533480e-01 -2.59574270e-02 2.28304463e+02] [-6.37187122e-01 7.70422568e-01 2.10151868e-02 7.47280165e+01] [ 3.33960727e-02 3.58354497e-04 9.99442131e-01 2.23730567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.276875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.33, Y:74.71, Z:22.37 [[ 7.69263013e-01 6.38404995e-01 -2.59514938e-02 2.28329821e+02] [-6.38058885e-01 7.69700535e-01 2.10225111e-02 7.47068695e+01] [ 3.33957547e-02 3.86740975e-04 9.99442131e-01 2.23739174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.306875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.36, Y:74.69, Z:22.37 [[ 7.68587770e-01 6.39218011e-01 -2.59455997e-02 2.28355062e+02] [-6.38872118e-01 7.69025464e-01 2.10297829e-02 7.46860040e+01] [ 3.33954429e-02 4.12686258e-04 9.99442131e-01 2.23748840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:74.66, Z:22.38 [[ 7.67376914e-01 6.40671372e-01 -2.59396412e-02 2.28380121e+02] [-6.40326060e-01 7.67815066e-01 2.10371300e-02 7.46645669e+01] [ 3.33947343e-02 4.66420424e-04 9.99442131e-01 2.23769778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:74.64, Z:22.38 [[ 7.66821596e-01 6.41336175e-01 -2.59335862e-02 2.28404159e+02] [-6.40990991e-01 7.67259848e-01 2.10445917e-02 7.46443712e+01] [ 3.33944573e-02 4.85747678e-04 9.99442132e-01 2.23786891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.396875 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:228.43, Y:74.62, Z:22.38 [[ 7.66082679e-01 6.42218866e-01 -2.59279442e-02 2.28428849e+02] [-6.41873951e-01 7.66521143e-01 2.10515407e-02 7.46235214e+01] [ 3.33940140e-02 5.15251304e-04 9.99442132e-01 2.23790307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.426875 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:228.45, Y:74.60, Z:22.38 [[ 7.64821685e-01 6.43720224e-01 -2.59242111e-02 2.28454326e+02] [-6.43376014e-01 7.65260703e-01 2.10561367e-02 7.46023309e+01] [ 3.33930411e-02 5.74825666e-04 9.99442132e-01 2.23816719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.456875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:228.48, Y:74.58, Z:22.38 [[ 7.64009799e-01 6.44683847e-01 -2.59184300e-02 2.28478637e+02] [-6.44339950e-01 7.64449062e-01 2.10632505e-02 7.45818899e+01] [ 3.33924568e-02 6.07750109e-04 9.99442132e-01 2.23833743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:74.56, Z:22.39 [[ 7.62397104e-01 6.46590347e-01 -2.59148360e-02 2.28503517e+02] [-6.46247399e-01 7.62837108e-01 2.10676713e-02 7.45606389e+01] [ 3.33909515e-02 6.85463735e-04 9.99442132e-01 2.23869131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:74.54, Z:22.39 [[ 7.61684950e-01 6.47429357e-01 -2.59087835e-02 2.28528139e+02] [-6.47086640e-01 7.62125134e-01 2.10751120e-02 7.45407753e+01] [ 3.33903813e-02 7.12631999e-04 9.99442132e-01 2.23875544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:74.52, Z:22.39 [[ 7.60940235e-01 6.48304701e-01 -2.59031487e-02 2.28552719e+02] [-6.47962255e-01 7.61380630e-01 2.10820354e-02 7.45207723e+01] [ 3.33897383e-02 7.42093619e-04 9.99442132e-01 2.23880124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:74.50, Z:22.39 [[ 7.60440910e-01 6.48890542e-01 -2.58976274e-02 2.28578422e+02] [-6.48548204e-01 7.60881390e-01 2.10888157e-02 7.44995071e+01] [ 3.33893558e-02 7.59061477e-04 9.99442132e-01 2.23882988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.606875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.60, Y:74.48, Z:22.39 [[ 7.60365553e-01 6.48979084e-01 -2.58915921e-02 2.28602602e+02] [-6.48636546e-01 7.60805876e-01 2.10962229e-02 7.44789774e+01] [ 3.33894828e-02 7.53391666e-04 9.99442132e-01 2.23879934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.63687500000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:228.63, Y:74.46, Z:22.39 [[ 7.60445482e-01 6.48885648e-01 -2.58860049e-02 2.28627330e+02] [-6.48542822e-01 7.60885581e-01 2.11030764e-02 7.44579883e+01] [ 3.33897713e-02 7.40443527e-04 9.99442132e-01 2.23882656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.666875 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:228.65, Y:74.44, Z:22.39 [[ 7.60270205e-01 6.49091230e-01 -2.58802992e-02 2.28653135e+02] [-6.48748286e-01 7.60710212e-01 2.11100715e-02 7.44368195e+01] [ 3.33897701e-02 7.40441370e-04 9.99442132e-01 2.23893850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.68, Y:74.42, Z:22.39 [[ 7.61010634e-01 6.48223202e-01 -2.58745929e-02 2.28677446e+02] [-6.47879518e-01 7.61450064e-01 2.11170633e-02 7.44155379e+01] [ 3.33907808e-02 6.93309079e-04 9.99442132e-01 2.23909467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.726875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:228.70, Y:74.40, Z:22.39 [[ 7.61441931e-01 6.47716729e-01 -2.58693740e-02 2.28701539e+02] [-6.47372536e-01 7.61880961e-01 2.11234547e-02 7.43950074e+01] [ 3.33913986e-02 6.62838126e-04 9.99442132e-01 2.23916631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.75687500000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:228.73, Y:74.37, Z:22.39 [[ 7.61900341e-01 6.47177594e-01 -2.58656684e-02 2.28726606e+02] [-6.46832936e-01 7.62339007e-01 2.11279913e-02 7.43738841e+01] [ 3.33919705e-02 6.33342484e-04 9.99442132e-01 2.23932510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.786875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:228.75, Y:74.35, Z:22.39 [[ 7.62075687e-01 6.46971344e-01 -2.58597699e-02 2.28750790e+02] [-6.46626322e-01 7.62514067e-01 2.11352084e-02 7.43529054e+01] [ 3.33923125e-02 6.14979473e-04 9.99442132e-01 2.23942915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.78, Y:74.33, Z:22.40 [[ 7.63220683e-01 6.45620434e-01 -2.58542773e-02 2.28775675e+02] [-6.45274410e-01 7.63658271e-01 2.11419252e-02 7.43312041e+01] [ 3.33934917e-02 5.47148955e-04 9.99442132e-01 2.23957107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.846875 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:228.80, Y:74.31, Z:22.40 [[ 7.63842836e-01 6.44884470e-01 -2.58484406e-02 2.28800823e+02] [-6.44537782e-01 7.64279900e-01 2.11490588e-02 7.43095624e+01] [ 3.33941432e-02 5.05739514e-04 9.99442132e-01 2.23968574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87687500000004 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:228.83, Y:74.29, Z:22.40 [[ 7.65343028e-01 6.43103577e-01 -2.58425767e-02 2.28825536e+02] [-6.42755630e-01 7.65779090e-01 2.11562217e-02 7.42872081e+01] [ 3.33953467e-02 4.18694928e-04 9.99442132e-01 2.23985645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.85, Y:74.27, Z:22.40 [[ 7.66145665e-01 6.42147401e-01 -2.58366875e-02 2.28849975e+02] [-6.41798668e-01 7.66581098e-01 2.11634114e-02 7.42659076e+01] [ 3.33959459e-02 3.67695696e-04 9.99442132e-01 2.23995885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.936875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.87, Y:74.24, Z:22.40 [[ 7.67179213e-01 6.40912494e-01 -2.58308139e-02 2.28874877e+02] [-6.40562818e-01 7.67613889e-01 2.11705779e-02 7.42441758e+01] [ 3.33965794e-02 3.04631638e-04 9.99442132e-01 2.24011935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.966875 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:228.90, Y:74.22, Z:22.40 [[ 7.69571533e-01 6.38038192e-01 -2.58248045e-02 2.28898308e+02] [-6.37686647e-01 7.70004699e-01 2.11779059e-02 7.42219778e+01] [ 3.33975336e-02 1.70219441e-04 9.99442132e-01 2.24010570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.996875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:228.92, Y:74.20, Z:22.40 [[ 7.70732795e-01 6.36635084e-01 -2.58210693e-02 2.28923070e+02] [-6.36282598e-01 7.71165196e-01 2.11824591e-02 7.41999560e+01] [ 3.33978065e-02 1.03481158e-04 9.99442132e-01 2.24029381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.026875 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:228.95, Y:74.18, Z:22.40 [[ 7.71757489e-01 6.35392758e-01 -2.58151239e-02 2.28947457e+02] [-6.35039334e-01 7.72189122e-01 2.11897023e-02 7.41778008e+01] [ 3.33979412e-02 4.03076542e-05 9.99442132e-01 2.24045840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.056875 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:228.97, Y:74.16, Z:22.40 [[ 7.73654371e-01 6.33081985e-01 -2.58092052e-02 2.28969550e+02] [-6.32727031e-01 7.74084747e-01 2.11969087e-02 7.41563176e+01] [ 3.33978932e-02 -6.88993029e-05 9.99442132e-01 2.24049296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.086875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:228.99, Y:74.13, Z:22.41 [[ 7.74567394e-01 6.31964704e-01 -2.58063063e-02 2.28993772e+02] [-6.31609011e-01 7.74997160e-01 2.12004374e-02 7.41345164e+01] [ 3.33977423e-02 -1.21671938e-04 9.99442132e-01 2.24052770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.116875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:229.02, Y:74.11, Z:22.41 [[ 7.74539365e-01 6.32001267e-01 -2.57521041e-02 2.29016687e+02] [-6.31643400e-01 7.74967326e-01 2.12663821e-02 7.41141694e+01] [ 3.33974197e-02 -2.05503537e-04 9.99442129e-01 2.24059048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.146875 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:229.04, Y:74.09, Z:22.41 [[ 7.74490570e-01 6.32059122e-01 -2.57996910e-02 2.29041033e+02] [-6.31703213e-01 7.74920157e-01 2.12084938e-02 7.40926084e+01] [ 3.33977226e-02 -1.28030732e-04 9.99442132e-01 2.24070457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.07, Y:74.07, Z:22.41 [[ 7.73365990e-01 6.33434859e-01 -2.57938908e-02 2.29065431e+02] [-6.33079479e-01 7.73796015e-01 2.12155457e-02 7.40700714e+01] [ 3.33978761e-02 -7.77985031e-05 9.99442132e-01 2.24088516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:74.05, Z:22.41 [[ 7.72105247e-01 6.34971230e-01 -2.57880687e-02 2.29089849e+02] [-6.34616470e-01 7.72535783e-01 2.12226202e-02 7.40486653e+01] [ 3.33979591e-02 -2.05633062e-05 9.99442132e-01 2.24109200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.236875 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:229.11, Y:74.03, Z:22.41 [[ 7.69186563e-01 6.38503964e-01 -2.57821488e-02 2.29112983e+02] [-6.38150940e-01 7.69618524e-01 2.12298096e-02 7.40276826e+01] [ 3.33977369e-02 1.23218213e-04 9.99442132e-01 2.24119110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.14, Y:74.01, Z:22.41 [[ 7.67517219e-01 6.40509832e-01 -2.57773835e-02 2.29137868e+02] [-6.40157743e-01 7.67949942e-01 2.12355940e-02 7.40066133e+01] [ 3.33973470e-02 2.02907612e-04 9.99442132e-01 2.24134540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.16, Y:73.99, Z:22.41 [[ 7.65490913e-01 6.42930389e-01 -2.57716447e-02 2.29163057e+02] [-6.42579433e-01 7.65924556e-01 2.12425564e-02 7.39852887e+01] [ 3.33966206e-02 2.99345002e-04 9.99442132e-01 2.24149672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.32687500000003 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:229.19, Y:73.96, Z:22.42 [[ 7.61937842e-01 6.47137430e-01 -2.57656970e-02 2.29188030e+02] [-6.46788625e-01 7.62373217e-01 2.12497682e-02 7.39641537e+01] [ 3.33945976e-02 4.73957205e-04 9.99442133e-01 2.24157439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.21, Y:73.94, Z:22.42 [[ 7.60015733e-01 6.49393970e-01 -2.57596104e-02 2.29212479e+02] [-6.49046207e-01 7.60451941e-01 2.12571439e-02 7.39432140e+01] [ 3.33932068e-02 5.63413573e-04 9.99442133e-01 2.24150838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.24, Y:73.92, Z:22.42 [[ 7.58052993e-01 6.51684275e-01 -2.57539500e-02 2.29237004e+02] [-6.51337597e-01 7.58490064e-01 2.12639995e-02 7.39220270e+01] [ 3.33915293e-02 6.55277493e-04 9.99442133e-01 2.24162864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.416875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:229.26, Y:73.90, Z:22.42 [[ 7.55017013e-01 6.55199475e-01 -2.57479752e-02 2.29261695e+02] [-6.54854586e-01 7.55455496e-01 2.12712318e-02 7.38999343e+01] [ 3.33883493e-02 8.01037781e-04 9.99442133e-01 2.24158918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.29, Y:73.88, Z:22.42 [[ 7.53827639e-01 6.56567774e-01 -2.57419661e-02 2.29285475e+02] [-6.56223432e-01 7.54266552e-01 2.12785013e-02 7.38792567e+01] [ 3.33870823e-02 8.52158964e-04 9.99442133e-01 2.24162958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.476875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:229.31, Y:73.87, Z:22.41 [[ 7.56295841e-01 6.53723367e-01 -2.57363547e-02 2.29308414e+02] [-6.53377144e-01 7.56733272e-01 2.12852862e-02 7.38663427e+01] [ 3.33902449e-02 7.17572477e-04 9.99442133e-01 2.24085214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.33, Y:73.84, Z:22.42 [[ 7.52300545e-01 6.58305370e-01 -2.60370840e-02 2.29332651e+02] [-6.57974301e-01 7.52749694e-01 2.09216985e-02 7.38380571e+01] [ 3.33722734e-02 1.39232697e-03 9.99442021e-01 2.24175173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.536875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:229.36, Y:73.82, Z:22.41 [[ 7.53991549e-01 6.56380394e-01 -2.57200632e-02 2.29356258e+02] [-6.56035060e-01 7.54429667e-01 2.13044325e-02 7.38176793e+01] [ 3.33877905e-02 8.09901132e-04 9.99442144e-01 2.24142911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:73.79, Z:22.42 [[ 7.52779361e-01 6.57766394e-01 -2.58186859e-02 2.29379351e+02] [-6.57425936e-01 7.53221294e-01 2.11853906e-02 7.37937133e+01] [ 3.33822220e-02 1.02594899e-03 9.99442132e-01 2.24195104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:73.77, Z:22.42 [[ 7.52916017e-01 6.57614173e-01 -2.57112866e-02 2.29403650e+02] [-6.57269197e-01 7.53354416e-01 2.13149424e-02 7.37713872e+01] [ 3.33867195e-02 8.50875149e-04 9.99442146e-01 2.24206960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:73.75, Z:22.42 [[ 7.54298935e-01 6.56027706e-01 -2.57053803e-02 2.29426725e+02] [-6.55681565e-01 7.54736414e-01 2.13220630e-02 7.37485264e+01] [ 3.33886506e-02 7.71334568e-04 9.99442146e-01 2.24220844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.656875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:229.45, Y:73.73, Z:22.42 [[ 7.55164708e-01 6.55031135e-01 -2.56997373e-02 2.29451153e+02] [-6.54684186e-01 7.55601546e-01 2.13288624e-02 7.37263324e+01] [ 3.33898302e-02 7.18407414e-04 9.99442146e-01 2.24235495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.686875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:229.47, Y:73.70, Z:22.42 [[ 7.57275016e-01 6.52590517e-01 -2.56937185e-02 2.29473999e+02] [-6.52241915e-01 7.57710535e-01 2.13361104e-02 7.37040260e+01] [ 3.33921445e-02 6.01216849e-04 9.99442146e-01 2.24247953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.50, Y:73.68, Z:22.43 [[ 7.58330069e-01 6.51364435e-01 -2.56881235e-02 2.29497880e+02] [-6.51014900e-01 7.58764841e-01 2.13428446e-02 7.36821362e+01] [ 3.33932148e-02 5.38430307e-04 9.99442146e-01 2.24264889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.746875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:229.52, Y:73.66, Z:22.43 [[ 7.59479519e-01 6.50024068e-01 -2.56821381e-02 2.29521930e+02] [-6.49673522e-01 7.59913476e-01 2.13500444e-02 7.36601159e+01] [ 3.33942455e-02 4.70083709e-04 9.99442146e-01 2.24277063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.54, Y:73.64, Z:22.43 [[ 7.62580355e-01 6.46383743e-01 -2.56760266e-02 2.29544563e+02] [-6.46030879e-01 7.63012428e-01 2.13573917e-02 7.36374803e+01] [ 3.33961982e-02 3.00778685e-04 9.99442146e-01 2.24275883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.57, Y:73.62, Z:22.43 [[ 7.63994275e-01 6.44712170e-01 -2.56703346e-02 2.29569327e+02] [-6.44358130e-01 7.64425386e-01 2.13642310e-02 7.36151152e+01] [ 3.33968351e-02 2.18738616e-04 9.99442146e-01 2.24289263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.59, Y:73.59, Z:22.43 [[ 7.65806638e-01 6.42558577e-01 -2.56645297e-02 2.29594260e+02] [-6.42203091e-01 7.66236558e-01 2.13712020e-02 7.35929927e+01] [ 3.33973501e-02 1.15631931e-04 9.99442146e-01 2.24300751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:73.57, Z:22.43 [[ 7.69914978e-01 6.37630431e-01 -2.56585409e-02 2.29617833e+02] [-6.37271953e-01 7.70342406e-01 2.13783899e-02 7.35701786e+01] [ 3.33973741e-02 -1.08074149e-04 9.99442146e-01 2.24302673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:73.55, Z:22.43 [[ 7.71700165e-01 6.35468961e-01 -2.56525804e-02 2.29641181e+02] [-6.35109048e-01 7.72126386e-01 2.13855396e-02 7.35486303e+01] [ 3.33968808e-02 -2.11038546e-04 9.99442146e-01 2.24311579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:73.53, Z:22.43 [[ 7.73503604e-01 6.33272772e-01 -2.56470400e-02 2.29665627e+02] [-6.32911429e-01 7.73928613e-01 2.13921820e-02 7.35262731e+01] [ 3.33960645e-02 -3.14625096e-04 9.99442146e-01 2.24330812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.69, Y:73.50, Z:22.44 [[ 7.74923459e-01 6.31534773e-01 -2.56410329e-02 2.29689373e+02] [-6.31172239e-01 7.75347452e-01 2.13993799e-02 7.35048018e+01] [ 3.33951620e-02 -3.98973359e-04 9.99442146e-01 2.24352148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:73.48, Z:22.44 [[ 7.76056341e-01 6.30142364e-01 -2.56350759e-02 2.29713461e+02] [-6.29778833e-01 7.76479480e-01 2.14065135e-02 7.34835004e+01] [ 3.33942614e-02 -4.68232322e-04 9.99442146e-01 2.24368482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:73.46, Z:22.44 [[ 7.77019842e-01 6.28954051e-01 -2.56313605e-02 2.29738515e+02] [-6.28589727e-01 7.77442297e-01 2.14109613e-02 7.34617618e+01] [ 3.33934146e-02 -5.25131878e-04 9.99442146e-01 2.24386472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:73.44, Z:22.44 [[ 7.76929459e-01 6.29065933e-01 -2.56255230e-02 2.29762765e+02] [-6.28701439e-01 7.77351768e-01 2.14179456e-02 7.34415230e+01] [ 3.33933455e-02 -5.29429680e-04 9.99442147e-01 2.24394932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.79, Y:73.42, Z:22.44 [[ 7.75161123e-01 6.31243814e-01 -2.56219016e-02 2.29788433e+02] [-6.30880364e-01 7.75584330e-01 2.14222770e-02 7.34206865e+01] [ 3.33946252e-02 -4.41361699e-04 9.99442147e-01 2.24395898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.81, Y:73.40, Z:22.44 [[ 7.73712300e-01 6.33019033e-01 -2.56160318e-02 2.29813778e+02] [-6.32656321e-01 7.74136141e-01 2.14292935e-02 7.34001510e+01] [ 3.33954467e-02 -3.73963480e-04 9.99442147e-01 2.24399098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:73.38, Z:22.44 [[ 7.72091359e-01 6.34995316e-01 -2.56101942e-02 2.29839496e+02] [-6.34633458e-01 7.72515929e-01 2.14362678e-02 7.33791477e+01] [ 3.33962126e-02 -2.97671064e-04 9.99442147e-01 2.24404607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.86, Y:73.36, Z:22.44 [[ 7.69052433e-01 6.38672665e-01 -2.56043241e-02 2.29864862e+02] [-6.38312604e-01 7.69478528e-01 2.14432770e-02 7.33590503e+01] [ 3.33972125e-02 -1.47441576e-04 9.99442147e-01 2.24399424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:73.34, Z:22.44 [[ 7.67292576e-01 6.40786081e-01 -2.55988728e-02 2.29890367e+02] [-6.40426976e-01 7.67719477e-01 2.14497827e-02 7.33381914e+01] [ 3.33974755e-02 -6.40503085e-05 9.99442147e-01 2.24403940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:73.32, Z:22.44 [[ 7.64343119e-01 6.44301629e-01 -2.55931160e-02 2.29915824e+02] [-6.43944258e-01 7.64771472e-01 2.14566493e-02 7.33184103e+01] [ 3.33974391e-02 8.02978243e-05 9.99442147e-01 2.24398023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:73.31, Z:22.43 [[ 7.66628454e-01 6.41580923e-01 -2.55877552e-02 2.29938706e+02] [-6.41221819e-01 7.67055355e-01 2.14630404e-02 7.33103906e+01] [ 3.33975019e-02 -4.67505628e-05 9.99442147e-01 2.24345130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.286875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:229.96, Y:73.28, Z:22.44 [[ 7.60411447e-01 6.48922657e-01 -2.59579698e-02 2.29962797e+02] [-6.48582595e-01 7.60853903e-01 2.10227248e-02 7.32791444e+01] [ 3.33923451e-02 8.49966815e-04 9.99441959e-01 2.24409612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.99, Y:73.26, Z:22.44 [[ 7.59165262e-01 6.50396434e-01 -2.55457111e-02 2.29987205e+02] [-6.50040628e-01 7.59594894e-01 2.15122900e-02 7.32584152e+01] [ 3.33959084e-02 2.74366756e-04 9.99442163e-01 2.24420298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:73.24, Z:22.44 [[ 7.56691644e-01 6.53272811e-01 -2.55419373e-02 2.30012957e+02] [-6.52918486e-01 7.57122499e-01 2.15167698e-02 7.32374614e+01] [ 3.33946961e-02 3.95243090e-04 9.99442163e-01 2.24425746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.04, Y:73.22, Z:22.44 [[ 7.55859072e-01 6.54236162e-01 -2.55363954e-02 2.30038170e+02] [-6.53882165e-01 7.56290196e-01 2.15233449e-02 7.32170156e+01] [ 3.33942761e-02 4.29177985e-04 9.99442163e-01 2.24431621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:73.20, Z:22.44 [[ 7.55499216e-01 6.54651900e-01 -2.55308587e-02 2.30063901e+02] [-6.54297919e-01 7.55930352e-01 2.15299106e-02 7.31962152e+01] [ 3.33941479e-02 4.38957155e-04 9.99442164e-01 2.24436679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.09, Y:73.18, Z:22.44 [[ 7.56033295e-01 6.54035255e-01 -2.55253029e-02 2.30089020e+02] [-6.53680700e-01 7.56463960e-01 2.15364954e-02 7.31758340e+01] [ 3.33945990e-02 4.03090278e-04 9.99442164e-01 2.24442057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:73.15, Z:22.45 [[ 7.56352941e-01 6.53665792e-01 -2.55198130e-02 2.30114106e+02] [-6.53310807e-01 7.56783251e-01 2.15429987e-02 7.31544973e+01] [ 3.33948884e-02 3.78259196e-04 9.99442164e-01 2.24460305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:73.13, Z:22.45 [[ 7.56802449e-01 6.53145538e-01 -2.55139179e-02 2.30138649e+02] [-6.52790021e-01 7.57232320e-01 2.15499781e-02 7.31338967e+01] [ 3.33952353e-02 3.46154799e-04 9.99442164e-01 2.24473134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:73.11, Z:22.45 [[ 7.57967347e-01 6.51793539e-01 -2.55084830e-02 2.30163869e+02] [-6.51437039e-01 7.58396404e-01 2.15564095e-02 7.31132698e+01] [ 3.33958702e-02 2.78116110e-04 9.99442164e-01 2.24482414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:73.09, Z:22.45 [[ 7.57789031e-01 6.52001078e-01 -2.55025362e-02 2.30189289e+02] [-6.51644459e-01 7.58217988e-01 2.15634426e-02 7.30916615e+01] [ 3.33958695e-02 2.78046168e-04 9.99442164e-01 2.24493608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:73.07, Z:22.45 [[ 7.58287172e-01 6.51421896e-01 -2.54966328e-02 2.30213796e+02] [-6.51064715e-01 7.58715661e-01 2.15704206e-02 7.30711694e+01] [ 3.33961389e-02 2.43384705e-04 9.99442164e-01 2.24500719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.24, Y:73.05, Z:22.45 [[ 7.60076061e-01 6.49333953e-01 -2.54911375e-02 2.30239270e+02] [-6.48975377e-01 7.60503384e-01 2.15769128e-02 7.30500655e+01] [ 3.33967184e-02 1.43025657e-04 9.99442164e-01 2.24501003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.26, Y:73.03, Z:22.45 [[ 7.61128461e-01 6.48100272e-01 -2.54853526e-02 2.30264800e+02] [-6.47740775e-01 7.61555008e-01 2.15837434e-02 7.30286596e+01] [ 3.33969279e-02 7.99006790e-05 9.99442164e-01 2.24510199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.29, Y:73.01, Z:22.45 [[ 7.61959498e-01 6.47123272e-01 -2.54793027e-02 2.30289606e+02] [-6.46762989e-01 7.62385382e-01 2.15908828e-02 7.30073328e+01] [ 3.33970106e-02 2.76917864e-05 9.99442164e-01 2.24511367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.31, Y:72.99, Z:22.45 [[ 7.63003306e-01 6.45892458e-01 -2.54732831e-02 2.30314520e+02] [-6.45531251e-01 7.63428406e-01 2.15979825e-02 7.29864996e+01] [ 3.33970019e-02 -3.55317846e-05 9.99442164e-01 2.24513738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.34, Y:72.97, Z:22.45 [[ 7.65185045e-01 6.43306510e-01 -2.54672760e-02 2.30339766e+02] [-6.42943630e-01 7.65608718e-01 2.16050635e-02 7.29662171e+01] [ 3.33966465e-02 -1.57848641e-04 9.99442164e-01 2.24520294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.766875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:230.37, Y:72.95, Z:22.45 [[ 7.66286215e-01 6.41994657e-01 -2.54616787e-02 2.30365486e+02] [-6.41630833e-01 7.66709078e-01 2.16116579e-02 7.29453889e+01] [ 3.33962691e-02 -2.23717366e-04 9.99442164e-01 2.24533226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.39, Y:72.92, Z:22.45 [[ 7.67165181e-01 6.40944297e-01 -2.54557203e-02 2.30390893e+02] [-6.40579661e-01 7.67587344e-01 2.16186739e-02 7.29244169e+01] [ 3.33958544e-02 -2.78677150e-04 9.99442164e-01 2.24544945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:72.90, Z:22.46 [[ 7.68092210e-01 6.39833311e-01 -2.54497925e-02 2.30415246e+02] [-6.39467833e-01 7.68513644e-01 2.16256498e-02 7.29042439e+01] [ 3.33953239e-02 -3.36169499e-04 9.99442164e-01 2.24561525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.44, Y:72.88, Z:22.46 [[ 7.69653096e-01 6.37955093e-01 -2.54442760e-02 2.30440394e+02] [-6.37588373e-01 7.70073449e-01 2.16321385e-02 7.28836893e+01] [ 3.33942943e-02 -4.26267844e-04 9.99442164e-01 2.24588205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.88687500000003 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:230.47, Y:72.86, Z:22.46 [[ 7.70037601e-01 6.37491162e-01 -2.54383754e-02 2.30466005e+02] [-6.37123960e-01 7.70457533e-01 2.16390751e-02 7.28626231e+01] [ 3.33939071e-02 -4.55502981e-04 9.99442164e-01 2.24604305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:72.84, Z:22.46 [[ 7.70609775e-01 6.36799628e-01 -2.54324343e-02 2.30492044e+02] [-6.36431818e-01 7.71029176e-01 2.16460554e-02 7.28430848e+01] [ 3.33933489e-02 -4.94651517e-04 9.99442164e-01 2.24615096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.94687500000003 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:230.52, Y:72.82, Z:22.46 [[ 7.70386237e-01 6.37070286e-01 -2.54262946e-02 2.30516864e+02] [-6.36702386e-01 7.70805558e-01 2.16532650e-02 7.28229035e+01] [ 3.33933809e-02 -4.92394941e-04 9.99442164e-01 2.24620617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.54, Y:72.82, Z:22.46 [[ 7.75403465e-01 6.30954246e-01 -2.54205753e-02 2.30540775e+02] [-6.30582819e-01 7.75819666e-01 2.16599772e-02 7.28193358e+01] [ 3.33882369e-02 -7.65443340e-04 9.99442164e-01 2.24573777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:72.78, Z:22.46 [[ 7.68391189e-01 6.39448483e-01 -2.60886752e-02 2.30565918e+02] [-6.39107967e-01 7.68833686e-01 2.08751037e-02 7.27838991e+01] [ 3.34064057e-02 6.33234404e-04 9.99441650e-01 2.24629892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.036875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:230.59, Y:72.76, Z:22.46 [[ 7.67143841e-01 6.40971935e-01 -2.54028847e-02 2.30591219e+02] [-6.40605325e-01 7.67564232e-01 2.16787336e-02 7.27626758e+01] [ 3.33938055e-02 -3.57483821e-04 9.99442207e-01 2.24641317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.62, Y:72.74, Z:22.46 [[ 7.64151025e-01 6.44537200e-01 -2.53970399e-02 2.30617499e+02] [-6.44172323e-01 7.64572922e-01 2.16855788e-02 7.27423057e+01] [ 3.33950512e-02 -2.10987068e-04 9.99442207e-01 2.24643592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.64, Y:72.72, Z:22.47 [[ 7.62552823e-01 6.46427481e-01 -2.53910453e-02 2.30643169e+02] [-6.46063416e-01 7.62975421e-01 2.16925954e-02 7.27218527e+01] [ 3.33954333e-02 -1.37524409e-04 9.99442208e-01 2.24658463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.67, Y:72.70, Z:22.47 [[ 7.60560343e-01 6.48770810e-01 -2.53850545e-02 2.30668054e+02] [-6.48407814e-01 7.60983860e-01 2.16996036e-02 7.27017322e+01] [ 3.33956862e-02 -4.39902774e-05 9.99442208e-01 2.24668497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:72.68, Z:22.47 [[ 7.58863253e-01 6.50755288e-01 -2.53794902e-02 2.30693808e+02] [-6.50393182e-01 7.59287530e-01 2.17061096e-02 7.26809917e+01] [ 3.33956960e-02 3.46785289e-05 9.99442208e-01 2.24679777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.72, Y:72.66, Z:22.47 [[ 7.57007584e-01 6.52913240e-01 -2.53735953e-02 2.30719369e+02] [-6.52552112e-01 7.57432695e-01 2.17129983e-02 7.26599945e+01] [ 3.33954947e-02 1.20688874e-04 9.99442208e-01 2.24688885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:72.64, Z:22.47 [[ 7.54015658e-01 6.56366421e-01 -2.53674735e-02 2.30743767e+02] [-6.56006999e-01 7.54442213e-01 2.17201481e-02 7.26392803e+01] [ 3.33946687e-02 2.63908405e-04 9.99442208e-01 2.24694567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.77, Y:72.62, Z:22.47 [[ 7.52934069e-01 6.57607077e-01 -2.53617776e-02 2.30768786e+02] [-6.57248135e-01 7.53361026e-01 2.17267970e-02 7.26175285e+01] [ 3.33942703e-02 3.10135347e-04 9.99442208e-01 2.24707301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.79, Y:72.60, Z:22.47 [[ 7.52028692e-01 6.58642488e-01 -2.53558498e-02 2.30793227e+02] [-6.58283900e-01 7.52455947e-01 2.17337127e-02 7.25959719e+01] [ 3.33939066e-02 3.46972156e-04 9.99442208e-01 2.24717840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.306875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:230.82, Y:72.57, Z:22.47 [[ 7.51093610e-01 6.59708851e-01 -2.53499689e-02 2.30817740e+02] [-6.59350639e-01 7.51521179e-01 2.17405700e-02 7.25746422e+01] [ 3.33934850e-02 3.85314981e-04 9.99442208e-01 2.24722660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.336875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:230.84, Y:72.55, Z:22.47 [[ 7.50593281e-01 6.60278285e-01 -2.53438869e-02 2.30841886e+02] [-6.59920157e-01 7.51020922e-01 2.17476577e-02 7.25537342e+01] [ 3.33932954e-02 4.01296038e-04 9.99442208e-01 2.24727883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.366875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:230.87, Y:72.53, Z:22.47 [[ 7.49146128e-01 6.61919903e-01 -2.53401072e-02 2.30866820e+02] [-6.61562564e-01 7.49574428e-01 2.17520608e-02 7.25323427e+01] [ 3.33924184e-02 4.68594157e-04 9.99442208e-01 2.24741487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.396875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:230.89, Y:72.51, Z:22.48 [[ 7.48132036e-01 6.63066091e-01 -2.53340827e-02 2.30891616e+02] [-6.62709171e-01 7.48560684e-01 2.17590751e-02 7.25107174e+01] [ 3.33918032e-02 5.10467777e-04 9.99442208e-01 2.24753499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.92, Y:72.49, Z:22.48 [[ 7.47472308e-01 6.63809945e-01 -2.53279629e-02 2.30915733e+02] [-6.63453209e-01 7.47901111e-01 2.17661964e-02 7.24901800e+01] [ 3.33914292e-02 5.34289162e-04 9.99442208e-01 2.24766519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.456875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:230.94, Y:72.47, Z:22.48 [[ 7.46493204e-01 6.64911032e-01 -2.53222459e-02 2.30939872e+02] [-6.64554703e-01 7.46922345e-01 2.17728454e-02 7.24692845e+01] [ 3.33907564e-02 5.74736497e-04 9.99442208e-01 2.24773181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.486875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:230.96, Y:72.46, Z:22.47 [[ 7.49095333e-01 6.61978144e-01 -2.53203210e-02 2.30963166e+02] [-6.61620060e-01 7.49523010e-01 2.17750837e-02 7.24563850e+01] [ 3.33927927e-02 4.40818770e-04 9.99442208e-01 2.24728474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.516875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:230.99, Y:72.43, Z:22.48 [[ 7.45563187e-01 6.65940803e-01 -2.56589400e-02 2.30987533e+02] [-6.65598448e-01 7.46003722e-01 2.13811264e-02 7.24284088e+01] [ 3.33802292e-02 1.13756987e-03 9.99442077e-01 2.24778000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.01, Y:72.41, Z:22.48 [[ 7.45219417e-01 6.66338805e-01 -2.53104328e-02 2.31011529e+02] [-6.65982851e-01 7.45648853e-01 2.17860203e-02 7.24065015e+01] [ 3.33895659e-02 6.20948878e-04 9.99442220e-01 2.24783910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.57687500000003 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:231.04, Y:72.38, Z:22.48 [[ 7.45403660e-01 6.66132893e-01 -2.53051900e-02 2.31035846e+02] [-6.65776614e-01 7.45832826e-01 2.17921082e-02 7.23847564e+01] [ 3.33898815e-02 6.03686459e-04 9.99442220e-01 2.24791336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.606875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:231.06, Y:72.37, Z:22.47 [[ 7.49068964e-01 6.62008794e-01 -2.52990869e-02 2.31058548e+02] [-6.61649913e-01 7.49495956e-01 2.17991912e-02 7.23712242e+01] [ 3.33928196e-02 4.10041128e-04 9.99442220e-01 2.24739868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.08, Y:72.34, Z:22.48 [[ 7.46718533e-01 6.64645787e-01 -2.56400211e-02 2.31082862e+02] [-6.64301902e-01 7.47157865e-01 2.14034625e-02 7.23419853e+01] [ 3.33828646e-02 1.05035268e-03 9.99442085e-01 2.24807072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.10, Y:72.33, Z:22.48 [[ 7.52667686e-01 6.57914874e-01 -2.52858155e-02 2.31104073e+02] [-6.57553171e-01 7.53092275e-01 2.18140485e-02 7.23274588e+01] [ 3.33943393e-02 2.08038767e-04 9.99442232e-01 2.24767855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.13, Y:72.30, Z:22.49 [[ 7.50640941e-01 6.60213188e-01 -2.56266271e-02 2.31127913e+02] [-6.59866181e-01 7.51077795e-01 2.14189158e-02 7.22977398e+01] [ 3.33886413e-02 8.32229431e-04 9.99442097e-01 2.24851683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.15, Y:72.28, Z:22.49 [[ 7.51605591e-01 6.59128538e-01 -2.52706460e-02 2.31151974e+02] [-6.58766950e-01 7.52030261e-01 2.18309924e-02 7.22754039e+01] [ 3.33937205e-02 2.39170461e-04 9.99442246e-01 2.24873540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.75687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:231.18, Y:72.25, Z:22.49 [[ 7.53038086e-01 6.57491704e-01 -2.52646112e-02 2.31176357e+02] [-6.57128959e-01 7.53461767e-01 2.18379741e-02 7.22534211e+01] [ 3.33942054e-02 1.57281453e-04 9.99442246e-01 2.24895728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:72.24, Z:22.48 [[ 7.56003415e-01 6.54080148e-01 -2.52586076e-02 2.31199660e+02] [-6.53715258e-01 7.56425251e-01 2.18449158e-02 7.22394354e+01] [ 3.33945744e-02 -2.89373937e-06 9.99442246e-01 2.24845186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:72.21, Z:22.49 [[ 7.53914845e-01 6.56476828e-01 -2.55064730e-02 2.31224854e+02] [-6.56122931e-01 7.54346036e-01 2.15582565e-02 7.22119328e+01] [ 3.33932026e-02 4.82292192e-04 9.99442175e-01 2.24909249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.25, Y:72.19, Z:22.49 [[ 7.53776267e-01 6.56645914e-01 -2.52484145e-02 2.31249801e+02] [-6.56282077e-01 7.54199002e-01 2.18563688e-02 7.21904706e+01] [ 3.33942243e-02 9.52698432e-05 9.99442253e-01 2.24924085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:231.27, Y:72.17, Z:22.49 [[ 7.53799654e-01 6.56619299e-01 -2.52423822e-02 2.31274633e+02] [-6.56255214e-01 7.54222175e-01 2.18633335e-02 7.21692808e+01] [ 3.33942511e-02 8.48716937e-05 9.99442253e-01 2.24933748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.30, Y:72.15, Z:22.50 [[ 7.53454480e-01 6.57015579e-01 -2.52363902e-02 2.31300426e+02] [-6.56651484e-01 7.53876993e-01 2.18702477e-02 7.21480308e+01] [ 3.33942274e-02 9.32770114e-05 9.99442253e-01 2.24951576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.33, Y:72.13, Z:22.50 [[ 7.53046532e-01 6.57483214e-01 -2.52337714e-02 2.31325509e+02] [-6.57119281e-01 7.53469184e-01 2.18732689e-02 7.21274534e+01] [ 3.33941762e-02 1.10008407e-04 9.99442253e-01 2.24970117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.35, Y:72.11, Z:22.50 [[ 7.52593422e-01 6.58002054e-01 -2.52277387e-02 2.31351114e+02] [-6.57638178e-01 7.53016124e-01 2.18802245e-02 7.21064117e+01] [ 3.33941266e-02 1.23811089e-04 9.99442253e-01 2.24986028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.38, Y:72.09, Z:22.50 [[ 7.52254595e-01 6.58389616e-01 -2.52217592e-02 2.31376237e+02] [-6.58025728e-01 7.52677285e-01 2.18871150e-02 7.20859940e+01] [ 3.33940945e-02 1.31883624e-04 9.99442253e-01 2.25004363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:72.07, Z:22.50 [[ 7.51944144e-01 6.58744390e-01 -2.52157133e-02 2.31402173e+02] [-6.58380468e-01 7.52366805e-01 2.18940781e-02 7.20658720e+01] [ 3.33940668e-02 1.38409266e-04 9.99442253e-01 2.25010542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.43, Y:72.05, Z:22.50 [[ 7.51875760e-01 6.58822673e-01 -2.52096575e-02 2.31426533e+02] [-6.58458561e-01 7.52298257e-01 2.19010488e-02 7.20454496e+01] [ 3.33940889e-02 1.32647088e-04 9.99442253e-01 2.25016819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.45, Y:72.02, Z:22.50 [[ 7.51740719e-01 6.58976972e-01 -2.52040060e-02 2.31451588e+02] [-6.58612728e-01 7.52163103e-01 2.19075507e-02 7.20241005e+01] [ 3.33940948e-02 1.30881271e-04 9.99442253e-01 2.25020567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.48, Y:72.00, Z:22.50 [[ 7.51669270e-01 6.59058695e-01 -2.51980948e-02 2.31477006e+02] [-6.58694270e-01 7.52091497e-01 2.19143477e-02 7.20033240e+01] [ 3.33941142e-02 1.25498861e-04 9.99442253e-01 2.25027296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:71.98, Z:22.50 [[ 7.51432636e-01 6.59328710e-01 -2.51921601e-02 2.31501922e+02] [-6.58964208e-01 7.51854797e-01 2.19211679e-02 7.19817977e+01] [ 3.33941018e-02 1.28450854e-04 9.99442253e-01 2.25037090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.176875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:231.53, Y:71.96, Z:22.50 [[ 7.51457998e-01 6.59300035e-01 -2.51861193e-02 2.31525351e+02] [-6.58935284e-01 7.51879944e-01 2.19281062e-02 7.19613026e+01] [ 3.33941392e-02 1.17971836e-04 9.99442253e-01 2.25043634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.206875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:231.55, Y:71.94, Z:22.50 [[ 7.51535148e-01 6.59212278e-01 -2.51812286e-02 2.31549285e+02] [-6.58847290e-01 7.51956888e-01 2.19337210e-02 7.19400982e+01] [ 3.33941765e-02 1.06621958e-04 9.99442253e-01 2.25048266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.236875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:231.57, Y:71.92, Z:22.51 [[ 7.52104958e-01 6.58562311e-01 -2.51756756e-02 2.31573020e+02] [-6.58196745e-01 7.52526197e-01 2.19400930e-02 7.19175468e+01] [ 3.33942738e-02 6.92949591e-05 9.99442253e-01 2.25071208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.266875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:231.60, Y:71.90, Z:22.51 [[ 7.52507212e-01 6.58102863e-01 -2.51697707e-02 2.31596763e+02] [-6.57736813e-01 7.52928031e-01 2.19468650e-02 7.18957777e+01] [ 3.33943206e-02 3.99105912e-05 9.99442253e-01 2.25082468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.296875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:231.62, Y:71.87, Z:22.51 [[ 7.52883051e-01 6.57673072e-01 -2.51642978e-02 2.31619828e+02] [-6.57306572e-01 7.53303479e-01 2.19531385e-02 7.18739274e+01] [ 3.33943411e-02 1.25123648e-05 9.99442253e-01 2.25118201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.32687500000003 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:231.64, Y:71.85, Z:22.51 [[ 7.52529788e-01 6.58077461e-01 -2.51589752e-02 2.31643502e+02] [-6.57710983e-01 7.52950234e-01 2.19592366e-02 7.18527402e+01] [ 3.33943350e-02 2.23546357e-05 9.99442253e-01 2.25134091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.356875 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:231.67, Y:71.83, Z:22.52 [[ 7.51983503e-01 6.58701846e-01 -2.51533161e-02 2.31668199e+02] [-6.58335500e-01 7.52404065e-01 2.19657169e-02 7.18310680e+01] [ 3.33943156e-02 4.14641951e-05 9.99442253e-01 2.25154891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.38687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:231.69, Y:71.81, Z:22.52 [[ 7.50565260e-01 6.60317658e-01 -2.51471742e-02 2.31691208e+02] [-6.59951982e-01 7.50986404e-01 2.19727462e-02 7.18089492e+01] [ 3.33941782e-02 1.03947479e-04 9.99442254e-01 2.25183065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.72, Y:71.79, Z:22.52 [[ 7.49877014e-01 6.61099293e-01 -2.51433402e-02 2.31715563e+02] [-6.60733909e-01 7.50298412e-01 2.19771326e-02 7.17866676e+01] [ 3.33940750e-02 1.32910879e-04 9.99442254e-01 2.25205910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.74, Y:71.76, Z:22.52 [[ 7.49581326e-01 6.61434774e-01 -2.51371318e-02 2.31739400e+02] [-6.61069340e-01 7.50002681e-01 2.19842314e-02 7.17649858e+01] [ 3.33940513e-02 1.38417842e-04 9.99442254e-01 2.25171390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.37, Y:72.52, Z:23.19 [[ 8.03317858e-01 -5.95022251e-01 2.50786806e-02 2.32372280e+02] [-5.94620117e-01 -8.03704344e-01 -2.20509527e-02 7.25160387e+01] [ 3.32766520e-02 2.80163613e-03 -9.99442252e-01 2.31918863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.37, Y:72.53, Z:23.19 [[ 8.49209925e-01 -5.27375510e-01 2.67875822e-02 2.32370872e+02] [-5.27011979e-01 -8.49628147e-01 -1.97581887e-02 7.25263109e+01] [ 3.31794687e-02 2.66147320e-03 -9.99445866e-01 2.31896138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.36, Y:72.52, Z:23.20 [[ 8.87527534e-01 -4.59898269e-01 2.80794994e-02 2.32359608e+02] [-4.59565763e-01 -8.87967153e-01 -1.77100170e-02 7.25188732e+01] [ 3.30784793e-02 2.81375114e-03 -9.99448797e-01 2.31965367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.35, Y:72.51, Z:23.19 [[ 9.21661448e-01 -3.86878538e-01 2.94138009e-02 2.32347755e+02] [-3.86589824e-01 -9.22126988e-01 -1.51698897e-02 7.25127028e+01] [ 3.29921644e-02 2.61042645e-03 -9.99452201e-01 2.31931222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.596875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:232.34, Y:72.51, Z:23.19 [[ 9.48902537e-01 -3.14108441e-01 3.03292503e-02 2.32339480e+02] [-3.13850599e-01 -9.49382816e-01 -1.30410808e-02 7.25100617e+01] [ 3.28903826e-02 2.85586129e-03 -9.99454885e-01 2.31946526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.33, Y:72.51, Z:23.20 [[ 9.70243298e-01 -2.40118629e-01 3.11606488e-02 2.32330611e+02] [-2.39901107e-01 -9.70739497e-01 -1.05965852e-02 7.25081923e+01] [ 3.27933101e-02 2.80579168e-03 -9.99458216e-01 2.31959667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.32, Y:72.51, Z:23.20 [[ 9.85471225e-01 -1.66839583e-01 3.17965316e-02 2.32319593e+02] [-1.66664396e-01 -9.85980400e-01 -8.10125670e-03 7.25062812e+01] [ 3.27023672e-02 2.68420563e-03 -9.99461530e-01 2.31951803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.686875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:232.31, Y:72.50, Z:23.20 [[ 9.95315805e-01 -9.11449892e-02 3.22341482e-02 2.32307647e+02] [-9.10121110e-02 -9.95834215e-01 -5.56882582e-03 7.25029483e+01] [ 3.26074383e-02 2.60904247e-03 -9.99464831e-01 2.31956687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.716875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:232.30, Y:72.50, Z:23.20 [[ 9.99364499e-01 -1.47040738e-02 3.24713394e-02 2.32297218e+02] [-1.46137275e-02 -9.99888659e-01 -3.01792847e-03 7.24999010e+01] [ 3.25120999e-02 2.54148327e-03 -9.99468111e-01 2.31957836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.746875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:232.29, Y:72.50, Z:23.20 [[ 9.97593315e-01 6.12438923e-02 3.25079088e-02 2.32286025e+02] [ 6.12913399e-02 -9.98119811e-01 -4.64154362e-04 7.24982372e+01] [ 3.24183611e-02 2.45549057e-03 -9.99471371e-01 2.31964999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:72.50, Z:23.20 [[ 9.89987639e-01 1.37395471e-01 3.23567647e-02 2.32275056e+02] [ 1.37405931e-01 -9.90512978e-01 1.91068390e-03 7.24982828e+01] [ 3.23123147e-02 2.55445794e-03 -9.99474557e-01 2.31972678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:72.49, Z:23.20 [[ 9.76396877e-01 2.13604530e-01 3.19725491e-02 2.32264974e+02] [ 2.13568145e-01 -9.76917393e-01 4.58863922e-03 7.24928734e+01] [ 3.22146934e-02 2.34798501e-03 -9.99478214e-01 2.31985729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.836875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:232.26, Y:72.49, Z:23.20 [[ 9.56988527e-01 2.88419569e-01 3.14183345e-02 2.32255536e+02] [ 2.88342452e-01 -9.57501349e-01 7.05664239e-03 7.24867673e+01] [ 3.21183715e-02 2.30611383e-03 -9.99481412e-01 2.32002986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.866875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:232.25, Y:72.48, Z:23.20 [[ 9.32154624e-01 3.60758693e-01 3.06744465e-02 2.32245722e+02] [ 3.60641391e-01 -9.32656506e-01 9.46723378e-03 7.24811334e+01] [ 3.20241090e-02 2.23754930e-03 -9.99484592e-01 2.32012475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.896875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:232.24, Y:72.48, Z:23.20 [[ 9.01589168e-01 4.31569289e-01 2.97476384e-02 2.32235256e+02] [ 4.31413417e-01 -9.02077128e-01 1.18033209e-02 7.24755680e+01] [ 3.19286151e-02 2.19178405e-03 -9.99487749e-01 2.32015092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.23, Y:72.47, Z:23.20 [[ 8.65361663e-01 5.00328628e-01 2.86436177e-02 2.32225819e+02] [ 5.00135895e-01 -8.65832882e-01 1.40537119e-02 7.24693703e+01] [ 3.18320605e-02 2.16415786e-03 -9.99490889e-01 2.32015168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.22, Y:72.46, Z:23.20 [[ 8.23561746e-01 5.66565899e-01 2.73702752e-02 2.32221567e+02] [ 5.66338215e-01 -8.24013614e-01 1.62046334e-02 7.24553786e+01] [ 3.17344721e-02 2.15531662e-03 -9.99494011e-01 2.31987285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.22, Y:72.44, Z:23.20 [[ 7.76247453e-01 6.29894578e-01 2.59367183e-02 2.32216745e+02] [ 6.29634085e-01 -7.76677613e-01 1.82429488e-02 7.24414269e+01] [ 3.16356030e-02 2.16959931e-03 -9.99497114e-01 2.31997123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:72.43, Z:23.21 [[ 7.24715621e-01 6.88617613e-01 2.43526347e-02 2.32213855e+02] [ 6.88325910e-01 -7.25121466e-01 2.01569168e-02 7.24252267e+01] [ 3.15390261e-02 2.15451700e-03 -9.99500199e-01 2.32077261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:72.42, Z:23.20 [[ 6.64634040e-01 7.46820684e-01 2.28135685e-02 2.32207317e+02] [ 7.46508415e-01 -6.65020473e-01 2.17475768e-02 7.24160964e+01] [ 3.14130303e-02 2.57634100e-03 -9.99503169e-01 2.32020887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.07687500000003 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:232.21, Y:72.40, Z:23.20 [[ 6.02183903e-01 7.98087322e-01 2.07647167e-02 2.32205153e+02] [ 7.97743226e-01 -6.02537100e-01 2.35539611e-02 7.24025902e+01] [ 3.13096299e-02 2.38109585e-03 -9.99506897e-01 2.32040924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.106875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:232.20, Y:72.39, Z:23.20 [[ 5.35769776e-01 8.44154837e-01 1.87978153e-02 2.32204688e+02] [ 8.43787197e-01 -5.36093841e-01 2.50311756e-02 7.23884230e+01] [ 3.12075809e-02 2.45040854e-03 -9.99509921e-01 2.32048475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.13687500000003 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:232.20, Y:72.37, Z:23.21 [[ 4.62757239e-01 8.86327219e-01 1.67271633e-02 2.32204799e+02] [ 8.85939464e-01 -4.63052002e-01 2.63459530e-02 7.23736863e+01] [ 3.10966817e-02 2.62747360e-03 -9.99512928e-01 2.32056182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:72.36, Z:23.21 [[ 3.89262857e-01 9.21011542e-01 1.45659880e-02 2.32206278e+02] [ 9.20605144e-01 -3.89525872e-01 2.74911418e-02 7.23600841e+01] [ 3.09934881e-02 2.70824315e-03 -9.99515917e-01 2.32053157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:72.35, Z:23.21 [[ 3.13272994e-01 9.49583097e-01 1.23277740e-02 2.32206502e+02] [ 9.49160577e-01 -3.13503088e-01 2.84607256e-02 7.23462965e+01] [ 3.08906191e-02 2.78506043e-03 -9.99518891e-01 2.32059823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.226875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:232.21, Y:72.33, Z:23.21 [[ 2.33235565e-01 9.72368550e-01 1.00287271e-02 2.32210347e+02] [ 9.71932942e-01 -2.33432745e-01 2.92491032e-02 7.23323787e+01] [ 3.07819413e-02 2.92531909e-03 -9.99521843e-01 2.32055470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:72.32, Z:23.21 [[ 1.54492446e-01 9.87964102e-01 7.68229692e-03 2.32213179e+02] [ 9.87517448e-01 -1.54654735e-01 2.98530207e-02 7.23186676e+01] [ 3.06818164e-02 2.97433605e-03 -9.99524777e-01 2.32072265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.286875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:232.21, Y:72.31, Z:23.21 [[ 7.29488921e-02 9.97321577e-01 5.30381624e-03 2.32212062e+02] [ 9.96866864e-01 -7.30766092e-02 3.02698636e-02 7.23054827e+01] [ 3.05763730e-02 3.07904564e-03 -9.99527691e-01 2.32087953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.22, Y:72.29, Z:23.21 [[-6.98932978e-03 9.99971352e-01 2.90599914e-03 2.32219862e+02] [ 9.99511016e-01 6.89748132e-03 3.04984255e-02 7.22926786e+01] [ 3.04775077e-02 3.11774171e-03 -9.99530590e-01 2.32094013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.23, Y:72.28, Z:23.21 [[-8.63192618e-02 9.96267399e-01 5.05178044e-04 2.32227894e+02] [ 9.95804198e-01 8.62636438e-02 3.05382291e-02 7.22792297e+01] [ 3.03806635e-02 3.13909581e-03 -9.99533472e-01 2.32127125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:232.27, Y:72.24, Z:23.21 [[-1.65471364e-01 9.86212794e-01 -1.88464879e-03 2.32266442e+02] [ 9.85749548e-01 1.65451714e-01 3.03901109e-02 7.22428919e+01] [ 3.02829346e-02 3.17090143e-03 -9.99536337e-01 2.32139878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:72.21, Z:23.22 [[-2.42356837e-01 9.70177879e-01 -4.24826858e-03 2.32307670e+02] [ 9.69717362e-01 2.42373408e-01 3.00561134e-02 7.22127591e+01] [ 3.01894437e-02 3.16468478e-03 -9.99539185e-01 2.32152499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.34, Y:72.22, Z:23.22 [[-3.17632768e-01 9.48191039e-01 -6.57104918e-03 2.32341271e+02] [ 9.47736049e-01 3.17685063e-01 2.95394997e-02 7.22196400e+01] [ 3.00966130e-02 3.15509286e-03 -9.99542015e-01 2.32171211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.40, Y:72.16, Z:23.21 [[-3.89766737e-01 9.20871196e-01 -8.83916630e-03 2.32398481e+02] [ 9.20424578e-01 3.89854573e-01 2.88445431e-02 7.21560555e+01] [ 3.00080983e-02 3.10685755e-03 -9.99544827e-01 2.32142146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.44, Y:72.15, Z:23.22 [[-4.60033949e-01 8.87832715e-01 -1.10379429e-02 2.32438739e+02] [ 8.87397130e-01 4.60156074e-01 2.79771405e-02 7.21494323e+01] [ 2.99181971e-02 3.07539559e-03 -9.99547619e-01 2.32158393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.49, Y:72.12, Z:23.21 [[-5.27594047e-01 8.49394752e-01 -1.31558604e-02 2.32491915e+02] [ 8.48972787e-01 5.27749256e-01 2.69430895e-02 7.21220058e+01] [ 2.98283144e-02 3.04604615e-03 -9.99550396e-01 2.32134354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.53, Y:72.12, Z:23.22 [[-5.92136508e-01 8.05694697e-01 -1.51792798e-02 2.32530862e+02] [ 8.05288772e-01 5.92323315e-01 2.57504263e-02 7.21237758e+01] [ 2.97380233e-02 3.02406396e-03 -9.99553153e-01 2.32156610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.60, Y:72.09, Z:23.21 [[-6.52900751e-01 7.57250452e-01 -1.70986123e-02 2.32601517e+02] [ 7.56862974e-01 6.53117749e-01 2.44058520e-02 7.20860635e+01] [ 2.96487496e-02 2.99329258e-03 -9.99555897e-01 2.32142051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.616875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:232.65, Y:72.09, Z:23.21 [[-7.10459181e-01 7.03484550e-01 -1.89007755e-02 2.32646885e+02] [ 7.03117458e-01 7.10704244e-01 2.29198065e-02 7.20876324e+01] [ 2.95565911e-02 2.99412177e-03 -9.99558624e-01 2.32144280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.71, Y:72.08, Z:23.21 [[-7.63648697e-01 6.45304037e-01 -2.05759046e-02 2.32705225e+02] [ 6.44959308e-01 7.63919970e-01 2.13018779e-02 7.20787924e+01] [ 2.94645322e-02 2.99653011e-03 -9.99561335e-01 2.32138963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.77, Y:72.07, Z:23.21 [[-8.11772272e-01 5.83555272e-01 -2.21138673e-02 2.32767612e+02] [ 5.83234880e-01 8.12067942e-01 1.95635449e-02 7.20729657e+01] [ 2.93743725e-02 2.98356455e-03 -9.99564027e-01 2.32143268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.78, Y:72.11, Z:23.21 [[-8.54951864e-01 5.18174458e-01 -2.35061970e-02 2.32779145e+02] [ 5.17880045e-01 8.55269777e-01 1.77163180e-02 7.21065434e+01] [ 2.92842834e-02 2.97320873e-03 -9.99566702e-01 2.32149903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.85, Y:72.11, Z:23.21 [[-8.92630441e-01 4.50109479e-01 -2.47457689e-02 2.32845178e+02] [ 4.49842731e-01 8.92968519e-01 1.57715598e-02 7.21063269e+01] [ 2.91961212e-02 2.94647012e-03 -9.99569360e-01 2.32141170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.92, Y:72.11, Z:23.21 [[-9.25258743e-01 3.78456413e-01 -2.58263847e-02 2.32923412e+02] [ 3.78218360e-01 9.25614427e-01 1.37406404e-02 7.21075431e+01] [ 2.91055077e-02 2.94563476e-03 -9.99572005e-01 2.32112964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:72.13, Z:23.21 [[-9.52122020e-01 3.04546466e-01 -2.67415139e-02 2.32961039e+02] [ 3.04338237e-01 9.52492936e-01 1.16380864e-02 7.21306385e+01] [ 2.90154412e-02 2.94241310e-03 -9.99574633e-01 2.32118194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.03, Y:72.15, Z:23.21 [[-9.72968640e-01 2.29295725e-01 -2.74863080e-02 2.33032547e+02] [ 2.29118399e-01 9.73352411e-01 9.47852807e-03 7.21460537e+01] [ 2.89272502e-02 2.92469167e-03 -9.99577241e-01 2.32102806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.07, Y:72.17, Z:23.21 [[-9.87796564e-01 1.53201477e-01 -2.80580846e-02 2.33068322e+02] [ 1.53056025e-01 9.88190749e-01 7.27300591e-03 7.21736283e+01] [ 2.88409749e-02 2.88979134e-03 -9.99579835e-01 2.32122329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:72.20, Z:23.21 [[-9.96669019e-01 7.64279643e-02 -2.84540363e-02 2.33117479e+02] [ 7.63150059e-02 9.97071038e-01 5.03646122e-03 7.22021368e+01] [ 2.87556220e-02 2.84821491e-03 -9.99582414e-01 2.32132858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.14, Y:72.24, Z:23.21 [[-9.99588819e-01 -2.48075535e-04 -2.86728222e-02 2.33143306e+02] [-3.28022229e-04 9.99996072e-01 2.78356960e-03 7.22351808e+01] [ 2.86720190e-02 2.79183037e-03 -9.99584974e-01 2.32134856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:72.27, Z:23.21 [[-9.96561433e-01 -7.77225477e-02 -2.87143861e-02 2.33220449e+02] [-7.77697273e-02 9.96971208e-01 5.28257104e-04 7.22719807e+01] [ 2.85863587e-02 2.75955063e-03 -9.99587517e-01 2.32126373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.976875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:233.25, Y:72.31, Z:23.21 [[-9.87574329e-01 -1.54532075e-01 -2.85794157e-02 2.33251260e+02] [-1.54546463e-01 9.87984028e-01 -1.71809600e-03 7.23110116e+01] [ 2.85015072e-02 2.72010012e-03 -9.99590049e-01 2.32112535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.00687500000004 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:233.25, Y:72.36, Z:23.22 [[-9.76776816e-01 -2.12386108e-01 -2.82699919e-02 2.33253935e+02] [-2.12360516e-01 9.77183450e-01 -3.93921361e-03 7.23566786e+01] [ 2.84616025e-02 2.15569754e-03 -9.99592562e-01 2.32201943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.28, Y:72.39, Z:23.21 [[-9.52999414e-01 -3.01674310e-01 -2.80129706e-02 2.33281986e+02] [-3.01651666e-01 9.53404394e-01 -5.13162265e-03 7.23892321e+01] [ 2.82557680e-02 3.55972588e-03 -9.99594388e-01 2.32113113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:73.36, Z:22.55 [[-9.58071603e-01 2.85247494e-01 2.70679031e-02 2.32997445e+02] [-2.85128578e-01 -9.58453878e-01 8.23754853e-03 7.33603101e+01] [ 2.82930768e-02 1.74328603e-04 9.99599656e-01 2.25500160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.99, Y:73.36, Z:22.55 [[-9.57451328e-01 2.87322309e-01 2.70711259e-02 2.32987668e+02] [-2.87204521e-01 -9.57833952e-01 8.22694374e-03 7.33575825e+01] [ 2.82934280e-02 1.01948466e-04 9.99599656e-01 2.25496075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:72.41, Z:23.22 [[-9.33933746e-01 -3.56419332e-01 -2.70743158e-02 2.33223036e+02] [-3.56330081e-01 9.34324014e-01 -8.21643238e-03 7.24094234e+01] [ 2.82246788e-02 1.97378968e-03 -9.99599656e-01 2.32247033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.25, Y:72.45, Z:23.22 [[-9.04550165e-01 -4.25506733e-01 -2.70743158e-02 2.33254982e+02] [-4.25447023e-01 9.04946032e-01 -8.21643238e-03 7.24502380e+01] [ 2.79969420e-02 4.08651181e-03 -9.99599656e-01 2.32155417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.05, Y:72.39, Z:23.23 [[-8.73553960e-01 -4.86068831e-01 -2.53094942e-02 2.33054422e+02] [-4.85925370e-01 8.73918558e-01 -1.19536527e-02 7.23890067e+01] [ 2.79287347e-02 1.85636467e-03 -9.99608193e-01 2.32303660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.16, Y:72.49, Z:23.23 [[-8.41135463e-01 -5.40231952e-01 -2.53094942e-02 2.33158355e+02] [-5.40111787e-01 8.41508388e-01 -1.19536527e-02 7.24916864e+01] [ 2.77558968e-02 3.61531495e-03 -9.99608193e-01 2.32280909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.08, Y:72.48, Z:23.23 [[-8.03207657e-01 -5.95161229e-01 -2.53094942e-02 2.33084771e+02] [-5.95066220e-01 8.03587770e-01 -1.19536527e-02 7.24794617e+01] [ 2.74527507e-02 5.45955966e-03 -9.99608193e-01 2.32292709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:72.44, Z:23.22 [[-7.56172073e-01 -6.53883189e-01 -2.53094942e-02 2.32996540e+02] [-6.53817036e-01 7.56558255e-01 -1.19536527e-02 7.24432804e+01] [ 2.69643993e-02 7.50876015e-03 -9.99608193e-01 2.32225477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:73.19, Z:22.56 [[-7.41041131e-01 6.71157779e-01 2.01315113e-02 2.32314782e+02] [-6.70921548e-01 -7.41314467e-01 1.78083580e-02 7.31878902e+01] [ 2.68759986e-02 -3.09938994e-04 9.99638727e-01 2.25634929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.32, Y:73.19, Z:22.56 [[-7.41071408e-01 6.71124118e-01 2.01391665e-02 2.32316457e+02] [-6.70888109e-01 -7.41344937e-01 1.77996967e-02 7.31856375e+01] [ 2.68758749e-02 -3.20281060e-04 9.99638727e-01 2.25634861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:73.18, Z:22.56 [[-7.41358822e-01 6.70806383e-01 2.01467986e-02 2.32314143e+02] [-6.70570492e-01 -7.41632452e-01 1.77910540e-02 7.31835149e+01] [ 2.68758722e-02 -3.20293770e-04 9.99638727e-01 2.25635763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:73.18, Z:22.56 [[-7.42116102e-01 6.69968276e-01 2.01544185e-02 2.32312501e+02] [-6.69732310e-01 -7.42389667e-01 1.77824177e-02 7.31803992e+01] [ 2.68760878e-02 -3.01446804e-04 9.99638727e-01 2.25637417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.30, Y:73.17, Z:22.56 [[-7.43184700e-01 6.68782445e-01 2.01629056e-02 2.32303834e+02] [-6.68546304e-01 -7.43458115e-01 1.77727893e-02 7.31710303e+01] [ 2.68764052e-02 -2.71370918e-04 9.99638727e-01 2.25647827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.30, Y:73.16, Z:22.56 [[-7.41785705e-01 6.70333508e-01 2.01731735e-02 2.32304581e+02] [-6.70098255e-01 -7.42059884e-01 1.77611268e-02 7.31630807e+01] [ 2.68755813e-02 -3.43058396e-04 9.99638727e-01 2.25602527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.30, Y:73.16, Z:22.57 [[-7.46731079e-01 6.64822516e-01 2.00927488e-02 2.32296782e+02] [-6.64582775e-01 -7.47001354e-01 1.78525332e-02 7.31582887e+01] [ 2.68780766e-02 -2.22533354e-05 9.99638719e-01 2.25664325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:73.15, Z:22.56 [[-7.49536739e-01 6.61654830e-01 2.01881925e-02 2.32292405e+02] [-6.61416865e-01 -7.49808564e-01 1.77439424e-02 7.31489979e+01] [ 2.68776449e-02 -5.30742809e-05 9.99638729e-01 2.25647252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.30, Y:73.15, Z:22.56 [[-7.51100442e-01 6.59878968e-01 2.01958930e-02 2.32300030e+02] [-6.59640596e-01 -7.51371911e-01 1.77351736e-02 7.31526285e+01] [ 2.68776947e-02 -1.13414973e-06 9.99638730e-01 2.25642544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.57687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:232.31, Y:73.16, Z:22.56 [[-7.46910429e-01 6.64617654e-01 2.02035754e-02 2.32313152e+02] [-6.64381241e-01 -7.47183606e-01 1.77264175e-02 7.31554928e+01] [ 2.68770704e-02 -1.82830407e-04 9.99638730e-01 2.25568226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.606875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:232.30, Y:73.15, Z:22.56 [[-7.53743003e-01 6.56863737e-01 2.00378833e-02 2.32296667e+02] [-6.56619473e-01 -7.54009225e-01 1.79152555e-02 7.31453931e+01] [ 2.68766305e-02 3.46234138e-04 9.99638698e-01 2.25637026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:73.14, Z:22.56 [[-7.55378640e-01 6.54976729e-01 2.02136997e-02 2.32294596e+02] [-6.54737145e-01 -7.55649034e-01 1.77146376e-02 7.31399236e+01] [ 2.68771380e-02 1.46598827e-04 9.99638734e-01 2.25644667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:73.13, Z:22.56 [[-7.56222206e-01 6.54002322e-01 2.02222353e-02 2.32286110e+02] [-6.53762650e-01 -7.56492521e-01 1.77048883e-02 7.31304500e+01] [ 2.68770079e-02 1.68287533e-04 9.99638734e-01 2.25643349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:73.12, Z:22.56 [[-7.56799106e-01 6.53334310e-01 2.02334652e-02 2.32276775e+02] [-6.53094743e-01 -7.57069514e-01 1.76920453e-02 7.31203786e+01] [ 2.68769599e-02 1.74954275e-04 9.99638734e-01 2.25648013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:73.13, Z:22.57 [[-7.57260081e-01 6.52799739e-01 2.02403344e-02 2.32288867e+02] [-6.52560190e-01 -7.57530506e-01 1.76841833e-02 7.31267373e+01] [ 2.68769009e-02 1.83489593e-04 9.99638734e-01 2.25656888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:73.12, Z:22.57 [[-7.57399460e-01 6.52637809e-01 2.02471912e-02 2.32287838e+02] [-6.52398412e-01 -7.57670020e-01 1.76763292e-02 7.31239057e+01] [ 2.68769305e-02 1.78806784e-04 9.99638734e-01 2.25664273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:73.12, Z:22.57 [[-7.57274225e-01 6.52782881e-01 2.02548454e-02 2.32284914e+02] [-6.52543771e-01 -7.57545038e-01 1.76675541e-02 7.31194248e+01] [ 2.68770345e-02 1.62010108e-04 9.99638734e-01 2.25682692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:73.11, Z:22.57 [[-7.57040425e-01 6.53053769e-01 2.02625016e-02 2.32276907e+02] [-6.52814992e-01 -7.57311531e-01 1.76587690e-02 7.31092291e+01] [ 2.68771517e-02 1.40737160e-04 9.99638734e-01 2.25701690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.846875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.28, Y:73.11, Z:22.57 [[-7.57023827e-01 6.53072771e-01 2.02701878e-02 2.32282001e+02] [-6.52834237e-01 -7.57295147e-01 1.76499417e-02 7.31118453e+01] [ 2.68772112e-02 1.28353846e-04 9.99638734e-01 2.25704184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87687500000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:232.29, Y:73.11, Z:22.57 [[-7.56214984e-01 6.54008867e-01 2.02805199e-02 2.32286986e+02] [-6.53770987e-01 -7.56486877e-01 1.76380617e-02 7.31128546e+01] [ 2.68773959e-02 7.93510279e-05 9.99638734e-01 2.25705627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:73.11, Z:22.57 [[-7.55850518e-01 6.54429843e-01 2.02873007e-02 2.32280716e+02] [-6.54192324e-01 -7.56122726e-01 1.76302590e-02 7.31059619e+01] [ 2.68774567e-02 5.40440401e-05 9.99638734e-01 2.25701900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.936875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.29, Y:73.11, Z:22.57 [[-7.55304883e-01 6.55059299e-01 2.02940784e-02 2.32286516e+02] [-6.54822216e-01 -7.55577471e-01 1.76224537e-02 7.31091703e+01] [ 2.68775006e-02 2.13119654e-05 9.99638735e-01 2.25700376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.966875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:232.28, Y:73.11, Z:22.57 [[-7.53850283e-01 6.56732538e-01 2.03008486e-02 2.32284493e+02] [-6.56496270e-01 -7.54123578e-01 1.76146511e-02 7.31050419e+01] [ 2.68774631e-02 -4.86217211e-05 9.99638735e-01 2.25695860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:73.11, Z:22.57 [[-7.53282867e-01 6.57383061e-01 2.03084343e-02 2.32285489e+02] [-6.57147265e-01 -7.53556570e-01 1.76059010e-02 7.31050673e+01] [ 2.68773752e-02 -8.34084863e-05 9.99638735e-01 2.25691084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:73.10, Z:22.57 [[-7.52729970e-01 6.58015844e-01 2.03160081e-02 2.32284788e+02] [-6.57780515e-01 -7.53004074e-01 1.75971570e-02 7.31037150e+01] [ 2.68772450e-02 -1.17566739e-04 9.99638735e-01 2.25685821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.17, Y:73.00, Z:22.57 [[-7.48938518e-01 6.62327776e-01 2.03227316e-02 2.32173429e+02] [-6.62094235e-01 -7.49214147e-01 1.75893887e-02 7.30023881e+01] [ 2.68760187e-02 -2.82192681e-04 9.99638735e-01 2.25680056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.086875 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:232.28, Y:73.10, Z:22.57 [[-7.51075112e-01 6.59906167e-01 2.02491077e-02 2.32280784e+02] [-6.59669439e-01 -7.51348018e-01 1.76744910e-02 7.30971670e+01] [ 2.68776326e-02 -8.28471954e-05 9.99638728e-01 2.25696065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:73.10, Z:22.57 [[-7.50653999e-01 6.60382345e-01 2.03404204e-02 2.32280772e+02] [-6.60148648e-01 -7.50929491e-01 1.75687733e-02 7.30962113e+01] [ 2.68763293e-02 -2.39631066e-04 9.99638738e-01 2.25709495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.146875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:232.28, Y:73.09, Z:22.57 [[-7.50450473e-01 6.60613388e-01 2.03479507e-02 2.32279190e+02] [-6.60380012e-01 -7.50726238e-01 1.75600475e-02 7.30941741e+01] [ 2.68761429e-02 -2.59433951e-04 9.99638738e-01 2.25722725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:73.09, Z:22.57 [[-7.49984264e-01 6.61142415e-01 2.03546423e-02 2.32275071e+02] [-6.60909444e-01 -7.50260371e-01 1.75522876e-02 7.30880854e+01] [ 2.68758432e-02 -2.88635831e-04 9.99638738e-01 2.25747940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.206875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.28, Y:73.09, Z:22.58 [[-7.50166727e-01 6.60935170e-01 2.03613197e-02 2.32276675e+02] [-6.60702333e-01 -7.50442947e-01 1.75445381e-02 7.30880873e+01] [ 2.68758110e-02 -2.91442679e-04 9.99638738e-01 2.25751645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.236875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.27, Y:73.08, Z:22.58 [[-7.50297082e-01 6.60786954e-01 2.03688476e-02 2.32274220e+02] [-6.60554300e-01 -7.50573456e-01 1.75357940e-02 7.30833368e+01] [ 2.68757402e-02 -2.97674821e-04 9.99638738e-01 2.25767823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.27, Y:73.08, Z:22.58 [[-7.50720003e-01 6.60306228e-01 2.03755377e-02 2.32273512e+02] [-6.60073608e-01 -7.50996405e-01 1.75280171e-02 7.30813428e+01] [ 2.68758144e-02 -2.90721660e-04 9.99638738e-01 2.25765109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.27, Y:73.08, Z:22.58 [[-7.51224028e-01 6.59732540e-01 2.03822314e-02 2.32269523e+02] [-6.59499920e-01 -7.51500431e-01 1.75202298e-02 7.30764927e+01] [ 2.68759214e-02 -2.80462343e-04 9.99638738e-01 2.25773236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.27, Y:73.07, Z:22.57 [[-7.48068672e-01 6.63307987e-01 2.03906143e-02 2.32270684e+02] [-6.63076953e-01 -7.48346402e-01 1.75104681e-02 7.30720009e+01] [ 2.68740762e-02 -4.21513796e-04 9.99638738e-01 2.25714726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.356875 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:232.27, Y:73.07, Z:22.58 [[-7.53323904e-01 6.57336517e-01 2.02928458e-02 2.32267652e+02] [-6.57100207e-01 -7.53597174e-01 1.76243448e-02 7.30705654e+01] [ 2.68777567e-02 -5.75929574e-05 9.99638726e-01 2.25768136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.23, Y:73.03, Z:22.57 [[-7.51893812e-01 6.58968539e-01 2.03999961e-02 2.32230701e+02] [-6.58736202e-01 -7.52170450e-01 1.74994347e-02 7.30330890e+01] [ 2.68758512e-02 -2.80499288e-04 9.99638740e-01 2.25716029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.416875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:232.27, Y:73.06, Z:22.57 [[-7.57583022e-01 6.52421518e-01 2.03501138e-02 2.32266892e+02] [-6.52185226e-01 -7.57856294e-01 1.75575937e-02 7.30641632e+01] [ 2.68774138e-02 2.92912728e-05 9.99638737e-01 2.25749777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.44687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.26, Y:73.06, Z:22.57 [[-7.59270345e-01 6.50455249e-01 2.04086352e-02 2.32264977e+02] [-6.50220082e-01 -7.59544580e-01 1.74893040e-02 7.30608764e+01] [ 2.68772779e-02 9.00541776e-06 9.99638741e-01 2.25745404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:73.06, Z:22.57 [[-7.60819294e-01 6.48642596e-01 2.04153062e-02 2.32261599e+02] [-6.48406985e-01 -7.61093147e-01 1.74815135e-02 7.30565240e+01] [ 2.68772039e-02 6.28455682e-05 9.99638741e-01 2.25748405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.50687500000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:232.26, Y:73.05, Z:22.57 [[-7.62075511e-01 6.47165994e-01 2.04228372e-02 2.32260346e+02] [-6.46930088e-01 -7.62349110e-01 1.74727109e-02 7.30537167e+01] [ 2.68770761e-02 1.03377228e-04 9.99638741e-01 2.25744667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.536875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.26, Y:73.05, Z:22.57 [[-7.63553113e-01 6.45421783e-01 2.04295163e-02 2.32256870e+02] [-6.45185461e-01 -7.63826353e-01 1.74648981e-02 7.30485460e+01] [ 2.68768286e-02 1.54550481e-04 9.99638741e-01 2.25744093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56687500000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:232.26, Y:73.05, Z:22.58 [[-7.64443638e-01 6.44366578e-01 2.04362023e-02 2.32256830e+02] [-6.44130088e-01 -7.64716732e-01 1.74570711e-02 7.30478180e+01] [ 2.68766590e-02 1.81374163e-04 9.99638741e-01 2.25752444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.596875 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:232.25, Y:73.04, Z:22.58 [[-7.66204685e-01 6.42271337e-01 2.04428898e-02 2.32253402e+02] [-6.42034309e-01 -7.66477312e-01 1.74492363e-02 7.30431389e+01] [ 2.68761555e-02 2.44649967e-04 9.99638741e-01 2.25759207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62687500000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:232.25, Y:73.04, Z:22.58 [[-7.67143676e-01 6.41149222e-01 2.04512911e-02 2.32248791e+02] [-6.40912058e-01 -7.67416186e-01 1.74393841e-02 7.30381040e+01] [ 2.68758993e-02 2.71034157e-04 9.99638741e-01 2.25766067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.656875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.25, Y:73.04, Z:22.58 [[-7.68399448e-01 6.39643462e-01 2.04579863e-02 2.32248861e+02] [-6.39405974e-01 -7.68671674e-01 1.74315264e-02 7.30372337e+01] [ 2.68754365e-02 3.13416671e-04 9.99638741e-01 2.25770511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.686875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.24, Y:73.03, Z:22.58 [[-7.70487788e-01 6.37126177e-01 2.04647100e-02 2.32240716e+02] [-6.36888008e-01 -7.70759419e-01 1.74236292e-02 7.30286727e+01] [ 2.68744182e-02 3.90965126e-04 9.99638741e-01 2.25776643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.716875 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:232.24, Y:73.03, Z:22.58 [[-7.71777157e-01 6.35563482e-01 2.04714476e-02 2.32240869e+02] [-6.35324974e-01 -7.72048490e-01 1.74157094e-02 7.30277496e+01] [ 2.68737391e-02 4.35024814e-04 9.99638741e-01 2.25778939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.746875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.24, Y:73.03, Z:22.58 [[-7.72734510e-01 6.34398944e-01 2.04782025e-02 2.32241090e+02] [-6.34160237e-01 -7.73005668e-01 1.74077630e-02 7.30266330e+01] [ 2.68732331e-02 4.65117498e-04 9.99638741e-01 2.25778513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.776875 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:232.24, Y:73.02, Z:22.58 [[-7.73988937e-01 6.32867674e-01 2.04849441e-02 2.32236400e+02] [-6.32628641e-01 -7.74259807e-01 1.73998261e-02 7.30215583e+01] [ 2.68724563e-02 5.07910537e-04 9.99638741e-01 2.25779225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.806875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.24, Y:73.02, Z:22.58 [[-7.75699100e-01 6.30770162e-01 2.04916666e-02 2.32238649e+02] [-6.30530605e-01 -7.75969508e-01 1.73919054e-02 7.30220182e+01] [ 2.68712035e-02 5.70262417e-04 9.99638741e-01 2.25760931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.24, Y:73.02, Z:22.58 [[-7.76341356e-01 6.29979297e-01 2.04984100e-02 2.32235082e+02] [-6.29739675e-01 -7.76611705e-01 1.73839539e-02 7.30186709e+01] [ 2.68708362e-02 5.87220249e-04 9.99638741e-01 2.25756085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.866875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.23, Y:73.01, Z:22.58 [[-7.76844929e-01 6.29358004e-01 2.05051208e-02 2.32230428e+02] [-6.29118374e-01 -7.77115271e-01 1.73760346e-02 7.30144456e+01] [ 2.68705890e-02 5.98336078e-04 9.99638741e-01 2.25756953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.896875 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:232.23, Y:73.02, Z:22.57 [[-7.77039347e-01 6.29117729e-01 2.05118706e-02 2.32232780e+02] [-6.28878225e-01 -7.77309802e-01 1.73680631e-02 7.30166019e+01] [ 2.68706344e-02 5.96199626e-04 9.99638742e-01 2.25749086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.926875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.23, Y:73.01, Z:22.57 [[-7.76818289e-01 6.29390446e-01 2.05185876e-02 2.32229390e+02] [-6.29151247e-01 -7.77089013e-01 1.73601240e-02 7.30136751e+01] [ 2.68710652e-02 5.76366819e-04 9.99638742e-01 2.25749542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.956875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.23, Y:73.01, Z:22.58 [[-7.75920010e-01 6.30497304e-01 2.05252915e-02 2.32225499e+02] [-6.30258701e-01 -7.76191259e-01 1.73521942e-02 7.30113241e+01] [ 2.68720635e-02 5.27671171e-04 9.99638742e-01 2.25753873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.986875 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:232.23, Y:73.02, Z:22.58 [[-7.75486613e-01 6.31030071e-01 2.05320046e-02 2.32229538e+02] [-6.30791864e-01 -7.75758210e-01 1.73442472e-02 7.30157717e+01] [ 2.68726127e-02 4.98810059e-04 9.99638742e-01 2.25758997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.016875 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:232.23, Y:73.02, Z:22.58 [[-7.74743672e-01 6.31941773e-01 2.05387001e-02 2.32227661e+02] [-6.31704097e-01 -7.75015733e-01 1.73363150e-02 7.30150596e+01] [ 2.68733573e-02 4.56819346e-04 9.99638742e-01 2.25773459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.046875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.22, Y:73.01, Z:22.58 [[-7.73471747e-01 6.33497705e-01 2.05453938e-02 2.32223768e+02] [-6.33260787e-01 -7.73744469e-01 1.73283786e-02 7.30141537e+01] [ 2.68743729e-02 3.92419053e-04 9.99638742e-01 2.25792225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.07687500000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.22, Y:73.01, Z:22.58 [[-7.73282740e-01 6.33728188e-01 2.05520641e-02 2.32222034e+02] [-6.33491561e-01 -7.73555714e-01 1.73204638e-02 7.30134253e+01] [ 2.68746327e-02 3.74056550e-04 9.99638742e-01 2.25794944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.22, Y:73.01, Z:22.58 [[-7.72979139e-01 6.34098248e-01 2.05587550e-02 2.32216104e+02] [-6.33861963e-01 -7.73252410e-01 1.73125183e-02 7.30084545e+01] [ 2.68749443e-02 3.50802685e-04 9.99638742e-01 2.25798432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.13687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.13, Y:72.93, Z:22.58 [[-7.70997258e-01 6.36506317e-01 2.05654314e-02 2.32128860e+02] [-6.36271097e-01 -7.71271446e-01 1.73045837e-02 7.29337612e+01] [ 2.68760069e-02 2.56596990e-04 9.99638742e-01 2.25776690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.166875 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:232.09, Y:72.90, Z:22.58 [[-7.70472967e-01 6.37141141e-01 2.05566021e-02 2.32090543e+02] [-6.36905867e-01 -7.70747108e-01 1.73150816e-02 7.29032695e+01] [ 2.68760924e-02 2.48181794e-04 9.99638742e-01 2.25790786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.19687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.21, Y:73.01, Z:22.58 [[-7.72076497e-01 6.35196847e-01 2.05632844e-02 2.32212808e+02] [-6.34961094e-01 -7.72350227e-01 1.73071302e-02 7.30089031e+01] [ 2.68754919e-02 3.05542935e-04 9.99638742e-01 2.25785446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.226875 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:232.21, Y:73.01, Z:22.58 [[-7.71945535e-01 6.35355227e-01 2.05870583e-02 2.32211909e+02] [-6.35120285e-01 -7.72219960e-01 1.72788045e-02 7.30093185e+01] [ 2.68759161e-02 2.63037662e-04 9.99638743e-01 2.25779661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.25687500000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:232.21, Y:73.01, Z:22.58 [[-7.71392546e-01 6.36026288e-01 2.05936940e-02 2.32210190e+02] [-6.35791796e-01 -7.71667356e-01 1.72708921e-02 7.30101735e+01] [ 2.68762228e-02 2.29335730e-04 9.99638743e-01 2.25771551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.286875 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:232.21, Y:73.01, Z:22.58 [[-7.71636160e-01 6.35730469e-01 2.06011644e-02 2.32208435e+02] [-6.35496110e-01 -7.71911082e-01 1.72619766e-02 7.30086108e+01] [ 2.68762316e-02 2.28005461e-04 9.99638743e-01 2.25772234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31687500000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:232.20, Y:73.00, Z:22.58 [[-7.71524792e-01 6.35865407e-01 2.06077771e-02 2.32200116e+02] [-6.35631307e-01 -7.71799935e-01 1.72540786e-02 7.30023674e+01] [ 2.68763527e-02 2.13001057e-04 9.99638743e-01 2.25773018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.20, Y:73.01, Z:22.58 [[-7.71426545e-01 6.35984380e-01 2.06144066e-02 2.32202200e+02] [-6.35750534e-01 -7.71701904e-01 1.72461543e-02 7.30053338e+01] [ 2.68764616e-02 1.98521230e-04 9.99638743e-01 2.25763453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.20, Y:73.01, Z:22.58 [[-7.71654628e-01 6.35707352e-01 2.06227375e-02 2.32201250e+02] [-6.35473673e-01 -7.71930129e-01 1.72361866e-02 7.30050622e+01] [ 2.68764830e-02 1.95176416e-04 9.99638743e-01 2.25758177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.19, Y:73.00, Z:22.58 [[-7.71957753e-01 6.35339010e-01 2.06293636e-02 2.32192316e+02] [-6.35105411e-01 -7.72233322e-01 1.72282524e-02 7.29983983e+01] [ 2.68764628e-02 1.97662503e-04 9.99638743e-01 2.25757858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.19, Y:73.00, Z:22.58 [[-7.72462143e-01 6.34725448e-01 2.06360033e-02 2.32194674e+02] [-6.34491843e-01 -7.72737706e-01 1.72202956e-02 7.30020519e+01] [ 2.68763777e-02 2.08650686e-04 9.99638743e-01 2.25750497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.466875 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:232.19, Y:73.00, Z:22.57 [[-7.73218461e-01 6.33803671e-01 2.06426243e-02 2.32190639e+02] [-6.33569950e-01 -7.73493926e-01 1.72123552e-02 7.29997860e+01] [ 2.68761984e-02 2.30364383e-04 9.99638743e-01 2.25742835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.19, Y:73.00, Z:22.57 [[-7.73931345e-01 6.32932763e-01 2.06492300e-02 2.32186130e+02] [-6.32698944e-01 -7.74206726e-01 1.72044268e-02 7.29969671e+01] [ 2.68760182e-02 2.50299143e-04 9.99638743e-01 2.25743473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.526875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.19, Y:73.00, Z:22.57 [[-7.75824030e-01 6.30611140e-01 2.06558683e-02 2.32185081e+02] [-6.30376708e-01 -7.76098890e-01 1.71964531e-02 7.29984221e+01] [ 2.68752714e-02 3.20443275e-04 9.99638743e-01 2.25745346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.556875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:232.18, Y:73.00, Z:22.58 [[-7.77102235e-01 6.29035116e-01 2.06624823e-02 2.32179847e+02] [-6.28800339e-01 -7.77376800e-01 1.71885024e-02 7.29952673e+01] [ 2.68747060e-02 3.64647748e-04 9.99638743e-01 2.25750357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.586875 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:232.18, Y:72.99, Z:22.58 [[-7.78445357e-01 6.27371907e-01 2.06716480e-02 2.32177556e+02] [-6.27136835e-01 -7.78719670e-01 1.71774722e-02 7.29944883e+01] [ 2.68740824e-02 4.07771538e-04 9.99638743e-01 2.25752104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.16, Y:72.98, Z:22.58 [[-7.79558771e-01 6.25987644e-01 2.06782781e-02 2.32162546e+02] [-6.25752298e-01 -7.79832848e-01 1.71694871e-02 7.29824696e+01] [ 2.68734873e-02 4.45144255e-04 9.99638744e-01 2.25757607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.15, Y:72.98, Z:22.57 [[-7.81780846e-01 6.23210112e-01 2.06849238e-02 2.32154640e+02] [-6.22974003e-01 -7.82054266e-01 1.71614770e-02 7.29779331e+01] [ 2.68719389e-02 5.30344190e-04 9.99638744e-01 2.25742895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.16, Y:72.99, Z:22.57 [[-7.82673388e-01 6.22088570e-01 2.06924771e-02 2.32164696e+02] [-6.21852311e-01 -7.82946678e-01 1.71523648e-02 7.29871504e+01] [ 2.68713963e-02 5.57034804e-04 9.99638744e-01 2.25728251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.16, Y:72.99, Z:22.57 [[-7.83576021e-01 6.20950988e-01 2.06999955e-02 2.32162460e+02] [-6.20714571e-01 -7.83849175e-01 1.71432866e-02 7.29864214e+01] [ 2.68708151e-02 5.84279497e-04 9.99638744e-01 2.25728738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.736875 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:232.15, Y:72.98, Z:22.57 [[-7.84242307e-01 6.20109026e-01 2.07074598e-02 2.32146937e+02] [-6.19872554e-01 -7.84515413e-01 1.71342656e-02 7.29758017e+01] [ 2.68704342e-02 6.01430021e-04 9.99638744e-01 2.25729004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.766875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:232.15, Y:72.98, Z:22.57 [[-7.84469323e-01 6.19821535e-01 2.07158168e-02 2.32153277e+02] [-6.19585230e-01 -7.84742573e-01 1.71241558e-02 7.29824224e+01] [ 2.68705040e-02 5.98160796e-04 9.99638744e-01 2.25726393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.796875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.15, Y:72.98, Z:22.57 [[-7.83836774e-01 6.20621052e-01 2.07224934e-02 2.32150964e+02] [-6.20385239e-01 -7.84110449e-01 1.71160725e-02 7.29827409e+01] [ 2.68713185e-02 5.60277994e-04 9.99638744e-01 2.25727486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.82687500000003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:232.15, Y:72.99, Z:22.57 [[-7.83371991e-01 6.21207396e-01 2.07291129e-02 2.32152928e+02] [-6.20971999e-01 -7.83646024e-01 1.71080519e-02 7.29854696e+01] [ 2.68719353e-02 5.29769984e-04 9.99638744e-01 2.25724545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.856875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:232.15, Y:72.98, Z:22.57 [[-7.82833575e-01 6.21885539e-01 2.07357149e-02 2.32145826e+02] [-6.21650592e-01 -7.83107994e-01 1.71000462e-02 7.29812643e+01] [ 2.68725756e-02 4.96120901e-04 9.99638744e-01 2.25728036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.15, Y:72.99, Z:22.57 [[-7.81035974e-01 6.24141461e-01 2.07423372e-02 2.32148494e+02] [-6.23907519e-01 -7.81311251e-01 1.70920096e-02 7.29864736e+01] [ 2.68740533e-02 4.08174154e-04 9.99638744e-01 2.25724826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.916875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:232.14, Y:72.98, Z:22.57 [[-7.79978894e-01 6.25461754e-01 2.07489520e-02 2.32142428e+02] [-6.25228492e-01 -7.80254747e-01 1.70839757e-02 7.29824602e+01] [ 2.68748417e-02 3.52304483e-04 9.99638744e-01 2.25734807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:72.98, Z:22.57 [[-7.78941010e-01 6.26753629e-01 2.07555326e-02 2.32142922e+02] [-6.26521038e-01 -7.79217428e-01 1.70759772e-02 7.29840092e+01] [ 2.68755034e-02 2.97401058e-04 9.99638744e-01 2.25729013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:72.99, Z:22.57 [[-7.77905839e-01 6.28037770e-01 2.07621379e-02 2.32144672e+02] [-6.27805849e-01 -7.78182820e-01 1.70679422e-02 7.29870409e+01] [ 2.68760514e-02 2.42660319e-04 9.99638744e-01 2.25725352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:72.99, Z:22.57 [[-7.75688030e-01 6.30774715e-01 2.07687157e-02 2.32143251e+02] [-6.30543986e-01 -7.75966005e-01 1.70599344e-02 7.29891704e+01] [ 2.68767926e-02 1.37598053e-04 9.99638744e-01 2.25717894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.036875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:232.14, Y:72.99, Z:22.57 [[-7.74826616e-01 6.31832338e-01 2.07752719e-02 2.32140351e+02] [-6.31602203e-01 -7.75105082e-01 1.70519467e-02 7.29881266e+01] [ 2.68769902e-02 9.05946420e-05 9.99638744e-01 2.25720869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:72.99, Z:22.57 [[-7.74119815e-01 6.32697896e-01 2.07818195e-02 2.32139063e+02] [-6.32468286e-01 -7.74398715e-01 1.70439631e-02 7.29882552e+01] [ 2.68770939e-02 5.02278208e-05 9.99638744e-01 2.25730643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:72.99, Z:22.57 [[-7.72850566e-01 6.34247465e-01 2.07883619e-02 2.32138034e+02] [-6.34018630e-01 -7.73130101e-01 1.70359797e-02 7.29889924e+01] [ 2.68771353e-02 -1.39421273e-05 9.99638744e-01 2.25732251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:232.14, Y:72.99, Z:22.57 [[-7.72599213e-01 6.34553409e-01 2.07948946e-02 2.32135459e+02] [-6.34324898e-01 -7.72879014e-01 1.70280018e-02 7.29872487e+01] [ 2.68771142e-02 -3.48986206e-05 9.99638745e-01 2.25726664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.13, Y:72.99, Z:22.57 [[-7.72720073e-01 6.34406000e-01 2.08018191e-02 2.32134237e+02] [-6.34177665e-01 -7.73000016e-01 1.70195385e-02 7.29870231e+01] [ 2.68771039e-02 -4.07099855e-05 9.99638745e-01 2.25720750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.186875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:232.13, Y:72.99, Z:22.57 [[-7.73147304e-01 6.33885053e-01 2.08083358e-02 2.32131231e+02] [-6.33656743e-01 -7.73427268e-01 1.70115674e-02 7.29862998e+01] [ 2.68771126e-02 -3.28948001e-05 9.99638745e-01 2.25708492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.12, Y:72.98, Z:22.57 [[-7.73593739e-01 6.33339932e-01 2.08148472e-02 2.32120265e+02] [-6.33111639e-01 -7.73873717e-01 1.70035964e-02 7.29782552e+01] [ 2.68771198e-02 -2.42463202e-05 9.99638745e-01 2.25714095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.12, Y:72.98, Z:22.57 [[-7.75461952e-01 6.31050895e-01 2.08213609e-02 2.32120148e+02] [-6.30821990e-01 -7.75741430e-01 1.69956165e-02 7.29785542e+01] [ 2.68770913e-02 4.48816765e-05 9.99638745e-01 2.25705088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.11, Y:72.97, Z:22.57 [[-7.76885681e-01 6.29296738e-01 2.08387768e-02 2.32110547e+02] [-6.29067775e-01 -7.77165111e-01 1.69742356e-02 7.29704192e+01] [ 2.68770013e-02 7.80376354e-05 9.99638745e-01 2.25704818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.306875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:232.11, Y:72.97, Z:22.57 [[-7.78518711e-01 6.27275131e-01 2.08452889e-02 2.32106019e+02] [-6.27045657e-01 -7.78797721e-01 1.69662346e-02 7.29663892e+01] [ 2.68767605e-02 1.37583206e-04 9.99638745e-01 2.25701901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.96, Y:72.84, Z:22.57 [[-7.74401283e-01 6.32351052e-01 2.08518550e-02 2.31961393e+02] [-6.32123624e-01 -7.74681964e-01 1.69581609e-02 7.28419906e+01] [ 2.68770668e-02 -4.85285922e-05 9.99638745e-01 2.25708662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.10, Y:72.96, Z:22.57 [[-7.82789219e-01 6.21944127e-01 2.06528938e-02 2.32101415e+02] [-6.21706488e-01 -7.83061371e-01 1.72026642e-02 7.29610939e+01] [ 2.68715793e-02 6.26021967e-04 9.99638698e-01 2.25715416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.396875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:232.09, Y:72.95, Z:22.57 [[-7.83984292e-01 6.20429900e-01 2.08654791e-02 2.32092951e+02] [-6.20198666e-01 -7.84261833e-01 1.69408321e-02 7.29539981e+01] [ 2.68745977e-02 3.40603990e-04 9.99638755e-01 2.25720611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.10, Y:72.96, Z:22.57 [[-7.84992789e-01 6.19153194e-01 2.08720597e-02 2.32096502e+02] [-6.18921724e-01 -7.85270133e-01 1.69327206e-02 7.29569624e+01] [ 2.68741531e-02 3.73892464e-04 9.99638755e-01 2.25718311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:72.95, Z:22.57 [[-7.86017204e-01 6.17851954e-01 2.08786415e-02 2.32087859e+02] [-6.17620241e-01 -7.86294344e-01 1.69246011e-02 7.29503624e+01] [ 2.68736556e-02 4.07956048e-04 9.99638755e-01 2.25727614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:72.95, Z:22.57 [[-7.86332268e-01 6.17450677e-01 2.08860352e-02 2.32092200e+02] [-6.17219064e-01 -7.86609492e-01 1.69154719e-02 7.29535174e+01] [ 2.68736231e-02 4.09922310e-04 9.99638755e-01 2.25726109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.516875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:232.10, Y:72.95, Z:22.57 [[-7.86481235e-01 6.17260696e-01 2.08926103e-02 2.32095080e+02] [-6.17029232e-01 -7.86758584e-01 1.69073470e-02 7.29547589e+01] [ 2.68736812e-02 4.05959829e-04 9.99638755e-01 2.25716245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:72.95, Z:22.57 [[-7.86584083e-01 6.17129381e-01 2.08999582e-02 2.32084483e+02] [-6.16898112e-01 -7.86861594e-01 1.68982590e-02 7.29458627e+01] [ 2.68737865e-02 3.98756728e-04 9.99638755e-01 2.25720577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:72.95, Z:22.57 [[-7.86653358e-01 6.17040852e-01 2.09064836e-02 2.32092057e+02] [-6.16809767e-01 -7.86931022e-01 1.68901819e-02 7.29519071e+01] [ 2.68738928e-02 3.91395060e-04 9.99638755e-01 2.25717101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:72.95, Z:22.57 [[-7.86795803e-01 6.16858987e-01 2.09130268e-02 2.32087192e+02] [-6.16628053e-01 -7.87073593e-01 1.68820764e-02 7.29477875e+01] [ 2.68739517e-02 3.87187828e-04 9.99638755e-01 2.25718903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:72.95, Z:22.57 [[-7.86320206e-01 6.17464904e-01 2.09195252e-02 2.32089039e+02] [-6.17234398e-01 -7.86598351e-01 1.68740201e-02 7.29478141e+01] [ 2.68743792e-02 3.56132381e-04 9.99638755e-01 2.25710295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:72.95, Z:22.57 [[-7.85958300e-01 6.17925280e-01 2.09260457e-02 2.32088266e+02] [-6.17695152e-01 -7.86236758e-01 1.68659299e-02 7.29465886e+01] [ 2.68747108e-02 3.30000585e-04 9.99638755e-01 2.25706642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:72.94, Z:22.57 [[-7.85086051e-01 6.19032893e-01 2.09325281e-02 2.32084883e+02] [-6.18803372e-01 -7.85365010e-01 1.68578806e-02 7.29430661e+01] [ 2.68752578e-02 2.81767938e-04 9.99638755e-01 2.25706730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:72.94, Z:22.57 [[-7.84714564e-01 6.19503492e-01 2.09398358e-02 2.32085062e+02] [-6.19274381e-01 -7.84993859e-01 1.68487986e-02 7.29428641e+01] [ 2.68755321e-02 2.53993800e-04 9.99638755e-01 2.25699110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:72.94, Z:22.57 [[-7.83920380e-01 6.20507873e-01 2.09479688e-02 2.32085415e+02] [-6.20279391e-01 -7.84200189e-01 1.68386808e-02 7.29424898e+01] [ 2.68759351e-02 2.06591753e-04 9.99638755e-01 2.25692577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:72.94, Z:22.57 [[-7.83225526e-01 6.21384492e-01 2.09544442e-02 2.32080610e+02] [-6.21156538e-01 -7.83505766e-01 1.68306189e-02 7.29380779e+01] [ 2.68762134e-02 1.66180317e-04 9.99638756e-01 2.25687134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.90, Y:72.79, Z:22.57 [[-7.77484060e-01 6.28553186e-01 2.09625504e-02 2.31899942e+02] [-6.28328089e-01 -7.77766599e-01 1.68205165e-02 7.27873994e+01] [ 2.68765608e-02 -9.36757280e-05 9.99638756e-01 2.25704287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:72.93, Z:22.57 [[-7.80811414e-01 6.24418712e-01 2.08520406e-02 2.32078472e+02] [-6.24188430e-01 -7.81089765e-01 1.69582856e-02 7.29339033e+01] [ 2.68763863e-02 2.25620531e-04 9.99638739e-01 2.25698070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.53, Y:72.14, Z:23.25 [[-7.36625904e-01 -6.75974857e-01 -2.09826524e-02 2.32534734e+02] [-6.75768599e-01 7.36922469e-01 -1.67951092e-02 7.21389189e+01] [ 2.68156595e-02 1.80770509e-03 -9.99638761e-01 2.32488994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.906875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:232.56, Y:72.21, Z:23.24 [[-6.84878495e-01 -7.28355116e-01 -2.09826524e-02 2.32564608e+02] [-7.28171244e-01 6.85189436e-01 -1.67951092e-02 7.22073394e+01] [ 2.66098955e-02 3.77635496e-03 -9.99638761e-01 2.32407327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.87, Y:72.83, Z:22.58 [[-6.77461026e-01 7.35335215e-01 1.81295182e-02 2.31866433e+02] [-7.35077842e-01 -6.77703548e-01 1.94542380e-02 7.28314158e+01] [ 2.65918252e-02 -1.47119057e-04 9.99646364e-01 2.25758324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.966875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:231.86, Y:72.82, Z:22.58 [[-6.76947391e-01 7.35807888e-01 1.81378786e-02 2.31855079e+02] [-7.35550892e-01 -6.77190314e-01 1.94464403e-02 7.28179498e+01] [ 2.65916398e-02 -1.77115756e-04 9.99646364e-01 2.25762945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:72.82, Z:22.57 [[-6.75889533e-01 7.36779513e-01 1.81462755e-02 2.31862383e+02] [-7.36523077e-01 -6.76133047e-01 1.94386016e-02 7.28225079e+01] [ 2.65912600e-02 -2.26803289e-04 9.99646364e-01 2.25748092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.026875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:231.86, Y:72.82, Z:22.57 [[-6.75728075e-01 7.36927389e-01 1.81546781e-02 2.31864410e+02] [-7.36671217e-01 -6.75971866e-01 1.94307509e-02 7.28226743e+01] [ 2.65911041e-02 -2.44124907e-04 9.99646364e-01 2.25742854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:72.82, Z:22.57 [[-6.75652617e-01 7.36996367e-01 1.81630253e-02 2.31862559e+02] [-7.36740430e-01 -6.75896655e-01 1.94229451e-02 7.28183349e+01] [ 2.65909680e-02 -2.58271425e-04 9.99646364e-01 2.25732923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.086875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:231.86, Y:72.81, Z:22.57 [[-6.76053417e-01 7.36628522e-01 1.81713600e-02 2.31856087e+02] [-7.36372661e-01 -6.76297535e-01 1.94151443e-02 7.28102867e+01] [ 2.65909950e-02 -2.55218036e-04 9.99646364e-01 2.25735641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.116875 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:231.86, Y:72.81, Z:22.57 [[-6.76283047e-01 7.36417479e-01 1.81806710e-02 2.31860301e+02] [-7.36161777e-01 -6.76527331e-01 1.94064214e-02 7.28133484e+01] [ 2.65909488e-02 -2.59681250e-04 9.99646364e-01 2.25733935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:72.81, Z:22.57 [[-6.76900809e-01 7.35849478e-01 1.81890167e-02 2.31855553e+02] [-7.35593782e-01 -6.77145098e-01 1.93985961e-02 7.28066694e+01] [ 2.65910503e-02 -2.48802241e-04 9.99646365e-01 2.25724973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.85, Y:72.80, Z:22.57 [[-6.77252508e-01 7.35525359e-01 1.82067443e-02 2.31852867e+02] [-7.35269993e-01 -6.77497142e-01 1.93819434e-02 7.28037446e+01] [ 2.65909281e-02 -2.60402982e-04 9.99646365e-01 2.25726141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.85, Y:72.80, Z:22.57 [[-6.77790046e-01 7.35029816e-01 1.82160090e-02 2.31851233e+02] [-7.34774504e-01 -6.78034738e-01 1.93732322e-02 7.27988773e+01] [ 2.65909901e-02 -2.53675037e-04 9.99646365e-01 2.25723933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.85, Y:72.80, Z:22.57 [[-6.78620431e-01 7.34263022e-01 1.82243253e-02 2.31849886e+02] [-7.34007644e-01 -6.78865052e-01 1.93654059e-02 7.27965276e+01] [ 2.65911590e-02 -2.35033950e-04 9.99646365e-01 2.25725219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.85, Y:72.79, Z:22.57 [[-6.79569169e-01 7.33384834e-01 1.82326414e-02 2.31846335e+02] [-7.33129351e-01 -6.79813680e-01 1.93575730e-02 7.27917611e+01] [ 2.65913495e-02 -2.12074786e-04 9.99646365e-01 2.25730589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.84, Y:72.79, Z:22.57 [[-6.80771501e-01 7.32268688e-01 1.82409602e-02 2.31844757e+02] [-7.32013013e-01 -6.81015813e-01 1.93497309e-02 7.27891248e+01] [ 2.65915844e-02 -1.79874886e-04 9.99646365e-01 2.25735927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.32687500000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:231.84, Y:72.79, Z:22.57 [[-6.82876803e-01 7.30305529e-01 1.82511892e-02 2.31843455e+02] [-7.30049410e-01 -6.83120649e-01 1.93400779e-02 7.27853456e+01] [ 2.65919300e-02 -1.17379305e-04 9.99646365e-01 2.25746615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.84, Y:72.78, Z:22.57 [[-6.83908903e-01 7.29338881e-01 1.82595004e-02 2.31841639e+02] [-7.29082627e-01 -6.84152606e-01 1.93322278e-02 7.27821232e+01] [ 2.65920302e-02 -9.12017948e-05 9.99646365e-01 2.25746781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:72.65, Z:22.57 [[-6.77161544e-01 7.35607593e-01 1.82678112e-02 2.31727106e+02] [-7.35353806e-01 -6.77407816e-01 1.93243714e-02 7.26491407e+01] [ 2.65899124e-02 -3.47583345e-04 9.99646365e-01 2.25727155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.84, Y:72.77, Z:22.57 [[-6.87160076e-01 7.26283659e-01 1.79743189e-02 2.31835304e+02] [-7.26019216e-01 -6.87394989e-01 1.96017137e-02 7.27724166e+01] [ 2.65918611e-02 4.19814204e-04 9.99646286e-01 2.25742942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.44687500000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:231.83, Y:72.77, Z:22.57 [[-6.87920993e-01 7.25555112e-01 1.82889877e-02 2.31833913e+02] [-7.25298278e-01 -6.88164064e-01 1.93035874e-02 7.27703725e+01] [ 2.65916406e-02 1.43716525e-05 9.99646380e-01 2.25746413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:72.62, Z:22.58 [[-6.81403437e-01 7.31679277e-01 1.82973107e-02 2.31695561e+02] [-7.31424839e-01 -6.81649016e-01 1.92956951e-02 7.26155103e+01] [ 2.65906040e-02 -2.34954577e-04 9.99646380e-01 2.25752700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.50687500000004 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:231.84, Y:72.76, Z:22.57 [[-6.79458554e-01 7.33491577e-01 1.80604528e-02 2.31838826e+02] [-7.33231788e-01 -6.79698540e-01 1.95202114e-02 7.27645892e+01] [ 2.65935741e-02 2.06764697e-05 9.99646328e-01 2.25675284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.82, Y:72.76, Z:22.57 [[-6.87900717e-01 7.25580993e-01 1.80229219e-02 2.31823492e+02] [-7.25317513e-01 -6.88136671e-01 1.95557648e-02 7.27578665e+01] [ 2.65915247e-02 3.80083734e-04 9.99646311e-01 2.25735101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:72.73, Z:22.57 [[-6.80928326e-01 7.32121325e-01 1.83024419e-02 2.31808056e+02] [-7.31867185e-01 -6.81174205e-01 1.92905654e-02 7.27347109e+01] [ 2.65901856e-02 -2.59464285e-04 9.99646385e-01 2.25664626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.83, Y:72.76, Z:22.57 [[-6.81091017e-01 7.31975101e-01 1.80963748e-02 2.31831877e+02] [-7.31715684e-01 -6.81331381e-01 1.94860741e-02 7.27609520e+01] [ 2.65929491e-02 3.03887336e-05 9.99646345e-01 2.25657815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62687500000004 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:231.82, Y:72.76, Z:22.57 [[-6.87935811e-01 7.25546389e-01 1.80764553e-02 2.31820101e+02] [-7.25284229e-01 -6.88173193e-01 1.95049783e-02 7.27566281e+01] [ 2.65914985e-02 3.07605140e-04 9.99646336e-01 2.25716120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:72.75, Z:22.57 [[-6.88419865e-01 7.25081042e-01 1.83186404e-02 2.31813986e+02] [-7.24824806e-01 -6.88663548e-01 1.92748094e-02 7.27503153e+01] [ 2.65911788e-02 -8.64325680e-06 9.99646392e-01 2.25718617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:72.75, Z:22.57 [[-6.88559229e-01 7.24948251e-01 1.83363325e-02 2.31811455e+02] [-7.24692417e-01 -6.88803333e-01 1.92579640e-02 7.27482868e+01] [ 2.65911543e-02 -2.79522543e-05 9.99646392e-01 2.25714944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:72.75, Z:22.57 [[-6.89149372e-01 7.24387064e-01 1.83446327e-02 2.31810022e+02] [-7.24131241e-01 -6.89393488e-01 1.92500541e-02 7.27474804e+01] [ 2.65911606e-02 -1.77589479e-05 9.99646392e-01 2.25719743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.746875 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:231.81, Y:72.74, Z:22.57 [[-6.90630903e-01 7.22974499e-01 1.83529233e-02 2.31806165e+02] [-7.22718387e-01 -6.90874716e-01 1.92421467e-02 7.27438588e+01] [ 2.65911520e-02 2.52259792e-05 9.99646392e-01 2.25722159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.776875 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:231.80, Y:72.74, Z:22.57 [[-6.91985510e-01 7.21677873e-01 1.83602991e-02 2.31804079e+02] [-7.21421491e-01 -6.92229039e-01 1.92351063e-02 7.27415998e+01] [ 2.65910829e-02 6.49005020e-05 9.99646393e-01 2.25733907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.806875 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:231.80, Y:72.73, Z:22.57 [[-6.93289299e-01 7.20425251e-01 1.83685955e-02 2.31796863e+02] [-7.20168639e-01 -6.93532586e-01 1.92271805e-02 7.27335082e+01] [ 2.65909658e-02 1.01512086e-04 9.99646393e-01 2.25743069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.836875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:231.80, Y:72.73, Z:22.57 [[-6.95792247e-01 7.18007989e-01 1.83759987e-02 2.31799656e+02] [-7.17750719e-01 -6.96034837e-01 1.92201023e-02 7.27346583e+01] [ 2.65905223e-02 1.83811871e-04 9.99646393e-01 2.25746644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.866875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:231.80, Y:72.73, Z:22.58 [[-6.97242794e-01 7.16599262e-01 1.83843221e-02 2.31798066e+02] [-7.16341711e-01 -6.97485087e-01 1.92121376e-02 7.27321028e+01] [ 2.65901941e-02 2.26067816e-04 9.99646393e-01 2.25753415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.896875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:231.80, Y:72.73, Z:22.58 [[-6.98714190e-01 7.15164474e-01 1.83917109e-02 2.31795242e+02] [-7.14906612e-01 -6.98956152e-01 1.92050617e-02 7.27288213e+01] [ 2.65897773e-02 2.70493421e-04 9.99646393e-01 2.25750193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:72.72, Z:22.57 [[-7.00658652e-01 7.13259345e-01 1.84000187e-02 2.31791920e+02] [-7.13001034e-01 -7.00900133e-01 1.91970989e-02 7.27247889e+01] [ 2.65890857e-02 3.31381015e-04 9.99646393e-01 2.25746415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:72.72, Z:22.57 [[-7.01582414e-01 7.12350485e-01 1.84092794e-02 2.31786138e+02] [-7.12092095e-01 -7.01823811e-01 1.91882141e-02 7.27181070e+01] [ 2.65888043e-02 3.53011195e-04 9.99646393e-01 2.25748543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.986875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:231.78, Y:72.71, Z:22.57 [[-7.02424728e-01 7.11519633e-01 1.84204807e-02 2.31783350e+02] [-7.11261238e-01 -7.02666120e-01 1.91774550e-02 7.27147683e+01] [ 2.65885834e-02 3.68944702e-04 9.99646393e-01 2.25745062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.78, Y:72.71, Z:22.57 [[-7.02767417e-01 7.11180969e-01 1.84278945e-02 2.31780650e+02] [-7.10922645e-01 -7.03008885e-01 1.91703283e-02 7.27111217e+01] [ 2.65885462e-02 3.71474570e-04 9.99646393e-01 2.25746120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.77, Y:72.70, Z:22.57 [[-7.03719231e-01 7.10238962e-01 1.84353168e-02 2.31772346e+02] [-7.09980501e-01 -7.03960553e-01 1.91631879e-02 7.27026058e+01] [ 2.65881785e-02 3.96788380e-04 9.99646393e-01 2.25746720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.77, Y:72.70, Z:22.57 [[-7.03906057e-01 7.10053288e-01 1.84551206e-02 2.31769054e+02] [-7.09795264e-01 -7.04147844e-01 1.91440968e-02 7.26995014e+01] [ 2.65884623e-02 3.76288495e-04 9.99646394e-01 2.25744482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.106875 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:231.79, Y:72.71, Z:22.57 [[-6.91225115e-01 7.22403561e-01 1.84644344e-02 2.31790355e+02] [-7.22150098e-01 -6.91471679e-01 1.91351095e-02 7.27099761e+01] [ 2.65909047e-02 -1.07424921e-04 9.99646394e-01 2.25657224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.77, Y:72.70, Z:22.57 [[-7.04110902e-01 7.09861452e-01 1.80154808e-02 2.31769985e+02] [-7.09592393e-01 -7.04340635e-01 1.95679589e-02 7.27015446e+01] [ 2.65795749e-02 9.94365058e-04 9.99646206e-01 2.25735790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.166875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.76, Y:72.69, Z:22.57 [[-7.04357060e-01 7.09605269e-01 1.84795650e-02 2.31755097e+02] [-7.09347739e-01 -7.04599343e-01 1.91194134e-02 7.26866466e+01] [ 2.65879258e-02 3.58456152e-04 9.99646414e-01 2.25741942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.75, Y:72.68, Z:22.57 [[-7.04901035e-01 7.09064709e-01 1.84870063e-02 2.31752848e+02] [-7.08807181e-01 -7.05143321e-01 1.91122155e-02 7.26837358e+01] [ 2.65877865e-02 3.68497650e-04 9.99646414e-01 2.25741106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.77, Y:72.70, Z:22.57 [[-7.05429478e-01 7.08538758e-01 1.84954285e-02 2.31766211e+02] [-7.08281263e-01 -7.05671798e-01 1.91040616e-02 7.26974202e+01] [ 2.65876704e-02 3.76602729e-04 9.99646414e-01 2.25729637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.25687500000004 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:231.76, Y:72.69, Z:22.57 [[-7.05900748e-01 7.08069025e-01 1.85037782e-02 2.31761881e+02] [-7.07811581e-01 -7.06143123e-01 1.90959708e-02 7.26932351e+01] [ 2.65875812e-02 3.82671561e-04 9.99646415e-01 2.25728743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:72.69, Z:22.57 [[-7.06752676e-01 7.07218489e-01 1.85111519e-02 2.31757453e+02] [-7.06960941e-01 -7.06994940e-01 1.90888203e-02 7.26903634e+01] [ 2.65872574e-02 4.04413457e-04 9.99646415e-01 2.25729602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:72.69, Z:22.57 [[-7.07538231e-01 7.06432287e-01 1.85223158e-02 2.31756756e+02] [-7.06174753e-01 -7.07780509e-01 1.90779816e-02 7.26902359e+01] [ 2.65870362e-02 4.18409577e-04 9.99646415e-01 2.25736653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.75, Y:72.68, Z:22.57 [[-7.08175553e-01 7.05793197e-01 1.85296862e-02 2.31747987e+02] [-7.05535631e-01 -7.08417798e-01 1.90708203e-02 7.26809718e+01] [ 2.65868147e-02 4.32134891e-04 9.99646415e-01 2.25742606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.74, Y:72.67, Z:22.57 [[-7.09372313e-01 7.04590163e-01 1.85370774e-02 2.31739823e+02] [-7.04332375e-01 -7.09614321e-01 1.90636333e-02 7.26726760e+01] [ 2.65862240e-02 4.66949903e-04 9.99646415e-01 2.25744916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.406875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.75, Y:72.68, Z:22.57 [[-7.09845209e-01 7.04113467e-01 1.85473543e-02 2.31746412e+02] [-7.03855777e-01 -7.10087321e-01 1.90536295e-02 7.26795019e+01] [ 2.65861582e-02 4.70465138e-04 9.99646415e-01 2.25742433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.74, Y:72.68, Z:22.57 [[-7.10363562e-01 7.03590290e-01 1.85556883e-02 2.31743520e+02] [-7.03332634e-01 -7.10605710e-01 1.90455098e-02 7.26770302e+01] [ 2.65860138e-02 4.78415035e-04 9.99646415e-01 2.25736044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.466875 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:231.74, Y:72.67, Z:22.57 [[-7.10717481e-01 7.03232590e-01 1.85630697e-02 2.31738160e+02] [-7.02974999e-01 -7.10959698e-01 1.90383126e-02 7.26737895e+01] [ 2.65859563e-02 4.81487703e-04 9.99646415e-01 2.25730070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.496875 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:231.74, Y:72.68, Z:22.57 [[-7.10941092e-01 7.03006331e-01 1.85704619e-02 2.31740359e+02] [-7.02748852e-01 -7.11183428e-01 1.90310993e-02 7.26771418e+01] [ 2.65859881e-02 4.79619728e-04 9.99646415e-01 2.25721021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.526875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:231.74, Y:72.67, Z:22.57 [[-7.11066650e-01 7.02879063e-01 1.85806572e-02 2.31735053e+02] [-7.02621801e-01 -7.11309216e-01 1.90211401e-02 7.26724938e+01] [ 2.65861539e-02 4.70123591e-04 9.99646415e-01 2.25719281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:72.67, Z:22.57 [[-7.11635936e-01 7.02302485e-01 1.85880192e-02 2.31730993e+02] [-7.02045214e-01 -7.11878492e-01 1.90139431e-02 7.26695279e+01] [ 2.65859505e-02 4.81375234e-04 9.99646415e-01 2.25713289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.586875 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:231.76, Y:72.69, Z:22.56 [[-6.97833585e-01 7.16018238e-01 1.86056667e-02 2.31759725e+02] [-7.15766196e-01 -6.98081571e-01 1.89966588e-02 7.26867634e+01] [ 2.65902272e-02 -6.08007607e-05 9.99646416e-01 2.25623987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.72, Y:72.67, Z:22.57 [[-7.11524789e-01 7.02427942e-01 1.80958947e-02 2.31724528e+02] [-7.02158315e-01 -7.11753910e-01 1.94954317e-02 7.26650906e+01] [ 2.65739598e-02 1.16529996e-03 9.99646171e-01 2.25706064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.72, Y:72.67, Z:22.57 [[-7.11105735e-01 7.02838518e-01 1.86185671e-02 2.31722337e+02] [-7.02582244e-01 -7.11349312e-01 1.89827980e-02 7.26660312e+01] [ 2.65861465e-02 4.17701857e-04 9.99646439e-01 2.25707986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.676875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:231.72, Y:72.67, Z:22.57 [[-7.11110263e-01 7.02833718e-01 1.86268331e-02 2.31721917e+02] [-7.02577656e-01 -7.11354061e-01 1.89746835e-02 7.26668865e+01] [ 2.65863208e-02 4.06295414e-04 9.99646439e-01 2.25704704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:72.66, Z:22.57 [[-7.10386905e-01 7.03564623e-01 1.86350774e-02 2.31710786e+02] [-7.03309023e-01 -7.10631189e-01 1.89665833e-02 7.26577374e+01] [ 2.65868843e-02 3.67394345e-04 9.99646439e-01 2.25699729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:72.66, Z:22.57 [[-7.10290882e-01 7.03661369e-01 1.86424319e-02 2.31712263e+02] [-7.03405993e-01 -7.10535398e-01 1.89593518e-02 7.26605882e+01] [ 2.65870712e-02 3.53456414e-04 9.99646439e-01 2.25704168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:72.66, Z:22.57 [[-7.10316634e-01 7.03635154e-01 1.86507123e-02 2.31713346e+02] [-7.03379982e-01 -7.10561364e-01 1.89512027e-02 7.26633739e+01] [ 2.65872080e-02 3.42816850e-04 9.99646439e-01 2.25709355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:72.66, Z:22.57 [[-7.10344597e-01 7.03606707e-01 1.86589523e-02 2.31709494e+02] [-7.03351738e-01 -7.10589538e-01 1.89430863e-02 7.26614768e+01] [ 2.65873388e-02 3.32312464e-04 9.99646439e-01 2.25715272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:72.66, Z:22.57 [[-7.10329819e-01 7.03621408e-01 1.86671736e-02 2.31705012e+02] [-7.03366657e-01 -7.10574987e-01 1.89349813e-02 7.26586590e+01] [ 2.65874848e-02 3.20214293e-04 9.99646439e-01 2.25722538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:72.66, Z:22.57 [[-7.10324267e-01 7.03626794e-01 1.86754006e-02 2.31699052e+02] [-7.03372259e-01 -7.10569658e-01 1.89268636e-02 7.26559003e+01] [ 2.65876214e-02 3.08451754e-04 9.99646439e-01 2.25728559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:72.66, Z:22.57 [[-7.10457590e-01 7.03491933e-01 1.86845781e-02 2.31699436e+02] [-7.03237589e-01 -7.10703180e-01 1.89177992e-02 7.26576894e+01] [ 2.65877082e-02 3.00596416e-04 9.99646439e-01 2.25729846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:72.66, Z:22.57 [[-7.10875596e-01 7.03069293e-01 1.86937412e-02 2.31696723e+02] [-7.02815042e-01 -7.11121282e-01 1.89087403e-02 7.26564772e+01] [ 2.65876719e-02 3.03519596e-04 9.99646439e-01 2.25729619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.72, Y:72.67, Z:22.56 [[-6.97372038e-01 7.16465266e-01 1.87019416e-02 2.31719820e+02] [-7.16215952e-01 -6.97622732e-01 1.89006261e-02 7.26688744e+01] [ 2.65885417e-02 -2.13860806e-04 9.99646439e-01 2.25637637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:72.65, Z:22.57 [[-7.11581530e-01 7.02367742e-01 1.82011506e-02 2.31682389e+02] [-7.02100628e-01 -7.11813536e-01 1.93958290e-02 7.26474840e+01] [ 2.65788300e-02 1.02267445e-03 9.99646197e-01 2.25709780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:72.65, Z:22.57 [[-7.11737493e-01 7.02196051e-01 1.87202447e-02 2.31677408e+02] [-7.01942223e-01 -7.11983579e-01 1.88811691e-02 7.26450021e+01] [ 2.65867892e-02 2.97905774e-04 9.99646464e-01 2.25710455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:72.65, Z:22.57 [[-7.12427298e-01 7.01495965e-01 1.87284970e-02 2.31679489e+02] [-7.01242110e-01 -7.12673357e-01 1.88729801e-02 7.26503591e+01] [ 2.65866202e-02 3.12415487e-04 9.99646465e-01 2.25705504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:72.64, Z:22.57 [[-7.13067419e-01 7.00845055e-01 1.87367273e-02 2.31672667e+02] [-7.00591191e-01 -7.13313468e-01 1.88648056e-02 7.26448758e+01] [ 2.65864657e-02 3.25092105e-04 9.99646465e-01 2.25703269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:72.64, Z:22.57 [[-7.13373228e-01 7.00533557e-01 1.87449449e-02 2.31670492e+02] [-7.00279799e-01 -7.13619388e-01 1.88566367e-02 7.26426044e+01] [ 2.65864629e-02 3.25113527e-04 9.99646465e-01 2.25704161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.66, Y:72.64, Z:22.57 [[-7.13954032e-01 6.99941396e-01 1.87531741e-02 2.31662704e+02] [-6.99687650e-01 -7.14200202e-01 1.88484491e-02 7.26366391e+01] [ 2.65863305e-02 3.35561872e-04 9.99646465e-01 2.25708403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:72.64, Z:22.57 [[-7.14559657e-01 6.99322866e-01 1.87623611e-02 2.31666548e+02] [-6.99069146e-01 -7.14805854e-01 1.88392997e-02 7.26445532e+01] [ 2.65861986e-02 3.45615766e-04 9.99646465e-01 2.25707063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.66, Y:72.64, Z:22.57 [[-7.14929132e-01 6.98944895e-01 1.87715200e-02 2.31656337e+02] [-6.98691285e-01 -7.15175442e-01 1.88301693e-02 7.26359234e+01] [ 2.65861808e-02 3.46739172e-04 9.99646465e-01 2.25709804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.64, Y:72.62, Z:22.57 [[-7.15240308e-01 6.98626215e-01 1.87806674e-02 2.31638335e+02] [-6.98372734e-01 -7.15486752e-01 1.88210414e-02 7.26198453e+01] [ 2.65861917e-02 3.45661436e-04 9.99646465e-01 2.25712296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.65, Y:72.63, Z:22.57 [[-7.14832990e-01 6.99042754e-01 1.87889642e-02 2.31646462e+02] [-6.98789635e-01 -7.15079804e-01 1.88127551e-02 7.26322302e+01] [ 2.65865290e-02 3.18444534e-04 9.99646465e-01 2.25701241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.65, Y:72.64, Z:22.57 [[-7.14620883e-01 6.99259338e-01 1.87982132e-02 2.31649534e+02] [-6.99006536e-01 -7.14868023e-01 1.88035087e-02 7.26370965e+01] [ 2.65867706e-02 2.97306102e-04 9.99646465e-01 2.25693330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:72.61, Z:22.57 [[-7.14690591e-01 6.99187870e-01 1.88064255e-02 2.31621349e+02] [-6.98935260e-01 -7.14937927e-01 1.87952916e-02 7.26107970e+01] [ 2.65868668e-02 2.88344152e-04 9.99646465e-01 2.25704366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.63, Y:72.63, Z:22.57 [[-7.14763567e-01 6.99112968e-01 1.88175743e-02 2.31633216e+02] [-6.98860626e-01 -7.15011176e-01 1.87841229e-02 7.26271996e+01] [ 2.65869999e-02 2.75344957e-04 9.99646465e-01 2.25698479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:72.62, Z:22.57 [[-7.15138451e-01 6.98729237e-01 1.88268302e-02 2.31622811e+02] [-6.98477007e-01 -7.15386173e-01 1.87748415e-02 7.26189668e+01] [ 2.65869846e-02 2.76503058e-04 9.99646465e-01 2.25700625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.63, Y:72.63, Z:22.57 [[-7.15619691e-01 6.98236107e-01 1.88360326e-02 2.31628017e+02] [-6.97983949e-01 -7.15867487e-01 1.87656045e-02 7.26259742e+01] [ 2.65869260e-02 2.81787748e-04 9.99646466e-01 2.25693050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:72.62, Z:22.57 [[-7.16126017e-01 6.97716551e-01 1.88452168e-02 2.31621276e+02] [-6.97464456e-01 -7.16373877e-01 1.87563768e-02 7.26211345e+01] [ 2.65868556e-02 2.88060574e-04 9.99646466e-01 2.25689204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:72.62, Z:22.57 [[-7.16015465e-01 6.97829729e-01 1.88553130e-02 2.31618706e+02] [-6.97577940e-01 -7.16263636e-01 1.87462219e-02 7.26227437e+01] [ 2.65870460e-02 2.69534375e-04 9.99646466e-01 2.25671432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:72.62, Z:22.57 [[-7.15828826e-01 6.98020959e-01 1.88635214e-02 2.31616745e+02] [-6.97769454e-01 -7.16077285e-01 1.87379585e-02 7.26230322e+01] [ 2.65872269e-02 2.50781778e-04 9.99646466e-01 2.25662023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:72.62, Z:22.57 [[-7.15552584e-01 6.98303890e-01 1.88726479e-02 2.31610493e+02] [-6.98052726e-01 -7.15801387e-01 1.87287618e-02 7.26186697e+01] [ 2.65874348e-02 2.27310577e-04 9.99646466e-01 2.25657380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:72.61, Z:22.57 [[-7.16049316e-01 6.97794228e-01 1.88836624e-02 2.31604555e+02] [-6.97543180e-01 -7.16298236e-01 1.87176496e-02 7.26134433e+01] [ 2.65874019e-02 2.30590254e-04 9.99646466e-01 2.25669895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:72.61, Z:22.57 [[-7.16373504e-01 6.97461182e-01 1.88918613e-02 2.31598838e+02] [-6.97210236e-01 -7.16622527e-01 1.87093708e-02 7.26078499e+01] [ 2.65873932e-02 2.31298415e-04 9.99646466e-01 2.25681047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:72.61, Z:22.57 [[-7.16292006e-01 6.97544657e-01 1.89000841e-02 2.31603758e+02] [-6.97293959e-01 -7.16541279e-01 1.87010604e-02 7.26133419e+01] [ 2.65875153e-02 2.16505611e-04 9.99646466e-01 2.25689898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:72.62, Z:22.57 [[-7.14735246e-01 6.99139449e-01 1.89092232e-02 2.31607863e+02] [-6.98889552e-01 -7.14985322e-01 1.86918151e-02 7.26181332e+01] [ 2.65880023e-02 1.44240579e-04 9.99646466e-01 2.25690929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:72.60, Z:22.57 [[-7.12433601e-01 7.01484445e-01 1.89192206e-02 2.31591135e+02] [-7.01235640e-01 -7.12684763e-01 1.86816906e-02 7.26008416e+01] [ 2.65883556e-02 4.26323651e-05 9.99646466e-01 2.25682988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:72.62, Z:22.57 [[-7.06093497e-01 7.07865590e-01 1.89283062e-02 2.31608405e+02] [-7.07619301e-01 -7.06347127e-01 1.86724805e-02 7.26160039e+01] [ 2.65875611e-02 -2.09517817e-04 9.99646466e-01 2.25651878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:72.61, Z:22.57 [[-7.04116591e-01 7.09831788e-01 1.89382973e-02 2.31601558e+02] [-7.09586480e-01 -7.04371169e-01 1.86623417e-02 7.26104057e+01] [ 2.65867140e-02 -2.97895285e-04 9.99646466e-01 2.25682025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:72.61, Z:22.57 [[-7.02735252e-01 7.11199129e-01 1.89463521e-02 2.31603560e+02] [-7.10954537e-01 -7.02990518e-01 1.86541607e-02 7.26122723e+01] [ 2.65859287e-02 -3.61058711e-04 9.99646467e-01 2.25691895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:72.60, Z:22.57 [[-7.00413630e-01 7.13485419e-01 1.89553211e-02 2.31590745e+02] [-7.13241907e-01 -7.00669926e-01 1.86450425e-02 7.25956540e+01] [ 2.65843893e-02 -4.60487453e-04 9.99646467e-01 2.25682429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:72.61, Z:22.57 [[-6.99807277e-01 7.14079918e-01 1.89643186e-02 2.31605886e+02] [-7.13836872e-01 -7.00064015e-01 1.86358864e-02 7.26084964e+01] [ 2.65837492e-02 -4.95900984e-04 9.99646467e-01 2.25664818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:72.60, Z:22.57 [[-6.99874982e-01 7.14013297e-01 1.89742126e-02 2.31603363e+02] [-7.13770499e-01 -7.00131955e-01 1.86258073e-02 7.26030936e+01] [ 2.65835266e-02 -5.07496653e-04 9.99646467e-01 2.25650290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:72.60, Z:22.56 [[-7.00481996e-01 7.13417535e-01 1.89840148e-02 2.31605109e+02] [-7.13174790e-01 -7.00739018e-01 1.86158112e-02 7.26015457e+01] [ 2.65836861e-02 -4.98880141e-04 9.99646467e-01 2.25633291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:72.59, Z:22.56 [[-7.02159937e-01 7.11765922e-01 1.89919767e-02 2.31600890e+02] [-7.11522791e-01 -7.02416594e-01 1.86076849e-02 7.25922417e+01] [ 2.65845956e-02 -4.47653374e-04 9.99646467e-01 2.25639850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:72.59, Z:22.57 [[-7.03246154e-01 7.10692451e-01 1.90022593e-02 2.31601438e+02] [-7.10449212e-01 -7.03502709e-01 1.85971783e-02 7.25910809e+01] [ 2.65850152e-02 -4.21746009e-04 9.99646467e-01 2.25666312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:72.59, Z:22.57 [[-7.04554671e-01 7.09395043e-01 1.90102248e-02 2.31597891e+02] [-7.09151551e-01 -7.04810986e-01 1.85890323e-02 7.25854350e+01] [ 2.65855827e-02 -3.84140858e-04 9.99646467e-01 2.25677857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:72.58, Z:22.57 [[-7.06217534e-01 7.07739358e-01 1.90209323e-02 2.31597070e+02] [-7.07495560e-01 -7.06473558e-01 1.85780696e-02 7.25774542e+01] [ 2.65862168e-02 -3.37066650e-04 9.99646467e-01 2.25666459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:72.57, Z:22.57 [[-7.07305695e-01 7.06651626e-01 1.90298028e-02 2.31587425e+02] [-7.06407679e-01 -7.07561576e-01 1.85689790e-02 7.25654897e+01] [ 2.65865565e-02 -3.08854284e-04 9.99646467e-01 2.25668683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:72.57, Z:22.57 [[-7.09829104e-01 7.04116613e-01 1.90377998e-02 2.31592752e+02] [-7.03871972e-01 -7.10084322e-01 1.85607764e-02 7.25679119e+01] [ 2.65873942e-02 -2.25194442e-04 9.99646467e-01 2.25686948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:72.56, Z:22.57 [[-7.11502546e-01 7.02425334e-01 1.90467171e-02 2.31589552e+02] [-7.02180331e-01 -7.11757417e-01 1.85516212e-02 7.25631415e+01] [ 2.65877709e-02 -1.74704381e-04 9.99646467e-01 2.25699848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:72.55, Z:22.57 [[-7.13082937e-01 7.00820693e-01 1.90546949e-02 2.31582935e+02] [-7.00575336e-01 -7.13337466e-01 1.85434234e-02 7.25543180e+01] [ 2.65880426e-02 -1.26250464e-04 9.99646468e-01 2.25706402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:72.55, Z:22.57 [[-7.14636538e-01 6.99236178e-01 1.90627016e-02 2.31583213e+02] [-6.98990476e-01 -7.14890734e-01 1.85351889e-02 7.25521646e+01] [ 2.65882233e-02 -7.87236457e-05 9.99646468e-01 2.25707955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:72.54, Z:22.57 [[-7.17318683e-01 6.96484156e-01 1.90716359e-02 2.31576291e+02] [-6.96237723e-01 -7.17572171e-01 1.85259914e-02 7.25400090e+01] [ 2.65883347e-02 1.06474040e-05 9.99646468e-01 2.25694495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:72.54, Z:22.57 [[-7.18858438e-01 6.94894555e-01 1.90815118e-02 2.31583216e+02] [-6.94647832e-01 -7.19111643e-01 1.85158138e-02 7.25443295e+01] [ 2.65882755e-02 5.53182026e-05 9.99646468e-01 2.25680524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:72.54, Z:22.57 [[-7.20085762e-01 6.93622437e-01 1.90895298e-02 2.31578788e+02] [-6.93375486e-01 -7.20338744e-01 1.85075436e-02 7.25386267e+01] [ 2.65881755e-02 9.08066202e-05 9.99646468e-01 2.25676957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:72.54, Z:22.57 [[-7.22319538e-01 6.91295743e-01 1.90966451e-02 2.31577640e+02] [-6.91048171e-01 -7.22571912e-01 1.85001989e-02 7.25373460e+01] [ 2.65878082e-02 1.66353463e-04 9.99646468e-01 2.25684666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:72.53, Z:22.57 [[-7.23163291e-01 6.90412823e-01 1.91046478e-02 2.31575044e+02] [-6.90165162e-01 -7.23415578e-01 1.84919311e-02 7.25340840e+01] [ 2.65876662e-02 1.87323459e-04 9.99646468e-01 2.25687662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.57, Y:72.53, Z:22.57 [[-7.23782638e-01 6.89763293e-01 1.91126468e-02 2.31572964e+02] [-6.89515623e-01 -7.24034916e-01 1.84836599e-02 7.25309082e+01] [ 2.65875737e-02 1.99683488e-04 9.99646468e-01 2.25672900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:72.53, Z:22.56 [[-7.18898624e-01 6.94851904e-01 1.91206452e-02 2.31579873e+02] [-6.94606241e-01 -7.19152856e-01 1.84753821e-02 7.25300434e+01] [ 2.65883211e-02 6.07316687e-07 9.99646468e-01 2.25616073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.57, Y:72.52, Z:22.57 [[-7.24570402e-01 6.88939995e-01 1.89582763e-02 2.31567270e+02] [-6.88687841e-01 -7.24818238e-01 1.86434831e-02 7.25229437e+01] [ 2.65855456e-02 4.52181635e-04 9.99646440e-01 2.25653178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.57, Y:72.52, Z:22.57 [[-7.24650523e-01 6.88850817e-01 1.91356067e-02 2.31568033e+02] [-6.88603462e-01 -7.24903106e-01 1.84596606e-02 7.25234506e+01] [ 2.65874130e-02 1.99957671e-04 9.99646472e-01 2.25664271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:72.52, Z:22.57 [[-7.23788393e-01 6.89756370e-01 1.91445278e-02 2.31562245e+02] [-6.89509576e-01 -7.24041523e-01 1.84504039e-02 7.25182891e+01] [ 2.65877166e-02 1.53852946e-04 9.99646472e-01 2.25684417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:72.52, Z:22.57 [[-7.23184236e-01 6.90389533e-01 1.91534410e-02 2.31562622e+02] [-6.90143206e-01 -7.23437820e-01 1.84411464e-02 7.25182711e+01] [ 2.65878980e-02 1.17729220e-04 9.99646472e-01 2.25686701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:72.52, Z:22.57 [[-7.22735668e-01 6.90858881e-01 1.91614356e-02 2.31563645e+02] [-6.90612939e-01 -7.22989626e-01 1.84328358e-02 7.25190127e+01] [ 2.65880074e-02 8.89325267e-05 9.99646473e-01 2.25688843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.536875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:231.56, Y:72.52, Z:22.57 [[-7.21401116e-01 6.92252071e-01 1.91703109e-02 2.31560565e+02] [-6.92006865e-01 -7.21655784e-01 1.84236007e-02 7.25156823e+01] [ 2.65881415e-02 2.48193421e-05 9.99646473e-01 2.25704659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:72.51, Z:22.57 [[-7.21129292e-01 6.92535034e-01 1.91773857e-02 2.31558882e+02] [-6.92290123e-01 -7.21384244e-01 1.84162336e-02 7.25138924e+01] [ 2.65881508e-02 4.17078581e-06 9.99646473e-01 2.25714900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:72.51, Z:22.57 [[-7.20871670e-01 6.92802973e-01 1.91853402e-02 2.31555399e+02] [-6.92558378e-01 -7.21126924e-01 1.84079431e-02 7.25104427e+01] [ 2.65881431e-02 -1.72034361e-05 9.99646473e-01 2.25721968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:72.51, Z:22.57 [[-7.20561858e-01 6.93124972e-01 1.91932941e-02 2.31557525e+02] [-6.92880712e-01 -7.20817433e-01 1.83996462e-02 7.25124258e+01] [ 2.65881152e-02 -4.05800340e-05 9.99646473e-01 2.25726903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:72.51, Z:22.57 [[-7.19793306e-01 6.93922841e-01 1.92012326e-02 2.31554299e+02] [-6.93679086e-01 -7.20049362e-01 1.83913581e-02 7.25085931e+01] [ 2.65880187e-02 -8.15170705e-05 9.99646473e-01 2.25716236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:72.51, Z:22.57 [[-7.19915585e-01 6.93795762e-01 1.92091559e-02 2.31552488e+02] [-6.93552182e-01 -7.20171808e-01 1.83830787e-02 7.25060472e+01] [ 2.65879946e-02 -8.82871420e-05 9.99646473e-01 2.25707234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.716875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:231.55, Y:72.50, Z:22.57 [[-7.19922136e-01 6.93788744e-01 1.92170788e-02 2.31551499e+02] [-6.93545383e-01 -7.20178567e-01 1.83747927e-02 7.25043015e+01] [ 2.65879526e-02 -9.94962682e-05 9.99646473e-01 2.25704170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:72.50, Z:22.57 [[-7.20431988e-01 6.93259079e-01 1.92249949e-02 2.31550052e+02] [-6.93015750e-01 -7.20688450e-01 1.83665065e-02 7.25032566e+01] [ 2.65879792e-02 -9.14054957e-05 9.99646473e-01 2.25694546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:72.50, Z:22.57 [[-7.20906754e-01 6.92765096e-01 1.92347099e-02 2.31545188e+02] [-6.92521863e-01 -7.21163306e-01 1.83563266e-02 7.24987763e+01] [ 2.65879894e-02 -8.72573609e-05 9.99646473e-01 2.25691291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:72.50, Z:22.57 [[-7.21721107e-01 6.91916468e-01 1.92417389e-02 2.31545816e+02] [-6.91673130e-01 -7.21977560e-01 1.83489556e-02 7.24995172e+01] [ 2.65880483e-02 -6.61652043e-05 9.99646473e-01 2.25690450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.53, Y:72.49, Z:22.57 [[-7.23094763e-01 6.90480569e-01 1.92496354e-02 2.31534299e+02] [-6.90236942e-01 -7.23350941e-01 1.83406677e-02 7.24891816e+01] [ 2.65881166e-02 -2.47687128e-05 9.99646473e-01 2.25712438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.54, Y:72.49, Z:22.57 [[-7.23982503e-01 6.89549502e-01 1.92566818e-02 2.31538956e+02] [-6.89305743e-01 -7.24238555e-01 1.83332665e-02 7.24941058e+01] [ 2.65881262e-02 -7.77201686e-07 9.99646473e-01 2.25716030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.896875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:231.53, Y:72.49, Z:22.57 [[-7.25841168e-01 6.87592521e-01 1.92646062e-02 2.31532695e+02] [-6.87348292e-01 -7.26096772e-01 1.83249357e-02 7.24894528e+01] [ 2.65880571e-02 5.94985858e-05 9.99646473e-01 2.25734596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.53, Y:72.49, Z:22.57 [[-7.27137394e-01 6.86221379e-01 1.92725125e-02 2.31529902e+02] [-6.85976889e-01 -7.27392748e-01 1.83166169e-02 7.24874974e+01] [ 2.65879399e-02 9.81988969e-05 9.99646473e-01 2.25739637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.956875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:231.53, Y:72.48, Z:22.57 [[-7.28380061e-01 6.84901976e-01 1.92813318e-02 2.31525066e+02] [-6.84657269e-01 -7.28635207e-01 1.83073283e-02 7.24838460e+01] [ 2.65877825e-02 1.33588937e-04 9.99646474e-01 2.25740599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.986875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:231.52, Y:72.48, Z:22.57 [[-7.28643814e-01 6.84621148e-01 1.92892478e-02 2.31523420e+02] [-6.84376564e-01 -7.28899078e-01 1.82989839e-02 7.24821862e+01] [ 2.65877863e-02 1.32332307e-04 9.99646474e-01 2.25741275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:72.47, Z:22.57 [[-7.31348981e-01 6.81730387e-01 1.92962958e-02 2.31510781e+02] [-6.81484990e-01 -7.31603463e-01 1.82915488e-02 7.24730842e+01] [ 2.65871415e-02 2.27369646e-04 9.99646474e-01 2.25748820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.52, Y:72.48, Z:22.57 [[-7.32781519e-01 6.80190114e-01 1.93042519e-02 2.31517774e+02] [-6.79944403e-01 -7.33035698e-01 1.82831483e-02 7.24806728e+01] [ 2.65867225e-02 2.71735172e-04 9.99646474e-01 2.25744215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:72.48, Z:22.57 [[-7.34341270e-01 6.78505665e-01 1.93121983e-02 2.31512870e+02] [-6.78259592e-01 -7.34595099e-01 1.82747508e-02 7.24771770e+01] [ 2.65861682e-02 3.21219971e-04 9.99646474e-01 2.25742369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:72.48, Z:22.57 [[-7.35445233e-01 6.77308701e-01 1.93192417e-02 2.31511887e+02] [-6.77062410e-01 -7.35698850e-01 1.82673019e-02 7.24768617e+01] [ 2.65857464e-02 3.54267740e-04 9.99646474e-01 2.25740462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:72.47, Z:22.57 [[-7.37307171e-01 6.75281150e-01 1.93262880e-02 2.31502256e+02] [-6.75034357e-01 -7.37560299e-01 1.82598440e-02 7.24702621e+01] [ 2.65848312e-02 4.17205486e-04 9.99646474e-01 2.25745526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:72.47, Z:22.57 [[-7.37970482e-01 6.74555969e-01 1.93342243e-02 2.31502452e+02] [-6.74309148e-01 -7.38223583e-01 1.82514369e-02 7.24716329e+01] [ 2.65845960e-02 4.31777337e-04 9.99646474e-01 2.25748996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:72.47, Z:22.57 [[-7.39013545e-01 6.73412845e-01 1.93421687e-02 2.31498419e+02] [-6.73165853e-01 -7.39266479e-01 1.82430138e-02 7.24695030e+01] [ 2.65840968e-02 4.61346813e-04 9.99646474e-01 2.25748006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.49, Y:72.47, Z:22.57 [[-7.39445652e-01 6.72938136e-01 1.93492293e-02 2.31494419e+02] [-6.72691177e-01 -7.39698618e-01 1.82355220e-02 7.24664418e+01] [ 2.65839764e-02 4.68121586e-04 9.99646474e-01 2.25744935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.49, Y:72.46, Z:22.57 [[-7.39497008e-01 6.72881497e-01 1.93562966e-02 2.31491459e+02] [-6.72634715e-01 -7.39750147e-01 1.82280173e-02 7.24645952e+01] [ 2.65841188e-02 4.59847253e-04 9.99646474e-01 2.25742318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.49, Y:72.46, Z:22.57 [[-7.39004339e-01 6.73422288e-01 1.93651546e-02 2.31488747e+02] [-6.73175938e-01 -7.39257898e-01 1.82186018e-02 7.24646697e+01] [ 2.65846560e-02 4.27469680e-04 9.99646474e-01 2.25729563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.49, Y:72.46, Z:22.57 [[-7.38646189e-01 6.73814879e-01 1.93730936e-02 2.31486819e+02] [-6.73568885e-01 -7.38900093e-01 1.82101558e-02 7.24640070e+01] [ 2.65850546e-02 4.01749115e-04 9.99646474e-01 2.25728440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.48, Y:72.46, Z:22.57 [[-7.38315676e-01 6.74176786e-01 1.93810200e-02 2.31481236e+02] [-6.73931138e-01 -7.38569915e-01 1.82017158e-02 7.24601712e+01] [ 2.65854126e-02 3.77139225e-04 9.99646474e-01 2.25732584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.48, Y:72.46, Z:22.57 [[-7.37251839e-01 6.75339762e-01 1.93889517e-02 2.31478536e+02] [-6.75094737e-01 -7.37506678e-01 1.81932629e-02 7.24597901e+01] [ 2.65861152e-02 3.23637276e-04 9.99646474e-01 2.25745470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:72.46, Z:22.57 [[-7.37006540e-01 6.75607223e-01 1.93968854e-02 2.31474634e+02] [-6.75362514e-01 -7.37261682e-01 1.81848004e-02 7.24568537e+01] [ 2.65863629e-02 3.02387529e-04 9.99646474e-01 2.25748256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:72.46, Z:22.57 [[-7.36742229e-01 6.75895162e-01 1.94066333e-02 2.31473921e+02] [-6.75650826e-01 -7.36997729e-01 1.81743915e-02 7.24567066e+01] [ 2.65866280e-02 2.77733926e-04 9.99646475e-01 2.25749664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.48, Y:72.46, Z:22.57 [[-7.35710917e-01 6.77017347e-01 1.94154523e-02 2.31476733e+02] [-6.76773649e-01 -7.35967025e-01 1.81649655e-02 7.24598831e+01] [ 2.65871294e-02 2.24296917e-04 9.99646475e-01 2.25739945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.496875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:231.47, Y:72.46, Z:22.57 [[-7.35135990e-01 6.77641358e-01 1.94233299e-02 2.31473485e+02] [-6.77398101e-01 -7.35392517e-01 1.81565382e-02 7.24575888e+01] [ 2.65873927e-02 1.90197906e-04 9.99646475e-01 2.25745363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:72.45, Z:22.58 [[-7.34742551e-01 6.78067705e-01 1.94311866e-02 2.31465199e+02] [-6.77824819e-01 -7.34999429e-01 1.81481261e-02 7.24511440e+01] [ 2.65875693e-02 1.63259904e-04 9.99646475e-01 2.25751280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:72.45, Z:22.58 [[-7.33741936e-01 6.79150127e-01 1.94390626e-02 2.31460669e+02] [-6.78907843e-01 -7.33999382e-01 1.81396859e-02 7.24481553e+01] [ 2.65878299e-02 1.12516175e-04 9.99646475e-01 2.25760728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:72.45, Z:22.58 [[-7.33312252e-01 6.79613829e-01 1.94469641e-02 2.31466312e+02] [-6.79371933e-01 -7.33570062e-01 1.81312111e-02 7.24530869e+01] [ 2.65879324e-02 8.41176595e-05 9.99646475e-01 2.25764758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:72.44, Z:22.58 [[-7.32107969e-01 6.80910685e-01 1.94566407e-02 2.31455966e+02] [-6.80669521e-01 -7.32366465e-01 1.81208210e-02 7.24438119e+01] [ 2.65880519e-02 2.28551528e-05 9.99646475e-01 2.25771838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.45, Y:72.43, Z:22.58 [[-7.31540604e-01 6.81519977e-01 1.94644992e-02 2.31445764e+02] [-6.81279253e-01 -7.31799509e-01 1.81123759e-02 7.24340762e+01] [ 2.65880570e-02 -1.08210898e-05 9.99646475e-01 2.25780830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:72.45, Z:22.58 [[-7.31240215e-01 6.81842044e-01 1.94724180e-02 2.31459850e+02] [-6.81601661e-01 -7.31499437e-01 1.81038585e-02 7.24467103e+01] [ 2.65880347e-02 -3.41631048e-05 9.99646475e-01 2.25780458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:72.44, Z:22.58 [[-7.30872392e-01 6.82236025e-01 1.94821045e-02 2.31456149e+02] [-6.81996060e-01 -7.31132001e-01 1.80934286e-02 7.24426509e+01] [ 2.65879788e-02 -6.27310409e-05 9.99646475e-01 2.25784576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:72.44, Z:22.58 [[-7.30364595e-01 6.82779394e-01 1.94899167e-02 2.31457803e+02] [-6.82539847e-01 -7.30624589e-01 1.80850095e-02 7.24434391e+01] [ 2.65878842e-02 -9.39940842e-05 9.99646475e-01 2.25788572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:72.44, Z:22.58 [[-7.30422528e-01 6.82717196e-01 1.94977166e-02 2.31456539e+02] [-6.82477851e-01 -7.30682708e-01 1.80765964e-02 7.24416625e+01] [ 2.65878476e-02 -1.03206434e-04 9.99646475e-01 2.25782408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:72.44, Z:22.58 [[-7.30635323e-01 6.82489238e-01 1.95054958e-02 2.31455181e+02] [-6.82250036e-01 -7.30895635e-01 1.80681984e-02 7.24387668e+01] [ 2.65878327e-02 -1.06361225e-04 9.99646475e-01 2.25771196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.45, Y:72.43, Z:22.58 [[-7.30900989e-01 6.82204473e-01 1.95141542e-02 2.31450031e+02] [-6.81965419e-01 -7.31161436e-01 1.80588422e-02 7.24335409e+01] [ 2.65878199e-02 -1.08752685e-04 9.99646476e-01 2.25760671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.35, Y:72.34, Z:22.58 [[-7.31485243e-01 6.81577753e-01 1.95219285e-02 2.31347431e+02] [-6.81338701e-01 -7.31745691e-01 1.80504341e-02 7.23384304e+01] [ 2.65878614e-02 -9.74192506e-05 9.99646476e-01 2.25789038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.03, Y:71.68, Z:23.28 [[-6.88922861e-01 -7.24571726e-01 -1.95219285e-02 2.32027245e+02] [-7.24348863e-01 6.89197291e-01 -1.80504341e-02 7.16826797e+01] [ 2.65332945e-02 1.70533004e-03 -9.99646476e-01 2.32775275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.30, Y:72.33, Z:22.58 [[-6.84622009e-01 7.28670623e-01 1.82161659e-02 2.31296628e+02] [-7.28415410e-01 -6.84864307e-01 1.92839532e-02 7.23310340e+01] [ 2.65272520e-02 -6.67171885e-05 9.99648088e-01 2.25795839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.30, Y:72.33, Z:22.58 [[-6.85397186e-01 7.27941320e-01 1.82244863e-02 2.31299649e+02] [-7.27686059e-01 -6.85639433e-01 1.92760867e-02 7.23332010e+01] [ 2.65272865e-02 -4.99290471e-05 9.99648088e-01 2.25795469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.29, Y:72.33, Z:22.58 [[-6.86205134e-01 7.27179489e-01 1.82347179e-02 2.31293401e+02] [-7.26924216e-01 -6.86447369e-01 1.92664030e-02 7.23257724e+01] [ 2.65273072e-02 -3.45532865e-05 9.99648088e-01 2.25793475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.30, Y:72.33, Z:22.58 [[-6.87852990e-01 7.25620739e-01 1.82430277e-02 2.31296007e+02] [-7.25365126e-01 -6.88094865e-01 1.92585314e-02 7.23262451e+01] [ 2.65273234e-02 1.41822798e-05 9.99648089e-01 2.25794226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.29, Y:72.32, Z:22.58 [[-6.89208531e-01 7.24333135e-01 1.82513372e-02 2.31292676e+02] [-7.24077278e-01 -6.89450149e-01 1.92506533e-02 7.23217407e+01] [ 2.65272731e-02 5.23359301e-05 9.99648089e-01 2.25798574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:72.31, Z:22.58 [[-6.91961641e-01 7.21703314e-01 1.82596343e-02 2.31278672e+02] [-7.21446747e-01 -6.92202504e-01 1.92427801e-02 7.23052761e+01] [ 2.65269427e-02 1.41911928e-04 9.99648089e-01 2.25806241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:72.30, Z:22.58 [[-6.93372198e-01 7.20347999e-01 1.82689443e-02 2.31277099e+02] [-7.20091195e-01 -6.93612808e-01 1.92339372e-02 7.23021981e+01] [ 2.65267019e-02 1.80971389e-04 9.99648089e-01 2.25806684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.27, Y:72.30, Z:22.58 [[-6.94535267e-01 7.19226461e-01 1.82773508e-02 2.31274724e+02] [-7.18969478e-01 -6.94775686e-01 1.92259454e-02 7.22980924e+01] [ 2.65264676e-02 2.12239752e-04 9.99648089e-01 2.25795237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:72.30, Z:22.58 [[-6.96700430e-01 7.17129097e-01 1.82857603e-02 2.31278701e+02] [-7.16871601e-01 -6.96940298e-01 1.92179438e-02 7.22999138e+01] [ 2.65258299e-02 2.80607484e-04 9.99648089e-01 2.25777756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.27, Y:72.29, Z:22.58 [[-6.97728476e-01 7.16128664e-01 1.82951035e-02 2.31273616e+02] [-7.15871057e-01 -6.97968225e-01 1.92090452e-02 7.22943034e+01] [ 2.65255488e-02 3.05762786e-04 9.99648089e-01 2.25776743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:72.30, Z:22.58 [[-6.98587348e-01 7.15290616e-01 1.83044286e-02 2.31277506e+02] [-7.15032954e-01 -6.98827038e-01 1.92001552e-02 7.22980295e+01] [ 2.65253204e-02 3.24715840e-04 9.99648089e-01 2.25777471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.27, Y:72.29, Z:22.58 [[-6.99810170e-01 7.14094065e-01 1.83137285e-02 2.31271712e+02] [-7.13836225e-01 -7.00049669e-01 1.91912804e-02 7.22912242e+01] [ 2.65248991e-02 3.57250371e-04 9.99648089e-01 2.25766413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.27, Y:72.29, Z:22.58 [[-7.00140118e-01 7.13770354e-01 1.83220577e-02 2.31268275e+02] [-7.13512611e-01 -7.00379721e-01 1.91833252e-02 7.22873465e+01] [ 2.65248865e-02 3.57996394e-04 9.99648089e-01 2.25758386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.27, Y:72.29, Z:22.57 [[-7.00341676e-01 7.13572374e-01 1.83304081e-02 2.31269303e+02] [-7.13314772e-01 -7.00581431e-01 1.91753428e-02 7.22888304e+01] [ 2.65249384e-02 3.53940856e-04 9.99648089e-01 2.25747701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:72.28, Z:22.58 [[-7.00116930e-01 7.13792645e-01 1.83396960e-02 2.31259345e+02] [-7.13535351e-01 -7.00357016e-01 1.91664555e-02 7.22798855e+01] [ 2.65252097e-02 3.32738538e-04 9.99648089e-01 2.25760770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:72.28, Z:22.58 [[-6.99972704e-01 7.13933865e-01 1.83480421e-02 2.31259031e+02] [-7.13676829e-01 -7.00213065e-01 1.91584625e-02 7.22799161e+01] [ 2.65254140e-02 3.15828268e-04 9.99648089e-01 2.25766495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:72.28, Z:22.58 [[-6.99909121e-01 7.13995984e-01 1.83564065e-02 2.31261532e+02] [-7.13739180e-01 -7.00149730e-01 1.91504449e-02 7.22830238e+01] [ 2.65255738e-02 3.01884520e-04 9.99648089e-01 2.25776707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:72.28, Z:22.58 [[-6.99678448e-01 7.14221770e-01 1.83666427e-02 2.31259113e+02] [-7.13965301e-01 -6.99919414e-01 1.91406226e-02 7.22810001e+01] [ 2.65258191e-02 2.79135561e-04 9.99648090e-01 2.25782406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:72.28, Z:22.58 [[-6.98920819e-01 7.14962972e-01 1.83749378e-02 2.31255278e+02] [-7.14706968e-01 -6.99162279e-01 1.91326560e-02 7.22781124e+01] [ 2.65262040e-02 2.39515497e-04 9.99648090e-01 2.25807614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.25, Y:72.27, Z:22.58 [[-6.98670931e-01 7.15206930e-01 1.83841774e-02 2.31250751e+02] [-7.14951244e-01 -6.98912727e-01 1.91237737e-02 7.22743070e+01] [ 2.65263911e-02 2.17434250e-04 9.99648090e-01 2.25813695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.25, Y:72.27, Z:22.58 [[-6.97730506e-01 7.16124192e-01 1.83924772e-02 2.31247947e+02] [-7.15869034e-01 -6.97972860e-01 1.91157880e-02 7.22721483e+01] [ 2.65267281e-02 1.71063494e-04 9.99648090e-01 2.25811691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.24, Y:72.27, Z:22.58 [[-6.97741780e-01 7.16112994e-01 1.84007829e-02 2.31242288e+02] [-7.15858043e-01 -6.97984351e-01 1.91077897e-02 7.22660255e+01] [ 2.65267950e-02 1.59954726e-04 9.99648090e-01 2.25808879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.24, Y:72.26, Z:22.58 [[-6.97631696e-01 7.16219731e-01 1.84204631e-02 2.31240510e+02] [-7.15965319e-01 -6.97874831e-01 1.90887985e-02 7.22648780e+01] [ 2.65269517e-02 1.28538150e-04 9.99648090e-01 2.25797981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.24, Y:72.27, Z:22.58 [[-6.96531362e-01 7.17289578e-01 1.84316108e-02 2.31239812e+02] [-7.17035824e-01 -6.96775184e-01 1.90780285e-02 7.22663960e+01] [ 2.65271600e-02 7.23199802e-05 9.99648090e-01 2.25780236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:72.25, Z:22.58 [[-6.96062761e-01 7.17744084e-01 1.84408070e-02 2.31224831e+02] [-7.17490724e-01 -6.96306993e-01 1.90691353e-02 7.22517663e+01] [ 2.65272219e-02 4.22069759e-05 9.99648090e-01 2.25778835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:72.26, Z:22.58 [[-6.95580233e-01 7.18211459e-01 1.84509956e-02 2.31228048e+02] [-7.17958526e-01 -6.95824906e-01 1.90592719e-02 7.22556219e+01] [ 2.65272498e-02 1.02031251e-05 9.99648091e-01 2.25773407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:72.25, Z:22.58 [[-6.94339905e-01 7.19410419e-01 1.84592980e-02 2.31219588e+02] [-7.19158121e-01 -6.94585234e-01 1.90512275e-02 7.22473228e+01] [ 2.65272073e-02 -4.71266169e-05 9.99648091e-01 2.25774734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:72.26, Z:22.58 [[-6.94053945e-01 7.19686091e-01 1.84676002e-02 2.31231542e+02] [-7.19434105e-01 -6.94299594e-01 1.90431762e-02 7.22597272e+01] [ 2.65271563e-02 -6.92298289e-05 9.99648091e-01 2.25766405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:72.25, Z:22.58 [[-6.93700940e-01 7.20026120e-01 1.84768070e-02 2.31224511e+02] [-7.19774493e-01 -6.93946956e-01 1.90342390e-02 7.22518403e+01] [ 2.65270732e-02 -9.50649254e-05 9.99648091e-01 2.25772775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:72.25, Z:22.58 [[-6.93466311e-01 7.20251863e-01 1.84859589e-02 2.31224798e+02] [-7.20000552e-01 -6.93712650e-01 1.90253466e-02 7.22514369e+01] [ 2.65269849e-02 -1.16463663e-04 9.99648091e-01 2.25769743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:72.24, Z:22.58 [[-6.93775893e-01 7.19953430e-01 1.84951163e-02 2.31217374e+02] [-7.19702251e-01 -6.94022366e-01 1.90164402e-02 7.22436116e+01] [ 2.65269758e-02 -1.17829044e-04 9.99648091e-01 2.25777360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:72.25, Z:22.58 [[-6.94616842e-01 7.19141897e-01 1.85033392e-02 2.31223536e+02] [-7.18890644e-01 -6.94863240e-01 1.90084358e-02 7.22491587e+01] [ 2.65270528e-02 -9.82977649e-05 9.99648091e-01 2.25786682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:72.25, Z:22.58 [[-6.94925951e-01 7.18842966e-01 1.85124851e-02 2.31221384e+02] [-7.18591844e-01 -6.95172482e-01 1.89995244e-02 7.22468649e+01] [ 2.65270447e-02 -9.96581773e-05 9.99648091e-01 2.25787579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:72.23, Z:22.58 [[-6.95889394e-01 7.17910118e-01 1.85206527e-02 2.31201551e+02] [-7.17658877e-01 -6.96135804e-01 1.89915593e-02 7.22262028e+01] [ 2.65271220e-02 -7.54861699e-05 9.99648091e-01 2.25798765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:72.23, Z:22.58 [[-6.96748655e-01 7.17075977e-01 1.85298311e-02 2.31204078e+02] [-7.16824680e-01 -6.96995007e-01 1.89825998e-02 7.22280639e+01] [ 2.65271661e-02 -5.65393596e-05 9.99648091e-01 2.25800386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:72.22, Z:22.58 [[-6.98560482e-01 7.15310835e-01 1.85381217e-02 2.31201641e+02] [-7.15059130e-01 -6.98806417e-01 1.89744999e-02 7.22239973e+01] [ 2.65272238e-02 -1.01736425e-06 9.99648091e-01 2.25801788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:72.22, Z:22.58 [[-6.99314138e-01 7.14573837e-01 1.85463934e-02 2.31201624e+02] [-7.14322087e-01 -6.99560027e-01 1.89664114e-02 7.22228727e+01] [ 2.65272168e-02 1.53811969e-05 9.99648091e-01 2.25800262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:72.21, Z:22.58 [[-6.99993449e-01 7.13908184e-01 1.85546586e-02 2.31186896e+02] [-7.13656415e-01 -7.00239319e-01 1.89583222e-02 7.22056021e+01] [ 2.65272029e-02 2.90502417e-05 9.99648091e-01 2.25803523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.21, Y:72.23, Z:22.58 [[-7.00459271e-01 7.13450927e-01 1.85629724e-02 2.31207729e+02] [-7.13199213e-01 -7.00705197e-01 1.89501783e-02 7.22262612e+01] [ 2.65271935e-02 3.47308067e-05 9.99648091e-01 2.25804654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:72.21, Z:22.58 [[-7.01024524e-01 7.12895288e-01 1.85721887e-02 2.31192137e+02] [-7.12643618e-01 -7.01270495e-01 1.89411414e-02 7.22097734e+01] [ 2.65271785e-02 4.28528758e-05 9.99648092e-01 2.25810639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:72.22, Z:22.58 [[-7.00885554e-01 7.13031703e-01 1.85804125e-02 2.31202031e+02] [-7.12780295e-01 -7.01131792e-01 1.89330709e-02 7.22178688e+01] [ 2.65271977e-02 2.61639708e-05 9.99648092e-01 2.25791882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:72.21, Z:22.58 [[-7.01055435e-01 7.12864412e-01 1.85905283e-02 2.31199173e+02] [-7.12613209e-01 -7.01301882e-01 1.89231328e-02 7.22148222e+01] [ 2.65272005e-02 1.83090610e-05 9.99648092e-01 2.25782201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:72.21, Z:22.58 [[-7.00868616e-01 7.13047826e-01 1.86005723e-02 2.31192903e+02] [-7.12796949e-01 -7.01115395e-01 1.89132549e-02 7.22079654e+01] [ 2.65272029e-02 -2.72443954e-06 9.99648092e-01 2.25777682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:72.21, Z:22.58 [[-7.00829019e-01 7.13086531e-01 1.86087506e-02 2.31195907e+02] [-7.12835882e-01 -7.01076029e-01 1.89052049e-02 7.22104581e+01] [ 2.65271959e-02 -1.56689322e-05 9.99648092e-01 2.25779304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:72.21, Z:22.58 [[-7.00438499e-01 7.13469866e-01 1.86187956e-02 2.31194013e+02] [-7.13219615e-01 -7.00685912e-01 1.88953068e-02 7.22067947e+01] [ 2.65271599e-02 -4.42899020e-05 9.99648092e-01 2.25780040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:72.20, Z:22.58 [[-7.00418071e-01 7.13489708e-01 1.86269362e-02 2.31191902e+02] [-7.13239678e-01 -7.00665707e-01 1.88872785e-02 7.22036754e+01] [ 2.65271342e-02 -5.64788643e-05 9.99648092e-01 2.25793709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:72.20, Z:22.58 [[-7.00802676e-01 7.13111709e-01 1.86360041e-02 2.31189934e+02] [-7.12861782e-01 -7.01050418e-01 1.88783270e-02 7.22007601e+01] [ 2.65271345e-02 -5.49130837e-05 9.99648092e-01 2.25793290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:72.20, Z:22.58 [[-7.01407586e-01 7.12516498e-01 1.86450677e-02 2.31188650e+02] [-7.12266600e-01 -7.01655355e-01 1.88693711e-02 7.21982902e+01] [ 2.65271498e-02 -4.51389701e-05 9.99648092e-01 2.25799251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.19, Z:22.58 [[-7.02245454e-01 7.11690485e-01 1.86541202e-02 2.31183822e+02] [-7.11440533e-01 -7.02493170e-01 1.88604177e-02 7.21898689e+01] [ 2.65271718e-02 -2.66546335e-05 9.99648092e-01 2.25798130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.18, Z:22.58 [[-7.02542055e-01 7.11397436e-01 1.86641151e-02 2.31178639e+02] [-7.11147644e-01 -7.02789931e-01 1.88505216e-02 7.21824584e+01] [ 2.65271649e-02 -2.96573103e-05 9.99648092e-01 2.25797262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.18, Z:22.58 [[-7.02496692e-01 7.11442017e-01 1.86722724e-02 2.31181588e+02] [-7.11192455e-01 -7.02744800e-01 1.88424380e-02 7.21834571e+01] [ 2.65271444e-02 -4.28288546e-05 9.99648092e-01 2.25796645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.18, Z:22.58 [[-7.01426531e-01 7.12496921e-01 1.86804232e-02 2.31182370e+02] [-7.12247948e-01 -7.01675230e-01 1.88343538e-02 7.21812664e+01] [ 2.65270093e-02 -9.41776273e-05 9.99648093e-01 2.25792722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.18, Z:22.58 [[-7.00688364e-01 7.13222630e-01 1.86894720e-02 2.31178525e+02] [-7.12974154e-01 -7.00937559e-01 1.88253703e-02 7.21762010e+01] [ 2.65268330e-02 -1.34392550e-04 9.99648093e-01 2.25796583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.18, Z:22.58 [[-6.99976153e-01 7.13921414e-01 1.86975915e-02 2.31181653e+02] [-7.13673402e-01 -7.00225810e-01 1.88173025e-02 7.21779694e+01] [ 2.65266113e-02 -1.72310693e-04 9.99648093e-01 2.25796686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.17, Z:22.58 [[-6.98679788e-01 7.15189940e-01 1.87056955e-02 2.31180470e+02] [-7.14942597e-01 -6.98930108e-01 1.88092431e-02 7.21730140e+01] [ 2.65261552e-02 -2.31860579e-04 9.99648093e-01 2.25796561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.17, Z:22.58 [[-6.98311949e-01 7.15548892e-01 1.87137813e-02 2.31180453e+02] [-7.15301893e-01 -6.98562608e-01 1.88011948e-02 7.21708212e+01] [ 2.65259220e-02 -2.56904221e-04 9.99648093e-01 2.25785164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.17, Z:22.58 [[-6.97627711e-01 7.16215774e-01 1.87227846e-02 2.31181693e+02] [-7.15969255e-01 -6.97878842e-01 1.87922249e-02 7.21694344e+01] [ 2.65255231e-02 -2.94961305e-04 9.99648093e-01 2.25775527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.16, Z:22.58 [[-6.97288017e-01 7.16546284e-01 1.87308426e-02 2.31175545e+02] [-7.16300099e-01 -6.97539477e-01 1.87841897e-02 7.21612544e+01] [ 2.65252435e-02 -3.18914015e-04 9.99648093e-01 2.25770977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.16, Z:22.58 [[-6.95679417e-01 7.18107955e-01 1.87380224e-02 2.31175590e+02] [-7.17862528e-01 -6.95931616e-01 1.87770248e-02 7.21569528e+01] [ 2.65243131e-02 -3.88534440e-04 9.99648093e-01 2.25765543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.16, Z:22.58 [[-6.95537209e-01 7.18245483e-01 1.87461091e-02 2.31180935e+02] [-7.18000324e-01 -6.95789668e-01 1.87689480e-02 7.21604708e+01] [ 2.65240611e-02 -4.05210726e-04 9.99648093e-01 2.25768094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.16, Z:22.58 [[-6.95081283e-01 7.18686505e-01 1.87541658e-02 2.31179897e+02] [-7.18441723e-01 -6.95334107e-01 1.87608942e-02 7.21559462e+01] [ 2.65236126e-02 -4.33428767e-04 9.99648093e-01 2.25789939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.746875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:231.18, Y:72.15, Z:22.58 [[-6.95239461e-01 7.18533255e-01 1.87631074e-02 2.31177556e+02] [-7.18288658e-01 -6.95492464e-01 1.87519473e-02 7.21515633e+01] [ 2.65234975e-02 -4.40233507e-04 9.99648093e-01 2.25795769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.15, Z:22.58 [[-6.95862047e-01 7.17930119e-01 1.87711335e-02 2.31178496e+02] [-7.17685520e-01 -6.96115048e-01 1.87439095e-02 7.21505545e+01] [ 2.65236857e-02 -4.28595508e-04 9.99648093e-01 2.25808537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:72.14, Z:22.58 [[-6.98484840e-01 7.15378423e-01 1.87787160e-02 2.31177098e+02] [-7.15133104e-01 -6.98737142e-01 1.87363098e-02 7.21439987e+01] [ 2.65249382e-02 -3.42253134e-04 9.99648093e-01 2.25812466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.17, Y:72.13, Z:22.58 [[-7.00459958e-01 7.13444372e-01 1.87876488e-02 2.31170199e+02] [-7.13198596e-01 -7.00711816e-01 1.87273483e-02 7.21341619e+01] [ 2.65256487e-02 -2.81567099e-04 9.99648093e-01 2.25811795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.17, Y:72.13, Z:22.58 [[-7.04129595e-01 7.09822679e-01 1.87956907e-02 2.31170766e+02] [-7.09575823e-01 -7.04380395e-01 1.87192735e-02 7.21296043e+01] [ 2.65266809e-02 -1.56173218e-04 9.99648094e-01 2.25793129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.17, Y:72.13, Z:22.58 [[-7.05872842e-01 7.08088893e-01 1.88056003e-02 2.31171153e+02] [-7.07841686e-01 -7.06123296e-01 1.87093129e-02 7.21276490e+01] [ 2.65269292e-02 -1.04991955e-04 9.99648094e-01 2.25789435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.926875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:231.17, Y:72.12, Z:22.58 [[-7.07406728e-01 7.06556298e-01 1.88127586e-02 2.31169468e+02] [-7.06308740e-01 -7.07656834e-01 1.87021123e-02 7.21235238e+01] [ 2.65270724e-02 -5.76157942e-05 9.99648094e-01 2.25781637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.17, Y:72.12, Z:22.58 [[-7.10256206e-01 7.03691646e-01 1.88199142e-02 2.31166528e+02] [-7.03443271e-01 -7.10505500e-01 1.86949089e-02 7.21175376e+01] [ 2.65271038e-02 3.94330924e-05 9.99648094e-01 2.25780393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.986875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:231.16, Y:72.11, Z:22.58 [[-7.11378878e-01 7.02556425e-01 1.88298109e-02 2.31163739e+02] [-7.02307916e-01 -7.11628038e-01 1.86849355e-02 7.21137408e+01] [ 2.65270428e-02 6.77432067e-05 9.99648094e-01 2.25781313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.16, Y:72.11, Z:22.58 [[-7.11784104e-01 7.02145657e-01 1.88378639e-02 2.31161850e+02] [-7.01897219e-01 -7.12033336e-01 1.86768130e-02 7.21106755e+01] [ 2.65270302e-02 7.16142842e-05 9.99648094e-01 2.25771914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.046875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:231.16, Y:72.11, Z:22.58 [[-7.11459911e-01 7.02473957e-01 1.88450336e-02 2.31161975e+02] [-7.02225825e-01 -7.11709447e-01 1.86695759e-02 7.21099613e+01] [ 2.65270793e-02 4.91855634e-05 9.99648094e-01 2.25766712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.07687500000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:231.16, Y:72.10, Z:22.58 [[-7.10699103e-01 7.03243447e-01 1.88530829e-02 2.31155414e+02] [-7.02995801e-01 -7.10949122e-01 1.86614439e-02 7.21037636e+01] [ 2.65271209e-02 9.03333713e-06 9.99648094e-01 2.25757950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.15, Y:72.10, Z:22.58 [[-7.09599636e-01 7.04352644e-01 1.88602526e-02 2.31154113e+02] [-7.04105582e-01 -7.09850231e-01 1.86541950e-02 7.21034461e+01] [ 2.65270863e-02 -4.25991306e-05 9.99648094e-01 2.25760673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.13687500000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:231.16, Y:72.11, Z:22.58 [[-7.06558518e-01 7.07403030e-01 1.88683220e-02 2.31156329e+02] [-7.07157267e-01 -7.06810388e-01 1.86460295e-02 7.21083098e+01] [ 2.65265837e-02 -1.68360005e-04 9.99648094e-01 2.25774132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.166875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.16, Y:72.11, Z:22.58 [[-7.03552009e-01 7.10393051e-01 1.88754750e-02 2.31155779e+02] [-7.10148553e-01 -7.03805107e-01 1.86387856e-02 7.21092370e+01] [ 2.65255195e-02 -2.91036184e-04 9.99648094e-01 2.25756847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.15, Y:72.11, Z:22.58 [[-7.02125233e-01 7.11803066e-01 1.88825992e-02 2.31154309e+02] [-7.11559270e-01 -7.02379007e-01 1.86315655e-02 7.21081719e+01] [ 2.65247467e-02 -3.54396260e-04 9.99648094e-01 2.25772590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.14, Y:72.10, Z:22.58 [[-7.02302569e-01 7.11627886e-01 1.88905911e-02 2.31144341e+02] [-7.11384245e-01 -7.02556491e-01 1.86234589e-02 7.20994842e+01] [ 2.65246801e-02 -3.59165884e-04 9.99648094e-01 2.25778868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.14, Y:72.10, Z:22.58 [[-7.01563123e-01 7.12356025e-01 1.89229503e-02 2.31140837e+02] [-7.12113534e-01 -7.01818144e-01 1.85905211e-02 7.20979894e+01] [ 2.65235396e-02 -4.32865008e-04 9.99648095e-01 2.25795867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.286875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:231.14, Y:72.10, Z:22.58 [[-7.02021443e-01 7.11904123e-01 1.89318107e-02 2.31140669e+02] [-7.11661712e-01 -7.02276538e-01 1.85814937e-02 7.20983312e+01] [ 2.65236084e-02 -4.28437732e-04 9.99648095e-01 2.25800423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31687500000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:231.14, Y:72.10, Z:22.58 [[-7.02909308e-01 7.11027302e-01 1.89388743e-02 2.31138019e+02] [-7.10784766e-01 -7.03164285e-01 1.85742915e-02 7.20960862e+01] [ 2.65239683e-02 -4.05420936e-04 9.99648095e-01 2.25804339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.14, Y:72.09, Z:22.58 [[-7.02880188e-01 7.11055900e-01 1.89459328e-02 2.31136940e+02] [-7.10813569e-01 -7.03135359e-01 1.85670889e-02 7.20910296e+01] [ 2.65237934e-02 -4.16587155e-04 9.99648096e-01 2.25806294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.13, Y:72.09, Z:22.58 [[-7.07987507e-01 7.05973929e-01 1.88282096e-02 2.31128975e+02] [-7.05726560e-01 -7.08237819e-01 1.86872635e-02 7.20868913e+01] [ 2.65275709e-02 -5.72184673e-05 9.99648080e-01 2.25800104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.13, Y:72.09, Z:22.58 [[-7.11713040e-01 7.02214392e-01 1.89604092e-02 2.31127497e+02] [-7.01969288e-01 -7.11965545e-01 1.85521554e-02 7.20852874e+01] [ 2.65267486e-02 -1.05814024e-04 9.99648098e-01 2.25797532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.13, Y:72.08, Z:22.58 [[-7.13784244e-01 7.00108744e-01 1.89683816e-02 2.31126366e+02] [-6.99863112e-01 -7.14036235e-01 1.85440006e-02 7.20837145e+01] [ 2.65269287e-02 -3.88550933e-05 9.99648098e-01 2.25790977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.466875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:231.11, Y:72.06, Z:22.58 [[-7.12594472e-01 7.01319507e-01 1.89754695e-02 2.31106983e+02] [-7.01074495e-01 -7.12847067e-01 1.85367449e-02 7.20616602e+01] [ 2.65267886e-02 -9.40357248e-05 9.99648098e-01 2.25811706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.496875 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:231.10, Y:72.05, Z:22.58 [[-7.13704391e-01 7.00192999e-01 1.88628352e-02 2.31097766e+02] [-6.99944531e-01 -7.13953607e-01 1.86521070e-02 7.20533464e+01] [ 2.65272640e-02 1.09152391e-04 9.99648084e-01 2.25822087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:71.96, Z:22.59 [[-7.15943226e-01 6.97903259e-01 1.88769146e-02 2.31000333e+02] [-6.97654375e-01 -7.16192021e-01 1.86376629e-02 7.19605909e+01] [ 2.65267813e-02 1.73946502e-04 9.99648088e-01 2.25881595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.11, Y:72.07, Z:22.58 [[-7.19214200e-01 6.94531832e-01 1.88803948e-02 2.31112340e+02] [-6.94281876e-01 -7.19461916e-01 1.86340900e-02 7.20722660e+01] [ 2.65256937e-02 2.93586272e-04 9.99648089e-01 2.25845960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.586875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.01, Y:71.97, Z:22.59 [[-7.18300769e-01 6.95472715e-01 1.90186309e-02 2.31008737e+02] [-6.95226834e-01 -7.18552502e-01 1.84919172e-02 7.19705704e+01] [ 2.65265087e-02 6.04957961e-05 9.99648108e-01 2.25874281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.10, Y:72.07, Z:22.59 [[-7.20921093e-01 6.92758984e-01 1.89147861e-02 2.31104777e+02] [-6.92509345e-01 -7.21169117e-01 1.85987345e-02 7.20662422e+01] [ 2.65252000e-02 3.09553859e-04 9.99648097e-01 2.25861462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.10, Y:72.07, Z:22.59 [[-7.22343903e-01 6.91271939e-01 1.90365895e-02 2.31104981e+02] [-6.91025086e-01 -7.22594679e-01 1.84732170e-02 7.20665140e+01] [ 2.65257549e-02 1.89254754e-04 9.99648112e-01 2.25856034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.10, Y:72.06, Z:22.59 [[-7.23231987e-01 6.90342546e-01 1.90436893e-02 2.31102055e+02] [-6.90095564e-01 -7.23482635e-01 1.84658952e-02 7.20640638e+01] [ 2.65255716e-02 2.13160587e-04 9.99648112e-01 2.25855628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.98, Y:71.94, Z:22.59 [[-7.22456372e-01 6.91153981e-01 1.90516593e-02 2.30979674e+02] [-6.90907497e-01 -7.22707510e-01 1.84576687e-02 7.19447205e+01] [ 2.65258684e-02 1.71926144e-04 9.99648112e-01 2.25900698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:72.05, Z:22.59 [[-7.26176440e-01 6.87247381e-01 1.89424158e-02 2.31085694e+02] [-6.86996597e-01 -7.26423302e-01 1.85704579e-02 7.20497835e+01] [ 2.65227107e-02 4.72053814e-04 9.99648100e-01 2.25870222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:72.05, Z:22.59 [[-7.27607040e-01 6.85729035e-01 1.90705638e-02 2.31086843e+02] [-6.85481196e-01 -7.27856836e-01 1.84379134e-02 7.20513892e+01] [ 2.65240528e-02 3.43042718e-04 9.99648117e-01 2.25865762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:72.05, Z:22.59 [[-7.27871505e-01 6.85447808e-01 1.90886181e-02 2.31085200e+02] [-6.85200363e-01 -7.28121690e-01 1.84192029e-02 7.20497125e+01] [ 2.65242392e-02 3.27284878e-04 9.99648117e-01 2.25866501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.08, Y:72.05, Z:22.59 [[-7.28982427e-01 6.84266012e-01 1.90957231e-02 2.31080791e+02] [-6.84018354e-01 -7.29232402e-01 1.84118340e-02 7.20475687e+01] [ 2.65238123e-02 3.60078358e-04 9.99648117e-01 2.25860477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.07, Y:72.04, Z:22.59 [[-7.29729894e-01 6.83468602e-01 1.91037108e-02 2.31074484e+02] [-6.83220888e-01 -7.29979813e-01 1.84035425e-02 7.20428341e+01] [ 2.65235667e-02 3.77560844e-04 9.99648117e-01 2.25864728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.07, Y:72.04, Z:22.59 [[-7.29946119e-01 6.83237166e-01 1.91216847e-02 2.31070937e+02] [-6.82989862e-01 -7.30196443e-01 1.83848482e-02 7.20410555e+01] [ 2.65237977e-02 3.60031852e-04 9.99648117e-01 2.25859111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.07, Y:72.04, Z:22.58 [[-7.29819726e-01 6.83371951e-01 1.91296667e-02 2.31069755e+02] [-6.83124911e-01 -7.30070311e-01 1.83765391e-02 7.20433466e+01] [ 2.65240131e-02 3.43608886e-04 9.99648117e-01 2.25848877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.07, Y:72.04, Z:22.59 [[-7.29998024e-01 6.83181287e-01 1.91367576e-02 2.31066041e+02] [-6.82934375e-01 -7.30248734e-01 1.83691519e-02 7.20418920e+01] [ 2.65240538e-02 3.40294997e-04 9.99648117e-01 2.25859984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.976875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:231.07, Y:72.04, Z:22.59 [[-7.30113366e-01 6.83057821e-01 1.91438409e-02 2.31065872e+02] [-6.82811060e-01 -7.30364225e-01 1.83617669e-02 7.20433331e+01] [ 2.65241250e-02 3.34545138e-04 9.99648118e-01 2.25857823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.06, Y:72.04, Z:22.59 [[-7.29764959e-01 6.83429840e-01 1.91509178e-02 2.31061763e+02] [-6.83183401e-01 -7.30016135e-01 1.83543829e-02 7.20427094e+01] [ 2.65244119e-02 3.10796312e-04 9.99648118e-01 2.25864822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.06, Y:72.04, Z:22.59 [[-7.29451161e-01 6.83764536e-01 1.91588602e-02 2.31060440e+02] [-6.83518430e-01 -7.29702663e-01 1.83460886e-02 7.20428670e+01] [ 2.65246761e-02 2.87141616e-04 9.99648118e-01 2.25868083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.06, Y:72.04, Z:22.59 [[-7.29203811e-01 6.84028121e-01 1.91659181e-02 2.31057719e+02] [-6.83782300e-01 -7.29455590e-01 1.83387124e-02 7.20419527e+01] [ 2.65248810e-02 2.67343423e-04 9.99648118e-01 2.25871896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.05, Y:72.04, Z:22.59 [[-7.28026954e-01 6.85280320e-01 1.91738419e-02 2.31050961e+02] [-6.85035150e-01 -7.28279368e-01 1.83304239e-02 7.20390859e+01] [ 2.65253923e-02 2.10286975e-04 9.99648118e-01 2.25875253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.05, Y:72.04, Z:22.59 [[-7.27527202e-01 6.85810612e-01 1.91826775e-02 2.31050861e+02] [-6.85565870e-01 -7.27780030e-01 1.83211729e-02 7.20405752e+01] [ 2.65256244e-02 1.78162658e-04 9.99648118e-01 2.25877234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.04, Y:72.04, Z:22.59 [[-7.27229742e-01 6.86125831e-01 1.91897258e-02 2.31043384e+02] [-6.85881394e-01 -7.27482865e-01 1.83137875e-02 7.20361143e+01] [ 2.65257594e-02 1.56455097e-04 9.99648118e-01 2.25879745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.04, Y:72.04, Z:22.59 [[-7.27443663e-01 6.85898802e-01 1.91976506e-02 2.31044207e+02] [-6.85654505e-01 -7.27696922e-01 1.83054764e-02 7.20378099e+01] [ 2.65257756e-02 1.53247251e-04 9.99648118e-01 2.25883791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.04, Y:72.04, Z:22.59 [[-7.27517487e-01 6.85820277e-01 1.92055746e-02 2.31040870e+02] [-6.85576171e-01 -7.27770931e-01 1.82971590e-02 7.20350738e+01] [ 2.65258216e-02 1.44618814e-04 9.99648118e-01 2.25888163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.04, Y:72.04, Z:22.59 [[-7.27430733e-01 6.85912097e-01 1.92126137e-02 2.31041888e+02] [-6.85668219e-01 -7.27684395e-01 1.82897648e-02 7.20365728e+01] [ 2.65258901e-02 1.31058405e-04 9.99648118e-01 2.25883179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.04, Y:72.03, Z:22.59 [[-7.27566104e-01 6.85768282e-01 1.92205136e-02 2.31036036e+02] [-6.85524573e-01 -7.27819928e-01 1.82814591e-02 7.20312721e+01] [ 2.65259176e-02 1.24835624e-04 9.99648118e-01 2.25870921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:72.03, Z:22.59 [[-7.27672478e-01 6.85655209e-01 1.92275395e-02 2.31034272e+02] [-6.85411656e-01 -7.27926452e-01 1.82740666e-02 7.20296097e+01] [ 2.65259436e-02 1.18755610e-04 9.99648118e-01 2.25881349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.04, Y:72.03, Z:22.59 [[-7.26682041e-01 6.86704625e-01 1.92345779e-02 2.31036968e+02] [-6.86461635e-01 -7.26936554e-01 1.82666552e-02 7.20325216e+01] [ 2.65261144e-02 7.02505493e-05 9.99648118e-01 2.25866572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:72.03, Z:22.59 [[-7.25959768e-01 6.87467921e-01 1.92424649e-02 2.31033268e+02] [-6.87225419e-01 -7.26214745e-01 1.82583431e-02 7.20294170e+01] [ 2.65261869e-02 3.09114543e-05 9.99648118e-01 2.25866930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:72.03, Z:22.59 [[-7.24851292e-01 6.88636379e-01 1.92494668e-02 2.31031566e+02] [-6.88394484e-01 -7.25106845e-01 1.82509581e-02 7.20283036e+01] [ 2.65261939e-02 -2.19961996e-05 9.99648118e-01 2.25866591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:72.03, Z:22.59 [[-7.22077920e-01 6.91543659e-01 1.92573383e-02 2.31031489e+02] [-6.91303015e-01 -7.22334651e-01 1.82426488e-02 7.20289900e+01] [ 2.65258309e-02 -1.40042165e-04 9.99648118e-01 2.25878710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.456875 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:231.03, Y:72.02, Z:22.59 [[-7.21140126e-01 6.92521315e-01 1.92651919e-02 2.31025264e+02] [-6.92281240e-01 -7.21397390e-01 1.82343512e-02 7.20236629e+01] [ 2.65255360e-02 -1.87408579e-04 9.99648119e-01 2.25877110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.486875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:231.02, Y:72.02, Z:22.59 [[-7.19825771e-01 6.93887148e-01 1.92739427e-02 2.31020320e+02] [-6.93647809e-01 -7.20083720e-01 1.82250968e-02 7.20194056e+01] [ 2.65250128e-02 -2.50433761e-04 9.99648119e-01 2.25891100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:72.03, Z:22.59 [[-7.18028391e-01 6.95746703e-01 1.92809470e-02 2.31026864e+02] [-6.95508231e-01 -7.18287141e-01 1.82176837e-02 7.20267206e+01] [ 2.65241497e-02 -3.29243189e-04 9.99648119e-01 2.25896478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.02, Y:72.02, Z:22.59 [[-7.17316348e-01 6.96480581e-01 1.92887898e-02 2.31024237e+02] [-6.96242597e-01 -7.17575546e-01 1.82093760e-02 7.20234446e+01] [ 2.65236407e-02 -3.67793996e-04 9.99648119e-01 2.25893323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.02, Y:72.02, Z:22.59 [[-7.17127726e-01 6.96674577e-01 1.92965949e-02 2.31024072e+02] [-6.96436886e-01 -7.17387193e-01 1.82011011e-02 7.20227814e+01] [ 2.65233745e-02 -3.86346210e-04 9.99648119e-01 2.25883024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.02, Y:72.02, Z:22.59 [[-7.16684590e-01 6.97130217e-01 1.93043934e-02 2.31020178e+02] [-6.96892913e-01 -7.16944412e-01 1.81928262e-02 7.20185931e+01] [ 2.65229458e-02 -4.14576812e-04 9.99648119e-01 2.25866400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.02, Y:72.02, Z:22.59 [[-7.16911394e-01 6.96896759e-01 1.93121884e-02 2.31018725e+02] [-6.96659594e-01 -7.17171341e-01 1.81845478e-02 7.20173866e+01] [ 2.65229005e-02 -4.17311788e-04 9.99648119e-01 2.25869133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.666875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:231.02, Y:72.02, Z:22.59 [[-7.17611843e-01 6.96175227e-01 1.93208708e-02 2.31016039e+02] [-6.95938049e-01 -7.17871779e-01 1.81753181e-02 7.20154724e+01] [ 2.65231141e-02 -4.03305596e-04 9.99648119e-01 2.25892138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.01, Y:72.01, Z:22.59 [[-7.18328602e-01 6.95435419e-01 1.93286527e-02 2.31014214e+02] [-6.95198195e-01 -7.18588497e-01 1.81670387e-02 7.20139329e+01] [ 2.65233497e-02 -3.87341017e-04 9.99648119e-01 2.25897751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.726875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:231.01, Y:72.01, Z:22.59 [[-7.19235892e-01 6.94496821e-01 1.93364311e-02 2.31005760e+02] [-6.94259481e-01 -7.19495679e-01 1.81587558e-02 7.20063326e+01] [ 2.65236768e-02 -3.64071670e-04 9.99648119e-01 2.25906353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.01, Y:72.01, Z:22.59 [[-7.21437193e-01 6.92209609e-01 1.93451138e-02 2.31007926e+02] [-6.91971693e-01 -7.21696454e-01 1.81495012e-02 7.20090110e+01] [ 2.65245591e-02 -2.92545944e-04 9.99648119e-01 2.25885481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:72.00, Z:22.59 [[-7.23002299e-01 6.90574501e-01 1.93529043e-02 2.31003086e+02] [-6.90336221e-01 -7.23261225e-01 1.81411903e-02 7.20042984e+01] [ 2.65250487e-02 -2.43888558e-04 9.99648119e-01 2.25881333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:72.00, Z:22.59 [[-7.26578936e-01 6.86810148e-01 1.93615688e-02 2.30999395e+02] [-6.86570773e-01 -7.26836850e-01 1.81319382e-02 7.19997304e+01] [ 2.65259009e-02 -1.18802923e-04 9.99648119e-01 2.25897111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.846875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:230.99, Y:71.99, Z:22.59 [[-7.28652923e-01 6.84609217e-01 1.93685014e-02 2.30993594e+02] [-6.84369259e-01 -7.28910295e-01 1.81245298e-02 7.19938347e+01] [ 2.65261202e-02 -4.87153993e-05 9.99648119e-01 2.25890551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.99, Y:71.99, Z:22.59 [[-7.30313594e-01 6.82837128e-01 1.93781034e-02 2.30989313e+02] [-6.82596819e-01 -7.30570638e-01 1.81142578e-02 7.19891118e+01] [ 2.65261612e-02 1.65699346e-06 9.99648119e-01 2.25892490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.99, Y:71.99, Z:22.59 [[-7.32497302e-01 6.80493881e-01 1.93850651e-02 2.30989243e+02] [-6.80252946e-01 -7.32753760e-01 1.81068047e-02 7.19893090e+01] [ 2.65260491e-02 7.64380025e-05 9.99648120e-01 2.25885547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.99, Y:71.99, Z:22.59 [[-7.33340904e-01 6.79584482e-01 1.93920285e-02 2.30989248e+02] [-6.79343427e-01 -7.33597248e-01 1.80993440e-02 7.19898673e+01] [ 2.65259720e-02 9.91421821e-05 9.99648120e-01 2.25882633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.98, Y:71.98, Z:22.59 [[-7.33630394e-01 6.79271736e-01 1.93998346e-02 2.30976169e+02] [-6.79030793e-01 -7.33886843e-01 1.80909731e-02 7.19788874e+01] [ 2.65259701e-02 9.90027119e-05 9.99648120e-01 2.25898446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.98, Y:71.99, Z:22.59 [[-7.33649760e-01 6.79250620e-01 1.94068047e-02 2.30983190e+02] [-6.79009868e-01 -7.33906388e-01 1.80834930e-02 7.19855589e+01] [ 2.65260018e-02 8.95383863e-05 9.99648120e-01 2.25904019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.026875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:230.98, Y:71.98, Z:22.59 [[-7.33544943e-01 6.79363540e-01 1.94164342e-02 2.30980640e+02] [-6.79123101e-01 -7.33801864e-01 1.80731477e-02 7.19833221e+01] [ 2.65260532e-02 7.13170635e-05 9.99648120e-01 2.25905054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.056875 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:230.98, Y:71.98, Z:22.59 [[-7.33150734e-01 6.79788718e-01 1.94242203e-02 2.30976995e+02] [-6.79548649e-01 -7.33408002e-01 1.80647757e-02 7.19792672e+01] [ 2.65261093e-02 4.45008538e-05 9.99648120e-01 2.25902007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.086875 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:230.98, Y:71.98, Z:22.59 [[-7.32353717e-01 6.80647091e-01 1.94311526e-02 2.30977368e+02] [-6.80407522e-01 -7.32611450e-01 1.80573160e-02 7.19781556e+01] [ 2.65261445e-02 3.24016075e-06 9.99648120e-01 2.25899314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.116875 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:230.97, Y:71.97, Z:22.59 [[-7.32420253e-01 6.80575296e-01 1.94380865e-02 2.30973498e+02] [-6.80335900e-01 -7.32678147e-01 1.80498488e-02 7.19740609e+01] [ 2.65261424e-02 -4.35327819e-06 9.99648120e-01 2.25906720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.146875 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:230.97, Y:71.97, Z:22.59 [[-7.31953068e-01 6.81077425e-01 1.94485641e-02 2.30972355e+02] [-6.80838506e-01 -7.32211403e-01 1.80385522e-02 7.19719957e+01] [ 2.65261111e-02 -3.79577199e-05 9.99648120e-01 2.25923687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.176875 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:230.75, Y:71.76, Z:22.60 [[-7.29851582e-01 6.83328680e-01 1.94572269e-02 2.30750066e+02] [-6.83090807e-01 -7.30110880e-01 1.80292032e-02 7.17634479e+01] [ 2.65258047e-02 -1.32410371e-04 9.99648120e-01 2.25951466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.206875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:230.97, Y:71.97, Z:22.59 [[-7.32131223e-01 6.80885979e-01 1.94462571e-02 2.30967147e+02] [-6.80646926e-01 -7.32389434e-01 1.80410456e-02 7.19653264e+01] [ 2.65261282e-02 -2.76223875e-05 9.99648120e-01 2.25940943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.236875 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:230.91, Y:71.91, Z:22.59 [[-7.27825415e-01 6.85485682e-01 1.94819237e-02 2.30910490e+02] [-6.85249293e-01 -7.28086065e-01 1.80024479e-02 7.19068041e+01] [ 2.65249374e-02 -2.47335287e-04 9.99648121e-01 2.25876684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.266875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:230.96, Y:71.96, Z:22.59 [[-7.33460533e-01 6.79455658e-01 1.93818218e-02 2.30963975e+02] [-6.79214255e-01 -7.33716563e-01 1.81107952e-02 7.19589227e+01] [ 2.65262459e-02 1.19143832e-04 9.99648110e-01 2.25928991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.296875 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:230.96, Y:71.96, Z:22.59 [[-7.34223678e-01 6.78627594e-01 1.94981979e-02 2.30962557e+02] [-6.78389243e-01 -7.34482531e-01 1.79846254e-02 7.19568491e+01] [ 2.65259489e-02 -2.26299173e-05 9.99648125e-01 2.25916587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.32687500000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:230.95, Y:71.95, Z:22.59 [[-7.35263027e-01 6.77501168e-01 1.95050788e-02 2.30954989e+02] [-6.77262619e-01 -7.35521697e-01 1.79771598e-02 7.19486915e+01] [ 2.65259554e-02 7.88022126e-06 9.99648125e-01 2.25917154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.356875 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:230.96, Y:71.95, Z:22.59 [[-7.36468277e-01 6.76190624e-01 1.95119796e-02 2.30955456e+02] [-6.75951813e-01 -7.36726705e-01 1.79696666e-02 7.19477843e+01] [ 2.65259166e-02 4.49314277e-05 9.99648125e-01 2.25924853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.38687500000003 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:230.96, Y:71.95, Z:22.59 [[-7.37745744e-01 6.74796436e-01 1.95188926e-02 2.30955281e+02] [-6.74557335e-01 -7.38003905e-01 1.79621546e-02 7.19464774e+01] [ 2.65258168e-02 8.48909242e-05 9.99648125e-01 2.25916969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.416875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:230.88, Y:71.87, Z:22.59 [[-7.35303402e-01 6.77456727e-01 1.95266481e-02 2.30881417e+02] [-6.77218784e-01 -7.35562630e-01 1.79537196e-02 7.18716176e+01] [ 2.65259407e-02 -2.23817406e-05 9.99648125e-01 2.25863922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.44687500000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:230.95, Y:71.94, Z:22.59 [[-7.41315446e-01 6.70875512e-01 1.94282514e-02 2.30951266e+02] [-6.70632456e-01 -7.41569902e-01 1.80607538e-02 7.19396066e+01] [ 2.65239240e-02 3.59499831e-04 9.99648114e-01 2.25916070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.476875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:230.95, Y:71.93, Z:22.59 [[-7.42893199e-01 6.69124622e-01 1.95431737e-02 2.30947672e+02] [-6.68884250e-01 -7.43150171e-01 1.79355311e-02 7.19346964e+01] [ 2.65246184e-02 2.52063005e-04 9.99648129e-01 2.25915288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.50687500000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:230.93, Y:71.92, Z:22.59 [[-7.43304401e-01 6.68667525e-01 1.95527030e-02 2.30934615e+02] [-6.68427268e-01 -7.43561482e-01 1.79251366e-02 7.19216343e+01] [ 2.65245935e-02 2.54273071e-04 9.99648129e-01 2.25920493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.94, Y:71.93, Z:22.59 [[-7.43148221e-01 6.68840870e-01 1.95604937e-02 2.30941248e+02] [-6.68600897e-01 -7.43405566e-01 1.79166311e-02 7.19262322e+01] [ 2.65247550e-02 2.36548912e-04 9.99648129e-01 2.25933970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.39, Y:71.13, Z:23.31 [[-6.80984914e-01 -7.32035971e-01 -1.95674103e-02 2.31393350e+02] [-7.31819951e-01 6.81262670e-01 -1.79090741e-02 7.11338052e+01] [ 2.64406326e-02 2.12401198e-03 -9.99648129e-01 2.33057304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:71.27, Z:23.30 [[-6.25201335e-01 -7.80218179e-01 -1.95674103e-02 2.31471750e+02] [-7.80023209e-01 6.25494251e-01 -1.79090741e-02 7.12651820e+01] [ 2.62122878e-02 4.06625716e-03 -9.99648129e-01 2.32962243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:71.82, Z:22.60 [[-6.35492634e-01 7.71929376e-01 1.65575188e-02 2.30744827e+02] [-7.71660912e-01 -6.35708277e-01 2.03573986e-02 7.18249879e+01] [ 2.62402257e-02 1.60186785e-04 9.99655653e-01 2.25993426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:71.82, Z:22.60 [[-6.35225132e-01 7.72149243e-01 1.65704042e-02 2.30742733e+02] [-7.71881127e-01 -6.35441208e-01 2.03469048e-02 7.18223778e+01] [ 2.62403648e-02 1.34483004e-04 9.99655653e-01 2.25996320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:71.82, Z:22.60 [[-6.35559113e-01 7.71874177e-01 1.65792064e-02 2.30740785e+02] [-7.71606155e-01 -6.35775304e-01 2.03397299e-02 7.18198935e+01] [ 2.62403623e-02 1.34482991e-04 9.99655653e-01 2.25997201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.62, Y:71.66, Z:22.60 [[-6.29845905e-01 7.76542963e-01 1.65880056e-02 2.30616433e+02] [-7.76276733e-01 -6.30064300e-01 2.03325513e-02 7.16608185e+01] [ 2.62406098e-02 -7.05085666e-05 9.99655653e-01 2.25994588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:71.81, Z:22.60 [[-6.35526190e-01 7.71903900e-01 1.64569652e-02 2.30737038e+02] [-7.71633296e-01 -6.35739164e-01 2.04394822e-02 7.18137463e+01] [ 2.62396534e-02 2.91083946e-04 9.99655639e-01 2.25964347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:71.81, Z:22.59 [[-6.35972235e-01 7.71533109e-01 1.66125875e-02 2.30735802e+02] [-7.71265689e-01 -6.36189163e-01 2.03122053e-02 7.18117011e+01] [ 2.62402871e-02 1.05279881e-04 9.99655659e-01 2.25949524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.73, Y:71.80, Z:22.59 [[-6.37537935e-01 7.70239646e-01 1.66213551e-02 2.30729861e+02] [-7.69971974e-01 -6.37754550e-01 2.03050283e-02 7.18041361e+01] [ 2.62400827e-02 1.47248184e-04 9.99655659e-01 2.25943149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.73, Y:71.80, Z:22.59 [[-6.38687105e-01 7.69286804e-01 1.66311403e-02 2.30730541e+02] [-7.69019017e-01 -6.38903579e-01 2.02970104e-02 7.18046181e+01] [ 2.62399173e-02 1.73775696e-04 9.99655659e-01 2.25934472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.73, Y:71.80, Z:22.59 [[-6.33942026e-01 7.73201539e-01 1.66399241e-02 2.30733726e+02] [-7.72935278e-01 -6.34160374e-01 2.02898068e-02 7.18006377e+01] [ 2.62404903e-02 9.76872851e-07 9.99655659e-01 2.25870081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:71.55, Z:22.60 [[-6.39254058e-01 7.68818312e-01 1.65122283e-02 2.30529458e+02] [-7.68547832e-01 -6.39467187e-01 2.03947845e-02 7.15537230e+01] [ 2.62389120e-02 3.47011494e-04 9.99655640e-01 2.25970192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.926875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.72, Y:71.79, Z:22.59 [[-6.45288148e-01 7.63758892e-01 1.66000453e-02 2.30722755e+02] [-7.63488594e-01 -6.45501481e-01 2.03225398e-02 7.17911058e+01] [ 2.62368743e-02 4.39948835e-04 9.99655657e-01 2.25939578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.72, Y:71.79, Z:22.59 [[-6.46204871e-01 7.62981157e-01 1.67038638e-02 2.30720946e+02] [-7.62712809e-01 -6.46420638e-01 2.02368464e-02 7.17888267e+01] [ 2.62380548e-02 3.36897848e-04 9.99655666e-01 2.25942993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.71, Y:71.78, Z:22.60 [[-6.47554891e-01 7.61835515e-01 1.67126184e-02 2.30714384e+02] [-7.61566972e-01 -6.47770415e-01 2.02296138e-02 7.17806017e+01] [ 2.62375780e-02 3.72007222e-04 9.99655666e-01 2.25967189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.71, Y:71.78, Z:22.60 [[-6.47962402e-01 7.61488753e-01 1.67213954e-02 2.30712304e+02] [-7.61220282e-01 -6.48178015e-01 2.02223563e-02 7.17775792e+01] [ 2.62375378e-02 3.74661250e-04 9.99655666e-01 2.25976622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:71.64, Z:22.60 [[-6.41850997e-01 7.66646854e-01 1.67301921e-02 2.30602653e+02] [-7.66380305e-01 -6.42068983e-01 2.02150761e-02 7.16367165e+01] [ 2.62397619e-02 1.53376963e-04 9.99655666e-01 2.25967078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.07687500000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:230.71, Y:71.77, Z:22.60 [[-6.48918692e-01 7.60677636e-01 1.65549202e-02 2.30711236e+02] [-7.60405365e-01 -6.49129528e-01 2.03601551e-02 7.17727904e+01] [ 2.62338022e-02 6.23635030e-04 9.99655640e-01 2.25996736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.58, Y:71.61, Z:22.60 [[-6.44502162e-01 7.64418868e-01 1.67558228e-02 2.30580830e+02] [-7.64152128e-01 -6.44719901e-01 2.01934543e-02 7.16086921e+01] [ 2.62390699e-02 2.10727280e-04 9.99655674e-01 2.25998090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.13687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.71, Y:71.76, Z:22.60 [[-6.49795633e-01 7.59926700e-01 1.66446966e-02 2.30706851e+02] [-7.59656087e-01 -6.50008555e-01 2.02856645e-02 7.17648132e+01] [ 2.62348133e-02 5.37291129e-04 9.99655664e-01 2.25995533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:71.76, Z:22.60 [[-6.49645352e-01 7.60052226e-01 1.67788692e-02 2.30700872e+02] [-7.59784523e-01 -6.49861898e-01 2.01740731e-02 7.17566254e+01] [ 2.62372969e-02 3.57667709e-04 9.99655679e-01 2.25994165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:71.75, Z:22.60 [[-6.49603021e-01 7.60087994e-01 1.67975331e-02 2.30696291e+02] [-7.59820704e-01 -6.49820076e-01 2.01585210e-02 7.17501304e+01] [ 2.62376240e-02 3.31922715e-04 9.99655679e-01 2.25988432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:71.75, Z:22.60 [[-6.49423436e-01 7.60241244e-01 1.68063084e-02 2.30700891e+02] [-7.59974195e-01 -6.49640787e-01 2.01512023e-02 7.17536343e+01] [ 2.62378385e-02 3.14302363e-04 9.99655679e-01 2.25966491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:71.75, Z:22.60 [[-6.49479282e-01 7.60193297e-01 1.68170716e-02 2.30698808e+02] [-7.59926464e-01 -6.49696899e-01 2.01422160e-02 7.17505308e+01] [ 2.62379768e-02 3.02214221e-04 9.99655679e-01 2.25956135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:71.74, Z:22.59 [[-6.49436185e-01 7.60229922e-01 1.68257883e-02 2.30695242e+02] [-7.59963291e-01 -6.49654047e-01 2.01349318e-02 7.17449814e+01] [ 2.62381191e-02 2.89371832e-04 9.99655679e-01 2.25947803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:71.74, Z:22.59 [[-6.49399438e-01 7.60261119e-01 1.68345148e-02 2.30692726e+02] [-7.59994687e-01 -6.49617544e-01 2.01276331e-02 7.17407566e+01] [ 2.62382530e-02 2.76731821e-04 9.99655679e-01 2.25946460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.346875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.70, Y:71.74, Z:22.59 [[-6.49692155e-01 7.60010795e-01 1.68432541e-02 2.30695168e+02] [-7.59744469e-01 -6.49910390e-01 2.01203171e-02 7.17432581e+01] [ 2.62382641e-02 2.75443013e-04 9.99655680e-01 2.25943017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:71.74, Z:22.59 [[-6.49869786e-01 7.59858718e-01 1.68519743e-02 2.30691409e+02] [-7.59592530e-01 -6.50088190e-01 2.01130109e-02 7.17379590e+01] [ 2.62383161e-02 2.70204290e-04 9.99655680e-01 2.25941506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:71.74, Z:22.60 [[-6.50364257e-01 7.59435350e-01 1.68606815e-02 2.30690303e+02] [-7.59169209e-01 -6.50582718e-01 2.01057090e-02 7.17354089e+01] [ 2.62382541e-02 2.75924245e-04 9.99655680e-01 2.25951222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:71.73, Z:22.59 [[-6.50697550e-01 7.59149605e-01 1.68693953e-02 2.30688904e+02] [-7.58883557e-01 -6.50916125e-01 2.00983951e-02 7.17333485e+01] [ 2.62382501e-02 2.76069772e-04 9.99655680e-01 2.25946734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:71.73, Z:22.60 [[-6.50578866e-01 7.59251124e-01 1.68781024e-02 2.30688328e+02] [-7.58985300e-01 -6.50797713e-01 2.00910804e-02 7.17324708e+01] [ 2.62384059e-02 2.60600685e-04 9.99655680e-01 2.25950470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.496875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:230.70, Y:71.73, Z:22.59 [[-6.41035175e-01 7.67325707e-01 1.68867970e-02 2.30697150e+02] [-7.67062832e-01 -6.41257557e-01 2.00837699e-02 7.17325761e+01] [ 2.62395791e-02 -7.88314221e-05 9.99655680e-01 2.25878868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:71.73, Z:22.60 [[-6.50082104e-01 7.59682862e-01 1.65893568e-02 2.30683766e+02] [-7.59410937e-01 -6.50293445e-01 2.03338465e-02 7.17261291e+01] [ 2.62352247e-02 6.20530776e-04 9.99655605e-01 2.25951859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.556875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.68, Y:71.73, Z:22.60 [[-6.48716555e-01 7.60842328e-01 1.69051591e-02 2.30681952e+02] [-7.60577646e-01 -6.48936767e-01 2.00678171e-02 7.17258409e+01] [ 2.62388239e-02 1.60639015e-04 9.99655690e-01 2.25956435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:71.72, Z:22.60 [[-6.47812182e-01 7.61612258e-01 1.69158269e-02 2.30678949e+02] [-7.61348073e-01 -6.48032989e-01 2.00588209e-02 7.17233352e+01] [ 2.62390577e-02 1.15516321e-04 9.99655690e-01 2.25951135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:71.72, Z:22.59 [[-6.47110592e-01 7.62208267e-01 1.69244916e-02 2.30677910e+02] [-7.61944477e-01 -6.47331871e-01 2.00515074e-02 7.17228213e+01] [ 2.62391875e-02 8.00199597e-05 9.99655690e-01 2.25947678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.67, Y:71.72, Z:22.60 [[-6.46693304e-01 7.62562133e-01 1.69341330e-02 2.30672708e+02] [-7.62298677e-01 -6.46914980e-01 2.00433616e-02 7.17177502e+01] [ 2.62392529e-02 5.30405172e-05 9.99655690e-01 2.25955408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.67, Y:71.72, Z:22.59 [[-6.46709028e-01 7.62548561e-01 1.69447681e-02 2.30668622e+02] [-7.62285336e-01 -6.46930979e-01 2.00343666e-02 7.17155464e+01] [ 2.62392728e-02 3.96574824e-05 9.99655690e-01 2.25943366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.67, Y:71.71, Z:22.59 [[-6.47451559e-01 7.61917970e-01 1.69554055e-02 2.30666343e+02] [-7.61654765e-01 -6.47673532e-01 2.00253600e-02 7.17139098e+01] [ 2.62392490e-02 5.12851660e-05 9.99655690e-01 2.25948528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:71.71, Z:22.59 [[-6.49407150e-01 7.60251631e-01 1.69650343e-02 2.30662397e+02] [-7.59988069e-01 -6.49628699e-01 2.00171993e-02 7.17100298e+01] [ 2.62390816e-02 1.06088638e-04 9.99655690e-01 2.25938902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:71.71, Z:22.59 [[-6.50776725e-01 7.59079409e-01 1.69736745e-02 2.30661901e+02] [-7.58815639e-01 -6.50998027e-01 2.00098701e-02 7.17096202e+01] [ 2.62389090e-02 1.42068058e-04 9.99655690e-01 2.25936075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:71.70, Z:22.59 [[-6.52351944e-01 7.57725902e-01 1.69823116e-02 2.30656481e+02] [-7.57461864e-01 -6.52572926e-01 2.00025372e-02 7.17035830e+01] [ 2.62386373e-02 1.85240685e-04 9.99655691e-01 2.25937624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:71.70, Z:22.59 [[-6.55080702e-01 7.55367823e-01 1.69919398e-02 2.30652409e+02] [-7.55103201e-01 -6.55300985e-01 1.99943547e-02 7.16991015e+01] [ 2.62379271e-02 2.67247773e-04 9.99655691e-01 2.25943500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:71.70, Z:22.59 [[-6.56332184e-01 7.54280459e-01 1.70015856e-02 2.30651576e+02] [-7.54015685e-01 -6.56552283e-01 1.99861494e-02 7.16976628e+01] [ 2.62375918e-02 2.98090899e-04 9.99655691e-01 2.25943020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:71.69, Z:22.59 [[-6.58018563e-01 7.52809553e-01 1.70102378e-02 2.30646274e+02] [-7.52544477e-01 -6.58238299e-01 1.99787828e-02 7.16923380e+01] [ 2.62370085e-02 3.45449391e-04 9.99655691e-01 2.25947316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.64, Y:71.69, Z:22.60 [[-6.58670476e-01 7.52239032e-01 1.70188966e-02 2.30644926e+02] [-7.51973957e-01 -6.58890212e-01 1.99714041e-02 7.16914666e+01] [ 2.62368541e-02 3.56807270e-04 9.99655691e-01 2.25953037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.94687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.64, Y:71.69, Z:22.59 [[-6.59375271e-01 7.51621102e-01 1.70285490e-02 2.30643672e+02] [-7.51356033e-01 -6.59595014e-01 1.99631706e-02 7.16901927e+01] [ 2.62366863e-02 3.68718004e-04 9.99655691e-01 2.25946175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.64, Y:71.68, Z:22.59 [[-6.59191201e-01 7.51782345e-01 1.70371944e-02 2.30640324e+02] [-7.51517521e-01 -6.59411239e-01 1.99557896e-02 7.16848950e+01] [ 2.62369278e-02 3.50930826e-04 9.99655691e-01 2.25933996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.64, Y:71.68, Z:22.59 [[-6.58623893e-01 7.52279186e-01 1.70468288e-02 2.30638786e+02] [-7.52014740e-01 -6.58844386e-01 1.99475562e-02 7.16830640e+01] [ 2.62373388e-02 3.18470594e-04 9.99655691e-01 2.25930639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.64, Y:71.68, Z:22.59 [[-6.56914995e-01 7.53771716e-01 1.70554740e-02 2.30637223e+02] [-7.53507963e-01 -6.57136317e-01 1.99401617e-02 7.16819038e+01] [ 2.62381013e-02 2.47555759e-04 9.99655691e-01 2.25938828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.64, Y:71.68, Z:22.59 [[-6.55923838e-01 7.54634150e-01 1.70650972e-02 2.30635252e+02] [-7.54370903e-01 -6.56145761e-01 1.99319226e-02 7.16793548e+01] [ 2.62385007e-02 2.00410395e-04 9.99655691e-01 2.25930811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:71.68, Z:22.59 [[-6.53003696e-01 7.57162242e-01 1.70737229e-02 2.30632750e+02] [-7.56900048e-01 -6.53226860e-01 1.99245311e-02 7.16758368e+01] [ 2.62391171e-02 8.76908163e-05 9.99655691e-01 2.25942502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:71.68, Z:22.59 [[-6.51507762e-01 7.58449623e-01 1.70823484e-02 2.30634362e+02] [-7.58188063e-01 -6.51731670e-01 1.99171332e-02 7.16782760e+01] [ 2.62392497e-02 2.45342393e-05 9.99655691e-01 2.25944555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:71.67, Z:22.60 [[-6.50265477e-01 7.59514763e-01 1.70919356e-02 2.30630494e+02] [-7.59253786e-01 -6.50490064e-01 1.99089026e-02 7.16745012e+01] [ 2.62392397e-02 -3.10447460e-05 9.99655691e-01 2.25957397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:71.68, Z:22.59 [[-6.48831553e-01 7.60739895e-01 1.71005197e-02 2.30632298e+02] [-7.60479537e-01 -6.49056857e-01 1.99015266e-02 7.16763088e+01] [ 2.62390949e-02 -9.18568939e-05 9.99655691e-01 2.25948455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.216875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:230.51, Y:71.53, Z:22.59 [[-6.40291846e-01 7.67941164e-01 1.71090912e-02 2.30512696e+02] [-7.67683536e-01 -6.40520266e-01 1.98941551e-02 7.15291415e+01] [ 2.62362603e-02 -3.96302293e-04 9.99655692e-01 2.25925947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.246875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:230.63, Y:71.67, Z:22.59 [[-6.46158304e-01 7.63015375e-01 1.69406181e-02 2.30628534e+02] [-7.62752187e-01 -6.46380335e-01 2.00390573e-02 7.16707271e+01] [ 2.62401912e-02 2.69098119e-05 9.99655667e-01 2.25945776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:71.67, Z:22.60 [[-6.45865558e-01 7.63258902e-01 1.71327095e-02 2.30626918e+02] [-7.63000166e-01 -6.46092712e-01 1.98734583e-02 7.16683678e+01] [ 2.62379128e-02 -2.36677968e-04 9.99655699e-01 2.25952532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:71.66, Z:22.59 [[-6.46261937e-01 7.62923120e-01 1.71412316e-02 2.30625937e+02] [-7.62664461e-01 -6.46489179e-01 1.98661051e-02 7.16639835e+01] [ 2.62379317e-02 -2.34300587e-04 9.99655699e-01 2.25944761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.62, Y:71.66, Z:22.59 [[-6.47358775e-01 7.61992434e-01 1.71507244e-02 2.30623014e+02] [-7.61733665e-01 -6.47585892e-01 1.98579065e-02 7.16589850e+01] [ 2.62381417e-02 -2.09094127e-04 9.99655699e-01 2.25940540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.62, Y:71.66, Z:22.59 [[-6.49582315e-01 7.60097543e-01 1.71621847e-02 2.30621673e+02] [-7.59838374e-01 -6.49808974e-01 1.98479970e-02 7.16551537e+01] [ 2.62385554e-02 -1.47578687e-04 9.99655699e-01 2.25949703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.62, Y:71.65, Z:22.59 [[-6.50886314e-01 7.58981010e-01 1.71706989e-02 2.30618663e+02] [-7.58721645e-01 -6.51112751e-01 1.98406285e-02 7.16496921e+01] [ 2.62387213e-02 -1.13787351e-04 9.99655699e-01 2.25948260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.62, Y:71.65, Z:22.59 [[-6.52222005e-01 7.57833291e-01 1.71801902e-02 2.30617489e+02] [-7.57573745e-01 -6.52448232e-01 1.98324065e-02 7.16461475e+01] [ 2.62388427e-02 -8.01290877e-05 9.99655699e-01 2.25945674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.62, Y:71.64, Z:22.59 [[-6.54580476e-01 7.55796897e-01 1.71887132e-02 2.30616873e+02] [-7.55536841e-01 -6.54806117e-01 1.98250169e-02 7.16420975e+01] [ 2.62389608e-02 -9.63709940e-06 9.99655699e-01 2.25943479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.61, Y:71.64, Z:22.59 [[-6.56065082e-01 7.54508359e-01 1.71972331e-02 2.30613610e+02] [-7.54248053e-01 -6.56290436e-01 1.98176236e-02 7.16369567e+01] [ 2.62389422e-02 3.06712851e-05 9.99655699e-01 2.25944867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.50, Y:71.50, Z:22.59 [[-6.52554944e-01 7.57546043e-01 1.72057622e-02 2.30496974e+02] [-7.57286982e-01 -6.52781727e-01 1.98102158e-02 7.14950274e+01] [ 2.62387577e-02 -1.02445515e-04 9.99655699e-01 2.25930771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.61, Y:71.62, Z:22.60 [[-6.60878440e-01 7.50298498e-01 1.70836494e-02 2.30607212e+02] [-7.50034198e-01 -6.61099117e-01 1.99163092e-02 7.16237348e+01] [ 2.62371624e-02 3.48938072e-04 9.99655686e-01 2.25959877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.57687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.61, Y:71.62, Z:22.60 [[-6.62523625e-01 7.48842875e-01 1.72277303e-02 2.30605289e+02] [-7.48581338e-01 -6.62747540e-01 1.97908891e-02 7.16198027e+01] [ 2.62379022e-02 2.15574174e-04 9.99655704e-01 2.25952529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.606875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.60, Y:71.62, Z:22.60 [[-6.62847753e-01 7.48555788e-01 1.72362949e-02 2.30603255e+02] [-7.48294347e-01 -6.63071781e-01 1.97834272e-02 7.16173776e+01] [ 2.62378997e-02 2.15578243e-04 9.99655704e-01 2.25953410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:71.61, Z:22.60 [[-6.65154294e-01 7.46506785e-01 1.72448593e-02 2.30600012e+02] [-7.46244848e-01 -6.65377741e-01 1.97759589e-02 7.16099553e+01] [ 2.62372331e-02 2.85176611e-04 9.99655704e-01 2.25953613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:71.61, Z:22.60 [[-6.66076265e-01 7.45684089e-01 1.72524932e-02 2.30601944e+02] [-7.45422049e-01 -6.66299591e-01 1.97692969e-02 7.16105074e+01] [ 2.62369793e-02 3.07470627e-04 9.99655704e-01 2.25950980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.69687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.60, Y:71.61, Z:22.60 [[-6.66816941e-01 7.45021626e-01 1.72610703e-02 2.30599179e+02] [-7.44759557e-01 -6.67040233e-01 1.97618052e-02 7.16067022e+01] [ 2.62368006e-02 3.22159364e-04 9.99655704e-01 2.25952674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:71.61, Z:22.60 [[-6.67259648e-01 7.44624975e-01 1.72686936e-02 2.30599443e+02] [-7.44362946e-01 -6.67482988e-01 1.97551413e-02 7.16051874e+01] [ 2.62367309e-02 3.27632992e-04 9.99655704e-01 2.25961319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:71.60, Z:22.60 [[-6.67415173e-01 7.44485403e-01 1.72763169e-02 2.30599376e+02] [-7.44223500e-01 -6.67638660e-01 1.97484724e-02 7.16033745e+01] [ 2.62367865e-02 3.22989044e-04 9.99655704e-01 2.25953921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:71.60, Z:22.59 [[-6.67577862e-01 7.44339348e-01 1.72839287e-02 2.30597695e+02] [-7.44077568e-01 -6.67801493e-01 1.97418082e-02 7.16000276e+01] [ 2.62368381e-02 3.18610473e-04 9.99655704e-01 2.25946075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81687500000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:230.60, Y:71.60, Z:22.59 [[-6.66976265e-01 7.44878267e-01 1.72924813e-02 2.30598188e+02] [-7.44616862e-01 -6.67200334e-01 1.97343139e-02 7.15979704e+01] [ 2.62372108e-02 2.86045861e-04 9.99655704e-01 2.25944041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.846875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.59, Y:71.59, Z:22.59 [[-6.62040144e-01 7.49268659e-01 1.73010244e-02 2.30593700e+02] [-7.49008936e-01 -6.62266160e-01 1.97268214e-02 7.15855370e+01] [ 2.62385720e-02 1.01325764e-04 9.99655704e-01 2.25893000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.59, Z:22.60 [[-6.65716073e-01 7.46007506e-01 1.71729970e-02 2.30589742e+02] [-7.45743763e-01 -6.65937415e-01 1.98393612e-02 7.15854263e+01] [ 2.62364536e-02 4.00726243e-04 9.99655685e-01 2.25956899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.59, Z:22.60 [[-6.64495237e-01 7.47091449e-01 1.73334057e-02 2.30591663e+02] [-7.46831731e-01 -6.64721254e-01 1.96982106e-02 7.15866378e+01] [ 2.62382479e-02 1.44229793e-04 9.99655708e-01 2.25958390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.59, Z:22.60 [[-6.63138447e-01 7.48295858e-01 1.73409791e-02 2.30591764e+02] [-7.48036725e-01 -6.63365135e-01 1.96915413e-02 7.15858829e+01] [ 2.62384997e-02 8.65289191e-05 9.99655708e-01 2.25957826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.966875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.59, Y:71.58, Z:22.60 [[-6.59707907e-01 7.51321839e-01 1.73485335e-02 2.30591879e+02] [-7.51063921e-01 -6.59935976e-01 1.96848834e-02 7.15840564e+01] [ 2.62386042e-02 -4.35843575e-05 9.99655708e-01 2.25963875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.58, Z:22.60 [[-6.58164520e-01 7.52674010e-01 1.73579741e-02 2.30589474e+02] [-7.52416780e-01 -6.58393364e-01 1.96765553e-02 7.15802405e+01] [ 2.62384067e-02 -1.10020369e-04 9.99655708e-01 2.25959704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.026875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.59, Y:71.58, Z:22.60 [[-6.54486822e-01 7.55873957e-01 1.73655090e-02 2.30588106e+02] [-7.55618022e-01 -6.54717114e-01 1.96699032e-02 7.15770189e+01] [ 2.62374635e-02 -2.47999127e-04 9.99655708e-01 2.25961474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.58, Z:22.60 [[-6.52775543e-01 7.57352143e-01 1.73730489e-02 2.30592300e+02] [-7.57096906e-01 -6.53006609e-01 1.96632415e-02 7.15809167e+01] [ 2.62367138e-02 -3.17398423e-04 9.99655708e-01 2.25966713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.58, Z:22.60 [[-6.51365022e-01 7.58565417e-01 1.73814961e-02 2.30591748e+02] [-7.58310810e-01 -6.51596782e-01 1.96557716e-02 7.15797411e+01] [ 2.62359155e-02 -3.77494281e-04 9.99655708e-01 2.25979733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.58, Z:22.60 [[-6.50182334e-01 7.59579197e-01 1.73889820e-02 2.30589155e+02] [-7.59325129e-01 -6.50414683e-01 1.96491468e-02 7.15755035e+01] [ 2.62351323e-02 -4.28362867e-04 9.99655708e-01 2.25981541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.58, Z:22.60 [[-6.48496743e-01 7.61018619e-01 1.73964678e-02 2.30592806e+02] [-7.60765244e-01 -6.48729848e-01 1.96425169e-02 7.15755170e+01] [ 2.62339290e-02 -4.96519847e-04 9.99655708e-01 2.25966469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.57, Z:22.60 [[-6.48214717e-01 7.61258641e-01 1.74058265e-02 2.30593589e+02] [-7.61005575e-01 -6.48448158e-01 1.96342204e-02 7.15718197e+01] [ 2.62334961e-02 -5.18740424e-04 9.99655708e-01 2.25986011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.57, Z:22.60 [[-6.48739380e-01 7.60811406e-01 1.74132796e-02 2.30590660e+02] [-7.60558356e-01 -6.48972838e-01 1.96276082e-02 7.15656885e+01] [ 2.62336536e-02 -5.10612958e-04 9.99655708e-01 2.25992353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:71.56, Z:22.60 [[-6.44245079e-01 7.64620688e-01 1.74207412e-02 2.30595751e+02] [-7.64369197e-01 -6.44480216e-01 1.96209833e-02 7.15633789e+01] [ 2.62299328e-02 -6.75156010e-04 9.99655708e-01 2.25959769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.56, Z:22.60 [[-6.50485222e-01 7.59322728e-01 1.72618437e-02 2.30592948e+02] [-7.59065562e-01 -6.50714172e-01 1.97620717e-02 7.15620745e+01] [ 2.62383165e-02 -2.47935523e-04 9.99655685e-01 2.25995781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.56, Z:22.60 [[-6.52624154e-01 7.57481183e-01 1.74347734e-02 2.30593014e+02] [-7.57227456e-01 -6.52856871e-01 1.96083118e-02 7.15557439e+01] [ 2.62353388e-02 -4.05231231e-04 9.99655712e-01 2.26002161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.55, Z:22.60 [[-6.53834713e-01 7.56436319e-01 1.74431512e-02 2.30593346e+02] [-7.56182420e-01 -6.54067240e-01 1.96008562e-02 7.15524019e+01] [ 2.62357933e-02 -3.74484106e-04 9.99655712e-01 2.25997885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.55, Z:22.60 [[-6.55571890e-01 7.54931105e-01 1.74506076e-02 2.30592710e+02] [-7.54676848e-01 -6.55804027e-01 1.95942156e-02 7.15453208e+01] [ 2.62364616e-02 -3.24152568e-04 9.99655712e-01 2.25976113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.54, Z:22.60 [[-6.56241904e-01 7.54348579e-01 1.74580700e-02 2.30592144e+02] [-7.54094293e-01 -6.56474009e-01 1.95875645e-02 7.15418306e+01] [ 2.62366206e-02 -3.10850347e-04 9.99655712e-01 2.25966441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.54, Z:22.60 [[-6.56583331e-01 7.54051226e-01 1.74664631e-02 2.30593012e+02] [-7.53797034e-01 -6.56815539e-01 1.95800774e-02 7.15403673e+01] [ 2.62366257e-02 -3.10215651e-04 9.99655712e-01 2.25962232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.54, Z:22.60 [[-6.57000593e-01 7.53687524e-01 1.74739226e-02 2.30593367e+02] [-7.53433380e-01 -6.57232853e-01 1.95734180e-02 7.15368687e+01] [ 2.62366770e-02 -3.05689350e-04 9.99655712e-01 2.25959047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.476875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.59, Y:71.53, Z:22.60 [[-6.57788218e-01 7.53000041e-01 1.74813747e-02 2.30591544e+02] [-7.52745831e-01 -6.58020407e-01 1.95667602e-02 7.15325380e+01] [ 2.62368725e-02 -2.88247572e-04 9.99655712e-01 2.25958840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.53, Z:22.60 [[-6.59148528e-01 7.51809390e-01 1.74888031e-02 2.30591887e+02] [-7.51554937e-01 -6.59380450e-01 1.95601184e-02 7.15279066e+01] [ 2.62372555e-02 -2.50773055e-04 9.99655713e-01 2.25962373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.53, Z:22.60 [[-6.60083637e-01 7.50988330e-01 1.74962636e-02 2.30591635e+02] [-7.50733766e-01 -6.60315436e-01 1.95534428e-02 7.15251555e+01] [ 2.62374603e-02 -2.28128245e-04 9.99655713e-01 2.25961053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.52, Z:22.60 [[-6.61139833e-01 7.50058470e-01 1.75046454e-02 2.30589454e+02] [-7.49803778e-01 -6.61371492e-01 1.95459364e-02 7.15202942e+01] [ 2.62376686e-02 -2.02452135e-04 9.99655713e-01 2.25963110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:71.52, Z:22.60 [[-6.62977080e-01 7.48434834e-01 1.75125603e-02 2.30589257e+02] [-7.48179762e-01 -6.63208321e-01 1.95388423e-02 7.15158008e+01] [ 2.62380259e-02 -1.48738551e-04 9.99655713e-01 2.25957757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.58, Y:71.51, Z:22.60 [[-6.64351602e-01 7.47214828e-01 1.75199940e-02 2.30584544e+02] [-7.46959507e-01 -6.64582567e-01 1.95321744e-02 7.15087715e+01] [ 2.62382129e-02 -1.10494786e-04 9.99655713e-01 2.25960560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.58, Y:71.51, Z:22.60 [[-6.66556043e-01 7.45248747e-01 1.75312914e-02 2.30584788e+02] [-7.44993012e-01 -6.66786549e-01 1.95220290e-02 7.15067782e+01] [ 2.62383970e-02 -4.81632252e-05 9.99655713e-01 2.25958018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.686875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.58, Y:71.50, Z:22.60 [[-6.67873883e-01 7.44067785e-01 1.75387348e-02 2.30582798e+02] [-7.43811818e-01 -6.68104132e-01 1.95153395e-02 7.15033374e+01] [ 2.62384366e-02 -1.17326146e-05 9.99655713e-01 2.25960344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.716875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:230.58, Y:71.50, Z:22.60 [[-6.69241435e-01 7.42837824e-01 1.75462017e-02 2.30580538e+02] [-7.42581610e-01 -6.69471408e-01 1.95086237e-02 7.14993048e+01] [ 2.62384240e-02 2.64926152e-05 9.99655713e-01 2.25963697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.58, Y:71.49, Z:22.60 [[-6.71870519e-01 7.40460582e-01 1.75536772e-02 2.30577839e+02] [-7.40203730e-01 -6.72099780e-01 1.95018950e-02 7.14946238e+01] [ 2.62382071e-02 1.09450939e-04 9.99655713e-01 2.25958716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.776875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.58, Y:71.49, Z:22.60 [[-6.73255409e-01 7.39201435e-01 1.75611376e-02 2.30577339e+02] [-7.38944329e-01 -6.73484385e-01 1.94951748e-02 7.14939972e+01] [ 2.62380131e-02 1.48528826e-04 9.99655713e-01 2.25956483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:71.49, Z:22.60 [[-6.75660868e-01 7.37003213e-01 1.75685978e-02 2.30572613e+02] [-7.36745537e-01 -6.75889203e-01 1.94884494e-02 7.14890720e+01] [ 2.62374754e-02 2.23996626e-04 9.99655713e-01 2.25959781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.58, Y:71.50, Z:22.59 [[-6.72223842e-01 7.40139305e-01 1.75760256e-02 2.30584887e+02] [-7.39882869e-01 -6.72453568e-01 1.94817482e-02 7.14983259e+01] [ 2.62382687e-02 9.18953599e-05 9.99655713e-01 2.25937833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:71.49, Z:22.60 [[-6.77976274e-01 7.34876829e-01 1.74418595e-02 2.30569729e+02] [-7.34615486e-01 -6.78200426e-01 1.96027817e-02 7.14866686e+01] [ 2.62347066e-02 4.77160843e-04 9.99655697e-01 2.25964161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:71.48, Z:22.60 [[-6.79175787e-01 7.33764936e-01 1.75860740e-02 2.30567358e+02] [-7.33506583e-01 -6.79403351e-01 1.94725391e-02 7.14842681e+01] [ 2.62363040e-02 3.25776039e-04 9.99655716e-01 2.25965191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:71.48, Z:22.60 [[-6.81559858e-01 7.31550837e-01 1.75935454e-02 2.30566598e+02] [-7.31291919e-01 -6.81786779e-01 1.94657864e-02 7.14826325e+01] [ 2.62352589e-02 4.01081008e-04 9.99655716e-01 2.25961537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.56, Y:71.48, Z:22.60 [[-6.83398385e-01 7.29833452e-01 1.76005560e-02 2.30560874e+02] [-7.29574128e-01 -6.83624840e-01 1.94594454e-02 7.14770476e+01] [ 2.62343315e-02 4.57643258e-04 9.99655716e-01 2.25960075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.56, Y:71.48, Z:22.60 [[-6.84348278e-01 7.28942653e-01 1.76080411e-02 2.30561038e+02] [-7.28683208e-01 -6.84574595e-01 1.94526701e-02 7.14785157e+01] [ 2.62338986e-02 4.81717419e-04 9.99655716e-01 2.25970070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.016875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.56, Y:71.48, Z:22.60 [[-6.85149699e-01 7.28189249e-01 1.76155564e-02 2.30557607e+02] [-7.27929730e-01 -6.85375931e-01 1.94458622e-02 7.14755123e+01] [ 2.62335462e-02 5.00439420e-04 9.99655716e-01 2.25974775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.56, Y:71.47, Z:22.60 [[-6.85724136e-01 7.27648155e-01 1.76230388e-02 2.30555124e+02] [-7.27388632e-01 -6.85950363e-01 1.94390788e-02 7.14737309e+01] [ 2.62333397e-02 5.11047488e-04 9.99655716e-01 2.25984549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.07687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.55, Y:71.47, Z:22.60 [[-6.86023995e-01 7.27365274e-01 1.76305538e-02 2.30553467e+02] [-7.27105832e-01 -6.86250316e-01 1.94322605e-02 7.14730860e+01] [ 2.62333247e-02 5.11718476e-04 9.99655716e-01 2.25988009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.106875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.55, Y:71.47, Z:22.60 [[-6.86108425e-01 7.27285452e-01 1.76380663e-02 2.30548351e+02] [-7.27026158e-01 -6.86334916e-01 1.94254393e-02 7.14701414e+01] [ 2.62334602e-02 5.04622014e-04 9.99655716e-01 2.25987593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.55, Y:71.47, Z:22.60 [[-6.86324395e-01 7.27081466e-01 1.76455811e-02 2.30548379e+02] [-7.26822281e-01 -6.86551010e-01 1.94186106e-02 7.14718815e+01] [ 2.62335034e-02 5.02264666e-04 9.99655716e-01 2.25989145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.54, Y:71.47, Z:22.60 [[-6.86548809e-01 7.26869384e-01 1.76530933e-02 2.30543670e+02] [-7.26610304e-01 -6.86775545e-01 1.94117790e-02 7.14685283e+01] [ 2.62335407e-02 5.00214263e-04 9.99655716e-01 2.25998122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.19687500000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.54, Y:71.47, Z:22.60 [[-6.87095150e-01 7.26352779e-01 1.76605738e-02 2.30542998e+02] [-7.26093704e-01 -6.87321890e-01 1.94049710e-02 7.14719436e+01] [ 2.62333536e-02 5.09830005e-04 9.99655716e-01 2.25995686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.226875 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.54, Y:71.47, Z:22.60 [[-6.87699743e-01 7.25780203e-01 1.76680757e-02 2.30539825e+02] [-7.25521114e-01 -6.87926468e-01 1.93981382e-02 7.14699805e+01] [ 2.62331216e-02 5.21532681e-04 9.99655716e-01 2.25980555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.45, Y:71.37, Z:22.60 [[-6.83108631e-01 7.30102852e-01 1.76754889e-02 2.30454907e+02] [-7.29845374e-01 -6.83337183e-01 1.93913810e-02 7.13741017e+01] [ 2.62360214e-02 3.46045958e-04 9.99655716e-01 2.25956887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:71.47, Z:22.60 [[-6.88558070e-01 7.24969489e-01 1.75221330e-02 2.30534526e+02] [-7.24706738e-01 -6.88780573e-01 1.95311551e-02 7.14695981e+01] [ 2.62283963e-02 7.49926631e-04 9.99655695e-01 2.25965174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:71.47, Z:22.60 [[-6.88801021e-01 7.24734578e-01 1.76902673e-02 2.30527312e+02] [-7.24475670e-01 -6.89027946e-01 1.93776627e-02 7.14651475e+01] [ 2.62327507e-02 5.31185588e-04 9.99655721e-01 2.25968961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.346875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.52, Y:71.47, Z:22.60 [[-6.88094580e-01 7.25405038e-01 1.77025701e-02 2.30521828e+02] [-7.25146640e-01 -6.88322085e-01 1.93664169e-02 7.14652921e+01] [ 2.62335663e-02 4.88967248e-04 9.99655721e-01 2.25980159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.52, Y:71.46, Z:22.60 [[-6.87540509e-01 7.25929980e-01 1.77119370e-02 2.30518230e+02] [-7.25671977e-01 -6.87768461e-01 1.93578464e-02 7.14642201e+01] [ 2.62341527e-02 4.56247274e-04 9.99655721e-01 2.25985283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.51, Y:71.46, Z:22.60 [[-6.86868574e-01 7.26565610e-01 1.77194156e-02 2.30514564e+02] [-7.26307994e-01 -6.87096963e-01 1.93509984e-02 7.14628231e+01] [ 2.62347266e-02 4.21839452e-04 9.99655721e-01 2.25985131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.436875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:230.51, Y:71.47, Z:22.60 [[-6.85567296e-01 7.27793383e-01 1.77278205e-02 2.30511433e+02] [-7.27536375e-01 -6.85796369e-01 1.93432954e-02 7.14662865e+01] [ 2.62355974e-02 3.63496463e-04 9.99655721e-01 2.25990327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.466875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.51, Y:71.47, Z:22.60 [[-6.85150165e-01 7.28185904e-01 1.77352873e-02 2.30509078e+02] [-7.27929205e-01 -6.85379584e-01 1.93364470e-02 7.14677120e+01] [ 2.62359319e-02 3.38336282e-04 9.99655721e-01 2.25992869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.496875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.51, Y:71.47, Z:22.60 [[-6.85430592e-01 7.27921767e-01 1.77427401e-02 2.30507535e+02] [-7.27665156e-01 -6.85660111e-01 1.93296059e-02 7.14659251e+01] [ 2.62359301e-02 3.38329483e-04 9.99655722e-01 2.25993530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.526875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.50, Y:71.47, Z:22.60 [[-6.85344089e-01 7.28003029e-01 1.77501854e-02 2.30503809e+02] [-7.27746623e-01 -6.85573835e-01 1.93227666e-02 7.14684706e+01] [ 2.62360953e-02 3.25106417e-04 9.99655722e-01 2.26006546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.556875 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:230.50, Y:71.47, Z:22.60 [[-6.85969559e-01 7.27413476e-01 1.77594967e-02 2.30500971e+02] [-7.27157094e-01 -6.86199332e-01 1.93142048e-02 7.14676328e+01] [ 2.62359676e-02 3.35012521e-04 9.99655722e-01 2.26012842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:71.46, Z:22.60 [[-6.86547593e-01 7.26867736e-01 1.77678365e-02 2.30494101e+02] [-7.26611370e-01 -6.86777384e-01 1.93065297e-02 7.14618841e+01] [ 2.62358418e-02 3.44539452e-04 9.99655722e-01 2.26006572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.616875 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:230.49, Y:71.46, Z:22.60 [[-6.87282589e-01 7.26172626e-01 1.77752679e-02 2.30492004e+02] [-7.25916204e-01 -6.87512318e-01 1.92996853e-02 7.14619076e+01] [ 2.62356188e-02 3.60982675e-04 9.99655722e-01 2.26001857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.646875 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:230.49, Y:71.46, Z:22.59 [[-6.82258125e-01 7.30895063e-01 1.77836321e-02 2.30491941e+02] [-7.30640432e-01 -6.82489837e-01 1.92919751e-02 7.14590689e+01] [ 2.62375575e-02 1.68666129e-04 9.99655722e-01 2.25945846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.48, Y:71.45, Z:22.60 [[-6.89321388e-01 7.24242038e-01 1.75924340e-02 2.30477324e+02] [-7.23980652e-01 -6.89545505e-01 1.94682407e-02 7.14527325e+01] [ 2.62305021e-02 6.83292915e-04 9.99655688e-01 2.26007717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:71.46, Z:22.60 [[-6.83655648e-01 7.29587724e-01 1.77963187e-02 2.30489719e+02] [-7.29332960e-01 -6.83887208e-01 1.92800477e-02 7.14644909e+01] [ 2.62371608e-02 2.01471737e-04 9.99655726e-01 2.25953332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:71.47, Z:22.60 [[-6.84991325e-01 7.28338163e-01 1.76183200e-02 2.30486792e+02] [-7.28078730e-01 -6.85217687e-01 1.94443798e-02 7.14656762e+01] [ 2.62344683e-02 4.91707392e-04 9.99655696e-01 2.26009462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.766875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.47, Y:71.46, Z:22.60 [[-6.89786626e-01 7.23797078e-01 1.76692089e-02 2.30472185e+02] [-7.23537357e-01 -6.90012634e-01 1.93973551e-02 7.14588306e+01] [ 2.62317263e-02 5.95703462e-04 9.99655712e-01 2.25997960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.47, Y:71.46, Z:22.60 [[-6.89698644e-01 7.23877304e-01 1.78165581e-02 2.30466103e+02] [-7.23621114e-01 -6.89928616e-01 1.92610573e-02 7.14578704e+01] [ 2.62347954e-02 3.91887474e-04 9.99655732e-01 2.26016351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.47, Y:71.46, Z:22.60 [[-6.89946819e-01 7.23640513e-01 1.78268222e-02 2.30465011e+02] [-7.23384489e-01 -6.90176977e-01 1.92515527e-02 7.14596613e+01] [ 2.62348657e-02 3.86900899e-04 9.99655732e-01 2.26012916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.856875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:230.46, Y:71.46, Z:22.60 [[-6.90344568e-01 7.23260869e-01 1.78351562e-02 2.30459844e+02] [-7.23004918e-01 -6.90574807e-01 1.92438288e-02 7.14603462e+01] [ 2.62348179e-02 3.89967075e-04 9.99655732e-01 2.26032474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.46, Y:71.46, Z:22.61 [[-6.90753389e-01 7.22870228e-01 1.78434745e-02 2.30455966e+02] [-7.22614346e-01 -6.90983704e-01 1.92361127e-02 7.14582806e+01] [ 2.62347633e-02 3.93459390e-04 9.99655732e-01 2.26061653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.45, Y:71.46, Z:22.61 [[-6.91237020e-01 7.22407569e-01 1.78517925e-02 2.30453971e+02] [-7.22151733e-01 -6.91467385e-01 1.92283902e-02 7.14577139e+01] [ 2.62346669e-02 3.99672287e-04 9.99655732e-01 2.26061356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.45, Y:71.45, Z:22.61 [[-6.91479434e-01 7.22175332e-01 1.78601041e-02 2.30446558e+02] [-7.21919617e-01 -6.91709934e-01 1.92206669e-02 7.14533581e+01] [ 2.62347030e-02 3.97136345e-04 9.99655732e-01 2.26093870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.976875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.39, Y:71.38, Z:22.61 [[-6.84138198e-01 7.29133490e-01 1.78684247e-02 2.30387519e+02] [-7.28880322e-01 -6.84371492e-01 1.92129286e-02 7.13834497e+01] [ 2.62374302e-02 1.20355182e-04 9.99655732e-01 2.26106271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.44, Y:71.45, Z:22.62 [[-6.91666921e-01 7.22001150e-01 1.76411430e-02 2.30438907e+02] [-7.21740157e-01 -6.91891498e-01 1.94242334e-02 7.14497420e+01] [ 2.62300757e-02 7.02778377e-04 9.99655685e-01 2.26168374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.44, Y:71.45, Z:22.62 [[-6.91960034e-01 7.21714311e-01 1.78819552e-02 2.30438127e+02] [-7.21458978e-01 -6.92190946e-01 1.91999539e-02 7.14500472e+01] [ 2.62346090e-02 3.84503634e-04 9.99655739e-01 2.26195437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.44, Y:71.45, Z:22.63 [[-6.92547902e-01 7.21150013e-01 1.78902851e-02 2.30436373e+02] [-7.20894692e-01 -6.92778827e-01 1.91921891e-02 7.14482845e+01] [ 2.62344582e-02 3.94498700e-04 9.99655740e-01 2.26283180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:71.45, Z:22.63 [[-6.93100310e-01 7.20618877e-01 1.78995505e-02 2.30434005e+02] [-7.20363602e-01 -6.93331286e-01 1.91835438e-02 7.14452102e+01] [ 2.62343422e-02 4.01935474e-04 9.99655740e-01 2.26317498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.126875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:230.43, Y:71.44, Z:22.63 [[-6.93860597e-01 7.19886704e-01 1.79054493e-02 2.30433898e+02] [-7.19631328e-01 -6.94091460e-01 1.91780365e-02 7.14446548e+01] [ 2.62340329e-02 4.21561569e-04 9.99655740e-01 2.26343800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:71.44, Z:22.64 [[-6.95015113e-01 7.18771932e-01 1.79137574e-02 2.30431979e+02] [-7.18516385e-01 -6.95245788e-01 1.91702729e-02 7.14406198e+01] [ 2.62335185e-02 4.52301200e-04 9.99655740e-01 2.26410804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.186875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:230.43, Y:71.44, Z:22.64 [[-6.95921621e-01 7.17894094e-01 1.79211177e-02 2.30430148e+02] [-7.17638434e-01 -6.96152170e-01 1.91633898e-02 7.14369373e+01] [ 2.62331093e-02 4.75334494e-04 9.99655740e-01 2.26431479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:71.43, Z:22.65 [[-6.96956762e-01 7.16888979e-01 1.79294257e-02 2.30426914e+02] [-7.16633185e-01 -6.97187163e-01 1.91556136e-02 7.14301301e+01] [ 2.62326137e-02 5.01812960e-04 9.99655740e-01 2.26462006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.246875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.42, Y:71.43, Z:22.65 [[-6.97517361e-01 7.16343355e-01 1.79368049e-02 2.30423508e+02] [-7.16087559e-01 -6.97747759e-01 1.91487014e-02 7.14259718e+01] [ 2.62324105e-02 5.12228847e-04 9.99655740e-01 2.26474080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:71.42, Z:22.65 [[-6.97205033e-01 7.16647036e-01 1.79489974e-02 2.30422909e+02] [-7.16391635e-01 -6.97435869e-01 1.91372660e-02 7.14246860e+01] [ 2.62329396e-02 4.84086608e-04 9.99655740e-01 2.26494874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:71.42, Z:22.65 [[-6.96799964e-01 7.17040710e-01 1.79563745e-02 2.30421903e+02] [-7.16785617e-01 -6.97031140e-01 1.91303416e-02 7.14231315e+01] [ 2.62333859e-02 4.59150400e-04 9.99655740e-01 2.26510358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:71.42, Z:22.65 [[-6.92215670e-01 7.21467060e-01 1.79651815e-02 2.30425976e+02] [-7.21213660e-01 -6.92448701e-01 1.91220674e-02 7.14226398e+01] [ 2.62359084e-02 2.79860408e-04 9.99655740e-01 2.26479918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.366875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:230.42, Y:71.42, Z:22.65 [[-6.95012453e-01 7.18775099e-01 1.78898713e-02 2.30419053e+02] [-7.18518971e-01 -6.95242492e-01 1.91928706e-02 7.14182929e+01] [ 2.62331561e-02 4.85072169e-04 9.99655734e-01 2.26533197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.396875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.42, Y:71.41, Z:22.65 [[-6.93855860e-01 7.19889363e-01 1.79819249e-02 2.30415993e+02] [-7.19635844e-01 -6.94088758e-01 1.91062342e-02 7.14124959e+01] [ 2.62354267e-02 3.16534847e-04 9.99655742e-01 2.26533424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.426875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:230.42, Y:71.41, Z:22.65 [[-6.93692199e-01 7.20046839e-01 1.79911723e-02 2.30418365e+02] [-7.19793598e-01 -6.93925400e-01 1.90975225e-02 7.14135452e+01] [ 2.62356421e-02 2.97871676e-04 9.99655742e-01 2.26528616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:71.41, Z:22.65 [[-6.93698146e-01 7.20040903e-01 1.79994578e-02 2.30415831e+02] [-7.19787862e-01 -6.93931565e-01 1.90897102e-02 7.14094743e+01] [ 2.62357641e-02 2.86705378e-04 9.99655742e-01 2.26527534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:71.41, Z:22.65 [[-6.93693254e-01 7.20045432e-01 1.80068191e-02 2.30415260e+02] [-7.19792574e-01 -6.93926869e-01 1.90827639e-02 7.14057788e+01] [ 2.62358726e-02 2.76409896e-04 9.99655742e-01 2.26490555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.516875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.41, Y:71.40, Z:22.65 [[-6.94301199e-01 7.19459056e-01 1.80141852e-02 2.30411937e+02] [-7.19206181e-01 -6.94534796e-01 1.90758078e-02 7.14011131e+01] [ 2.62357411e-02 2.88442829e-04 9.99655742e-01 2.26468515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:71.40, Z:22.65 [[-6.94579728e-01 7.19189978e-01 1.80215598e-02 2.30415192e+02] [-7.18937193e-01 -6.94813423e-01 1.90688382e-02 7.14027052e+01] [ 2.62357390e-02 2.88458887e-04 9.99655742e-01 2.26452686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:71.40, Z:22.64 [[-6.95573872e-01 7.18228292e-01 1.80307756e-02 2.30415741e+02] [-7.17975410e-01 -6.95807461e-01 1.90601202e-02 7.13995883e+01] [ 2.62354657e-02 3.12068103e-04 9.99655742e-01 2.26400614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:71.39, Z:22.64 [[-6.96172178e-01 7.17648179e-01 1.80385582e-02 2.30410152e+02] [-7.17395293e-01 -6.96405763e-01 1.90527518e-02 7.13922934e+01] [ 2.62353285e-02 3.23218902e-04 9.99655742e-01 2.26382633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:71.39, Z:22.64 [[-6.96678167e-01 7.17156778e-01 1.80468090e-02 2.30410496e+02] [-7.16903930e-01 -6.96911792e-01 1.90449334e-02 7.13912244e+01] [ 2.62352371e-02 3.30360953e-04 9.99655742e-01 2.26353359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:71.39, Z:22.63 [[-6.96977383e-01 7.16865777e-01 1.80550657e-02 2.30412995e+02] [-7.16613034e-01 -6.97211122e-01 1.90371027e-02 7.13910605e+01] [ 2.62352400e-02 3.29934589e-04 9.99655742e-01 2.26345212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:71.39, Z:22.64 [[-6.97229991e-01 7.16619906e-01 1.80623896e-02 2.30411199e+02] [-7.16367260e-01 -6.97463836e-01 1.90301512e-02 7.13877384e+01] [ 2.62352487e-02 3.29087573e-04 9.99655742e-01 2.26353690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:71.39, Z:22.64 [[-6.97461540e-01 7.16394342e-01 1.80706096e-02 2.30411211e+02] [-7.16141823e-01 -6.97695521e-01 1.90223425e-02 7.13870110e+01] [ 2.62352819e-02 3.26232977e-04 9.99655743e-01 2.26357735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.75687500000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.41, Y:71.38, Z:22.64 [[-6.97544002e-01 7.16313865e-01 1.80779181e-02 2.30409647e+02] [-7.16061499e-01 -6.97778149e-01 1.90153943e-02 7.13849724e+01] [ 2.62353668e-02 3.19173137e-04 9.99655743e-01 2.26372177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.786875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.42, Y:71.39, Z:22.63 [[-6.88055401e-01 7.25432760e-01 1.80852178e-02 2.30423083e+02] [-7.25183680e-01 -6.88293040e-01 1.90084491e-02 7.13885788e+01] [ 2.62372813e-02 -3.62387212e-05 9.99655743e-01 2.26326379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:71.38, Z:22.64 [[-6.96396767e-01 7.17436341e-01 1.77943650e-02 2.30406329e+02] [-7.17177408e-01 -6.96623751e-01 1.92850998e-02 7.13787861e+01] [ 2.62318087e-02 6.68364609e-04 9.99655663e-01 2.26420145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:71.37, Z:22.65 [[-6.95550703e-01 7.18249003e-01 1.80994102e-02 2.30405511e+02] [-7.17997833e-01 -6.95786119e-01 1.89944315e-02 7.13746188e+01] [ 2.62360499e-02 2.16252873e-04 9.99655752e-01 2.26483479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.37, Z:22.65 [[-6.95576796e-01 7.18223527e-01 1.81076118e-02 2.30404337e+02] [-7.17972552e-01 -6.95812419e-01 1.89866096e-02 7.13717679e+01] [ 2.62361309e-02 2.05876825e-04 9.99655752e-01 2.26512726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.37, Z:22.65 [[-6.95679671e-01 7.18123675e-01 1.81158100e-02 2.30402295e+02] [-7.17872871e-01 -6.95915474e-01 1.89787842e-02 7.13679331e+01] [ 2.62361868e-02 1.98305782e-04 9.99655752e-01 2.26544292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.36, Z:22.66 [[-6.95515718e-01 7.18282238e-01 1.81249416e-02 2.30402716e+02] [-7.18031714e-01 -6.95751820e-01 1.89700594e-02 7.13647256e+01] [ 2.62363179e-02 1.79691592e-04 9.99655752e-01 2.26593807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.36, Z:22.66 [[-6.95677366e-01 7.18125482e-01 1.81326861e-02 2.30400910e+02] [-7.17875098e-01 -6.95913617e-01 1.89626540e-02 7.13608756e+01] [ 2.62363481e-02 1.74885373e-04 9.99655752e-01 2.26620387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.36, Z:22.66 [[-6.95824632e-01 7.17982607e-01 1.81399508e-02 2.30400531e+02] [-7.17732355e-01 -6.96061023e-01 1.89557019e-02 7.13559742e+01] [ 2.62363769e-02 1.70214658e-04 9.99655753e-01 2.26629908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.36, Z:22.66 [[-6.95924061e-01 7.17886050e-01 1.81472213e-02 2.30402392e+02] [-7.17635947e-01 -6.96160609e-01 1.89487389e-02 7.13554409e+01] [ 2.62364159e-02 1.63784966e-04 9.99655753e-01 2.26634862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.35, Z:22.66 [[-6.96059029e-01 7.17755001e-01 1.81545112e-02 2.30398002e+02] [-7.17505036e-01 -6.96295722e-01 1.89417520e-02 7.13484099e+01] [ 2.62364457e-02 1.58624242e-04 9.99655753e-01 2.26629331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.34, Z:22.66 [[-6.94979957e-01 7.18799677e-01 1.81627051e-02 2.30396522e+02] [-7.18550273e-01 -6.95217242e-01 1.89338919e-02 7.13427136e+01] [ 2.62367011e-02 1.07858669e-04 9.99655753e-01 2.26617647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.34, Z:22.66 [[-6.93897663e-01 7.19844252e-01 1.81737487e-02 2.30398128e+02] [-7.19595484e-01 -6.94135613e-01 1.89232857e-02 7.13429300e+01] [ 2.62368646e-02 5.30762284e-05 9.99655753e-01 2.26607516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.34, Z:22.66 [[-6.92545756e-01 7.21144802e-01 1.81810324e-02 2.30396061e+02] [-7.20896664e-01 -6.92784364e-01 1.89162850e-02 7.13400229e+01] [ 2.62369156e-02 -6.25270215e-06 9.99655753e-01 2.26603195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.176875 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:230.40, Y:71.34, Z:22.66 [[-6.91125322e-01 7.22506038e-01 1.81883074e-02 2.30399412e+02] [-7.22258554e-01 -6.91364607e-01 1.89092874e-02 7.13429959e+01] [ 2.62368264e-02 -6.79732551e-05 9.99655753e-01 2.26595279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:71.34, Z:22.66 [[-6.88191200e-01 7.25301174e-01 1.81955640e-02 2.30402077e+02] [-7.25054846e-01 -6.88431676e-01 1.89023022e-02 7.13434818e+01] [ 2.62362646e-02 -1.84383802e-04 9.99655753e-01 2.26564856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.82, Y:70.63, Z:23.28 [[-6.42927050e-01 -7.65711086e-01 -1.82027890e-02 2.30816889e+02] [-7.65479994e-01 6.43182202e-01 -1.88953420e-02 7.06344716e+01] [ 2.61760827e-02 1.78554427e-03 -9.99655753e-01 2.32812800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.89, Y:70.78, Z:23.28 [[-5.90917649e-01 -8.06526497e-01 -1.82027890e-02 2.30887801e+02] [-8.06312773e-01 5.91187515e-01 -1.88953420e-02 7.07803627e+01] [ 2.60008556e-02 3.51155016e-03 -9.99655753e-01 2.32792515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.22, Y:71.23, Z:22.66 [[-5.70855683e-01 8.20911705e-01 1.50918092e-02 2.30217230e+02] [-8.20640076e-01 -5.71055045e-01 2.11187346e-02 7.12329981e+01] [ 2.59548702e-02 -3.29193785e-04 9.99663061e-01 2.26552942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:71.23, Z:22.65 [[-5.70808413e-01 8.20944408e-01 1.51008590e-02 2.30214962e+02] [-8.20672961e-01 -5.71008024e-01 2.11122616e-02 7.12281355e+01] [ 2.59547048e-02 -3.41810151e-04 9.99663061e-01 2.26547871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.22, Y:71.23, Z:22.65 [[-5.70905746e-01 8.20876477e-01 1.51141746e-02 2.30215178e+02] [-8.20605259e-01 -5.71105667e-01 2.11027248e-02 7.12252371e+01] [ 2.59545211e-02 -3.55104307e-04 9.99663062e-01 2.26544229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.22, Y:71.23, Z:22.65 [[-5.71670681e-01 8.20343782e-01 1.51232143e-02 2.30216590e+02] [-8.20072550e-01 -5.71870581e-01 2.10962445e-02 7.12255794e+01] [ 2.59546944e-02 -3.42028465e-04 9.99663062e-01 2.26538703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:71.22, Z:22.65 [[-5.72020756e-01 8.20099549e-01 1.51322349e-02 2.30214783e+02] [-8.19828402e-01 -5.72220773e-01 2.10897721e-02 7.12229585e+01] [ 2.59546917e-02 -3.42048536e-04 9.99663062e-01 2.26539574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.44687500000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:230.22, Y:71.22, Z:22.65 [[-5.74005926e-01 8.18711146e-01 1.51412363e-02 2.30215451e+02] [-8.18439685e-01 -5.74205517e-01 2.10833076e-02 7.12191578e+01] [ 2.59553203e-02 -2.90245162e-04 9.99663062e-01 2.26524906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:71.21, Z:22.65 [[-5.75211346e-01 8.17864541e-01 1.51492452e-02 2.30211552e+02] [-8.17592938e-01 -5.75410744e-01 2.10775513e-02 7.12115614e+01] [ 2.59556203e-02 -2.61869176e-04 9.99663062e-01 2.26538334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:71.21, Z:22.66 [[-5.76748076e-01 8.16781436e-01 1.51572703e-02 2.30210046e+02] [-8.16509611e-01 -5.76947169e-01 2.10717787e-02 7.12079208e+01] [ 2.59559819e-02 -2.22949061e-04 9.99663062e-01 2.26552814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:71.20, Z:22.66 [[-5.79269127e-01 8.14995214e-01 1.51683773e-02 2.30209470e+02] [-8.14722984e-01 -5.79467667e-01 2.10637804e-02 7.12045902e+01] [ 2.59564644e-02 -1.56427878e-04 9.99663062e-01 2.26591762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:71.20, Z:22.66 [[-5.80449536e-01 8.14154746e-01 1.51784322e-02 2.30205585e+02] [-8.13882418e-01 -5.80647942e-01 2.10565324e-02 7.11977007e+01] [ 2.59566012e-02 -1.31204575e-04 9.99663062e-01 2.26610737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:71.19, Z:22.67 [[-5.82795012e-01 8.12477290e-01 1.51864438e-02 2.30203385e+02] [-8.12204541e-01 -5.82992838e-01 2.10507527e-02 7.11915461e+01] [ 2.59568465e-02 -6.62249859e-05 9.99663062e-01 2.26665062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:71.19, Z:22.67 [[-5.84174887e-01 8.11485492e-01 1.51986306e-02 2.30202791e+02] [-8.11212636e-01 -5.84372566e-01 2.10419501e-02 7.11885294e+01] [ 2.59569000e-02 -3.71423559e-05 9.99663062e-01 2.26690817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:71.18, Z:22.67 [[-5.85848694e-01 8.10277751e-01 1.52076840e-02 2.30199959e+02] [-8.10004658e-01 -5.86046044e-01 2.10354050e-02 7.11823290e+01] [ 2.59569236e-02 5.26967941e-06 9.99663062e-01 2.26714338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:71.18, Z:22.67 [[-5.87984632e-01 8.08728955e-01 1.52167442e-02 2.30200539e+02] [-8.08455512e-01 -5.88181497e-01 2.10288488e-02 7.11789226e+01] [ 2.59568463e-02 6.25792141e-05 9.99663062e-01 2.26729171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:71.17, Z:22.67 [[-5.89101698e-01 8.07915463e-01 1.52248148e-02 2.30197755e+02] [-8.07641898e-01 -5.89298394e-01 2.10230041e-02 7.11736476e+01] [ 2.59567690e-02 8.84890600e-05 9.99663062e-01 2.26730722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:71.17, Z:22.67 [[-5.88142798e-01 8.08613615e-01 1.52338896e-02 2.30199762e+02] [-8.08340454e-01 -5.88340055e-01 2.10164262e-02 7.11707855e+01] [ 2.59568758e-02 4.64904878e-05 9.99663062e-01 2.26691167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:71.17, Z:22.67 [[-5.91827701e-01 8.05921927e-01 1.51598163e-02 2.30195892e+02] [-8.05646490e-01 -5.92021775e-01 2.10701417e-02 7.11671686e+01] [ 2.59558306e-02 2.56440723e-04 9.99663058e-01 2.26698635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:71.17, Z:22.67 [[-5.93205721e-01 8.04906456e-01 1.52502171e-02 2.30195444e+02] [-8.04632369e-01 -5.93401686e-01 2.10045069e-02 7.11650642e+01] [ 2.59561678e-02 1.89175314e-04 9.99663064e-01 2.26677687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:71.16, Z:22.67 [[-5.94705183e-01 8.03799061e-01 1.52583026e-02 2.30193337e+02] [-8.03524760e-01 -5.94900848e-01 2.09986317e-02 7.11605055e+01] [ 2.59558576e-02 2.27571150e-04 9.99663064e-01 2.26672005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:71.16, Z:22.66 [[-5.97048134e-01 8.02060118e-01 1.52673903e-02 2.30192847e+02] [-8.01785416e-01 -5.97243235e-01 2.09920222e-02 7.11568478e+01] [ 2.59552094e-02 2.92076782e-04 9.99663064e-01 2.26643864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:71.15, Z:22.66 [[-5.97857531e-01 8.01456800e-01 1.52764817e-02 2.30191186e+02] [-8.01182070e-01 -5.98052593e-01 2.09854041e-02 7.11534725e+01] [ 2.59550343e-02 3.07038621e-04 9.99663064e-01 2.26626444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:71.12, Z:22.66 [[-5.96251455e-01 8.02652219e-01 1.52845707e-02 2.30171373e+02] [-8.02378031e-01 -5.96447278e-01 2.09795109e-02 7.11234654e+01] [ 2.59556916e-02 2.45060136e-04 9.99663064e-01 2.26626542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:71.15, Z:22.66 [[-5.99001498e-01 8.00603058e-01 1.52298837e-02 2.30187393e+02] [-8.00327186e-01 -5.99194945e-01 2.10193621e-02 7.11486327e+01] [ 2.59538348e-02 4.01739430e-04 9.99663062e-01 2.26603647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:71.15, Z:22.66 [[-5.99270724e-01 8.00400321e-01 1.52946053e-02 2.30186212e+02] [-8.00125585e-01 -5.99465776e-01 2.09721619e-02 7.11473717e+01] [ 2.59547175e-02 3.30397583e-04 9.99663065e-01 2.26604380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:71.14, Z:22.66 [[-5.99896335e-01 7.99931381e-01 1.53026932e-02 2.30184191e+02] [-7.99656643e-01 -6.00091384e-01 2.09662587e-02 7.11448592e+01] [ 2.59545827e-02 3.40681470e-04 9.99663065e-01 2.26621320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:71.14, Z:22.66 [[-6.00561059e-01 7.99432276e-01 1.53117767e-02 2.30182182e+02] [-7.99157545e-01 -6.00756117e-01 2.09596229e-02 7.11419903e+01] [ 2.59544426e-02 3.51011418e-04 9.99663065e-01 2.26631628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:71.14, Z:22.66 [[-6.01721864e-01 7.98558765e-01 1.53198625e-02 2.30181337e+02] [-7.98283901e-01 -6.01916735e-01 2.09537112e-02 7.11395812e+01] [ 2.59540513e-02 3.78706547e-04 9.99663065e-01 2.26629893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:71.14, Z:22.67 [[-6.02852911e-01 7.97705078e-01 1.53289474e-02 2.30179888e+02] [-7.97430107e-01 -6.03047631e-01 2.09470629e-02 7.11364758e+01] [ 2.59536638e-02 4.04233609e-04 9.99663065e-01 2.26678185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:71.13, Z:22.67 [[-6.03455022e-01 7.97249529e-01 1.53370284e-02 2.30176967e+02] [-7.96974562e-01 -6.03649747e-01 2.09411445e-02 7.11323336e+01] [ 2.59535109e-02 4.13817354e-04 9.99663065e-01 2.26664738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:71.13, Z:22.67 [[-6.03745092e-01 7.97029730e-01 1.53451192e-02 2.30176800e+02] [-7.96754842e-01 -6.03939929e-01 2.09352141e-02 7.11321121e+01] [ 2.59535182e-02 4.13234736e-04 9.99663065e-01 2.26708159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:71.13, Z:22.67 [[-6.03933805e-01 7.96886590e-01 1.53532104e-02 2.30173871e+02] [-7.96611807e-01 -6.04128790e-01 2.09292785e-02 7.11283375e+01] [ 2.59535778e-02 4.09350142e-04 9.99663065e-01 2.26720435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:71.12, Z:22.68 [[-6.03563562e-01 7.97166884e-01 1.53618057e-02 2.30170967e+02] [-7.96892352e-01 -6.03758900e-01 2.09229678e-02 7.11242803e+01] [ 2.59539240e-02 3.86635523e-04 9.99663065e-01 2.26769372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:71.12, Z:22.68 [[-6.03974061e-01 7.96855678e-01 1.53740538e-02 2.30166050e+02] [-7.96581274e-01 -6.04169579e-01 2.09139642e-02 7.11175377e+01] [ 2.59539467e-02 3.84808536e-04 9.99663066e-01 2.26786838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:71.11, Z:22.68 [[-6.03569443e-01 7.97161738e-01 1.53977979e-02 2.30163903e+02] [-7.96887878e-01 -6.03765722e-01 2.08964681e-02 7.11147080e+01] [ 2.59545273e-02 3.42151094e-04 9.99663066e-01 2.26804069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:71.12, Z:22.68 [[-6.02219246e-01 7.98182084e-01 1.54058714e-02 2.30163889e+02] [-7.97908710e-01 -6.02416200e-01 2.08905142e-02 7.11156300e+01] [ 2.59551806e-02 2.88190693e-04 9.99663066e-01 2.26821109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:71.11, Z:22.68 [[-6.01801492e-01 7.98496947e-01 1.54139359e-02 2.30161976e+02] [-7.98223828e-01 -6.01998800e-01 2.08845621e-02 7.11139545e+01] [ 2.59554300e-02 2.64589723e-04 9.99663066e-01 2.26825763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:71.11, Z:22.68 [[-6.01183098e-01 7.98962461e-01 1.54229840e-02 2.30160946e+02] [-7.98689666e-01 -6.01380854e-01 2.08778781e-02 7.11137113e+01] [ 2.59557281e-02 2.33249500e-04 9.99663066e-01 2.26821806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:71.11, Z:22.68 [[-6.00309710e-01 7.99618744e-01 1.54310261e-02 2.30157531e+02] [-7.99346318e-01 -6.00507974e-01 2.08719324e-02 7.11112287e+01] [ 2.59560426e-02 1.94889823e-04 9.99663066e-01 2.26811724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:71.11, Z:22.68 [[-6.00417136e-01 7.99537909e-01 1.54400589e-02 2.30156991e+02] [-7.99265628e-01 -6.00615599e-01 2.08652482e-02 7.11104498e+01] [ 2.59560972e-02 1.87144194e-04 9.99663066e-01 2.26794997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:71.11, Z:22.68 [[-6.00742854e-01 7.99293031e-01 1.54490856e-02 2.30155530e+02] [-7.99020841e-01 -6.00941442e-01 2.08585625e-02 7.11083587e+01] [ 2.59560994e-02 1.86491012e-04 9.99663066e-01 2.26771728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.15, Y:71.10, Z:22.67 [[-6.01850934e-01 7.98458847e-01 1.54571082e-02 2.30150917e+02] [-7.98186535e-01 -6.02049353e-01 2.08526157e-02 7.11031651e+01] [ 2.59558975e-02 2.12510628e-04 9.99663066e-01 2.26727942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.15, Y:71.10, Z:22.67 [[-6.02715974e-01 7.97805919e-01 1.54651406e-02 2.30148231e+02] [-7.97533544e-01 -6.02914308e-01 2.08466569e-02 7.11007625e+01] [ 2.59557408e-02 2.30644778e-04 9.99663066e-01 2.26714183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.15, Y:71.10, Z:22.67 [[-6.03611726e-01 7.97128161e-01 1.54783583e-02 2.30145824e+02] [-7.96855815e-01 -6.03810099e-01 2.08368383e-02 7.11006576e+01] [ 2.59556197e-02 2.43340145e-04 9.99663067e-01 2.26698475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:71.10, Z:22.67 [[-6.03844231e-01 7.96951891e-01 1.54863792e-02 2.30143709e+02] [-7.96679640e-01 -6.04042735e-01 2.08308753e-02 7.10989862e+01] [ 2.59556403e-02 2.40920912e-04 9.99663067e-01 2.26696477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:71.10, Z:22.67 [[-6.04594465e-01 7.96382733e-01 1.54943938e-02 2.30141842e+02] [-7.96110448e-01 -6.04792921e-01 2.08249122e-02 7.10977726e+01] [ 2.59555002e-02 2.55377879e-04 9.99663067e-01 2.26708772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:71.09, Z:22.67 [[-6.05160599e-01 7.95952464e-01 1.55024061e-02 2.30137896e+02] [-7.95680191e-01 -6.05359072e-01 2.08189460e-02 7.10933547e+01] [ 2.59554135e-02 2.63848410e-04 9.99663067e-01 2.26722481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:71.09, Z:22.67 [[-6.05905904e-01 7.95385084e-01 1.55114192e-02 2.30137395e+02] [-7.95112797e-01 -6.06104357e-01 2.08122285e-02 7.10933006e+01] [ 2.59552749e-02 2.76924210e-04 9.99663067e-01 2.26735258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.13, Y:71.09, Z:22.68 [[-6.07115311e-01 7.94462174e-01 1.55194387e-02 2.30133774e+02] [-7.94189738e-01 -6.07313560e-01 2.08062467e-02 7.10912565e+01] [ 2.59549416e-02 3.06412010e-04 9.99663067e-01 2.26761895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.13, Y:71.09, Z:22.68 [[-6.08190226e-01 7.93639412e-01 1.55284431e-02 2.30128693e+02] [-7.93366880e-01 -6.08388342e-01 2.07995243e-02 7.10860337e+01] [ 2.59546460e-02 3.30314950e-04 9.99663067e-01 2.26772266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.12, Y:71.08, Z:22.68 [[-6.09189213e-01 7.92872682e-01 1.55374611e-02 2.30122661e+02] [-7.92600072e-01 -6.09387222e-01 2.07927855e-02 7.10791554e+01] [ 2.59543619e-02 3.51747866e-04 9.99663067e-01 2.26789412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.12, Y:71.08, Z:22.68 [[-6.10654280e-01 7.91744692e-01 1.55465095e-02 2.30124301e+02] [-7.91471888e-01 -6.10852022e-01 2.07860180e-02 7.10829144e+01] [ 2.59538361e-02 3.88445600e-04 9.99663067e-01 2.26804757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.12, Y:71.08, Z:22.68 [[-6.11434891e-01 7.91141852e-01 1.55545293e-02 2.30122619e+02] [-7.90869006e-01 -6.11632575e-01 2.07800148e-02 7.10813706e+01] [ 2.59535963e-02 4.04030963e-04 9.99663067e-01 2.26815524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.12, Y:71.08, Z:22.68 [[-6.12028622e-01 7.90682473e-01 1.55625538e-02 2.30116391e+02] [-7.90409631e-01 -6.12226311e-01 2.07740034e-02 7.10761548e+01] [ 2.59534453e-02 4.13492236e-04 9.99663067e-01 2.26835474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.12, Y:71.08, Z:22.69 [[-6.12128716e-01 7.90604827e-01 1.55705663e-02 2.30116297e+02] [-7.90332113e-01 -6.12326581e-01 2.07679961e-02 7.10782690e+01] [ 2.59535496e-02 4.06768201e-04 9.99663067e-01 2.26853689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.12, Y:71.08, Z:22.69 [[-6.11834771e-01 7.90832169e-01 1.55786077e-02 2.30115216e+02] [-7.90559682e-01 -6.12032949e-01 2.07619623e-02 7.10787534e+01] [ 2.59538489e-02 3.87071288e-04 9.99663067e-01 2.26858975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:71.08, Z:22.69 [[-6.10074782e-01 7.92190518e-01 1.55866293e-02 2.30110978e+02] [-7.91918626e-01 -6.10273775e-01 2.07559386e-02 7.10767192e+01] [ 2.59547688e-02 3.19332657e-04 9.99663067e-01 2.26854171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:71.07, Z:22.69 [[-6.09164068e-01 7.92890878e-01 1.55946485e-02 2.30108338e+02] [-7.92619369e-01 -6.09363584e-01 2.07499117e-02 7.10746582e+01] [ 2.59552266e-02 2.79480204e-04 9.99663067e-01 2.26853366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:71.07, Z:22.68 [[-6.08391812e-01 7.93483394e-01 1.56046923e-02 2.30105661e+02] [-7.93212273e-01 -6.08591854e-01 2.07423556e-02 7.10728315e+01] [ 2.59556034e-02 2.41645877e-04 9.99663067e-01 2.26840448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:71.08, Z:22.68 [[-6.06328744e-01 7.95060774e-01 1.56147254e-02 2.30105280e+02] [-7.94790368e-01 -6.06529752e-01 2.07348000e-02 7.10759749e+01] [ 2.59562217e-02 1.61671958e-04 9.99663067e-01 2.26825523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:71.07, Z:22.68 [[-6.05555386e-01 7.95649781e-01 1.56237053e-02 2.30101515e+02] [-7.95379745e-01 -6.05756890e-01 2.07280315e-02 7.10726488e+01] [ 2.59564208e-02 1.25192390e-04 9.99663068e-01 2.26822272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:71.07, Z:22.68 [[-6.04889124e-01 7.96156246e-01 1.56326690e-02 2.30100706e+02] [-7.95886553e-01 -6.05091087e-01 2.07212690e-02 7.10731154e+01] [ 2.59565564e-02 9.22392203e-05 9.99663068e-01 2.26805276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:71.07, Z:22.68 [[-6.03434109e-01 7.97259441e-01 1.56416266e-02 2.30098831e+02] [-7.96990292e-01 -6.03636797e-01 2.07145051e-02 7.10726111e+01] [ 2.59566961e-02 3.36143905e-05 9.99663068e-01 2.26781417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:71.07, Z:22.68 [[-6.03120413e-01 7.97496601e-01 1.56505648e-02 2.30097770e+02] [-7.97227707e-01 -6.03323439e-01 2.07077497e-02 7.10720822e+01] [ 2.59567126e-02 1.22026451e-05 9.99663068e-01 2.26775568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:71.07, Z:22.68 [[-6.02684900e-01 7.97825602e-01 1.56594870e-02 2.30095260e+02] [-7.97556995e-01 -6.02888305e-01 2.07010004e-02 7.10707125e+01] [ 2.59567097e-02 -1.31530340e-05 9.99663068e-01 2.26761304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.09, Y:71.07, Z:22.68 [[-6.02900419e-01 7.97662536e-01 1.56704384e-02 2.30091021e+02] [-7.97394090e-01 -6.03104036e-01 2.06927070e-02 7.10660783e+01] [ 2.59567018e-02 -1.98731970e-05 9.99663068e-01 2.26761352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.09, Y:71.06, Z:22.68 [[-6.03173187e-01 7.97456121e-01 1.56793445e-02 2.30088957e+02] [-7.97187780e-01 -6.03376943e-01 2.06859565e-02 7.10638969e+01] [ 2.59566976e-02 -2.21675784e-05 9.99663068e-01 2.26765983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.09, Y:71.06, Z:22.68 [[-6.04110565e-01 7.96746072e-01 1.56882541e-02 2.30086141e+02] [-7.96477667e-01 -6.04314237e-01 2.06791972e-02 7.10609519e+01] [ 2.59567045e-02 -2.82256600e-06 9.99663068e-01 2.26772656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:71.06, Z:22.68 [[-6.04453930e-01 7.96485434e-01 1.56971640e-02 2.30084268e+02] [-7.96217117e-01 -6.04657716e-01 2.06724317e-02 7.10583853e+01] [ 2.59567021e-02 -2.81814473e-06 9.99663068e-01 2.26773527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:71.06, Z:22.68 [[-6.06673644e-01 7.94795829e-01 1.57060745e-02 2.30082042e+02] [-7.94527119e-01 -6.06876913e-01 2.06656596e-02 7.10558742e+01] [ 2.59566341e-02 5.84088629e-05 9.99663068e-01 2.26806315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:71.05, Z:22.68 [[-6.09135883e-01 7.92910116e-01 1.57170244e-02 2.30078535e+02] [-7.92640992e-01 -6.09338603e-01 2.06573285e-02 7.10511783e+01] [ 2.59563944e-02 1.25162215e-04 9.99663068e-01 2.26837420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:71.05, Z:22.69 [[-6.10521894e-01 7.91843217e-01 1.57269430e-02 2.30074295e+02] [-7.91573933e-01 -6.10724402e-01 2.06497744e-02 7.10454371e+01] [ 2.59562117e-02 1.58101238e-04 9.99663068e-01 2.26857778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:71.04, Z:22.69 [[-6.11885477e-01 7.90789824e-01 1.57358600e-02 2.30071843e+02] [-7.90520366e-01 -6.12087753e-01 2.06429771e-02 7.10422555e+01] [ 2.59559834e-02 1.91620040e-04 9.99663068e-01 2.26874470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:71.04, Z:22.69 [[-6.13656000e-01 7.89416483e-01 1.57458083e-02 2.30067317e+02] [-7.89146767e-01 -6.13857932e-01 2.06353861e-02 7.10368071e+01] [ 2.59556032e-02 2.37274810e-04 9.99663068e-01 2.26911808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:71.04, Z:22.69 [[-6.14589040e-01 7.88690137e-01 1.57537342e-02 2.30067334e+02] [-7.88420338e-01 -6.14790860e-01 2.06293334e-02 7.10365714e+01] [ 2.59554036e-02 2.57997845e-04 9.99663068e-01 2.26922187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:71.03, Z:22.69 [[-6.15563324e-01 7.87929776e-01 1.57626783e-02 2.30065686e+02] [-7.87659903e-01 -6.15765045e-01 2.06224970e-02 7.10341278e+01] [ 2.59551858e-02 2.78823144e-04 9.99663069e-01 2.26929616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:71.03, Z:22.69 [[-6.16588690e-01 7.87127463e-01 1.57716095e-02 2.30063055e+02] [-7.86857502e-01 -6.16790293e-01 2.06156644e-02 7.10303085e+01] [ 2.59549313e-02 3.01376200e-04 9.99663069e-01 2.26928631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:71.03, Z:22.69 [[-6.18374119e-01 7.85725412e-01 1.57805410e-02 2.30060748e+02] [-7.85455168e-01 -6.18575343e-01 2.06088254e-02 7.10275028e+01] [ 2.59543314e-02 3.49056735e-04 9.99663069e-01 2.26918972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:71.02, Z:22.69 [[-6.19289780e-01 7.85003733e-01 1.57894763e-02 2.30058361e+02] [-7.84733429e-01 -6.19490923e-01 2.06019773e-02 7.10242953e+01] [ 2.59540664e-02 3.68064128e-04 9.99663069e-01 2.26908360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:71.02, Z:22.69 [[-6.20068830e-01 7.84388332e-01 1.57984118e-02 2.30055962e+02] [-7.84118003e-01 -6.20269939e-01 2.05951229e-02 7.10210430e+01] [ 2.59538541e-02 3.82574658e-04 9.99663069e-01 2.26899266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.05, Y:71.02, Z:22.69 [[-6.21052246e-01 7.83609747e-01 1.58073508e-02 2.30053172e+02] [-7.83339340e-01 -6.21253251e-01 2.05882597e-02 7.10183504e+01] [ 2.59535291e-02 4.03865186e-04 9.99663069e-01 2.26871141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.05, Y:71.02, Z:22.69 [[-6.21504226e-01 7.83251136e-01 1.58162904e-02 2.30051756e+02] [-7.82980788e-01 -6.21705309e-01 2.05813899e-02 7.10170157e+01] [ 2.59534687e-02 4.07569267e-04 9.99663069e-01 2.26855178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.05, Y:71.01, Z:22.68 [[-6.21547178e-01 7.83216872e-01 1.58252234e-02 2.30047417e+02] [-7.82946688e-01 -6.21748481e-01 2.05745189e-02 7.10133101e+01] [ 2.59536190e-02 3.97727894e-04 9.99663069e-01 2.26840004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.05, Y:71.01, Z:22.68 [[-6.21548703e-01 7.83215481e-01 1.58341570e-02 2.30045808e+02] [-7.82945472e-01 -6.21750240e-01 2.05676413e-02 7.10122327e+01] [ 2.59537860e-02 3.86509225e-04 9.99663069e-01 2.26837760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.04, Y:71.01, Z:22.68 [[-6.21668590e-01 7.83120135e-01 1.58435772e-02 2.30043886e+02] [-7.82850279e-01 -6.21870333e-01 2.05603823e-02 7.10110314e+01] [ 2.59538999e-02 3.78595057e-04 9.99663069e-01 2.26840943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.04, Y:71.01, Z:22.68 [[-6.21585576e-01 7.83185846e-01 1.58524946e-02 2.30041188e+02] [-7.82916187e-01 -6.21787582e-01 2.05535044e-02 7.10090967e+01] [ 2.59540980e-02 3.64587230e-04 9.99663069e-01 2.26842870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:71.03, Z:22.68 [[-6.12155108e-01 7.90578611e-01 1.58614059e-02 2.30059790e+02] [-7.90311570e-01 -6.12360563e-01 2.05466252e-02 7.10274204e+01] [ 2.59566218e-02 4.22689537e-05 9.99663069e-01 2.26783955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.04, Y:71.01, Z:22.69 [[-6.19571521e-01 7.84784861e-01 1.56157573e-02 2.30035971e+02] [-7.84511086e-01 -6.19767993e-01 2.07362296e-02 7.10080498e+01] [ 2.59516256e-02 5.96842569e-04 9.99663022e-01 2.26862540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.03, Y:71.01, Z:22.69 [[-6.17351491e-01 7.86527284e-01 1.58735022e-02 2.30034023e+02] [-7.86259142e-01 -6.17555498e-01 2.05370147e-02 7.10093579e+01] [ 2.59556909e-02 1.97870372e-04 9.99663075e-01 2.26883194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.03, Y:71.01, Z:22.69 [[-6.16383749e-01 7.87285732e-01 1.58823833e-02 2.30031089e+02] [-7.87018018e-01 -6.16588317e-01 2.05301442e-02 7.10073420e+01] [ 2.59559816e-02 1.54725419e-04 9.99663075e-01 2.26893417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:71.00, Z:22.69 [[-6.15615267e-01 7.87886611e-01 1.58912550e-02 2.30023337e+02] [-7.87619274e-01 -6.15820327e-01 2.05232748e-02 7.09994705e+01] [ 2.59561713e-02 1.18182587e-04 9.99663075e-01 2.26919024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:71.01, Z:22.69 [[-6.13027937e-01 7.89901177e-01 1.59021853e-02 2.30024589e+02] [-7.89634734e-01 -6.13234156e-01 2.05148021e-02 7.10052783e+01] [ 2.59564295e-02 1.92289370e-05 9.99663075e-01 2.26935327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:71.01, Z:22.70 [[-6.11822487e-01 7.90835033e-01 1.59120749e-02 2.30023086e+02] [-7.90569104e-01 -6.12029369e-01 2.05071285e-02 7.10057851e+01] [ 2.59564128e-02 -3.28724470e-05 9.99663075e-01 2.26952148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:71.01, Z:22.70 [[-6.09503145e-01 7.92623770e-01 1.59209074e-02 2.30019741e+02] [-7.92358627e-01 -6.09711034e-01 2.05002690e-02 7.10062249e+01] [ 2.59561534e-02 -1.20089936e-04 9.99663075e-01 2.26968817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:71.01, Z:22.70 [[-6.08309905e-01 7.93539710e-01 1.59307288e-02 2.30017833e+02] [-7.93275080e-01 -6.08518446e-01 2.04926339e-02 7.10053719e+01] [ 2.59558611e-02 -1.71578013e-04 9.99663075e-01 2.26980066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:71.00, Z:22.70 [[-6.07652125e-01 7.94043341e-01 1.59395296e-02 2.30012395e+02] [-7.93779063e-01 -6.07861112e-01 2.04857863e-02 7.09998516e+01] [ 2.59556223e-02 -2.04233319e-04 9.99663075e-01 2.26985307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:71.00, Z:22.70 [[-6.07075587e-01 7.94483974e-01 1.59513745e-02 2.30011610e+02] [-7.94220091e-01 -6.07285071e-01 2.04765590e-02 7.10003827e+01] [ 2.59553296e-02 -2.38083047e-04 9.99663075e-01 2.26988675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:71.00, Z:22.70 [[-6.06852679e-01 7.94654075e-01 1.59601683e-02 2.30007313e+02] [-7.94390431e-01 -6.07062464e-01 2.04697025e-02 7.09960006e+01] [ 2.59551516e-02 -2.56511213e-04 9.99663075e-01 2.26984451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.00, Y:70.99, Z:22.70 [[-6.06941762e-01 7.94585841e-01 1.59699609e-02 2.30004801e+02] [-7.94322373e-01 -6.07151769e-01 2.04620597e-02 7.09946569e+01] [ 2.59550529e-02 -2.66018661e-04 9.99663075e-01 2.26972231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.00, Y:70.99, Z:22.70 [[-6.07646098e-01 7.94047164e-01 1.59787485e-02 2.30001592e+02] [-7.93783691e-01 -6.07856099e-01 2.04551952e-02 7.09911186e+01] [ 2.59551694e-02 -2.54150385e-04 9.99663076e-01 2.26960719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.00, Y:70.99, Z:22.69 [[-6.09407825e-01 7.92695718e-01 1.59875363e-02 2.29999923e+02] [-7.92431960e-01 -6.09617467e-01 2.04483245e-02 7.09892098e+01] [ 2.59555806e-02 -2.07665735e-04 9.99663076e-01 2.26936675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.00, Y:70.98, Z:22.69 [[-6.10891206e-01 7.91552917e-01 1.59973254e-02 2.29996080e+02] [-7.91288967e-01 -6.11100606e-01 2.04406633e-02 7.09838326e+01] [ 2.59558419e-02 -1.71485642e-04 9.99663076e-01 2.26925881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.99, Y:70.98, Z:22.69 [[-6.14313468e-01 7.88899679e-01 1.60081233e-02 2.29993889e+02] [-7.88635044e-01 -6.14522003e-01 2.04322034e-02 7.09803799e+01] [ 2.59563027e-02 -7.27893022e-05 9.99663076e-01 2.26917426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.99, Y:70.97, Z:22.69 [[-6.16653724e-01 7.87071562e-01 1.60169106e-02 2.29988369e+02] [-7.86806488e-01 -6.16861700e-01 2.04253126e-02 7.09726872e+01] [ 2.59564014e-02 -6.86407806e-06 9.99663076e-01 2.26918252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.99, Y:70.97, Z:22.69 [[-6.18872496e-01 7.85327740e-01 1.60366938e-02 2.29985094e+02] [-7.85062483e-01 -6.19080237e-01 2.04097683e-02 7.09685859e+01] [ 2.59563574e-02 4.12376520e-05 9.99663076e-01 2.26922895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.98, Y:70.96, Z:22.69 [[-6.20870608e-01 7.83748831e-01 1.60454909e-02 2.29981691e+02] [-7.83483224e-01 -6.21077903e-01 2.04028499e-02 7.09637388e+01] [ 2.59562096e-02 9.61568831e-05 9.99663076e-01 2.26933055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.98, Y:70.96, Z:22.70 [[-6.24395370e-01 7.80943415e-01 1.60563170e-02 2.29978833e+02] [-7.80677096e-01 -6.24601748e-01 2.03943266e-02 7.09588523e+01] [ 2.59556187e-02 1.99324160e-04 9.99663076e-01 2.26954708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.98, Y:70.95, Z:22.70 [[-6.25927915e-01 7.79715413e-01 1.60661341e-02 2.29975280e+02] [-7.79448888e-01 -6.26134026e-01 2.03865900e-02 7.09532153e+01] [ 2.59552917e-02 2.37805406e-04 9.99663076e-01 2.26968258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.97, Y:70.95, Z:22.70 [[-6.27405913e-01 7.78526439e-01 1.60749567e-02 2.29974462e+02] [-7.78259701e-01 -6.27611750e-01 2.03796310e-02 7.09508274e+01] [ 2.59549132e-02 2.75809956e-04 9.99663076e-01 2.26986471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.97, Y:70.95, Z:22.70 [[-6.29849150e-01 7.76550939e-01 1.60837859e-02 2.29971873e+02] [-7.76283733e-01 -6.30054379e-01 2.03726606e-02 7.09462446e+01] [ 2.59540684e-02 3.46121606e-04 9.99663077e-01 2.27016580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.97, Y:70.94, Z:22.70 [[-6.31051522e-01 7.75573984e-01 1.60926155e-02 2.29969040e+02] [-7.75306639e-01 -6.31256568e-01 2.03656836e-02 7.09423490e+01] [ 2.59536635e-02 3.75083997e-04 9.99663077e-01 2.27011537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.97, Y:70.94, Z:22.70 [[-6.33089312e-01 7.73911278e-01 1.61014548e-02 2.29966852e+02] [-7.73643572e-01 -6.33293887e-01 2.03586926e-02 7.09386702e+01] [ 2.59527747e-02 4.32083726e-04 9.99663077e-01 2.27012930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.96, Y:70.93, Z:22.70 [[-6.34478492e-01 7.72772564e-01 1.61123247e-02 2.29963596e+02] [-7.72504710e-01 -6.34682872e-01 2.03500863e-02 7.09344275e+01] [ 2.59522049e-02 4.64845420e-04 9.99663077e-01 2.27009007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.96, Y:70.93, Z:22.70 [[-6.35523768e-01 7.71912980e-01 1.61211671e-02 2.29962075e+02] [-7.71645026e-01 -6.35728018e-01 2.03430790e-02 7.09318459e+01] [ 2.59517644e-02 4.88691819e-04 9.99663077e-01 2.27002406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.96, Y:70.93, Z:22.70 [[-6.37653295e-01 7.70154594e-01 1.61300129e-02 2.29957415e+02] [-7.69886254e-01 -6.37857037e-01 2.03360628e-02 7.09258237e+01] [ 2.59505544e-02 5.49082217e-04 9.99663077e-01 2.26984011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.96, Y:70.92, Z:22.70 [[-6.38771989e-01 7.69226787e-01 1.61398782e-02 2.29955538e+02] [-7.68958350e-01 -6.38975602e-01 2.03282301e-02 7.09236085e+01] [ 2.59500075e-02 5.74209877e-04 9.99663077e-01 2.26985439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.95, Y:70.92, Z:22.70 [[-6.40151434e-01 7.68079006e-01 1.61487374e-02 2.29950459e+02] [-7.67810380e-01 -6.40354799e-01 2.03211899e-02 7.09184256e+01] [ 2.59492008e-02 6.09470663e-04 9.99663077e-01 2.26969314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.95, Y:70.91, Z:22.70 [[-6.40777970e-01 7.67556204e-01 1.61576064e-02 2.29945963e+02] [-7.67287590e-01 -6.40981350e-01 2.03141356e-02 7.09139242e+01] [ 2.59489652e-02 6.19319724e-04 9.99663077e-01 2.26967356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.95, Y:70.92, Z:22.70 [[-6.40509683e-01 7.67779867e-01 1.61685334e-02 2.29945808e+02] [-7.67511543e-01 -6.40713446e-01 2.03054348e-02 7.09157031e+01] [ 2.59495008e-02 5.96291558e-04 9.99663077e-01 2.26975760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:70.91, Z:22.70 [[-6.40375282e-01 7.67891783e-01 1.61774055e-02 2.29943606e+02] [-7.67623673e-01 -6.40579326e-01 2.02983639e-02 7.09141672e+01] [ 2.59498584e-02 5.80411049e-04 9.99663077e-01 2.26969697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:70.91, Z:22.70 [[-6.39886427e-01 7.68298987e-01 1.61872670e-02 2.29942511e+02] [-7.68031206e-01 -6.40090902e-01 2.02904967e-02 7.09137312e+01] [ 2.59504904e-02 5.51287190e-04 9.99663077e-01 2.26982043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:70.91, Z:22.70 [[-6.39362474e-01 7.68734878e-01 1.61960998e-02 2.29939422e+02] [-7.68467415e-01 -6.39567365e-01 2.02834437e-02 7.09113421e+01] [ 2.59510876e-02 5.22297790e-04 9.99663077e-01 2.26987164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:70.91, Z:22.70 [[-6.38137653e-01 7.69751737e-01 1.62049264e-02 2.29936253e+02] [-7.69484779e-01 -6.38343202e-01 2.02763896e-02 7.09106507e+01] [ 2.59520907e-02 4.69683434e-04 9.99663077e-01 2.27013279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.93, Y:70.91, Z:22.70 [[-6.37829803e-01 7.70006639e-01 1.62147552e-02 2.29934112e+02] [-7.69739963e-01 -6.38035717e-01 2.02685265e-02 7.09094852e+01] [ 2.59524930e-02 4.46725216e-04 9.99663078e-01 2.27016127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.93, Y:70.90, Z:22.70 [[-6.37507287e-01 7.70273494e-01 1.62235654e-02 2.29929210e+02] [-7.70007084e-01 -6.37713544e-01 2.02614722e-02 7.09042593e+01] [ 2.59528623e-02 4.24575880e-04 9.99663078e-01 2.27022015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.93, Y:70.91, Z:22.70 [[-6.36745628e-01 7.70903052e-01 1.62323824e-02 2.29928111e+02] [-7.70637025e-01 -6.36952380e-01 2.02544060e-02 7.09052006e+01] [ 2.59534380e-02 3.87629633e-04 9.99663078e-01 2.27028385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.046875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.92, Y:70.90, Z:22.70 [[-6.36594394e-01 7.71027735e-01 1.62422042e-02 2.29919652e+02] [-7.70761950e-01 -6.36801456e-01 2.02465267e-02 7.08958740e+01] [ 2.59536929e-02 3.69952371e-04 9.99663078e-01 2.27036139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:70.90, Z:22.70 [[-6.35467741e-01 7.71956360e-01 1.62520368e-02 2.29918472e+02] [-7.71691079e-01 -6.35675449e-01 2.02386310e-02 7.08980969e+01] [ 2.59543607e-02 3.19445318e-04 9.99663078e-01 2.27048699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.106875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.92, Y:70.90, Z:22.71 [[-6.34984978e-01 7.72353306e-01 1.62618805e-02 2.29920068e+02] [-7.72088357e-01 -6.35193110e-01 2.02307184e-02 7.09020831e+01] [ 2.59546967e-02 2.90593665e-04 9.99663078e-01 2.27053454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:70.90, Z:22.71 [[-6.34743135e-01 7.72551887e-01 1.62706710e-02 2.29916053e+02] [-7.72287185e-01 -6.34951580e-01 2.02236461e-02 7.08991608e+01] [ 2.59549042e-02 2.71189785e-04 9.99663078e-01 2.27057321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.91, Y:70.90, Z:22.71 [[-6.33483854e-01 7.73584571e-01 1.62824653e-02 2.29912794e+02] [-7.73320453e-01 -6.33693038e-01 2.02141458e-02 7.08982894e+01] [ 2.59554362e-02 2.13771546e-04 9.99663078e-01 2.27055320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.90, Y:70.89, Z:22.71 [[-6.33205737e-01 7.73812030e-01 1.62922172e-02 2.29902422e+02] [-7.73548189e-01 -6.33415271e-01 2.02062829e-02 7.08872542e+01] [ 2.59556040e-02 1.91919145e-04 9.99663078e-01 2.27054396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.90, Y:70.88, Z:22.71 [[-6.33543402e-01 7.73535413e-01 1.63010003e-02 2.29900487e+02] [-7.73271663e-01 -6.33753049e-01 2.01991948e-02 7.08847601e+01] [ 2.59556012e-02 1.91965019e-04 9.99663078e-01 2.27055267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.25687500000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.90, Y:70.89, Z:22.70 [[-6.33526390e-01 7.73549160e-01 1.63098160e-02 2.29902927e+02] [-7.73285597e-01 -6.33736274e-01 2.01920741e-02 7.08893677e+01] [ 2.59556840e-02 1.80066035e-04 9.99663078e-01 2.27045088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.90, Y:70.89, Z:22.70 [[-6.33350997e-01 7.73692565e-01 1.63196039e-02 2.29901259e+02] [-7.73429254e-01 -6.33561196e-01 2.01841603e-02 7.08910134e+01] [ 2.59558025e-02 1.61598956e-04 9.99663078e-01 2.27025368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.90, Y:70.89, Z:22.70 [[-6.33496937e-01 7.73572869e-01 1.63293413e-02 2.29897398e+02] [-7.73309721e-01 -6.33707340e-01 2.01762794e-02 7.08879349e+01] [ 2.59558458e-02 1.53972857e-04 9.99663078e-01 2.27022717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:70.89, Z:22.70 [[-6.34161516e-01 7.73027968e-01 1.63380662e-02 2.29894888e+02] [-7.72764821e-01 -6.34371921e-01 2.01692118e-02 7.08882908e+01] [ 2.59557753e-02 1.65055142e-04 9.99663079e-01 2.27012101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:70.88, Z:22.70 [[-6.34853311e-01 7.72459723e-01 1.63477822e-02 2.29890013e+02] [-7.72196591e-01 -6.35063734e-01 2.01613336e-02 7.08839087e+01] [ 2.59557018e-02 1.75787729e-04 9.99663079e-01 2.27008941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.406875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:229.89, Y:70.88, Z:22.70 [[-6.35582828e-01 7.71859379e-01 1.63574944e-02 2.29887388e+02] [-7.71596251e-01 -6.35793256e-01 2.01534508e-02 7.08819042e+01] [ 2.59556146e-02 1.87805880e-04 9.99663079e-01 2.27009769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.88, Y:70.88, Z:22.70 [[-6.36526617e-01 7.71081047e-01 1.63672096e-02 2.29880738e+02] [-7.70817864e-01 -6.36736976e-01 2.01455577e-02 7.08754192e+01] [ 2.59554652e-02 2.07046102e-04 9.99663079e-01 2.27017589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.88, Y:70.88, Z:22.70 [[-6.37840348e-01 7.69994429e-01 1.63789535e-02 2.29878418e+02] [-7.69731134e-01 -6.38050565e-01 2.01360050e-02 7.08761900e+01] [ 2.59552122e-02 2.36165993e-04 9.99663079e-01 2.27033241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.87, Y:70.86, Z:22.70 [[-6.38869512e-01 7.69140532e-01 1.63886713e-02 2.29866742e+02] [-7.68877159e-01 -6.39079631e-01 2.01280925e-02 7.08633180e+01] [ 2.59549978e-02 2.58349604e-04 9.99663079e-01 2.27040212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.87, Y:70.87, Z:22.70 [[-6.40511056e-01 7.67773847e-01 1.63984250e-02 2.29870288e+02] [-7.67510228e-01 -6.40720867e-01 2.01201431e-02 7.08707088e+01] [ 2.59545327e-02 3.01215139e-04 9.99663079e-01 2.27041664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.87, Y:70.87, Z:22.70 [[-6.41403675e-01 7.67028095e-01 1.64081780e-02 2.29865291e+02] [-7.66764436e-01 -6.41613435e-01 2.01121862e-02 7.08661276e+01] [ 2.59543194e-02 3.18822797e-04 9.99663079e-01 2.27046572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.86, Y:70.86, Z:22.71 [[-6.42121541e-01 7.66427022e-01 1.64178949e-02 2.29861853e+02] [-7.66163369e-01 -6.42331310e-01 2.01042511e-02 7.08635157e+01] [ 2.59541692e-02 3.30583015e-04 9.99663079e-01 2.27054505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.85, Y:70.86, Z:22.71 [[-6.43201627e-01 7.65520607e-01 1.64276190e-02 2.29853601e+02] [-7.65256862e-01 -6.43411279e-01 2.00963021e-02 7.08573073e+01] [ 2.59538488e-02 3.54626066e-04 9.99663079e-01 2.27063772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.85, Y:70.85, Z:22.71 [[-6.43945987e-01 7.64894358e-01 1.64373604e-02 2.29849060e+02] [-7.64630612e-01 -6.44155638e-01 2.00883312e-02 7.08541951e+01] [ 2.59536696e-02 3.67291271e-04 9.99663079e-01 2.27065003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:70.85, Z:22.71 [[-6.44345189e-01 7.64557848e-01 1.64491488e-02 2.29844794e+02] [-7.64294239e-01 -6.44555012e-01 2.00786738e-02 7.08519690e+01] [ 2.59536889e-02 3.65607225e-04 9.99663079e-01 2.27066692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.83, Y:70.84, Z:22.71 [[-6.44474941e-01 7.64448269e-01 1.64589034e-02 2.29830715e+02] [-7.64184828e-01 -6.44684975e-01 2.00706745e-02 7.08404482e+01] [ 2.59538001e-02 3.57402509e-04 9.99663080e-01 2.27060670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:70.85, Z:22.71 [[-6.44733311e-01 7.64230161e-01 1.64687087e-02 2.29839964e+02] [-7.63966855e-01 -6.44943514e-01 2.00626257e-02 7.08544245e+01] [ 2.59538505e-02 3.53495479e-04 9.99663080e-01 2.27050827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:70.85, Z:22.70 [[-6.44479829e-01 7.64443682e-01 1.64805088e-02 2.29836361e+02] [-7.64180693e-01 -6.44690429e-01 2.00529278e-02 7.08537974e+01] [ 2.59541602e-02 3.29620835e-04 9.99663080e-01 2.27037154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.83, Y:70.85, Z:22.70 [[-6.44764532e-01 7.64203358e-01 1.64901902e-02 2.29830160e+02] [-7.63940494e-01 -6.44975287e-01 2.00449633e-02 7.08483685e+01] [ 2.59541934e-02 3.26757311e-04 9.99663080e-01 2.27035559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.83, Y:70.85, Z:22.70 [[-6.44953672e-01 7.64043530e-01 1.64998782e-02 2.29826610e+02] [-7.63780818e-01 -6.45164616e-01 2.00369855e-02 7.08464212e+01] [ 2.59542667e-02 3.20636839e-04 9.99663080e-01 2.27035471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.856875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:229.82, Y:70.85, Z:22.70 [[-6.45295830e-01 7.63754341e-01 1.65105762e-02 2.29822484e+02] [-7.63491760e-01 -6.45506937e-01 2.00281664e-02 7.08464009e+01] [ 2.59542905e-02 3.18403434e-04 9.99663080e-01 2.27039371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.82, Y:70.84, Z:22.70 [[-6.45678634e-01 7.63430514e-01 1.65212580e-02 2.29816489e+02] [-7.63168052e-01 -6.45889890e-01 2.00193511e-02 7.08410881e+01] [ 2.59542970e-02 3.17570940e-04 9.99663080e-01 2.27043381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.81, Y:70.84, Z:22.70 [[-6.46413948e-01 7.62807797e-01 1.65309374e-02 2.29812312e+02] [-7.62545336e-01 -6.46625205e-01 2.00113552e-02 7.08375228e+01] [ 2.59541385e-02 3.30029919e-04 9.99663080e-01 2.27039674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.81, Y:70.83, Z:22.70 [[-6.47582905e-01 7.61815456e-01 1.65406344e-02 2.29806656e+02] [-7.61552876e-01 -6.47794013e-01 2.00033368e-02 7.08328872e+01] [ 2.59537751e-02 3.57251192e-04 9.99663080e-01 2.27033023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.80, Y:70.83, Z:22.70 [[-6.48882411e-01 7.60708685e-01 1.65503456e-02 2.29802061e+02] [-7.60445950e-01 -6.49093326e-01 1.99952987e-02 7.08286015e+01] [ 2.59533163e-02 3.88954399e-04 9.99663080e-01 2.27042617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.80, Y:70.83, Z:22.70 [[-6.49679556e-01 7.60027504e-01 1.65731053e-02 2.29799953e+02] [-7.59765029e-01 -6.49890794e-01 1.99764165e-02 7.08276893e+01] [ 2.59533345e-02 3.86603543e-04 9.99663081e-01 2.27035433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.80, Y:70.82, Z:22.71 [[-6.50300714e-01 7.59495881e-01 1.65827781e-02 2.29796058e+02] [-7.59233438e-01 -6.50511991e-01 1.99683838e-02 7.08241818e+01] [ 2.59532012e-02 3.95254599e-04 9.99663081e-01 2.27052411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.78, Y:70.80, Z:22.71 [[-6.51197392e-01 7.58726969e-01 1.65934393e-02 2.29777856e+02] [-7.58464502e-01 -6.51408640e-01 1.99595205e-02 7.08041435e+01] [ 2.59529362e-02 4.12052989e-04 9.99663081e-01 2.27068385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:70.80, Z:22.71 [[-6.51794701e-01 7.58213691e-01 1.66031833e-02 2.29771722e+02] [-7.57951264e-01 -6.52005999e-01 1.99514117e-02 7.07971271e+01] [ 2.59528086e-02 4.19820617e-04 9.99663081e-01 2.27069209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.78, Y:70.81, Z:22.71 [[-6.53001998e-01 7.57173955e-01 1.66130259e-02 2.29778526e+02] [-7.56911400e-01 -6.53213136e-01 1.99432127e-02 7.08062586e+01] [ 2.59523280e-02 4.48369008e-04 9.99663081e-01 2.27075875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:70.80, Z:22.71 [[-6.53912693e-01 7.56387370e-01 1.66233652e-02 2.29770028e+02] [-7.56124780e-01 -6.54123787e-01 1.99345908e-02 7.07957138e+01] [ 2.59520113e-02 4.66143566e-04 9.99663081e-01 2.27085034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.78, Y:70.80, Z:22.71 [[-6.54535610e-01 7.55848181e-01 1.66331442e-02 2.29775075e+02] [-7.55585625e-01 -6.54746746e-01 1.99264280e-02 7.08008447e+01] [ 2.59518514e-02 4.74792004e-04 9.99663081e-01 2.27082184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:70.80, Z:22.71 [[-6.55605825e-01 7.54919874e-01 1.66429117e-02 2.29771613e+02] [-7.54657225e-01 -6.55816846e-01 1.99182666e-02 7.07951592e+01] [ 2.59513972e-02 4.98838052e-04 9.99663081e-01 2.27081235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.78, Y:70.80, Z:22.71 [[-6.55968594e-01 7.54604461e-01 1.66526463e-02 2.29776590e+02] [-7.54341918e-01 -6.56179745e-01 1.99101248e-02 7.08000778e+01] [ 2.59513982e-02 4.98627442e-04 9.99663081e-01 2.27079886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:70.79, Z:22.71 [[-6.56364055e-01 7.54260273e-01 1.66633486e-02 2.29771632e+02] [-7.53997846e-01 -6.56575351e-01 1.99011637e-02 7.07933272e+01] [ 2.59514011e-02 4.98279541e-04 9.99663082e-01 2.27078436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:70.79, Z:22.71 [[-6.56530060e-01 7.54115568e-01 1.66730169e-02 2.29770931e+02] [-7.53853300e-01 -6.56741554e-01 1.98930603e-02 7.07915700e+01] [ 2.59515295e-02 4.91383271e-04 9.99663082e-01 2.27070507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:70.77, Z:22.71 [[-6.56179290e-01 7.54420568e-01 1.66836859e-02 2.29757087e+02] [-7.54158626e-01 -6.56391186e-01 1.98841085e-02 7.07729932e+01] [ 2.59520048e-02 4.65394593e-04 9.99663082e-01 2.27059879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:70.78, Z:22.71 [[-6.56103104e-01 7.54486612e-01 1.66934075e-02 2.29762278e+02] [-7.54224898e-01 -6.56315283e-01 1.98759436e-02 7.07779846e+01] [ 2.59522718e-02 4.50084750e-04 9.99663082e-01 2.27053782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:70.77, Z:22.70 [[-6.55202367e-01 7.55268736e-01 1.67031539e-02 2.29756992e+02] [-7.55007484e-01 -6.55415114e-01 1.98677496e-02 7.07696190e+01] [ 2.59529896e-02 4.06390335e-04 9.99663082e-01 2.27041988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:70.78, Z:22.70 [[-6.54604156e-01 7.55787037e-01 1.67138807e-02 2.29767908e+02] [-7.55526184e-01 -6.54817391e-01 1.98587216e-02 7.07812649e+01] [ 2.59535041e-02 3.71827176e-04 9.99663082e-01 2.27041538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:70.78, Z:22.70 [[-6.54477401e-01 7.55896590e-01 1.67235426e-02 2.29765018e+02] [-7.55635981e-01 -6.54690934e-01 1.98505817e-02 7.07770718e+01] [ 2.59537387e-02 3.54846601e-04 9.99663082e-01 2.27044309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:70.77, Z:22.71 [[-6.53454161e-01 7.56781119e-01 1.67331329e-02 2.29762859e+02] [-7.56521006e-01 -6.53668298e-01 1.98424941e-02 7.07723891e+01] [ 2.59543434e-02 3.07193801e-04 9.99663082e-01 2.27051640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:70.77, Z:22.71 [[-6.53159895e-01 7.57034895e-01 1.67427303e-02 2.29763503e+02] [-7.56775073e-01 -6.53374385e-01 1.98343927e-02 7.07717750e+01] [ 2.59545985e-02 2.84548917e-04 9.99663082e-01 2.27053246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:70.76, Z:22.71 [[-6.52925237e-01 7.57237080e-01 1.67523129e-02 2.29757897e+02] [-7.56977531e-01 -6.53140058e-01 1.98262959e-02 7.07640430e+01] [ 2.59548130e-02 2.63964531e-04 9.99663082e-01 2.27061103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:70.76, Z:22.71 [[-6.52261285e-01 7.57808785e-01 1.67648851e-02 2.29755970e+02] [-7.57549698e-01 -6.52476662e-01 1.98156593e-02 7.07594126e+01] [ 2.59551770e-02 2.24753725e-04 9.99663082e-01 2.27062587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:70.76, Z:22.71 [[-6.52091566e-01 7.57954620e-01 1.67744695e-02 2.29753528e+02] [-7.57695790e-01 -6.52307252e-01 1.98075425e-02 7.07553069e+01] [ 2.59553265e-02 2.06386480e-04 9.99663082e-01 2.27063532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:70.76, Z:22.71 [[-6.51795292e-01 7.58209202e-01 1.67840531e-02 2.29756629e+02] [-7.57950665e-01 -6.52011329e-01 1.97994185e-02 7.07566066e+01] [ 2.59554940e-02 1.83683530e-04 9.99663083e-01 2.27057884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:70.75, Z:22.71 [[-6.52302512e-01 7.57772662e-01 1.67936120e-02 2.29747616e+02] [-7.57514189e-01 -6.52518626e-01 1.97913074e-02 7.07450393e+01] [ 2.59554563e-02 1.88520175e-04 9.99663083e-01 2.27054417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:70.75, Z:22.70 [[-6.53138341e-01 7.57052152e-01 1.68031810e-02 2.29751979e+02] [-7.56793650e-01 -6.53354420e-01 1.97831799e-02 7.07474257e+01] [ 2.59553314e-02 2.04612637e-04 9.99663083e-01 2.27034145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:70.74, Z:22.70 [[-6.54186717e-01 7.56146174e-01 1.68137404e-02 2.29749713e+02] [-7.55887604e-01 -6.54402714e-01 1.97742013e-02 7.07432335e+01] [ 2.59551440e-02 2.26721911e-04 9.99663083e-01 2.27022248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:70.74, Z:22.70 [[-6.55110541e-01 7.55345698e-01 1.68242589e-02 2.29745810e+02] [-7.55087093e-01 -6.55326496e-01 1.97652479e-02 7.07369747e+01] [ 2.59549776e-02 2.44641539e-04 9.99663083e-01 2.27012408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:70.73, Z:22.70 [[-6.56931861e-01 7.53762000e-01 1.68337976e-02 2.29743617e+02] [-7.53503083e-01 -6.57147442e-01 1.97571206e-02 7.07311500e+01] [ 2.59544538e-02 2.94763598e-04 9.99663083e-01 2.26997449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81687500000004 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:229.76, Y:70.74, Z:22.69 [[-6.49783779e-01 7.59932459e-01 1.68433500e-02 2.29758201e+02] [-7.59675800e-01 -6.50002044e-01 1.97489736e-02 7.07375025e+01] [ 2.59560980e-02 3.70772751e-05 9.99663083e-01 2.26922863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:70.73, Z:22.70 [[-6.59558285e-01 7.51470546e-01 1.65797028e-02 2.29741603e+02] [-7.51205394e-01 -6.59766247e-01 1.99738824e-02 7.07254315e+01] [ 2.59485126e-02 7.19177480e-04 9.99663022e-01 2.26998292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:70.72, Z:22.70 [[-6.60609634e-01 7.50540224e-01 1.68607294e-02 2.29739130e+02] [-7.50280851e-01 -6.60824654e-01 1.97337729e-02 7.07219079e+01] [ 2.59529760e-02 3.86038128e-04 9.99663090e-01 2.27007775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:70.72, Z:22.70 [[-6.61630062e-01 7.49640617e-01 1.68702808e-02 2.29736443e+02] [-7.49381160e-01 -6.61844980e-01 1.97256040e-02 7.07178458e+01] [ 2.59526247e-02 4.08781970e-04 9.99663090e-01 2.27016302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:70.71, Z:22.70 [[-6.62772940e-01 7.48630172e-01 1.68788548e-02 2.29734632e+02] [-7.48370574e-01 -6.62987688e-01 1.97182647e-02 7.07147815e+01] [ 2.59521608e-02 4.37093997e-04 9.99663090e-01 2.27022469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:70.71, Z:22.70 [[-6.64844414e-01 7.46790904e-01 1.68893949e-02 2.29729615e+02] [-7.46530941e-01 -6.65058720e-01 1.97092326e-02 7.07067419e+01] [ 2.59511150e-02 4.95117323e-04 9.99663091e-01 2.27032479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:70.70, Z:22.70 [[-6.66196983e-01 7.45584360e-01 1.68979776e-02 2.29725891e+02] [-7.45324196e-01 -6.66411044e-01 1.97018714e-02 7.07011946e+01] [ 2.59504061e-02 5.30855725e-04 9.99663091e-01 2.27038143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:70.70, Z:22.70 [[-6.67894457e-01 7.44063882e-01 1.69095605e-02 2.29728096e+02] [-7.43803482e-01 -6.68108231e-01 1.96919251e-02 7.07020527e+01] [ 2.59494668e-02 5.74737698e-04 9.99663091e-01 2.27048122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:70.69, Z:22.71 [[-6.68714568e-01 7.43326713e-01 1.69181452e-02 2.29721438e+02] [-7.43066263e-01 -6.68928282e-01 1.96845468e-02 7.06940566e+01] [ 2.59490753e-02 5.92040275e-04 9.99663091e-01 2.27057422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:70.69, Z:22.71 [[-6.69228553e-01 7.42863780e-01 1.69277155e-02 2.29722246e+02] [-7.42603390e-01 -6.69442341e-01 1.96763134e-02 7.06945361e+01] [ 2.59489501e-02 5.97371818e-04 9.99663091e-01 2.27063999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:70.69, Z:22.71 [[-6.69552352e-01 7.42571754e-01 1.69363063e-02 2.29720236e+02] [-7.42311458e-01 -6.69766253e-01 1.96689162e-02 7.06921102e+01] [ 2.59489480e-02 5.97354904e-04 9.99663091e-01 2.27064870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:70.69, Z:22.71 [[-6.70203513e-01 7.41983909e-01 1.69448810e-02 2.29718222e+02] [-7.41723612e-01 -6.70417413e-01 1.96615262e-02 7.06887909e+01] [ 2.59486794e-02 6.08805632e-04 9.99663091e-01 2.27068331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:70.68, Z:22.71 [[-6.70447905e-01 7.41762869e-01 1.69544328e-02 2.29715527e+02] [-7.41502709e-01 -6.70661972e-01 1.96532861e-02 7.06849758e+01] [ 2.59487712e-02 6.04746668e-04 9.99663091e-01 2.27066080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:70.68, Z:22.71 [[-6.70771857e-01 7.41469738e-01 1.69630038e-02 2.29714361e+02] [-7.41209672e-01 -6.70986037e-01 1.96458856e-02 7.06830688e+01] [ 2.59487683e-02 6.04764683e-04 9.99663091e-01 2.27055415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:70.68, Z:22.70 [[-6.70823224e-01 7.41423047e-01 1.69725516e-02 2.29709048e+02] [-7.41163174e-01 -6.71037639e-01 1.96376335e-02 7.06751349e+01] [ 2.59490151e-02 5.93950404e-04 9.99663091e-01 2.27043793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.266875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:229.70, Y:70.67, Z:22.70 [[-6.71130955e-01 7.41144284e-01 1.69821095e-02 2.29702216e+02] [-7.40884531e-01 -6.71345515e-01 1.96293646e-02 7.06660669e+01] [ 2.59490544e-02 5.92091955e-04 9.99663091e-01 2.27035137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:70.67, Z:22.70 [[-6.71122321e-01 7.41151905e-01 1.69907242e-02 2.29708896e+02] [-7.40892343e-01 -6.71337111e-01 1.96219052e-02 7.06728889e+01] [ 2.59493161e-02 5.80401073e-04 9.99663091e-01 2.27022191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:70.67, Z:22.70 [[-6.70854659e-01 7.41393968e-01 1.70003032e-02 2.29706293e+02] [-7.41134694e-01 -6.71069797e-01 1.96136024e-02 7.06692083e+01] [ 2.59497966e-02 5.58362035e-04 9.99663091e-01 2.27019306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:70.67, Z:22.70 [[-6.70728439e-01 7.41507941e-01 1.70098317e-02 2.29706293e+02] [-7.41248912e-01 -6.70943873e-01 1.96053354e-02 7.06688489e+01] [ 2.59501542e-02 5.41336748e-04 9.99663091e-01 2.27010349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:70.68, Z:22.69 [[-6.61038108e-01 7.50159291e-01 1.70193458e-02 2.29723571e+02] [-7.49903296e-01 -6.61257137e-01 1.95970727e-02 7.06778156e+01] [ 2.59550901e-02 1.91548365e-04 9.99663092e-01 2.26946943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:70.66, Z:22.70 [[-6.70075102e-01 7.42105520e-01 1.66959434e-02 2.29702418e+02] [-7.41839837e-01 -6.70282422e-01 1.98779016e-02 7.06625892e+01] [ 2.59424979e-02 9.33970972e-04 9.99663000e-01 2.27020813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:70.65, Z:22.70 [[-6.70045828e-01 7.42124159e-01 1.70387917e-02 2.29695761e+02] [-7.41865984e-01 -6.70262264e-01 1.95795469e-02 7.06545676e+01] [ 2.59509139e-02 4.78693760e-04 9.99663104e-01 2.27025810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:70.66, Z:22.70 [[-6.69943033e-01 7.42216762e-01 1.70473243e-02 2.29699169e+02] [-7.41958805e-01 -6.70159730e-01 1.95721150e-02 7.06576765e+01] [ 2.59511820e-02 4.63789679e-04 9.99663104e-01 2.27028008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:70.65, Z:22.70 [[-6.70068573e-01 7.42103231e-01 1.70558503e-02 2.29697359e+02] [-7.41845427e-01 -6.70285451e-01 1.95646823e-02 7.06543368e+01] [ 2.59513022e-02 4.56874193e-04 9.99663104e-01 2.27026468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.69, Y:70.65, Z:22.70 [[-6.70417068e-01 7.41788197e-01 1.70653199e-02 2.29692687e+02] [-7.41530501e-01 -6.70634075e-01 1.95564189e-02 7.06481328e+01] [ 2.59513058e-02 4.56501847e-04 9.99663104e-01 2.27029887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.69, Y:70.65, Z:22.70 [[-6.70927995e-01 7.41325914e-01 1.70738267e-02 2.29694132e+02] [-7.41068257e-01 -6.71145048e-01 1.95489892e-02 7.06488254e+01] [ 2.59511865e-02 4.63093125e-04 9.99663104e-01 2.27030186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.69, Y:70.64, Z:22.70 [[-6.71399740e-01 7.40898497e-01 1.70823303e-02 2.29689106e+02] [-7.40640892e-01 -6.71616853e-01 1.95415558e-02 7.06404539e+01] [ 2.59510902e-02 4.68323111e-04 9.99663104e-01 2.27023070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.69, Y:70.64, Z:22.70 [[-6.71977071e-01 7.40374715e-01 1.70908368e-02 2.29689066e+02] [-7.40117129e-01 -6.72194208e-01 1.95341132e-02 7.06390535e+01] [ 2.59509250e-02 4.77255130e-04 9.99663104e-01 2.27017077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:70.63, Z:22.70 [[-6.72469494e-01 7.39927221e-01 1.71022922e-02 2.29683969e+02] [-7.39669745e-01 -6.72686761e-01 1.95240787e-02 7.06310281e+01] [ 2.59508829e-02 4.79299215e-04 9.99663104e-01 2.27017085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:70.63, Z:22.70 [[-6.72573658e-01 7.39832298e-01 1.71127520e-02 2.29683693e+02] [-7.39575025e-01 -6.72791165e-01 1.95149065e-02 7.06298037e+01] [ 2.59510665e-02 4.69048105e-04 9.99663104e-01 2.27015409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:70.62, Z:22.70 [[-6.72645134e-01 7.39767094e-01 1.71222325e-02 2.29679488e+02] [-7.39510011e-01 -6.72862866e-01 1.95065849e-02 7.06239642e+01] [ 2.59512440e-02 4.58947070e-04 9.99663104e-01 2.27011040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:70.63, Z:22.70 [[-6.72799173e-01 7.39626782e-01 1.71317089e-02 2.29683187e+02] [-7.39369866e-01 -6.73017102e-01 1.94982586e-02 7.06263473e+01] [ 2.59513673e-02 4.51742942e-04 9.99663105e-01 2.27007969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:70.62, Z:22.70 [[-6.73153583e-01 7.39304043e-01 1.71401966e-02 2.29678998e+02] [-7.39047212e-01 -6.73371612e-01 1.94907946e-02 7.06204169e+01] [ 2.59513450e-02 4.52883725e-04 9.99663105e-01 2.27004662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:70.62, Z:22.70 [[-6.73744438e-01 7.38765427e-01 1.71486714e-02 2.29677998e+02] [-7.38508612e-01 -6.73962484e-01 1.94833352e-02 7.06182708e+01] [ 2.59511757e-02 4.62347211e-04 9.99663105e-01 2.26996903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:70.61, Z:22.70 [[-6.74352804e-01 7.38209926e-01 1.71581190e-02 2.29675607e+02] [-7.37953143e-01 -6.74570888e-01 1.94750116e-02 7.06145842e+01] [ 2.59510145e-02 4.71140797e-04 9.99663105e-01 2.27000377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:70.61, Z:22.70 [[-6.74946179e-01 7.37667288e-01 1.71647178e-02 2.29675632e+02] [-7.37410477e-01 -6.75164231e-01 1.94691938e-02 7.06126614e+01] [ 2.59507910e-02 4.83215230e-04 9.99663105e-01 2.27000948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:70.61, Z:22.70 [[-6.75266184e-01 7.37374168e-01 1.71731803e-02 2.29671613e+02] [-7.37117452e-01 -6.75484347e-01 1.94617265e-02 7.06073227e+01] [ 2.59507889e-02 4.83194934e-04 9.99663105e-01 2.27000281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:70.61, Z:22.70 [[-6.65837182e-01 7.45899215e-01 1.71816459e-02 2.29681791e+02] [-7.45645486e-01 -6.66058812e-01 1.94542499e-02 7.06073515e+01] [ 2.59548963e-02 1.41946237e-04 9.99663105e-01 2.26956927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:70.60, Z:22.70 [[-6.75293392e-01 7.37357698e-01 1.68065373e-02 2.29670904e+02] [-7.37092843e-01 -6.75501798e-01 1.97853940e-02 7.06039944e+01] [ 2.59417588e-02 9.72967445e-04 9.99662982e-01 2.26999386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:70.60, Z:22.70 [[-6.75941442e-01 7.36754623e-01 1.71985994e-02 2.29664382e+02] [-7.36498297e-01 -6.76160042e-01 1.94385143e-02 7.05963400e+01] [ 2.59504210e-02 4.72558171e-04 9.99663119e-01 2.27007684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:70.60, Z:22.70 [[-6.65701574e-01 7.46019345e-01 1.72206647e-02 2.29681091e+02] [-7.45766568e-01 -6.65924267e-01 1.94189469e-02 7.06030083e+01] [ 2.59545685e-02 8.46275025e-05 9.99663120e-01 2.26962532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:70.59, Z:22.70 [[-6.75366862e-01 7.37289095e-01 1.68639578e-02 2.29657271e+02] [-7.37025469e-01 -6.75576777e-01 1.97351329e-02 7.05863630e+01] [ 2.59433965e-02 8.99288287e-04 9.99663009e-01 2.27013173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:70.58, Z:22.70 [[-6.75340874e-01 7.37304356e-01 1.72334488e-02 2.29657389e+02] [-7.37049010e-01 -6.75560600e-01 1.94070290e-02 7.05845184e+01] [ 2.59511260e-02 4.04463576e-04 9.99663131e-01 2.27013430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:70.59, Z:22.70 [[-6.67012526e-01 7.44846923e-01 1.72438527e-02 2.29674135e+02] [-7.44594302e-01 -6.67235379e-01 1.93977804e-02 7.05924231e+01] [ 2.59540856e-02 9.88880436e-05 9.99663131e-01 2.26973969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:70.58, Z:22.70 [[-6.66517986e-01 7.45295916e-01 1.69638565e-02 2.29667691e+02] [-7.45037061e-01 -6.66733672e-01 1.96466000e-02 7.05828422e+01] [ 2.59529051e-02 4.56110451e-04 9.99663063e-01 2.26965283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:70.56, Z:22.70 [[-6.75817000e-01 7.36875478e-01 1.69089366e-02 2.29639596e+02] [-7.36612714e-01 -6.76027957e-01 1.96954492e-02 7.05603446e+01] [ 2.59440074e-02 8.55181711e-04 9.99663032e-01 2.27006772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.65, Y:70.57, Z:22.70 [[-6.76116958e-01 7.36591916e-01 1.72687413e-02 2.29652363e+02] [-7.36337162e-01 -6.76337344e-01 1.93747590e-02 7.05740446e+01] [ 2.59507854e-02 3.83987150e-04 9.99663148e-01 2.27002116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:70.58, Z:22.69 [[-6.67701731e-01 7.44228367e-01 1.72782240e-02 2.29668351e+02] [-7.43976353e-01 -6.67925245e-01 1.93662987e-02 7.05804441e+01] [ 2.59535108e-02 7.63210980e-05 9.99663148e-01 2.26944796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.65, Y:70.57, Z:22.70 [[-6.75823282e-01 7.36867397e-01 1.70097364e-02 2.29650846e+02] [-7.36606879e-01 -6.76036922e-01 1.96057469e-02 7.05696764e+01] [ 2.59460455e-02 7.20531300e-04 9.99663085e-01 2.26988006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.65, Y:70.57, Z:22.70 [[-6.75905428e-01 7.36785536e-01 1.72895066e-02 2.29650806e+02] [-7.36531329e-01 -6.76126433e-01 1.93558461e-02 7.05691124e+01] [ 2.59509999e-02 3.48458122e-04 9.99663155e-01 2.26989483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.65, Y:70.57, Z:22.70 [[-6.75594487e-01 7.37070466e-01 1.72979167e-02 2.29649610e+02] [-7.36816545e-01 -6.75815819e-01 1.93483273e-02 7.05674018e+01] [ 2.59512863e-02 3.26232007e-04 9.99663155e-01 2.26998858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.65, Y:70.56, Z:22.70 [[-6.75532525e-01 7.37127058e-01 1.73063111e-02 2.29647215e+02] [-7.36873348e-01 -6.75754099e-01 1.93408159e-02 7.05646766e+01] [ 2.59514494e-02 3.12790858e-04 9.99663156e-01 2.27001730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:70.56, Z:22.70 [[-6.75493637e-01 7.37162497e-01 1.73147021e-02 2.29643609e+02] [-7.36908991e-01 -6.75715445e-01 1.93333010e-02 7.05606609e+01] [ 2.59515961e-02 3.00162107e-04 9.99663156e-01 2.27007096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:70.56, Z:22.70 [[-6.75454786e-01 7.37197899e-01 1.73230994e-02 2.29642029e+02] [-7.36944597e-01 -6.75676827e-01 1.93257739e-02 7.05590507e+01] [ 2.59517368e-02 2.87521994e-04 9.99663156e-01 2.27007902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:70.55, Z:22.70 [[-6.74929129e-01 7.37678988e-01 1.73314964e-02 2.29636308e+02] [-7.37426038e-01 -6.75151571e-01 1.93182405e-02 7.05520369e+01] [ 2.59520471e-02 2.57746546e-04 9.99663156e-01 2.27012198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:70.56, Z:22.70 [[-6.74737814e-01 7.37853786e-01 1.73399056e-02 2.29640202e+02] [-7.37601088e-01 -6.74960542e-01 1.93106895e-02 7.05559650e+01] [ 2.59522174e-02 2.39719224e-04 9.99663156e-01 2.27012015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:70.55, Z:22.70 [[-6.74899531e-01 7.37705673e-01 1.73483021e-02 2.29638663e+02] [-7.37453120e-01 -6.75122422e-01 1.93031433e-02 7.05533292e+01] [ 2.59522661e-02 2.34122904e-04 9.99663156e-01 2.27014557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:70.55, Z:22.70 [[-6.75526497e-01 7.37131398e-01 1.73566677e-02 2.29635012e+02] [-7.36878849e-01 -6.75749393e-01 1.92956183e-02 7.05491437e+01] [ 2.59521638e-02 2.44940092e-04 9.99663156e-01 2.27017312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:70.55, Z:22.70 [[-6.70301047e-01 7.41886084e-01 1.73650362e-02 2.29642631e+02] [-7.41635311e-01 -6.70525939e-01 1.92880842e-02 7.05501723e+01] [ 2.59532685e-02 5.02990260e-05 9.99663156e-01 2.26964146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.63, Y:70.54, Z:22.70 [[-6.76674302e-01 7.36082268e-01 1.71692871e-02 2.29632034e+02] [-7.35825070e-01 -6.76891872e-01 1.94643390e-02 7.05441972e+01] [ 2.59491057e-02 5.37426137e-04 9.99663121e-01 2.27012425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.616875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.64, Y:70.55, Z:22.70 [[-6.72701638e-01 7.39709674e-01 1.73811670e-02 2.29641043e+02] [-7.39458556e-01 -6.72926137e-01 1.92732612e-02 7.05471240e+01] [ 2.59528593e-02 1.12501772e-04 9.99663162e-01 2.26961373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.63, Y:70.54, Z:22.70 [[-6.78458272e-01 7.34437653e-01 1.71961485e-02 2.29631108e+02] [-7.34180541e-01 -6.78675928e-01 1.94401081e-02 7.05403701e+01] [ 2.59481594e-02 5.64224480e-04 9.99663131e-01 2.27004386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.63, Y:70.54, Z:22.70 [[-6.79797267e-01 7.33193832e-01 1.73919633e-02 2.29629395e+02] [-7.32940817e-01 -6.80019620e-01 1.92633172e-02 7.05362893e+01] [ 2.59506216e-02 3.47870598e-04 9.99663165e-01 2.27009094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.63, Y:70.54, Z:22.70 [[-6.80787060e-01 7.32274702e-01 1.73994016e-02 2.29628860e+02] [-7.32021559e-01 -6.81009267e-01 1.92565962e-02 7.05352133e+01] [ 2.59502720e-02 3.72904422e-04 9.99663165e-01 2.27013517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:70.53, Z:22.70 [[-6.81666838e-01 7.31455598e-01 1.74077591e-02 2.29624646e+02] [-7.31202380e-01 -6.81888960e-01 1.92490381e-02 7.05294016e+01] [ 2.59499755e-02 3.92836012e-04 9.99663166e-01 2.27023471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:70.52, Z:22.70 [[-6.82864850e-01 7.30337097e-01 1.74161197e-02 2.29621873e+02] [-7.30083708e-01 -6.83086777e-01 1.92414706e-02 7.05244232e+01] [ 2.59494809e-02 4.24098685e-04 9.99663166e-01 2.27042503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:70.53, Z:22.70 [[-6.83766281e-01 7.29493038e-01 1.74235746e-02 2.29623880e+02] [-7.29239547e-01 -6.83988091e-01 1.92347177e-02 7.05254186e+01] [ 2.59491102e-02 4.46091733e-04 9.99663166e-01 2.27046592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.61, Y:70.51, Z:22.71 [[-6.84684743e-01 7.28630882e-01 1.74310244e-02 2.29613045e+02] [-7.28377283e-01 -6.84906431e-01 1.92279642e-02 7.05120888e+01] [ 2.59487092e-02 4.68731511e-04 9.99663166e-01 2.27054695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:70.52, Z:22.71 [[-6.85636043e-01 7.27735586e-01 1.74394223e-02 2.29620828e+02] [-7.27481892e-01 -6.85857620e-01 1.92203444e-02 7.05177442e+01] [ 2.59482893e-02 4.91296997e-04 9.99663166e-01 2.27056010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:70.51, Z:22.71 [[-6.86434837e-01 7.26981973e-01 1.74478229e-02 2.29618196e+02] [-7.26728229e-01 -6.86656357e-01 1.92127155e-02 7.05136143e+01] [ 2.59479563e-02 5.08451789e-04 9.99663166e-01 2.27056661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.61, Y:70.50, Z:22.71 [[-6.87624238e-01 7.25856865e-01 1.74561861e-02 2.29608166e+02] [-7.25602952e-01 -6.87845564e-01 1.92051139e-02 7.04997904e+01] [ 2.59473239e-02 5.39641608e-04 9.99663166e-01 2.27058665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.61, Y:70.50, Z:22.70 [[-6.87697682e-01 7.25787103e-01 1.74636684e-02 2.29614252e+02] [-7.25533339e-01 -6.87919180e-01 1.91983076e-02 7.05035324e+01] [ 2.59474765e-02 5.32157973e-04 9.99663166e-01 2.27021925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:69.89, Z:23.29 [[-6.05128329e-01 -7.95936383e-01 -1.74636684e-02 2.30167286e+02] [-7.95708076e-01 6.05375985e-01 -1.91983076e-02 6.98871732e+01] [ 2.58527170e-02 2.27854220e-03 -9.99663166e-01 2.32907287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.50, Y:70.41, Z:22.70 [[-6.36387167e-01 7.71201954e-01 1.60910014e-02 2.29496865e+02] [-7.70935229e-01 -6.36590364e-01 2.02874686e-02 7.04114714e+01] [ 2.58891119e-02 5.05564779e-04 9.99664693e-01 2.27028873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:70.41, Z:22.70 [[-6.36730932e-01 7.70919735e-01 1.60150425e-02 2.29494966e+02] [-7.70651402e-01 -6.36932009e-01 2.03477612e-02 7.04089363e+01] [ 2.58869839e-02 6.14034013e-04 9.99664687e-01 2.27029281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:70.40, Z:22.71 [[-6.40450640e-01 7.67832153e-01 1.60238235e-02 2.29491746e+02] [-7.67563025e-01 -6.40650650e-01 2.03407849e-02 7.04039058e+01] [ 2.58839816e-02 7.27974302e-04 9.99664689e-01 2.27063185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:70.40, Z:22.71 [[-6.41159637e-01 7.67238212e-01 1.61197171e-02 2.29489001e+02] [-7.66970808e-01 -6.41361933e-01 2.02645051e-02 7.03993317e+01] [ 2.58862756e-02 6.29430309e-04 9.99664696e-01 2.27063967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:70.40, Z:22.71 [[-6.41943160e-01 7.66582578e-01 1.61285713e-02 2.29490409e+02] [-7.66315144e-01 -6.42145417e-01 2.02574556e-02 7.03983895e+01] [ 2.58859006e-02 6.44566631e-04 9.99664696e-01 2.27063816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:70.39, Z:22.71 [[-6.42420520e-01 7.66182393e-01 1.61374192e-02 2.29482103e+02] [-7.65915010e-01 -6.42622844e-01 2.02504047e-02 7.03861912e+01] [ 2.58857778e-02 6.49383963e-04 9.99664696e-01 2.27068093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:70.39, Z:22.71 [[-6.43267135e-01 7.65471569e-01 1.61453157e-02 2.29488427e+02] [-7.65204119e-01 -6.43469371e-01 2.02441070e-02 7.03930707e+01] [ 2.58853045e-02 6.67906589e-04 9.99664696e-01 2.27065529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:70.39, Z:22.71 [[-6.43783441e-01 7.65037204e-01 1.61541875e-02 2.29488280e+02] [-7.64769796e-01 -6.43985731e-01 2.02370251e-02 7.03911029e+01] [ 2.58851434e-02 6.74027021e-04 9.99664696e-01 2.27073982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:70.39, Z:22.71 [[-6.44655887e-01 7.64301998e-01 1.61630101e-02 2.29485935e+02] [-7.64034536e-01 -6.44858106e-01 2.02299762e-02 7.03866630e+01] [ 2.58846593e-02 6.92275332e-04 9.99664696e-01 2.27089570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:70.38, Z:22.71 [[-6.45225484e-01 7.63821017e-01 1.61718296e-02 2.29480919e+02] [-7.63553581e-01 -6.45427736e-01 2.02229234e-02 7.03786389e+01] [ 2.58844413e-02 7.00287107e-04 9.99664696e-01 2.27100562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:70.38, Z:22.71 [[-6.45611937e-01 7.63494213e-01 1.61806721e-02 2.29482734e+02] [-7.63226851e-01 -6.45814288e-01 2.02158459e-02 7.03800967e+01] [ 2.58843906e-02 7.02068048e-04 9.99664697e-01 2.27101195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:70.38, Z:22.71 [[-6.45743566e-01 7.63382700e-01 1.61895150e-02 2.29480774e+02] [-7.63115480e-01 -6.45946105e-01 2.02087618e-02 7.03763180e+01] [ 2.58845733e-02 6.95208400e-04 9.99664697e-01 2.27105187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:70.37, Z:22.71 [[-6.45782851e-01 7.63349280e-01 1.61983416e-02 2.29478158e+02] [-7.63082227e-01 -6.45985609e-01 2.02016843e-02 7.03714193e+01] [ 2.58848368e-02 6.85234704e-04 9.99664697e-01 2.27099480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:70.37, Z:22.71 [[-6.45743634e-01 7.63382267e-01 1.62071748e-02 2.29480027e+02] [-7.63115402e-01 -6.45946640e-01 2.01945953e-02 7.03731192e+01] [ 2.58851660e-02 6.72586679e-04 9.99664697e-01 2.27099062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:70.39, Z:22.70 [[-6.39208577e-01 7.68862431e-01 1.62159952e-02 2.29494300e+02] [-7.68597486e-01 -6.39414083e-01 2.01875101e-02 7.03851193e+01] [ 2.58901538e-02 4.40456478e-04 9.99664697e-01 2.27040471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:70.38, Z:22.70 [[-6.37217779e-01 7.70518001e-01 1.59847878e-02 2.29493317e+02] [-7.70248900e-01 -6.37417886e-01 2.03732669e-02 7.03824451e+01] [ 2.58869586e-02 6.69942631e-04 9.99664652e-01 2.27026450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:70.37, Z:22.71 [[-6.44285820e-01 7.64618887e-01 1.59292311e-02 2.29475454e+02] [-7.64346852e-01 -6.44481962e-01 2.04179247e-02 7.03665940e+01] [ 2.58780330e-02 9.79521700e-04 9.99664628e-01 2.27086636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:70.37, Z:22.70 [[-6.38865419e-01 7.69147065e-01 1.62409486e-02 2.29483845e+02] [-7.68882736e-01 -6.39071698e-01 2.01668928e-02 7.03721802e+01] [ 2.58904370e-02 3.96545458e-04 9.99664708e-01 2.27029857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:70.37, Z:22.70 [[-6.36792879e-01 7.70867464e-01 1.60680323e-02 2.29480173e+02] [-7.70600161e-01 -6.36995331e-01 2.03061800e-02 7.03673200e+01] [ 2.58886350e-02 5.48802547e-04 9.99664682e-01 2.27011576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.47, Y:70.36, Z:22.71 [[-6.41274213e-01 7.67143591e-01 1.60653398e-02 2.29470747e+02] [-7.66875058e-01 -6.41475032e-01 2.03083510e-02 7.03618083e+01] [ 2.58849357e-02 7.03113460e-04 9.99664682e-01 2.27062877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.47, Y:70.36, Z:22.71 [[-6.39748773e-01 7.68411963e-01 1.62653778e-02 2.29469771e+02] [-7.68147905e-01 -6.39955389e-01 2.01468532e-02 7.03623710e+01] [ 2.58901992e-02 3.94708716e-04 9.99664715e-01 2.27075071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.47, Y:70.36, Z:22.71 [[-6.39286120e-01 7.68796728e-01 1.62741449e-02 2.29469221e+02] [-7.68532975e-01 -6.39493124e-01 2.01397689e-02 7.03622263e+01] [ 2.58905922e-02 3.67857730e-04 9.99664715e-01 2.27080208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.47, Y:70.36, Z:22.71 [[-6.38836216e-01 7.69170434e-01 1.62828896e-02 2.29467352e+02] [-7.68906983e-01 -6.39043603e-01 2.01326964e-02 7.03605971e+01] [ 2.58909513e-02 3.41468105e-04 9.99664715e-01 2.27069686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.47, Y:70.36, Z:22.71 [[-6.37971056e-01 7.69887988e-01 1.62916214e-02 2.29465478e+02] [-7.69624950e-01 -6.38178968e-01 2.01256280e-02 7.03595036e+01] [ 2.58914494e-02 3.01129880e-04 9.99664715e-01 2.27086863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:70.35, Z:22.71 [[-6.38077850e-01 7.69799275e-01 1.63013379e-02 2.29460144e+02] [-7.69536410e-01 -6.38285979e-01 2.01177548e-02 7.03534475e+01] [ 2.58915485e-02 2.92220650e-04 9.99664715e-01 2.27092880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:70.36, Z:22.71 [[-6.38110420e-01 7.69772113e-01 1.63091039e-02 2.29462243e+02] [-7.69509399e-01 -6.38318741e-01 2.01114571e-02 7.03562633e+01] [ 2.58916454e-02 2.83321610e-04 9.99664715e-01 2.27093305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:70.35, Z:22.71 [[-6.39383731e-01 7.68714624e-01 1.63178265e-02 2.29458056e+02] [-7.68451746e-01 -6.39591845e-01 2.01043773e-02 7.03516683e+01] [ 2.58912776e-02 3.14949560e-04 9.99664715e-01 2.27102993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:70.37, Z:22.70 [[-6.33304902e-01 7.73730129e-01 1.63275290e-02 2.29477236e+02] [-7.73469103e-01 -6.33515333e-01 2.00964944e-02 7.03681900e+01] [ 2.58930032e-02 9.83691810e-05 9.99664715e-01 2.27030888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:70.34, Z:22.71 [[-6.41610885e-01 7.66861903e-01 1.60715184e-02 2.29452121e+02] [-7.66593377e-01 -6.41811749e-01 2.03045049e-02 7.03432409e+01] [ 2.58856406e-02 7.07271734e-04 9.99664660e-01 2.27108285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:70.34, Z:22.71 [[-6.44790119e-01 7.64184906e-01 1.63441836e-02 2.29451901e+02] [-7.63921118e-01 -6.44997066e-01 2.00825990e-02 7.03414598e+01] [ 2.58887694e-02 4.63394389e-04 9.99664722e-01 2.27107617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:70.34, Z:22.71 [[-6.46536107e-01 7.62708077e-01 1.63539115e-02 2.29451148e+02] [-7.62444017e-01 -6.46742707e-01 2.00746741e-02 7.03392170e+01] [ 2.58878890e-02 5.10059685e-04 9.99664722e-01 2.27106774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:70.33, Z:22.71 [[-6.49979885e-01 7.59775260e-01 1.63616699e-02 2.29446173e+02] [-7.59510426e-01 -6.50185492e-01 2.00683487e-02 7.03320362e+01] [ 2.58855552e-02 6.17164117e-04 9.99664722e-01 2.27104067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:70.34, Z:22.70 [[-6.45245822e-01 7.63799607e-01 1.63704027e-02 2.29457736e+02] [-7.63536237e-01 -6.45453300e-01 2.00612225e-02 7.03388487e+01] [ 2.58890843e-02 4.45024282e-04 9.99664722e-01 2.27042740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:70.34, Z:22.70 [[-6.46892067e-01 7.62410855e-01 1.61350799e-02 2.29455927e+02] [-7.62142223e-01 -6.47092760e-01 2.02531862e-02 7.03357695e+01] [ 2.58821424e-02 8.04399827e-04 9.99664678e-01 2.27038009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:70.32, Z:22.71 [[-6.54448127e-01 7.55934372e-01 1.61515950e-02 2.29438185e+02] [-7.55664087e-01 -6.54646578e-01 2.02397021e-02 7.03198463e+01] [ 2.58734729e-02 1.04065479e-03 9.99664684e-01 2.27099593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:70.33, Z:22.70 [[-6.50146293e-01 7.59632243e-01 1.63906061e-02 2.29451530e+02] [-7.59367971e-01 -6.50352606e-01 2.00442594e-02 7.03286636e+01] [ 2.58859391e-02 5.85199638e-04 9.99664732e-01 2.27041065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:70.32, Z:22.71 [[-6.57015557e-01 7.53703650e-01 1.61668348e-02 2.29438721e+02] [-7.53432995e-01 -6.57213495e-01 2.02273031e-02 7.03188803e+01] [ 2.58704542e-02 1.10902604e-03 9.99664689e-01 2.27099434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:70.32, Z:22.71 [[-6.57746536e-01 7.53060601e-01 1.64080659e-02 2.29437038e+02] [-7.52794632e-01 -6.57950647e-01 2.00296913e-02 7.03167608e+01] [ 2.58792689e-02 8.22556144e-04 9.99664737e-01 2.27094044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:70.31, Z:22.71 [[-6.58667528e-01 7.52255015e-01 1.64158473e-02 2.29434443e+02] [-7.51988955e-01 -6.58871519e-01 2.00233118e-02 7.03131453e+01] [ 2.58785710e-02 8.44169373e-04 9.99664737e-01 2.27114102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:70.31, Z:22.71 [[-6.59559867e-01 7.51472564e-01 1.64245929e-02 2.29429001e+02] [-7.51206440e-01 -6.59763775e-01 2.00161355e-02 7.03061017e+01] [ 2.58779281e-02 8.63579687e-04 9.99664737e-01 2.27117225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:70.31, Z:22.71 [[-6.60060366e-01 7.51032794e-01 1.64333611e-02 2.29429315e+02] [-7.50766712e-01 -6.60264331e-01 2.00089341e-02 7.03058104e+01] [ 2.58777279e-02 8.69483891e-04 9.99664737e-01 2.27111026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:70.32, Z:22.70 [[-6.54253966e-01 7.56096161e-01 1.64421329e-02 2.29445003e+02] [-7.55831839e-01 -6.54460206e-01 2.00017234e-02 7.03172928e+01] [ 2.58839480e-02 6.58719331e-04 9.99664737e-01 2.27047499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:70.31, Z:22.70 [[-6.54844169e-01 7.55590509e-01 1.61893984e-02 2.29441913e+02] [-7.55320864e-01 -6.55043488e-01 2.02094337e-02 7.03130750e+01] [ 2.58748162e-02 1.00583941e-03 9.99664685e-01 2.27045757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:70.30, Z:22.71 [[-6.61477207e-01 7.49789515e-01 1.62353811e-02 2.29425380e+02] [-7.49519047e-01 -6.61675377e-01 2.01716012e-02 7.02996591e+01] [ 2.58670070e-02 1.17432704e-03 9.99664703e-01 2.27106736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.29, Z:22.71 [[-6.61976615e-01 7.49343599e-01 1.64660730e-02 2.29421343e+02] [-7.49077677e-01 -6.62180771e-01 1.99814974e-02 7.02943381e+01] [ 2.58765241e-02 8.92916334e-04 9.99664748e-01 2.27093481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:70.30, Z:22.71 [[-6.57170367e-01 7.53562021e-01 1.64738725e-02 2.29428099e+02] [-7.53297572e-01 -6.57376426e-01 1.99750650e-02 7.02960408e+01] [ 2.58819858e-02 7.17292637e-04 9.99664748e-01 2.27066929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.29, Z:22.71 [[-6.62870201e-01 7.48557445e-01 1.62741752e-02 2.29418542e+02] [-7.48287386e-01 -6.63068908e-01 2.01397653e-02 7.02893295e+01] [ 2.58666709e-02 1.17229026e-03 9.99664714e-01 2.27108941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.29, Z:22.71 [[-6.63734893e-01 7.47786198e-01 1.64861928e-02 2.29418845e+02] [-7.47520213e-01 -6.63938959e-01 1.99646893e-02 7.02883502e+01] [ 2.58751448e-02 9.27498540e-04 9.99664752e-01 2.27107867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.29, Z:22.71 [[-6.64505494e-01 7.47101308e-01 1.64949548e-02 2.29418267e+02] [-7.46835292e-01 -6.64709520e-01 1.99574475e-02 7.02874233e+01] [ 2.58745886e-02 9.42819164e-04 9.99664752e-01 2.27112414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:70.29, Z:22.71 [[-6.59855308e-01 7.51211422e-01 1.65037008e-02 2.29429443e+02] [-7.50946858e-01 -6.60061213e-01 1.99502124e-02 7.02947528e+01] [ 2.58802802e-02 7.70851333e-04 9.99664752e-01 2.27070826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.29, Z:22.71 [[-6.61448967e-01 7.49812936e-01 1.63041293e-02 2.29422475e+02] [-7.49543855e-01 -6.61648989e-01 2.01153101e-02 7.02854708e+01] [ 2.58703304e-02 1.08459118e-03 9.99664719e-01 2.27086129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:70.27, Z:22.71 [[-6.66884975e-01 7.44981845e-01 1.63242531e-02 2.29408293e+02] [-7.44711721e-01 -6.67083575e-01 2.00986479e-02 7.02722029e+01] [ 2.58627689e-02 1.24662363e-03 9.99664725e-01 2.27127330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.28, Z:22.71 [[-6.63621369e-01 7.47886082e-01 1.65253416e-02 2.29415416e+02] [-7.47620941e-01 -6.63826519e-01 1.99319288e-02 7.02759443e+01] [ 2.58767721e-02 8.72562477e-04 9.99664759e-01 2.27098736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.28, Z:22.71 [[-6.64170520e-01 7.47401234e-01 1.63986452e-02 2.29418001e+02] [-7.47133348e-01 -6.64372095e-01 2.00369668e-02 7.02783626e+01] [ 2.58704559e-02 1.05598797e-03 9.99664746e-01 2.27113944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.28, Z:22.71 [[-6.63579256e-01 7.47926140e-01 1.64030428e-02 2.29417813e+02] [-7.47658504e-01 -6.63781160e-01 2.00333180e-02 7.02779601e+01] [ 2.58714730e-02 1.02981976e-03 9.99664747e-01 2.27111179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.27, Z:22.71 [[-6.62760917e-01 7.48651621e-01 1.63926095e-02 2.29415370e+02] [-7.48383991e-01 -6.62962835e-01 2.00419786e-02 7.02748233e+01] [ 2.58721506e-02 1.01507364e-03 9.99664745e-01 2.27115642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.686875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.41, Y:70.27, Z:22.72 [[-6.66134108e-01 7.45651435e-01 1.64099761e-02 2.29407524e+02] [-7.45383251e-01 -6.66335281e-01 2.00275519e-02 7.02694043e+01] [ 2.58681189e-02 1.10931415e-03 9.99664749e-01 2.27155109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.27, Z:22.71 [[-6.61512761e-01 7.49751123e-01 1.65565664e-02 2.29415216e+02] [-7.49487217e-01 -6.61719485e-01 1.99056255e-02 7.02732495e+01] [ 2.58800677e-02 7.58890408e-04 9.99664767e-01 2.27112422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:70.28, Z:22.71 [[-6.59368446e-01 7.51640975e-01 1.64041803e-02 2.29420217e+02] [-7.51374500e-01 -6.59571880e-01 2.00323689e-02 7.02766951e+01] [ 2.58768854e-02 8.83029152e-04 9.99664747e-01 2.27088277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:70.27, Z:22.71 [[-6.60513468e-01 7.50635587e-01 1.63760558e-02 2.29413191e+02] [-7.50368223e-01 -6.60715746e-01 2.00557728e-02 7.02683129e+01] [ 2.58744947e-02 9.59036162e-04 9.99664739e-01 2.27090271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:70.26, Z:22.71 [[-6.63049181e-01 7.48394776e-01 1.64633787e-02 2.29406445e+02] [-7.48128525e-01 -6.63252884e-01 1.99830175e-02 7.02642180e+01] [ 2.58745693e-02 9.33000183e-04 9.99664762e-01 2.27124042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:70.27, Z:22.71 [[-6.58551287e-01 7.52353141e-01 1.65817204e-02 2.29411744e+02] [-7.52090587e-01 -6.58759715e-01 1.98843317e-02 7.02660636e+01] [ 2.58834088e-02 6.23896400e-04 9.99664774e-01 2.27087641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:70.26, Z:22.71 [[-6.60721988e-01 7.50450370e-01 1.64528592e-02 2.29401734e+02] [-7.50184535e-01 -6.60926237e-01 1.99918274e-02 7.02579359e+01] [ 2.58770006e-02 8.66359405e-04 9.99664759e-01 2.27128113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:70.26, Z:22.71 [[-6.59865917e-01 7.51200042e-01 1.65972377e-02 2.29404703e+02] [-7.50937453e-01 -6.60074295e-01 1.98712374e-02 7.02606437e+01] [ 2.58826843e-02 6.48864902e-04 9.99664777e-01 2.27125138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:70.26, Z:22.71 [[-6.60193588e-01 7.50911913e-01 1.66049718e-02 2.29402711e+02] [-7.50649395e-01 -6.60402057e-01 1.98647724e-02 7.02581671e+01] [ 2.58826518e-02 6.50083294e-04 9.99664777e-01 2.27126002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:70.26, Z:22.71 [[-6.58716353e-01 7.52207919e-01 1.66136383e-02 2.29401427e+02] [-7.51945994e-01 -6.58925566e-01 1.98575217e-02 7.02559332e+01] [ 2.58841361e-02 5.87915479e-04 9.99664777e-01 2.27132868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:70.25, Z:22.71 [[-6.58182358e-01 7.52675039e-01 1.66213463e-02 2.29398670e+02] [-7.52413425e-01 -6.58391960e-01 1.98510677e-02 7.02523977e+01] [ 2.58847640e-02 5.59498438e-04 9.99664777e-01 2.27139491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:70.25, Z:22.71 [[-6.57456378e-01 7.53309026e-01 1.66319970e-02 2.29400284e+02] [-7.53047839e-01 -6.57666512e-01 1.98421401e-02 7.02542591e+01] [ 2.58855707e-02 5.20652151e-04 9.99664777e-01 2.27144584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:70.25, Z:22.72 [[-6.56173735e-01 7.54426372e-01 1.66396848e-02 2.29396283e+02] [-7.54165707e-01 -6.56384515e-01 1.98356910e-02 7.02495661e+01] [ 2.58865999e-02 4.66579772e-04 9.99664777e-01 2.27158224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:70.25, Z:22.72 [[-6.55576239e-01 7.54945468e-01 1.66473676e-02 2.29398654e+02] [-7.54685134e-01 -6.55787428e-01 1.98292411e-02 7.02521212e+01] [ 2.58871301e-02 4.36058512e-04 9.99664777e-01 2.27162122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:70.27, Z:22.71 [[-6.48216269e-01 7.61274115e-01 1.66550426e-02 2.29414866e+02] [-7.61016009e-01 -6.48430175e-01 1.98227926e-02 7.02652492e+01] [ 2.58902111e-02 1.74702592e-04 9.99664777e-01 2.27099560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:70.25, Z:22.72 [[-6.53654224e-01 7.56614565e-01 1.64485776e-02 2.29397202e+02] [-7.56350544e-01 -6.53860844e-01 1.99962857e-02 7.02491349e+01] [ 2.58845619e-02 6.29766007e-04 9.99664740e-01 2.27166396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:70.25, Z:22.72 [[-6.53175115e-01 7.57023337e-01 1.66714530e-02 2.29396150e+02] [-7.56764198e-01 -6.53387759e-01 1.98087102e-02 7.02481706e+01] [ 2.58885792e-02 3.22197769e-04 9.99664783e-01 2.27170419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:70.25, Z:22.72 [[-6.51816968e-01 7.58192884e-01 1.66790881e-02 2.29394234e+02] [-7.57934291e-01 -6.52030276e-01 1.98022793e-02 7.02461959e+01] [ 2.58892177e-02 2.65808872e-04 9.99664783e-01 2.27168176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.226875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.39, Y:70.24, Z:22.72 [[-6.51471622e-01 7.58489430e-01 1.66886411e-02 2.29392100e+02] [-7.58231140e-01 -6.51685297e-01 1.97942251e-02 7.02438760e+01] [ 2.58894526e-02 2.41528576e-04 9.99664783e-01 2.27174637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:70.24, Z:22.72 [[-6.51494554e-01 7.58469565e-01 1.66962629e-02 2.29390071e+02] [-7.58211434e-01 -6.51708420e-01 1.97877941e-02 7.02416410e+01] [ 2.58895347e-02 2.32342663e-04 9.99664783e-01 2.27173880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:70.24, Z:22.72 [[-6.51298519e-01 7.58637718e-01 1.67048292e-02 2.29388121e+02] [-7.58379828e-01 -6.51512676e-01 1.97805598e-02 7.02388419e+01] [ 2.58896867e-02 2.14443787e-04 9.99664783e-01 2.27158833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:70.23, Z:22.72 [[-6.51605663e-01 7.58373714e-01 1.67143681e-02 2.29384699e+02] [-7.58115943e-01 -6.51819964e-01 1.97724962e-02 7.02347290e+01] [ 2.58897002e-02 2.12441537e-04 9.99664783e-01 2.27153781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:70.23, Z:22.72 [[-6.51686392e-01 7.58304175e-01 1.67219867e-02 2.29382834e+02] [-7.58046547e-01 -6.51900864e-01 1.97660510e-02 7.02325128e+01] [ 2.58897565e-02 2.05222190e-04 9.99664783e-01 2.27151783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:70.23, Z:22.71 [[-6.51860745e-01 7.58154069e-01 1.67325175e-02 2.29382658e+02] [-7.57896620e-01 -6.52075432e-01 1.97571324e-02 7.02324687e+01] [ 2.58898138e-02 1.97380584e-04 9.99664783e-01 2.27149697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:70.23, Z:22.72 [[-6.52172197e-01 7.57886003e-01 1.67401224e-02 2.29379312e+02] [-7.57628631e-01 -6.52386977e-01 1.97506866e-02 7.02298067e+01] [ 2.58898068e-02 1.98052642e-04 9.99664783e-01 2.27155319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:70.23, Z:22.72 [[-6.52602668e-01 7.57515196e-01 1.67477249e-02 2.29377666e+02] [-7.57257868e-01 -6.52817499e-01 1.97442379e-02 7.02279004e+01] [ 2.58897682e-02 2.02795886e-04 9.99664783e-01 2.27162018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:70.23, Z:22.72 [[-6.53357113e-01 7.56864394e-01 1.67562693e-02 2.29375358e+02] [-7.56607038e-01 -6.53571910e-01 1.97369839e-02 7.02253836e+01] [ 2.58896473e-02 2.17387562e-04 9.99664783e-01 2.27165914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.37, Y:70.22, Z:22.72 [[-6.54494327e-01 7.55881021e-01 1.67648105e-02 2.29373283e+02] [-7.55623528e-01 -6.54708960e-01 1.97297262e-02 7.02229283e+01] [ 2.58893973e-02 2.45108617e-04 9.99664783e-01 2.27179157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.37, Y:70.22, Z:22.72 [[-6.55347873e-01 7.55140906e-01 1.67743213e-02 2.29370377e+02] [-7.54883377e-01 -6.55562464e-01 1.97216368e-02 7.02195492e+01] [ 2.58892301e-02 2.61876447e-04 9.99664783e-01 2.27183874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.37, Y:70.22, Z:22.72 [[-6.56914761e-01 7.53778060e-01 1.67819151e-02 2.29368478e+02] [-7.53520252e-01 -6.57129015e-01 1.97151728e-02 7.02176372e+01] [ 2.58887481e-02 3.05675128e-04 9.99664783e-01 2.27192984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.37, Y:70.22, Z:22.72 [[-6.58043549e-01 7.52792667e-01 1.67895141e-02 2.29366644e+02] [-7.52534703e-01 -6.58257616e-01 1.97086994e-02 7.02153906e+01] [ 2.58883899e-02 3.34490489e-04 9.99664784e-01 2.27196385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:70.21, Z:22.72 [[-6.59313495e-01 7.51680499e-01 1.67971144e-02 2.29361948e+02] [-7.51422338e-01 -6.59527325e-01 1.97022198e-02 7.02094098e+01] [ 2.58879303e-02 3.68212432e-04 9.99664784e-01 2.27198147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:70.21, Z:22.72 [[-6.61141984e-01 7.50072561e-01 1.68056689e-02 2.29359180e+02] [-7.49814066e-01 -6.61355409e-01 1.96949202e-02 7.02050270e+01] [ 2.58871393e-02 4.20011695e-04 9.99664784e-01 2.27190888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:70.20, Z:22.72 [[-6.62187047e-01 7.49149916e-01 1.68142391e-02 2.29359199e+02] [-7.48891309e-01 -6.62400336e-01 1.96876008e-02 7.02046657e+01] [ 2.58867221e-02 4.44836684e-04 9.99664784e-01 2.27187901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:70.20, Z:22.72 [[-6.63058090e-01 7.48378911e-01 1.68218619e-02 2.29358354e+02] [-7.48120221e-01 -6.63271279e-01 1.96810855e-02 7.02033628e+01] [ 2.58863671e-02 4.64927930e-04 9.99664784e-01 2.27187954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:70.20, Z:22.72 [[-6.64033761e-01 7.47513145e-01 1.68304134e-02 2.29355730e+02] [-7.47254362e-01 -6.64246838e-01 1.96737699e-02 7.02006433e+01] [ 2.58859504e-02 4.87447593e-04 9.99664784e-01 2.27183810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.35, Y:70.20, Z:22.72 [[-6.64752156e-01 7.46874188e-01 1.68380193e-02 2.29351953e+02] [-7.46615365e-01 -6.64965184e-01 1.96672581e-02 7.01966299e+01] [ 2.58856640e-02 5.02328346e-04 9.99664784e-01 2.27187392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.35, Y:70.20, Z:22.72 [[-6.65343198e-01 7.46347542e-01 1.68456341e-02 2.29350762e+02] [-7.46088716e-01 -6.65556222e-01 1.96607336e-02 7.01953029e+01] [ 2.58854568e-02 5.12797845e-04 9.99664784e-01 2.27189276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.35, Y:70.19, Z:22.72 [[-6.66149646e-01 7.45627646e-01 1.68541957e-02 2.29348636e+02] [-7.45368775e-01 -6.66362614e-01 1.96533915e-02 7.01926373e+01] [ 2.58851179e-02 5.29508592e-04 9.99664784e-01 2.27191175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:70.19, Z:22.72 [[-6.67475153e-01 7.44441111e-01 1.68627509e-02 2.29342935e+02] [-7.44182047e-01 -6.67687886e-01 1.96460483e-02 7.01856963e+01] [ 2.58843805e-02 5.64292586e-04 9.99664784e-01 2.27182099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:70.19, Z:22.72 [[-6.68143080e-01 7.43841526e-01 1.68703793e-02 2.29344764e+02] [-7.43582436e-01 -6.68355782e-01 1.96394954e-02 7.01875447e+01] [ 2.58840878e-02 5.77475185e-04 9.99664784e-01 2.27188937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:70.18, Z:22.72 [[-6.69317556e-01 7.42784700e-01 1.68789540e-02 2.29340102e+02] [-7.42525460e-01 -6.69530075e-01 1.96321233e-02 7.01827362e+01] [ 2.58834081e-02 6.07071697e-04 9.99664784e-01 2.27183095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:70.18, Z:22.72 [[-6.69781890e-01 7.42365742e-01 1.68915421e-02 2.29336208e+02] [-7.42106642e-01 -6.69994580e-01 1.96212864e-02 7.01785986e+01] [ 2.58834125e-02 6.06656747e-04 9.99664784e-01 2.27194126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:70.18, Z:22.71 [[-6.66304831e-01 7.45487955e-01 1.68991583e-02 2.29341862e+02] [-7.45230018e-01 -6.66518930e-01 1.96147246e-02 7.01813998e+01] [ 2.58861499e-02 4.75625721e-04 9.99664784e-01 2.27146499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:70.18, Z:22.72 [[-6.69932895e-01 7.42232053e-01 1.67778654e-02 2.29336137e+02] [-7.41970452e-01 -6.70142522e-01 1.97192543e-02 7.01792835e+01] [ 2.58798236e-02 7.61896746e-04 9.99664771e-01 2.27193966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:70.18, Z:22.71 [[-6.66587337e-01 7.45235016e-01 1.69142866e-02 2.29337339e+02] [-7.44977332e-01 -6.66801736e-01 1.96015361e-02 7.01772291e+01] [ 2.58862268e-02 4.65375628e-04 9.99664787e-01 2.27145906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.33, Y:70.17, Z:22.72 [[-6.70075215e-01 7.42102993e-01 1.68033970e-02 2.29330756e+02] [-7.41841903e-01 -6.70285469e-01 1.96972546e-02 7.01741445e+01] [ 2.58804645e-02 7.33178066e-04 9.99664776e-01 2.27196993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.33, Y:70.17, Z:22.72 [[-6.70056619e-01 7.42117014e-01 1.69252515e-02 2.29328444e+02] [-7.41858574e-01 -6.70270103e-01 1.95919867e-02 7.01724125e+01] [ 2.58840367e-02 5.71597435e-04 9.99664789e-01 2.27198793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.33, Y:70.17, Z:22.72 [[-6.66951805e-01 7.44908386e-01 1.69347658e-02 2.29329312e+02] [-7.44651048e-01 -6.67166616e-01 1.95837593e-02 7.01705648e+01] [ 2.58864169e-02 4.50932473e-04 9.99664789e-01 2.27157611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.33, Y:70.17, Z:22.72 [[-6.70074953e-01 7.42102677e-01 1.68277887e-02 2.29326146e+02] [-7.41842112e-01 -6.70285853e-01 1.96762898e-02 7.01706284e+01] [ 2.58812561e-02 7.01026628e-04 9.99664778e-01 2.27199439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.33, Y:70.17, Z:22.72 [[-6.66983625e-01 7.44879654e-01 1.69453653e-02 2.29326443e+02] [-7.44622542e-01 -6.67198703e-01 1.95745059e-02 7.01683590e+01] [ 2.58865769e-02 4.37973911e-04 9.99664790e-01 2.27162635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:70.17, Z:22.72 [[-6.69595394e-01 7.42534661e-01 1.68607988e-02 2.29323699e+02] [-7.42274948e-01 -6.69807336e-01 1.96477491e-02 7.01686355e+01] [ 2.58826215e-02 6.40693730e-04 9.99664784e-01 2.27202970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:70.16, Z:22.72 [[-6.68728999e-01 7.43312779e-01 1.69599079e-02 2.29316073e+02] [-7.43055484e-01 -6.68943856e-01 1.95618229e-02 7.01612198e+01] [ 2.58857791e-02 4.79405669e-04 9.99664792e-01 2.27213522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:70.16, Z:22.72 [[-6.68442451e-01 7.43570302e-01 1.69674959e-02 2.29318441e+02] [-7.43313256e-01 -6.68657607e-01 1.95552390e-02 7.01649081e+01] [ 2.58861401e-02 4.59387228e-04 9.99664792e-01 2.27215748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:70.17, Z:22.72 [[-6.66861918e-01 7.44987918e-01 1.69760210e-02 2.29320020e+02] [-7.44731518e-01 -6.67077843e-01 1.95478354e-02 7.01659589e+01] [ 2.58872287e-02 3.93129105e-04 9.99664792e-01 2.27203300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:70.16, Z:22.72 [[-6.66697726e-01 7.45135016e-01 1.69691045e-02 2.29317406e+02] [-7.44878511e-01 -6.66913526e-01 1.95538441e-02 7.01637577e+01] [ 2.58871792e-02 3.96582088e-04 9.99664792e-01 2.27206138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.86, Y:69.58, Z:23.29 [[-5.91947131e-01 -8.05798141e-01 -1.69691045e-02 2.29864108e+02] [-8.05563579e-01 5.92186599e-01 -1.95538440e-02 6.95840729e+01] [ 2.58053274e-02 2.09485065e-03 -9.99664792e-01 2.32909824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:70.06, Z:22.73 [[-6.14410115e-01 7.88832818e-01 1.55883001e-02 2.29190110e+02] [-7.88563907e-01 -6.14607722e-01 2.05988256e-02 7.00616533e+01] [ 2.58297193e-02 3.63755981e-04 9.99666291e-01 2.27277027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:70.06, Z:22.73 [[-6.14498974e-01 7.88763402e-01 1.55982783e-02 2.29190309e+02] [-7.88494660e-01 -6.14696812e-01 2.05912669e-02 7.00628061e+01] [ 2.58298497e-02 3.54153223e-04 9.99666291e-01 2.27280582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:70.06, Z:22.73 [[-6.14290707e-01 7.88925435e-01 1.56072390e-02 2.29189185e+02] [-7.88656918e-01 -6.14488849e-01 2.05844729e-02 7.00626826e+01] [ 2.58300886e-02 3.36093437e-04 9.99666291e-01 2.27275437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:70.06, Z:22.73 [[-6.14420973e-01 7.88823770e-01 1.56182223e-02 2.29185636e+02] [-7.88555432e-01 -6.14619357e-01 2.05761361e-02 7.00582862e+01] [ 2.58302070e-02 3.26575588e-04 9.99666291e-01 2.27276635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.18, Y:70.06, Z:22.73 [[-6.14711770e-01 7.88597002e-01 1.56271466e-02 2.29184194e+02] [-7.88328763e-01 -6.14910288e-01 2.05693561e-02 7.00567289e+01] [ 2.58302257e-02 3.24896150e-04 9.99666291e-01 2.27273559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.18, Y:70.05, Z:22.73 [[-6.15919070e-01 7.87654206e-01 1.56381131e-02 2.29178505e+02] [-7.87385875e-01 -6.16117463e-01 2.05610153e-02 7.00501020e+01] [ 2.58298847e-02 3.50692036e-04 9.99666291e-01 2.27272819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.63, Y:69.29, Z:23.30 [[-5.29996398e-01 -8.47855338e-01 -1.56571080e-02 2.29627638e+02] [-8.47609689e-01 5.30222269e-01 -2.05465406e-02 6.92947849e+01] [ 2.57222414e-02 2.38152392e-03 -9.99666292e-01 2.33046988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.12, Y:70.04, Z:22.73 [[-5.54062804e-01 8.32358946e-01 1.38922379e-02 2.29116744e+02] [-8.32076545e-01 -5.54236752e-01 2.16851547e-02 7.00377245e+01] [ 2.57494213e-02 4.55532297e-04 9.99668325e-01 2.27274172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:70.04, Z:22.73 [[-5.54688112e-01 8.31940584e-01 1.39986760e-02 2.29114901e+02] [-8.31659784e-01 -5.54864617e-01 2.16162256e-02 7.00358542e+01] [ 2.57507854e-02 3.48127545e-04 9.99668333e-01 2.27278575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:70.04, Z:22.73 [[-5.55087561e-01 8.31673959e-01 1.40080586e-02 2.29114503e+02] [-8.31393227e-01 -5.55264175e-01 2.16101437e-02 7.00356900e+01] [ 2.57507668e-02 3.49316885e-04 9.99668333e-01 2.27279183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:70.03, Z:22.73 [[-5.55448058e-01 8.31433080e-01 1.40174284e-02 2.29109636e+02] [-8.31152425e-01 -5.55624794e-01 2.16040642e-02 7.00284700e+01] [ 2.57507644e-02 3.49315866e-04 9.99668333e-01 2.27279242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:70.03, Z:22.73 [[-5.55419418e-01 8.31452018e-01 1.40289518e-02 2.29109821e+02] [-8.31171558e-01 -5.55596463e-01 2.15965787e-02 7.00293794e+01] [ 2.57509550e-02 3.34693420e-04 9.99668333e-01 2.27275641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:70.02, Z:22.73 [[-5.55719263e-01 8.31251482e-01 1.40383192e-02 2.29106371e+02] [-8.30971112e-01 -5.55896449e-01 2.15904880e-02 7.00245565e+01] [ 2.57509769e-02 3.32812373e-04 9.99668333e-01 2.27278834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.10, Y:70.02, Z:22.73 [[-5.55769690e-01 8.31217573e-01 1.40498231e-02 2.29103726e+02] [-8.30937381e-01 -5.55947159e-01 2.15829993e-02 7.00212754e+01] [ 2.57511275e-02 3.20653611e-04 9.99668333e-01 2.27278001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:70.00, Z:22.73 [[-5.55480525e-01 8.31410648e-01 1.40613262e-02 2.29091033e+02] [-8.31130707e-01 -5.55658390e-01 2.15755025e-02 7.00042545e+01] [ 2.57513963e-02 2.97971502e-04 9.99668333e-01 2.27283062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:70.00, Z:22.73 [[-5.55887263e-01 8.31138596e-01 1.40707363e-02 2.29088897e+02] [-8.30858723e-01 -5.56065235e-01 2.15693638e-02 7.00008890e+01] [ 2.57513780e-02 2.99340623e-04 9.99668333e-01 2.27284136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:70.01, Z:22.73 [[-5.55766312e-01 8.31219300e-01 1.40812902e-02 2.29094235e+02] [-8.30939627e-01 -5.55944598e-01 2.15624716e-02 7.00099450e+01] [ 2.57515598e-02 2.82993257e-04 9.99668334e-01 2.27286082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:70.01, Z:22.73 [[-5.55820338e-01 8.31182978e-01 1.40928680e-02 2.29090995e+02] [-8.30903485e-01 -5.55998907e-01 2.15549019e-02 7.00078500e+01] [ 2.57516867e-02 2.70839754e-04 9.99668334e-01 2.27287704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:70.01, Z:22.73 [[-5.56133109e-01 8.30973581e-01 1.41022277e-02 2.29089424e+02] [-8.30694177e-01 -5.56311814e-01 2.15487766e-02 7.00066100e+01] [ 2.57516999e-02 2.69349704e-04 9.99668334e-01 2.27288852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:70.01, Z:22.72 [[-5.54057325e-01 8.32358903e-01 1.41115810e-02 2.29089913e+02] [-8.32080102e-01 -5.54236969e-01 2.15426497e-02 7.00056326e+01] [ 2.57523762e-02 1.93897089e-04 9.99668334e-01 2.27239587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.996875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.90, Y:69.72, Z:22.73 [[-5.58304937e-01 8.29516632e-01 1.40625285e-02 2.28898803e+02] [-8.29236104e-01 -5.58481880e-01 2.15748374e-02 6.97203882e+01] [ 2.57503538e-02 3.84181941e-04 9.99668331e-01 2.27339874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:69.47, Z:23.30 [[-4.81541234e-01 -8.76310610e-01 -1.40625285e-02 2.29709207e+02] [-8.76047109e-01 4.81742658e-01 -2.15748374e-02 6.94747629e+01] [ 2.56807788e-02 1.93026357e-03 -9.99668331e-01 2.32977582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.96, Y:69.88, Z:22.73 [[-5.00094144e-01 8.65879179e-01 1.26132771e-02 2.28957202e+02] [-8.65589662e-01 -5.00253105e-01 2.23912597e-02 6.98750532e+01] [ 2.56979566e-02 2.79815542e-04 9.99669714e-01 2.27323471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.96, Y:69.88, Z:22.73 [[-5.00682365e-01 8.65539024e-01 1.26241046e-02 2.28955222e+02] [-8.65249552e-01 -5.00841409e-01 2.23851535e-02 6.98753358e+01] [ 2.56978983e-02 2.84850774e-04 9.99669714e-01 2.27322134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.95, Y:69.87, Z:22.73 [[-5.01405014e-01 8.65120437e-01 1.26349209e-02 2.28949289e+02] [-8.64830987e-01 -5.01564097e-01 2.23790468e-02 6.98668209e+01] [ 2.56977934e-02 2.93895219e-04 9.99669714e-01 2.27323694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.95, Y:69.87, Z:22.73 [[-5.02074675e-01 8.64731811e-01 1.26457465e-02 2.28949430e+02] [-8.64442392e-01 -5.02233814e-01 2.23729279e-02 6.98693207e+01] [ 2.56977039e-02 3.01361149e-04 9.99669714e-01 2.27317175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.94, Y:69.87, Z:22.73 [[-5.02942213e-01 8.64227351e-01 1.26576900e-02 2.28944633e+02] [-8.63937941e-01 -5.03101370e-01 2.23661687e-02 6.98653739e+01] [ 2.56975559e-02 3.13431768e-04 9.99669714e-01 2.27318404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.86, Y:69.72, Z:22.73 [[-5.03402132e-01 8.63959376e-01 1.26684853e-02 2.28859770e+02] [-8.63670035e-01 -5.03561414e-01 2.23600524e-02 6.97172560e+01] [ 2.56975373e-02 3.14706870e-04 9.99669714e-01 2.27336186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:69.37, Z:23.31 [[-4.24427570e-01 -9.05373264e-01 -1.26684853e-02 2.29622340e+02] [-9.05099265e-01 4.24611997e-01 -2.23600524e-02 6.93716116e+01] [ 2.56233845e-02 1.97601408e-03 -9.99669714e-01 2.33055153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.55, Y:69.29, Z:23.31 [[-3.62511263e-01 -9.31893285e-01 -1.26684853e-02 2.29549661e+02] [-9.31632324e-01 3.62713718e-01 -2.23600524e-02 6.92888833e+01] [ 2.54322161e-02 3.69659961e-03 -9.99669714e-01 2.33081948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:69.19, Z:23.31 [[-2.94824058e-01 -9.55467574e-01 -1.26684853e-02 2.29480917e+02] [-9.55221786e-01 2.95044687e-01 -2.23600524e-02 6.91881030e+01] [ 2.51020743e-02 5.50893182e-03 -9.99669714e-01 2.33070827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.64, Y:69.44, Z:22.74 [[-3.19208716e-01 9.47652972e-01 7.72277099e-03 2.28639390e+02] [-9.47350215e-01 -3.19301951e-01 2.39548514e-02 6.94433920e+01] [ 2.51667819e-02 3.30428587e-04 9.99683212e-01 2.27446373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.63, Y:69.43, Z:22.75 [[-3.19699710e-01 9.47487338e-01 7.73556044e-03 2.28633535e+02] [-9.47184633e-01 -3.19793113e-01 2.39507207e-02 6.94324852e+01] [ 2.51667835e-02 3.30034497e-04 9.99683212e-01 2.27457423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.63, Y:69.41, Z:22.75 [[-3.20246643e-01 9.47302513e-01 7.74836632e-03 2.28625792e+02] [-9.46999853e-01 -3.20340194e-01 2.39465771e-02 6.94117045e+01] [ 2.51667658e-02 3.31109160e-04 9.99683212e-01 2.27463433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.63, Y:69.43, Z:22.75 [[-3.21058884e-01 9.47027421e-01 7.76250756e-03 2.28629701e+02] [-9.46724792e-01 -3.21152533e-01 2.39419922e-02 6.94294638e+01] [ 2.51666721e-02 3.37830938e-04 9.99683212e-01 2.27458858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.63, Y:69.42, Z:22.75 [[-3.21841073e-01 9.46761770e-01 7.77660478e-03 2.28626495e+02] [-9.46459173e-01 -3.21934828e-01 2.39374124e-02 6.94223295e+01] [ 2.51665869e-02 3.43803567e-04 9.99683212e-01 2.27454213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.62, Y:69.42, Z:22.74 [[-3.23283980e-01 9.46269927e-01 7.79058875e-03 2.28622398e+02] [-9.45967298e-01 -3.23377628e-01 2.39328604e-02 6.94164170e+01] [ 2.51662481e-02 3.67468167e-04 9.99683212e-01 2.27445973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.62, Y:69.40, Z:22.74 [[-3.24581741e-01 9.45825450e-01 7.80458462e-03 2.28617211e+02] [-9.45522802e-01 -3.24675327e-01 2.39282954e-02 6.94030780e+01] [ 2.51659468e-02 3.87275051e-04 9.99683212e-01 2.27442753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.62, Y:69.40, Z:22.74 [[-3.25603846e-01 9.45473869e-01 7.82930091e-03 2.28615106e+02] [-9.45171314e-01 -3.25697731e-01 2.39202055e-02 6.93993152e+01] [ 2.51659148e-02 3.88480304e-04 9.99683213e-01 2.27438311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.61, Y:69.40, Z:22.74 [[-3.26549958e-01 9.45147400e-01 7.84334738e-03 2.28614756e+02] [-9.44844860e-01 -3.26643895e-01 2.39155989e-02 6.94008719e+01] [ 2.51657476e-02 3.98891342e-04 9.99683213e-01 2.27430276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.61, Y:69.39, Z:22.74 [[-3.27732472e-01 9.44737894e-01 7.85735034e-03 2.28611324e+02] [-9.44435348e-01 -3.27826385e-01 2.39109974e-02 6.93929840e+01] [ 2.51654721e-02 4.15650884e-04 9.99683213e-01 2.27428519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.61, Y:69.39, Z:22.74 [[-3.29618223e-01 9.44081495e-01 7.87132768e-03 2.28607749e+02] [-9.43778871e-01 -3.29711885e-01 2.39063953e-02 6.93871347e+01] [ 2.51648557e-02 4.51190782e-04 9.99683213e-01 2.27438928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.61, Y:69.38, Z:22.74 [[-3.31026687e-01 9.43588435e-01 7.88662614e-03 2.28605408e+02] [-9.43285791e-01 -3.31120285e-01 2.39013473e-02 6.93826507e+01] [ 2.51644568e-02 4.72641442e-04 9.99683213e-01 2.27437352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.60, Y:69.37, Z:22.74 [[-3.32227367e-01 9.43166240e-01 7.90061500e-03 2.28601893e+02] [-9.42863587e-01 -3.32320934e-01 2.38967224e-02 6.93745933e+01] [ 2.51641216e-02 4.89942952e-04 9.99683213e-01 2.27437827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.60, Y:69.37, Z:22.74 [[-3.34199910e-01 9.42468980e-01 7.91461000e-03 2.28598153e+02] [-9.42166241e-01 -3.34293198e-01 2.38920863e-02 6.93680825e+01] [ 2.51633505e-02 5.27854756e-04 9.99683213e-01 2.27438654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.59, Y:69.36, Z:22.74 [[-3.36262022e-01 9.41735095e-01 7.92862840e-03 2.28593922e+02] [-9.41432261e-01 -3.36355003e-01 2.38874334e-02 6.93597382e+01] [ 2.51624682e-02 5.68170089e-04 9.99683214e-01 2.27437086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.59, Y:69.36, Z:22.74 [[-3.37637620e-01 9.41242652e-01 7.94398190e-03 2.28592642e+02] [-9.40939802e-01 -3.37730548e-01 2.38823264e-02 6.93580528e+01] [ 2.51619896e-02 5.88763081e-04 9.99683214e-01 2.27434867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.59, Y:69.35, Z:22.74 [[-3.39121647e-01 9.40708870e-01 7.95801763e-03 2.28589113e+02] [-9.40405983e-01 -3.39214453e-01 2.38776485e-02 6.93499195e+01] [ 2.51613903e-02 6.13660104e-04 9.99683214e-01 2.27433356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.59, Y:69.35, Z:22.74 [[-3.40247079e-01 9.40302277e-01 7.97204483e-03 2.28588015e+02] [-9.39999388e-01 -3.40339878e-01 2.38729643e-02 6.93482144e+01] [ 2.51610075e-02 6.28989108e-04 9.99683214e-01 2.27428833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.59, Y:69.34, Z:22.74 [[-3.41757033e-01 9.39754411e-01 7.98606927e-03 2.28585189e+02] [-9.39451482e-01 -3.41849701e-01 2.38682719e-02 6.93429094e+01] [ 2.51603492e-02 6.54625171e-04 9.99683214e-01 2.27420826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:69.33, Z:22.74 [[-3.44070161e-01 9.38909849e-01 8.00129145e-03 2.28580153e+02] [-9.38606810e-01 -3.44162469e-01 2.38631679e-02 6.93341368e+01] [ 2.51591076e-02 7.00537369e-04 9.99683214e-01 2.27421241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:69.33, Z:22.74 [[-3.45898942e-01 9.38237538e-01 8.01531013e-03 2.28576972e+02] [-9.37934428e-01 -3.45991016e-01 2.38584583e-02 6.93264543e+01] [ 2.51581265e-02 7.34780164e-04 9.99683214e-01 2.27422514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.57, Y:69.32, Z:22.74 [[-3.48281126e-01 9.37355629e-01 8.04255200e-03 2.28573291e+02] [-9.37052496e-01 -3.48373123e-01 2.38492717e-02 6.93201602e+01] [ 2.51570580e-02 7.69957784e-04 9.99683215e-01 2.27419260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.57, Y:69.31, Z:22.74 [[-3.49607143e-01 9.36861739e-01 8.05779057e-03 2.28568192e+02] [-9.36558593e-01 -3.49699098e-01 2.38441220e-02 6.93073273e+01] [ 2.51564477e-02 7.89482380e-04 9.99683215e-01 2.27426203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.56, Y:69.30, Z:22.74 [[-3.50931340e-01 9.36366403e-01 8.07185059e-03 2.28564204e+02] [-9.36063236e-01 -3.51023224e-01 2.38393614e-02 6.92982529e+01] [ 2.51557841e-02 8.10216464e-04 9.99683215e-01 2.27427612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.56, Y:69.29, Z:22.74 [[-3.52067906e-01 9.35939531e-01 8.08596976e-03 2.28560216e+02] [-9.35636362e-01 -3.52159781e-01 2.38345714e-02 6.92897036e+01] [ 2.51552710e-02 8.25860330e-04 9.99683215e-01 2.27433256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.56, Y:69.29, Z:22.74 [[-3.53619340e-01 9.35354345e-01 8.10013039e-03 2.28557096e+02] [-9.35051132e-01 -3.53711072e-01 2.38297580e-02 6.92867476e+01] [ 2.51543735e-02 8.52627200e-04 9.99683215e-01 2.27436820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.56, Y:69.28, Z:22.74 [[-3.54278535e-01 9.35104731e-01 8.11552980e-03 2.28555537e+02] [-9.34801573e-01 -3.54370445e-01 2.38245124e-02 6.92839243e+01] [ 2.51543181e-02 8.54103323e-04 9.99683215e-01 2.27435887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:69.28, Z:22.74 [[-3.55201727e-01 9.34754311e-01 8.13089011e-03 2.28552733e+02] [-9.34451180e-01 -3.55293729e-01 2.38192690e-02 6.92779399e+01] [ 2.51540187e-02 8.62725645e-04 9.99683215e-01 2.27436621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:69.26, Z:22.74 [[-3.56208054e-01 9.34371169e-01 8.14500321e-03 2.28546248e+02] [-9.34068049e-01 -3.56300089e-01 2.38144421e-02 6.92640796e+01] [ 2.51535934e-02 8.74908803e-04 9.99683215e-01 2.27429184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.19687500000003 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:228.55, Y:69.27, Z:22.74 [[-3.56554127e-01 9.34239028e-01 8.16049154e-03 2.28548501e+02] [-9.33935993e-01 -3.56646443e-01 2.38091335e-02 6.92726550e+01] [ 2.51538320e-02 8.67868026e-04 9.99683216e-01 2.27419931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.54, Y:69.26, Z:22.74 [[-3.56856524e-01 9.34123438e-01 8.17461940e-03 2.28541032e+02] [-9.33820483e-01 -3.56949103e-01 2.38042819e-02 6.92561297e+01] [ 2.51540607e-02 8.61086254e-04 9.99683216e-01 2.27417758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.54, Y:69.26, Z:22.74 [[-3.57131361e-01 9.34018263e-01 8.18996664e-03 2.28542072e+02] [-9.33715401e-01 -3.57224241e-01 2.37990004e-02 6.92619489e+01] [ 2.51543556e-02 8.52271425e-04 9.99683216e-01 2.27414048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.54, Y:69.25, Z:22.74 [[-3.57507645e-01 9.33874176e-01 8.20407942e-03 2.28535980e+02] [-9.33571387e-01 -3.57600762e-01 2.37941344e-02 6.92474746e+01] [ 2.51545127e-02 8.47491155e-04 9.99683216e-01 2.27412702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:69.23, Z:22.74 [[-3.58738239e-01 9.33402024e-01 8.21817760e-03 2.28529404e+02] [-9.33099222e-01 -3.58831315e-01 2.37892641e-02 6.92305814e+01] [ 2.51538867e-02 8.65743576e-04 9.99683216e-01 2.27415646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:69.23, Z:22.74 [[-3.59143764e-01 9.33245713e-01 8.25806004e-03 2.28525692e+02] [-9.32943186e-01 -3.59237724e-01 2.37754115e-02 6.92252664e+01] [ 2.51549076e-02 8.34489947e-04 9.99683217e-01 2.27414478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.52, Y:69.22, Z:22.74 [[-3.59798864e-01 9.32993208e-01 8.27357236e-03 2.28523987e+02] [-9.32690737e-01 -3.59893006e-01 2.37700122e-02 6.92241130e+01] [ 2.51548607e-02 8.35739064e-04 9.99683217e-01 2.27417505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.52, Y:69.21, Z:22.74 [[-3.60297807e-01 9.32800506e-01 8.28896228e-03 2.28518003e+02] [-9.32498107e-01 -3.60392179e-01 2.37646443e-02 6.92118708e+01] [ 2.51549494e-02 8.32907585e-04 9.99683217e-01 2.27417231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.52, Y:69.21, Z:22.74 [[-3.60879750e-01 9.32575382e-01 8.30435823e-03 2.28515924e+02] [-9.32273047e-01 -3.60974326e-01 2.37592631e-02 6.92081489e+01] [ 2.51549639e-02 8.32307582e-04 9.99683217e-01 2.27411175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.51, Y:69.19, Z:22.74 [[-3.61099419e-01 9.32490209e-01 8.31986982e-03 2.28509991e+02] [-9.32187975e-01 -3.61194318e-01 2.37538301e-02 6.91930916e+01] [ 2.51553037e-02 8.21811644e-04 9.99683218e-01 2.27410280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.51, Y:69.20, Z:22.74 [[-3.62169976e-01 9.32074810e-01 8.33409910e-03 2.28510822e+02] [-9.31772581e-01 -3.62264890e-01 2.37488366e-02 6.91979530e+01] [ 2.51548439e-02 8.35630572e-04 9.99683218e-01 2.27401355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:69.18, Z:22.74 [[-3.61992018e-01 9.32143667e-01 8.36444180e-03 2.28502690e+02] [-9.31841700e-01 -3.62087761e-01 2.37381450e-02 6.91819482e+01] [ 2.51560235e-02 7.98683343e-04 9.99683218e-01 2.27401462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:69.18, Z:22.74 [[-3.62460136e-01 9.31961602e-01 8.37983372e-03 2.28502189e+02] [-9.31659712e-01 -3.62556120e-01 2.37327102e-02 6.91832354e+01] [ 2.51561347e-02 7.95007915e-04 9.99683218e-01 2.27406155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:69.18, Z:22.74 [[-3.61970306e-01 9.32151711e-01 8.40747342e-03 2.28500276e+02] [-9.31850096e-01 -3.62067151e-01 2.37229147e-02 6.91834834e+01] [ 2.51574254e-02 7.52485775e-04 9.99683219e-01 2.27412298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:69.18, Z:22.74 [[-3.55274428e-01 9.34724035e-01 8.42972778e-03 2.28503079e+02] [-9.34423309e-01 -3.55373998e-01 2.37150041e-02 6.91809436e+01] [ 2.51626904e-02 5.48400400e-04 9.99683219e-01 2.27379799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.49, Y:69.15, Z:22.74 [[-3.61770916e-01 9.32230597e-01 8.24120226e-03 2.28486645e+02] [-9.31927652e-01 -3.61863594e-01 2.37821719e-02 6.91502294e+01] [ 2.51526594e-02 9.23493861e-04 9.99683195e-01 2.27433564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.49, Y:69.16, Z:22.74 [[-3.61411349e-01 9.32368027e-01 8.46757980e-03 2.28487039e+02] [-9.32066972e-01 -3.61509902e-01 2.37012965e-02 6.91564296e+01] [ 2.51594450e-02 6.73566090e-04 9.99683224e-01 2.27441895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.48, Y:69.15, Z:22.74 [[-3.61428255e-01 9.32361096e-01 8.50896157e-03 2.28483717e+02] [-9.32060386e-01 -3.61527854e-01 2.36864308e-02 6.91496190e+01] [ 2.51605332e-02 6.30079360e-04 9.99683225e-01 2.27446269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.48, Y:69.14, Z:22.74 [[-3.62028724e-01 9.32127900e-01 8.53118160e-03 2.28481567e+02] [-9.31827313e-01 -3.62128693e-01 2.36784251e-02 6.91436072e+01] [ 2.51607063e-02 6.22681992e-04 9.99683225e-01 2.27447993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.48, Y:69.14, Z:22.75 [[-3.61864255e-01 9.32191622e-01 8.54643454e-03 2.28479741e+02] [-9.31891182e-01 -3.61964664e-01 2.36729185e-02 6.91408656e+01] [ 2.51612036e-02 6.02036030e-04 9.99683226e-01 2.27453720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:69.12, Z:22.74 [[-3.55687493e-01 9.34565731e-01 8.56166161e-03 2.28474698e+02] [-9.34266094e-01 -3.55790274e-01 2.36674101e-02 6.91166405e+01] [ 2.51649064e-02 4.19331616e-04 9.99683226e-01 2.27417540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:69.12, Z:22.74 [[-3.61279481e-01 9.32419692e-01 8.40560562e-03 2.28471785e+02] [-9.32118125e-01 -3.61376502e-01 2.37239421e-02 6.91236485e+01] [ 2.51582591e-02 7.35956148e-04 9.99683210e-01 2.27446691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:69.11, Z:22.74 [[-3.61352271e-01 9.32389771e-01 8.59366652e-03 2.28466082e+02] [-9.32089795e-01 -3.61454043e-01 2.36556234e-02 6.91088062e+01] [ 2.51624768e-02 5.37944378e-04 9.99683230e-01 2.27447928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.46, Y:69.11, Z:22.74 [[-3.61764197e-01 9.32229816e-01 8.61600056e-03 2.28464170e+02] [-9.31929988e-01 -3.61866403e-01 2.36474860e-02 6.91054968e+01] [ 2.51627327e-02 5.25304478e-04 9.99683230e-01 2.27442483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:69.12, Z:22.74 [[-3.60834734e-01 9.32589744e-01 8.64087339e-03 2.28468002e+02] [-9.32290234e-01 -3.60937870e-01 2.36383939e-02 6.91195966e+01] [ 2.51637421e-02 4.73751703e-04 9.99683231e-01 2.27431316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:69.10, Z:22.74 [[-3.57071244e-01 9.34037044e-01 8.65606529e-03 2.28465440e+02] [-9.33738087e-01 -3.57175970e-01 2.36328295e-02 6.91031777e+01] [ 2.51656767e-02 3.56105980e-04 9.99683231e-01 2.27386005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.45, Y:69.08, Z:22.74 [[-3.61158603e-01 9.32464961e-01 8.57671866e-03 2.28452049e+02] [-9.32164853e-01 -3.61260007e-01 2.36620935e-02 6.90807216e+01] [ 2.51624985e-02 5.50852932e-04 9.99683222e-01 2.27418423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.45, Y:69.07, Z:22.74 [[-3.60601613e-01 9.32679078e-01 8.73004297e-03 2.28446175e+02] [-9.32380388e-01 -3.60707081e-01 2.36053895e-02 6.90666206e+01] [ 2.51652413e-02 3.72420694e-04 9.99683236e-01 2.27421394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:69.02, Z:22.74 [[-3.56280060e-01 9.34338289e-01 8.74535519e-03 2.28431406e+02] [-9.34040228e-01 -3.56387297e-01 2.35997153e-02 6.90202285e+01] [ 2.51668511e-02 2.39594416e-04 9.99683236e-01 2.27388110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.45, Y:69.07, Z:22.74 [[-3.53308621e-01 9.35466613e-01 8.67376620e-03 2.28448774e+02] [-9.35168240e-01 -3.53414997e-01 2.36263046e-02 6.90695159e+01] [ 2.51670582e-02 2.35946415e-04 9.99683232e-01 2.27371247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.45, Y:69.08, Z:22.74 [[-3.56948409e-01 9.34083911e-01 8.66488857e-03 2.28447428e+02] [-9.33785046e-01 -3.57053398e-01 2.36296087e-02 6.90772480e+01] [ 2.51658652e-02 3.43407879e-04 9.99683230e-01 2.27417177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:69.06, Z:22.74 [[-3.55830972e-01 9.34508924e-01 8.79723882e-03 2.28440477e+02] [-9.34211395e-01 -3.55939661e-01 2.35802322e-02 6.90611356e+01] [ 2.51672236e-02 1.72096176e-04 9.99683240e-01 2.27421730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:69.06, Z:22.74 [[-3.48288394e-01 9.37346008e-01 8.81229244e-03 2.28442163e+02] [-9.37049507e-01 -3.48399856e-01 2.35746051e-02 6.90612689e+01] [ 2.51677634e-02 -4.67929485e-05 9.99683241e-01 2.27384412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:69.06, Z:22.74 [[-3.52720819e-01 9.35688327e-01 8.68213310e-03 2.28435973e+02] [-9.35390093e-01 -3.52827594e-01 2.36233540e-02 6.90559742e+01] [ 2.51673927e-02 2.11267504e-04 9.99683229e-01 2.27430627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:69.03, Z:22.74 [[-3.47017798e-01 9.37816804e-01 8.84816677e-03 2.28428244e+02] [-9.37520800e-01 -3.47130563e-01 2.35610017e-02 6.90286776e+01] [ 2.51673724e-02 -1.19253464e-04 9.99683244e-01 2.27395616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:69.05, Z:22.74 [[-3.51884932e-01 9.36002425e-01 8.74387781e-03 2.28432627e+02] [-9.35704859e-01 -3.51993530e-01 2.36002309e-02 6.90518446e+01] [ 2.51676618e-02 1.22876675e-04 9.99683237e-01 2.27434081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:69.05, Z:22.74 [[-3.51271081e-01 9.36231641e-01 8.88490138e-03 2.28430043e+02] [-9.35935482e-01 -3.51383426e-01 2.35470193e-02 6.90485157e+01] [ 2.51674716e-02 -4.43075054e-05 9.99683248e-01 2.27425635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.42, Y:69.01, Z:22.74 [[-3.51299194e-01 9.36220886e-01 8.90665386e-03 2.28415665e+02] [-9.35924932e-01 -3.51412077e-01 2.35387886e-02 6.90124131e+01] [ 2.51674113e-02 -6.68019435e-05 9.99683248e-01 2.27424683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.42, Y:69.02, Z:22.74 [[-3.51839508e-01 9.36017822e-01 8.92174390e-03 2.28418209e+02] [-9.35721947e-01 -3.51952600e-01 2.35330677e-02 6.90228305e+01] [ 2.51674018e-02 -6.84085925e-05 9.99683248e-01 2.27413777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.41, Y:69.00, Z:22.74 [[-3.53291923e-01 9.35470213e-01 8.96089148e-03 2.28408094e+02] [-9.35174541e-01 -3.53405539e-01 2.35181517e-02 6.89989903e+01] [ 2.51673591e-02 -7.12245185e-05 9.99683249e-01 2.27411712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.41, Y:69.02, Z:22.74 [[-3.53572314e-01 9.35363898e-01 8.99982048e-03 2.28414222e+02] [-9.35068570e-01 -3.53686820e-01 2.35032451e-02 6.90164225e+01] [ 2.51672049e-02 -1.05352506e-04 9.99683250e-01 2.27402896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.41, Y:69.01, Z:22.74 [[-3.53467403e-01 9.35403338e-01 9.02160524e-03 2.28409000e+02] [-9.35108236e-01 -3.53582490e-01 2.34948802e-02 6.90069951e+01] [ 2.51670710e-02 -1.31503075e-04 9.99683250e-01 2.27409636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:68.98, Z:22.74 [[-3.54106579e-01 9.35161416e-01 9.03643746e-03 2.28397226e+02] [-9.34866380e-01 -3.54221837e-01 2.34891742e-02 6.89785686e+01] [ 2.51670728e-02 -1.30190471e-04 9.99683251e-01 2.27421589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.39, Y:68.97, Z:22.74 [[-3.55538707e-01 9.34617729e-01 9.05142650e-03 2.28394083e+02] [-9.34322665e-01 -3.55653889e-01 2.34833968e-02 6.89724445e+01] [ 2.51671740e-02 -1.07696401e-04 9.99683251e-01 2.27424442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.39, Y:68.96, Z:22.74 [[-3.56999199e-01 9.34060559e-01 9.07982418e-03 2.28389339e+02] [-9.33765594e-01 -3.57114634e-01 2.34724117e-02 6.89613800e+01] [ 2.51671921e-02 -9.87952233e-05 9.99683251e-01 2.27431216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:68.98, Z:22.74 [[-3.59588105e-01 9.33066746e-01 9.10180966e-03 2.28396301e+02] [-9.32771677e-01 -3.59703274e-01 2.34638834e-02 6.89807790e+01] [ 2.51673201e-02 -5.25769006e-05 9.99683251e-01 2.27427932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.39, Y:68.97, Z:22.74 [[-3.61348989e-01 9.32386008e-01 9.12360649e-03 2.28391988e+02] [-9.32090936e-01 -3.61464150e-01 2.34554050e-02 6.89697113e+01] [ 2.51673481e-02 -2.84440367e-05 9.99683252e-01 2.27429925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:68.95, Z:22.74 [[-3.64277045e-01 9.31245791e-01 9.13843503e-03 2.28383844e+02] [-9.30950504e-01 -3.64391651e-01 2.34496262e-02 6.89494595e+01] [ 2.51673351e-02 3.47298411e-05 9.99683252e-01 2.27436395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:68.93, Z:22.74 [[-3.68137722e-01 9.29725982e-01 9.17698558e-03 2.28374485e+02] [-9.29430596e-01 -3.68252073e-01 2.34345298e-02 6.89260225e+01] [ 2.51671352e-02 9.77632228e-05 9.99683253e-01 2.27443314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:68.92, Z:22.74 [[-3.70198599e-01 9.28907156e-01 9.19202422e-03 2.28372016e+02] [-9.28611664e-01 -3.70312675e-01 2.34286295e-02 6.89196212e+01] [ 2.51669447e-02 1.37424927e-04 9.99683253e-01 2.27444445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:68.92, Z:22.74 [[-3.72724328e-01 9.27896439e-01 9.20725464e-03 2.28373370e+02] [-9.27600786e-01 -3.72837984e-01 2.34226426e-02 6.89230919e+01] [ 2.51666009e-02 1.89532064e-04 9.99683253e-01 2.27444039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:68.92, Z:22.74 [[-3.76240845e-01 9.26475929e-01 9.22922652e-03 2.28373845e+02] [-9.26180059e-01 -3.76353935e-01 2.34139818e-02 6.89233759e+01] [ 2.51659463e-02 2.61370743e-04 9.99683253e-01 2.27436296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:68.91, Z:22.74 [[-3.78009214e-01 9.25755587e-01 9.25347269e-03 2.28369825e+02] [-9.25459736e-01 -3.78122351e-01 2.34043955e-02 6.89138705e+01] [ 2.51656948e-02 2.83360748e-04 9.99683254e-01 2.27434699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:68.92, Z:22.74 [[-3.79575329e-01 9.25114407e-01 9.26840124e-03 2.28371343e+02] [-9.24818509e-01 -3.79688342e-01 2.33984821e-02 6.89172643e+01] [ 2.51653769e-02 3.09897539e-04 9.99683254e-01 2.27429376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.36, Y:68.89, Z:22.74 [[-3.81731668e-01 9.24226503e-01 9.29008864e-03 2.28360668e+02] [-9.23930550e-01 -3.81844540e-01 2.33898683e-02 6.88910236e+01] [ 2.51649058e-02 3.45256720e-04 9.99683254e-01 2.27427762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:68.87, Z:22.74 [[-3.83065055e-01 9.23674499e-01 9.30503310e-03 2.28351410e+02] [-9.23378528e-01 -3.83177878e-01 2.33839215e-02 6.88669579e+01] [ 2.51646148e-02 3.65495403e-04 9.99683254e-01 2.27431656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:68.86, Z:22.74 [[-3.84144253e-01 9.23225973e-01 9.32713517e-03 2.28347977e+02] [-9.22930084e-01 -3.84257290e-01 2.33751023e-02 6.88583663e+01] [ 2.51645213e-02 3.71117579e-04 9.99683254e-01 2.27430633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:68.85, Z:22.74 [[-3.84695893e-01 9.22996094e-01 9.34242366e-03 2.28343933e+02] [-9.22700285e-01 -3.84809140e-01 2.33689903e-02 6.88481998e+01] [ 2.51645368e-02 3.69697634e-04 9.99683255e-01 2.27428062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:68.85, Z:22.74 [[-3.85156259e-01 9.22803926e-01 9.35784750e-03 2.28345799e+02] [-9.22508211e-01 -3.85269749e-01 2.33628124e-02 6.88525754e+01] [ 2.51645906e-02 3.65642275e-04 9.99683255e-01 2.27424641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:68.86, Z:22.74 [[-3.85145616e-01 9.22808143e-01 9.38011549e-03 2.28347301e+02] [-9.22512646e-01 -3.85259673e-01 2.33538684e-02 6.88562376e+01] [ 2.51649202e-02 3.41364885e-04 9.99683255e-01 2.27424521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:68.84, Z:22.74 [[-3.85462901e-01 9.22675431e-01 9.40218045e-03 2.28341741e+02] [-9.22380111e-01 -3.85577414e-01 2.33449818e-02 6.88434510e+01] [ 2.51651096e-02 3.26240142e-04 9.99683255e-01 2.27428937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:68.85, Z:22.74 [[-3.83883517e-01 9.23333383e-01 9.42915123e-03 2.28343882e+02] [-9.23038527e-01 -3.83999217e-01 2.33340831e-02 6.88488968e+01] [ 2.51659246e-02 2.54100024e-04 9.99683256e-01 2.27427409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:68.84, Z:22.74 [[-3.83168313e-01 9.23630256e-01 9.44428166e-03 2.28340870e+02] [-9.23335640e-01 -3.83284624e-01 2.33279576e-02 6.88413605e+01] [ 2.51662554e-02 2.18292301e-04 9.99683256e-01 2.27430690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.36, Y:68.86, Z:22.74 [[-3.72053396e-01 9.28163128e-01 9.45925813e-03 2.28355301e+02] [-9.27870084e-01 -3.72173612e-01 2.33218832e-02 6.88624745e+01] [ 2.51669983e-02 -9.99767923e-05 9.99683256e-01 2.27375760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:68.84, Z:22.74 [[-3.79536489e-01 9.25131030e-01 9.19945785e-03 2.28342097e+02] [-9.24834434e-01 -3.79647770e-01 2.34273569e-02 6.88418304e+01] [ 2.51659285e-02 3.83561414e-04 9.99683214e-01 2.27420380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.146875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:228.33, Y:68.82, Z:22.74 [[-3.78622669e-01 9.25502419e-01 9.49461178e-03 2.28334118e+02] [-9.25208899e-01 -3.78741695e-01 2.33071216e-02 6.88222025e+01] [ 2.51668028e-02 4.01052640e-05 9.99683265e-01 2.27427661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:68.82, Z:22.74 [[-3.77647457e-01 9.25900625e-01 9.50951235e-03 2.28333148e+02] [-9.25607384e-01 -3.77767167e-01 2.33010404e-02 6.88195486e+01] [ 2.51668294e-02 -2.49619146e-06 9.99683265e-01 2.27418734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:68.83, Z:22.74 [[-3.74854769e-01 9.27034619e-01 9.52455766e-03 2.28338856e+02] [-9.26741896e-01 -3.74975740e-01 2.32948889e-02 6.88333608e+01] [ 2.51666465e-02 -9.46064418e-05 9.99683265e-01 2.27409738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:68.81, Z:22.74 [[-3.73802508e-01 9.27459194e-01 9.54614079e-03 2.28329005e+02] [-9.27166834e-01 -3.73924354e-01 2.32860409e-02 6.88101611e+01] [ 2.51663872e-02 -1.46484663e-04 9.99683266e-01 2.27420488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:68.81, Z:22.74 [[-3.72987618e-01 9.27787058e-01 9.56093554e-03 2.28328010e+02] [-9.27494961e-01 -3.73110092e-01 2.32799647e-02 6.88083099e+01] [ 2.51661315e-02 -1.84580922e-04 9.99683266e-01 2.27423366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:68.80, Z:22.74 [[-3.70982566e-01 9.28590458e-01 9.57588852e-03 2.28325766e+02] [-9.28298784e-01 -3.71106046e-01 2.32738124e-02 6.88021831e+01] [ 2.51655103e-02 -2.55107002e-04 9.99683266e-01 2.27423196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.31, Y:68.75, Z:22.74 [[-3.71229021e-01 9.28491804e-01 9.59081568e-03 2.28305840e+02] [-9.28200257e-01 -3.71352797e-01 2.32676595e-02 6.87528356e+01] [ 2.51654074e-02 -2.64567113e-04 9.99683266e-01 2.27436657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.22, Y:68.34, Z:23.35 [[-3.30245172e-01 -9.43846461e-01 -9.59081568e-03 2.29223189e+02] [-9.43560609e-01 3.30381587e-01 -2.32676595e-02 6.83384826e+01] [ 2.51297270e-02 1.36548365e-03 -9.99683266e-01 2.33525732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.23, Y:68.63, Z:22.75 [[-3.06622886e-01 9.51797502e-01 7.99506658e-03 2.28226660e+02] [-9.51499850e-01 -3.06726947e-01 2.38036699e-02 6.86300958e+01] [ 2.51085759e-02 -3.08554695e-04 9.99684682e-01 2.27456479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:68.60, Z:22.75 [[-3.07094130e-01 9.51645434e-01 8.01021386e-03 2.28217260e+02] [-9.51347864e-01 -3.07198422e-01 2.37985716e-02 6.86013703e+01] [ 2.51085270e-02 -3.12098220e-04 9.99684683e-01 2.27469658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.23, Y:68.62, Z:22.75 [[-3.08255020e-01 9.51269906e-01 8.02551547e-03 2.28225087e+02] [-9.50972342e-01 -3.08359332e-01 2.37934103e-02 6.86235745e+01] [ 2.51086978e-02 -2.97605066e-04 9.99684683e-01 2.27464194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.23, Y:68.63, Z:22.75 [[-3.10132134e-01 9.50659378e-01 8.05023127e-03 2.28226857e+02] [-9.50361826e-01 -3.10236477e-01 2.37850451e-02 6.86252160e+01] [ 2.51089516e-02 -2.74125691e-04 9.99684683e-01 2.27461200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:68.61, Z:22.75 [[-3.11694299e-01 9.50148149e-01 8.07209904e-03 2.28223546e+02] [-9.49850617e-01 -3.11798700e-01 2.37776214e-02 6.86137356e+01] [ 2.51091329e-02 -2.55939227e-04 9.99684683e-01 2.27462862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:68.61, Z:22.75 [[-3.13536608e-01 9.49541675e-01 8.08716713e-03 2.28224443e+02] [-9.49244074e-01 -3.13640809e-01 2.37724953e-02 6.86137604e+01] [ 2.51094407e-02 -2.23147911e-04 9.99684683e-01 2.27463452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:68.60, Z:22.75 [[-3.17437974e-01 9.48244424e-01 8.10222572e-03 2.28221797e+02] [-9.47946527e-01 -3.17541328e-01 2.37673619e-02 6.86013668e+01] [ 2.51100599e-02 -1.35813521e-04 9.99684684e-01 2.27471240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:68.57, Z:22.75 [[-3.19932150e-01 9.47405684e-01 8.11719634e-03 2.28210726e+02] [-9.47107646e-01 -3.20035095e-01 2.37622480e-02 6.85674718e+01] [ 2.51102765e-02 -8.55516444e-05 9.99684684e-01 2.27476485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:68.56, Z:22.75 [[-3.21082172e-01 9.47016421e-01 8.13244691e-03 2.28207188e+02] [-9.46718390e-01 -3.21185138e-01 2.37570274e-02 6.85569159e+01] [ 2.51103162e-02 -7.11790802e-05 9.99684684e-01 2.27479364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:68.56, Z:22.75 [[-3.23766892e-01 9.46101682e-01 8.16128772e-03 2.28208887e+02] [-9.45803610e-01 -3.23869736e-01 2.37471156e-02 6.85594137e+01] [ 2.51103801e-02 -3.04455818e-05 9.99684684e-01 2.27481963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:68.56, Z:22.75 [[-3.26544036e-01 9.45146561e-01 8.18353137e-03 2.28210763e+02] [-9.44848380e-01 -3.26646563e-01 2.37394477e-02 6.85627871e+01] [ 2.51103797e-02 1.97786921e-05 9.99684685e-01 2.27482820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:68.55, Z:22.75 [[-3.31329213e-01 9.43479529e-01 8.20559351e-03 2.28209422e+02] [-9.43181020e-01 -3.31430783e-01 2.37318194e-02 6.85536232e+01] [ 2.51100721e-02 1.23684994e-04 9.99684685e-01 2.27482975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:68.57, Z:22.74 [[-3.24395537e-01 9.45885805e-01 8.22068755e-03 2.28221119e+02] [-9.45588182e-01 -3.24499674e-01 2.37265897e-02 6.85660199e+01] [ 2.51102548e-02 -7.65851846e-05 9.99684685e-01 2.27410414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:68.52, Z:22.75 [[-3.38233977e-01 9.41028433e-01 7.95395790e-03 2.28201867e+02] [-9.40727106e-01 -3.38327000e-01 2.38191589e-02 6.85238164e+01] [ 2.51055444e-02 5.73945024e-04 9.99684641e-01 2.27466329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:68.53, Z:22.75 [[-3.39991008e-01 9.40392418e-01 8.25925281e-03 2.28204918e+02] [-9.40093448e-01 -3.40091182e-01 2.37128251e-02 6.85313414e+01] [ 2.51082599e-02 2.97677831e-04 9.99684694e-01 2.27460490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:68.53, Z:22.74 [[-3.30487187e-01 9.43774205e-01 8.27455810e-03 2.28212041e+02] [-9.43476395e-01 -3.30590757e-01 2.37074831e-02 6.85294507e+01] [ 2.51100034e-02 2.81691589e-05 9.99684694e-01 2.27392438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:68.51, Z:22.75 [[-3.43403289e-01 9.39154472e-01 7.94092425e-03 2.28198262e+02] [-9.38852525e-01 -3.43494323e-01 2.38240904e-02 6.85103836e+01] [ 2.51021634e-02 7.25914203e-04 9.99684628e-01 2.27467482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:68.51, Z:22.75 [[-3.43681969e-01 9.39049306e-01 8.31296611e-03 2.28199267e+02] [-9.38750408e-01 -3.43782324e-01 2.36935603e-02 6.85122646e+01] [ 2.51072722e-02 3.39249126e-04 9.99684705e-01 2.27468314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:68.51, Z:22.75 [[-3.44223425e-01 9.38850826e-01 8.32825247e-03 2.28197394e+02] [-9.38552001e-01 -3.44323993e-01 2.36881859e-02 6.85065158e+01] [ 2.51072901e-02 3.37530478e-04 9.99684705e-01 2.27465989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:68.50, Z:22.75 [[-3.43302776e-01 9.39187730e-01 8.34339718e-03 2.28195161e+02] [-9.38889132e-01 -3.43404019e-01 2.36828505e-02 6.84984729e+01] [ 2.51077987e-02 2.96863377e-04 9.99684705e-01 2.27467920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.19, Y:68.50, Z:22.75 [[-3.43221600e-01 9.39217264e-01 8.35854488e-03 2.28194951e+02] [-9.38918805e-01 -3.43323250e-01 2.36775031e-02 6.84977772e+01] [ 2.51080025e-02 2.78635535e-04 9.99684706e-01 2.27465389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.19, Y:68.49, Z:22.75 [[-3.42717351e-01 9.39401150e-01 8.38427886e-03 2.28191121e+02] [-9.39102968e-01 -3.42819810e-01 2.36683871e-02 6.84874143e+01] [ 2.51084070e-02 2.37865788e-04 9.99684706e-01 2.27465220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:68.46, Z:22.75 [[-3.42475613e-01 9.39489173e-01 8.39935429e-03 2.28182408e+02] [-9.39191148e-01 -3.42578528e-01 2.36630360e-02 6.84631332e+01] [ 2.51086046e-02 2.15413567e-04 9.99684706e-01 2.27472239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:68.46, Z:22.75 [[-3.40736991e-01 9.40120918e-01 8.42398070e-03 2.28183037e+02] [-9.39823300e-01 -3.40841077e-01 2.36542658e-02 6.84632207e+01] [ 2.51091088e-02 1.42830025e-04 9.99684706e-01 2.27472227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:68.43, Z:22.75 [[-3.40185388e-01 9.40320424e-01 8.44992358e-03 2.28171230e+02] [-9.40023098e-01 -3.40290302e-01 2.36449947e-02 6.84298441e+01] [ 2.51092985e-02 1.00558377e-04 9.99684707e-01 2.27482120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:68.46, Z:22.75 [[-3.40387431e-01 9.40247168e-01 8.46526452e-03 2.28183051e+02] [-9.39949955e-01 -3.40492666e-01 2.36395012e-02 6.84621639e+01] [ 2.51093345e-02 8.96640730e-05 9.99684707e-01 2.27475133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:68.44, Z:22.75 [[-3.38725618e-01 9.40846772e-01 8.50336167e-03 2.28174998e+02] [-9.40550089e-01 -3.38832336e-01 2.36257893e-02 6.84394341e+01] [ 2.51094615e-02 4.82252424e-06 9.99684708e-01 2.27479043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:68.43, Z:22.75 [[-3.38579280e-01 9.40899246e-01 8.52527695e-03 2.28173035e+02] [-9.40602779e-01 -3.38686593e-01 2.36178786e-02 6.84342107e+01] [ 2.51094412e-02 -2.23748446e-05 9.99684708e-01 2.27480690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:68.43, Z:22.75 [[-3.38161479e-01 9.41049274e-01 8.54853958e-03 2.28170895e+02] [-9.40753067e-01 -3.38269508e-01 2.36094557e-02 6.84279992e+01] [ 2.51093714e-02 -5.82563709e-05 9.99684708e-01 2.27481845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:68.41, Z:22.75 [[-3.37631840e-01 9.41239292e-01 8.56364662e-03 2.28166425e+02] [-9.40943285e-01 -3.37740414e-01 2.36039748e-02 6.84136591e+01] [ 2.51092781e-02 -8.84523414e-05 9.99684708e-01 2.27478008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:68.43, Z:22.75 [[-3.38153112e-01 9.41052006e-01 8.57879425e-03 2.28173417e+02] [-9.40756078e-01 -3.38261902e-01 2.35984681e-02 6.84315002e+01] [ 2.51092650e-02 -9.06573989e-05 9.99684709e-01 2.27468376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:68.41, Z:22.75 [[-3.39202393e-01 9.40674163e-01 8.59393008e-03 2.28164211e+02] [-9.40378253e-01 -3.39311233e-01 2.35929548e-02 6.84050624e+01] [ 2.51093000e-02 -7.87582274e-05 9.99684709e-01 2.27473259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:68.42, Z:22.75 [[-3.41368420e-01 9.39890146e-01 8.60903697e-03 2.28170971e+02] [-9.39594125e-01 -3.41476957e-01 2.35874410e-02 6.84199618e+01] [ 2.51093911e-02 -3.69930875e-05 9.99684709e-01 2.27463937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:68.41, Z:22.75 [[-3.43135611e-01 9.39246219e-01 8.63090819e-03 2.28168708e+02] [-9.38950196e-01 -3.43244141e-01 2.35794354e-02 6.84126021e+01] [ 2.51094042e-02 -1.30489605e-05 9.99684709e-01 2.27466556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:68.39, Z:22.75 [[-3.44750041e-01 9.38654707e-01 8.64578772e-03 2.28160330e+02] [-9.38358635e-01 -3.44858435e-01 2.35739783e-02 6.83877871e+01] [ 2.51093985e-02 1.42804321e-05 9.99684709e-01 2.27469930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:68.38, Z:22.75 [[-3.47203277e-01 9.37749900e-01 8.66078748e-03 2.28158836e+02] [-9.37453682e-01 -3.47311274e-01 2.35684663e-02 6.83804616e+01] [ 2.51093160e-02 6.39616172e-05 9.99684709e-01 2.27471293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:68.39, Z:22.75 [[-3.48759769e-01 9.37171997e-01 8.67589662e-03 2.28162324e+02] [-9.36875739e-01 -3.48867654e-01 2.35629031e-02 6.83881531e+01] [ 2.51092326e-02 8.95555801e-05 9.99684710e-01 2.27468409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:68.37, Z:22.75 [[-3.50262894e-01 9.36611111e-01 8.69092651e-03 2.28157205e+02] [-9.36314817e-01 -3.50370681e-01 2.35573582e-02 6.83717504e+01] [ 2.51091292e-02 1.13825188e-04 9.99684710e-01 2.27472501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.526875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:228.15, Y:68.36, Z:22.75 [[-3.51962032e-01 9.35973715e-01 8.71399110e-03 2.28152935e+02] [-9.35677437e-01 -3.52069861e-01 2.35488234e-02 6.83586125e+01] [ 2.51090133e-02 1.34806860e-04 9.99684710e-01 2.27472097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:68.34, Z:22.75 [[-3.53917626e-01 9.35235798e-01 8.73595759e-03 2.28146136e+02] [-9.34939496e-01 -3.54025389e-01 2.35406716e-02 6.83373864e+01] [ 2.51088296e-02 1.63866816e-04 9.99684710e-01 2.27476069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.14, Y:68.32, Z:22.75 [[-3.55515702e-01 9.34629340e-01 8.75116336e-03 2.28141820e+02] [-9.34332993e-01 -3.55623341e-01 2.35350176e-02 6.83239476e+01] [ 2.51086359e-02 1.90567624e-04 9.99684710e-01 2.27479426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:68.33, Z:22.75 [[-3.57625877e-01 9.33823730e-01 8.77350203e-03 2.28145943e+02] [-9.33527345e-01 -3.57733409e-01 2.35266871e-02 6.83311010e+01] [ 2.51083535e-02 2.23448049e-04 9.99684711e-01 2.27471902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:68.33, Z:22.75 [[-3.58947086e-01 9.33316530e-01 8.78887466e-03 2.28145490e+02] [-9.33020134e-01 -3.59054586e-01 2.35209429e-02 6.83278959e+01] [ 2.51081706e-02 2.42576902e-04 9.99684711e-01 2.27466936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:68.33, Z:22.75 [[-3.60181117e-01 9.32840850e-01 8.80404824e-03 2.28148464e+02] [-9.32544450e-01 -3.60288608e-01 2.35152620e-02 6.83341975e+01] [ 2.51079953e-02 2.59587013e-04 9.99684711e-01 2.27461225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:68.33, Z:22.75 [[-3.61348194e-01 9.32389246e-01 8.81912960e-03 2.28147480e+02] [-9.32092850e-01 -3.61455694e-01 2.35096045e-02 6.83305315e+01] [ 2.51078271e-02 2.74905492e-04 9.99684711e-01 2.27459822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:68.33, Z:22.75 [[-3.62433631e-01 9.31967715e-01 8.83411632e-03 2.28146856e+02] [-9.31671331e-01 -3.62541164e-01 2.35039717e-02 6.83276244e+01] [ 2.51076736e-02 2.88136896e-04 9.99684711e-01 2.27456632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.88, Z:22.76 [[-3.61904886e-01 9.32173024e-01 8.84906515e-03 2.27977004e+02] [-9.31876838e-01 -3.62012964e-01 2.34983422e-02 6.78767502e+01] [ 2.51079970e-02 2.57926009e-04 9.99684711e-01 2.27582356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.14, Y:68.29, Z:22.75 [[-3.64665296e-01 9.31097690e-01 8.73574361e-03 2.28135515e+02] [-9.30800157e-01 -3.64769634e-01 2.35410639e-02 6.82949679e+01] [ 2.51055642e-02 4.53377504e-04 9.99684703e-01 2.27472405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.14, Y:68.30, Z:22.75 [[-3.64947895e-01 9.30985266e-01 8.91452856e-03 2.28138471e+02] [-9.30689341e-01 -3.65056656e-01 2.34731663e-02 6.83033229e+01] [ 2.51074799e-02 2.69825909e-04 9.99684721e-01 2.27473050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.856875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:228.14, Y:68.30, Z:22.75 [[-3.65250153e-01 9.30866580e-01 8.92953553e-03 2.28135803e+02] [-9.30570758e-01 -3.65359196e-01 2.34674560e-02 6.82989480e+01] [ 2.51075584e-02 2.61927252e-04 9.99684721e-01 2.27459088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.13, Y:68.29, Z:22.75 [[-3.64685798e-01 9.31087679e-01 8.94444579e-03 2.28131465e+02] [-9.30792063e-01 -3.64795397e-01 2.34617717e-02 6.82872846e+01] [ 2.51078592e-02 2.30755801e-04 9.99684721e-01 2.27469678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.916875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:228.12, Y:68.27, Z:22.75 [[-3.64547726e-01 9.31141537e-01 8.96619211e-03 2.28123747e+02] [-9.30846142e-01 -3.64657916e-01 2.34534582e-02 6.82678391e+01] [ 2.51080820e-02 2.03759510e-04 9.99684722e-01 2.27472996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.11, Y:68.23, Z:22.75 [[-3.69403384e-01 9.29225752e-01 8.98002710e-03 2.28109704e+02] [-9.28929914e-01 -3.69512380e-01 2.34481597e-02 6.82288544e+01] [ 2.51068650e-02 3.20013759e-04 9.99684722e-01 2.27477476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:68.21, Z:22.75 [[-3.69986158e-01 9.28992467e-01 9.12357700e-03 2.28101122e+02] [-9.28697929e-01 -3.70098586e-01 2.33921717e-02 6.82070676e+01] [ 2.51077743e-02 1.81732676e-04 9.99684734e-01 2.27480408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:68.20, Z:22.75 [[-3.70001497e-01 9.28986141e-01 9.14561162e-03 2.28097798e+02] [-9.28691813e-01 -3.70114476e-01 2.33835537e-02 6.81989486e+01] [ 2.51079206e-02 1.58495237e-04 9.99684734e-01 2.27471424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.11, Y:68.22, Z:22.75 [[-3.68873588e-01 9.29434428e-01 9.16084063e-03 2.28105734e+02] [-9.29140386e-01 -3.68987306e-01 2.33775860e-02 6.82181731e+01] [ 2.51081672e-02 1.11667028e-04 9.99684734e-01 2.27451013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:68.22, Z:22.74 [[-3.67167913e-01 9.30109416e-01 9.17592155e-03 2.28104805e+02] [-9.29815731e-01 -3.67282549e-01 2.33716651e-02 6.82152922e+01] [ 2.51083616e-02 4.94092851e-05 9.99684734e-01 2.27437832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:68.21, Z:22.74 [[-3.64306613e-01 9.31233709e-01 9.19082644e-03 2.28101214e+02] [-9.30940525e-01 -3.64422526e-01 2.33658023e-02 6.82085174e+01] [ 2.51083670e-02 -4.37964860e-05 9.99684734e-01 2.27442105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:68.20, Z:22.74 [[-3.63704478e-01 9.31468898e-01 9.20571504e-03 2.28098179e+02] [-9.31175938e-01 -3.63820955e-01 2.33599350e-02 6.82012031e+01] [ 2.51082850e-02 -7.60273505e-05 9.99684734e-01 2.27444219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:68.20, Z:22.74 [[-3.63505800e-01 9.31546302e-01 9.22061522e-03 2.28097642e+02] [-9.31253516e-01 -3.63622712e-01 2.33540522e-02 6.81984647e+01] [ 2.51082060e-02 -9.73969280e-05 9.99684735e-01 2.27441220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:68.20, Z:22.74 [[-3.63813636e-01 9.31425973e-01 9.23550258e-03 2.28098313e+02] [-9.31133298e-01 -3.63930825e-01 2.33481634e-02 6.81958089e+01] [ 2.51081699e-02 -1.05103754e-04 9.99684735e-01 2.27428805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:68.19, Z:22.74 [[-3.64755574e-01 9.31057278e-01 9.25831050e-03 2.28096943e+02] [-9.30764713e-01 -3.64873039e-01 2.33391158e-02 6.81914202e+01] [ 2.51081615e-02 -1.04236135e-04 9.99684735e-01 2.27425475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.09, Y:68.19, Z:22.74 [[-3.66502515e-01 9.30370849e-01 9.27309287e-03 2.28094638e+02] [-9.30078212e-01 -3.66619801e-01 2.33332410e-02 6.81852207e+01] [ 2.51082667e-02 -7.30101274e-05 9.99684735e-01 2.27432415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.09, Y:68.18, Z:22.74 [[-3.67714266e-01 9.29892442e-01 9.28786260e-03 2.28091949e+02] [-9.29599802e-01 -3.67831541e-01 2.33273604e-02 6.81794612e+01] [ 2.51083049e-02 -5.61920264e-05 9.99684735e-01 2.27439549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.09, Y:68.18, Z:22.74 [[-3.68565205e-01 9.29555355e-01 9.30223836e-03 2.28090315e+02] [-9.29262752e-01 -3.68682573e-01 2.33216264e-02 6.81758574e+01] [ 2.51083158e-02 -4.86836064e-05 9.99684735e-01 2.27444518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.09, Y:68.17, Z:22.74 [[-3.69283757e-01 9.29269982e-01 9.31700072e-03 2.28087508e+02] [-9.28977437e-01 -3.69401269e-01 2.33157273e-02 6.81695825e+01] [ 2.51083174e-02 -4.51640699e-05 9.99684736e-01 2.27445223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:68.15, Z:22.74 [[-3.69981125e-01 9.28992403e-01 9.33174700e-03 2.28080142e+02] [-9.28699919e-01 -3.70098788e-01 2.33098238e-02 6.81516328e+01] [ 2.51083175e-02 -4.21978266e-05 9.99684736e-01 2.27447440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:68.14, Z:22.75 [[-3.70729405e-01 9.28693895e-01 9.34656589e-03 2.28076790e+02] [-9.28401465e-01 -3.70847204e-01 2.33038804e-02 6.81446405e+01] [ 2.51083193e-02 -3.79317669e-05 9.99684736e-01 2.27452119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:68.14, Z:22.75 [[-3.71961515e-01 9.28200945e-01 9.36145814e-03 2.28075412e+02] [-9.27908510e-01 -3.72079300e-01 2.32978965e-02 6.81440931e+01] [ 2.51083343e-02 -2.06558104e-05 9.99684736e-01 2.27459596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:68.15, Z:22.75 [[-3.72752990e-01 9.27883139e-01 9.38553067e-03 2.28076099e+02] [-9.27590848e-01 -3.72871129e-01 2.32881948e-02 6.81472759e+01] [ 2.51083167e-02 -2.51880987e-05 9.99684736e-01 2.27459537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.07, Y:68.14, Z:22.75 [[-3.73255618e-01 9.27680914e-01 9.40028073e-03 2.28073787e+02] [-9.27388708e-01 -3.73373969e-01 2.32822394e-02 6.81426136e+01] [ 2.51083093e-02 -2.74875300e-05 9.99684736e-01 2.27457457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.07, Y:68.12, Z:22.75 [[-3.73691217e-01 9.27505382e-01 9.41497237e-03 2.28065997e+02] [-9.27213270e-01 -3.73809800e-01 2.32762969e-02 6.81230036e+01] [ 2.51082995e-02 -3.15396107e-05 9.99684736e-01 2.27454411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.06, Y:68.12, Z:22.75 [[-3.74282715e-01 9.27266710e-01 9.42855281e-03 2.28063614e+02] [-9.26974662e-01 -3.74401452e-01 2.32707945e-02 6.81170787e+01] [ 2.51082969e-02 -3.01734027e-05 9.99684737e-01 2.27456088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.06, Y:68.11, Z:22.74 [[-3.75237507e-01 9.26880594e-01 9.44339603e-03 2.28059454e+02] [-9.26588574e-01 -3.75356316e-01 2.32647695e-02 6.81075907e+01] [ 2.51083017e-02 -2.03287345e-05 9.99684737e-01 2.27449780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.06, Y:68.11, Z:22.75 [[-3.75861372e-01 9.26627633e-01 9.45826045e-03 2.28059799e+02] [-9.26335686e-01 -3.75980358e-01 2.32587248e-02 6.81091629e+01] [ 2.51082973e-02 -1.94679371e-05 9.99684737e-01 2.27451581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.63687500000003 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:228.06, Y:68.11, Z:22.75 [[-3.76559691e-01 9.26343921e-01 9.47309596e-03 2.28057580e+02] [-9.26052036e-01 -3.76678829e-01 2.32526809e-02 6.81056133e+01] [ 2.51082943e-02 -1.65574515e-05 9.99684737e-01 2.27452414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:68.09, Z:22.75 [[-3.77127416e-01 9.26112786e-01 9.48787225e-03 2.28049441e+02] [-9.25820979e-01 -3.77246746e-01 2.32466501e-02 6.80851233e+01] [ 2.51082888e-02 -1.71220876e-05 9.99684737e-01 2.27459418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:68.09, Z:22.75 [[-3.77880011e-01 9.25805715e-01 9.51190887e-03 2.28049742e+02] [-9.25514059e-01 -3.77999707e-01 2.32368108e-02 6.80852709e+01] [ 2.51082710e-02 -2.26790644e-05 9.99684737e-01 2.27455282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:68.09, Z:22.75 [[-3.78891485e-01 9.25392070e-01 9.52677701e-03 2.28053455e+02] [-9.25100436e-01 -3.79011235e-01 2.32307135e-02 6.80929777e+01] [ 2.51082736e-02 -1.13060509e-05 9.99684738e-01 2.27451062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:68.06, Z:22.75 [[-3.81305084e-01 9.24400018e-01 9.54151801e-03 2.28041849e+02] [-9.24108224e-01 -3.81424443e-01 2.32246574e-02 6.80613266e+01] [ 2.51082419e-02 3.82846518e-05 9.99684738e-01 2.27454904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.786875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:228.05, Y:68.08, Z:22.74 [[-3.82987931e-01 9.23703927e-01 9.55514110e-03 2.28048585e+02] [-9.23412056e-01 -3.83107102e-01 2.32190512e-02 6.80760859e+01] [ 2.51081711e-02 6.92838814e-05 9.99684738e-01 2.27448586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:68.07, Z:22.74 [[-3.84377010e-01 9.23126605e-01 9.56997904e-03 2.28048287e+02] [-9.22834708e-01 -3.84496115e-01 2.32129339e-02 6.80731218e+01] [ 2.51080967e-02 9.10093359e-05 9.99684738e-01 2.27448663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:68.06, Z:22.75 [[-3.87107695e-01 9.21984689e-01 9.58467248e-03 2.28042878e+02] [-9.21692590e-01 -3.87226305e-01 2.32068654e-02 6.80557417e+01] [ 2.51078119e-02 1.49434582e-04 9.99684738e-01 2.27456447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:68.04, Z:22.75 [[-3.88806782e-01 9.21269320e-01 9.59822896e-03 2.28038334e+02] [-9.20977142e-01 -3.88925194e-01 2.32012572e-02 6.80423573e+01] [ 2.51075995e-02 1.81056659e-04 9.99684738e-01 2.27450035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:68.02, Z:22.75 [[-3.90397848e-01 9.20596062e-01 9.61307431e-03 2.28030231e+02] [-9.20303830e-01 -3.90516129e-01 2.31951046e-02 6.80204594e+01] [ 2.51073825e-02 2.08369804e-04 9.99684738e-01 2.27460210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:68.04, Z:22.75 [[-3.93600393e-01 9.19231230e-01 9.62686011e-03 2.28042000e+02] [-9.18938728e-01 -3.93718004e-01 2.31893816e-02 6.80430204e+01] [ 2.51066719e-02 2.80855097e-04 9.99684738e-01 2.27454850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:68.02, Z:22.75 [[-3.95074927e-01 9.18598204e-01 9.65098266e-03 2.28032657e+02] [-9.18305759e-01 -3.95192677e-01 2.31793379e-02 6.80175456e+01] [ 2.51064958e-02 2.95022252e-04 9.99684739e-01 2.27462819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.996875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:228.03, Y:68.00, Z:22.75 [[-3.96778372e-01 9.17863562e-01 9.66460759e-03 2.28025433e+02] [-9.17571037e-01 -3.96895924e-01 2.31736556e-02 6.79980994e+01] [ 2.51060974e-02 3.26841324e-04 9.99684739e-01 2.27469289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:68.01, Z:22.75 [[-3.99224485e-01 9.16802126e-01 9.67841560e-03 2.28032092e+02] [-9.16509428e-01 -3.99341606e-01 2.31678873e-02 6.80103258e+01] [ 2.51053623e-02 3.78828722e-04 9.99684739e-01 2.27469323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:67.96, Z:22.75 [[-4.01016086e-01 9.16019725e-01 9.69339576e-03 2.28010055e+02] [-9.15726949e-01 -4.01133012e-01 2.31616179e-02 6.79555039e+01] [ 2.51048399e-02 4.11677625e-04 9.99684739e-01 2.27477394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:68.00, Z:22.75 [[-4.02919007e-01 9.15184144e-01 9.70856405e-03 2.28029051e+02] [-9.14891279e-01 -4.03035709e-01 2.31552581e-02 6.79982510e+01] [ 2.51042231e-02 4.47413043e-04 9.99684739e-01 2.27463649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:68.00, Z:22.75 [[-4.06276286e-01 9.13698543e-01 9.72381049e-03 2.28032006e+02] [-9.13405404e-01 -4.06392297e-01 2.31488538e-02 6.80002822e+01] [ 2.51027556e-02 5.23049288e-04 9.99684739e-01 2.27453312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:67.99, Z:22.74 [[-4.08042831e-01 9.12910856e-01 9.73742307e-03 2.28029734e+02] [-9.12617629e-01 -4.08158621e-01 2.31431263e-02 6.79928234e+01] [ 2.51020244e-02 5.56842829e-04 9.99684739e-01 2.27447497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:67.99, Z:22.74 [[-4.09679824e-01 9.12177263e-01 9.75100130e-03 2.28027993e+02] [-9.11883965e-01 -4.09795431e-01 2.31374039e-02 6.79867735e+01] [ 2.51013296e-02 5.87145848e-04 9.99684740e-01 2.27441983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.02, Y:67.98, Z:22.74 [[-4.11667467e-01 9.11281817e-01 9.76459291e-03 2.28024807e+02] [-9.10988402e-01 -4.11782780e-01 2.31316665e-02 6.79770927e+01] [ 2.51003583e-02 6.27123668e-04 9.99684740e-01 2.27430933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.02, Y:67.97, Z:22.74 [[-4.12447469e-01 9.10928906e-01 9.77820658e-03 2.28021472e+02] [-9.10635529e-01 -4.12562875e-01 2.31259103e-02 6.79686128e+01] [ 2.51001852e-02 6.33840838e-04 9.99684740e-01 2.27434893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:67.95, Z:22.74 [[-4.13558572e-01 9.10424861e-01 9.79185672e-03 2.28011925e+02] [-9.10131479e-01 -4.13673967e-01 2.31201292e-02 6.79459119e+01] [ 2.50997766e-02 6.49650572e-04 9.99684740e-01 2.27439960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:67.94, Z:22.75 [[-4.13179059e-01 9.10596871e-01 9.81854842e-03 2.28011211e+02] [-9.10303805e-01 -4.13295253e-01 2.31087883e-02 6.79447504e+01] [ 2.51007498e-02 6.10205419e-04 9.99684740e-01 2.27450117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:67.95, Z:22.75 [[-4.12889990e-01 9.10727744e-01 9.84036488e-03 2.28012884e+02] [-9.10434935e-01 -4.13006830e-01 2.30994945e-02 6.79496751e+01] [ 2.51014884e-02 5.78538100e-04 9.99684741e-01 2.27451296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:67.92, Z:22.75 [[-4.12376198e-01 9.10960355e-01 9.85405080e-03 2.27998813e+02] [-9.10667752e-01 -4.12493550e-01 2.30936548e-02 6.79179539e+01] [ 2.51021363e-02 5.49507259e-04 9.99684741e-01 2.27456857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:67.94, Z:22.74 [[-4.10210409e-01 9.11937510e-01 9.86903050e-03 2.28009088e+02] [-9.11645340e-01 -4.10328835e-01 2.30872514e-02 6.79445688e+01] [ 2.51036784e-02 4.73575192e-04 9.99684741e-01 2.27448204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:67.94, Z:22.75 [[-4.08924353e-01 9.12514757e-01 9.88396479e-03 2.28005906e+02] [-9.12222908e-01 -4.09043569e-01 2.30808561e-02 6.79379084e+01] [ 2.51045940e-02 4.21945040e-04 9.99684741e-01 2.27451908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:67.94, Z:22.75 [[-4.06441598e-01 9.13623154e-01 9.89752871e-03 2.28005715e+02] [-9.13331771e-01 -4.06561949e-01 2.30750382e-02 6.79401561e+01] [ 2.51058477e-02 3.38927951e-04 9.99684741e-01 2.27456123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:67.92, Z:22.75 [[-4.05409612e-01 9.14081407e-01 9.91105834e-03 2.27997913e+02] [-9.13790302e-01 -4.05530633e-01 2.30692255e-02 6.79224099e+01] [ 2.51063879e-02 2.95856762e-04 9.99684741e-01 2.27461169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:67.93, Z:22.75 [[-4.04618330e-01 9.14431796e-01 9.92461541e-03 2.27998833e+02] [-9.14140939e-01 -4.04739946e-01 2.30633917e-02 6.79250566e+01] [ 2.51067870e-02 2.59373763e-04 9.99684741e-01 2.27461819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:67.93, Z:22.75 [[-4.04228160e-01 9.14604191e-01 9.93819748e-03 2.28000827e+02] [-9.14313530e-01 -4.04350242e-01 2.30575376e-02 6.79304147e+01] [ 2.51070331e-02 2.33877566e-04 9.99684741e-01 2.27462707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:67.92, Z:22.75 [[-4.02811862e-01 9.15228684e-01 9.95284682e-03 2.27996626e+02] [-9.14938369e-01 -4.02934763e-01 2.30512124e-02 6.79220475e+01] [ 2.51074788e-02 1.79060353e-04 9.99684742e-01 2.27460362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:67.90, Z:22.75 [[-4.02660240e-01 9.15295255e-01 9.96627628e-03 2.27986577e+02] [-9.15005104e-01 -4.02783527e-01 2.30454047e-02 6.78993913e+01] [ 2.51076015e-02 1.60274509e-04 9.99684742e-01 2.27465671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:67.91, Z:22.75 [[-4.02950662e-01 9.15167289e-01 9.97981933e-03 2.27990047e+02] [-9.14877244e-01 -4.03074198e-01 2.30395384e-02 6.79068079e+01] [ 2.51076395e-02 1.53487626e-04 9.99684742e-01 2.27461220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:67.90, Z:22.75 [[-4.02594617e-01 9.15323727e-01 1.00024854e-02 2.27987881e+02] [-9.15033973e-01 -4.02718836e-01 2.30296938e-02 6.79007723e+01] [ 2.51078144e-02 1.19016824e-04 9.99684742e-01 2.27458169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.89, Z:22.75 [[-4.02748580e-01 9.15255845e-01 1.00159577e-02 2.27981632e+02] [-9.14966216e-01 -4.02873090e-01 2.30238330e-02 6.78861262e+01] [ 2.51078576e-02 1.08553115e-04 9.99684742e-01 2.27462962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.89, Z:22.75 [[-4.02584103e-01 9.15328056e-01 1.00294825e-02 2.27983423e+02] [-9.15038596e-01 -4.02709004e-01 2.30179399e-02 6.78894266e+01] [ 2.51079291e-02 8.92930973e-05 9.99684742e-01 2.27468449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:67.89, Z:22.75 [[-4.01702784e-01 9.15715027e-01 1.00430094e-02 2.27986604e+02] [-9.15425835e-01 -4.01828304e-01 2.30120365e-02 6.78944145e+01] [ 2.51080330e-02 5.03688556e-05 9.99684742e-01 2.27462721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.89, Z:22.75 [[-4.01726950e-01 9.15704279e-01 1.00564269e-02 2.27984458e+02] [-9.15415230e-01 -4.01852800e-01 2.30061714e-02 6.78880133e+01] [ 2.51080529e-02 3.63926991e-05 9.99684743e-01 2.27472221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.88, Z:22.75 [[-4.01688440e-01 9.15721013e-01 1.00709501e-02 2.27982048e+02] [-9.15432129e-01 -4.01814666e-01 2.29998121e-02 6.78805996e+01] [ 2.51080667e-02 1.94873379e-05 9.99684743e-01 2.27473763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.87, Z:22.75 [[-4.01273876e-01 9.15902605e-01 1.00843194e-02 2.27980644e+02] [-9.15613926e-01 -4.01400570e-01 2.29939489e-02 6.78733864e+01] [ 2.51080692e-02 -6.47223853e-06 9.99684743e-01 2.27479098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.86, Z:22.75 [[-4.01225869e-01 9.15923490e-01 1.00977015e-02 2.27977690e+02] [-9.15634964e-01 -4.01352913e-01 2.29880706e-02 6.78639137e+01] [ 2.51080558e-02 -2.23999577e-05 9.99684743e-01 2.27486438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.86, Z:22.75 [[-4.01643340e-01 9.15740352e-01 1.01111106e-02 2.27979392e+02] [-9.15451918e-01 -4.01770590e-01 2.29821713e-02 6.78624639e+01] [ 2.51080485e-02 -2.55995034e-05 9.99684743e-01 2.27484668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.85, Z:22.75 [[-4.02796964e-01 9.15233345e-01 1.01256786e-02 2.27976748e+02] [-9.14944912e-01 -4.02924216e-01 2.29757510e-02 6.78528906e+01] [ 2.51080545e-02 -9.87540235e-06 9.99684743e-01 2.27493256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.85, Z:22.75 [[-4.03770689e-01 9.14803953e-01 1.01468709e-02 2.27978947e+02] [-9.14515619e-01 -4.03898166e-01 2.29663880e-02 6.78540323e+01] [ 2.51080450e-02 -6.31759508e-06 9.99684743e-01 2.27485813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.97, Y:67.84, Z:22.75 [[-4.05052537e-01 9.14236956e-01 1.01602206e-02 2.27974712e+02] [-9.13948592e-01 -4.05179945e-01 2.29604806e-02 6.78408035e+01] [ 2.51080375e-02 1.42815582e-05 9.99684743e-01 2.27494849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.84, Z:22.75 [[-4.07354538e-01 9.13213436e-01 1.01735724e-02 2.27977340e+02] [-9.12924899e-01 -4.07481554e-01 2.29545630e-02 6.78397864e+01] [ 2.51079584e-02 6.29378318e-05 9.99684744e-01 2.27493109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:67.83, Z:22.75 [[-4.08667419e-01 9.12626521e-01 1.01869316e-02 2.27976764e+02] [-9.12337950e-01 -4.08794356e-01 2.29486328e-02 6.78347238e+01] [ 2.51078911e-02 8.44342251e-05 9.99684744e-01 2.27491892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.97, Y:67.83, Z:22.75 [[-4.10084436e-01 9.11990521e-01 1.02002573e-02 2.27974500e+02] [-9.11701900e-01 -4.10211261e-01 2.29427083e-02 6.78262915e+01] [ 2.51077929e-02 1.08853668e-04 9.99684744e-01 2.27491175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:67.79, Z:22.75 [[-4.16090629e-01 9.09265787e-01 1.02135903e-02 2.27963471e+02] [-9.08976481e-01 -4.16215883e-01 2.29367712e-02 6.77933074e+01] [ 2.51066798e-02 2.59862145e-04 9.99684744e-01 2.27504537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:67.79, Z:22.75 [[-4.17848531e-01 9.08458174e-01 1.03126955e-02 2.27961977e+02] [-9.08169722e-01 -4.17975725e-01 2.28921253e-02 6.77869274e+01] [ 2.51069948e-02 1.99763103e-04 9.99684750e-01 2.27506021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:67.78, Z:22.75 [[-4.19439108e-01 9.07724743e-01 1.03260183e-02 2.27959911e+02] [-9.07436216e-01 -4.19566132e-01 2.28861142e-02 6.77790387e+01] [ 2.51067397e-02 2.29128308e-04 9.99684750e-01 2.27506970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:67.78, Z:22.75 [[-4.21156588e-01 9.06929021e-01 1.03382041e-02 2.27959923e+02] [-9.06640390e-01 -4.21283374e-01 2.28806083e-02 6.77766505e+01] [ 2.51064012e-02 2.63285533e-04 9.99684750e-01 2.27510383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:67.76, Z:22.75 [[-4.24048851e-01 9.05580168e-01 1.03503917e-02 2.27956005e+02] [-9.05291268e-01 -4.24175023e-01 2.28750937e-02 6.77617578e+01] [ 2.51056088e-02 3.30037965e-04 9.99684750e-01 2.27502786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:67.76, Z:22.75 [[-4.25754714e-01 9.04779277e-01 1.03626119e-02 2.27957400e+02] [-9.04490274e-01 -4.25880650e-01 2.28695565e-02 6.77616956e+01] [ 2.51051367e-02 3.63939792e-04 9.99684750e-01 2.27501919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:67.74, Z:22.75 [[-4.28503146e-01 9.03480723e-01 1.03748519e-02 2.27951663e+02] [-9.03191472e-01 -4.28628512e-01 2.28640025e-02 6.77435356e+01] [ 2.51041428e-02 4.26819254e-04 9.99684750e-01 2.27493586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:67.75, Z:22.75 [[-4.30025307e-01 9.02757065e-01 1.03882881e-02 2.27955538e+02] [-9.02467751e-01 -4.30150525e-01 2.28578960e-02 6.77500376e+01] [ 2.51036548e-02 4.54378720e-04 9.99684750e-01 2.27490819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:67.74, Z:22.75 [[-4.31665968e-01 9.01973556e-01 1.04017208e-02 2.27951334e+02] [-9.01684162e-01 -4.31791000e-01 2.28517817e-02 6.77393372e+01] [ 2.51030723e-02 4.85269553e-04 9.99684750e-01 2.27495320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:67.74, Z:22.75 [[-4.33511863e-01 9.01087684e-01 1.04139561e-02 2.27951644e+02] [-9.00798168e-01 -4.33636613e-01 2.28462045e-02 6.77366130e+01] [ 2.51023062e-02 5.23228120e-04 9.99684751e-01 2.27484584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:67.73, Z:22.75 [[-4.34223177e-01 9.00744971e-01 1.04273653e-02 2.27949643e+02] [-9.00455503e-01 -4.34348039e-01 2.28400827e-02 6.77311537e+01] [ 2.51021953e-02 5.28314786e-04 9.99684751e-01 2.27482250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:67.73, Z:22.75 [[-4.34705545e-01 9.00512121e-01 1.04407570e-02 2.27947687e+02] [-9.00222732e-01 -4.34830591e-01 2.28339594e-02 6.77267866e+01] [ 2.51022178e-02 5.27041987e-04 9.99684751e-01 2.27483518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:67.72, Z:22.75 [[-4.35491764e-01 9.00132023e-01 1.04529876e-02 2.27945604e+02] [-8.99842660e-01 -4.35616866e-01 2.28283591e-02 6.77218316e+01] [ 2.51020348e-02 5.35518226e-04 9.99684751e-01 2.27486336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.94, Y:67.71, Z:22.75 [[-4.36058119e-01 8.99857653e-01 1.04652200e-02 2.27942256e+02] [-8.99568345e-01 -4.36183350e-01 2.28227500e-02 6.77144838e+01] [ 2.51019810e-02 5.37864797e-04 9.99684751e-01 2.27488210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:67.56, Z:22.75 [[-4.27591489e-01 9.03911351e-01 1.04780021e-02 2.27878910e+02] [-9.03623375e-01 -4.27719753e-01 2.28168802e-02 6.75626642e+01] [ 2.51060855e-02 2.88136149e-04 9.99684751e-01 2.27459378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.94, Y:67.71, Z:22.75 [[-4.37377854e-01 8.99219906e-01 1.02065601e-02 2.27938462e+02] [-8.98927617e-01 -4.37496083e-01 2.29415794e-02 6.77064731e+01] [ 2.50948550e-02 8.59180005e-04 9.99684705e-01 2.27489289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:67.70, Z:22.75 [[-4.37493287e-01 8.99160204e-01 1.05143581e-02 2.27933724e+02] [-8.98871250e-01 -4.37619302e-01 2.27996359e-02 6.76972795e+01] [ 2.51018113e-02 5.23633434e-04 9.99684763e-01 2.27492158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:67.70, Z:22.75 [[-4.36739154e-01 8.99526599e-01 1.05266061e-02 2.27933644e+02] [-8.99237886e-01 -4.36865721e-01 2.27939796e-02 6.76993000e+01] [ 2.51025043e-02 4.89100366e-04 9.99684763e-01 2.27490943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:67.69, Z:22.75 [[-4.36931848e-01 8.99432859e-01 1.05400041e-02 2.27927359e+02] [-8.99144269e-01 -4.37058693e-01 2.27877826e-02 6.76869737e+01] [ 2.51026809e-02 4.79723664e-04 9.99684763e-01 2.27493773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:67.69, Z:22.75 [[-4.35428593e-01 9.00161292e-01 1.05635741e-02 2.27927751e+02] [-8.99873178e-01 -4.35556517e-01 2.27768512e-02 6.76911090e+01] [ 2.51038733e-02 4.11815293e-04 9.99684763e-01 2.27491200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:67.68, Z:22.75 [[-4.34513590e-01 9.00603156e-01 1.05780868e-02 2.27922178e+02] [-9.00315336e-01 -4.34642173e-01 2.27701092e-02 6.76809810e+01] [ 2.51045148e-02 3.70308165e-04 9.99684763e-01 2.27496058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:67.68, Z:22.75 [[-4.33625662e-01 9.01030872e-01 1.05902605e-02 2.27921081e+02] [-9.00743316e-01 -4.33754837e-01 2.27644459e-02 6.76805506e+01] [ 2.51050452e-02 3.32141586e-04 9.99684764e-01 2.27499301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:67.68, Z:22.75 [[-4.31173970e-01 9.02206502e-01 1.06035913e-02 2.27919230e+02] [-9.01919451e-01 -4.31304262e-01 2.27582347e-02 6.76797678e+01] [ 2.51060014e-02 2.49173188e-04 9.99684764e-01 2.27503134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:67.68, Z:22.75 [[-4.30214019e-01 9.02664503e-01 1.06157313e-02 2.27916603e+02] [-9.02377731e-01 -4.30344922e-01 2.27525705e-02 6.76754046e+01] [ 2.51063638e-02 2.09075309e-04 9.99684764e-01 2.27501691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.91, Y:67.67, Z:22.75 [[-4.29645011e-01 9.02935318e-01 1.06290027e-02 2.27913938e+02] [-9.02648782e-01 -4.29776429e-01 2.27463690e-02 6.76714748e+01] [ 2.51065948e-02 1.78607597e-04 9.99684764e-01 2.27504614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.91, Y:67.67, Z:22.75 [[-4.27490873e-01 9.03956916e-01 1.06511548e-02 2.27911215e+02] [-9.03670952e-01 -4.27623531e-01 2.27359914e-02 6.76694111e+01] [ 2.51070411e-02 9.42896093e-05 9.99684764e-01 2.27504912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.91, Y:67.66, Z:22.75 [[-4.26858492e-01 9.04255550e-01 1.06643675e-02 2.27906544e+02] [-9.03969834e-01 -4.26991682e-01 2.27297923e-02 6.76610930e+01] [ 2.51071370e-02 6.21382981e-05 9.99684764e-01 2.27501784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:67.66, Z:22.75 [[-4.26300269e-01 9.04518682e-01 1.06787279e-02 2.27904219e+02] [-9.04233217e-01 -4.26433997e-01 2.27230436e-02 6.76575006e+01] [ 2.51071900e-02 3.07790695e-05 9.99684764e-01 2.27497068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:67.66, Z:22.75 [[-4.24957795e-01 9.05150032e-01 1.06908044e-02 2.27902793e+02] [-9.04864908e-01 -4.25092249e-01 2.27173604e-02 6.76566024e+01] [ 2.51071975e-02 -1.98143905e-05 9.99684764e-01 2.27488089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:67.65, Z:22.75 [[-4.24587115e-01 9.05323813e-01 1.07039956e-02 2.27901124e+02] [-9.05038901e-01 -4.24722017e-01 2.27111432e-02 6.76538254e+01] [ 2.51071614e-02 -4.46735888e-05 9.99684765e-01 2.27487263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:67.65, Z:22.75 [[-4.23551346e-01 9.05808713e-01 1.07160213e-02 2.27898253e+02] [-9.05524099e-01 -4.23686875e-01 2.27054676e-02 6.76504468e+01] [ 2.51070480e-02 -8.66842135e-05 9.99684765e-01 2.27484360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:67.65, Z:22.75 [[-4.23426724e-01 9.05866833e-01 1.07280315e-02 2.27896282e+02] [-9.05582381e-01 -4.23562593e-01 2.26997915e-02 6.76472616e+01] [ 2.51069811e-02 -1.03417936e-04 9.99684765e-01 2.27486955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:67.64, Z:22.75 [[-4.23578251e-01 9.05795834e-01 1.07411639e-02 2.27893197e+02] [-9.05511517e-01 -4.23714401e-01 2.26935758e-02 6.76421529e+01] [ 2.51069323e-02 -1.13742483e-04 9.99684765e-01 2.27490416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:67.64, Z:22.75 [[-4.23860211e-01 9.05663758e-01 1.07554247e-02 2.27890042e+02] [-9.05379570e-01 -4.23996631e-01 2.26868150e-02 6.76363595e+01] [ 2.51068900e-02 -1.21703544e-04 9.99684765e-01 2.27493171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:67.63, Z:22.75 [[-4.23572289e-01 9.05798297e-01 1.07685389e-02 2.27887105e+02] [-9.05514310e-01 -4.23709128e-01 2.26805885e-02 6.76309582e+01] [ 2.51067667e-02 -1.44197310e-04 9.99684765e-01 2.27503539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:67.63, Z:22.75 [[-4.24007921e-01 9.05594315e-01 1.07805312e-02 2.27885285e+02] [-9.05310407e-01 -4.24144923e-01 2.26748869e-02 6.76264451e+01] [ 2.51067562e-02 -1.45395415e-04 9.99684765e-01 2.27503786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:67.62, Z:22.75 [[-4.25109707e-01 9.05077474e-01 1.07936545e-02 2.27883018e+02] [-9.04793559e-01 -4.25246692e-01 2.26686383e-02 6.76185665e+01] [ 2.51068397e-02 -1.29370886e-04 9.99684765e-01 2.27514543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:67.62, Z:22.75 [[-4.26212059e-01 9.04558742e-01 1.08056530e-02 2.27882344e+02] [-9.04274805e-01 -4.26348999e-01 2.26629174e-02 6.76151806e+01] [ 2.51069194e-02 -1.12071081e-04 9.99684765e-01 2.27519649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:67.61, Z:22.75 [[-4.27548955e-01 9.03927469e-01 1.08176579e-02 2.27879988e+02] [-9.03643475e-01 -4.27685776e-01 2.26571856e-02 6.76076851e+01] [ 2.51070109e-02 -8.82499694e-05 9.99684765e-01 2.27521830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:67.60, Z:22.75 [[-4.30320425e-01 9.02611226e-01 1.08308005e-02 2.27878393e+02] [-9.02326971e-01 -4.30456703e-01 2.26509014e-02 6.75996159e+01] [ 2.51071485e-02 -2.57779215e-05 9.99684766e-01 2.27517356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:67.60, Z:22.75 [[-4.31882635e-01 9.01864637e-01 1.08428259e-02 2.27879459e+02] [-9.01580291e-01 -4.32018723e-01 2.26451434e-02 6.75986023e+01] [ 2.51071579e-02 4.36609073e-06 9.99684766e-01 2.27517379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:67.59, Z:22.75 [[-4.33938989e-01 9.00876865e-01 1.08548435e-02 2.27877229e+02] [-9.00592353e-01 -4.34074731e-01 2.26393814e-02 6.75911882e+01] [ 2.51071082e-02 4.83212351e-05 9.99684766e-01 2.27509529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:67.58, Z:22.75 [[-4.35631849e-01 9.00059320e-01 1.08679786e-02 2.27875715e+02] [-8.99774711e-01 -4.35767385e-01 2.26330742e-02 6.75849588e+01] [ 2.51070200e-02 8.09556291e-05 9.99684766e-01 2.27507882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:67.57, Z:22.75 [[-4.39113021e-01 8.98365937e-01 1.08811261e-02 2.27873357e+02] [-8.98080961e-01 -4.39247786e-01 2.26267516e-02 6.75749132e+01] [ 2.51066134e-02 1.63569060e-04 9.99684766e-01 2.27496619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:67.57, Z:22.75 [[-4.40632068e-01 8.97621567e-01 1.09042934e-02 2.27871814e+02] [-8.97336640e-01 -4.40766935e-01 2.26155813e-02 6.75689730e+01] [ 2.51064855e-02 1.80328394e-04 9.99684766e-01 2.27498824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:67.56, Z:22.75 [[-4.42686696e-01 8.96609906e-01 1.09163174e-02 2.27871840e+02] [-8.96324814e-01 -4.42821213e-01 2.26097759e-02 6.75645934e+01] [ 2.51061260e-02 2.24480842e-04 9.99684766e-01 2.27499810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:67.56, Z:22.75 [[-4.43886009e-01 8.96016620e-01 1.09283383e-02 2.27868620e+02] [-8.95731491e-01 -4.44020447e-01 2.26039642e-02 6.75561974e+01] [ 2.51059332e-02 2.44726640e-04 9.99684766e-01 2.27498713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:67.57, Z:22.74 [[-4.32297301e-01 9.01664753e-01 1.09415015e-02 2.27885207e+02] [-9.01381542e-01 -4.32435734e-01 2.25975907e-02 6.75719222e+01] [ 2.51069473e-02 -9.35899965e-05 9.99684767e-01 2.27436486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:67.55, Z:22.75 [[-4.45671580e-01 8.95134770e-01 1.05160259e-02 2.27866218e+02] [-8.94844579e-01 -4.45794995e-01 2.28035318e-02 6.75476125e+01] [ 2.51002259e-02 7.52677276e-04 9.99684656e-01 2.27501657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:67.54, Z:22.75 [[-4.46737905e-01 8.94597703e-01 1.09632811e-02 2.27864475e+02] [-8.94312577e-01 -4.46872317e-01 2.25864411e-02 6.75412735e+01] [ 2.51049651e-02 2.85619189e-04 9.99684780e-01 2.27507740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:67.56, Z:22.74 [[-4.33195919e-01 9.01232954e-01 1.09753198e-02 2.27883050e+02] [-9.00950035e-01 -4.33334918e-01 2.25805896e-02 6.75586896e+01] [ 2.51063608e-02 -1.06395485e-04 9.99684780e-01 2.27428231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:67.53, Z:22.75 [[-4.49079393e-01 8.93430327e-01 1.04856834e-02 2.27862666e+02] [-8.93139319e-01 -4.49200926e-01 2.28185008e-02 6.75347428e+01] [ 2.50969194e-02 8.82142334e-04 9.99684634e-01 2.27507795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:67.53, Z:22.75 [[-4.49838323e-01 8.93042276e-01 1.09989528e-02 2.27861610e+02] [-8.92757126e-01 -4.49972647e-01 2.25683575e-02 6.75319349e+01] [ 2.51037253e-02 3.32718613e-04 9.99684796e-01 2.27506982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:67.52, Z:22.75 [[-4.50758938e-01 8.92577805e-01 1.10109739e-02 2.27858608e+02] [-8.92292660e-01 -4.50893272e-01 2.25624910e-02 6.75249584e+01] [ 2.51035527e-02 3.45233310e-04 9.99684797e-01 2.27507968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:67.52, Z:22.75 [[-4.51553668e-01 8.92175868e-01 1.10229966e-02 2.27857283e+02] [-8.91890746e-01 -4.51688052e-01 2.25566157e-02 6.75203808e+01] [ 2.51034241e-02 3.54213918e-04 9.99684797e-01 2.27504890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:67.52, Z:22.75 [[-4.52088082e-01 8.91905037e-01 1.10350289e-02 2.27855586e+02] [-8.91619978e-01 -4.52222599e-01 2.25507278e-02 6.75160671e+01] [ 2.51033972e-02 3.55863069e-04 9.99684797e-01 2.27496556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:67.51, Z:22.75 [[-4.52727800e-01 8.91580339e-01 1.10470533e-02 2.27852534e+02] [-8.91295328e-01 -4.52862417e-01 2.25448358e-02 6.75096954e+01] [ 2.51033276e-02 3.60486949e-04 9.99684797e-01 2.27499766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:67.51, Z:22.75 [[-4.53395290e-01 8.91240909e-01 1.10613643e-02 2.27850644e+02] [-8.90955968e-01 -4.53530055e-01 2.25378121e-02 6.75057087e+01] [ 2.51032813e-02 3.63349292e-04 9.99684797e-01 2.27495946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:67.49, Z:22.75 [[-4.54200788e-01 8.90830525e-01 1.10733866e-02 2.27844381e+02] [-8.90545606e-01 -4.54335599e-01 2.25319037e-02 6.74937508e+01] [ 2.51031414e-02 3.72652649e-04 9.99684797e-01 2.27497072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:67.49, Z:22.75 [[-4.54616046e-01 8.90618514e-01 1.10865781e-02 2.27844143e+02] [-8.90333691e-01 -4.54751058e-01 2.25254111e-02 6.74937350e+01] [ 2.51031813e-02 3.69659353e-04 9.99684797e-01 2.27493893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:67.49, Z:22.75 [[-4.54928898e-01 8.90458600e-01 1.10986432e-02 2.27843979e+02] [-8.90173873e-01 -4.55064116e-01 2.25194649e-02 6.74937897e+01] [ 2.51032454e-02 3.65033167e-04 9.99684797e-01 2.27495896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:67.49, Z:22.75 [[-4.54551269e-01 8.90651277e-01 1.11106604e-02 2.27841620e+02] [-8.90366753e-01 -4.54686911e-01 2.25135343e-02 6.74902726e+01] [ 2.51035799e-02 3.40992957e-04 9.99684797e-01 2.27495793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:67.51, Z:22.74 [[-4.40467771e-01 8.97699521e-01 1.11226522e-02 2.27858204e+02] [-8.97417317e-01 -4.40608177e-01 2.25076082e-02 6.75059091e+01] [ 2.51058006e-02 -6.77847024e-05 9.99684797e-01 2.27410955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:67.48, Z:22.75 [[-4.52965418e-01 8.91464359e-01 1.06595660e-02 2.27836239e+02] [-8.91174730e-01 -4.53090121e-01 2.27363797e-02 6.74837631e+01] [ 2.50984162e-02 7.99257841e-04 9.99684666e-01 2.27491796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.83, Y:67.47, Z:22.75 [[-4.53926248e-01 8.90969521e-01 1.11478086e-02 2.27827337e+02] [-8.90685561e-01 -4.54063027e-01 2.24944201e-02 6.74679212e+01] [ 2.51036504e-02 2.81615539e-04 9.99684814e-01 2.27498363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:67.46, Z:22.75 [[-4.53274495e-01 8.91300630e-01 1.11990547e-02 2.27824407e+02] [-8.91017399e-01 -4.53412775e-01 2.24688778e-02 6.74639453e+01] [ 2.51043194e-02 2.06016662e-04 9.99684816e-01 2.27498390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:67.46, Z:22.75 [[-4.51211006e-01 8.92346873e-01 1.12109959e-02 2.27820299e+02] [-8.92064110e-01 -4.51350242e-01 2.24629181e-02 6.74584132e+01] [ 2.51048004e-02 1.34588774e-04 9.99684816e-01 2.27497081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:67.45, Z:22.75 [[-4.50494160e-01 8.92708831e-01 1.12229434e-02 2.27815901e+02] [-8.92426329e-01 -4.50633923e-01 2.24569473e-02 6.74509553e+01] [ 2.51049542e-02 1.01073420e-04 9.99684816e-01 2.27495030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:67.45, Z:22.75 [[-4.49778528e-01 8.93069441e-01 1.12360421e-02 2.27815132e+02] [-8.92787215e-01 -4.49918847e-01 2.24503916e-02 6.74509065e+01] [ 2.51050658e-02 6.63092997e-05 9.99684816e-01 2.27496061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.81, Y:67.45, Z:22.75 [[-4.48033186e-01 8.93946151e-01 1.12491264e-02 2.27814057e+02] [-8.93664364e-01 -4.48174384e-01 2.24438336e-02 6.74523688e+01] [ 2.51051489e-02 2.63889170e-06 9.99684816e-01 2.27501831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.83, Y:67.46, Z:22.74 [[-4.34210811e-01 9.00740896e-01 1.12610276e-02 2.27828486e+02] [-9.00461471e-01 -4.34356629e-01 2.24378606e-02 6.74631103e+01] [ 2.51020007e-02 -3.97359854e-04 9.99684816e-01 2.27418094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.81, Y:67.44, Z:22.75 [[-4.47136988e-01 8.94399502e-01 1.08648308e-02 2.27808679e+02] [-8.94113088e-01 -4.47268784e-01 2.26367282e-02 6.74443375e+01] [ 2.51057781e-02 4.07331037e-04 9.99684717e-01 2.27504927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.81, Y:67.44, Z:22.75 [[-4.46971431e-01 8.94477008e-01 1.12881304e-02 2.27806240e+02] [-8.94195898e-01 -4.47113941e-01 2.24236411e-02 6.74412966e+01] [ 2.51045119e-02 -7.10729583e-05 9.99684830e-01 2.27510396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.80, Y:67.43, Z:22.75 [[-4.47657790e-01 8.94133540e-01 1.13011162e-02 2.27800291e+02] [-8.93852485e-01 -4.47800411e-01 2.24170946e-02 6.74324107e+01] [ 2.51045206e-02 -6.63437755e-05 9.99684830e-01 2.27517339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.80, Y:67.43, Z:22.75 [[-4.48891151e-01 8.93514816e-01 1.13141140e-02 2.27797750e+02] [-8.93233730e-01 -4.49033709e-01 2.24105325e-02 6.74283999e+01] [ 2.51045614e-02 -4.62585213e-05 9.99684830e-01 2.27518380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.80, Y:67.42, Z:22.75 [[-4.49364680e-01 8.93276584e-01 1.13282606e-02 2.27795624e+02] [-8.92995602e-01 -4.49507445e-01 2.24033793e-02 6.74241139e+01] [ 2.51045516e-02 -4.87994885e-05 9.99684830e-01 2.27519655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:67.42, Z:22.75 [[-4.52760424e-01 8.91560093e-01 1.13401357e-02 2.27792711e+02] [-8.91278721e-01 -4.52902417e-01 2.23973668e-02 6.74189045e+01] [ 2.51045733e-02 3.34196790e-05 9.99684830e-01 2.27520284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:67.41, Z:22.75 [[-4.55187590e-01 8.90323194e-01 1.13520122e-02 2.27788651e+02] [-8.90041586e-01 -4.55329114e-01 2.23913456e-02 6.74105667e+01] [ 2.51044360e-02 8.84996516e-05 9.99684830e-01 2.27520613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:67.40, Z:22.75 [[-4.57434293e-01 8.89170795e-01 1.13650326e-02 2.27785905e+02] [-8.88888995e-01 -4.57575434e-01 2.23847350e-02 6.74042799e+01] [ 2.51042123e-02 1.37293061e-04 9.99684830e-01 2.27515296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:67.39, Z:22.75 [[-4.62829725e-01 8.86374179e-01 1.13780732e-02 2.27781268e+02] [-8.86091689e-01 -4.62969480e-01 2.23781046e-02 6.73947952e+01] [ 2.51030747e-02 2.75235921e-04 9.99684830e-01 2.27500492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:67.39, Z:22.75 [[-4.65551251e-01 8.84947468e-01 1.14022278e-02 2.27776382e+02] [-8.84664851e-01 -4.65690748e-01 2.23657904e-02 6.73852410e+01] [ 2.51024616e-02 3.25271567e-04 9.99684831e-01 2.27504551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.77, Y:67.38, Z:22.75 [[-4.68186918e-01 8.83555700e-01 1.14164369e-02 2.27772743e+02] [-8.83272845e-01 -4.68325931e-01 2.23585351e-02 6.73780399e+01] [ 2.51016246e-02 3.84144932e-04 9.99684831e-01 2.27502821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.77, Y:67.38, Z:22.75 [[-4.70523810e-01 8.82313287e-01 1.14284030e-02 2.27772119e+02] [-8.82030213e-01 -4.70662377e-01 2.23524171e-02 6.73762624e+01] [ 2.51007539e-02 4.37147716e-04 9.99684831e-01 2.27497405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.77, Y:67.37, Z:22.75 [[-4.74274377e-01 8.80302751e-01 1.14403658e-02 2.27768867e+02] [-8.80019238e-01 -4.74412041e-01 2.23462926e-02 6.73690791e+01] [ 2.50989501e-02 5.30532031e-04 9.99684831e-01 2.27482429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:67.36, Z:22.75 [[-4.76038782e-01 8.79349716e-01 1.14523300e-02 2.27764784e+02] [-8.79066074e-01 -4.76176181e-01 2.23401593e-02 6.73609370e+01] [ 2.50981395e-02 5.67427430e-04 9.99684831e-01 2.27486699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:67.35, Z:22.75 [[-4.78784607e-01 8.77857545e-01 1.14643228e-02 2.27760998e+02] [-8.77573622e-01 -4.78921425e-01 2.23340033e-02 6.73535682e+01] [ 2.50965831e-02 6.32389684e-04 9.99684831e-01 2.27477239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:67.35, Z:22.75 [[-4.80269851e-01 8.77045702e-01 1.14763475e-02 2.27760877e+02] [-8.76761695e-01 -4.80406493e-01 2.23278227e-02 6.73534762e+01] [ 2.50958328e-02 6.61358131e-04 9.99684831e-01 2.27473576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.75, Y:67.34, Z:22.75 [[-4.81651249e-01 8.76287676e-01 1.14883641e-02 2.27752343e+02] [-8.76003601e-01 -4.81787750e-01 2.23216380e-02 6.73373882e+01] [ 2.50951294e-02 6.87396514e-04 9.99684831e-01 2.27475940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.75, Y:67.34, Z:22.75 [[-4.83753406e-01 8.75128781e-01 1.15004143e-02 2.27754419e+02] [-8.74844525e-01 -4.83889531e-01 2.23154279e-02 6.73413343e+01] [ 2.50938033e-02 7.34089752e-04 9.99684831e-01 2.27471684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.75, Y:67.33, Z:22.75 [[-4.84600394e-01 8.74659772e-01 1.15213136e-02 2.27750988e+02] [-8.74375641e-01 -4.84736777e-01 2.23046325e-02 6.73348815e+01] [ 2.50937692e-02 7.34877802e-04 9.99684832e-01 2.27463441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.75, Y:67.33, Z:22.75 [[-4.85276617e-01 8.74284615e-01 1.15333224e-02 2.27749847e+02] [-8.74000524e-01 -4.85413086e-01 2.22984212e-02 6.73334408e+01] [ 2.50935922e-02 7.40772564e-04 9.99684832e-01 2.27463160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.74, Y:67.32, Z:22.75 [[-4.85206665e-01 8.74323280e-01 1.15453280e-02 2.27741188e+02] [-8.74039348e-01 -4.85343462e-01 2.22922035e-02 6.73200069e+01] [ 2.50940419e-02 7.25254767e-04 9.99684832e-01 2.27465815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.74, Y:67.33, Z:22.75 [[-4.85411135e-01 8.74209618e-01 1.15573655e-02 2.27743464e+02] [-8.73925802e-01 -4.85548173e-01 2.22859609e-02 6.73263695e+01] [ 2.50942590e-02 7.17573646e-04 9.99684832e-01 2.27463232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.74, Y:67.32, Z:22.75 [[-4.85505527e-01 8.74157041e-01 1.15693964e-02 2.27739471e+02] [-8.73873359e-01 -4.85642840e-01 2.22797135e-02 6.73208186e+01] [ 2.50945629e-02 7.06736719e-04 9.99684832e-01 2.27463816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:67.31, Z:22.75 [[-4.85345639e-01 8.74245665e-01 1.15813823e-02 2.27734052e+02] [-8.73962155e-01 -4.85483309e-01 2.22734813e-02 6.73119878e+01] [ 2.50950622e-02 6.88647179e-04 9.99684832e-01 2.27460549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:67.31, Z:22.75 [[-4.83686359e-01 8.75164606e-01 1.15939263e-02 2.27732854e+02] [-8.74881514e-01 -4.83824886e-01 2.22669499e-02 6.73145708e+01] [ 2.50966765e-02 6.26908120e-04 9.99684832e-01 2.27450088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:67.32, Z:22.75 [[-4.82943865e-01 8.75574397e-01 1.16059277e-02 2.27732742e+02] [-8.75291573e-01 -4.83082937e-01 2.22606928e-02 6.73173967e+01] [ 2.50975183e-02 5.92094307e-04 9.99684832e-01 2.27466034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:67.31, Z:22.75 [[-4.82097549e-01 8.76040512e-01 1.16178635e-02 2.27729455e+02] [-8.75757972e-01 -4.82237197e-01 2.22544617e-02 6.73132397e+01] [ 2.50983760e-02 5.54384880e-04 9.99684832e-01 2.27475234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.72, Y:67.31, Z:22.75 [[-4.79722992e-01 8.77342905e-01 1.16308870e-02 2.27723855e+02] [-8.77060909e-01 -4.79863735e-01 2.22476532e-02 6.73075173e+01] [ 2.51000615e-02 4.71714426e-04 9.99684833e-01 2.27488122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.72, Y:67.30, Z:22.75 [[-4.78454782e-01 8.78034988e-01 1.16439147e-02 2.27720432e+02] [-8.77753361e-01 -4.78596262e-01 2.22408326e-02 6.73029960e+01] [ 2.51009633e-02 4.20747433e-04 9.99684833e-01 2.27494200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.72, Y:67.30, Z:22.75 [[-4.77106217e-01 8.78768342e-01 1.16558272e-02 2.27718018e+02] [-8.78487085e-01 -4.77248431e-01 2.22345879e-02 6.73003151e+01] [ 2.51017772e-02 3.68766466e-04 9.99684833e-01 2.27497767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.71, Y:67.29, Z:22.75 [[-4.73689109e-01 8.80614837e-01 1.16677316e-02 2.27710494e+02] [-8.80334288e-01 -4.73832715e-01 2.22283392e-02 6.72893311e+01] [ 2.51031583e-02 2.57818045e-04 9.99684833e-01 2.27509334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.71, Y:67.29, Z:22.75 [[-4.72332636e-01 8.81342975e-01 1.16807937e-02 2.27711596e+02] [-8.81062817e-01 -4.72477003e-01 2.22214731e-02 6.72928842e+01] [ 2.51036456e-02 2.04413908e-04 9.99684833e-01 2.27509208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.71, Y:67.29, Z:22.75 [[-4.70553355e-01 8.82293936e-01 1.17025955e-02 2.27711099e+02] [-8.82014355e-01 -4.70698836e-01 2.22099856e-02 6.72938614e+01] [ 2.51041337e-02 1.29126029e-04 9.99684833e-01 2.27512382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.71, Y:67.29, Z:22.75 [[-4.66759080e-01 8.84306908e-01 1.17155394e-02 2.27705273e+02] [-8.84028126e-01 -4.66906086e-01 2.22031557e-02 6.72861121e+01] [ 2.51044606e-02 6.65818530e-06 9.99684833e-01 2.27513155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:67.28, Z:22.75 [[-4.65468618e-01 8.84986686e-01 1.17273564e-02 2.27701564e+02] [-8.84708276e-01 -4.65616327e-01 2.21969124e-02 6.72798215e+01] [ 2.51044206e-02 -4.33230670e-05 9.99684833e-01 2.27512604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.71, Y:67.29, Z:22.75 [[-4.63339133e-01 8.86103275e-01 1.17403167e-02 2.27705574e+02] [-8.85825394e-01 -4.63487835e-01 2.21900554e-02 6.72872969e+01] [ 2.51041747e-02 -1.18349651e-04 9.99684834e-01 2.27503388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:67.28, Z:22.75 [[-4.62907205e-01 8.86328822e-01 1.17532146e-02 2.27703052e+02] [-8.86051188e-01 -4.63056365e-01 2.21832218e-02 6.72826628e+01] [ 2.51040296e-02 -1.45176522e-04 9.99684834e-01 2.27502982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:67.27, Z:22.75 [[-4.62723033e-01 8.86424816e-01 1.17660373e-02 2.27696541e+02] [-8.86147385e-01 -4.62872572e-01 2.21764185e-02 6.72700931e+01] [ 2.51039036e-02 -1.64903565e-04 9.99684834e-01 2.27498277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:67.27, Z:22.75 [[-4.62507119e-01 8.86537336e-01 1.17777888e-02 2.27698633e+02] [-8.86260100e-01 -4.62657020e-01 2.21701756e-02 6.72734434e+01] [ 2.51037650e-02 -1.84320259e-04 9.99684834e-01 2.27490296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:67.27, Z:22.75 [[-4.61761770e-01 8.86925616e-01 1.17906485e-02 2.27695325e+02] [-8.86648681e-01 -4.61912225e-01 2.21633344e-02 6.72675511e+01] [ 2.51034736e-02 -2.19982417e-04 9.99684834e-01 2.27490901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.69, Y:67.26, Z:22.75 [[-4.61396017e-01 8.87115773e-01 1.18034649e-02 2.27693173e+02] [-8.86839074e-01 -4.61546906e-01 2.21565066e-02 6.72634891e+01] [ 2.51032392e-02 -2.44849968e-04 9.99684834e-01 2.27495454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.69, Y:67.26, Z:22.75 [[-4.61145205e-01 8.87246006e-01 1.18162774e-02 2.27692005e+02] [-8.86969525e-01 -4.61296492e-01 2.21496715e-02 6.72615068e+01] [ 2.51030149e-02 -2.66463126e-04 9.99684834e-01 2.27495796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.69, Y:67.26, Z:22.75 [[-4.60546651e-01 8.87556677e-01 1.18290675e-02 2.27689069e+02] [-8.87280474e-01 -4.60698444e-01 2.21428388e-02 6.72554795e+01] [ 2.51026574e-02 -2.97890385e-04 9.99684834e-01 2.27502526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.69, Y:67.25, Z:22.75 [[-4.59842180e-01 8.87921697e-01 1.18418434e-02 2.27687086e+02] [-8.87645790e-01 -4.59994510e-01 2.21360042e-02 6.72514561e+01] [ 2.51022214e-02 -3.32294005e-04 9.99684834e-01 2.27516099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:67.22, Z:22.75 [[-4.49947493e-01 8.92976214e-01 1.18631779e-02 2.27675411e+02] [-8.92702317e-01 -4.50103407e-01 2.21245647e-02 6.72150718e+01] [ 2.50963668e-02 -6.35393922e-04 9.99684835e-01 2.27452314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.60, Y:67.07, Z:22.75 [[-4.51943831e-01 8.91970552e-01 1.16322409e-02 2.27598144e+02] [-8.91693086e-01 -4.52093392e-01 2.22487115e-02 6.70695958e+01] [ 2.51040547e-02 -3.17220858e-04 9.99684793e-01 2.27503183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:67.23, Z:22.75 [[-4.62817737e-01 8.86377308e-01 1.16193755e-02 2.27680685e+02] [-8.86097861e-01 -4.62963570e-01 2.22556341e-02 6.72344655e+01] [ 2.51062366e-02 4.39844586e-06 9.99684789e-01 2.27528890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:67.23, Z:22.75 [[-4.63947511e-01 8.85782356e-01 1.19300030e-02 2.27677615e+02] [-8.85506979e-01 -4.64100762e-01 2.20878610e-02 6.72271373e+01] [ 2.51017611e-02 -3.16492768e-04 9.99684851e-01 2.27527488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:67.22, Z:22.75 [[-4.66777005e-01 8.84294422e-01 1.19416509e-02 2.27676811e+02] [-8.84018717e-01 -4.66929666e-01 2.20815619e-02 6.72217701e+01] [ 2.51025131e-02 -2.49477623e-04 9.99684851e-01 2.27523547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:67.21, Z:22.74 [[-4.57968160e-01 8.88888214e-01 1.19544120e-02 2.27681167e+02] [-8.88614219e-01 -4.58123869e-01 2.20746512e-02 6.72129670e+01] [ 2.50984987e-02 -5.13373140e-04 9.99684851e-01 2.27443217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.67, Y:67.21, Z:22.75 [[-4.72022789e-01 8.81509205e-01 1.16622349e-02 2.27673224e+02] [-8.81228815e-01 -4.72166786e-01 2.22329141e-02 6.72092696e+01] [ 2.51050384e-02 2.17344705e-04 9.99684795e-01 2.27522354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.67, Y:67.20, Z:22.75 [[-4.73962733e-01 8.80463462e-01 1.19757951e-02 2.27669413e+02] [-8.80186998e-01 -4.74114000e-01 2.20627132e-02 6.72010831e+01] [ 2.51033050e-02 -8.40353137e-05 9.99684859e-01 2.27523884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.67, Y:67.20, Z:22.75 [[-4.75713646e-01 8.79518505e-01 1.19885924e-02 2.27668947e+02] [-8.79241916e-01 -4.75864684e-01 2.20557572e-02 6.71986390e+01] [ 2.51033943e-02 -4.86482595e-05 9.99684859e-01 2.27524116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:67.19, Z:22.75 [[-4.77647814e-01 8.78469426e-01 1.20013884e-02 2.27664319e+02] [-8.78192680e-01 -4.77798564e-01 2.20487922e-02 6.71888353e+01] [ 2.51034360e-02 -7.97406702e-06 9.99684859e-01 2.27525616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:67.19, Z:22.75 [[-4.81165281e-01 8.76547564e-01 1.20141908e-02 2.27663926e+02] [-8.76270390e-01 -4.81315243e-01 2.20418141e-02 6.71857480e+01] [ 2.51033116e-02 7.80760147e-05 9.99684859e-01 2.27530761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:67.18, Z:22.75 [[-4.82926870e-01 8.75578104e-01 1.20258955e-02 2.27659896e+02] [-8.75300788e-01 -4.83076568e-01 2.20354262e-02 6.71768527e+01] [ 2.51031650e-02 1.15223558e-04 9.99684859e-01 2.27528567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:67.17, Z:22.75 [[-4.84416915e-01 8.74754435e-01 1.20387138e-02 2.27658740e+02] [-8.74477039e-01 -4.84566464e-01 2.20284209e-02 6.71731982e+01] [ 2.51030158e-02 1.43360878e-04 9.99684859e-01 2.27527724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:67.17, Z:22.75 [[-4.85774013e-01 8.74001355e-01 1.20515385e-02 2.27655932e+02] [-8.73723901e-01 -4.85923454e-01 2.20214024e-02 6.71670217e+01] [ 2.51028607e-02 1.67707795e-04 9.99684859e-01 2.27538659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:67.16, Z:22.75 [[-4.86818658e-01 8.73419757e-01 1.20632539e-02 2.27651822e+02] [-8.73142283e-01 -4.86968063e-01 2.20149828e-02 6.71569152e+01] [ 2.51027404e-02 1.84367317e-04 9.99684860e-01 2.27523324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:67.16, Z:22.75 [[-4.87331732e-01 8.73133394e-01 1.20772223e-02 2.27651693e+02] [-8.72856022e-01 -4.87481326e-01 2.20073173e-02 6.71559526e+01] [ 2.51027439e-02 1.83187853e-04 9.99684860e-01 2.27529395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:67.15, Z:22.75 [[-4.87438451e-01 8.73073643e-01 1.20900665e-02 2.27649359e+02] [-8.72796428e-01 -4.87588335e-01 2.20002588e-02 6.71507421e+01] [ 2.51028215e-02 1.71605226e-04 9.99684860e-01 2.27533704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.06687500000004 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:227.65, Y:67.14, Z:22.75 [[-4.87285261e-01 8.73158974e-01 1.21028828e-02 2.27646254e+02] [-8.72881960e-01 -4.87435516e-01 2.19932060e-02 6.71445227e+01] [ 2.51029401e-02 1.52577057e-04 9.99684860e-01 2.27536521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:67.14, Z:22.75 [[-4.86984897e-01 8.73326353e-01 1.21157055e-02 2.27646026e+02] [-8.73049567e-01 -4.87135570e-01 2.19861399e-02 6.71442051e+01] [ 2.51030665e-02 1.29306700e-04 9.99684860e-01 2.27537957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:67.14, Z:22.75 [[-4.85274931e-01 8.74277512e-01 1.21274021e-02 2.27645182e+02] [-8.74001181e-01 -4.85426440e-01 2.19796862e-02 6.71416908e+01] [ 2.51033070e-02 6.68269259e-05 9.99684860e-01 2.27535241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.64, Y:67.14, Z:22.75 [[-4.84573031e-01 8.74666577e-01 1.21390661e-02 2.27642372e+02] [-8.74390530e-01 -4.84725054e-01 2.19732425e-02 6.71358165e+01] [ 2.51033703e-02 3.33562529e-05 9.99684860e-01 2.27534122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.64, Y:67.13, Z:22.75 [[-4.83726011e-01 8.75135136e-01 1.21507267e-02 2.27642002e+02] [-8.74859398e-01 -4.83878594e-01 2.19667926e-02 6.71349615e+01] [ 2.51033886e-02 -4.26849790e-06 9.99684860e-01 2.27532308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.64, Y:67.13, Z:22.75 [[-4.81699979e-01 8.76251795e-01 1.21623701e-02 2.27640281e+02] [-8.75976573e-01 -4.81853491e-01 2.19603441e-02 6.71314937e+01] [ 2.51032714e-02 -7.56539878e-05 9.99684860e-01 2.27549826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.64, Y:67.13, Z:22.76 [[-4.82163501e-01 8.75996662e-01 1.21739932e-02 2.27637994e+02] [-8.75721522e-01 -4.82317159e-01 2.19538988e-02 6.71272929e+01] [ 2.51032679e-02 -7.56591981e-05 9.99684860e-01 2.27551089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.276875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:227.64, Y:67.13, Z:22.76 [[-4.81211311e-01 8.76519929e-01 1.21856084e-02 2.27636600e+02] [-8.76245119e-01 -4.81365559e-01 2.19474498e-02 6.71250993e+01] [ 2.51031093e-02 -1.16218782e-04 9.99684861e-01 2.27555939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:67.12, Z:22.76 [[-4.80290387e-01 8.77024727e-01 1.21972125e-02 2.27634715e+02] [-8.76750243e-01 -4.80445214e-01 2.19409990e-02 6.71213618e+01] [ 2.51028910e-02 -1.55858146e-04 9.99684861e-01 2.27557591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:67.11, Z:22.76 [[-4.79707660e-01 8.77343437e-01 1.22087996e-02 2.27628698e+02] [-8.77069220e-01 -4.79862959e-01 2.19345496e-02 6.71106178e+01] [ 2.51026838e-02 -1.85790845e-04 9.99684861e-01 2.27558635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:67.12, Z:22.76 [[-4.78213710e-01 8.78158461e-01 1.22215069e-02 2.27631346e+02] [-8.77884689e-01 -4.78369793e-01 2.19274671e-02 6.71150930e+01] [ 2.51021904e-02 -2.43058401e-04 9.99684861e-01 2.27562049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:67.11, Z:22.76 [[-4.77916616e-01 8.78320021e-01 1.22331004e-02 2.27627308e+02] [-8.78046468e-01 -4.78073081e-01 2.19209972e-02 6.71072879e+01] [ 2.51019668e-02 -2.64821799e-04 9.99684861e-01 2.27567300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:67.11, Z:22.76 [[-4.77684409e-01 8.78446170e-01 1.22446648e-02 2.27626201e+02] [-8.78172823e-01 -4.77841235e-01 2.19145357e-02 6.71052790e+01] [ 2.51017457e-02 -2.84699796e-04 9.99684861e-01 2.27563937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:67.10, Z:22.76 [[-4.76985711e-01 8.78825589e-01 1.22562302e-02 2.27622145e+02] [-8.78552533e-01 -4.77143042e-01 2.19080655e-02 6.70975510e+01] [ 2.51013436e-02 -3.17907909e-04 9.99684861e-01 2.27575893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:67.10, Z:22.76 [[-4.76815917e-01 8.78917563e-01 1.22677999e-02 2.27622817e+02] [-8.78644704e-01 -4.76973590e-01 2.19015850e-02 6.70983675e+01] [ 2.51011042e-02 -3.36013048e-04 9.99684861e-01 2.27577667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:67.09, Z:22.76 [[-4.77049554e-01 8.78790613e-01 1.22793585e-02 2.27620523e+02] [-8.78517878e-01 -4.77207441e-01 2.18951026e-02 6.70937606e+01] [ 2.51010119e-02 -3.42587052e-04 9.99684861e-01 2.27582234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:67.09, Z:22.76 [[-4.76649980e-01 8.79007242e-01 1.22908881e-02 2.27618834e+02] [-8.78734746e-01 -4.76808278e-01 2.18886285e-02 6.70886608e+01] [ 2.51006602e-02 -3.67216047e-04 9.99684861e-01 2.27582285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:67.09, Z:22.76 [[-4.76612667e-01 8.79027313e-01 1.23024187e-02 2.27618714e+02] [-8.78754991e-01 -4.76771264e-01 2.18821459e-02 6.70872648e+01] [ 2.51004436e-02 -3.81503943e-04 9.99684861e-01 2.27575327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:67.08, Z:22.76 [[-4.76581761e-01 8.79043908e-01 1.23139324e-02 2.27615610e+02] [-8.78771759e-01 -4.76740654e-01 2.18756647e-02 6.70808659e+01] [ 2.51002220e-02 -3.95593255e-04 9.99684862e-01 2.27582746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:67.08, Z:22.76 [[-4.76722301e-01 8.78967522e-01 1.23265230e-02 2.27613857e+02] [-8.78695531e-01 -4.76881463e-01 2.18685679e-02 6.70775826e+01] [ 2.51000513e-02 -4.06026683e-04 9.99684862e-01 2.27589214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:67.07, Z:22.76 [[-4.77237491e-01 8.78687743e-01 1.23380265e-02 2.27612114e+02] [-8.78415826e-01 -4.77396781e-01 2.18620758e-02 6.70735086e+01] [ 2.51000722e-02 -4.04515589e-04 9.99684862e-01 2.27596388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:67.07, Z:22.76 [[-4.78035392e-01 8.78253752e-01 1.23495177e-02 2.27610342e+02] [-8.77981858e-01 -4.78194721e-01 2.18555827e-02 6.70689539e+01] [ 2.51002217e-02 -3.94910445e-04 9.99684862e-01 2.27596039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:67.06, Z:22.76 [[-4.80021791e-01 8.77169474e-01 1.23610054e-02 2.27608601e+02] [-8.76897387e-01 -4.80180790e-01 2.18490836e-02 6.70622710e+01] [ 2.51008665e-02 -3.51297117e-04 9.99684862e-01 2.27594217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:67.06, Z:22.76 [[-4.81789482e-01 8.76199644e-01 1.23724987e-02 2.27606187e+02] [-8.75927404e-01 -4.81948218e-01 2.18425733e-02 6.70564107e+01] [ 2.51013587e-02 -3.13888574e-04 9.99684862e-01 2.27588814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.60, Y:67.05, Z:22.76 [[-4.83576235e-01 8.75214637e-01 1.23840006e-02 2.27604097e+02] [-8.74942241e-01 -4.83734703e-01 2.18360502e-02 6.70505006e+01] [ 2.51018016e-02 -2.75890251e-04 9.99684862e-01 2.27592071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.60, Y:67.04, Z:22.76 [[-4.87653663e-01 8.72949171e-01 1.23955110e-02 2.27599155e+02] [-8.72676205e-01 -4.87811146e-01 2.18295142e-02 6.70383820e+01] [ 2.51027248e-02 -1.72024950e-04 9.99684862e-01 2.27591470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.60, Y:67.03, Z:22.76 [[-4.89475986e-01 8.71928290e-01 1.24224389e-02 2.27596948e+02] [-8.71655383e-01 -4.89633573e-01 2.18141797e-02 6.70333816e+01] [ 2.51028435e-02 -1.50568643e-04 9.99684863e-01 2.27594047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.59, Y:67.03, Z:22.76 [[-4.91407790e-01 8.70840847e-01 1.24339559e-02 2.27594630e+02] [-8.70567758e-01 -4.91565059e-01 2.18076131e-02 6.70277128e+01] [ 2.51030585e-02 -1.08170132e-04 9.99684863e-01 2.27597259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.59, Y:67.02, Z:22.76 [[-4.93203195e-01 8.69825108e-01 1.24454769e-02 2.27591501e+02] [-8.69551861e-01 -4.93360189e-01 2.18010361e-02 6.70210582e+01] [ 2.51031915e-02 -6.96469444e-05 9.99684863e-01 2.27599268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.59, Y:67.01, Z:22.76 [[-4.95950115e-01 8.68261627e-01 1.24591931e-02 2.27588628e+02] [-8.67988081e-01 -4.96106589e-01 2.17931946e-02 6.70145865e+01] [ 2.51032824e-02 -6.09370667e-06 9.99684863e-01 2.27605492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.58, Y:67.01, Z:22.76 [[-4.97634604e-01 8.67297104e-01 1.24713100e-02 2.27584330e+02] [-8.67023429e-01 -4.97790852e-01 2.17862584e-02 6.70064963e+01] [ 2.51032629e-02 2.86780878e-05 9.99684863e-01 2.27609282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.58, Y:66.99, Z:22.76 [[-4.99839023e-01 8.66028211e-01 1.24935660e-02 2.27577952e+02] [-8.65754458e-01 -4.99995133e-01 2.17734880e-02 6.69948351e+01] [ 2.51031770e-02 6.68784717e-05 9.99684863e-01 2.27610706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:66.97, Z:22.76 [[-5.01271006e-01 8.65199977e-01 1.25051418e-02 2.27565824e+02] [-8.64926132e-01 -5.01426955e-01 2.17668377e-02 6.69737698e+01] [ 2.51030826e-02 9.50607198e-05 9.99684863e-01 2.27616687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:66.99, Z:22.76 [[-5.02641061e-01 8.64404604e-01 1.25157413e-02 2.27574131e+02] [-8.64130664e-01 -5.02796843e-01 2.17607413e-02 6.69882084e+01] [ 2.51029602e-02 1.22606244e-04 9.99684864e-01 2.27607700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:66.99, Z:22.76 [[-5.04203963e-01 8.63493733e-01 1.25274305e-02 2.27572961e+02] [-8.63219679e-01 -5.04359543e-01 2.17540099e-02 6.69867218e+01] [ 2.51027803e-02 1.54533480e-04 9.99684864e-01 2.27605859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:66.98, Z:22.76 [[-5.05305027e-01 8.62849699e-01 1.25390127e-02 2.27569028e+02] [-8.62575612e-01 -5.05460550e-01 2.17473319e-02 6.69811747e+01] [ 2.51026550e-02 1.73189606e-04 9.99684864e-01 2.27603474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:66.98, Z:22.76 [[-5.05984835e-01 8.62451060e-01 1.25505867e-02 2.27567074e+02] [-8.62177016e-01 -5.06140433e-01 2.17406503e-02 6.69788976e+01] [ 2.51026063e-02 1.79611972e-04 9.99684864e-01 2.27598902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:66.97, Z:22.76 [[-5.06863554e-01 8.61934760e-01 1.25621572e-02 2.27561925e+02] [-8.61660723e-01 -5.07019165e-01 2.17339626e-02 6.69721260e+01] [ 2.51025123e-02 1.91836098e-04 9.99684864e-01 2.27596909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:66.97, Z:22.76 [[-5.07587400e-01 8.61508521e-01 1.25737333e-02 2.27560297e+02] [-8.61234520e-01 -5.07743073e-01 2.17272635e-02 6.69726766e+01] [ 2.51024486e-02 1.99552046e-04 9.99684864e-01 2.27580708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:66.97, Z:22.76 [[-5.08241018e-01 8.61122917e-01 1.25853012e-02 2.27555933e+02] [-8.60848963e-01 -5.08396774e-01 2.17205608e-02 6.69673372e+01] [ 2.51023992e-02 2.05236437e-04 9.99684864e-01 2.27573788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.55, Y:66.97, Z:22.76 [[-5.08575992e-01 8.60924956e-01 1.25968533e-02 2.27552167e+02] [-8.60651108e-01 -5.08731933e-01 2.17138591e-02 6.69656793e+01] [ 2.51024247e-02 2.01651631e-04 9.99684864e-01 2.27558794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.55, Y:66.96, Z:22.75 [[-5.08997057e-01 8.60675895e-01 1.26094946e-02 2.27548740e+02] [-8.60402152e-01 -5.09153183e-01 2.17065157e-02 6.69627627e+01] [ 2.51024391e-02 1.99316283e-04 9.99684864e-01 2.27545083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.54, Y:66.96, Z:22.75 [[-5.09322196e-01 8.60483358e-01 1.26210256e-02 2.27544923e+02] [-8.60209722e-01 -5.09478510e-01 2.16998090e-02 6.69597632e+01] [ 2.51024658e-02 1.95465433e-04 9.99684864e-01 2.27542598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.54, Y:66.96, Z:22.76 [[-5.09243077e-01 8.60530015e-01 1.26325485e-02 2.27538467e+02] [-8.60256560e-01 -5.09399706e-01 2.16930989e-02 6.69568551e+01] [ 2.51025792e-02 1.79827689e-04 9.99684864e-01 2.27550213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.53, Y:66.95, Z:22.76 [[-5.09396773e-01 8.60438874e-01 1.26440724e-02 2.27534019e+02] [-8.60165557e-01 -5.09553643e-01 2.16863800e-02 6.69535586e+01] [ 2.51026375e-02 1.70976408e-04 9.99684865e-01 2.27557721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.52, Y:66.94, Z:22.76 [[-5.11122005e-01 8.59414978e-01 1.26566822e-02 2.27519518e+02] [-8.59141529e-01 -5.11278645e-01 2.16790181e-02 6.69365870e+01] [ 2.51023642e-02 2.06741883e-04 9.99684865e-01 2.27572895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.50, Y:66.91, Z:22.76 [[-5.11611071e-01 8.59123070e-01 1.27146660e-02 2.27503748e+02] [-8.58850376e-01 -5.11769017e-01 2.16449574e-02 6.69136409e+01] [ 2.51026543e-02 1.53804126e-04 9.99684867e-01 2.27584560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.50, Y:66.92, Z:22.76 [[-5.12309421e-01 8.58706644e-01 1.27262589e-02 2.27504671e+02] [-8.58433991e-01 -5.12467437e-01 2.16381391e-02 6.69187585e+01] [ 2.51026071e-02 1.60769281e-04 9.99684867e-01 2.27587069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.50, Y:66.92, Z:22.76 [[-5.12800165e-01 8.58413467e-01 1.27401110e-02 2.27504836e+02] [-8.58140927e-01 -5.12958374e-01 2.16299802e-02 6.69216158e+01] [ 2.51026129e-02 1.59046730e-04 9.99684867e-01 2.27591656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.50, Y:66.92, Z:22.76 [[-5.13507093e-01 8.57990578e-01 1.27527582e-02 2.27501530e+02] [-8.57718092e-01 -5.13665397e-01 2.16225210e-02 6.69210232e+01] [ 2.51025699e-02 1.65046478e-04 9.99684867e-01 2.27597585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.50, Y:66.91, Z:22.76 [[-5.13964701e-01 8.57716363e-01 1.27642612e-02 2.27495719e+02] [-8.57443962e-01 -5.14123150e-01 2.16157284e-02 6.69142893e+01] [ 2.51025661e-02 1.65082699e-04 9.99684867e-01 2.27597665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:66.91, Z:22.76 [[-5.14633405e-01 8.57315133e-01 1.27757651e-02 2.27492713e+02] [-8.57042777e-01 -5.14791932e-01 2.16089270e-02 6.69123041e+01] [ 2.51025209e-02 1.71298457e-04 9.99684867e-01 2.27609833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.48, Y:66.89, Z:22.76 [[-5.13929117e-01 8.57737217e-01 1.27957012e-02 2.27478446e+02] [-8.57465285e-01 -5.14088368e-01 2.15971154e-02 6.68934249e+01] [ 2.51027708e-02 1.27516878e-04 9.99684868e-01 2.27612478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.48, Y:66.90, Z:22.76 [[-5.13573675e-01 8.57949897e-01 1.28083527e-02 2.27483246e+02] [-8.57678218e-01 -5.13733358e-01 2.15896097e-02 6.69031859e+01] [ 2.51028815e-02 1.02410127e-04 9.99684868e-01 2.27613843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.48, Y:66.90, Z:22.76 [[-5.13192480e-01 8.58177779e-01 1.28210049e-02 2.27478419e+02] [-8.57906358e-01 -5.13352602e-01 2.15820936e-02 6.68968245e+01] [ 2.51029694e-02 7.65464742e-05 9.99684868e-01 2.27618421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.48, Y:66.90, Z:22.76 [[-5.11821485e-01 8.58995980e-01 1.28325046e-02 2.27475963e+02] [-8.58724987e-01 -5.11982329e-01 2.15752538e-02 6.68962696e+01] [ 2.51030719e-02 2.30861506e-05 9.99684868e-01 2.27615550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.47, Y:66.89, Z:22.76 [[-5.11752923e-01 8.59036640e-01 1.28450832e-02 2.27473812e+02] [-8.58765848e-01 -5.11914105e-01 2.15677624e-02 6.68942905e+01] [ 2.51030774e-02 6.44668377e-06 9.99684868e-01 2.27613527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.47, Y:66.89, Z:22.76 [[-5.11196218e-01 8.59367728e-01 1.28660385e-02 2.27470987e+02] [-8.59097355e-01 -5.11358100e-01 2.15552544e-02 6.68909682e+01] [ 2.51030431e-02 -3.42151490e-05 9.99684868e-01 2.27619077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.47, Y:66.88, Z:22.76 [[-5.10152194e-01 8.59987738e-01 1.28774605e-02 2.27465089e+02] [-8.59717733e-01 -5.10314691e-01 2.15484286e-02 6.68838754e+01] [ 2.51029417e-02 -7.80030120e-05 9.99684868e-01 2.27620232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.46, Y:66.87, Z:22.76 [[-5.10037963e-01 8.60055320e-01 1.28888908e-02 2.27459373e+02] [-8.59785509e-01 -5.10200782e-01 2.15415895e-02 6.68747513e+01] [ 2.51028809e-02 -9.46531425e-05 9.99684869e-01 2.27617186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.46, Y:66.87, Z:22.76 [[-5.10311973e-01 8.59892593e-01 1.29003643e-02 2.27456569e+02] [-8.59622904e-01 -5.10474993e-01 2.15347164e-02 6.68699332e+01] [ 2.51028565e-02 -1.00025073e-04 9.99684869e-01 2.27617658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.46, Y:66.87, Z:22.76 [[-5.10944849e-01 8.59516502e-01 1.29129478e-02 2.27457862e+02] [-8.59246884e-01 -5.11107986e-01 2.15271682e-02 6.68723650e+01] [ 2.51028671e-02 -9.62144326e-05 9.99684869e-01 2.27614273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.45, Y:66.86, Z:22.76 [[-5.11475201e-01 8.59200821e-01 1.29254830e-02 2.27452849e+02] [-8.58931292e-01 -5.11638486e-01 2.15196391e-02 6.68640010e+01] [ 2.51028662e-02 -9.53400801e-05 9.99684869e-01 2.27614822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.45, Y:66.87, Z:22.76 [[-5.12134086e-01 8.58808078e-01 1.29369191e-02 2.27454022e+02] [-8.58538598e-01 -5.12297450e-01 2.15127619e-02 6.68661106e+01] [ 2.51028844e-02 -8.94257571e-05 9.99684869e-01 2.27615385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.45, Y:66.86, Z:22.76 [[-5.12909990e-01 8.58344718e-01 1.29494200e-02 2.27452024e+02] [-8.58075280e-01 -5.13073424e-01 2.15052345e-02 6.68621154e+01] [ 2.51029077e-02 -8.13276219e-05 9.99684869e-01 2.27623298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.45, Y:66.85, Z:22.76 [[-5.13603136e-01 8.57929971e-01 1.29608020e-02 2.27445847e+02] [-8.57660575e-01 -5.13766638e-01 2.14983726e-02 6.68513412e+01] [ 2.51029259e-02 -7.43373124e-05 9.99684869e-01 2.27623083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.45, Y:66.85, Z:22.76 [[-5.14235336e-01 8.57551013e-01 1.29722103e-02 2.27447197e+02] [-8.57281670e-01 -5.14398926e-01 2.14914866e-02 6.68524356e+01] [ 2.51029371e-02 -6.91562463e-05 9.99684869e-01 2.27620024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.44, Y:66.85, Z:22.76 [[-5.14545389e-01 8.57364824e-01 1.29846988e-02 2.27444592e+02] [-8.57095611e-01 -5.14709193e-01 2.14839386e-02 6.68470940e+01] [ 2.51029171e-02 -7.46667858e-05 9.99684869e-01 2.27618650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.44, Y:66.85, Z:22.76 [[-5.14670598e-01 8.57289495e-01 1.29960784e-02 2.27443162e+02] [-8.57020432e-01 -5.14834649e-01 2.14770527e-02 6.68451409e+01] [ 2.51028831e-02 -8.42972034e-05 9.99684869e-01 2.27615130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.44, Y:66.83, Z:22.76 [[-5.14958674e-01 8.57116311e-01 1.30074455e-02 2.27435946e+02] [-8.56847367e-01 -5.15122919e-01 2.14701661e-02 6.68333384e+01] [ 2.51028628e-02 -8.91471457e-05 9.99684870e-01 2.27618906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:66.83, Z:22.76 [[-5.15414580e-01 8.56842047e-01 1.30199114e-02 2.27433506e+02] [-8.56573206e-01 -5.15578994e-01 2.14626038e-02 6.68292448e+01] [ 2.51028542e-02 -9.03683490e-05 9.99684870e-01 2.27620174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:66.83, Z:22.76 [[-5.14964659e-01 8.57112352e-01 1.30313293e-02 2.27433366e+02] [-8.56843773e-01 -5.15129500e-01 2.14556691e-02 6.68271813e+01] [ 2.51027411e-02 -1.16902011e-04 9.99684870e-01 2.27616977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:66.82, Z:22.76 [[-5.14809852e-01 8.57205154e-01 1.30438098e-02 2.27432933e+02] [-8.56936797e-01 -5.14975054e-01 2.14480789e-02 6.68248897e+01] [ 2.51026405e-02 -1.36038302e-04 9.99684870e-01 2.27613555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:66.82, Z:22.76 [[-5.14526229e-01 8.57375252e-01 1.30551780e-02 2.27429458e+02] [-8.57107125e-01 -5.14691804e-01 2.14411571e-02 6.68179616e+01] [ 2.51025105e-02 -1.57648362e-04 9.99684870e-01 2.27608877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:66.81, Z:22.76 [[-5.13315479e-01 8.58100493e-01 1.30676169e-02 2.27427075e+02] [-8.57832794e-01 -5.13481743e-01 2.14335733e-02 6.68121348e+01] [ 2.51021425e-02 -2.07645420e-04 9.99684870e-01 2.27602388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.42, Y:66.81, Z:22.76 [[-5.12964868e-01 8.58309958e-01 1.30789908e-02 2.27424811e+02] [-8.58042503e-01 -5.13131525e-01 2.14266306e-02 6.68077341e+01] [ 2.51019329e-02 -2.31221251e-04 9.99684870e-01 2.27600201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:66.81, Z:22.76 [[-5.12678811e-01 8.58480648e-01 1.30925210e-02 2.27426558e+02] [-8.58213459e-01 -5.12845895e-01 2.14183599e-02 6.68102349e+01] [ 2.51016931e-02 -2.55438451e-04 9.99684870e-01 2.27601179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.42, Y:66.80, Z:22.76 [[-5.12447655e-01 8.58618461e-01 1.31049161e-02 2.27417681e+02] [-8.58351512e-01 -5.12615120e-01 2.14107732e-02 6.67953091e+01] [ 2.51014633e-02 -2.76724011e-04 9.99684870e-01 2.27598485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.42, Y:66.80, Z:22.76 [[-5.12468458e-01 8.58605872e-01 1.31162525e-02 2.27420452e+02] [-8.58339096e-01 -5.12636199e-01 2.14038263e-02 6.67971429e+01] [ 2.51013168e-02 -2.89406430e-04 9.99684870e-01 2.27605349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.42, Y:66.79, Z:22.76 [[-5.13153117e-01 8.58196666e-01 1.31286748e-02 2.27417508e+02] [-8.57929951e-01 -5.13320955e-01 2.13962040e-02 6.67905161e+01] [ 2.51013748e-02 -2.83954590e-04 9.99684871e-01 2.27603697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.42, Y:66.79, Z:22.76 [[-5.14564430e-01 8.57350997e-01 1.31421359e-02 2.27417623e+02] [-8.57084217e-01 -5.14732165e-01 2.13879326e-02 6.67891907e+01] [ 2.51016454e-02 -2.58447895e-04 9.99684871e-01 2.27598584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.42, Y:66.79, Z:22.76 [[-5.15587939e-01 8.56735703e-01 1.31534349e-02 2.27415872e+02] [-8.56468900e-01 -5.15755637e-01 2.13809815e-02 6.67854830e+01] [ 2.51018084e-02 -2.41731779e-04 9.99684871e-01 2.27598329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.41, Y:66.78, Z:22.76 [[-5.16653223e-01 8.56093533e-01 1.31647097e-02 2.27413757e+02] [-8.55826699e-01 -5.16820870e-01 2.13740372e-02 6.67808129e+01] [ 2.51019717e-02 -2.23744811e-04 9.99684871e-01 2.27596073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:66.76, Z:22.76 [[-5.18280818e-01 8.55108991e-01 1.31759807e-02 2.27402375e+02] [-8.54842015e-01 -5.18448239e-01 2.13670869e-02 6.67590275e+01] [ 2.51022521e-02 -1.89230606e-04 9.99684871e-01 2.27589441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.586875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:227.41, Y:66.77, Z:22.76 [[-5.19448794e-01 8.54399799e-01 1.31883996e-02 2.27408909e+02] [-8.54132788e-01 -5.19616161e-01 2.13594189e-02 6.67676864e+01] [ 2.51023888e-02 -1.69520133e-04 9.99684871e-01 2.27583651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:66.76, Z:22.76 [[-5.20509079e-01 8.53754085e-01 1.32008241e-02 2.27403998e+02] [-8.53487061e-01 -5.20676425e-01 2.13517373e-02 6.67581532e+01] [ 2.51024909e-02 -1.52959442e-04 9.99684871e-01 2.27586519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:66.69, Z:22.75 [[-5.15165873e-01 8.56988643e-01 1.32131934e-02 2.27368483e+02] [-8.56722866e-01 -5.15335192e-01 2.13440801e-02 6.66892905e+01] [ 2.51008578e-02 -3.24303226e-04 9.99684871e-01 2.27536124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:66.75, Z:22.76 [[-5.22240615e-01 8.52697907e-01 1.30774509e-02 2.27397929e+02] [-8.52428622e-01 -5.22404324e-01 2.14281695e-02 6.67452265e+01] [ 2.51034722e-02 4.30669705e-05 9.99684857e-01 2.27602567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:66.75, Z:22.76 [[-5.23141172e-01 8.52143217e-01 1.32382921e-02 2.27398593e+02] [-8.51876270e-01 -5.23308631e-01 2.13283375e-02 6.67455677e+01] [ 2.51025106e-02 -1.19655421e-04 9.99684875e-01 2.27614274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:66.74, Z:22.76 [[-5.23628787e-01 8.51843367e-01 1.32579033e-02 2.27396534e+02] [-8.51576632e-01 -5.23796585e-01 2.13161400e-02 6.67407835e+01] [ 2.51024569e-02 -1.28376075e-04 9.99684875e-01 2.27619107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.39, Y:66.73, Z:22.76 [[-5.24486153e-01 8.51315538e-01 1.32713896e-02 2.27389562e+02] [-8.51048847e-01 -5.24654019e-01 2.13077401e-02 6.67271652e+01] [ 2.51024982e-02 -1.18986181e-04 9.99684876e-01 2.27635473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.39, Y:66.73, Z:22.76 [[-5.25115422e-01 8.50927355e-01 1.32826921e-02 2.27392082e+02] [-8.50660718e-01 -5.25283374e-01 2.13006921e-02 6.67298564e+01] [ 2.51025189e-02 -1.13742517e-04 9.99684876e-01 2.27637931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.39, Y:66.73, Z:22.76 [[-5.25872829e-01 8.50459293e-01 1.32950646e-02 2.27391084e+02] [-8.50192702e-01 -5.26040854e-01 2.12929669e-02 6.67269860e+01] [ 2.51025487e-02 -1.05974170e-04 9.99684876e-01 2.27641440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.39, Y:66.72, Z:22.76 [[-5.27465307e-01 8.49472361e-01 1.33063179e-02 2.27388968e+02] [-8.49205632e-01 -5.27633114e-01 2.12859322e-02 6.67207453e+01] [ 2.51026650e-02 -7.22092936e-05 9.99684876e-01 2.27647711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:66.71, Z:22.76 [[-5.28249990e-01 8.48984447e-01 1.33175674e-02 2.27383512e+02] [-8.48717741e-01 -5.28417832e-01 2.12788916e-02 6.67103882e+01] [ 2.51026881e-02 -6.22814079e-05 9.99684876e-01 2.27648651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:66.71, Z:22.76 [[-5.28978656e-01 8.48530433e-01 1.33299121e-02 2.27383591e+02] [-8.48263778e-01 -5.29146579e-01 2.12711556e-02 6.67082679e+01] [ 2.51027003e-02 -5.52943020e-05 9.99684876e-01 2.27648427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:66.71, Z:22.77 [[-5.29483790e-01 8.48215143e-01 1.33411997e-02 2.27383152e+02] [-8.47948566e-01 -5.29651837e-01 2.12640737e-02 6.67056549e+01] [ 2.51027003e-02 -5.36687551e-05 9.99684876e-01 2.27653139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:66.70, Z:22.77 [[-5.29954945e-01 8.47920673e-01 1.33524627e-02 2.27380731e+02] [-8.47654181e-01 -5.30123126e-01 2.12569989e-02 6.67001438e+01] [ 2.51026981e-02 -5.30191394e-05 9.99684876e-01 2.27653054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:66.70, Z:22.77 [[-5.29889704e-01 8.47961252e-01 1.33647770e-02 2.27379605e+02] [-8.47694968e-01 -5.30058214e-01 2.12492538e-02 6.66959198e+01] [ 2.51026537e-02 -6.94933793e-05 9.99684876e-01 2.27663757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:66.68, Z:22.77 [[-5.30082217e-01 8.47840743e-01 1.33760233e-02 2.27373340e+02] [-8.47574599e-01 -5.30250949e-01 2.12421721e-02 6.66846837e+01] [ 2.51026280e-02 -7.70799095e-05 9.99684876e-01 2.27669797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:66.68, Z:22.77 [[-5.30542884e-01 8.47552375e-01 1.33872955e-02 2.27373364e+02] [-8.47286319e-01 -5.30711754e-01 2.12350658e-02 6.66835046e+01] [ 2.51026255e-02 -7.67592526e-05 9.99684877e-01 2.27671124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:66.68, Z:22.77 [[-5.30195439e-01 8.47769588e-01 1.33985802e-02 2.27374650e+02] [-8.47503781e-01 -5.30364700e-01 2.12279431e-02 6.66816314e+01] [ 2.51025386e-02 -1.00388735e-04 9.99684877e-01 2.27670421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:66.68, Z:22.77 [[-5.30241023e-01 8.47740900e-01 1.34098315e-02 2.27373225e+02] [-8.47475264e-01 -5.30410551e-01 2.12208332e-02 6.66778629e+01] [ 2.51024844e-02 -1.12344135e-04 9.99684877e-01 2.27664857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:66.67, Z:22.77 [[-5.30197413e-01 8.47767998e-01 1.34210583e-02 2.27370439e+02] [-8.47502550e-01 -5.30367237e-01 2.12137305e-02 6.66716114e+01] [ 2.51024114e-02 -1.26916127e-04 9.99684877e-01 2.27661809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.186875 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:227.88, Y:65.74, Z:23.46 [[-4.72008519e-01 -8.81491635e-01 -1.34333425e-02 2.27877205e+02] [-8.81238421e-01 4.72196096e-01 -2.12059488e-02 6.57447920e+01] [ 2.50360384e-02 1.82858907e-03 -9.99684877e-01 2.34649979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.31, Y:66.65, Z:22.77 [[-4.62625757e-01 8.86477676e-01 1.16076892e-02 2.27306400e+02] [-8.86200373e-01 -4.62771357e-01 2.21713946e-02 6.66511792e+01] [ 2.50261525e-02 -2.96802254e-05 9.99686796e-01 2.27656204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:66.64, Z:22.77 [[-4.62486718e-01 8.86548260e-01 1.17565942e-02 2.27302199e+02] [-8.86272980e-01 -4.62636079e-01 2.20921535e-02 6.66415904e+01] [ 2.50247849e-02 -2.02224201e-04 9.99686811e-01 2.27653339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:66.64, Z:22.76 [[-4.62654335e-01 8.86460645e-01 1.17682826e-02 2.27303787e+02] [-8.86185495e-01 -4.62803934e-01 2.20859254e-02 6.66408381e+01] [ 2.50247112e-02 -2.10732217e-04 9.99686811e-01 2.27640254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:66.64, Z:22.76 [[-4.63269899e-01 8.86138932e-01 1.17810698e-02 2.27302471e+02] [-8.85863851e-01 -4.63419626e-01 2.20791024e-02 6.66364143e+01] [ 2.50247312e-02 -2.07840307e-04 9.99686811e-01 2.27637064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:66.63, Z:22.76 [[-4.64098105e-01 8.85705301e-01 1.17927222e-02 2.27300767e+02] [-8.85430239e-01 -4.64247865e-01 2.20728769e-02 6.66310429e+01] [ 2.50248102e-02 -1.97652523e-04 9.99686811e-01 2.27636591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:66.62, Z:22.76 [[-4.65696709e-01 8.84865658e-01 1.18043760e-02 2.27298863e+02] [-8.84590483e-01 -4.65846263e-01 2.20666429e-02 6.66238755e+01] [ 2.50250389e-02 -1.65675683e-04 9.99686811e-01 2.27621484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:66.62, Z:22.76 [[-4.66876295e-01 8.84243578e-01 1.18245781e-02 2.27296466e+02] [-8.83968478e-01 -4.67025986e-01 2.20558121e-02 6.66173473e+01] [ 2.50250954e-02 -1.55218477e-04 9.99686811e-01 2.27625230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:66.61, Z:22.76 [[-4.69342463e-01 8.82936893e-01 1.18362350e-02 2.27295205e+02] [-8.82661534e-01 -4.69491676e-01 2.20495546e-02 6.66107590e+01] [ 2.50253791e-02 -9.85970904e-05 9.99686811e-01 2.27626452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.29, Y:66.61, Z:22.76 [[-4.71122857e-01 8.81988028e-01 1.18479055e-02 2.27293674e+02] [-8.81712526e-01 -4.71271806e-01 2.20432820e-02 6.66066905e+01] [ 2.50254946e-02 -6.13526962e-05 9.99686811e-01 2.27622186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:66.60, Z:22.75 [[-4.62018549e-01 8.86790962e-01 1.18595772e-02 2.27297990e+02] [-8.86517170e-01 -4.62170617e-01 2.20370006e-02 6.65987402e+01] [ 2.50233611e-02 -3.32215734e-04 9.99686811e-01 2.27547959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.29, Y:66.59, Z:22.76 [[-4.74806887e-01 8.80014290e-01 1.15442681e-02 2.27288804e+02] [-8.79734142e-01 -4.74947049e-01 2.22067644e-02 6.65935067e+01] [ 2.50251861e-02 3.88037937e-04 9.99686746e-01 2.27618706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.29, Y:66.59, Z:22.76 [[-4.76807156e-01 8.78927552e-01 1.18867620e-02 2.27287596e+02] [-8.78651626e-01 -4.76955297e-01 2.20218986e-02 6.65900311e+01] [ 2.50251075e-02 5.58760151e-05 9.99686821e-01 2.27635905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.29, Y:66.58, Z:22.76 [[-4.80038598e-01 8.77166673e-01 1.18984393e-02 2.27285485e+02] [-8.76890360e-01 -4.80186016e-01 2.20155875e-02 6.65835001e+01] [ 2.50248038e-02 1.34705069e-04 9.99686822e-01 2.27647443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.28, Y:66.58, Z:22.77 [[-4.81883050e-01 8.76154596e-01 1.19101178e-02 2.27283057e+02] [-8.75878129e-01 -4.82030180e-01 2.20092678e-02 6.65776306e+01] [ 2.50245574e-02 1.74081439e-04 9.99686822e-01 2.27653637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.28, Y:66.57, Z:22.76 [[-4.85107098e-01 8.74373482e-01 1.19212935e-02 2.27278832e+02] [-8.74096624e-01 -4.85253490e-01 2.20032129e-02 6.65669241e+01] [ 2.50238751e-02 2.53552387e-04 9.99686822e-01 2.27644396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.28, Y:66.56, Z:22.76 [[-4.87329215e-01 8.73136782e-01 1.19330256e-02 2.27276987e+02] [-8.72859708e-01 -4.87475198e-01 2.19968484e-02 6.65614868e+01] [ 2.50233114e-02 3.03849632e-04 9.99686822e-01 2.27639687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.28, Y:66.56, Z:22.76 [[-4.89248861e-01 8.72062308e-01 1.19533959e-02 2.27276230e+02] [-8.71785184e-01 -4.89394748e-01 2.19857733e-02 6.65580495e+01] [ 2.50228933e-02 3.35721074e-04 9.99686822e-01 2.27640183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:66.55, Z:22.76 [[-4.92680635e-01 8.70127938e-01 1.19651280e-02 2.27274719e+02] [-8.69850396e-01 -4.92825725e-01 2.19793866e-02 6.65521900e+01] [ 2.50216012e-02 4.20946800e-04 9.99686822e-01 2.27629865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.28, Y:66.55, Z:22.76 [[-4.81887872e-01 8.76151018e-01 1.19779612e-02 2.27283994e+02] [-8.75875465e-01 -4.82036704e-01 2.19723907e-02 6.65520764e+01] [ 2.50249494e-02 9.70263126e-05 9.99686822e-01 2.27556720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:66.54, Z:22.76 [[-4.95085956e-01 8.68766811e-01 1.15812017e-02 2.27267976e+02] [-8.68483906e-01 -4.95220525e-01 2.21886760e-02 6.65381331e+01] [ 2.50120341e-02 9.27214538e-04 9.99686720e-01 2.27633128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:66.54, Z:22.76 [[-4.95642634e-01 8.68443631e-01 1.20016713e-02 2.27268627e+02] [-8.68166092e-01 -4.95787702e-01 2.19588707e-02 6.65397187e+01] [ 2.50203224e-02 4.64308454e-04 9.99686835e-01 2.27636728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:66.54, Z:22.76 [[-4.95665440e-01 8.68430452e-01 1.20134325e-02 2.27266687e+02] [-8.68153065e-01 -4.95810797e-01 2.19524343e-02 6.65355337e+01] [ 2.50205520e-02 4.51564742e-04 9.99686835e-01 2.27633768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:66.53, Z:22.76 [[-4.95734060e-01 8.68391135e-01 1.20240633e-02 2.27265546e+02] [-8.68113878e-01 -4.95879664e-01 2.19466100e-02 6.65331129e+01] [ 2.50207300e-02 4.41425861e-04 9.99686835e-01 2.27632160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.26, Y:66.53, Z:22.76 [[-4.94987153e-01 8.68816930e-01 1.20357822e-02 2.27262132e+02] [-8.68539954e-01 -4.95133291e-01 2.19401813e-02 6.65261866e+01] [ 2.50213174e-02 4.06550145e-04 9.99686835e-01 2.27622326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.26, Y:66.52, Z:22.76 [[-4.94403297e-01 8.69149130e-01 1.20486058e-02 2.27261198e+02] [-8.68872424e-01 -4.94549945e-01 2.19331369e-02 6.65243778e+01] [ 2.50218042e-02 3.75113871e-04 9.99686835e-01 2.27610386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.26, Y:66.52, Z:22.76 [[-4.92266436e-01 8.70361035e-01 1.20592191e-02 2.27260444e+02] [-8.70084833e-01 -4.92414031e-01 2.19273000e-02 6.65238215e+01] [ 2.50227962e-02 3.01530168e-04 9.99686835e-01 2.27605249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.26, Y:66.52, Z:22.76 [[-4.91196822e-01 8.70964968e-01 1.20709060e-02 2.27255746e+02] [-8.70689105e-01 -4.91345051e-01 2.19208644e-02 6.65161795e+01] [ 2.50232849e-02 2.57452593e-04 9.99686835e-01 2.27606797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.25, Y:66.51, Z:22.76 [[-4.90114230e-01 8.71574452e-01 1.20836917e-02 2.27252157e+02] [-8.71298947e-01 -4.90263122e-01 2.19138142e-02 6.65108012e+01] [ 2.50237090e-02 2.11764304e-04 9.99686836e-01 2.27604671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.25, Y:66.51, Z:22.76 [[-4.90623984e-01 8.71287458e-01 1.20942956e-02 2.27249472e+02] [-8.71012010e-01 -4.90772981e-01 2.19079603e-02 6.65058815e+01] [ 2.50236846e-02 2.14293990e-04 9.99686836e-01 2.27606128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.25, Y:66.51, Z:22.76 [[-4.87907463e-01 8.72811392e-01 1.21071109e-02 2.27250689e+02] [-8.72536585e-01 -4.88057640e-01 2.19008759e-02 6.65090483e+01] [ 2.50243019e-02 1.21703625e-04 9.99686836e-01 2.27603180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.116875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.25, Y:66.51, Z:22.76 [[-4.86761373e-01 8.73450900e-01 1.21198796e-02 2.27248669e+02] [-8.73176466e-01 -4.86912231e-01 2.18938074e-02 6.65056041e+01] [ 2.50244834e-02 7.42660755e-05 9.99686836e-01 2.27606200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.25, Y:66.50, Z:22.76 [[-4.85594373e-01 8.74100069e-01 1.21314980e-02 2.27247911e+02] [-8.73825998e-01 -4.85745888e-01 2.18873677e-02 6.65047642e+01] [ 2.50245749e-02 2.75642221e-05 9.99686836e-01 2.27617117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:66.50, Z:22.76 [[-4.84423234e-01 8.74749493e-01 1.21430962e-02 2.27244403e+02] [-8.74475786e-01 -4.84575406e-01 2.18809311e-02 6.64990712e+01] [ 2.50245792e-02 -1.92121723e-05 9.99686836e-01 2.27618853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:66.50, Z:22.76 [[-4.82601408e-01 8.75755756e-01 1.21546818e-02 2.27242207e+02] [-8.75482529e-01 -4.82754439e-01 2.18744935e-02 6.64965405e+01] [ 2.50244402e-02 -8.45502074e-05 9.99686836e-01 2.27621998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:66.49, Z:22.76 [[-4.82063616e-01 8.76051741e-01 1.21662686e-02 2.27238520e+02] [-8.75778770e-01 -4.82217104e-01 2.18680472e-02 6.64906660e+01] [ 2.50243236e-02 -1.13169841e-04 9.99686836e-01 2.27631433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:66.49, Z:22.76 [[-4.81306264e-01 8.76467901e-01 1.21778520e-02 2.27239055e+02] [-8.76195226e-01 -4.81460276e-01 2.18615948e-02 6.64932147e+01] [ 2.50241380e-02 -1.48053247e-04 9.99686836e-01 2.27638035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:66.49, Z:22.76 [[-4.81713820e-01 8.76243810e-01 1.21894106e-02 2.27235739e+02] [-8.75971226e-01 -4.81867994e-01 2.18551481e-02 6.64880494e+01] [ 2.50241251e-02 -1.49646130e-04 9.99686836e-01 2.27635548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.23, Y:66.48, Z:22.76 [[-4.82600451e-01 8.75755625e-01 1.22020254e-02 2.27231922e+02] [-8.75483064e-01 -4.82754664e-01 2.18481028e-02 6.64823775e+01] [ 2.50241836e-02 -1.38762342e-04 9.99686836e-01 2.27647808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:66.49, Z:22.76 [[-4.76588385e-01 8.79041717e-01 1.22135603e-02 2.27239372e+02] [-8.78770384e-01 -4.76744748e-01 2.18416526e-02 6.64851632e+01] [ 2.50224746e-02 -3.23437160e-04 9.99686837e-01 2.27574758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.23, Y:66.48, Z:22.76 [[-4.85386759e-01 8.74216904e-01 1.20207861e-02 2.27228181e+02] [-8.73941323e-01 -4.85535563e-01 2.19495230e-02 6.64755613e+01] [ 2.50251632e-02 1.48546160e-04 9.99686811e-01 2.27645432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.16, Y:66.34, Z:22.76 [[-4.77184397e-01 8.78718016e-01 1.22351675e-02 2.27159722e+02] [-8.78446891e-01 -4.77341113e-01 2.18293650e-02 6.63397272e+01] [ 2.50222048e-02 -3.31312522e-04 9.99686841e-01 2.27600503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:66.32, Z:22.76 [[-4.81724370e-01 8.76240824e-01 1.19854206e-02 2.27147683e+02] [-8.75965365e-01 -4.81873440e-01 2.19697047e-02 6.63183691e+01] [ 2.50262080e-02 8.45288248e-05 9.99686792e-01 2.27597251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.22, Y:66.46, Z:22.76 [[-4.94155042e-01 8.69291275e-01 1.19780813e-02 2.27218635e+02] [-8.69013621e-01 -4.94299988e-01 2.19738272e-02 6.64579096e+01] [ 2.50224217e-02 4.49361720e-04 9.99686789e-01 2.27639492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:66.42, Z:22.76 [[-4.86547708e-01 8.73567647e-01 1.22839420e-02 2.27206829e+02] [-8.73295564e-01 -4.86702735e-01 2.18014933e-02 6.64247109e+01] [ 2.50237074e-02 -1.20045438e-04 9.99686851e-01 2.27565824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.22, Y:66.46, Z:22.76 [[-4.90468910e-01 8.71376100e-01 1.19974766e-02 2.27223282e+02] [-8.71099329e-01 -4.90615520e-01 2.19629308e-02 6.64552809e+01] [ 2.50241212e-02 3.21140927e-04 9.99686796e-01 2.27560241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:66.44, Z:22.77 [[-5.02080845e-01 8.64736925e-01 1.20364026e-02 2.27208174e+02] [-8.64458742e-01 -5.02224727e-01 2.19409670e-02 6.64419345e+01] [ 2.50181434e-02 6.11165818e-04 9.99686810e-01 2.27651477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.20, Y:66.43, Z:22.77 [[-5.04062288e-01 8.63579472e-01 1.23168848e-02 2.27201555e+02] [-8.63304785e-01 -5.04212630e-01 2.17823693e-02 6.64310329e+01] [ 2.50211359e-02 3.46445317e-04 9.99686862e-01 2.27650176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.20, Y:66.43, Z:22.77 [[-5.06700863e-01 8.62033646e-01 1.23381515e-02 2.27199578e+02] [-8.61758794e-01 -5.06850900e-01 2.17703166e-02 6.64310144e+01] [ 2.50203486e-02 3.98527588e-04 9.99686863e-01 2.27659117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.20, Y:66.43, Z:22.77 [[-5.08199399e-01 8.61150889e-01 1.23497685e-02 2.27196004e+02] [-8.60875937e-01 -5.08349252e-01 2.17637246e-02 6.64264058e+01] [ 2.50198463e-02 4.28693200e-04 9.99686863e-01 2.27660332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.19, Y:66.42, Z:22.77 [[-5.09506262e-01 8.60378153e-01 1.23613682e-02 2.27192702e+02] [-8.60103132e-01 -5.09655991e-01 2.17571342e-02 6.64216239e+01] [ 2.50194083e-02 4.53344630e-04 9.99686863e-01 2.27653979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:66.41, Z:22.76 [[-5.11802264e-01 8.59014175e-01 1.23729735e-02 2.27183805e+02] [-8.58738915e-01 -5.11951551e-01 2.17505324e-02 6.64086016e+01] [ 2.50183786e-02 5.06817908e-04 9.99686863e-01 2.27649111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:66.41, Z:22.77 [[-5.12818332e-01 8.58407832e-01 1.23835374e-02 2.27181263e+02] [-8.58132540e-01 -5.12967562e-01 2.17445163e-02 6.64055128e+01] [ 2.50180160e-02 5.24270201e-04 9.99686863e-01 2.27659606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:66.40, Z:22.77 [[-5.13985787e-01 8.57709160e-01 1.23938693e-02 2.27178249e+02] [-8.57433807e-01 -5.14134903e-01 2.17386257e-02 6.64022333e+01] [ 2.50175392e-02 5.46422091e-04 9.99686863e-01 2.27657276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.806875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:227.17, Y:66.39, Z:22.77 [[-5.14941453e-01 8.57135564e-01 1.24066514e-02 2.27171828e+02] [-8.56860220e-01 -5.15090586e-01 2.17313282e-02 6.63945454e+01] [ 2.50172436e-02 5.59595648e-04 9.99686863e-01 2.27665035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:66.35, Z:22.76 [[-5.06800916e-01 8.61973675e-01 1.24183419e-02 2.27152825e+02] [-8.61699920e-01 -5.06952945e-01 2.17246457e-02 6.63514043e+01] [ 2.50215877e-02 3.09186068e-04 9.99686863e-01 2.27593030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.17, Y:66.40, Z:22.77 [[-5.16270460e-01 8.56338648e-01 1.22037712e-02 2.27171777e+02] [-8.56060318e-01 -5.16414008e-01 2.18473019e-02 6.63982028e+01] [ 2.50108874e-02 8.31952298e-04 9.99686833e-01 2.27676715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.17, Y:66.39, Z:22.77 [[-5.17335126e-01 8.55692465e-01 1.24407503e-02 2.27168279e+02] [-8.55417181e-01 -5.17484354e-01 2.17115134e-02 6.63944388e+01] [ 2.50162720e-02 5.90097001e-04 9.99686870e-01 2.27677905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.16, Y:66.38, Z:22.77 [[-5.18206647e-01 8.55164785e-01 1.24523527e-02 2.27161078e+02] [-8.54889508e-01 -5.18355889e-01 2.17048569e-02 6.63834475e+01] [ 2.50159797e-02 6.02215475e-04 9.99686870e-01 2.27687583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:66.37, Z:22.77 [[-5.18795748e-01 8.54807359e-01 1.24639855e-02 2.27149839e+02] [-8.54532140e-01 -5.18945095e-01 2.16981748e-02 6.63671331e+01] [ 2.50158836e-02 6.06044615e-04 9.99686870e-01 2.27696779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.14, Y:66.35, Z:22.77 [[-5.18742909e-01 8.54839271e-01 1.24746225e-02 2.27138000e+02] [-8.54564207e-01 -5.18892542e-01 2.16920576e-02 6.63482637e+01] [ 2.50162113e-02 5.92235150e-04 9.99686870e-01 2.27705633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:66.38, Z:22.77 [[-5.18710159e-01 8.54858986e-01 1.24853942e-02 2.27153612e+02] [-8.54584077e-01 -5.18860076e-01 2.16858560e-02 6.63771507e+01] [ 2.50165214e-02 5.78854739e-04 9.99686870e-01 2.27704087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:66.38, Z:22.77 [[-5.18521505e-01 8.54973240e-01 1.24983061e-02 2.27151600e+02] [-8.54698543e-01 -5.18671811e-01 2.16784118e-02 6.63754329e+01] [ 2.50169811e-02 5.58438712e-04 9.99686870e-01 2.27706895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.14, Y:66.36, Z:22.77 [[-5.17071177e-01 8.55850948e-01 1.25121121e-02 2.27143535e+02] [-8.55576699e-01 -5.17222297e-01 2.16704405e-02 6.63647862e+01] [ 2.50182104e-02 5.00088664e-04 9.99686871e-01 2.27712228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.14, Y:66.37, Z:22.77 [[-5.16418735e-01 8.56244618e-01 1.25237310e-02 2.27143118e+02] [-8.55970647e-01 -5.16570358e-01 2.16637237e-02 6.63659558e+01] [ 2.50188350e-02 4.67606644e-04 9.99686871e-01 2.27717166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.14, Y:66.37, Z:22.77 [[-5.14260386e-01 8.57542473e-01 1.25364557e-02 2.27140871e+02] [-8.57269063e-01 -5.14413020e-01 2.16563576e-02 6.63660339e+01] [ 2.50201625e-02 3.89891138e-04 9.99686871e-01 2.27727989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.13, Y:66.36, Z:22.77 [[-5.13600933e-01 8.57937427e-01 1.25480333e-02 2.27133675e+02] [-8.57664299e-01 -5.13754069e-01 2.16496473e-02 6.63552691e+01] [ 2.50206458e-02 3.57278909e-04 9.99686871e-01 2.27744486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.13, Y:66.35, Z:22.77 [[-5.06973092e-01 8.61870373e-01 1.25596241e-02 2.27132992e+02] [-8.61598600e-01 -5.07128620e-01 2.16429210e-02 6.63470060e+01] [ 2.50227372e-02 1.51024049e-04 9.99686871e-01 2.27677658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.02, Y:66.15, Z:22.78 [[-5.10229116e-01 8.59948445e-01 1.24467016e-02 2.27015365e+02] [-8.59674477e-01 -5.10380770e-01 2.17086054e-02 6.61512510e+01] [ 2.50208386e-02 3.76250853e-04 9.99686859e-01 2.27751021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.13, Y:66.34, Z:22.78 [[-5.13215918e-01 8.58167392e-01 1.25756781e-02 2.27125272e+02] [-8.57894728e-01 -5.13369874e-01 2.16334932e-02 6.63447173e+01] [ 2.50211328e-02 3.14045142e-04 9.99686873e-01 2.27750365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.13, Y:66.35, Z:22.78 [[-5.13670145e-01 8.57894949e-01 1.26189786e-02 2.27125034e+02] [-8.57622822e-01 -5.13825048e-01 2.16082062e-02 6.63453143e+01] [ 2.50215183e-02 2.77166361e-04 9.99686874e-01 2.27761904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.11, Y:66.33, Z:22.78 [[-5.14902196e-01 8.57155878e-01 1.26305258e-02 2.27114989e+02] [-8.56883694e-01 -5.15056999e-01 2.16014545e-02 6.63296853e+01] [ 2.50212544e-02 2.99744764e-04 9.99686874e-01 2.27759778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.11, Y:66.33, Z:22.78 [[-5.15952877e-01 8.56523675e-01 1.26421077e-02 2.27113963e+02] [-8.56251468e-01 -5.16107637e-01 2.15946741e-02 6.63286545e+01] [ 2.50210380e-02 3.17010956e-04 9.99686875e-01 2.27756857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.11, Y:66.33, Z:22.77 [[-5.17027467e-01 8.55875256e-01 1.26548237e-02 2.27112168e+02] [-8.55603037e-01 -5.17182207e-01 2.15872198e-02 6.63269051e+01] [ 2.50208169e-02 3.33680045e-04 9.99686875e-01 2.27747003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.11, Y:66.33, Z:22.77 [[-5.18536467e-01 8.54961675e-01 1.26675034e-02 2.27111443e+02] [-8.54689366e-01 -5.18691047e-01 2.15797767e-02 6.63284467e+01] [ 2.50204027e-02 3.63120757e-04 9.99686875e-01 2.27735828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.10, Y:66.31, Z:22.78 [[-5.19503921e-01 8.54373976e-01 1.26801315e-02 2.27098537e+02] [-8.54101672e-01 -5.19658511e-01 2.15723540e-02 6.63079460e+01] [ 2.50201961e-02 3.76800911e-04 9.99686875e-01 2.27752501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.10, Y:66.31, Z:22.77 [[-5.20072911e-01 8.54027552e-01 1.26928106e-02 2.27096729e+02] [-8.53755327e-01 -5.20227639e-01 2.15648912e-02 6.63060261e+01] [ 2.50201622e-02 3.78761108e-04 9.99686875e-01 2.27740959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.10, Y:66.31, Z:22.78 [[-5.20934368e-01 8.53502169e-01 1.27055620e-02 2.27099822e+02] [-8.53229971e-01 -5.21089144e-01 2.15573758e-02 6.63147771e+01] [ 2.50199974e-02 3.89211623e-04 9.99686875e-01 2.27759391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:65.92, Z:22.79 [[-5.19760592e-01 8.54217304e-01 1.27171341e-02 2.26869056e+02] [-8.53945486e-01 -5.19916033e-01 2.15505470e-02 6.59228759e+01] [ 2.50206921e-02 3.41385837e-04 9.99686875e-01 2.27850481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:65.77, Z:23.46 [[-4.39947392e-01 -8.97933498e-01 -1.27171341e-02 2.27850976e+02] [-8.97676938e-01 4.40126902e-01 -2.15505470e-02 6.57705827e+01] [ 2.49481109e-02 1.93477103e-03 -9.99686875e-01 2.34642744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:65.68, Z:23.46 [[-3.73256033e-01 -9.27641207e-01 -1.27171341e-02 2.27778285e+02] [-9.27398428e-01 3.73453784e-01 -2.15505470e-02 6.56826905e+01] [ 2.47404373e-02 3.74997847e-03 -9.99686875e-01 2.34622721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:66.04, Z:22.79 [[-4.01974967e-01 9.15600254e-01 9.60727971e-03 2.26871097e+02] [-9.15314975e-01 -4.02089565e-01 2.28577922e-02 6.60354197e+01] [ 2.47915873e-02 3.94573291e-04 9.99692564e-01 2.27854866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:66.01, Z:22.79 [[-4.02669086e-01 9.15295062e-01 9.62064054e-03 2.26861805e+02] [-9.15009830e-01 -4.02783801e-01 2.28521674e-02 6.60142717e+01] [ 2.47915141e-02 3.98880670e-04 9.99692564e-01 2.27863348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:66.03, Z:22.79 [[-4.03191924e-01 9.15064728e-01 9.63410374e-03 2.26866066e+02] [-9.14779566e-01 -4.03306812e-01 2.28464901e-02 6.60255103e+01] [ 2.47915169e-02 3.98439056e-04 9.99692564e-01 2.27862758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:66.02, Z:22.79 [[-4.03813291e-01 9.14790538e-01 9.64873083e-03 2.26861862e+02] [-9.14505444e-01 -4.03928351e-01 2.28403110e-02 6.60168392e+01] [ 2.47914963e-02 3.99404262e-04 9.99692564e-01 2.27861033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:66.00, Z:22.79 [[-4.03776282e-01 9.14806732e-01 9.66211179e-03 2.26855861e+02] [-9.14521779e-01 -4.03891687e-01 2.28346490e-02 6.60036694e+01] [ 2.47917373e-02 3.83878026e-04 9.99692564e-01 2.27871959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.85, Y:65.99, Z:22.79 [[-4.03671384e-01 9.14852883e-01 9.67555609e-03 2.26850984e+02] [-9.14568079e-01 -4.03787157e-01 2.28289510e-02 6.59938258e+01] [ 2.47919969e-02 3.66439483e-04 9.99692564e-01 2.27872187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:66.01, Z:22.79 [[-4.02760654e-01 9.15254051e-01 9.68906738e-03 2.26855238e+02] [-9.14969500e-01 -4.02877048e-01 2.28232151e-02 6.60076700e+01] [ 2.47925429e-02 3.27091900e-04 9.99692564e-01 2.27874168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.85, Y:66.00, Z:22.79 [[-4.02175304e-01 9.15511258e-01 9.70367063e-03 2.26850317e+02] [-9.15226931e-01 -4.02292243e-01 2.28170046e-02 6.59973794e+01] [ 2.47929360e-02 2.95375060e-04 9.99692564e-01 2.27875784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.85, Y:65.99, Z:22.79 [[-3.99923683e-01 9.16496933e-01 9.71702398e-03 2.26845537e+02] [-9.16213032e-01 -4.00041653e-01 2.28113164e-02 6.59880334e+01] [ 2.47937158e-02 2.19921654e-04 9.99692564e-01 2.27872570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:66.01, Z:22.78 [[-3.90013633e-01 9.20757657e-01 9.73159223e-03 2.26858178e+02] [-9.20475200e-01 -3.90135020e-01 2.28050997e-02 6.60074346e+01] [ 2.47946051e-02 -6.33895248e-05 9.99692565e-01 2.27809914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.916875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:226.85, Y:65.99, Z:22.78 [[-3.90488616e-01 9.20559192e-01 9.45588968e-03 2.26848070e+02] [-9.20273782e-01 -3.90603010e-01 2.29228183e-02 6.59878702e+01] [ 2.47953100e-02 2.49092232e-04 9.99692518e-01 2.27826294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:65.99, Z:22.79 [[-3.94580065e-01 9.18812297e-01 9.51496648e-03 2.26843152e+02] [-9.18526988e-01 -3.94694660e-01 2.28975448e-02 6.59900702e+01] [ 2.47940522e-02 2.95161202e-04 9.99692537e-01 2.27885340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:65.98, Z:22.79 [[-3.95113061e-01 9.18580482e-01 9.77589974e-03 2.26840894e+02] [-9.18297838e-01 -3.95233979e-01 2.27855954e-02 6.59849719e+01] [ 2.47941710e-02 2.56987506e-05 9.99692577e-01 2.27888127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:65.98, Z:22.79 [[-3.94127495e-01 9.19003640e-01 9.78911997e-03 2.26836351e+02] [-9.18721267e-01 -3.94249045e-01 2.27799143e-02 6.59768379e+01] [ 2.47941754e-02 -1.52821211e-05 9.99692577e-01 2.27893206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:65.97, Z:22.79 [[-3.92784724e-01 9.19578193e-01 9.80350628e-03 2.26833876e+02] [-9.19296152e-01 -3.92907042e-01 2.27737214e-02 6.59726320e+01] [ 2.47940842e-02 -6.71557315e-05 9.99692577e-01 2.27894743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:65.97, Z:22.79 [[-3.90769900e-01 9.20436039e-01 9.81747452e-03 2.26831241e+02] [-9.20154418e-01 -3.90893181e-01 2.27676983e-02 6.59697973e+01] [ 2.47937939e-02 -1.36661371e-04 9.99692577e-01 2.27915353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:65.95, Z:22.79 [[-3.90136794e-01 9.20704413e-01 9.83184710e-03 2.26824084e+02] [-9.20423033e-01 -3.90260624e-01 2.27614900e-02 6.59540764e+01] [ 2.47935871e-02 -1.69363785e-04 9.99692577e-01 2.27912832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:65.96, Z:22.79 [[-3.89913668e-01 9.20798787e-01 9.84510767e-03 2.26827428e+02] [-9.20517581e-01 -3.90037894e-01 2.27557530e-02 6.59627666e+01] [ 2.47934348e-02 -1.89815600e-04 9.99692578e-01 2.27908119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.156875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:226.82, Y:65.95, Z:22.78 [[-3.83015567e-01 9.23689269e-01 9.85949937e-03 2.26824013e+02] [-9.23409161e-01 -3.83142247e-01 2.27495157e-02 6.59471689e+01] [ 2.47910743e-02 -3.90933409e-04 9.99692578e-01 2.27848796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:65.96, Z:22.78 [[-3.83306742e-01 9.23570208e-01 9.69601488e-03 2.26828085e+02] [-9.23288253e-01 -3.83429301e-01 2.28204701e-02 6.59578589e+01] [ 2.47940426e-02 -2.04976571e-04 9.99692559e-01 2.27841494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:65.95, Z:22.79 [[-3.90631579e-01 9.20495887e-01 9.71037908e-03 2.26819016e+02] [-9.20213122e-01 -3.90752251e-01 2.28142256e-02 6.59484467e+01] [ 2.47947533e-02 -2.36612903e-05 9.99692563e-01 2.27905197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:65.94, Z:22.79 [[-3.91854231e-01 9.19973982e-01 9.90626043e-03 2.26815034e+02] [-9.19693193e-01 -3.91979375e-01 2.27288522e-02 6.59397328e+01] [ 2.47930025e-02 -2.04323368e-04 9.99692585e-01 2.27899513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:65.93, Z:22.78 [[-3.85029046e-01 9.22851064e-01 9.92707820e-03 2.26817081e+02] [-9.22571443e-01 -3.85156779e-01 2.27197562e-02 6.59320040e+01] [ 2.47904327e-02 -4.10672797e-04 9.99692586e-01 2.27830450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:65.92, Z:22.79 [[-3.96782975e-01 9.17861076e-01 9.71160242e-03 2.26803976e+02] [-9.17577512e-01 -3.96901782e-01 2.28141166e-02 6.59163549e+01] [ 2.47947419e-02 1.41105061e-04 9.99692553e-01 2.27929795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:65.90, Z:22.79 [[-3.98872416e-01 9.16952252e-01 9.96814290e-03 2.26795419e+02] [-9.16671196e-01 -3.98996944e-01 2.27014715e-02 6.58973899e+01] [ 2.47934240e-02 -8.25186882e-05 9.99692592e-01 2.27926960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.79, Y:65.89, Z:22.79 [[-4.01268670e-01 9.15906001e-01 9.98261375e-03 2.26791688e+02] [-9.15624779e-01 -4.01392822e-01 2.26951064e-02 6.58884532e+01] [ 2.47935337e-02 -3.34933209e-05 9.99692593e-01 2.27934403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.79, Y:65.89, Z:22.79 [[-4.03846715e-01 9.14771969e-01 1.00038221e-02 2.26794038e+02] [-9.14490629e-01 -4.03970600e-01 2.26857541e-02 6.58931930e+01] [ 2.47935420e-02 1.31657284e-05 9.99692593e-01 2.27943722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.79, Y:65.88, Z:22.79 [[-4.07317546e-01 9.13231526e-01 1.00298274e-02 2.26789279e+02] [-9.12950001e-01 -4.07441007e-01 2.26742508e-02 6.58803784e+01] [ 2.47934037e-02 7.88893172e-05 9.99692593e-01 2.27941326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.79, Y:65.88, Z:22.79 [[-4.09542786e-01 9.12235629e-01 1.00431025e-02 2.26788292e+02] [-9.11953948e-01 -4.09665890e-01 2.26683694e-02 6.58768042e+01] [ 2.47932107e-02 1.24820191e-04 9.99692593e-01 2.27941493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:65.87, Z:22.79 [[-4.11316058e-01 9.11437211e-01 1.00653280e-02 2.26784954e+02] [-9.11155533e-01 -4.11439167e-01 2.26584964e-02 6.58689436e+01] [ 2.47930669e-02 1.48724139e-04 9.99692594e-01 2.27940087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.516875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:226.79, Y:65.87, Z:22.79 [[-4.12960070e-01 9.10693364e-01 1.00786077e-02 2.26785764e+02] [-9.10411607e-01 -4.13083001e-01 2.26525880e-02 6.58702574e+01] [ 2.47928631e-02 1.78932869e-04 9.99692594e-01 2.27938798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:65.87, Z:22.79 [[-4.14794553e-01 9.09859115e-01 1.00930143e-02 2.26784112e+02] [-9.09577268e-01 -4.14917274e-01 2.26461672e-02 6.58661794e+01] [ 2.47925876e-02 2.13130421e-04 9.99692594e-01 2.27937175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:65.85, Z:22.79 [[-4.15472717e-01 9.09549484e-01 1.01073632e-02 2.26775471e+02] [-9.09267700e-01 -4.15595585e-01 2.26397612e-02 6.58471131e+01] [ 2.47925587e-02 2.15904181e-04 9.99692594e-01 2.27931179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:65.85, Z:22.79 [[-4.16088403e-01 9.09267845e-01 1.01206211e-02 2.26775222e+02] [-9.08986123e-01 -4.16211411e-01 2.26338330e-02 6.58470873e+01] [ 2.47925346e-02 2.18171332e-04 9.99692594e-01 2.27931016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:65.84, Z:22.79 [[-4.16446114e-01 9.09103907e-01 1.01350819e-02 2.26770200e+02] [-9.08822294e-01 -4.16569371e-01 2.26273559e-02 6.58363329e+01] [ 2.47925823e-02 2.12086049e-04 9.99692594e-01 2.27935547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:65.83, Z:22.79 [[-4.16498420e-01 9.09079784e-01 1.01495386e-02 2.26768931e+02] [-9.08798321e-01 -4.16622020e-01 2.26208694e-02 6.58339888e+01] [ 2.47926964e-02 1.97672783e-04 9.99692594e-01 2.27934929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.76, Y:65.81, Z:22.79 [[-4.15727987e-01 9.09432217e-01 1.01628403e-02 2.26757474e+02] [-9.09151005e-01 -4.15852157e-01 2.26148918e-02 6.58115293e+01] [ 2.47929503e-02 1.62086947e-04 9.99692594e-01 2.27941879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.76, Y:65.82, Z:22.79 [[-4.15460739e-01 9.09554187e-01 1.01762247e-02 2.26762046e+02] [-9.09273159e-01 -4.15585324e-01 2.26088675e-02 6.58238748e+01] [ 2.47930797e-02 1.40128790e-04 9.99692595e-01 2.27943995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.76, Y:65.83, Z:22.79 [[-4.14605381e-01 9.09944244e-01 1.01907726e-02 2.26761411e+02] [-9.09663494e-01 -4.14730591e-01 2.26023083e-02 6.58267628e+01] [ 2.47932654e-02 1.00864835e-04 9.99692595e-01 2.27943193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.76, Y:65.83, Z:22.79 [[-4.14763642e-01 9.09871956e-01 1.02051619e-02 2.26760101e+02] [-9.09591344e-01 -4.14889161e-01 2.25958095e-02 6.58254516e+01] [ 2.47933044e-02 8.93932931e-05 9.99692595e-01 2.27937790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:65.81, Z:22.79 [[-4.15411767e-01 9.09576070e-01 1.02194729e-02 2.26751953e+02] [-9.09295528e-01 -4.15537442e-01 2.25893352e-02 6.58091427e+01] [ 2.47932923e-02 9.13546480e-05 9.99692595e-01 2.27940155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:65.79, Z:22.79 [[-4.17149203e-01 9.08780398e-01 1.02338245e-02 2.26744655e+02] [-9.08499775e-01 -4.17274698e-01 2.25828315e-02 6.57935437e+01] [ 2.47931506e-02 1.22982944e-04 9.99692595e-01 2.27943099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:65.79, Z:22.79 [[-4.18584476e-01 9.08119738e-01 1.02751264e-02 2.26742501e+02] [-9.07839378e-01 -4.18710554e-01 2.25640236e-02 6.57906718e+01] [ 2.47931390e-02 1.16785577e-04 9.99692596e-01 2.27941890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.906875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:226.73, Y:65.77, Z:22.79 [[-4.16724071e-01 9.08974793e-01 1.02895095e-02 2.26734404e+02] [-9.08694854e-01 -4.16851080e-01 2.25574628e-02 6.57679791e+01] [ 2.47933582e-02 5.02133653e-05 9.99692596e-01 2.27911446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:65.78, Z:22.79 [[-4.20779183e-01 9.07105234e-01 1.02456303e-02 2.26736237e+02] [-9.06824242e-01 -4.20903849e-01 2.25775065e-02 6.57780200e+01] [ 2.47925996e-02 2.09158783e-04 9.99692594e-01 2.27944273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.73, Y:65.76, Z:22.79 [[-4.22257409e-01 9.06417235e-01 1.03187850e-02 2.26725295e+02] [-9.06136854e-01 -4.22383438e-01 2.25440225e-02 6.57552135e+01] [ 2.47927744e-02 1.69149098e-04 9.99692598e-01 2.27948407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.73, Y:65.77, Z:22.79 [[-4.24145710e-01 9.05535015e-01 1.03321109e-02 2.26730410e+02] [-9.05254522e-01 -4.24271486e-01 2.25379135e-02 6.57683396e+01] [ 2.47924898e-02 2.06169242e-04 9.99692598e-01 2.27944271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:65.75, Z:22.79 [[-4.25251974e-01 9.05015860e-01 1.03465945e-02 2.26723131e+02] [-9.04735374e-01 -4.25377767e-01 2.25312624e-02 6.57534246e+01] [ 2.47923611e-02 2.20533763e-04 9.99692598e-01 2.27949779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:65.75, Z:22.80 [[-4.26527352e-01 9.04415318e-01 1.03610167e-02 2.26718832e+02] [-9.04134816e-01 -4.26653109e-01 2.25246284e-02 6.57453658e+01] [ 2.47921790e-02 2.39614153e-04 9.99692598e-01 2.27956663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:65.76, Z:22.80 [[-4.27061933e-01 9.04162847e-01 1.03755041e-02 2.26723930e+02] [-9.03882433e-01 -4.27187885e-01 2.25179531e-02 6.57561857e+01] [ 2.47921863e-02 2.38324685e-04 9.99692598e-01 2.27960283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:65.75, Z:22.80 [[-4.27853200e-01 9.03788520e-01 1.03899056e-02 2.26722109e+02] [-9.03508157e-01 -4.27979265e-01 2.25113062e-02 6.57512056e+01] [ 2.47921243e-02 2.44169920e-04 9.99692598e-01 2.27965360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:65.75, Z:22.80 [[-4.27618849e-01 9.03899130e-01 1.04155360e-02 2.26720428e+02] [-9.03619088e-01 -4.27745625e-01 2.24994413e-02 6.57468179e+01] [ 2.47924254e-02 2.09508034e-04 9.99692599e-01 2.27963968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:65.73, Z:22.80 [[-4.27803784e-01 9.03811453e-01 1.04297653e-02 2.26713575e+02] [-9.03531546e-01 -4.27930857e-01 2.24928433e-02 6.57327123e+01] [ 2.47925078e-02 1.98901467e-04 9.99692599e-01 2.27966187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.70, Z:22.80 [[-4.27974595e-01 9.03730431e-01 1.04428881e-02 2.26699241e+02] [-9.03450649e-01 -4.28101941e-01 2.24867490e-02 6.57027894e+01] [ 2.47925801e-02 1.89123251e-04 9.99692599e-01 2.27975840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.72, Z:22.80 [[-4.28224956e-01 9.03611673e-01 1.04561966e-02 2.26704950e+02] [-9.03332006e-01 -4.28352556e-01 2.24805590e-02 6.57162225e+01] [ 2.47926340e-02 1.81319366e-04 9.99692599e-01 2.27982756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:65.72, Z:22.80 [[-4.28674382e-01 9.03398383e-01 1.04706980e-02 2.26707921e+02] [-9.03118818e-01 -4.28802203e-01 2.24738027e-02 6.57220419e+01] [ 2.47926554e-02 1.77659061e-04 9.99692599e-01 2.27977395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.71, Z:22.80 [[-4.29003582e-01 9.03241934e-01 1.04850114e-02 2.26704148e+02] [-9.02962485e-01 -4.29131658e-01 2.24671229e-02 6.57137680e+01] [ 2.47926978e-02 1.70904215e-04 9.99692599e-01 2.27981759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.71, Z:22.80 [[-4.28978547e-01 9.03253659e-01 1.04992673e-02 2.26701838e+02] [-9.02974376e-01 -4.29106985e-01 2.24604589e-02 6.57077925e+01] [ 2.47928006e-02 1.54485701e-04 9.99692599e-01 2.27988177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.69, Z:22.80 [[-4.29071655e-01 9.03209267e-01 1.05135308e-02 2.26694868e+02] [-9.02930135e-01 -4.29200419e-01 2.24537803e-02 6.56915260e+01] [ 2.47928743e-02 1.41296858e-04 9.99692599e-01 2.27991500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.69, Z:22.80 [[-4.28935772e-01 9.03273653e-01 1.05267041e-02 2.26694477e+02] [-9.02994691e-01 -4.29064905e-01 2.24476027e-02 6.56892293e+01] [ 2.47929674e-02 1.23021826e-04 9.99692600e-01 2.27992470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.67, Z:22.80 [[-4.25829231e-01 9.04742147e-01 1.05410667e-02 2.26688245e+02] [-9.04463797e-01 -4.25959678e-01 2.24408563e-02 6.56733604e+01] [ 2.47932578e-02 2.19593918e-05 9.99692600e-01 2.27989474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.70, Z:22.80 [[-4.19272837e-01 9.07798839e-01 1.05620287e-02 2.26703034e+02] [-9.07521688e-01 -4.19405813e-01 2.24309859e-02 6.56962313e+01] [ 2.47925992e-02 -1.80567025e-04 9.99692600e-01 2.27953443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.69, Z:22.80 [[-4.16913562e-01 9.08884604e-01 1.05762881e-02 2.26698532e+02] [-9.08607971e-01 -4.17047609e-01 2.24242605e-02 6.56882734e+01] [ 2.47918808e-02 -2.60721389e-04 9.99692600e-01 2.27981396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.68, Z:22.80 [[-4.14692489e-01 9.09899985e-01 1.05904592e-02 2.26695722e+02] [-9.09623850e-01 -4.14827560e-01 2.24175659e-02 6.56823694e+01] [ 2.47909572e-02 -3.36938061e-04 9.99692600e-01 2.28002933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.68, Z:22.80 [[-4.09902471e-01 9.12067723e-01 1.06034387e-02 2.26696302e+02] [-9.11792461e-01 -4.10039311e-01 2.24114249e-02 6.56770484e+01] [ 2.47885640e-02 -4.81637038e-04 9.99692600e-01 2.27996786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.64, Z:22.79 [[-4.01053328e-01 9.15993188e-01 1.06164147e-02 2.26688411e+02] [-9.15719425e-01 -4.01193144e-01 2.24052764e-02 6.56433013e+01] [ 2.47823134e-02 -7.35946510e-04 9.99692600e-01 2.27899970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.68, Z:22.80 [[-4.05499103e-01 9.14035417e-01 1.04753922e-02 2.26702501e+02] [-9.13759244e-01 -4.05634127e-01 2.24721704e-02 6.56751995e+01] [ 2.47895362e-02 -4.59541513e-04 9.99692587e-01 2.27962094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.66, Z:22.80 [[-4.05323158e-01 9.14111497e-01 1.06446851e-02 2.26698764e+02] [-9.13837439e-01 -4.05462387e-01 2.23916915e-02 6.56636689e+01] [ 2.47845221e-02 -6.51640657e-04 9.99692604e-01 2.27958314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.66, Z:22.80 [[-4.05827401e-01 9.13887596e-01 1.06575393e-02 2.26699219e+02] [-9.13613621e-01 -4.05966794e-01 2.23855717e-02 6.56624769e+01] [ 2.47845034e-02 -6.52194673e-04 9.99692604e-01 2.27961997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.65, Z:22.80 [[-4.06717515e-01 9.13491643e-01 1.06715148e-02 2.26696704e+02] [-9.13217707e-01 -4.06856983e-01 2.23789074e-02 6.56548993e+01] [ 2.47847252e-02 -6.43522691e-04 9.99692604e-01 2.27978534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.65, Z:22.80 [[-4.09025210e-01 9.12460532e-01 1.06843538e-02 2.26698663e+02] [-9.12186404e-01 -4.09164300e-01 2.23727761e-02 6.56504672e+01] [ 2.47859313e-02 -5.95092780e-04 9.99692605e-01 2.27985800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.64, Z:22.80 [[-4.10863725e-01 9.11634011e-01 1.06971891e-02 2.26696871e+02] [-9.11359762e-01 -4.11002577e-01 2.23666374e-02 6.56397202e+01] [ 2.47867596e-02 -5.59347784e-04 9.99692605e-01 2.27979714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.63, Z:22.80 [[-4.13156479e-01 9.10597054e-01 1.07111471e-02 2.26697463e+02] [-9.10322630e-01 -4.13294982e-01 2.23599511e-02 6.56333670e+01] [ 2.47877689e-02 -5.12440911e-04 9.99692605e-01 2.27964517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.806875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:226.70, Y:65.63, Z:22.80 [[-4.17752783e-01 9.08497445e-01 1.07240013e-02 2.26698525e+02] [-9.08222482e-01 -4.17890214e-01 2.23537844e-02 6.56254704e+01] [ 2.47898112e-02 -4.01423476e-04 9.99692605e-01 2.27972204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.61, Z:22.80 [[-4.20423569e-01 9.07264428e-01 1.07368572e-02 2.26694129e+02] [-9.06989220e-01 -4.20560507e-01 2.23476078e-02 6.56127780e+01] [ 2.47906877e-02 -3.42752751e-04 9.99692605e-01 2.27988541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.61, Z:22.80 [[-4.20948354e-01 9.07020907e-01 1.07497516e-02 2.26691730e+02] [-9.06745778e-01 -4.21085451e-01 2.23414036e-02 6.56077297e+01] [ 2.47906841e-02 -3.42714765e-04 9.99692605e-01 2.27989995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.60, Z:22.80 [[-4.23715211e-01 9.05731519e-01 1.07626765e-02 2.26691259e+02] [-9.05456130e-01 -4.23851786e-01 2.23351754e-02 6.56029177e+01] [ 2.47914520e-02 -2.81377809e-04 9.99692605e-01 2.27996047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.60, Z:22.80 [[-4.28795492e-01 9.03337319e-01 1.07755925e-02 2.26693362e+02] [-9.03061324e-01 -4.28930837e-01 2.23289423e-02 6.55959808e+01] [ 2.47925508e-02 -1.56471055e-04 9.99692605e-01 2.27988552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:65.59, Z:22.79 [[-4.21957118e-01 9.06551584e-01 1.07896214e-02 2.26700396e+02] [-9.06276793e-01 -4.22094890e-01 2.23221614e-02 6.55899488e+01] [ 2.47904348e-02 -3.59388607e-04 9.99692605e-01 2.27890115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.57, Z:22.80 [[-4.35121909e-01 9.00309886e-01 1.05372871e-02 2.26688710e+02] [-9.00030125e-01 -4.35249389e-01 2.24442429e-02 6.55733042e+01] [ 2.47931215e-02 2.82105970e-04 9.99692564e-01 2.27971087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.57, Z:22.80 [[-4.40109298e-01 8.97879005e-01 1.08211990e-02 2.26691974e+02] [-8.97601882e-01 -4.40242299e-01 2.23065146e-02 6.55711830e+01] [ 2.47925007e-02 1.04175896e-04 9.99692613e-01 2.27967224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.56, Z:22.80 [[-4.42307275e-01 8.96798135e-01 1.08341860e-02 2.26690734e+02] [-8.96520841e-01 -4.42439920e-01 2.23002052e-02 6.55647485e+01] [ 2.47922588e-02 1.50469484e-04 9.99692613e-01 2.27979857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.07687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.69, Y:65.56, Z:22.80 [[-4.44123901e-01 8.95899715e-01 1.08471481e-02 2.26690399e+02] [-8.95622307e-01 -4.44256306e-01 2.22938984e-02 6.55601026e+01] [ 2.47920112e-02 1.86305375e-04 9.99692614e-01 2.27978765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.55, Z:22.80 [[-4.46089192e-01 8.94922631e-01 1.08589869e-02 2.26689380e+02] [-8.94645073e-01 -4.46221283e-01 2.22881304e-02 6.55480683e+01] [ 2.47916634e-02 2.27554950e-04 9.99692614e-01 2.27977076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.55, Z:22.80 [[-4.46843154e-01 8.94546251e-01 1.08719660e-02 2.26690696e+02] [-8.94268736e-01 -4.46975334e-01 2.22817975e-02 6.55461761e+01] [ 2.47915991e-02 2.34009394e-04 9.99692614e-01 2.27974019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.54, Z:22.80 [[-4.46973680e-01 8.94480881e-01 1.08849467e-02 2.26688741e+02] [-8.94203501e-01 -4.47106143e-01 2.22754545e-02 6.55390123e+01] [ 2.47916947e-02 2.23184438e-04 9.99692614e-01 2.27978255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.53, Z:22.80 [[-4.46942673e-01 8.94496231e-01 1.08967944e-02 2.26686749e+02] [-8.94218996e-01 -4.47075440e-01 2.22696573e-02 6.55331522e+01] [ 2.47918137e-02 2.09139570e-04 9.99692614e-01 2.27982128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:65.53, Z:22.80 [[-4.46660296e-01 8.94637123e-01 1.09086563e-02 2.26686029e+02] [-8.94360072e-01 -4.46793446e-01 2.22638453e-02 6.55301597e+01] [ 2.47919786e-02 1.88109111e-04 9.99692614e-01 2.27997340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:65.52, Z:22.80 [[-4.46946015e-01 8.94494258e-01 1.09216318e-02 2.26682030e+02] [-8.94217320e-01 -4.47079400e-01 2.22574783e-02 6.55202801e+01] [ 2.47920231e-02 1.81578917e-04 9.99692614e-01 2.27998047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:65.51, Z:22.80 [[-4.47368497e-01 8.94282755e-01 1.09444718e-02 2.26679347e+02] [-8.94006029e-01 -4.47502319e-01 2.22462417e-02 6.55110398e+01] [ 2.47921068e-02 1.67843905e-04 9.99692614e-01 2.27992190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:65.50, Z:22.80 [[-4.47438547e-01 8.94247248e-01 1.09820952e-02 2.26676068e+02] [-8.93970966e-01 -4.47573283e-01 2.22276530e-02 6.55031124e+01] [ 2.47923099e-02 1.27834553e-04 9.99692615e-01 2.27994538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:65.50, Z:22.80 [[-4.47909219e-01 8.94011446e-01 1.09938988e-02 2.26675555e+02] [-8.93735237e-01 -4.48044103e-01 2.22218134e-02 6.55008365e+01] [ 2.47923070e-02 1.27720317e-04 9.99692615e-01 2.27992312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:65.50, Z:22.80 [[-4.48447521e-01 8.93741389e-01 1.10068205e-02 2.26673576e+02] [-8.93465256e-01 -4.48582560e-01 2.22154112e-02 6.54958535e+01] [ 2.47923002e-02 1.28234346e-04 9.99692615e-01 2.27988246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:65.49, Z:22.80 [[-4.49265588e-01 8.93330285e-01 1.10197199e-02 2.26670721e+02] [-8.93054184e-01 -4.49400694e-01 2.22090107e-02 6.54902327e+01] [ 2.47922517e-02 1.36537265e-04 9.99692616e-01 2.28006910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:65.48, Z:22.80 [[-4.49622664e-01 8.93150459e-01 1.10326209e-02 2.26668039e+02] [-8.92874461e-01 -4.49757981e-01 2.22026002e-02 6.54843392e+01] [ 2.47922718e-02 1.32046825e-04 9.99692616e-01 2.28006589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:65.48, Z:22.80 [[-4.50097382e-01 8.92911176e-01 1.10444112e-02 2.26667002e+02] [-8.92635250e-01 -4.50232845e-01 2.21967337e-02 6.54819708e+01] [ 2.47922682e-02 1.32060983e-04 9.99692616e-01 2.28011413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.66, Y:65.48, Z:22.80 [[-4.49607790e-01 8.93157654e-01 1.10561984e-02 2.26664250e+02] [-8.92881948e-01 -4.49743698e-01 2.21908609e-02 6.54750987e+01] [ 2.47923928e-02 1.05304002e-04 9.99692616e-01 2.28004227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.66, Y:65.47, Z:22.80 [[-4.49257945e-01 8.93333532e-01 1.10679824e-02 2.26661972e+02] [-8.93058023e-01 -4.49394253e-01 2.21849819e-02 6.54706175e+01] [ 2.47924759e-02 8.24288481e-05 9.99692616e-01 2.28013290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.66, Y:65.46, Z:22.80 [[-4.48950674e-01 8.93487832e-01 1.10808880e-02 2.26657686e+02] [-8.93212529e-01 -4.49087397e-01 2.21785340e-02 6.54641821e+01] [ 2.47925374e-02 5.94797972e-05 9.99692616e-01 2.28015419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.66, Y:65.46, Z:22.80 [[-4.48872633e-01 8.93526759e-01 1.11035957e-02 2.26655014e+02] [-8.93251749e-01 -4.49009944e-01 2.21671596e-02 6.54595354e+01] [ 2.47925752e-02 3.19250016e-05 9.99692616e-01 2.28013641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:65.46, Z:22.80 [[-4.48850651e-01 8.93537655e-01 1.11153672e-02 2.26654738e+02] [-8.93262795e-01 -4.48988261e-01 2.21612555e-02 6.54589072e+01] [ 2.47925856e-02 1.81499679e-05 9.99692616e-01 2.28020047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.646875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:226.65, Y:65.45, Z:22.80 [[-4.49303827e-01 8.93309721e-01 1.11271185e-02 2.26651909e+02] [-8.93034937e-01 -4.49441589e-01 2.21553536e-02 6.54532188e+01] [ 2.47925825e-02 1.75795778e-05 9.99692617e-01 2.28014968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:65.45, Z:22.80 [[-4.49662021e-01 8.93129297e-01 1.11411570e-02 2.26649941e+02] [-8.92854633e-01 -4.49800020e-01 2.21482919e-02 6.54493151e+01] [ 2.47925810e-02 1.18120394e-05 9.99692617e-01 2.28009875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:65.44, Z:22.80 [[-4.50179585e-01 8.92868372e-01 1.11539884e-02 2.26647481e+02] [-8.92593787e-01 -4.50317744e-01 2.21418280e-02 6.54445598e+01] [ 2.47925768e-02 1.18181541e-05 9.99692617e-01 2.28011949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:65.44, Z:22.80 [[-4.50634941e-01 8.92638478e-01 1.11668081e-02 2.26643642e+02] [-8.92363983e-01 -4.50773277e-01 2.21353608e-02 6.54377014e+01] [ 2.47925734e-02 1.01096028e-05 9.99692617e-01 2.28006397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:65.44, Z:22.80 [[-4.50905482e-01 8.92501702e-01 1.11785287e-02 2.26640484e+02] [-8.92227311e-01 -4.51044025e-01 2.21294402e-02 6.54350224e+01] [ 2.47925716e-02 4.49725252e-06 9.99692617e-01 2.28009505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:65.43, Z:22.80 [[-4.50989848e-01 8.92458926e-01 1.11902554e-02 2.26637952e+02] [-8.92184670e-01 -4.51128657e-01 2.21235087e-02 6.54316389e+01] [ 2.47925677e-02 -6.29648422e-06 9.99692617e-01 2.28017803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:65.43, Z:22.80 [[-4.51303966e-01 8.92299969e-01 1.12024863e-02 2.26635398e+02] [-8.92025817e-01 -4.51442981e-01 2.21173138e-02 6.54282685e+01] [ 2.47925622e-02 -1.12755445e-05 9.99692617e-01 2.28025233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.856875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.63, Y:65.42, Z:22.80 [[-4.52444844e-01 8.91721877e-01 1.12141850e-02 2.26631610e+02] [-8.91447695e-01 -4.52583798e-01 2.21113805e-02 6.54219070e+01] [ 2.47925602e-02 7.32074744e-06 9.99692617e-01 2.28035080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.63, Y:65.42, Z:22.80 [[-4.53802475e-01 8.91031589e-01 1.12258883e-02 2.26628755e+02] [-8.90757343e-01 -4.53941302e-01 2.21054372e-02 6.54181259e+01] [ 2.47925372e-02 3.19597096e-05 9.99692617e-01 2.28039518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.63, Y:65.42, Z:22.80 [[-4.48050590e-01 8.93937560e-01 1.12387053e-02 2.26634375e+02] [-8.93664377e-01 -4.48191498e-01 2.20989190e-02 6.54193493e+01] [ 2.47921458e-02 -1.42196862e-04 9.99692617e-01 2.28004728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.63, Y:65.40, Z:22.80 [[-4.51125486e-01 8.92392443e-01 1.10237817e-02 2.26626456e+02] [-8.92116079e-01 -4.51260118e-01 2.22082683e-02 6.54027706e+01] [ 2.47930838e-02 1.84222871e-04 9.99692587e-01 2.28006061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:65.40, Z:22.81 [[-4.59314900e-01 8.88204729e-01 1.10536280e-02 2.26621837e+02] [-8.87927504e-01 -4.59447730e-01 2.21930643e-02 6.54037697e+01] [ 2.47905490e-02 3.78784843e-04 9.99692595e-01 2.28070132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:65.40, Z:22.80 [[-4.55040326e-01 8.90399503e-01 1.12706142e-02 2.26623826e+02] [-8.90125635e-01 -4.55179881e-01 2.20823173e-02 6.53986594e+01] [ 2.47922412e-02 1.60822047e-05 9.99692625e-01 2.28023007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:65.39, Z:22.80 [[-4.55908750e-01 8.89957078e-01 1.11180918e-02 2.26618139e+02] [-8.89681161e-01 -4.56044247e-01 2.21602494e-02 6.53872471e+01] [ 2.47920127e-02 2.11494770e-04 9.99692608e-01 2.28021753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:65.39, Z:22.81 [[-4.62342187e-01 8.86631681e-01 1.11339553e-02 2.26615102e+02] [-8.86354985e-01 -4.62476079e-01 2.21521334e-02 6.53905948e+01] [ 2.47899712e-02 3.73229016e-04 9.99692612e-01 2.28079894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:65.39, Z:22.81 [[-4.62809690e-01 8.86385544e-01 1.13074015e-02 2.26612573e+02] [-8.86110932e-01 -4.62947762e-01 2.20632428e-02 6.53867817e+01] [ 2.47912757e-02 1.91470485e-04 9.99692631e-01 2.28091026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:65.38, Z:22.81 [[-4.63251402e-01 8.86154623e-01 1.13191054e-02 2.26608437e+02] [-8.85880089e-01 -4.63389628e-01 2.20572367e-02 6.53817772e+01] [ 2.47912783e-02 1.90675763e-04 9.99692631e-01 2.28087012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:65.38, Z:22.81 [[-4.63783750e-01 8.85875976e-01 1.13308153e-02 2.26606248e+02] [-8.85601505e-01 -4.63922103e-01 2.20512197e-02 6.53787313e+01] [ 2.47912614e-02 1.92410305e-04 9.99692631e-01 2.28090941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.186875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.60, Y:65.37, Z:22.81 [[-4.64245526e-01 8.85633919e-01 1.13425220e-02 2.26602854e+02] [-8.85359523e-01 -4.64384027e-01 2.20451965e-02 6.53728477e+01] [ 2.47912598e-02 1.92173976e-04 9.99692631e-01 2.28087223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.60, Y:65.37, Z:22.81 [[-4.64464328e-01 8.85519040e-01 1.13542286e-02 2.26599304e+02] [-8.85244757e-01 -4.64603052e-01 2.20391654e-02 6.53669240e+01] [ 2.47913098e-02 1.85134801e-04 9.99692631e-01 2.28096556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.59, Y:65.36, Z:22.81 [[-4.64976403e-01 8.85250112e-01 1.13659505e-02 2.26593465e+02] [-8.84975896e-01 -4.65115260e-01 2.20331186e-02 6.53592122e+01] [ 2.47912977e-02 1.86287981e-04 9.99692631e-01 2.28110892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.276875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:226.47, Y:65.12, Z:22.81 [[-4.62573674e-01 8.86507823e-01 1.13788047e-02 2.26468793e+02] [-8.86234148e-01 -4.62713594e-01 2.20264782e-02 6.51165888e+01] [ 2.47917728e-02 1.04583639e-04 9.99692631e-01 2.28147929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.59, Y:65.35, Z:22.81 [[-4.66165782e-01 8.84624788e-01 1.13335228e-02 2.26589138e+02] [-8.84349978e-01 -4.66303462e-01 2.20498893e-02 6.53546873e+01] [ 2.47907395e-02 2.56103254e-04 9.99692630e-01 2.28127849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:65.35, Z:22.81 [[-4.66599888e-01 8.84394813e-01 1.14174800e-02 2.26584411e+02] [-8.84120997e-01 -4.66739525e-01 2.20063301e-02 6.53502608e+01] [ 2.47912734e-02 1.73717342e-04 9.99692634e-01 2.28139691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.59, Y:65.36, Z:22.81 [[-4.61164822e-01 8.87240881e-01 1.14291706e-02 2.26591468e+02] [-8.86968077e-01 -4.61306427e-01 2.20002568e-02 6.53578537e+01] [ 2.47918771e-02 8.43508477e-06 9.99692634e-01 2.28084076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.59, Y:65.35, Z:22.81 [[-4.61556399e-01 8.87039119e-01 1.12823539e-02 2.26586736e+02] [-8.86764375e-01 -4.61694235e-01 2.20766013e-02 6.53500029e+01] [ 2.47918067e-02 1.84807088e-04 9.99692619e-01 2.28083329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:65.34, Z:22.82 [[-4.69081414e-01 8.83082815e-01 1.12858060e-02 2.26575800e+02] [-8.82806952e-01 -4.69216996e-01 2.20748035e-02 6.53416167e+01] [ 2.47893716e-02 3.91691989e-04 9.99692620e-01 2.28159891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.57, Y:65.33, Z:22.82 [[-4.69971776e-01 8.82606909e-01 1.14705635e-02 2.26571109e+02] [-8.82333242e-01 -4.70111689e-01 2.19783787e-02 6.53346692e+01] [ 2.47907149e-02 2.08358170e-04 9.99692641e-01 2.28150060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.57, Y:65.33, Z:22.82 [[-4.71159161e-01 8.81973471e-01 1.14822438e-02 2.26568196e+02] [-8.81699764e-01 -4.71298997e-01 2.19722749e-02 6.53341917e+01] [ 2.47905335e-02 2.28546898e-04 9.99692641e-01 2.28159627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.56, Y:65.33, Z:22.82 [[-4.72380162e-01 8.81319960e-01 1.14939255e-02 2.26563174e+02] [-8.81046209e-01 -4.72519910e-01 2.19661624e-02 6.53271981e+01] [ 2.47903260e-02 2.49699834e-04 9.99692641e-01 2.28153040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.56, Y:65.31, Z:22.81 [[-4.67891648e-01 8.83710926e-01 1.15067088e-02 2.26557203e+02] [-8.83438054e-01 -4.68033105e-01 2.19594639e-02 6.53088305e+01] [ 2.47913389e-02 1.09185378e-04 9.99692642e-01 2.28089200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.56, Y:65.32, Z:22.81 [[-4.75589705e-01 8.79593474e-01 1.13909416e-02 2.26556915e+02] [-8.79317917e-01 -4.75725880e-01 2.20201940e-02 6.53190603e+01] [ 2.47877847e-02 4.56318538e-04 9.99692632e-01 2.28143284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.56, Y:65.32, Z:22.81 [[-4.71957631e-01 8.81545760e-01 1.15355088e-02 2.26558001e+02] [-8.81272611e-01 -4.72098546e-01 2.19441991e-02 6.53160617e+01] [ 2.47907126e-02 1.90804301e-04 9.99692645e-01 2.28094876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.63687500000003 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:226.55, Y:65.31, Z:22.82 [[-4.77834627e-01 8.78375199e-01 1.14490160e-02 2.26551164e+02] [-8.78100022e-01 -4.77971552e-01 2.19897098e-02 6.53126192e+01] [ 2.47875197e-02 4.54063561e-04 9.99692639e-01 2.28154472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.54, Y:65.30, Z:22.82 [[-4.78626747e-01 8.77942379e-01 1.15592656e-02 2.26543374e+02] [-8.77668473e-01 -4.78766181e-01 2.19316019e-02 6.53006118e+01] [ 2.47888682e-02 3.51848254e-04 9.99692647e-01 2.28164008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.54, Y:65.30, Z:22.82 [[-4.79473753e-01 8.77479918e-01 1.15720710e-02 2.26543419e+02] [-8.77206041e-01 -4.79613242e-01 2.19248432e-02 6.53033437e+01] [ 2.47887281e-02 3.61296281e-04 9.99692647e-01 2.28157061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.54, Y:65.29, Z:22.82 [[-4.80211201e-01 8.77076390e-01 1.15848724e-02 2.26535343e+02] [-8.76802559e-01 -4.80350780e-01 2.19180770e-02 6.52931783e+01] [ 2.47886303e-02 3.67660345e-04 9.99692647e-01 2.28168001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.75687500000004 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:226.53, Y:65.29, Z:22.82 [[-4.80961657e-01 8.76664933e-01 1.15965637e-02 2.26533382e+02] [-8.76391131e-01 -4.81101293e-01 2.19118895e-02 6.52920377e+01] [ 2.47885069e-02 3.75653093e-04 9.99692647e-01 2.28167616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.786875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:226.53, Y:65.29, Z:22.82 [[-4.81429011e-01 8.76408183e-01 1.16104926e-02 2.26531179e+02] [-8.76134485e-01 -4.81568850e-01 2.19045065e-02 6.52878036e+01] [ 2.47885403e-02 3.73111916e-04 9.99692647e-01 2.28168875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.53, Y:65.28, Z:22.82 [[-4.81635026e-01 8.76294829e-01 1.16221721e-02 2.26526599e+02] [-8.76021247e-01 -4.81775092e-01 2.18983078e-02 6.52834084e+01] [ 2.47886469e-02 3.65722342e-04 9.99692647e-01 2.28171698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:65.27, Z:22.82 [[-4.81871844e-01 8.76164470e-01 1.16338575e-02 2.26517501e+02] [-8.75891000e-01 -4.82012128e-01 2.18920979e-02 6.52693495e+01] [ 2.47887388e-02 3.59194514e-04 9.99692647e-01 2.28185749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.51, Y:65.26, Z:22.82 [[-4.81870385e-01 8.76165117e-01 1.16455955e-02 2.26512137e+02] [-8.75891798e-01 -4.82010963e-01 2.18858521e-02 6.52624708e+01] [ 2.47889249e-02 3.45862350e-04 9.99692648e-01 2.28181326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:65.27, Z:22.82 [[-4.81613707e-01 8.76306078e-01 1.16573961e-02 2.26516769e+02] [-8.76032952e-01 -4.81754659e-01 2.18795648e-02 6.52739708e+01] [ 2.47892005e-02 3.25235175e-04 9.99692648e-01 2.28182964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.51, Y:65.27, Z:22.82 [[-4.80901440e-01 8.76696974e-01 1.16713624e-02 2.26510413e+02] [-8.76424143e-01 -4.81042963e-01 2.18721121e-02 6.52677474e+01] [ 2.47896412e-02 2.89266370e-04 9.99692648e-01 2.28190065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.50, Y:65.26, Z:22.82 [[-4.80906309e-01 8.76694133e-01 1.16841278e-02 2.26504541e+02] [-8.76421467e-01 -4.81048149e-01 2.18652907e-02 6.52601324e+01] [ 2.47898001e-02 2.74935834e-04 9.99692648e-01 2.28191925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.50, Y:65.25, Z:22.82 [[-4.80873490e-01 8.76711965e-01 1.16969233e-02 2.26497586e+02] [-8.76439470e-01 -4.81015658e-01 2.18584435e-02 6.52500120e+01] [ 2.47899622e-02 2.59500720e-04 9.99692648e-01 2.28194201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.50, Y:65.26, Z:22.82 [[-4.80900026e-01 8.76697238e-01 1.17097627e-02 2.26497380e+02] [-8.76424906e-01 -4.81042506e-01 2.18515632e-02 6.52554194e+01] [ 2.47900987e-02 2.45689637e-04 9.99692648e-01 2.28196279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:65.24, Z:22.82 [[-4.80326909e-01 8.77011198e-01 1.17225822e-02 2.26490345e+02] [-8.76739127e-01 -4.80469887e-01 2.18446838e-02 6.52423948e+01] [ 2.47903801e-02 2.14943014e-04 9.99692648e-01 2.28211984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:65.24, Z:22.82 [[-4.82377026e-01 8.75885291e-01 1.17201318e-02 2.26487078e+02] [-8.75612855e-01 -4.82519306e-01 2.18460007e-02 6.52442228e+01] [ 2.47897805e-02 2.75710810e-04 9.99692648e-01 2.28207150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:65.25, Z:22.82 [[-4.82887634e-01 8.75603468e-01 1.17516227e-02 2.26486396e+02] [-8.75331360e-01 -4.83030540e-01 2.18290477e-02 6.52455712e+01] [ 2.47899825e-02 2.54413325e-04 9.99692649e-01 2.28213256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.47, Y:65.22, Z:22.82 [[-4.81863499e-01 8.76167317e-01 1.17643917e-02 2.26473917e+02] [-8.75895545e-01 -4.82007042e-01 2.18221638e-02 6.52214386e+01] [ 2.47903864e-02 2.10925897e-04 9.99692649e-01 2.28229309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.176875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:226.21, Y:64.73, Z:22.84 [[-4.81638110e-01 8.76291259e-01 1.17626702e-02 2.26208093e+02] [-8.76019501e-01 -4.81781679e-01 2.18230939e-02 6.47310226e+01] [ 2.47904255e-02 2.06505224e-04 9.99692649e-01 2.28351801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.206875 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:226.21, Y:64.74, Z:22.83 [[-4.83515988e-01 8.75256419e-01 1.17682053e-02 2.26210746e+02] [-8.74984426e-01 -4.83659112e-01 2.18201013e-02 6.47435308e+01] [ 2.47899834e-02 2.53371493e-04 9.99692649e-01 2.28349262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.236875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:226.47, Y:65.22, Z:22.82 [[-4.83186863e-01 8.75437324e-01 1.18299761e-02 2.26466850e+02] [-8.75166203e-01 -4.83331628e-01 2.17865597e-02 6.52150898e+01] [ 2.47905691e-02 1.73784107e-04 9.99692652e-01 2.28212604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.45, Y:65.20, Z:22.82 [[-4.84342080e-01 8.74798349e-01 1.18573919e-02 2.26453683e+02] [-8.74527404e-01 -4.84487169e-01 2.17715948e-02 6.51956932e+01] [ 2.47905095e-02 1.75285354e-04 9.99692653e-01 2.28230236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.296875 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:227.08, Y:64.24, Z:23.49 [[-4.06221251e-01 -9.13697338e-01 -1.18940672e-02 2.27076724e+02] [-9.13440645e-01 4.06390279e-01 -2.17515403e-02 6.42367533e+01] [ 2.47079577e-02 2.02858651e-03 -9.99692654e-01 2.34898421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.32687500000003 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:226.14, Y:64.63, Z:22.84 [[-4.16620299e-01 9.09024262e-01 1.01201292e-02 2.26140421e+02] [-9.08744588e-01 -4.16743149e-01 2.25481997e-02 6.46251269e+01] [ 2.47143551e-02 1.97425036e-04 9.99694534e-01 2.28366730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:64.72, Z:23.48 [[-3.47169450e-01 -9.37747811e-01 -1.01201292e-02 2.27244687e+02] [-9.37478154e-01 3.47312957e-01 -2.25481997e-02 6.47169304e+01] [ 2.46593769e-02 1.65935398e-03 -9.99694534e-01 2.34784576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.28, Y:65.03, Z:22.83 [[-3.50577650e-01 9.36494058e-01 8.61338689e-03 2.26284455e+02] [-9.36208875e-01 -3.50683444e-01 2.31098198e-02 6.50331877e+01] [ 2.46627811e-02 3.78570866e-05 9.99695827e-01 2.28275281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.416875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:227.05, Y:64.23, Z:23.49 [[-2.76914209e-01 -9.60855779e-01 -8.64247886e-03 2.27052496e+02] [-9.60579980e-01 2.77042490e-01 -2.30989506e-02 6.42315887e+01] [ 2.45890940e-02 1.90536454e-03 -9.99695827e-01 2.34930563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.23, Y:65.00, Z:22.83 [[-2.74664324e-01 9.61516248e-01 6.78330557e-03 2.26226449e+02] [-9.61225734e-01 -2.74748072e-01 2.36343987e-02 6.49977620e+01] [ 2.45885585e-02 -2.87617392e-05 9.99697655e-01 2.28276342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.14, Y:64.64, Z:23.48 [[-2.20157378e-01 -9.75440780e-01 -6.78330557e-03 2.27136218e+02] [-9.75155435e-01 2.20257332e-01 -2.36343987e-02 6.46404565e+01] [ 2.45480291e-02 1.41149004e-03 -9.99697655e-01 2.34835078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.11, Y:64.66, Z:22.84 [[-2.06282932e-01 9.78478344e-01 5.24227659e-03 2.26113521e+02] [-9.78184683e-01 -2.06349451e-01 2.39714352e-02 6.46642365e+01] [ 2.45372712e-02 -1.83016723e-04 9.99698899e-01 2.28354745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.08, Y:64.54, Z:23.49 [[-1.62900498e-01 -9.86628576e-01 -5.24227659e-03 2.27075761e+02] [-9.86338136e-01 1.62979912e-01 -2.39714352e-02 6.45369652e+01] [ 2.45052888e-02 1.26569859e-03 -9.99698899e-01 2.34855408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:64.55, Z:22.84 [[-1.33279315e-01 9.91071939e-01 3.61047657e-03 2.26067484e+02] [-9.90776138e-01 -1.33327750e-01 2.42147739e-02 6.45498500e+01] [ 2.44799597e-02 -3.49845548e-04 9.99700260e-01 2.28375807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.02, Y:64.39, Z:23.49 [[-1.04766548e-01 -9.94490289e-01 -3.61047657e-03 2.27018823e+02] [-9.94196001e-01 1.04823456e-01 -2.42147739e-02 6.43923053e+01] [ 2.44598202e-02 1.05262310e-03 -9.99700260e-01 2.34876260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.03, Y:64.46, Z:22.84 [[-5.92023504e-02 9.98243975e-01 2.01215775e-03 2.26028357e+02] [-9.97947122e-01 -5.92338263e-02 2.43494552e-02 6.44572496e+01] [ 2.44258847e-02 -5.66482058e-04 9.99701483e-01 2.28410606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.97, Y:64.28, Z:23.49 [[-4.46746258e-02 -9.98999564e-01 -2.01215775e-03 2.26972889e+02] [-9.98703201e-01 4.47104167e-02 -2.43494552e-02 6.42807465e+01] [ 2.44150595e-02 9.21745586e-04 -9.99701483e-01 2.34937135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:64.27, Z:22.84 [[ 1.13757232e-02 9.99935208e-01 4.15867856e-04 2.25988609e+02] [-9.99638273e-01 1.13622070e-02 2.43767190e-02 6.42743858e+01] [ 2.43704144e-02 -6.93020234e-04 9.99702757e-01 2.28438987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:64.27, Z:22.84 [[ 1.11601318e-02 9.99937631e-01 4.31141633e-04 2.25990109e+02] [-9.99640710e-01 1.11463075e-02 2.43764489e-02 6.42679269e+01] [ 2.43701229e-02 -7.03031109e-04 9.99702757e-01 2.28434383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:64.26, Z:22.84 [[ 1.22788873e-02 9.99924508e-01 4.54508959e-04 2.25993747e+02] [-9.99627631e-01 1.22641617e-02 2.43760132e-02 6.42620213e+01] [ 2.43685988e-02 -7.53650031e-04 9.99702758e-01 2.28422900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:64.02, Z:22.85 [[ 1.03097916e-02 9.99946742e-01 4.69773024e-04 2.25989860e+02] [-9.99649855e-01 1.02952789e-02 2.43757190e-02 6.40206189e+01] [ 2.43695844e-02 -7.20917117e-04 9.99702758e-01 2.28479222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.92, Y:64.14, Z:23.50 [[ 1.63069367e-02 -9.99866923e-01 -4.69773023e-04 2.26924038e+02] [-9.99570127e-01 -1.62906436e-02 -2.43757190e-02 6.41401614e+01] [ 2.43648222e-02 8.67064387e-04 -9.99702758e-01 2.34989580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.92, Y:64.15, Z:23.50 [[ 9.45520822e-02 -9.95519232e-01 1.16694558e-03 2.26921132e+02] [-9.95223332e-01 -9.45524594e-02 -2.42971432e-02 6.41484460e+01] [ 2.42986109e-02 1.13597401e-03 -9.99704100e-01 2.34989598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.97, Y:63.98, Z:22.85 [[ 1.55553637e-01 9.87822549e-01 -3.11086784e-03 2.25972665e+02] [-9.87529954e-01 1.55583302e-01 2.40504788e-02 6.39830904e+01] [ 2.42416044e-02 -6.69064288e-04 9.99705905e-01 2.28471611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.98, Y:63.96, Z:22.85 [[ 1.54664775e-01 9.87962282e-01 -3.05574267e-03 2.25977704e+02] [-9.87669581e-01 1.54693362e-01 2.40574808e-02 6.39557064e+01] [ 2.42405867e-02 -7.02780774e-04 9.99705907e-01 2.28482162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.92, Y:64.10, Z:23.50 [[ 1.76716776e-01 -9.84256981e-01 3.06206193e-03 2.26917514e+02] [-9.83963726e-01 -1.76738965e-01 -2.40566764e-02 6.41017982e+01] [ 2.42191374e-02 1.23826043e-03 -9.99705907e-01 2.35008224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.90, Y:64.10, Z:23.50 [[ 2.56151197e-01 -9.66624198e-01 4.92181999e-03 2.26904736e+02] [-9.66335231e-01 -2.56195144e-01 -2.36700125e-02 6.41043355e+01] [ 2.41409532e-02 1.30697399e-03 -9.99707710e-01 2.35004262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.89, Y:64.11, Z:23.50 [[ 3.32687123e-01 -9.43013202e-01 6.73644257e-03 2.26893603e+02] [-9.42730169e-01 -3.32752586e-01 -2.31418321e-02 6.41067128e+01] [ 2.40646218e-02 1.34834190e-03 -9.99709496e-01 2.35010463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.88, Y:64.11, Z:23.50 [[ 4.07098665e-01 -9.13344648e-01 8.49884087e-03 2.26882870e+02] [-9.13069128e-01 -4.07184998e-01 -2.24754463e-02 6.41075838e+01] [ 2.39884291e-02 1.38969497e-03 -9.99711270e-01 2.35015907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:64.10, Z:23.50 [[ 4.79054883e-01 -8.77725695e-01 1.01991839e-02 2.26869170e+02] [-8.77459190e-01 -4.79161295e-01 -2.16754108e-02 6.40985520e+01] [ 2.39121192e-02 1.43434375e-03 -9.99713035e-01 2.35042536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:64.10, Z:23.50 [[ 5.48515184e-01 -8.36057878e-01 1.17609062e-02 2.26868429e+02] [-8.35800914e-01 -5.48639002e-01 -2.07864677e-02 6.41028477e+01] [ 2.38311819e-02 1.57191703e-03 -9.99714761e-01 2.35044181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:64.11, Z:23.50 [[ 6.14109543e-01 -7.89106082e-01 1.34558593e-02 2.26866971e+02] [-7.88863065e-01 -6.14255246e-01 -1.96356381e-02 6.41092559e+01] [ 2.37599336e-02 1.44360235e-03 -9.99716651e-01 2.35038482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:64.10, Z:23.51 [[ 6.75869086e-01 -7.36872630e-01 1.48224506e-02 2.26857852e+02] [-7.36641041e-01 -6.76029675e-01 -1.85433106e-02 6.41018324e+01] [ 2.36844745e-02 1.61402496e-03 -9.99718181e-01 2.35060388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.85, Y:64.10, Z:23.51 [[ 7.32058985e-01 -6.81049196e-01 1.61751066e-02 2.26850309e+02] [-6.80831982e-01 -7.32235835e-01 -1.72769784e-02 6.40970135e+01] [ 2.36104649e-02 1.63523738e-03 -9.99719897e-01 2.35081374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:64.09, Z:23.51 [[ 7.83650098e-01 -6.20958139e-01 1.74216600e-02 2.26843728e+02] [-6.20756434e-01 -7.83841981e-01 -1.59122377e-02 6.40922511e+01] [ 2.35366620e-02 1.65501906e-03 -9.99721604e-01 2.35100601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:64.09, Z:23.51 [[ 8.30604363e-01 -5.56553777e-01 1.85548995e-02 2.26835102e+02] [-5.56368507e-01 -8.30809877e-01 -1.44579357e-02 6.40882986e+01] [ 2.34622125e-02 1.68546270e-03 -9.99723304e-01 2.35120705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:64.09, Z:23.51 [[ 8.72093647e-01 -4.88947592e-01 1.95684480e-02 2.26829044e+02] [-4.88779751e-01 -8.72311494e-01 -1.29232927e-02 6.40856389e+01] [ 2.33885949e-02 1.70566036e-03 -9.99724994e-01 2.35133128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:64.08, Z:23.51 [[ 9.07791402e-01 -4.18922802e-01 2.04562040e-02 2.26822566e+02] [-4.18773346e-01 -9.08020245e-01 -1.13189784e-02 6.40826474e+01] [ 2.33164255e-02 1.70875828e-03 -9.99726675e-01 2.35141986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:64.07, Z:23.51 [[ 9.38145441e-01 -3.45590957e-01 2.12137170e-02 2.26815499e+02] [-3.45460399e-01 -9.38383664e-01 -9.65461872e-03 6.40746715e+01] [ 2.32431544e-02 1.72893741e-03 -9.99728346e-01 2.35146534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.81, Y:64.07, Z:23.52 [[ 9.62474710e-01 -2.70491409e-01 2.18364551e-02 2.26809531e+02] [-2.70380372e-01 -9.62720816e-01 -7.94266145e-03 6.40672808e+01] [ 2.31708315e-02 1.74046193e-03 -9.99730005e-01 2.35152591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.376875 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:226.81, Y:64.09, Z:23.52 [[ 9.81021577e-01 -1.92609430e-01 2.23220153e-02 2.26811052e+02] [-1.92518064e-01 -9.81273890e-01 -6.19251750e-03 6.40904080e+01] [ 2.30967480e-02 1.77760212e-03 -9.99731654e-01 2.35176172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:64.11, Z:23.52 [[ 9.93051138e-01 -1.15449949e-01 2.28198577e-02 2.26803185e+02] [-1.15397746e-01 -9.93312856e-01 -3.59578713e-03 6.41099783e+01] [ 2.30823915e-02 9.37440355e-04 -9.99733127e-01 2.35168090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:64.12, Z:23.52 [[ 9.99105878e-01 -3.55190326e-02 2.29312843e-02 2.26799040e+02] [-3.54681719e-02 -9.99367369e-01 -2.62101165e-03 6.41168475e+01] [ 2.30098730e-02 1.80533742e-03 -9.99733608e-01 2.35179204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.79, Y:64.12, Z:23.52 [[ 9.98829085e-01 4.25563681e-02 2.30090208e-02 2.26789203e+02] [ 4.25745651e-02 -9.99093247e-01 -3.01358940e-04 6.41208121e+01] [ 2.29753326e-02 1.28060513e-03 -9.99735212e-01 2.35185468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:64.11, Z:23.52 [[ 9.92404359e-01 1.20858280e-01 2.29535466e-02 2.26782539e+02] [ 1.20867555e-01 -9.92668151e-01 9.87948954e-04 6.41134060e+01] [ 2.29046564e-02 1.79389419e-03 -9.99736045e-01 2.35185793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:64.11, Z:23.52 [[ 9.79806767e-01 1.98649911e-01 2.27356984e-02 2.26774715e+02] [ 1.98638685e-01 -9.80068864e-01 2.77384071e-03 6.41065824e+01] [ 2.28335733e-02 1.79836133e-03 -9.99737663e-01 2.35182672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:64.10, Z:23.52 [[ 9.61277819e-01 2.74670902e-01 2.23796684e-02 2.26769311e+02] [ 2.74639341e-01 -9.61536631e-01 4.53211043e-03 6.40993265e+01] [ 2.27637098e-02 1.78972014e-03 -9.99739271e-01 2.35182246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.76, Y:64.09, Z:23.52 [[ 9.36827994e-01 3.49104840e-01 2.18888088e-02 2.26763254e+02] [ 3.49053430e-01 -9.37081975e-01 6.25104787e-03 6.40921731e+01] [ 2.26938792e-02 1.78420715e-03 -9.99740869e-01 2.35185147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.76, Y:64.09, Z:23.52 [[ 9.06779708e-01 4.21068034e-01 2.12667032e-02 2.26758233e+02] [ 4.20997239e-01 -9.07027330e-01 7.92134005e-03 6.40852821e+01] [ 2.26249041e-02 1.77031292e-03 -9.99742457e-01 2.35191415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:64.08, Z:23.52 [[ 8.71176622e-01 4.90540826e-01 2.05180600e-02 2.26753973e+02] [ 4.90451344e-01 -8.71416437e-01 9.53278103e-03 6.40781097e+01] [ 2.25559930e-02 1.75837412e-03 -9.99744035e-01 2.35207249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:64.07, Z:23.52 [[ 8.30087975e-01 5.57286201e-01 1.96479955e-02 2.26750278e+02] [ 5.57178876e-01 -8.30318624e-01 1.10762479e-02 6.40704922e+01] [ 2.24867367e-02 1.75318783e-03 -9.99745604e-01 2.35213694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:64.06, Z:23.52 [[ 7.83880105e-01 6.20631684e-01 1.86626317e-02 2.26746067e+02] [ 6.20507397e-01 -7.84100284e-01 1.25424860e-02 6.40624111e+01] [ 2.24176390e-02 1.74849583e-03 -9.99747164e-01 2.35226142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:64.05, Z:23.52 [[ 7.33065986e-01 6.79930594e-01 1.75684052e-02 2.26742492e+02] [ 6.79790240e-01 -7.33274419e-01 1.39232417e-02 6.40547149e+01] [ 2.23493001e-02 1.73617550e-03 -9.99748716e-01 2.35242036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:64.04, Z:23.52 [[ 6.77657642e-01 7.35195226e-01 1.63737722e-02 2.26741442e+02] [ 7.35039919e-01 -6.77853223e-01 1.52093831e-02 6.40445142e+01] [ 2.22808801e-02 1.72862152e-03 -9.99750256e-01 2.35248805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:64.03, Z:23.53 [[ 6.17923587e-01 7.86093415e-01 1.50858869e-02 2.26739645e+02] [ 7.85924332e-01 -6.18105302e-01 1.63945144e-02 6.40337441e+01] [ 2.22122865e-02 1.72580849e-03 -9.99751787e-01 2.35253087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:64.02, Z:23.53 [[ 5.53783112e-01 8.32548028e-01 1.37129712e-02 2.26740779e+02] [ 8.32366486e-01 -5.53950141e-01 1.74720904e-02 6.40238155e+01] [ 2.21426567e-02 1.73846908e-03 -9.99753310e-01 2.35270874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.53, Y:63.55, Z:22.86 [[ 5.54878171e-01 -8.31842070e-01 -1.22059792e-02 2.27527104e+02] [ 8.31636900e-01 5.55012396e-01 -1.84744731e-02 6.35546265e+01] [ 2.21423137e-02 1.00139149e-04 9.99754824e-01 2.28646960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.54, Y:63.58, Z:22.87 [[ 5.53259521e-01 -8.32916524e-01 -1.24083057e-02 2.27538599e+02] [ 8.32714610e-01 5.53398617e-01 -1.83398129e-02 6.35773080e+01] [ 2.21422724e-02 -1.85901372e-04 9.99754813e-01 2.28674572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.55, Y:63.60, Z:22.87 [[ 5.53675995e-01 -8.32641934e-01 -1.22597714e-02 2.27554416e+02] [ 8.32437751e-01 5.53811709e-01 -1.84385735e-02 6.36002937e+01] [ 2.21423344e-02 3.49902572e-06 9.99754828e-01 2.28682039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:63.62, Z:22.87 [[ 5.54890607e-01 -8.31833058e-01 -1.22547000e-02 2.27569670e+02] [ 8.31628603e-01 5.55025910e-01 -1.84419434e-02 6.36231137e+01] [ 2.21422942e-02 4.19021374e-05 9.99754828e-01 2.28680443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.59, Y:63.65, Z:22.87 [[ 5.55921718e-01 -8.31144378e-01 -1.22501526e-02 2.27587612e+02] [ 8.30939689e-01 5.56056667e-01 -1.84449635e-02 6.36471231e+01] [ 2.21422068e-02 7.48178021e-05 9.99754829e-01 2.28674345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.00687500000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:227.60, Y:63.67, Z:22.87 [[ 5.56360543e-01 -8.30849939e-01 -1.23013980e-02 2.27600799e+02] [ 8.30645929e-01 5.56496521e-01 -1.84109395e-02 6.36702106e+01] [ 2.21424132e-02 2.50141103e-05 9.99754826e-01 2.28674788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:63.69, Z:22.87 [[ 5.56330053e-01 -8.30871252e-01 -1.22406648e-02 2.27616329e+02] [ 8.30666359e-01 5.56464691e-01 -1.84512304e-02 6.36940804e+01] [ 2.21420947e-02 9.70655698e-05 9.99754829e-01 2.28684899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:63.72, Z:22.87 [[ 5.56445270e-01 -8.30794171e-01 -1.22354753e-02 2.27631190e+02] [ 8.30589183e-01 5.56579764e-01 -1.84546710e-02 6.37162128e+01] [ 2.21420511e-02 1.06360934e-04 9.99754829e-01 2.28684315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:63.74, Z:22.87 [[ 5.56420361e-01 -8.30810923e-01 -1.22308073e-02 2.27646173e+02] [ 8.30605871e-01 5.56554758e-01 -1.84577642e-02 6.37382482e+01] [ 2.21420261e-02 1.11295432e-04 9.99754829e-01 2.28685968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:63.76, Z:22.87 [[ 5.56096424e-01 -8.31027848e-01 -1.22263524e-02 2.27662528e+02] [ 8.30822783e-01 5.56230802e-01 -1.84607147e-02 6.37605490e+01] [ 2.21420418e-02 1.08005344e-04 9.99754829e-01 2.28690948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:63.78, Z:22.87 [[ 5.55634022e-01 -8.31337160e-01 -1.22212948e-02 2.27678293e+02] [ 8.31132097e-01 5.55768402e-01 -1.84640623e-02 6.37831585e+01] [ 2.21420706e-02 1.01750802e-04 9.99754829e-01 2.28689998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.69, Y:63.81, Z:22.87 [[ 5.55314675e-01 -8.31550577e-01 -1.22167736e-02 2.27694376e+02] [ 8.31345500e-01 5.55449033e-01 -1.84670532e-02 6.38062969e+01] [ 2.21420839e-02 9.86658827e-05 9.99754829e-01 2.28694478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.71, Y:63.83, Z:22.87 [[ 5.54745054e-01 -8.31930765e-01 -1.22117484e-02 2.27710349e+02] [ 8.31725707e-01 5.54879441e-01 -1.84703757e-02 6.38299360e+01] [ 2.21421219e-02 8.95244478e-05 9.99754829e-01 2.28696349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:63.85, Z:22.87 [[ 5.54543789e-01 -8.32065013e-01 -1.22065536e-02 2.27726663e+02] [ 8.31859912e-01 5.54678110e-01 -1.84738081e-02 6.38522041e+01] [ 2.21421175e-02 9.03929246e-05 9.99754829e-01 2.28687244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.74, Y:63.88, Z:22.87 [[ 5.54431375e-01 -8.32139974e-01 -1.22030279e-02 2.27742844e+02] [ 8.31934840e-01 5.54565645e-01 -1.84761368e-02 6.38756160e+01] [ 2.21421120e-02 9.16258629e-05 9.99754829e-01 2.28694621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:63.90, Z:22.87 [[ 5.54483989e-01 -8.32104992e-01 -1.21978948e-02 2.27758923e+02] [ 8.31899775e-01 5.54618132e-01 -1.84795250e-02 6.38985721e+01] [ 2.21420786e-02 9.91748537e-05 9.99754829e-01 2.28698907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:63.92, Z:22.87 [[ 5.55784187e-01 -8.31237195e-01 -1.21927920e-02 2.27775213e+02] [ 8.31031694e-01 5.55917896e-01 -1.84828912e-02 6.39205292e+01] [ 2.21418579e-02 1.39902039e-04 9.99754829e-01 2.28696090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:63.94, Z:22.87 [[ 5.56462578e-01 -8.30783273e-01 -1.21882248e-02 2.27790965e+02] [ 8.30577597e-01 5.56596018e-01 -1.84859025e-02 6.39436379e+01] [ 2.21416960e-02 1.63446528e-04 9.99754829e-01 2.28703440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.81, Y:63.97, Z:22.87 [[ 5.57226712e-01 -8.30271017e-01 -1.21831760e-02 2.27806291e+02] [ 8.30065146e-01 5.57359850e-01 -1.84892293e-02 6.39664103e+01] [ 2.21414844e-02 1.89862732e-04 9.99754829e-01 2.28705043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:63.99, Z:22.87 [[ 5.57685732e-01 -8.29962834e-01 -1.21786369e-02 2.27821622e+02] [ 8.29756824e-01 5.57818655e-01 -1.84922187e-02 6.39899301e+01] [ 2.21413251e-02 2.07539438e-04 9.99754829e-01 2.28707858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:64.01, Z:22.87 [[ 5.59399634e-01 -8.28808695e-01 -1.21736297e-02 2.27840100e+02] [ 8.28602339e-01 5.59532019e-01 -1.84955144e-02 6.40139310e+01] [ 2.21407788e-02 2.59285949e-04 9.99754829e-01 2.28724850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:64.04, Z:22.87 [[ 5.58284899e-01 -8.29559013e-01 -1.22399081e-02 2.27853430e+02] [ 8.29353789e-01 5.58419037e-01 -1.84518918e-02 6.40362179e+01] [ 2.21419308e-02 1.50198328e-04 9.99754826e-01 2.28712482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:64.06, Z:22.87 [[ 5.57725224e-01 -8.29936472e-01 -1.21666484e-02 2.27869236e+02] [ 8.29730284e-01 5.57857870e-01 -1.85000714e-02 6.40587570e+01] [ 2.21411446e-02 2.22919854e-04 9.99754830e-01 2.28712732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:64.08, Z:22.87 [[ 5.56677337e-01 -8.30639769e-01 -1.21620773e-02 2.27885039e+02] [ 8.30433683e-01 5.56810142e-01 -1.85030760e-02 6.40809181e+01] [ 2.21413588e-02 2.00444445e-04 9.99754830e-01 2.28704748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.57687500000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:227.90, Y:64.10, Z:22.87 [[ 5.54487025e-01 -8.32103559e-01 -1.21575792e-02 2.27901990e+02] [ 8.31897759e-01 5.54620272e-01 -1.85060310e-02 6.41032490e+01] [ 2.21417742e-02 1.47491196e-04 9.99754830e-01 2.28708238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:64.13, Z:22.87 [[ 5.53065069e-01 -8.33049426e-01 -1.21524784e-02 2.27917546e+02] [ 8.32843781e-01 5.53198554e-01 -1.85093800e-02 6.41257426e+01] [ 2.21419619e-02 1.15775519e-04 9.99754830e-01 2.28694135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:64.15, Z:22.87 [[ 5.51807839e-01 -8.33882808e-01 -1.21479194e-02 2.27933728e+02] [ 8.33677298e-01 5.51941533e-01 -1.85123717e-02 6.41489455e+01] [ 2.21420897e-02 8.78272183e-05 9.99754830e-01 2.28701993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:64.17, Z:22.87 [[ 5.49780490e-01 -8.35220908e-01 -1.21428489e-02 2.27950668e+02] [ 8.35015650e-01 5.49914570e-01 -1.85156970e-02 6.41716584e+01] [ 2.21422267e-02 4.01000684e-05 9.99754830e-01 2.28698487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.97, Y:64.19, Z:22.87 [[ 5.48812839e-01 -8.35857130e-01 -1.21378129e-02 2.27966401e+02] [ 8.35651954e-01 5.48947045e-01 -1.85189977e-02 6.41946604e+01] [ 2.21422528e-02 2.04766442e-05 9.99754830e-01 2.28694101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:64.22, Z:22.87 [[ 5.47920118e-01 -8.36442670e-01 -1.21327919e-02 2.27982570e+02] [ 8.36237565e-01 5.48054432e-01 -1.85222866e-02 6.42182357e+01] [ 2.21422612e-02 2.83709479e-06 9.99754830e-01 2.28692089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:64.24, Z:22.87 [[ 5.42488949e-01 -8.39975390e-01 -1.21278058e-02 2.27991194e+02] [ 8.39771087e-01 5.42624479e-01 -1.85255508e-02 6.42385281e+01] [ 2.21418511e-02 -1.34674102e-04 9.99754830e-01 2.28652833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.02, Y:64.26, Z:22.87 [[ 5.45066721e-01 -8.38309451e-01 -1.18124348e-02 2.28015646e+02] [ 8.38100205e-01 5.45194615e-01 -1.87317316e-02 6.42624884e+01] [ 2.21430635e-02 3.10039519e-04 9.99754764e-01 2.28695201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:64.28, Z:22.87 [[ 5.43682514e-01 -8.39203387e-01 -1.21243223e-02 2.28031798e+02] [ 8.38998845e-01 5.43817677e-01 -1.85276370e-02 6.42849597e+01] [ 2.21418765e-02 -9.91402028e-05 9.99754834e-01 2.28701518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:64.31, Z:22.87 [[ 5.40600474e-01 -8.41192160e-01 -1.21192741e-02 2.28049004e+02] [ 8.40988041e-01 5.40736275e-01 -1.85309385e-02 6.43064177e+01] [ 2.21414113e-02 -1.74330445e-04 9.99754834e-01 2.28708031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.07, Y:64.33, Z:22.87 [[ 5.38879341e-01 -8.42295845e-01 -1.21146918e-02 2.28065470e+02] [ 8.42091936e-01 5.39015458e-01 -1.85339337e-02 6.43290601e+01] [ 2.21410615e-02 -2.14130251e-04 9.99754834e-01 2.28716157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:64.35, Z:22.87 [[ 5.37118149e-01 -8.43420091e-01 -1.21096639e-02 2.28081743e+02] [ 8.43216394e-01 5.37254581e-01 -1.85372183e-02 6.43513529e+01] [ 2.21406347e-02 -2.54390709e-04 9.99754834e-01 2.28721276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:64.37, Z:22.87 [[ 5.33838635e-01 -8.45499708e-01 -1.21059944e-02 2.28099354e+02] [ 8.45296488e-01 5.33975777e-01 -1.85396144e-02 6.43732443e+01] [ 2.21395463e-02 -3.35992173e-04 9.99754834e-01 2.28722821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.12, Y:64.40, Z:22.87 [[ 5.33571989e-01 -8.45668078e-01 -1.21010453e-02 2.28115178e+02] [ 8.45464827e-01 5.33709086e-01 -1.85428441e-02 6.43953769e+01] [ 2.21395292e-02 -3.37065985e-04 9.99754834e-01 2.28723422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.12, Y:64.42, Z:22.87 [[ 5.26934555e-01 -8.49820915e-01 -1.20161556e-02 2.28121724e+02] [ 8.49617479e-01 5.27071386e-01 -1.85982097e-02 6.44182380e+01] [ 2.21385193e-02 -4.09096493e-04 9.99754829e-01 2.28670561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.14, Y:64.44, Z:22.87 [[ 5.25849568e-01 -8.50496751e-01 -1.17264334e-02 2.28137100e+02] [ 8.50289233e-01 5.25980293e-01 -1.87870261e-02 6.44416361e+01] [ 2.21461775e-02 -9.17105100e-05 9.99754739e-01 2.28672855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:64.47, Z:22.87 [[ 5.26837171e-01 -8.49886048e-01 -1.16748166e-02 2.28154532e+02] [ 8.49677631e-01 5.26966513e-01 -1.88206740e-02 6.44652956e+01] [ 2.21476656e-02 -4.39985388e-06 9.99754710e-01 2.28683172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:64.49, Z:22.87 [[ 5.26179756e-01 -8.50292349e-01 -1.17382425e-02 2.28168533e+02] [ 8.50084952e-01 5.26310662e-01 -1.87793026e-02 6.44882107e+01] [ 2.21458594e-02 -9.72144385e-05 9.99754746e-01 2.28681218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:64.51, Z:22.87 [[ 5.26169428e-01 -8.50299523e-01 -1.16813829e-02 2.28183569e+02] [ 8.50091303e-01 5.26299080e-01 -1.88163839e-02 6.45113164e+01] [ 2.21474633e-02 -2.96360664e-05 9.99754714e-01 2.28685111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:64.53, Z:22.87 [[ 5.27607498e-01 -8.49408057e-01 -1.16739178e-02 2.28200143e+02] [ 8.49199510e-01 5.27736632e-01 -1.88212543e-02 6.45349001e+01] [ 2.21476792e-02 1.67496219e-05 9.99754710e-01 2.28698486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:64.56, Z:22.87 [[ 5.27819611e-01 -8.49275564e-01 -1.17249751e-02 2.28214771e+02] [ 8.49067723e-01 5.27949823e-01 -1.87879288e-02 6.45584665e+01] [ 2.21463274e-02 -3.86605874e-05 9.99754739e-01 2.28702757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:64.58, Z:22.88 [[ 5.34805429e-01 -8.44894338e-01 -1.16923109e-02 2.28241842e+02] [ 8.44684964e-01 5.34933196e-01 -1.88092353e-02 6.45830639e+01] [ 2.21464216e-02 1.82961934e-04 9.99754721e-01 2.28781202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.26, Y:64.61, Z:22.88 [[ 5.35809528e-01 -8.44252049e-01 -1.21089563e-02 2.28257029e+02] [ 8.44048567e-01 5.35946261e-01 -1.85370737e-02 6.46072042e+01] [ 2.21397123e-02 -2.88206491e-04 9.99754845e-01 2.28796390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.26, Y:64.63, Z:22.87 [[ 5.29557310e-01 -8.48187806e-01 -1.21038155e-02 2.28258450e+02] [ 8.47985262e-01 5.29695430e-01 -1.85404297e-02 6.46281310e+01] [ 2.21371022e-02 -4.45637103e-04 9.99754845e-01 2.28729471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.27, Y:64.65, Z:22.87 [[ 5.30236176e-01 -8.47769993e-01 -1.16462929e-02 2.28274369e+02] [ 8.47560669e-01 5.30364049e-01 -1.88384664e-02 6.46531717e+01] [ 2.21474616e-02 1.17896582e-04 9.99754708e-01 2.28737672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.30, Y:64.68, Z:22.88 [[ 5.36772039e-01 -8.43646724e-01 -1.16611846e-02 2.28301444e+02] [ 8.43436628e-01 5.36898623e-01 -1.88287725e-02 6.46783624e+01] [ 2.21457062e-02 2.71288404e-04 9.99754717e-01 2.28808737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.32, Y:64.70, Z:22.88 [[ 5.36999080e-01 -8.43496171e-01 -1.20911985e-02 2.28316458e+02] [ 8.43292239e-01 5.37135135e-01 -1.85484625e-02 6.47025543e+01] [ 2.21401647e-02 -2.35906531e-04 9.99754849e-01 2.28822009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:64.73, Z:22.88 [[ 5.36756981e-01 -8.43650326e-01 -1.20860065e-02 2.28330560e+02] [ 8.43446357e-01 5.36892980e-01 -1.85518450e-02 6.47259726e+01] [ 2.21401621e-02 -2.36065829e-04 9.99754849e-01 2.28828536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:64.75, Z:22.88 [[ 5.36545984e-01 -8.43784599e-01 -1.20813405e-02 2.28345032e+02] [ 8.43580595e-01 5.36681931e-01 -1.85548831e-02 6.47502971e+01] [ 2.21401617e-02 -2.36036441e-04 9.99754849e-01 2.28834688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.36, Y:64.77, Z:22.88 [[ 5.36335498e-01 -8.43918476e-01 -1.20763925e-02 2.28359230e+02] [ 8.43714434e-01 5.36471388e-01 -1.85581029e-02 6.47742454e+01] [ 2.21401650e-02 -2.35657270e-04 9.99754849e-01 2.28838865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:64.80, Z:22.88 [[ 5.36648330e-01 -8.43719654e-01 -1.20713161e-02 2.28372116e+02] [ 8.43515487e-01 5.36784032e-01 -1.85614043e-02 6.47976960e+01] [ 2.21403113e-02 -2.21395511e-04 9.99754849e-01 2.28844004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.39, Y:64.82, Z:22.89 [[ 5.36564314e-01 -8.43773139e-01 -1.20676005e-02 2.28386784e+02] [ 8.43568932e-01 5.36699955e-01 -1.85638197e-02 6.48222456e+01] [ 2.21403330e-02 -2.19169669e-04 9.99754849e-01 2.28855205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:64.85, Z:22.89 [[ 5.37205758e-01 -8.43364967e-01 -1.20625915e-02 2.28399312e+02] [ 8.43160584e-01 5.37341134e-01 -1.85670739e-02 6.48470383e+01] [ 2.21405463e-02 -1.96362677e-04 9.99754849e-01 2.28859237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.41, Y:64.87, Z:22.89 [[ 5.37421490e-01 -8.43227583e-01 -1.20575817e-02 2.28413297e+02] [ 8.43023092e-01 5.37556703e-01 -1.85703268e-02 6.48712734e+01] [ 2.21406456e-02 -1.84727089e-04 9.99754849e-01 2.28860166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:64.89, Z:22.89 [[ 5.37519412e-01 -8.43165239e-01 -1.20525044e-02 2.28426970e+02] [ 8.42960658e-01 5.37654489e-01 -1.85736214e-02 6.48948474e+01] [ 2.21407150e-02 -1.76104994e-04 9.99754849e-01 2.28860095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:64.92, Z:22.89 [[ 5.37294013e-01 -8.43308965e-01 -1.20471353e-02 2.28442454e+02] [ 8.43104343e-01 5.37429027e-01 -1.85771032e-02 6.49188979e+01] [ 2.21407179e-02 -1.75625802e-04 9.99754849e-01 2.28866399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.46, Y:64.94, Z:22.89 [[ 5.37508907e-01 -8.43172083e-01 -1.20421676e-02 2.28457269e+02] [ 8.42967354e-01 5.37643759e-01 -1.85803229e-02 6.49433005e+01] [ 2.21408058e-02 -1.64065102e-04 9.99754849e-01 2.28873238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:64.97, Z:22.89 [[ 5.38004193e-01 -8.42856213e-01 -1.20371335e-02 2.28471158e+02] [ 8.42651332e-01 5.38138814e-01 -1.85835836e-02 6.49672230e+01] [ 2.21409377e-02 -1.45060712e-04 9.99754849e-01 2.28883336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.49, Y:64.99, Z:22.89 [[ 5.37909565e-01 -8.42916680e-01 -1.20321087e-02 2.28485883e+02] [ 8.42711741e-01 5.38044098e-01 -1.85868364e-02 6.49917343e+01] [ 2.21409595e-02 -1.41562144e-04 9.99754849e-01 2.28886716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:65.02, Z:22.89 [[ 5.38014583e-01 -8.42849724e-01 -1.20270987e-02 2.28500133e+02] [ 8.42644696e-01 5.38148980e-01 -1.85900777e-02 6.50154576e+01] [ 2.21410127e-02 -1.32838104e-04 9.99754849e-01 2.28886324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.51, Y:65.04, Z:22.89 [[ 5.38274858e-01 -8.42683601e-01 -1.20219408e-02 2.28513773e+02] [ 8.42478457e-01 5.38409078e-01 -1.85934126e-02 6.50398502e+01] [ 2.21410860e-02 -1.19859614e-04 9.99754849e-01 2.28875236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:65.06, Z:22.89 [[ 5.38084877e-01 -8.42804997e-01 -1.20167726e-02 2.28528495e+02] [ 8.42599809e-01 5.38219029e-01 -1.85967522e-02 6.50632700e+01] [ 2.21410914e-02 -1.18699190e-04 9.99754849e-01 2.28877028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.54, Y:65.09, Z:22.89 [[ 5.37902766e-01 -8.42921310e-01 -1.20116400e-02 2.28543831e+02] [ 8.42716077e-01 5.38036850e-01 -1.86000667e-02 6.50871121e+01] [ 2.21410976e-02 -1.17374790e-04 9.99754849e-01 2.28887109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.56, Y:65.11, Z:22.89 [[ 5.37921721e-01 -8.42909287e-01 -1.20065188e-02 2.28558018e+02] [ 8.42703977e-01 5.38055687e-01 -1.86033720e-02 6.51100127e+01] [ 2.21411307e-02 -1.10783249e-04 9.99754849e-01 2.28891401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.57, Y:65.13, Z:22.89 [[ 5.38071149e-01 -8.42813957e-01 -1.20030355e-02 2.28572109e+02] [ 8.42608573e-01 5.38205002e-01 -1.86056192e-02 6.51327991e+01] [ 2.21411692e-02 -1.02713695e-04 9.99754849e-01 2.28892990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.926875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:228.58, Y:65.16, Z:22.89 [[ 5.35318030e-01 -8.44565369e-01 -1.19976876e-02 2.28583163e+02] [ 8.44360346e-01 5.35452435e-01 -1.86090670e-02 6.51567763e+01] [ 2.21407646e-02 -1.68602515e-04 9.99754849e-01 2.28852235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.60, Y:65.18, Z:22.89 [[ 5.38904753e-01 -8.42283453e-01 -1.18427692e-02 2.28601865e+02] [ 8.42075654e-01 5.39034853e-01 -1.87088447e-02 6.51801568e+01] [ 2.21418157e-02 1.09777686e-04 9.99754834e-01 2.28901127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.986875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:228.61, Y:65.20, Z:22.89 [[ 5.35841874e-01 -8.44233192e-01 -1.19918149e-02 2.28611959e+02] [ 8.44028001e-01 5.35976022e-01 -1.86128184e-02 6.52034494e+01] [ 2.21408843e-02 -1.47900061e-04 9.99754850e-01 2.28857135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.63, Y:65.23, Z:22.89 [[ 5.39313296e-01 -8.42022577e-01 -1.17961488e-02 2.28632176e+02] [ 8.41814060e-01 5.39442257e-01 -1.87387385e-02 6.52273914e+01] [ 2.21417820e-02 1.75886939e-04 9.99754825e-01 2.28907070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.65, Y:65.25, Z:22.89 [[ 5.38214268e-01 -8.42722814e-01 -1.19858639e-02 2.28647313e+02] [ 8.42517163e-01 5.38347706e-01 -1.86165955e-02 6.52520489e+01] [ 2.21411921e-02 -7.85786693e-05 9.99754851e-01 2.28884271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.66, Y:65.27, Z:22.89 [[ 5.39369431e-01 -8.41983400e-01 -1.20237781e-02 2.28662142e+02] [ 8.41778109e-01 5.39503425e-01 -1.85921962e-02 6.52739743e+01] [ 2.21411901e-02 -9.32909287e-05 9.99754849e-01 2.28934873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.68, Y:65.30, Z:22.89 [[ 5.39196296e-01 -8.42094968e-01 -1.19757498e-02 2.28677230e+02] [ 8.41889018e-01 5.39329271e-01 -1.86230813e-02 6.52976825e+01] [ 2.21412755e-02 -4.07557556e-05 9.99754851e-01 2.28947540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:65.32, Z:22.90 [[ 5.39023601e-01 -8.42205592e-01 -1.19706977e-02 2.28692161e+02] [ 8.41999597e-01 5.39156507e-01 -1.86263282e-02 6.53216579e+01] [ 2.21412773e-02 -3.92921319e-05 9.99754851e-01 2.28953533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.71, Y:65.35, Z:22.90 [[ 5.39388588e-01 -8.41971956e-01 -1.19656783e-02 2.28706570e+02] [ 8.41765831e-01 5.39521293e-01 -1.86295521e-02 6.53451980e+01] [ 2.21412987e-02 -2.37313629e-05 9.99754851e-01 2.28970191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.72, Y:65.37, Z:22.90 [[ 5.39728060e-01 -8.41754456e-01 -1.19606375e-02 2.28721951e+02] [ 8.41548207e-01 5.39860570e-01 -1.86327879e-02 6.53692607e+01] [ 2.21413088e-02 -8.81453417e-06 9.99754851e-01 2.28985765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.74, Y:65.39, Z:22.90 [[ 5.39997986e-01 -8.41581394e-01 -1.19554066e-02 2.28736292e+02] [ 8.41375028e-01 5.40130315e-01 -1.86361436e-02 6.53921315e+01] [ 2.21413093e-02 4.49945909e-06 9.99754851e-01 2.28991592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:65.42, Z:22.90 [[ 5.39839034e-01 -8.41683431e-01 -1.19506975e-02 2.28751299e+02] [ 8.41477023e-01 5.39971297e-01 -1.86391629e-02 6.54159222e+01] [ 2.21413082e-02 5.91027902e-06 9.99754851e-01 2.29001853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.77, Y:65.44, Z:22.90 [[ 5.38430431e-01 -8.42585291e-01 -1.19456541e-02 2.28766551e+02] [ 8.42379032e-01 5.38562928e-01 -1.86423946e-02 6.54395054e+01] [ 2.21412939e-02 -2.51359435e-05 9.99754851e-01 2.29005021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.78, Y:65.46, Z:22.90 [[ 5.37325228e-01 -8.43290592e-01 -1.19405413e-02 2.28782321e+02] [ 8.43084435e-01 5.37457882e-01 -1.86456688e-02 6.54628399e+01] [ 2.21412551e-02 -4.80963231e-05 9.99754851e-01 2.29006509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.80, Y:65.49, Z:22.90 [[ 5.34573759e-01 -8.45037538e-01 -1.19354556e-02 2.28798196e+02] [ 8.44831742e-01 5.34706972e-01 -1.86489237e-02 6.54850626e+01] [ 2.21410119e-02 -1.14226459e-04 9.99754851e-01 2.29005948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.81, Y:65.51, Z:22.90 [[ 5.33222624e-01 -8.45890836e-01 -1.19300939e-02 2.28813267e+02] [ 8.45685176e-01 5.33356047e-01 -1.86523530e-02 6.55076109e+01] [ 2.21408422e-02 -1.43246967e-04 9.99754851e-01 2.29007515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.83, Y:65.53, Z:22.90 [[ 5.32132256e-01 -8.46577262e-01 -1.19248358e-02 2.28828901e+02] [ 8.46371699e-01 5.32265829e-01 -1.86557141e-02 6.55307790e+01] [ 2.21406859e-02 -1.65536305e-04 9.99754851e-01 2.29015056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.84, Y:65.55, Z:22.90 [[ 5.30447370e-01 -8.47634062e-01 -1.19198826e-02 2.28844863e+02] [ 8.47428694e-01 5.30581243e-01 -1.86588783e-02 6.55544258e+01] [ 2.21403669e-02 -2.03697650e-04 9.99754851e-01 2.29021306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.85, Y:65.58, Z:22.90 [[ 5.26349585e-01 -8.50184773e-01 -1.19149270e-02 2.28854475e+02] [ 8.49979982e-01 5.26484338e-01 -1.86620423e-02 6.55781442e+01] [ 2.21392066e-02 -3.04691202e-04 9.99754851e-01 2.28977313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.88, Y:65.60, Z:22.90 [[ 5.29094442e-01 -8.48482071e-01 -1.17152181e-02 2.28875970e+02] [ 8.48274002e-01 5.29224126e-01 -1.87894278e-02 6.56016780e+01] [ 2.21424687e-02 3.66683581e-06 9.99754826e-01 2.29044135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:65.62, Z:22.91 [[ 5.27468411e-01 -8.49491166e-01 -1.19094455e-02 2.28892144e+02] [ 8.49286119e-01 5.27602774e-01 -1.86655025e-02 6.56248951e+01] [ 2.21396360e-02 -2.69063850e-04 9.99754852e-01 2.29068426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.90, Y:65.65, Z:22.90 [[ 5.23266860e-01 -8.52085724e-01 -1.19043063e-02 2.28900897e+02] [ 8.51881269e-01 5.23402122e-01 -1.86687796e-02 6.56470970e+01] [ 2.21381397e-02 -3.72301861e-04 9.99754852e-01 2.29027991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:65.67, Z:22.90 [[ 5.23187736e-01 -8.52137606e-01 -1.16658821e-02 2.28916523e+02] [ 8.51929745e-01 5.23317773e-01 -1.88206856e-02 6.56710180e+01] [ 2.21427774e-02 -9.17600722e-05 9.99754814e-01 2.29033011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.94, Y:65.70, Z:22.91 [[ 5.26740385e-01 -8.49946161e-01 -1.16657540e-02 2.28938984e+02] [ 8.49737757e-01 5.26869550e-01 -1.88207671e-02 6.56951513e+01] [ 2.21429694e-02 8.26452791e-07 9.99754814e-01 2.29082351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.95, Y:65.72, Z:22.91 [[ 5.26568193e-01 -8.50049597e-01 -1.19004418e-02 2.28953959e+02] [ 8.49844564e-01 5.26702576e-01 -1.86711853e-02 6.57186089e+01] [ 2.21394269e-02 -2.81873456e-04 9.99754853e-01 2.29087875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.97, Y:65.74, Z:22.91 [[ 5.26406210e-01 -8.50149991e-01 -1.18951751e-02 2.28968430e+02] [ 8.49944908e-01 5.26540516e-01 -1.86745401e-02 6.57418854e+01] [ 2.21394517e-02 -2.79849661e-04 9.99754853e-01 2.29078399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.98, Y:65.77, Z:22.91 [[ 5.26457775e-01 -8.50118126e-01 -1.18904711e-02 2.28983151e+02] [ 8.49912967e-01 5.26591965e-01 -1.86775348e-02 6.57653578e+01] [ 2.21395374e-02 -2.72932124e-04 9.99754853e-01 2.29084157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.99, Y:65.79, Z:22.90 [[ 5.22858444e-01 -8.52336662e-01 -1.18853542e-02 2.28991448e+02] [ 8.52131999e-01 5.22993389e-01 -1.86807903e-02 6.57879100e+01] [ 2.21382841e-02 -3.60481626e-04 9.99754853e-01 2.29017936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.01, Y:65.81, Z:22.90 [[ 5.23284115e-01 -8.52078963e-01 -1.16265126e-02 2.29006846e+02] [ 8.51870540e-01 5.23413258e-01 -1.88452614e-02 6.58107945e+01] [ 2.21431217e-02 -4.28576681e-05 9.99754810e-01 2.29020782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.03, Y:65.83, Z:22.91 [[ 5.26870894e-01 -8.49865688e-01 -1.16350250e-02 2.29028455e+02] [ 8.49656842e-01 5.26999347e-01 -1.88398542e-02 6.58345572e+01] [ 2.21429963e-02 4.03922606e-05 9.99754813e-01 2.29076456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.04, Y:65.86, Z:22.91 [[ 5.25650385e-01 -8.50617781e-01 -1.18770035e-02 2.29043925e+02] [ 8.50412558e-01 5.25784474e-01 -1.86860519e-02 6.58576264e+01] [ 2.21394320e-02 -2.78022581e-04 9.99754854e-01 2.29087463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.05, Y:65.88, Z:22.90 [[ 5.21273443e-01 -8.53307128e-01 -1.18719265e-02 2.29052918e+02] [ 8.53102523e-01 5.21408474e-01 -1.86892769e-02 6.58807918e+01] [ 2.21378163e-02 -3.85746717e-04 9.99754854e-01 2.29041258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.07, Y:65.91, Z:22.91 [[ 5.23664456e-01 -8.51844675e-01 -1.16699533e-02 2.29074283e+02] [ 8.51636812e-01 5.23794466e-01 -1.88174728e-02 6.59051294e+01] [ 2.21422210e-02 -8.45201382e-05 9.99754827e-01 2.29113533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:65.93, Z:22.91 [[ 5.22354042e-01 -8.52646122e-01 -1.18678190e-02 2.29088741e+02] [ 8.52441288e-01 5.22488723e-01 -1.86918447e-02 6.59275206e+01] [ 2.21383305e-02 -3.52858217e-04 9.99754855e-01 2.29128643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.10, Y:65.95, Z:22.91 [[ 5.15891802e-01 -8.56571588e-01 -1.18643524e-02 2.29097975e+02] [ 8.56367727e-01 5.16027953e-01 -1.86940448e-02 6.59504755e+01] [ 2.21351251e-02 -5.16144018e-04 9.99754855e-01 2.29102785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.12, Y:65.97, Z:22.92 [[ 5.17981028e-01 -8.55312872e-01 -1.16423855e-02 2.29118905e+02] [ 8.55105492e-01 5.18111813e-01 -1.88347335e-02 6.59740505e+01] [ 2.21416474e-02 -1.99433137e-04 9.99754824e-01 2.29174808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.13, Y:66.00, Z:22.92 [[ 5.14732067e-01 -8.57269082e-01 -1.18583040e-02 2.29132449e+02] [ 8.57065320e-01 5.14868362e-01 -1.86977969e-02 6.59970489e+01] [ 2.21345088e-02 -5.38985502e-04 9.99754856e-01 2.29177652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.15, Y:66.02, Z:22.92 [[ 5.13104320e-01 -8.58244409e-01 -1.18529101e-02 2.29146665e+02] [ 8.58040827e-01 5.13240884e-01 -1.87012156e-02 6.60210711e+01] [ 2.21336118e-02 -5.74606294e-04 9.99754857e-01 2.29186682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.16, Y:66.05, Z:22.91 [[ 5.08256588e-01 -8.61124189e-01 -1.18478600e-02 2.29155376e+02] [ 8.60921306e-01 5.08394188e-01 -1.87044145e-02 6.60454246e+01] [ 2.21302069e-02 -6.93433198e-04 9.99754857e-01 2.29131373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.17, Y:66.07, Z:22.92 [[ 5.08654716e-01 -8.60891765e-01 -1.16510987e-02 2.29174507e+02] [ 8.60685951e-01 5.08787937e-01 -1.88289194e-02 6.60701501e+01] [ 2.21376002e-02 -4.50518337e-04 9.99754832e-01 2.29188614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:66.09, Z:22.92 [[ 5.06917217e-01 -8.61913398e-01 -1.18418593e-02 2.29189166e+02] [ 8.61710641e-01 5.07055002e-01 -1.87081729e-02 6.60946130e+01] [ 2.21292988e-02 -7.20761227e-04 9.99754857e-01 2.29193185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.20, Y:66.12, Z:22.92 [[ 5.05305136e-01 -8.62859555e-01 -1.18367322e-02 2.29202976e+02] [ 8.62656980e-01 5.05443189e-01 -1.87114162e-02 6.61178393e+01] [ 2.21281199e-02 -7.56064945e-04 9.99754857e-01 2.29191563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.22, Y:66.14, Z:22.92 [[ 5.02413519e-01 -8.64546514e-01 -1.18313374e-02 2.29216085e+02] [ 8.64344323e-01 5.02552132e-01 -1.87148268e-02 6.61414379e+01] [ 2.21257021e-02 -8.23767305e-04 9.99754857e-01 2.29179409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.22, Y:66.16, Z:22.91 [[ 4.94121638e-01 -8.69312986e-01 -1.17787341e-02 2.29220214e+02] [ 8.69111342e-01 4.94261049e-01 -1.87480680e-02 6.61632375e+01] [ 2.21197085e-02 -9.73205282e-04 9.99754856e-01 2.29110241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.23, Y:66.19, Z:22.91 [[ 4.93673146e-01 -8.69572555e-01 -1.14191143e-02 2.29234142e+02] [ 8.69365683e-01 4.93804878e-01 -1.89750016e-02 6.61863729e+01] [ 2.21389549e-02 -5.59937345e-04 9.99754747e-01 2.29122285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.26, Y:66.21, Z:22.92 [[ 4.96458942e-01 -8.67986418e-01 -1.13180219e-02 2.29260153e+02] [ 8.67777673e-01 4.96587799e-01 -1.90385860e-02 6.62143210e+01] [ 2.21456256e-02 -3.69650453e-04 9.99754687e-01 2.29199570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.27, Y:66.24, Z:22.92 [[ 4.95381275e-01 -8.68595487e-01 -1.18013772e-02 2.29273397e+02] [ 8.68393971e-01 4.95520881e-01 -1.87341050e-02 6.62388506e+01] [ 2.21201879e-02 -9.67719977e-04 9.99754850e-01 2.29216729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.29, Y:66.26, Z:22.92 [[ 4.95482194e-01 -8.68537991e-01 -1.17963081e-02 2.29287229e+02] [ 8.68336384e-01 4.95621668e-01 -1.87372964e-02 6.62635843e+01] [ 2.21205596e-02 -9.59166768e-04 9.99754850e-01 2.29222245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.30, Y:66.29, Z:22.92 [[ 4.95782170e-01 -8.68366862e-01 -1.17912207e-02 2.29300658e+02] [ 8.68165131e-01 4.95921464e-01 -1.87404972e-02 6.62881199e+01] [ 2.21211462e-02 -9.45522324e-04 9.99754850e-01 2.29232302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.396875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:229.30, Y:66.31, Z:22.92 [[ 4.91127846e-01 -8.71007766e-01 -1.17860361e-02 2.29301114e+02] [ 8.70806706e-01 4.91268107e-01 -1.87437573e-02 6.63105224e+01] [ 2.21160618e-02 -1.05777809e-03 9.99754850e-01 2.29159702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.426875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:229.33, Y:66.34, Z:22.92 [[ 4.98963060e-01 -8.66548980e-01 -1.13459261e-02 2.29326270e+02] [ 8.66340283e-01 4.99091926e-01 -1.90200915e-02 6.63370955e+01] [ 2.21445010e-02 -3.39109818e-04 9.99754723e-01 2.29236192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:66.36, Z:22.93 [[ 5.00137269e-01 -8.65865910e-01 -1.17871616e-02 2.29339722e+02] [ 8.65663433e-01 5.00275461e-01 -1.87426035e-02 6.63615878e+01] [ 2.21254091e-02 -8.29840213e-04 9.99754859e-01 2.29250327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.35, Y:66.39, Z:22.93 [[ 4.99907031e-01 -8.65998926e-01 -1.17821825e-02 2.29354866e+02] [ 8.65796412e-01 5.00045169e-01 -1.87457330e-02 6.63858471e+01] [ 2.21254081e-02 -8.29847643e-04 9.99754859e-01 2.29256634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.37, Y:66.41, Z:22.93 [[ 5.03097678e-01 -8.64149307e-01 -1.17771963e-02 2.29367065e+02] [ 8.63946211e-01 5.03234960e-01 -1.87488651e-02 6.64121682e+01] [ 2.21285157e-02 -7.42353651e-04 9.99754859e-01 2.29251617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:66.44, Z:22.93 [[ 5.04243595e-01 -8.63481210e-01 -1.17727381e-02 2.29380115e+02] [ 8.63277867e-01 5.04380511e-01 -1.87516640e-02 6.64367156e+01] [ 2.21296492e-02 -7.07737736e-04 9.99754859e-01 2.29269331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:66.46, Z:22.93 [[ 5.05691869e-01 -8.62633907e-01 -1.17675915e-02 2.29393645e+02] [ 8.62430260e-01 5.05828331e-01 -1.87548931e-02 6.64613574e+01] [ 2.21309879e-02 -6.64530074e-04 9.99754859e-01 2.29273518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:66.49, Z:22.93 [[ 5.08727419e-01 -8.60847289e-01 -1.17625675e-02 2.29405811e+02] [ 8.60643090e-01 5.08863054e-01 -1.87580436e-02 6.64867830e+01] [ 2.21333470e-02 -5.80641359e-04 9.99754859e-01 2.29270235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:66.51, Z:22.93 [[ 5.10031237e-01 -8.60075519e-01 -1.17574932e-02 2.29418927e+02] [ 8.59871042e-01 5.10166451e-01 -1.87612236e-02 6.65112539e+01] [ 2.21343477e-02 -5.41117816e-04 9.99754859e-01 2.29275581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:66.53, Z:22.93 [[ 5.11872609e-01 -8.58980983e-01 -1.17516783e-02 2.29431811e+02] [ 8.58776133e-01 5.12007259e-01 -1.87648655e-02 6.65348330e+01] [ 2.21356072e-02 -4.86840135e-04 9.99754859e-01 2.29262437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.69687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:229.45, Y:66.56, Z:22.93 [[ 5.14346751e-01 -8.57502072e-01 -1.17310188e-02 2.29445150e+02] [ 8.57296539e-01 5.14480358e-01 -1.87777980e-02 6.65610938e+01] [ 2.21373794e-02 -3.98662457e-04 9.99754859e-01 2.29266076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:66.58, Z:22.93 [[ 5.15702428e-01 -8.56686975e-01 -1.17657272e-02 2.29458675e+02] [ 8.56481726e-01 5.15836469e-01 -1.87560748e-02 6.65845224e+01] [ 2.21372761e-02 -4.04577042e-04 9.99754859e-01 2.29257972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.47, Y:66.61, Z:22.93 [[ 5.16524748e-01 -8.56191734e-01 -1.17430530e-02 2.29472628e+02] [ 8.55986034e-01 5.16658095e-01 -1.87702602e-02 6.66085070e+01] [ 2.21380850e-02 -3.56585432e-04 9.99754859e-01 2.29268475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.47, Y:66.63, Z:22.92 [[ 5.09897164e-01 -8.60155278e-01 -1.17379753e-02 2.29473347e+02] [ 8.59950541e-01 5.10031985e-01 -1.87734350e-02 6.66303036e+01] [ 2.21348120e-02 -5.21556912e-04 9.99754859e-01 2.29188982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.50, Y:66.66, Z:22.93 [[ 5.17925762e-01 -8.55351817e-01 -1.12327680e-02 2.29500754e+02] [ 8.55138838e-01 5.18047479e-01 -1.90886420e-02 6.66568842e+01] [ 2.21466117e-02 2.80923268e-04 9.99754694e-01 2.29282216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.52, Y:66.68, Z:22.93 [[ 5.17693304e-01 -8.55485795e-01 -1.17344509e-02 2.29515725e+02] [ 8.55279803e-01 5.17826181e-01 -1.87750942e-02 6.66813972e+01] [ 2.21382323e-02 -3.16498345e-04 9.99754869e-01 2.29325212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.53, Y:66.71, Z:22.93 [[ 5.18589178e-01 -8.54942746e-01 -1.17543808e-02 2.29529079e+02] [ 8.54736897e-01 5.18722277e-01 -1.87626432e-02 6.67051591e+01] [ 2.21382449e-02 -3.16799287e-04 9.99754869e-01 2.29332777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.54, Y:66.73, Z:22.93 [[ 5.18725343e-01 -8.54860506e-01 -1.17274340e-02 2.29542471e+02] [ 8.54654255e-01 5.18857818e-01 -1.87794710e-02 6.67282117e+01] [ 2.21386989e-02 -2.81513779e-04 9.99754869e-01 2.29339275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.56, Y:66.75, Z:22.93 [[ 5.18848512e-01 -8.54785821e-01 -1.17227482e-02 2.29556699e+02] [ 8.54579485e-01 5.18980854e-01 -1.87823955e-02 6.67524435e+01] [ 2.21388073e-02 -2.72802152e-04 9.99754869e-01 2.29348105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.57, Y:66.78, Z:22.94 [[ 5.19341100e-01 -8.54486700e-01 -1.17175941e-02 2.29570554e+02] [ 8.54280215e-01 5.19473210e-01 -1.87856105e-02 6.67760542e+01] [ 2.21390305e-02 -2.53969178e-04 9.99754869e-01 2.29351026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.58, Y:66.80, Z:22.94 [[ 5.20661622e-01 -8.53682760e-01 -1.17140932e-02 2.29583863e+02] [ 8.53476022e-01 5.20793336e-01 -1.87877932e-02 6.68008315e+01] [ 2.21394369e-02 -2.15614771e-04 9.99754869e-01 2.29351873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.60, Y:66.83, Z:22.94 [[ 5.21064432e-01 -8.53437026e-01 -1.17089965e-02 2.29598229e+02] [ 8.53230154e-01 5.21195936e-01 -1.87909691e-02 6.68253635e+01] [ 2.21395902e-02 -1.99163206e-04 9.99754869e-01 2.29360025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.61, Y:66.85, Z:22.94 [[ 5.21445878e-01 -8.53204089e-01 -1.17038047e-02 2.29612379e+02] [ 8.52997086e-01 5.21577175e-01 -1.87942022e-02 6.68496834e+01] [ 2.21397276e-02 -1.83152037e-04 9.99754869e-01 2.29361350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.63, Y:66.87, Z:22.94 [[ 5.21617180e-01 -8.53099443e-01 -1.16986202e-02 2.29626112e+02] [ 8.52892342e-01 5.21748321e-01 -1.87974288e-02 6.68730295e+01] [ 2.21398115e-02 -1.72601737e-04 9.99754869e-01 2.29358099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.116875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.64, Y:66.90, Z:22.94 [[ 5.21629446e-01 -8.53092006e-01 -1.16940053e-02 2.29640640e+02] [ 8.52884839e-01 5.21760482e-01 -1.88002993e-02 6.68972852e+01] [ 2.21398549e-02 -1.66850056e-04 9.99754869e-01 2.29369814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.146875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.66, Y:66.92, Z:22.94 [[ 5.20988419e-01 -8.53483709e-01 -1.16887306e-02 2.29655066e+02] [ 8.53276566e-01 5.21119494e-01 -1.88035782e-02 6.69208931e+01] [ 2.21397730e-02 -1.77273419e-04 9.99754869e-01 2.29373969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:66.94, Z:22.94 [[ 5.20353098e-01 -8.53871273e-01 -1.16834518e-02 2.29669263e+02] [ 8.53664154e-01 5.20484211e-01 -1.88068575e-02 6.69436411e+01] [ 2.21396876e-02 -1.87537409e-04 9.99754870e-01 2.29372596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:66.97, Z:22.94 [[ 5.19748337e-01 -8.54239588e-01 -1.16787343e-02 2.29684701e+02] [ 8.54032496e-01 5.19879493e-01 -1.88097866e-02 6.69668831e+01] [ 2.21395988e-02 -1.97663302e-04 9.99754870e-01 2.29387399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:66.99, Z:22.94 [[ 5.19392178e-01 -8.54456256e-01 -1.16735677e-02 2.29699359e+02] [ 8.54249147e-01 5.19523307e-01 -1.88129925e-02 6.69895731e+01] [ 2.21395696e-02 -2.00814057e-04 9.99754870e-01 2.29396981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.266875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.71, Y:67.01, Z:22.94 [[ 5.19350015e-01 -8.54481947e-01 -1.16689169e-02 2.29714827e+02] [ 8.54274780e-01 5.19481052e-01 -1.88158768e-02 6.70133712e+01] [ 2.21396082e-02 -1.96435487e-04 9.99754870e-01 2.29412956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:67.04, Z:22.94 [[ 5.19182147e-01 -8.54584026e-01 -1.16636404e-02 2.29729277e+02] [ 8.54376811e-01 5.19313108e-01 -1.88191470e-02 6.70363971e+01] [ 2.21396237e-02 -1.94578756e-04 9.99754870e-01 2.29414175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:67.06, Z:22.94 [[ 5.19604030e-01 -8.54327644e-01 -1.16588372e-02 2.29744845e+02] [ 8.54120298e-01 5.19734783e-01 -1.88221222e-02 6.70600217e+01] [ 2.21397625e-02 -1.77998936e-04 9.99754870e-01 2.29431721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:67.08, Z:22.94 [[ 5.19834288e-01 -8.54187631e-01 -1.16535279e-02 2.29759851e+02] [ 8.53980175e-01 5.19964868e-01 -1.88254088e-02 6.70826491e+01] [ 2.21398565e-02 -1.65788859e-04 9.99754870e-01 2.29430648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.78, Y:67.11, Z:22.94 [[ 5.19912985e-01 -8.54139782e-01 -1.16499221e-02 2.29775545e+02] [ 8.53932265e-01 5.20043467e-01 -1.88276400e-02 6.71061991e+01] [ 2.21399022e-02 -1.59509880e-04 9.99754870e-01 2.29443916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.79, Y:67.13, Z:22.95 [[ 5.20799012e-01 -8.53599898e-01 -1.16449118e-02 2.29792066e+02] [ 8.53392176e-01 5.20929168e-01 -1.88307383e-02 6.71285647e+01] [ 2.21400905e-02 -1.30646700e-04 9.99754870e-01 2.29452743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.81, Y:67.15, Z:22.95 [[ 5.21180655e-01 -8.53367001e-01 -1.16398463e-02 2.29807254e+02] [ 8.53159151e-01 5.21310606e-01 -1.88338690e-02 6.71507809e+01] [ 2.21401776e-02 -1.14793235e-04 9.99754870e-01 2.29456994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.82, Y:67.17, Z:22.95 [[ 5.21614590e-01 -8.53101904e-01 -1.16344814e-02 2.29822770e+02] [ 8.52893914e-01 5.21744317e-01 -1.88371825e-02 6.71738164e+01] [ 2.21402608e-02 -9.72290968e-05 9.99754870e-01 2.29460805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:67.20, Z:22.95 [[ 5.22979649e-01 -8.52265829e-01 -1.16294005e-02 2.29839252e+02] [ 8.52057562e-01 5.23108931e-01 -1.88403187e-02 6.71956584e+01] [ 2.21404031e-02 -5.58153364e-05 9.99754870e-01 2.29450834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.86, Y:67.22, Z:22.95 [[ 5.23825967e-01 -8.51745994e-01 -1.16240324e-02 2.29855381e+02] [ 8.51537525e-01 5.23954923e-01 -1.88436301e-02 6.72189239e+01] [ 2.21404555e-02 -2.75170027e-05 9.99754870e-01 2.29468784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.87, Y:67.24, Z:22.95 [[ 5.25476963e-01 -8.50728491e-01 -1.16187903e-02 2.29872719e+02] [ 8.50519701e-01 5.25605398e-01 -1.88468618e-02 6.72406397e+01] [ 2.21404612e-02 2.15816700e-05 9.99754870e-01 2.29463454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:67.26, Z:22.95 [[ 5.26156947e-01 -8.50308167e-01 -1.16141229e-02 2.29889293e+02] [ 8.50099211e-01 5.26285111e-01 -1.88497376e-02 6.72638918e+01] [ 2.21404258e-02 4.47636567e-05 9.99754870e-01 2.29474342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.91, Y:67.29, Z:22.95 [[ 5.26527552e-01 -8.50078802e-01 -1.16089840e-02 2.29905037e+02] [ 8.49869720e-01 5.26655511e-01 -1.88529020e-02 6.72861720e+01] [ 2.21403877e-02 6.04483811e-05 9.99754870e-01 2.29471772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:67.31, Z:22.95 [[ 5.26508077e-01 -8.50090915e-01 -1.16052284e-02 2.29921464e+02] [ 8.49881785e-01 5.26635958e-01 -1.88552135e-02 6.73095577e+01] [ 2.21403763e-02 6.43499216e-05 9.99754870e-01 2.29478366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:67.33, Z:22.95 [[ 5.26642673e-01 -8.50007605e-01 -1.16002476e-02 2.29939683e+02] [ 8.49798388e-01 5.26770411e-01 -1.88582773e-02 6.73316006e+01] [ 2.21403464e-02 7.37018707e-05 9.99754870e-01 2.29493443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.96, Y:67.35, Z:22.95 [[ 5.26533243e-01 -8.50075465e-01 -1.15951250e-02 2.29955993e+02] [ 8.49866195e-01 5.26660894e-01 -1.88614265e-02 6.73549592e+01] [ 2.21403348e-02 7.68632534e-05 9.99754870e-01 2.29500180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.97, Y:67.38, Z:22.95 [[ 5.26434470e-01 -8.50136707e-01 -1.15900173e-02 2.29971586e+02] [ 8.49927382e-01 5.26562032e-01 -1.88645646e-02 6.73769006e+01] [ 2.21403218e-02 8.02840005e-05 9.99754870e-01 2.29510988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.99, Y:67.40, Z:22.95 [[ 5.26435528e-01 -8.50136125e-01 -1.15846272e-02 2.29989515e+02] [ 8.49926727e-01 5.26562970e-01 -1.88678740e-02 6.73989603e+01] [ 2.21402970e-02 8.66349542e-05 9.99754870e-01 2.29525955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:67.42, Z:22.95 [[ 5.25933870e-01 -8.50446634e-01 -1.15795957e-02 2.30005339e+02] [ 8.50237244e-01 5.26061324e-01 -1.88709614e-02 6.74219832e+01] [ 2.21403231e-02 7.94741988e-05 9.99754870e-01 2.29539171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:67.44, Z:22.95 [[ 5.25416447e-01 -8.50766471e-01 -1.15745235e-02 2.30020649e+02] [ 8.50557090e-01 5.25543915e-01 -1.88740719e-02 6.74443445e+01] [ 2.21403480e-02 7.19547576e-05 9.99754870e-01 2.29546886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.04, Y:67.47, Z:22.95 [[ 5.23764177e-01 -8.51784739e-01 -1.15691881e-02 2.30037809e+02] [ 8.51575533e-01 5.23891933e-01 -1.88773418e-02 6.74673722e+01] [ 2.21404360e-02 3.52378402e-05 9.99754870e-01 2.29547647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.05, Y:67.49, Z:22.96 [[ 5.22663799e-01 -8.52460453e-01 -1.15641207e-02 2.30053925e+02] [ 8.52251344e-01 5.22791714e-01 -1.88804455e-02 6.74908066e+01] [ 2.21404596e-02 1.25879806e-05 9.99754870e-01 2.29556600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:67.51, Z:22.96 [[ 5.21542687e-01 -8.53146893e-01 -1.15587977e-02 2.30069253e+02] [ 8.52937880e-01 5.21670758e-01 -1.88837038e-02 6.75126661e+01] [ 2.21404600e-02 -1.02787572e-05 9.99754870e-01 2.29551442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.09, Y:67.53, Z:22.95 [[ 5.18757988e-01 -8.54843059e-01 -1.15540093e-02 2.30086900e+02] [ 8.54634399e-01 5.18886634e-01 -1.88866331e-02 6.75341007e+01] [ 2.21403282e-02 -7.68620417e-05 9.99754870e-01 2.29545289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:67.56, Z:22.95 [[ 5.17464688e-01 -8.55626628e-01 -1.15486123e-02 2.30103196e+02] [ 8.55418090e-01 5.17593530e-01 -1.88899327e-02 6.75573735e+01] [ 2.21402164e-02 -1.04018735e-04 9.99754870e-01 2.29546817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.12, Y:67.58, Z:22.95 [[ 5.13338034e-01 -8.58108856e-01 -1.15435866e-02 2.30115363e+02] [ 8.57900871e-01 5.13467769e-01 -1.88930034e-02 6.75807096e+01] [ 2.21395131e-02 -2.04755761e-04 9.99754870e-01 2.29512295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:67.60, Z:22.96 [[ 5.15599504e-01 -8.56754074e-01 -1.13845459e-02 2.30135971e+02] [ 8.56543591e-01 5.15725174e-01 -1.89900681e-02 6.76030242e+01] [ 2.21411152e-02 3.99098496e-05 9.99754855e-01 2.29597588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.15, Y:67.63, Z:22.95 [[ 5.13404028e-01 -8.58069469e-01 -1.15365058e-02 2.30149922e+02] [ 8.57861377e-01 5.13533591e-01 -1.88973115e-02 6.76269240e+01] [ 2.21395893e-02 -1.94766895e-04 9.99754870e-01 2.29548063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:67.65, Z:22.96 [[ 5.14334582e-01 -8.57512748e-01 -1.14815539e-02 2.30167773e+02] [ 8.57303766e-01 5.14462707e-01 -1.89308351e-02 6.76514506e+01] [ 2.21402637e-02 -1.06396218e-04 9.99754869e-01 2.29578522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:67.67, Z:22.96 [[ 5.15650724e-01 -8.56720972e-01 -1.15545068e-02 2.30183200e+02] [ 8.56512788e-01 5.15780138e-01 -1.88863361e-02 6.76738310e+01] [ 2.21399053e-02 -1.57829944e-04 9.99754870e-01 2.29628709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:67.70, Z:22.96 [[ 5.16482694e-01 -8.56219958e-01 -1.15330135e-02 2.30199732e+02] [ 8.56011355e-01 5.16611432e-01 -1.88994398e-02 6.76970503e+01] [ 2.21401642e-02 -1.11156928e-04 9.99754870e-01 2.29628931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:67.72, Z:22.96 [[ 5.16811282e-01 -8.56021826e-01 -1.15209183e-02 2.30214893e+02] [ 8.55813010e-01 5.16939673e-01 -1.89068101e-02 6.77202147e+01] [ 2.21402618e-02 -8.84990445e-05 9.99754870e-01 2.29636220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.23, Y:67.74, Z:22.96 [[ 5.17314871e-01 -8.55717657e-01 -1.15158742e-02 2.30230514e+02] [ 8.55508696e-01 5.17443028e-01 -1.89098819e-02 6.77438228e+01] [ 2.21403286e-02 -6.95673667e-05 9.99754870e-01 2.29643727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.24, Y:67.77, Z:22.96 [[ 5.16004912e-01 -8.56508278e-01 -1.15108634e-02 2.30244919e+02] [ 8.56299446e-01 5.16133277e-01 -1.89129316e-02 6.77673238e+01] [ 2.21402221e-02 -9.75803703e-05 9.99754870e-01 2.29612133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.26, Y:67.79, Z:22.97 [[ 5.18801770e-01 -8.54817770e-01 -1.14587406e-02 2.30261870e+02] [ 8.54607818e-01 5.18928298e-01 -1.89446373e-02 6.77895306e+01] [ 2.21404774e-02 3.57820717e-05 9.99754869e-01 2.29657257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.28, Y:67.81, Z:22.97 [[ 5.19392451e-01 -8.54458392e-01 -1.15038469e-02 2.30277336e+02] [ 8.54248958e-01 5.19519833e-01 -1.89172075e-02 6.78130754e+01] [ 2.21404433e-02 -1.69447594e-06 9.99754870e-01 2.29661876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.29, Y:67.84, Z:22.97 [[ 5.19998061e-01 -8.54090040e-01 -1.14986987e-02 2.30292533e+02] [ 8.53880447e-01 5.20125180e-01 -1.89203363e-02 6.78367662e+01] [ 2.21404335e-02 2.00242460e-05 9.99754870e-01 2.29664899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.31, Y:67.86, Z:22.97 [[ 5.21305264e-01 -8.53292869e-01 -1.14935762e-02 2.30307898e+02] [ 8.53083013e-01 5.21431948e-01 -1.89234476e-02 6.78602248e+01] [ 2.21403607e-02 5.99182368e-05 9.99754870e-01 2.29663883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.32, Y:67.88, Z:22.96 [[ 5.20500441e-01 -8.53784110e-01 -1.14884780e-02 2.30321775e+02] [ 8.53574305e-01 5.20627210e-01 -1.89265422e-02 6.78843468e+01] [ 2.21403952e-02 4.50039213e-05 9.99754870e-01 2.29635876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.34, Y:67.91, Z:22.96 [[ 5.20274465e-01 -8.53922134e-01 -1.14660247e-02 2.30336535e+02] [ 8.53712063e-01 5.20400792e-01 -1.89401659e-02 6.79088558e+01] [ 2.21403553e-02 6.54010695e-05 9.99754870e-01 2.29642080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.35, Y:67.93, Z:22.97 [[ 5.22416065e-01 -8.52613693e-01 -1.14606403e-02 2.30352659e+02] [ 8.52403233e-01 5.22541745e-01 -1.89434309e-02 6.79317135e+01] [ 2.21400916e-02 1.27265828e-04 9.99754870e-01 2.29672207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.37, Y:67.96, Z:22.97 [[ 5.22638819e-01 -8.52476955e-01 -1.14763484e-02 2.30367694e+02] [ 8.52266671e-01 5.22764793e-01 -1.89339098e-02 6.79554229e+01] [ 2.21401527e-02 1.14687025e-04 9.99754870e-01 2.29677597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.38, Y:67.98, Z:22.97 [[ 5.22735425e-01 -8.52417788e-01 -1.14712462e-02 2.30383851e+02] [ 8.52207422e-01 5.22861262e-01 -1.89370005e-02 6.79789034e+01] [ 2.21401064e-02 1.23159870e-04 9.99754870e-01 2.29684818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:68.00, Z:22.97 [[ 5.22128383e-01 -8.52789821e-01 -1.14661587e-02 2.30399010e+02] [ 8.52579478e-01 5.22254256e-01 -1.89400805e-02 6.80029621e+01] [ 2.21401580e-02 1.13342034e-04 9.99754870e-01 2.29692034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:68.03, Z:22.97 [[ 5.18708796e-01 -8.54874155e-01 -1.14613679e-02 2.30412498e+02] [ 8.54664253e-01 5.18835405e-01 -1.89429791e-02 6.80264538e+01] [ 2.21404267e-02 3.02684063e-05 9.99754870e-01 2.29678614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:68.05, Z:22.97 [[ 5.19568728e-01 -8.54352744e-01 -1.13897120e-02 2.30430806e+02] [ 8.54141762e-01 5.19693535e-01 -1.89863060e-02 6.80506286e+01] [ 2.21401623e-02 1.36262202e-04 9.99754867e-01 2.29718687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.45, Y:68.07, Z:22.97 [[ 5.18055972e-01 -8.55270009e-01 -1.14551941e-02 2.30445462e+02] [ 8.55060121e-01 5.18182604e-01 -1.89467156e-02 6.80733687e+01] [ 2.21404399e-02 2.05795326e-05 9.99754870e-01 2.29721637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.46, Y:68.10, Z:22.97 [[ 5.14994458e-01 -8.57117027e-01 -1.14503537e-02 2.30460893e+02] [ 8.56907528e-01 5.15121733e-01 -1.89496404e-02 6.80966754e+01] [ 2.21403854e-02 -5.29345180e-05 9.99754870e-01 2.29730253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.48, Y:68.12, Z:22.97 [[ 5.13840699e-01 -8.57809270e-01 -1.14451684e-02 2.30475227e+02] [ 8.57599873e-01 5.13968141e-01 -1.89527716e-02 6.81205557e+01] [ 2.21403151e-02 -7.66695888e-05 9.99754870e-01 2.29733789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:68.14, Z:22.97 [[ 5.12710515e-01 -8.58485326e-01 -1.14399345e-02 2.30489657e+02] [ 8.58276027e-01 5.12838117e-01 -1.89559303e-02 6.81447405e+01] [ 2.21402225e-02 -9.97167053e-05 9.99754870e-01 2.29735696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.50, Y:68.17, Z:22.97 [[ 5.10912205e-01 -8.59556843e-01 -1.14347382e-02 2.30503902e+02] [ 8.59347741e-01 5.11040130e-01 -1.89590643e-02 6.81675516e+01] [ 2.21400036e-02 -1.39999102e-04 9.99754870e-01 2.29739991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.52, Y:68.19, Z:22.97 [[ 5.09859020e-01 -8.60182046e-01 -1.14292521e-02 2.30518325e+02] [ 8.59973026e-01 5.09987081e-01 -1.89623710e-02 6.81917637e+01] [ 2.21398620e-02 -1.60712554e-04 9.99754870e-01 2.29746341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:68.22, Z:22.97 [[ 5.09139188e-01 -8.60608376e-01 -1.14241133e-02 2.30531673e+02] [ 8.60399394e-01 5.09267311e-01 -1.89654664e-02 6.82153338e+01] [ 2.21397667e-02 -1.73238007e-04 9.99754870e-01 2.29749633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.54, Y:68.24, Z:22.98 [[ 5.07950534e-01 -8.61310531e-01 -1.14203686e-02 2.30544618e+02] [ 8.61101675e-01 5.08078862e-01 -1.89677211e-02 6.82404722e+01] [ 2.21395458e-02 -1.99434498e-04 9.99754870e-01 2.29751159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.56, Y:68.27, Z:22.98 [[ 5.07073338e-01 -8.61827315e-01 -1.14152900e-02 2.30558100e+02] [ 8.61618522e-01 5.07201767e-01 -1.89707771e-02 6.82650596e+01] [ 2.21393891e-02 -2.16050046e-04 9.99754870e-01 2.29760304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:68.29, Z:22.98 [[ 5.06321513e-01 -8.62269295e-01 -1.14100347e-02 2.30571535e+02] [ 8.62060542e-01 5.06450008e-01 -1.89739374e-02 6.82897031e+01] [ 2.21392557e-02 -2.29227987e-04 9.99754870e-01 2.29759429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.58, Y:68.32, Z:22.98 [[ 5.04498617e-01 -8.63337173e-01 -1.14048304e-02 2.30584601e+02] [ 8.63128623e-01 5.04627439e-01 -1.89770650e-02 6.83156577e+01] [ 2.21387960e-02 -2.69932494e-04 9.99754870e-01 2.29772105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:68.34, Z:22.98 [[ 5.04079988e-01 -8.63581251e-01 -1.14363268e-02 2.30597431e+02] [ 8.63373190e-01 5.04209602e-01 -1.89581456e-02 6.83386118e+01] [ 2.21382048e-02 -3.17396156e-04 9.99754870e-01 2.29774533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.61, Y:68.36, Z:22.98 [[ 5.03528332e-01 -8.63903566e-01 -1.13950761e-02 2.30611545e+02] [ 8.63695027e-01 5.03657174e-01 -1.89829076e-02 6.83633734e+01] [ 2.21386134e-02 -2.83438703e-04 9.99754871e-01 2.29794347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.62, Y:68.39, Z:22.98 [[ 5.02845340e-01 -8.64301355e-01 -1.13900087e-02 2.30624998e+02] [ 8.64092849e-01 5.02974236e-01 -1.89859476e-02 6.83876973e+01] [ 2.21384612e-02 -2.95029752e-04 9.99754871e-01 2.29812577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.64, Y:68.41, Z:22.98 [[ 5.02657387e-01 -8.64410744e-01 -1.13849726e-02 2.30637658e+02] [ 8.64202198e-01 5.02786217e-01 -1.89889671e-02 6.84128246e+01] [ 2.21384744e-02 -2.93973760e-04 9.99754871e-01 2.29837046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:68.44, Z:22.98 [[ 5.02667178e-01 -8.64405118e-01 -1.13798011e-02 2.30650861e+02] [ 8.64196501e-01 5.02795892e-01 -1.89920657e-02 6.84371211e+01] [ 2.21385561e-02 -2.87696218e-04 9.99754871e-01 2.29847027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:68.46, Z:22.99 [[ 5.02959348e-01 -8.64235220e-01 -1.13745050e-02 2.30663636e+02] [ 8.64026487e-01 5.03087875e-01 -1.89952371e-02 6.84609831e+01] [ 2.21387285e-02 -2.74041467e-04 9.99754871e-01 2.29850078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:68.49, Z:22.98 [[ 5.04310152e-01 -8.63447728e-01 -1.13706385e-02 2.30675914e+02] [ 8.63238743e-01 5.04438268e-01 -1.89975514e-02 6.84867673e+01] [ 2.21391777e-02 -2.34917627e-04 9.99754871e-01 2.29845496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:68.51, Z:22.98 [[ 5.05204398e-01 -8.62924876e-01 -1.13654536e-02 2.30689015e+02] [ 8.62715689e-01 5.05332183e-01 -1.90006527e-02 6.85113883e+01] [ 2.21394654e-02 -2.05941845e-04 9.99754871e-01 2.29849217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.216875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:230.70, Y:68.54, Z:22.98 [[ 5.07812082e-01 -8.61392961e-01 -1.13602778e-02 2.30701143e+02] [ 8.61183319e-01 5.07939120e-01 -1.90037468e-02 6.85363863e+01] [ 2.21400232e-02 -1.32949467e-04 9.99754871e-01 2.29843711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.71, Y:68.56, Z:22.98 [[ 5.08876522e-01 -8.60764629e-01 -1.13551145e-02 2.30713670e+02] [ 8.60554761e-01 5.09003186e-01 -1.90068315e-02 6.85606305e+01] [ 2.21401977e-02 -9.95675266e-05 9.99754871e-01 2.29835936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.73, Y:68.59, Z:22.98 [[ 5.10278830e-01 -8.59934126e-01 -1.13496597e-02 2.30726906e+02] [ 8.59723979e-01 5.10405031e-01 -1.90100881e-02 6.85852276e+01] [ 2.21403470e-02 -5.71291074e-05 9.99754871e-01 2.29846325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:68.61, Z:22.98 [[ 5.13144234e-01 -8.58227418e-01 -1.13443276e-02 2.30738602e+02] [ 8.58016782e-01 5.13269616e-01 -1.90132696e-02 6.86099387e+01] [ 2.21404079e-02 2.29262532e-05 9.99754871e-01 2.29849718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.75, Y:68.63, Z:22.99 [[ 5.14270770e-01 -8.57552908e-01 -1.13395443e-02 2.30751449e+02] [ 8.57342044e-01 5.14395768e-01 -1.90161219e-02 6.86345242e+01] [ 2.21403443e-02 5.75675666e-05 9.99754871e-01 2.29858354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.76, Y:68.66, Z:22.99 [[ 5.15290913e-01 -8.56940377e-01 -1.13342733e-02 2.30763958e+02] [ 8.56729295e-01 5.15415544e-01 -1.90192631e-02 6.86585982e+01] [ 2.21402351e-02 9.00495177e-05 9.99754871e-01 2.29859132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.78, Y:68.68, Z:22.99 [[ 5.16786002e-01 -8.56039654e-01 -1.13287323e-02 2.30775744e+02] [ 8.55828282e-01 5.16910141e-01 -1.90225630e-02 6.86837917e+01] [ 2.21400048e-02 1.35144773e-04 9.99754871e-01 2.29863195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.79, Y:68.71, Z:22.99 [[ 5.17149905e-01 -8.55819930e-01 -1.13235864e-02 2.30789395e+02] [ 8.55608439e-01 5.17273839e-01 -1.90256257e-02 6.87083955e+01] [ 2.21399047e-02 1.50544481e-04 9.99754871e-01 2.29871241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.80, Y:68.73, Z:22.99 [[ 5.17233351e-01 -8.55769568e-01 -1.13184648e-02 2.30802817e+02] [ 8.55557998e-01 5.17357151e-01 -1.90286721e-02 6.87327474e+01] [ 2.21398472e-02 1.58660694e-04 9.99754871e-01 2.29878158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.82, Y:68.76, Z:22.99 [[ 5.17092971e-01 -8.55854468e-01 -1.13131897e-02 2.30815718e+02] [ 8.55642850e-01 5.17216689e-01 -1.90318078e-02 6.87566270e+01] [ 2.21398283e-02 1.61164129e-04 9.99754871e-01 2.29880823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.83, Y:68.78, Z:22.99 [[ 5.16729554e-01 -8.56073997e-01 -1.13084357e-02 2.30829344e+02] [ 8.55862369e-01 5.16853255e-01 -1.90346321e-02 6.87814793e+01] [ 2.21398554e-02 1.57292397e-04 9.99754871e-01 2.29884930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.84, Y:68.81, Z:22.99 [[ 5.15297840e-01 -8.56936623e-01 -1.13030934e-02 2.30842279e+02] [ 8.56725133e-01 5.15421777e-01 -1.90378040e-02 6.88056344e+01] [ 2.21400519e-02 1.26495049e-04 9.99754871e-01 2.29886186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.86, Y:68.83, Z:22.99 [[ 5.14285683e-01 -8.57544509e-01 -1.12983035e-02 2.30856576e+02] [ 8.57333103e-01 5.14409763e-01 -1.90406462e-02 6.88303358e+01] [ 2.21401592e-02 1.05922082e-04 9.99754871e-01 2.29890099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.87, Y:68.85, Z:22.99 [[ 5.12986662e-01 -8.58322289e-01 -1.12930346e-02 2.30870105e+02] [ 8.58111003e-01 5.13110945e-01 -1.90437707e-02 6.88538267e+01] [ 2.21402725e-02 7.85230592e-05 9.99754871e-01 2.29888311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.88, Y:68.88, Z:22.99 [[ 5.10675163e-01 -8.59699618e-01 -1.12891881e-02 2.30884425e+02] [ 8.59488616e-01 5.10799929e-01 -1.90460506e-02 6.88780487e+01] [ 2.21403989e-02 2.34162870e-05 9.99754871e-01 2.29890127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.90, Y:68.90, Z:22.99 [[ 5.09472852e-01 -8.60412740e-01 -1.12840779e-02 2.30898875e+02] [ 8.60201846e-01 5.09597799e-01 -1.90490777e-02 6.89025747e+01] [ 2.21404104e-02 -1.59665875e-06 9.99754871e-01 2.29894581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.91, Y:68.93, Z:22.99 [[ 5.08159762e-01 -8.61188969e-01 -1.12790139e-02 2.30912917e+02] [ 8.60978199e-01 5.08284919e-01 -1.90520757e-02 6.89267741e+01] [ 2.21403901e-02 -2.94868899e-05 9.99754871e-01 2.29901706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.93, Y:68.95, Z:22.99 [[ 5.05703023e-01 -8.62633961e-01 -1.12739322e-02 2.30927190e+02] [ 8.62423482e-01 5.05828668e-01 -1.90550823e-02 6.89510848e+01] [ 2.21402392e-02 -8.66911873e-05 9.99754871e-01 2.29910580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.94, Y:68.98, Z:22.99 [[ 5.04077910e-01 -8.63584667e-01 -1.12686976e-02 2.30941409e+02] [ 8.63374355e-01 5.04203836e-01 -1.90581774e-02 6.89750285e+01] [ 2.21400703e-02 -1.22298314e-04 9.99754871e-01 2.29922140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.786875 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:230.96, Y:69.00, Z:22.99 [[ 5.02452825e-01 -8.64531256e-01 -1.12634839e-02 2.30956165e+02] [ 8.64321113e-01 5.02579031e-01 -1.90612582e-02 6.89990356e+01] [ 2.21398443e-02 -1.57883938e-04 9.99754871e-01 2.29922125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.97, Y:69.02, Z:23.00 [[ 5.00103269e-01 -8.65892244e-01 -1.12846244e-02 2.30970216e+02] [ 8.65682725e-01 5.00230510e-01 -1.90487713e-02 6.90205223e+01] [ 2.21390967e-02 -2.42551658e-04 9.99754871e-01 2.29956756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.98, Y:69.04, Z:23.00 [[ 4.98714587e-01 -8.66693203e-01 -1.12539856e-02 2.30984154e+02] [ 8.66483481e-01 4.98841491e-01 -1.90668555e-02 6.90436643e+01] [ 2.21390690e-02 -2.42473646e-04 9.99754871e-01 2.29965781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:69.07, Z:23.00 [[ 4.97777522e-01 -8.67231808e-01 -1.12485447e-02 2.30998985e+02] [ 8.67022151e-01 4.97904532e-01 -1.90700648e-02 6.90676309e+01] [ 2.21388682e-02 -2.60087833e-04 9.99754871e-01 2.29979290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.01, Y:69.09, Z:23.00 [[ 4.97653186e-01 -8.67303233e-01 -1.12431781e-02 2.31013507e+02] [ 8.67093522e-01 4.97780108e-01 -1.90732283e-02 6.90917701e+01] [ 2.21389030e-02 -2.57034086e-04 9.99754871e-01 2.29986254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:69.12, Z:23.00 [[ 4.97462284e-01 -8.67412813e-01 -1.12377876e-02 2.31027258e+02] [ 8.67203058e-01 4.97589134e-01 -1.90764038e-02 6.91150513e+01] [ 2.21389181e-02 -2.55652318e-04 9.99754871e-01 2.29985340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.04, Y:69.14, Z:23.00 [[ 4.97712453e-01 -8.67269341e-01 -1.12341159e-02 2.31041764e+02] [ 8.67059501e-01 4.97839162e-01 -1.90785658e-02 6.91386894e+01] [ 2.21390381e-02 -2.45007140e-04 9.99754871e-01 2.29993141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.06, Y:69.16, Z:23.00 [[ 4.98613635e-01 -8.66751613e-01 -1.12287179e-02 2.31056126e+02] [ 8.66541570e-01 4.98740007e-01 -1.90817423e-02 6.91622555e+01] [ 2.21393418e-02 -2.15733941e-04 9.99754871e-01 2.29996216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.07, Y:69.19, Z:23.00 [[ 4.99341725e-01 -8.66332423e-01 -1.12238521e-02 2.31070122e+02] [ 8.66122209e-01 4.99467813e-01 -1.90846040e-02 6.91862876e+01] [ 2.21395640e-02 -1.91488475e-04 9.99754871e-01 2.29998861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.08, Y:69.21, Z:23.00 [[ 5.00011215e-01 -8.65946261e-01 -1.12185999e-02 2.31083947e+02] [ 8.65735881e-01 5.00137025e-01 -1.90876908e-02 6.92105228e+01] [ 2.21397517e-02 -1.68285006e-04 9.99754872e-01 2.30000944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.10, Y:69.24, Z:23.00 [[ 5.02271610e-01 -8.64637201e-01 -1.12133800e-02 2.31097864e+02] [ 8.64426425e-01 5.02396755e-01 -1.90907569e-02 6.92354090e+01] [ 2.21401443e-02 -1.04396795e-04 9.99754872e-01 2.29996171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.11, Y:69.26, Z:23.00 [[ 5.03178868e-01 -8.64109602e-01 -1.12081318e-02 2.31111038e+02] [ 8.63898626e-01 5.03303675e-01 -1.90938376e-02 6.92585436e+01] [ 2.21402623e-02 -7.50741143e-05 9.99754872e-01 2.29995123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.13, Y:69.28, Z:23.00 [[ 5.04150352e-01 -8.63543217e-01 -1.12042999e-02 2.31125032e+02] [ 8.63332050e-01 5.04274837e-01 -1.90960859e-02 6.92827535e+01] [ 2.21403419e-02 -4.57327403e-05 9.99754872e-01 2.30001409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.14, Y:69.31, Z:23.00 [[ 5.04971664e-01 -8.63063264e-01 -1.11991648e-02 2.31138583e+02] [ 8.62851912e-01 5.05095834e-01 -1.90990970e-02 6.93066499e+01] [ 2.21403805e-02 -1.87179710e-05 9.99754872e-01 2.30006932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.15, Y:69.33, Z:23.00 [[ 5.06938760e-01 -8.61909388e-01 -1.11937465e-02 2.31152356e+02] [ 8.61697684e-01 5.07062329e-01 -1.91022721e-02 6.93306611e+01] [ 2.21403548e-02 3.80567215e-05 9.99754872e-01 2.30024349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.17, Y:69.35, Z:23.00 [[ 5.07587661e-01 -8.61527473e-01 -1.11884041e-02 2.31165401e+02] [ 8.61315606e-01 5.07710951e-01 -1.91054007e-02 6.93540562e+01] [ 2.21403028e-02 6.09186083e-05 9.99754872e-01 2.30032413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:69.38, Z:23.00 [[ 5.08796632e-01 -8.60814085e-01 -1.11847710e-02 2.31178930e+02] [ 8.60601998e-01 5.08919544e-01 -1.91075273e-02 6.93781179e+01] [ 2.21401772e-02 9.62093050e-05 9.99754872e-01 2.30043577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:69.40, Z:23.00 [[ 5.08563432e-01 -8.60951945e-01 -1.11796008e-02 2.31193297e+02] [ 8.60739826e-01 5.08686287e-01 -1.91105518e-02 6.94028544e+01] [ 2.21401764e-02 9.62001375e-05 9.99754872e-01 2.30049883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.21, Y:69.43, Z:23.01 [[ 5.11104439e-01 -8.59445975e-01 -1.11744220e-02 2.31205440e+02] [ 8.59233428e-01 5.11226552e-01 -1.91135796e-02 6.94270878e+01] [ 2.21397502e-02 1.67598455e-04 9.99754872e-01 2.30059468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:69.45, Z:23.01 [[ 5.12419327e-01 -8.58662732e-01 -1.11689608e-02 2.31219035e+02] [ 8.58449929e-01 5.12540992e-01 -1.91167703e-02 6.94518990e+01] [ 2.21394084e-02 2.07808955e-04 9.99754872e-01 2.30064164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:69.48, Z:23.01 [[ 5.13283746e-01 -8.58146354e-01 -1.11638201e-02 2.31232636e+02] [ 8.57933363e-01 5.13405083e-01 -1.91197718e-02 6.94768070e+01] [ 2.21391245e-02 2.36054348e-04 9.99754872e-01 2.30065975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.25, Y:69.50, Z:23.01 [[ 5.14955289e-01 -8.57144407e-01 -1.11586570e-02 2.31245534e+02] [ 8.56931115e-01 5.15076095e-01 -1.91227846e-02 6.95015155e+01] [ 2.21385454e-02 2.85178662e-04 9.99754872e-01 2.30064403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:69.53, Z:23.01 [[ 5.15212893e-01 -8.56989660e-01 -1.11534070e-02 2.31258354e+02] [ 8.56776265e-01 5.15333518e-01 -1.91258463e-02 6.95255492e+01] [ 2.21383769e-02 2.97908236e-04 9.99754872e-01 2.30057568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.27, Y:69.55, Z:23.01 [[ 5.15363465e-01 -8.56899169e-01 -1.11495686e-02 2.31272276e+02] [ 8.56685704e-01 5.15483967e-01 -1.91280836e-02 6.95504464e+01] [ 2.21382628e-02 3.06239455e-04 9.99754872e-01 2.30059510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.50687500000004 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:231.29, Y:69.57, Z:23.00 [[ 5.14755539e-01 -8.57264569e-01 -1.11442306e-02 2.31285898e+02] [ 8.57051123e-01 5.14876073e-01 -1.91311931e-02 6.95741480e+01] [ 2.21383917e-02 2.96712281e-04 9.99754872e-01 2.30049500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.30, Y:69.60, Z:23.01 [[ 5.14472919e-01 -8.57433868e-01 -1.11703853e-02 2.31298660e+02] [ 8.57220791e-01 5.14594107e-01 -1.91159661e-02 6.95952943e+01] [ 2.21388912e-02 2.59160313e-04 9.99754871e-01 2.30060995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.31, Y:69.62, Z:23.01 [[ 5.12892787e-01 -8.58381031e-01 -1.10903281e-02 2.31313286e+02] [ 8.58167167e-01 5.13012583e-01 -1.91625522e-02 6.96199559e+01] [ 2.21382491e-02 3.10979333e-04 9.99754871e-01 2.30073895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.33, Y:69.64, Z:23.01 [[ 5.10445246e-01 -8.59838180e-01 -1.11335021e-02 2.31327966e+02] [ 8.59625206e-01 5.10566611e-01 -1.91374350e-02 6.96440645e+01] [ 2.21394918e-02 1.97973678e-04 9.99754872e-01 2.30088163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.34, Y:69.67, Z:23.01 [[ 5.09084453e-01 -8.60644631e-01 -1.11282643e-02 2.31342417e+02] [ 8.60431782e-01 5.09206039e-01 -1.91404803e-02 6.96677735e+01] [ 2.21397310e-02 1.69008716e-04 9.99754872e-01 2.30098878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.36, Y:69.69, Z:23.01 [[ 5.07557261e-01 -8.61546230e-01 -1.11229312e-02 2.31356885e+02] [ 8.61333529e-01 5.07679106e-01 -1.91435790e-02 6.96914437e+01] [ 2.21399581e-02 1.35908903e-04 9.99754872e-01 2.30105655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.37, Y:69.72, Z:23.01 [[ 5.05878677e-01 -8.62532992e-01 -1.11176281e-02 2.31371226e+02] [ 8.62320461e-01 5.06000818e-01 -1.91466583e-02 6.97150906e+01] [ 2.21401534e-02 9.89279202e-05 9.99754872e-01 2.30111233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.39, Y:69.74, Z:23.01 [[ 5.03732876e-01 -8.63787998e-01 -1.11123394e-02 2.31386428e+02] [ 8.63575704e-01 5.03855428e-01 -1.91497273e-02 6.97381333e+01] [ 2.21403171e-02 5.00008919e-05 9.99754872e-01 2.30118909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:69.76, Z:23.01 [[ 5.02968384e-01 -8.64233443e-01 -1.11067705e-02 2.31400539e+02] [ 8.64021186e-01 5.03091000e-01 -1.91529566e-02 6.97621199e+01] [ 2.21403419e-02 3.68466517e-05 9.99754872e-01 2.30123596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.41, Y:69.78, Z:23.01 [[ 5.02194050e-01 -8.64683694e-01 -1.11015960e-02 2.31414269e+02] [ 8.64471481e-01 5.02316741e-01 -1.91559555e-02 6.97849672e+01] [ 2.21403599e-02 2.29937355e-05 9.99754872e-01 2.30118991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.43, Y:69.81, Z:23.01 [[ 5.02040904e-01 -8.64772691e-01 -1.10961463e-02 2.31428393e+02] [ 8.64560429e-01 5.02163512e-01 -1.91591117e-02 6.98090391e+01] [ 2.21403564e-02 2.53687038e-05 9.99754872e-01 2.30127329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.44, Y:69.83, Z:23.01 [[ 5.01940671e-01 -8.64830940e-01 -1.10908706e-02 2.31442377e+02] [ 8.64618626e-01 5.02063187e-01 -1.91621652e-02 6.98333095e+01] [ 2.21403512e-02 2.88967675e-05 9.99754872e-01 2.30129188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:69.86, Z:23.01 [[ 5.01655439e-01 -8.64996491e-01 -1.10855997e-02 2.31457268e+02] [ 8.64784150e-01 5.01777908e-01 -1.91652140e-02 6.98584939e+01] [ 2.21403519e-02 2.76829631e-05 9.99754872e-01 2.30107156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:69.88, Z:23.01 [[ 5.02434140e-01 -8.64543427e-01 -1.11623153e-02 2.31470770e+02] [ 8.64331957e-01 5.02558117e-01 -1.91208449e-02 6.98820238e+01] [ 2.21405129e-02 -4.09805347e-05 9.99754868e-01 2.30119246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.48, Y:69.91, Z:23.01 [[ 5.02483591e-01 -8.64515766e-01 -1.10784470e-02 2.31484856e+02] [ 8.64303216e-01 5.02605698e-01 -1.91693147e-02 6.99063887e+01] [ 2.21402653e-02 5.71287053e-05 9.99754873e-01 2.30122018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:69.93, Z:23.01 [[ 5.02512896e-01 -8.64498800e-01 -1.10731577e-02 2.31499230e+02] [ 8.64286179e-01 5.02634879e-01 -1.91723696e-02 6.99308823e+01] [ 2.21402458e-02 6.39858163e-05 9.99754873e-01 2.30124087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:69.95, Z:23.01 [[ 5.02115520e-01 -8.64729732e-01 -1.10677596e-02 2.31513122e+02] [ 8.64517098e-01 5.02237481e-01 -1.91754852e-02 6.99544198e+01] [ 2.21402559e-02 6.00412866e-05 9.99754873e-01 2.30125795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.53, Y:69.98, Z:23.01 [[ 5.01567475e-01 -8.65047791e-01 -1.10629188e-02 2.31527242e+02] [ 8.64835173e-01 5.01689463e-01 -1.91782777e-02 6.99777692e+01] [ 2.21402765e-02 5.15990181e-05 9.99754873e-01 2.30129490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.54, Y:70.00, Z:23.01 [[ 5.00979250e-01 -8.65388656e-01 -1.10573461e-02 2.31541767e+02] [ 8.65176051e-01 5.01101259e-01 -1.91814901e-02 7.00021049e+01] [ 2.21402940e-02 4.29774722e-05 9.99754873e-01 2.30135314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:70.03, Z:23.01 [[ 4.99432921e-01 -8.66282059e-01 -1.10521863e-02 2.31557147e+02] [ 8.66069606e-01 4.99555196e-01 -1.91844627e-02 7.00258678e+01] [ 2.21403329e-02 9.38959009e-06 9.99754873e-01 2.30145411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.57, Y:70.05, Z:23.02 [[ 4.98406479e-01 -8.66873085e-01 -1.10469844e-02 2.31572023e+02] [ 8.66660711e-01 4.98528890e-01 -1.91874576e-02 7.00497303e+01] [ 2.21403314e-02 -1.08341701e-05 9.99754873e-01 2.30155626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:70.07, Z:23.02 [[ 4.96899441e-01 -8.67737880e-01 -1.10416409e-02 2.31586108e+02] [ 8.67525650e-01 4.97022102e-01 -1.91905321e-02 7.00724338e+01] [ 2.21402912e-02 -4.31420245e-05 9.99754873e-01 2.30160309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:70.09, Z:23.02 [[ 4.94343503e-01 -8.69196587e-01 -1.10360146e-02 2.31600937e+02] [ 8.68984647e-01 4.94466665e-01 -1.91937671e-02 7.00949796e+01] [ 2.21400982e-02 -1.01813228e-04 9.99754873e-01 2.30154660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:70.12, Z:23.02 [[ 4.93212981e-01 -8.69838632e-01 -1.10321626e-02 2.31615513e+02] [ 8.69626803e-01 4.93336333e-01 -1.91959809e-02 7.01194412e+01] [ 2.21399724e-02 -1.26157361e-04 9.99754873e-01 2.30167576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.63, Y:70.14, Z:23.02 [[ 4.92083945e-01 -8.70477915e-01 -1.10267895e-02 2.31629219e+02] [ 8.70266177e-01 4.92207453e-01 -1.91990669e-02 7.01431759e+01] [ 2.21398317e-02 -1.48689355e-04 9.99754873e-01 2.30167794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.64, Y:70.17, Z:23.02 [[ 4.90821211e-01 -8.71190585e-01 -1.10228611e-02 2.31643094e+02] [ 8.70978975e-01 4.90944940e-01 -1.92013220e-02 7.01674572e+01] [ 2.21396288e-02 -1.76264189e-04 9.99754873e-01 2.30182459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.66, Y:70.19, Z:23.02 [[ 4.90281081e-01 -8.71494736e-01 -1.10175807e-02 2.31656919e+02] [ 8.71283135e-01 4.90404824e-01 -1.92043514e-02 7.01924475e+01] [ 2.21395659e-02 -1.83902138e-04 9.99754873e-01 2.30192261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:70.22, Z:23.02 [[ 4.89582288e-01 -8.71887558e-01 -1.10122428e-02 2.31669529e+02] [ 8.71675988e-01 4.89706083e-01 -1.92074118e-02 7.02172510e+01] [ 2.21394657e-02 -1.95499036e-04 9.99754873e-01 2.30207311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:70.24, Z:23.02 [[ 4.88981435e-01 -8.72224745e-01 -1.10068684e-02 2.31682861e+02] [ 8.72013190e-01 4.89105258e-01 -1.92104911e-02 7.02422698e+01] [ 2.21393829e-02 -2.04560907e-04 9.99754873e-01 2.30218577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:70.27, Z:23.02 [[ 4.88264343e-01 -8.72626437e-01 -1.10014741e-02 2.31695681e+02] [ 8.72414915e-01 4.88388221e-01 -1.92135798e-02 7.02666251e+01] [ 2.21392681e-02 -2.16544195e-04 9.99754873e-01 2.30218332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:70.29, Z:23.02 [[ 4.87246329e-01 -8.73195333e-01 -1.09966134e-02 2.31707447e+02] [ 8.72983893e-01 4.87370346e-01 -1.92163614e-02 7.02908710e+01] [ 2.21390604e-02 -2.36764810e-04 9.99754873e-01 2.30225969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.72, Y:70.32, Z:23.02 [[ 4.86658873e-01 -8.73522944e-01 -1.09912100e-02 2.31720182e+02] [ 8.73311518e-01 4.86782914e-01 -1.92194515e-02 7.03155466e+01] [ 2.21389651e-02 -2.45433717e-04 9.99754873e-01 2.30237098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:70.34, Z:23.02 [[ 4.86131346e-01 -8.73816699e-01 -1.09859728e-02 2.31732842e+02] [ 8.73605279e-01 4.86255399e-01 -1.92224447e-02 7.03401871e+01] [ 2.21388817e-02 -2.52770911e-04 9.99754873e-01 2.30244134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.75, Y:70.37, Z:23.03 [[ 4.85625838e-01 -8.74097805e-01 -1.09806266e-02 2.31745722e+02] [ 8.73886388e-01 4.85749895e-01 -1.92254981e-02 7.03652406e+01] [ 2.21388039e-02 -2.59421525e-04 9.99754873e-01 2.30251605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:70.39, Z:23.03 [[ 4.85036939e-01 -8.74424790e-01 -1.09751710e-02 2.31757473e+02] [ 8.74213387e-01 4.85161020e-01 -1.92286120e-02 7.03900976e+01] [ 2.21387002e-02 -2.68054270e-04 9.99754873e-01 2.30269159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.77, Y:70.41, Z:23.03 [[ 4.84802594e-01 -8.74554800e-01 -1.09702510e-02 2.31769535e+02] [ 8.74343367e-01 4.84926623e-01 -1.92314186e-02 7.04138539e+01] [ 2.21386962e-02 -2.68324552e-04 9.99754873e-01 2.30274859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.78, Y:70.44, Z:23.03 [[ 4.84888447e-01 -8.74507264e-01 -1.09654036e-02 2.31782015e+02] [ 8.74295756e-01 4.85012348e-01 -1.92341821e-02 7.04386079e+01] [ 2.21387881e-02 -2.60573138e-04 9.99754873e-01 2.30285065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:70.46, Z:23.03 [[ 4.85265436e-01 -8.74298194e-01 -1.09600989e-02 2.31794305e+02] [ 8.74086565e-01 4.85389130e-01 -1.92372043e-02 7.04628096e+01] [ 2.21389659e-02 -2.44924894e-04 9.99754873e-01 2.30289967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:70.49, Z:23.03 [[ 4.86338384e-01 -8.73701880e-01 -1.09545032e-02 2.31805329e+02] [ 8.73490027e-01 4.86461694e-01 -1.92403902e-02 7.04893066e+01] [ 2.21393113e-02 -2.11309053e-04 9.99754873e-01 2.30291161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.82, Y:70.51, Z:23.03 [[ 4.86885547e-01 -8.73397148e-01 -1.09492590e-02 2.31817529e+02] [ 8.73185150e-01 4.87008609e-01 -1.92433741e-02 7.05145848e+01] [ 2.21394915e-02 -1.91409654e-04 9.99754873e-01 2.30293371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.83, Y:70.54, Z:23.03 [[ 4.88203816e-01 -8.72661024e-01 -1.09440289e-02 2.31827773e+02] [ 8.72448774e-01 4.88326443e-01 -1.92463481e-02 7.05395459e+01] [ 2.21397966e-02 -1.51963950e-04 9.99754873e-01 2.30293247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.84, Y:70.56, Z:23.03 [[ 4.88497502e-01 -8.72496728e-01 -1.09385014e-02 2.31839834e+02] [ 8.72284367e-01 4.88619935e-01 -1.92494891e-02 7.05635308e+01] [ 2.21398861e-02 -1.38156376e-04 9.99754873e-01 2.30295189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.85, Y:70.59, Z:23.03 [[ 4.88983032e-01 -8.72224778e-01 -1.09330530e-02 2.31852504e+02] [ 8.72012279e-01 4.89105227e-01 -1.92525831e-02 7.05883102e+01] [ 2.21399934e-02 -1.19569952e-04 9.99754873e-01 2.30301828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:70.61, Z:23.03 [[ 4.90750900e-01 -8.71231389e-01 -1.09279708e-02 2.31864101e+02] [ 8.71018579e-01 4.90872551e-01 -1.92554674e-02 7.06144660e+01] [ 2.21402085e-02 -6.88275849e-05 9.99754873e-01 2.30309723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.88, Y:70.64, Z:23.03 [[ 4.92005324e-01 -8.70523667e-01 -1.09227594e-02 2.31876731e+02] [ 8.70310616e-01 4.92126553e-01 -1.92584231e-02 7.06396459e+01] [ 2.21402931e-02 -3.09467466e-05 9.99754873e-01 2.30319437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.856875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.89, Y:70.66, Z:23.03 [[ 4.93534353e-01 -8.69657779e-01 -1.09173831e-02 2.31889185e+02] [ 8.69444448e-01 4.93655089e-01 -1.92614704e-02 7.06642242e+01] [ 2.21403093e-02 1.41391701e-05 9.99754873e-01 2.30325431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.90, Y:70.69, Z:23.03 [[ 4.96421707e-01 -8.68012891e-01 -1.09137248e-02 2.31900623e+02] [ 8.67799115e-01 4.96541652e-01 -1.92635430e-02 7.06905812e+01] [ 2.21401226e-02 9.19202159e-05 9.99754873e-01 2.30335062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.91, Y:70.72, Z:23.03 [[ 4.97814675e-01 -8.67214828e-01 -1.09083229e-02 2.31913103e+02] [ 8.67000792e-01 4.97934157e-01 -1.92666015e-02 7.07156696e+01] [ 2.21399090e-02 1.33672388e-04 9.99754873e-01 2.30338047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.94687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.92, Y:70.74, Z:23.03 [[ 4.99438049e-01 -8.66280994e-01 -1.09029476e-02 2.31924874e+02] [ 8.66066669e-01 4.99557010e-01 -1.92696429e-02 7.07398455e+01] [ 2.21395693e-02 1.81313365e-04 9.99754873e-01 2.30335592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.94, Y:70.77, Z:23.03 [[ 5.02377980e-01 -8.64579433e-01 -1.08981289e-02 2.31936356e+02] [ 8.64364646e-01 5.02496105e-01 -1.92723677e-02 7.07655163e+01] [ 2.21387601e-02 2.62055839e-04 9.99754873e-01 2.30334297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:70.79, Z:23.03 [[ 5.03295405e-01 -8.64045765e-01 -1.08927054e-02 2.31948855e+02] [ 8.63830786e-01 5.03413181e-01 -1.92754326e-02 7.07897921e+01] [ 2.21383874e-02 2.91782372e-04 9.99754873e-01 2.30334784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.96, Y:70.81, Z:23.03 [[ 5.03990921e-01 -8.63640322e-01 -1.08878956e-02 2.31961989e+02] [ 8.63425189e-01 5.04108416e-01 -1.92781491e-02 7.08148009e+01] [ 2.21380667e-02 3.15128835e-04 9.99754873e-01 2.30335290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.98, Y:70.84, Z:23.03 [[ 5.04601124e-01 -8.63284006e-01 -1.08825442e-02 2.31975305e+02] [ 8.63068726e-01 5.04718348e-01 -1.92811695e-02 7.08398991e+01] [ 2.21377450e-02 3.36916195e-04 9.99754873e-01 2.30339601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.99, Y:70.86, Z:23.04 [[ 5.05307196e-01 -8.62870977e-01 -1.08772229e-02 2.31988694e+02] [ 8.62655537e-01 5.05424125e-01 -1.92841710e-02 7.08648572e+01] [ 2.21373623e-02 3.61133829e-04 9.99754873e-01 2.30351630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.00, Y:70.89, Z:23.04 [[ 5.05383170e-01 -8.62826549e-01 -1.08719102e-02 2.32002542e+02] [ 8.62611033e-01 5.05499961e-01 -1.92871656e-02 7.08892289e+01] [ 2.21372288e-02 3.69179173e-04 9.99754873e-01 2.30360316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.02, Y:70.91, Z:23.04 [[ 5.05165490e-01 -8.62954080e-01 -1.08666233e-02 2.32016219e+02] [ 8.62738530e-01 5.05282217e-01 -1.92901439e-02 7.09137864e+01] [ 2.21372199e-02 3.69660347e-04 9.99754873e-01 2.30367769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.02, Y:70.94, Z:23.03 [[ 4.99812094e-01 -8.66065761e-01 -1.08613122e-02 2.32020465e+02] [ 8.65850873e-01 4.99930036e-01 -1.92931338e-02 7.09360080e+01] [ 2.21390188e-02 2.38664981e-04 9.99754873e-01 2.30314466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.04, Y:70.96, Z:23.04 [[ 5.03815264e-01 -8.63747624e-01 -1.04986696e-02 2.32044064e+02] [ 8.63527879e-01 5.03924071e-01 -1.94969837e-02 7.09623774e+01] [ 2.21310056e-02 7.56984074e-04 9.99754793e-01 2.30383875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.06, Y:70.99, Z:23.04 [[ 5.03571310e-01 -8.63885421e-01 -1.08589253e-02 2.32058153e+02] [ 8.63669999e-01 5.03688263e-01 -1.92942314e-02 7.09872637e+01] [ 2.21375185e-02 3.37493366e-04 9.99754878e-01 2.30392049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.276875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.07, Y:71.01, Z:23.04 [[ 5.02295367e-01 -8.64627993e-01 -1.08534757e-02 2.32071930e+02] [ 8.64412678e-01 5.02412517e-01 -1.92972965e-02 7.10104346e+01] [ 2.21379048e-02 3.11060677e-04 9.99754878e-01 2.30389215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:71.03, Z:23.03 [[ 4.94208079e-01 -8.69275953e-01 -1.08485709e-02 2.32076975e+02] [ 8.69061680e-01 4.94327123e-01 -1.93000535e-02 7.10321076e+01] [ 2.21398153e-02 1.10165162e-04 9.99754878e-01 2.30334474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.336875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.09, Y:71.06, Z:23.03 [[ 4.92766941e-01 -8.70098461e-01 -1.04599307e-02 2.32091381e+02] [ 8.69879671e-01 4.92877671e-01 -1.95181626e-02 7.10556562e+01] [ 2.21381896e-02 5.19024224e-04 9.99754786e-01 2.30336336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.12, Y:71.08, Z:23.04 [[ 4.95952500e-01 -8.68286672e-01 -1.04581703e-02 2.32115791e+02] [ 8.68067457e-01 4.96062388e-01 -1.95191503e-02 7.10813282e+01] [ 2.21361230e-02 6.02174073e-04 9.99754785e-01 2.30395390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.13, Y:71.10, Z:23.04 [[ 4.92623471e-01 -8.70175008e-01 -1.08430170e-02 2.32131143e+02] [ 8.69960888e-01 4.92742782e-01 -1.93029737e-02 7.11045821e+01] [ 2.21397837e-02 7.60971829e-05 9.99754882e-01 2.30396707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.15, Y:71.13, Z:23.04 [[ 4.91050730e-01 -8.71063561e-01 -1.08375776e-02 2.32145148e+02] [ 8.70849589e-01 4.91170308e-01 -1.93060272e-02 7.11273250e+01] [ 2.21398731e-02 4.23387343e-05 9.99754882e-01 2.30382811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.16, Y:71.15, Z:23.04 [[ 4.87863060e-01 -8.72852957e-01 -1.08328042e-02 2.32161095e+02] [ 8.72639364e-01 4.87983313e-01 -1.93087052e-02 7.11510289e+01] [ 2.21398881e-02 -3.31273955e-05 9.99754882e-01 2.30390837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.486875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.18, Y:71.18, Z:23.04 [[ 4.86011982e-01 -8.73885072e-01 -1.08274753e-02 2.32175980e+02] [ 8.73671668e-01 4.86132569e-01 -1.93116930e-02 7.11752175e+01] [ 2.21397886e-02 -7.39441994e-05 9.99754882e-01 2.30393770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.18, Y:71.20, Z:23.03 [[ 4.77704105e-01 -8.78454136e-01 -1.08221784e-02 2.32179341e+02] [ 8.78241817e-01 4.77826594e-01 -1.93146608e-02 7.11967061e+01] [ 2.21381683e-02 -2.77796889e-04 9.99754882e-01 2.30324975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.546875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.20, Y:71.22, Z:23.03 [[ 4.77546428e-01 -8.78545100e-01 -1.03882780e-02 2.32196204e+02] [ 8.78327417e-01 4.77659357e-01 -1.95572919e-02 7.12213976e+01] [ 2.21440211e-02 2.15205500e-04 9.99754768e-01 2.30342644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.22, Y:71.25, Z:23.04 [[ 4.78740384e-01 -8.77894233e-01 -1.04575431e-02 2.32221537e+02] [ 8.77677240e-01 4.78854558e-01 -1.95185504e-02 7.12465513e+01] [ 2.21428650e-02 1.65970740e-04 9.99754803e-01 2.30424025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.24, Y:71.27, Z:23.04 [[ 4.77396122e-01 -8.78621622e-01 -1.08161171e-02 2.32236141e+02] [ 8.78409276e-01 4.77518552e-01 -1.93177853e-02 7.12705922e+01] [ 2.21379204e-02 -2.78741819e-04 9.99754887e-01 2.30435505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.25, Y:71.29, Z:23.04 [[ 4.76700879e-01 -8.78999087e-01 -1.08109699e-02 2.32250367e+02] [ 8.78786772e-01 4.76823364e-01 -1.93206654e-02 7.12946936e+01] [ 2.21377703e-02 -2.90359163e-04 9.99754887e-01 2.30444242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:71.32, Z:23.04 [[ 4.76366157e-01 -8.79180595e-01 -1.08058350e-02 2.32263962e+02] [ 8.78968262e-01 4.76488610e-01 -1.93235369e-02 7.13186690e+01] [ 2.21377360e-02 -2.92907015e-04 9.99754887e-01 2.30446102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.27, Y:71.34, Z:23.04 [[ 4.73467179e-01 -8.80745242e-01 -1.08004182e-02 2.32268111e+02] [ 8.80533245e-01 4.73590212e-01 -1.93265640e-02 7.13417416e+01] [ 2.21367517e-02 -3.59633493e-04 9.99754887e-01 2.30371177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:71.37, Z:23.04 [[ 4.78836529e-01 -8.77841408e-01 -1.04899836e-02 2.32290699e+02] [ 8.77624814e-01 4.78951401e-01 -1.94997661e-02 7.13679084e+01] [ 2.21418945e-02 1.30930446e-04 9.99754830e-01 2.30443410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.30, Y:71.39, Z:23.04 [[ 4.80017065e-01 -8.77192750e-01 -1.07933551e-02 2.32303766e+02] [ 8.76979756e-01 4.80138360e-01 -1.93303764e-02 7.13920406e+01] [ 2.21387698e-02 -1.86643418e-04 9.99754890e-01 2.30449258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.32, Y:71.42, Z:23.05 [[ 4.83345848e-01 -8.75363015e-01 -1.07880630e-02 2.32316702e+02] [ 8.75149496e-01 4.83466216e-01 -1.93333294e-02 7.14167415e+01] [ 2.21393455e-02 -9.64834192e-05 9.99754890e-01 2.30458775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.33, Y:71.44, Z:23.05 [[ 4.84687671e-01 -8.74620825e-01 -1.07830258e-02 2.32330016e+02] [ 8.74407059e-01 4.84807599e-01 -1.93361384e-02 7.14417392e+01] [ 2.21394822e-02 -5.67660121e-05 9.99754890e-01 2.30465468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.34, Y:71.47, Z:23.05 [[ 4.85666982e-01 -8.74077467e-01 -1.07779575e-02 2.32342595e+02] [ 8.73863504e-01 4.85786559e-01 -1.93389631e-02 7.14660096e+01] [ 2.21395388e-02 -2.61679301e-05 9.99754890e-01 2.30465164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.35, Y:71.49, Z:23.05 [[ 4.87437505e-01 -8.73091421e-01 -1.07726117e-02 2.32354760e+02] [ 8.72877150e-01 4.87556530e-01 -1.93419405e-02 7.14901139e+01] [ 2.21395395e-02 2.48205760e-05 9.99754890e-01 2.30467838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.37, Y:71.51, Z:23.05 [[ 4.87835725e-01 -8.72869046e-01 -1.07673112e-02 2.32367646e+02] [ 8.72654655e-01 4.87954534e-01 -1.93448907e-02 7.15140301e+01] [ 2.21395146e-02 4.09845838e-05 9.99754890e-01 2.30477219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.38, Y:71.54, Z:23.05 [[ 4.87669168e-01 -8.72962176e-01 -1.07620551e-02 2.32380540e+02] [ 8.72747744e-01 4.87787902e-01 -1.93478144e-02 7.15382647e+01] [ 2.21395104e-02 4.27732441e-05 9.99754890e-01 2.30485660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.39, Y:71.56, Z:23.05 [[ 4.86895354e-01 -8.73394071e-01 -1.07568577e-02 2.32394274e+02] [ 8.73179681e-01 4.87014163e-01 -1.93507035e-02 7.15631559e+01] [ 2.21395318e-02 2.90980441e-05 9.99754890e-01 2.30491056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.996875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.41, Y:71.59, Z:23.05 [[ 4.83891223e-01 -8.75062100e-01 -1.07519926e-02 2.32405857e+02] [ 8.74848059e-01 4.84010660e-01 -1.93534064e-02 7.15883585e+01] [ 2.21395115e-02 -4.14163959e-05 9.99754890e-01 2.30465436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.42, Y:71.61, Z:23.05 [[ 4.82779663e-01 -8.75676458e-01 -1.07022058e-02 2.32418198e+02] [ 8.75461955e-01 4.82898271e-01 -1.93810505e-02 7.16117236e+01] [ 2.21396064e-02 -1.25969685e-05 9.99754889e-01 2.30469976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.056875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.43, Y:71.64, Z:23.05 [[ 4.81446987e-01 -8.76410909e-01 -1.06168929e-02 2.32433310e+02] [ 8.76195538e-01 4.81564032e-01 -1.94283849e-02 7.16378832e+01] [ 2.21399622e-02 5.12631488e-05 9.99754880e-01 2.30477274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.45, Y:71.66, Z:23.05 [[ 4.82489388e-01 -8.75836216e-01 -1.07197492e-02 2.32448402e+02] [ 8.75621968e-01 4.82608455e-01 -1.93713284e-02 7.16618919e+01] [ 2.21395525e-02 -3.99875293e-05 9.99754889e-01 2.30521336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.46, Y:71.69, Z:23.05 [[ 4.81899662e-01 -8.76160629e-01 -1.07362772e-02 2.32461594e+02] [ 8.75946665e-01 4.82019238e-01 -1.93621636e-02 7.16863005e+01] [ 2.21394576e-02 -7.37861436e-05 9.99754889e-01 2.30528477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.47, Y:71.71, Z:23.05 [[ 4.81380243e-01 -8.76446182e-01 -1.07308851e-02 2.32474713e+02] [ 8.76232222e-01 4.81499828e-01 -1.93651516e-02 7.17105216e+01] [ 2.21394325e-02 -8.07459126e-05 9.99754889e-01 2.30524153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.176875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.49, Y:71.73, Z:23.05 [[ 4.80774074e-01 -8.76778902e-01 -1.07260500e-02 2.32487785e+02] [ 8.76564965e-01 4.80893699e-01 -1.93678293e-02 7.17349242e+01] [ 2.21393940e-02 -9.05294890e-05 9.99754890e-01 2.30538074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.50, Y:71.76, Z:23.05 [[ 4.80704848e-01 -8.76816923e-01 -1.07206452e-02 2.32501050e+02] [ 8.76602929e-01 4.80824371e-01 -1.93708206e-02 7.17592091e+01] [ 2.21394108e-02 -8.61016174e-05 9.99754890e-01 2.30547122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.51, Y:71.78, Z:23.05 [[ 4.80623468e-01 -8.76861600e-01 -1.07152073e-02 2.32513726e+02] [ 8.76647551e-01 4.80742891e-01 -1.93738281e-02 7.17827309e+01] [ 2.21394257e-02 -8.19437334e-05 9.99754890e-01 2.30549030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.53, Y:71.81, Z:23.06 [[ 4.81115899e-01 -8.76591570e-01 -1.07103007e-02 2.32526872e+02] [ 8.76377393e-01 4.81235093e-01 -1.93765402e-02 7.18074560e+01] [ 2.21394844e-02 -6.39038332e-05 9.99754890e-01 2.30559048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.54, Y:71.83, Z:23.06 [[ 4.81426963e-01 -8.76420835e-01 -1.07050982e-02 2.32540151e+02] [ 8.76206552e-01 4.81545966e-01 -1.93794141e-02 7.18320278e+01] [ 2.21395191e-02 -5.01046663e-05 9.99754890e-01 2.30572850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.55, Y:71.86, Z:23.06 [[ 4.82765737e-01 -8.75684166e-01 -1.06997400e-02 2.32552740e+02] [ 8.75469635e-01 4.82884294e-01 -1.93823720e-02 7.18561974e+01] [ 2.21395726e-02 -1.01524280e-05 9.99754890e-01 2.30585580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.57, Y:71.88, Z:23.06 [[ 4.83615779e-01 -8.75215068e-01 -1.06940828e-02 2.32565939e+02] [ 8.75000353e-01 4.83734002e-01 -1.93854928e-02 7.18807688e+01] [ 2.21395669e-02 1.78039952e-05 9.99754890e-01 2.30596186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.58, Y:71.91, Z:23.06 [[ 4.84446342e-01 -8.74755675e-01 -1.06887896e-02 2.32578997e+02] [ 8.74540784e-01 4.84564244e-01 -1.93884109e-02 7.19056493e+01] [ 2.21395277e-02 4.48622729e-05 9.99754890e-01 2.30605830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:71.93, Z:23.06 [[ 4.86453875e-01 -8.73640940e-01 -1.06833947e-02 2.32592063e+02] [ 8.73425714e-01 4.86571163e-01 -1.93913831e-02 7.19300778e+01] [ 2.21393380e-02 1.01861802e-04 9.99754890e-01 2.30610222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.61, Y:71.95, Z:23.06 [[ 4.87289330e-01 -8.73175292e-01 -1.06779728e-02 2.32605121e+02] [ 8.72959888e-01 4.87406292e-01 -1.93943683e-02 7.19542328e+01] [ 2.21391943e-02 1.29226742e-04 9.99754890e-01 2.30614757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.62, Y:71.98, Z:23.06 [[ 4.88073209e-01 -8.72737434e-01 -1.06730933e-02 2.32618590e+02] [ 8.72521866e-01 4.88189869e-01 -1.93970532e-02 7.19790418e+01] [ 2.21390305e-02 1.54674710e-04 9.99754890e-01 2.30614211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.63, Y:72.00, Z:23.06 [[ 4.89263590e-01 -8.72070719e-01 -1.06677591e-02 2.32632618e+02] [ 8.71854928e-01 4.89379838e-01 -1.93999864e-02 7.20035822e+01] [ 2.21387463e-02 1.90968654e-04 9.99754890e-01 2.30620414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.65, Y:72.03, Z:23.06 [[ 4.89515233e-01 -8.71929556e-01 -1.06624158e-02 2.32646396e+02] [ 8.71713667e-01 4.89631299e-01 -1.94029227e-02 7.20274119e+01] [ 2.21386343e-02 2.03452635e-04 9.99754890e-01 2.30622429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.56687500000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.66, Y:72.05, Z:23.06 [[ 4.89762927e-01 -8.71790518e-01 -1.06568041e-02 2.32659980e+02] [ 8.71574530e-01 4.89878807e-01 -1.94060044e-02 7.20514203e+01] [ 2.21385131e-02 2.16142527e-04 9.99754890e-01 2.30623147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.67, Y:72.08, Z:23.06 [[ 4.90088755e-01 -8.71607459e-01 -1.06512594e-02 2.32673608e+02] [ 8.71391362e-01 4.90204430e-01 -1.94090472e-02 7.20756132e+01] [ 2.21383648e-02 2.30740373e-04 9.99754890e-01 2.30626961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.69, Y:72.10, Z:23.06 [[ 4.90962867e-01 -8.71115450e-01 -1.06459237e-02 2.32687717e+02] [ 8.70899173e-01 4.91078207e-01 -1.94119734e-02 7.20990355e+01] [ 2.21380511e-02 2.59031910e-04 9.99754890e-01 2.30613355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.70, Y:72.12, Z:23.06 [[ 4.91019547e-01 -8.71083550e-01 -1.06420379e-02 2.32701774e+02] [ 8.70867220e-01 4.91134786e-01 -1.94141034e-02 7.21232829e+01] [ 2.21379811e-02 2.64902327e-04 9.99754890e-01 2.30612019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.72, Y:72.15, Z:23.06 [[ 4.91088106e-01 -8.71044963e-01 -1.06369160e-02 2.32716324e+02] [ 8.70828563e-01 4.91203214e-01 -1.94169093e-02 7.21477911e+01] [ 2.21378884e-02 2.72482970e-04 9.99754890e-01 2.30613953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.73, Y:72.17, Z:23.06 [[ 4.90426265e-01 -8.71417835e-01 -1.06318138e-02 2.32731962e+02] [ 8.71201462e-01 4.90541423e-01 -1.94197026e-02 7.21713203e+01] [ 2.21380203e-02 2.61480535e-04 9.99754890e-01 2.30622912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.75, Y:72.20, Z:23.06 [[ 4.90038825e-01 -8.71635833e-01 -1.06266406e-02 2.32746926e+02] [ 8.71419449e-01 4.90153965e-01 -1.94225330e-02 7.21953606e+01] [ 2.21380658e-02 2.57533939e-04 9.99754890e-01 2.30629924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.76, Y:72.22, Z:23.06 [[ 4.89541170e-01 -8.71915493e-01 -1.06214905e-02 2.32761954e+02] [ 8.71699114e-01 4.89656318e-01 -1.94253490e-02 7.22195517e+01] [ 2.21381427e-02 2.50764180e-04 9.99754890e-01 2.30636954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.78, Y:72.24, Z:23.06 [[ 4.88584109e-01 -8.72452212e-01 -1.06163756e-02 2.32778099e+02] [ 8.72235899e-01 4.88699381e-01 -1.94281440e-02 7.22428257e+01] [ 2.21383434e-02 2.32298476e-04 9.99754890e-01 2.30640579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.79, Y:72.27, Z:23.06 [[ 4.88164953e-01 -8.72686874e-01 -1.06112792e-02 2.32792972e+02] [ 8.72470556e-01 4.88280215e-01 -1.94309272e-02 7.22666528e+01] [ 2.21383928e-02 2.27468971e-04 9.99754890e-01 2.30643749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.81, Y:72.29, Z:23.06 [[ 4.87808400e-01 -8.72886289e-01 -1.06062052e-02 2.32807494e+02] [ 8.72669958e-01 4.87923638e-01 -1.94336964e-02 7.22900438e+01] [ 2.21384253e-02 2.24203746e-04 9.99754890e-01 2.30644331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.82, Y:72.31, Z:23.07 [[ 4.87677251e-01 -8.72959633e-01 -1.06008452e-02 2.32823827e+02] [ 8.72743256e-01 4.87792402e-01 -1.94366198e-02 7.23134961e+01] [ 2.21383962e-02 2.26981136e-04 9.99754890e-01 2.30650604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.84, Y:72.34, Z:23.06 [[ 4.87784795e-01 -8.72899609e-01 -1.05956144e-02 2.32838385e+02] [ 8.72683155e-01 4.87899803e-01 -1.94394709e-02 7.23370186e+01] [ 2.21383047e-02 2.35664147e-04 9.99754890e-01 2.30645953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.85, Y:72.36, Z:23.07 [[ 4.88035828e-01 -8.72759348e-01 -1.05901109e-02 2.32854524e+02] [ 8.72542797e-01 4.88150651e-01 -1.94424685e-02 7.23604466e+01] [ 2.21381657e-02 2.48296255e-04 9.99754890e-01 2.30664459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.87, Y:72.38, Z:23.07 [[ 4.88198745e-01 -8.72668292e-01 -1.05848022e-02 2.32869637e+02] [ 8.72451656e-01 4.88313409e-01 -1.94453583e-02 7.23846819e+01] [ 2.21380484e-02 2.58471280e-04 9.99754890e-01 2.30674269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.88, Y:72.41, Z:23.07 [[ 4.88194610e-01 -8.72670670e-01 -1.05794592e-02 2.32884474e+02] [ 8.72453972e-01 4.88309157e-01 -1.94482648e-02 7.24087469e+01] [ 2.21379770e-02 2.64446856e-04 9.99754890e-01 2.30685202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.90, Y:72.43, Z:23.07 [[ 4.87767074e-01 -8.72909771e-01 -1.05741665e-02 2.32898955e+02] [ 8.72693067e-01 4.87881608e-01 -1.94511420e-02 7.24323116e+01] [ 2.21380333e-02 2.59624830e-04 9.99754890e-01 2.30696009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.91, Y:72.46, Z:23.07 [[ 4.86147586e-01 -8.73812807e-01 -1.05689059e-02 2.32914956e+02] [ 8.73596254e-01 4.86262406e-01 -1.94539999e-02 7.24554947e+01] [ 2.21384159e-02 2.24558483e-04 9.99754890e-01 2.30715301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.93, Y:72.48, Z:23.07 [[ 4.85912307e-01 -8.73943728e-01 -1.05636502e-02 2.32928524e+02] [ 8.73727143e-01 4.86027067e-01 -1.94568534e-02 7.24806800e+01] [ 2.21384149e-02 2.24576662e-04 9.99754890e-01 2.30721606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.94, Y:72.50, Z:23.07 [[ 4.84853622e-01 -8.74531580e-01 -1.05584096e-02 2.32943225e+02] [ 8.74315073e-01 4.84968528e-01 -1.94596969e-02 7.25048670e+01] [ 2.21386158e-02 2.03727850e-04 9.99754890e-01 2.30732610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:72.53, Z:23.07 [[ 4.83444256e-01 -8.75311535e-01 -1.05531294e-02 2.32957824e+02] [ 8.75095151e-01 4.83559393e-01 -1.94625600e-02 7.25292530e+01] [ 2.21388681e-02 1.74070484e-04 9.99754890e-01 2.30743166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.97, Y:72.55, Z:23.08 [[ 4.82381451e-01 -8.75897758e-01 -1.05476610e-02 2.32972217e+02] [ 8.75681449e-01 4.82496729e-01 -1.94655231e-02 7.25531350e+01] [ 2.21390199e-02 1.53416211e-04 9.99754890e-01 2.30751861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.99, Y:72.58, Z:23.08 [[ 4.80539831e-01 -8.76909535e-01 -1.05421791e-02 2.32987162e+02] [ 8.76693404e-01 4.80655442e-01 -1.94684915e-02 7.25758571e+01] [ 2.21392616e-02 1.13126734e-04 9.99754890e-01 2.30753516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:72.60, Z:23.08 [[ 4.79255372e-01 -8.77612235e-01 -1.05381905e-02 2.33001329e+02] [ 8.77396225e-01 4.79371211e-01 -1.94706503e-02 7.25997519e+01] [ 2.21393860e-02 8.52451964e-05 9.99754890e-01 2.30759469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:72.62, Z:23.08 [[ 4.76349193e-01 -8.79193097e-01 -1.05329664e-02 2.33016386e+02] [ 8.78977410e-01 4.76465631e-01 -1.94734759e-02 7.26240979e+01] [ 2.21395421e-02 1.79350619e-05 9.99754890e-01 2.30764067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.03, Y:72.65, Z:23.08 [[ 4.74636728e-01 -8.80118826e-01 -1.05275504e-02 2.33029887e+02] [ 8.79903300e-01 4.74753465e-01 -1.94764034e-02 7.26479583e+01] [ 2.21395403e-02 -1.90099264e-05 9.99754890e-01 2.30763813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.04, Y:72.67, Z:23.08 [[ 4.73061990e-01 -8.80966313e-01 -1.05218479e-02 2.33043561e+02] [ 8.80750928e-01 4.73178987e-01 -1.94794836e-02 7.26723477e+01] [ 2.21394862e-02 -5.21239795e-05 9.99754890e-01 2.30766411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.06, Y:72.70, Z:23.08 [[ 4.69898992e-01 -8.82657544e-01 -1.05165025e-02 2.33057092e+02] [ 8.82442516e-01 4.70016642e-01 -1.94823691e-02 7.26965654e+01] [ 2.21391912e-02 -1.25463327e-04 9.99754890e-01 2.30765948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.07, Y:72.72, Z:23.08 [[ 4.68410543e-01 -8.83448402e-01 -1.05111772e-02 2.33070521e+02] [ 8.83233507e-01 4.68528438e-01 -1.94852417e-02 7.27213260e+01] [ 2.21389911e-02 -1.56731288e-04 9.99754890e-01 2.30772166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.08, Y:72.75, Z:23.08 [[ 4.66832676e-01 -8.84283258e-01 -1.05058328e-02 2.33083262e+02] [ 8.84068509e-01 4.66950837e-01 -1.94881228e-02 7.27455653e+01] [ 2.21387282e-02 -1.90183438e-04 9.99754890e-01 2.30774949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.10, Y:72.77, Z:23.08 [[ 4.65537732e-01 -8.84965743e-01 -1.05002010e-02 2.33095424e+02] [ 8.84751099e-01 4.65656082e-01 -1.94911568e-02 7.27706907e+01] [ 2.21384885e-02 -2.16195457e-04 9.99754890e-01 2.30783582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.11, Y:72.80, Z:23.08 [[ 4.65084262e-01 -8.85204205e-01 -1.04949714e-02 2.33108158e+02] [ 8.84989559e-01 4.65202608e-01 -1.94939723e-02 7.27955501e+01] [ 2.21384343e-02 -2.21600375e-04 9.99754890e-01 2.30797573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:72.82, Z:23.08 [[ 4.64846490e-01 -8.85329154e-01 -1.04895029e-02 2.33120258e+02] [ 8.85114473e-01 4.64964773e-01 -1.94969144e-02 7.28198138e+01] [ 2.21384360e-02 -2.21338575e-04 9.99754890e-01 2.30801602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.13, Y:72.84, Z:23.08 [[ 4.64834812e-01 -8.85335333e-01 -1.04855240e-02 2.33132620e+02] [ 8.85120605e-01 4.64953010e-01 -1.94990540e-02 7.28444926e+01] [ 2.21384774e-02 -2.17114239e-04 9.99754890e-01 2.30806275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.14, Y:72.87, Z:23.08 [[ 4.65707951e-01 -8.84876418e-01 -1.04799064e-02 2.33144255e+02] [ 8.84661506e-01 4.65825813e-01 -1.95020728e-02 7.28703941e+01] [ 2.21387352e-02 -1.88899390e-04 9.99754890e-01 2.30812009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.16, Y:72.90, Z:23.08 [[ 4.65981804e-01 -8.84732299e-01 -1.04745909e-02 2.33156319e+02] [ 8.84517287e-01 4.66099483e-01 -1.95049273e-02 7.28957378e+01] [ 2.21388406e-02 -1.76015471e-04 9.99754890e-01 2.30811694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.17, Y:72.92, Z:23.08 [[ 4.67412625e-01 -8.83977281e-01 -1.04692815e-02 2.33167746e+02] [ 8.83762014e-01 4.67529838e-01 -1.95077767e-02 7.29215395e+01] [ 2.21391329e-02 -1.34172196e-04 9.99754890e-01 2.30816493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.18, Y:72.95, Z:23.08 [[ 4.68203392e-01 -8.83558766e-01 -1.04638257e-02 2.33179507e+02] [ 8.83343329e-01 4.68320292e-01 -1.95107027e-02 7.29456992e+01] [ 2.21392743e-02 -1.08173417e-04 9.99754890e-01 2.30816380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.19, Y:72.97, Z:23.08 [[ 4.69017072e-01 -8.83127158e-01 -1.04598594e-02 2.33192127e+02] [ 8.82911567e-01 4.69133686e-01 -1.95128288e-02 7.29710515e+01] [ 2.21393815e-02 -8.32810529e-05 9.99754890e-01 2.30825161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.20, Y:73.00, Z:23.08 [[ 4.70723652e-01 -8.82218763e-01 -1.04545797e-02 2.33203776e+02] [ 8.82002883e-01 4.70839732e-01 -1.95156572e-02 7.29968612e+01] [ 2.21395105e-02 -3.44880366e-05 9.99754890e-01 2.30845512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:73.02, Z:23.08 [[ 4.71224866e-01 -8.81951213e-01 -1.04491084e-02 2.33215378e+02] [ 8.81735202e-01 4.71340703e-01 -1.95185862e-02 7.30209561e+01] [ 2.21395309e-02 -1.57035612e-05 9.99754890e-01 2.30846628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.23, Y:73.05, Z:23.08 [[ 4.72002332e-01 -8.81535442e-01 -1.04433405e-02 2.33227329e+02] [ 8.81319261e-01 4.72117851e-01 -1.95216718e-02 7.30458958e+01] [ 2.21395331e-02 1.03575252e-05 9.99754890e-01 2.30848953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.24, Y:73.07, Z:23.08 [[ 4.72817257e-01 -8.81098683e-01 -1.04380171e-02 2.33238805e+02] [ 8.80882333e-01 4.72932458e-01 -1.95245178e-02 7.30700171e+01] [ 2.21395040e-02 3.68640733e-05 9.99754890e-01 2.30848329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.25, Y:73.10, Z:23.08 [[ 4.73940787e-01 -8.80494915e-01 -1.04323967e-02 2.33249616e+02] [ 8.80278352e-01 4.74055587e-01 -1.95275204e-02 7.30953271e+01] [ 2.21394184e-02 7.14754692e-05 9.99754891e-01 2.30843317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.26, Y:73.12, Z:23.09 [[ 4.74404275e-01 -8.80245323e-01 -1.04285459e-02 2.33262180e+02] [ 8.80028654e-01 4.74518876e-01 -1.95295767e-02 7.31208885e+01] [ 2.21393604e-02 8.74955092e-05 9.99754891e-01 2.30856512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.27, Y:73.15, Z:23.09 [[ 4.74810477e-01 -8.80026346e-01 -1.04231514e-02 2.33274605e+02] [ 8.79809561e-01 4.74924858e-01 -1.95324554e-02 7.31463676e+01] [ 2.21392890e-02 1.03826194e-04 9.99754891e-01 2.30868349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.29, Y:73.17, Z:23.09 [[ 4.75855261e-01 -8.79461905e-01 -1.04176827e-02 2.33286127e+02] [ 8.79244921e-01 4.75969262e-01 -1.95353717e-02 7.31708569e+01] [ 2.21391120e-02 1.36314760e-04 9.99754891e-01 2.30880313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.30, Y:73.20, Z:23.09 [[ 4.75915561e-01 -8.79429344e-01 -1.04119236e-02 2.33298859e+02] [ 8.79212284e-01 4.76029420e-01 -1.95384407e-02 7.31960920e+01] [ 2.21390600e-02 1.44356776e-04 9.99754891e-01 2.30889460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.31, Y:73.22, Z:23.09 [[ 4.76124354e-01 -8.79316383e-01 -1.04066152e-02 2.33310652e+02] [ 8.79099235e-01 4.76238043e-01 -1.95412677e-02 7.32211409e+01] [ 2.21389829e-02 1.55625999e-04 9.99754891e-01 2.30898367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.32, Y:73.25, Z:23.09 [[ 4.75809943e-01 -8.79486618e-01 -1.04012624e-02 2.33322379e+02] [ 8.79269448e-01 4.75923591e-01 -1.95441164e-02 7.32454185e+01] [ 2.21389950e-02 1.53772618e-04 9.99754891e-01 2.30902766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.33, Y:73.27, Z:23.09 [[ 4.75550610e-01 -8.79626937e-01 -1.03956172e-02 2.33334769e+02] [ 8.79409735e-01 4.75664196e-01 -1.95471186e-02 7.32705521e+01] [ 2.21389950e-02 1.53637200e-04 9.99754891e-01 2.30909678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.35, Y:73.29, Z:23.09 [[ 4.74558129e-01 -8.80162841e-01 -1.03902108e-02 2.33346331e+02] [ 8.79945704e-01 4.74671840e-01 -1.95499920e-02 7.32945721e+01] [ 2.21391169e-02 1.34786271e-04 9.99754891e-01 2.30913893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.36, Y:73.32, Z:23.09 [[ 4.73668668e-01 -8.80641900e-01 -1.03844971e-02 2.33359256e+02] [ 8.80424812e-01 4.73782471e-01 -1.95530265e-02 7.33193953e+01] [ 2.21392071e-02 1.18887054e-04 9.99754891e-01 2.30918724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.37, Y:73.34, Z:23.09 [[ 4.72725085e-01 -8.81148833e-01 -1.03792239e-02 2.33372005e+02] [ 8.80931805e-01 4.72839004e-01 -1.95558252e-02 7.33436854e+01] [ 2.21392945e-02 1.01140677e-04 9.99754891e-01 2.30926159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.38, Y:73.37, Z:23.09 [[ 4.71131653e-01 -8.82001901e-01 -1.03736650e-02 2.33384448e+02] [ 8.81785015e-01 4.71245841e-01 -1.95587736e-02 7.33676446e+01] [ 2.21394219e-02 6.74150010e-05 9.99754891e-01 2.30934505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.40, Y:73.39, Z:23.09 [[ 4.70139069e-01 -8.82531449e-01 -1.03681475e-02 2.33397507e+02] [ 8.82314626e-01 4.70253379e-01 -1.95616980e-02 7.33921489e+01] [ 2.21394700e-02 4.87503009e-05 9.99754891e-01 2.30939234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.41, Y:73.42, Z:23.09 [[ 4.68783039e-01 -8.83252553e-01 -1.03629233e-02 2.33410268e+02] [ 8.83035845e-01 4.68897566e-01 -1.95644651e-02 7.34166270e+01] [ 2.21395133e-02 2.06567301e-05 9.99754891e-01 2.30947109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.42, Y:73.44, Z:23.10 [[ 4.66166606e-01 -8.84636318e-01 -1.03576333e-02 2.33423401e+02] [ 8.84419888e-01 4.66281657e-01 -1.95672653e-02 7.34417811e+01] [ 2.21394880e-02 -3.88912588e-05 9.99754891e-01 2.30956494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.44, Y:73.47, Z:23.10 [[ 4.64830260e-01 -8.85339291e-01 -1.03522683e-02 2.33435904e+02] [ 8.85122972e-01 4.64945519e-01 -1.95701033e-02 7.34664296e+01] [ 2.21394221e-02 -6.62543048e-05 9.99754891e-01 2.30959912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.45, Y:73.49, Z:23.10 [[ 4.63645052e-01 -8.85960613e-01 -1.03469374e-02 2.33449041e+02] [ 8.85744385e-01 4.63760482e-01 -1.95729214e-02 7.34915373e+01] [ 2.21393381e-02 -8.98535820e-05 9.99754891e-01 2.30971017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.46, Y:73.52, Z:23.10 [[ 4.62210425e-01 -8.86709972e-01 -1.03416440e-02 2.33461613e+02] [ 8.86493869e-01 4.62326088e-01 -1.95757179e-02 7.35159556e+01] [ 2.21391960e-02 -1.19703092e-04 9.99754891e-01 2.30979986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:73.54, Z:23.10 [[ 4.60393337e-01 -8.87654855e-01 -1.03360651e-02 2.33474733e+02] [ 8.87438923e-01 4.60509320e-01 -1.95786631e-02 7.35413422e+01] [ 2.21389497e-02 -1.58740487e-04 9.99754891e-01 2.30994104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.49, Y:73.57, Z:23.10 [[ 4.59640039e-01 -8.88045221e-01 -1.03305426e-02 2.33486819e+02] [ 8.87829323e-01 4.59756083e-01 -1.95815766e-02 7.35650870e+01] [ 2.21388553e-02 -1.71282063e-04 9.99754891e-01 2.30995420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.50, Y:73.59, Z:23.10 [[ 4.59023461e-01 -8.88364140e-01 -1.03255834e-02 2.33499347e+02] [ 8.88148263e-01 4.59139546e-01 -1.95841913e-02 7.35897299e+01] [ 2.21387769e-02 -1.81045679e-04 9.99754891e-01 2.30999122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.51, Y:73.61, Z:23.10 [[ 4.58854737e-01 -8.88451360e-01 -1.03204166e-02 2.33511668e+02] [ 8.88235444e-01 4.58970749e-01 -1.95869137e-02 7.36148467e+01] [ 2.21387894e-02 -1.79411697e-04 9.99754891e-01 2.30996046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.52, Y:73.64, Z:23.10 [[ 4.58750804e-01 -8.88505091e-01 -1.03151869e-02 2.33524192e+02] [ 8.88289127e-01 4.58866726e-01 -1.95896674e-02 7.36398260e+01] [ 2.21388153e-02 -1.76092651e-04 9.99754891e-01 2.30996784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.54, Y:73.66, Z:23.10 [[ 4.58908310e-01 -8.88423813e-01 -1.03097888e-02 2.33536369e+02] [ 8.88207764e-01 4.59024075e-01 -1.95925080e-02 7.36643327e+01] [ 2.21388919e-02 -1.66069695e-04 9.99754891e-01 2.30989327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.55, Y:73.69, Z:23.10 [[ 4.59507845e-01 -8.88113938e-01 -1.03040912e-02 2.33548431e+02] [ 8.87897744e-01 4.59623338e-01 -1.95955040e-02 7.36895129e+01] [ 2.21390410e-02 -1.44691508e-04 9.99754891e-01 2.30997138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.56, Y:73.72, Z:23.10 [[ 4.59387758e-01 -8.88176430e-01 -1.02721513e-02 2.33561924e+02] [ 8.87959876e-01 4.59502575e-01 -1.96122909e-02 7.37153005e+01] [ 2.21392545e-02 -1.11611890e-04 9.99754890e-01 2.30995382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.57, Y:73.74, Z:23.10 [[ 4.59652978e-01 -8.88038923e-01 -1.02961765e-02 2.33574817e+02] [ 8.87822617e-01 4.59768262e-01 -1.95996699e-02 7.37401914e+01] [ 2.21391249e-02 -1.32131683e-04 9.99754891e-01 2.31005788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.666875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:233.59, Y:73.76, Z:23.10 [[ 4.59816730e-01 -8.87954209e-01 -1.02906777e-02 2.33587103e+02] [ 8.87737817e-01 4.59931852e-01 -1.96025566e-02 7.37641495e+01] [ 2.21391831e-02 -1.21840248e-04 9.99754891e-01 2.31010630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.60, Y:73.79, Z:23.10 [[ 4.59764132e-01 -8.87981511e-01 -1.02848710e-02 2.33599722e+02] [ 8.87765058e-01 4.59879139e-01 -1.96056027e-02 7.37888363e+01] [ 2.21392103e-02 -1.16596154e-04 9.99754891e-01 2.31020082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.61, Y:73.81, Z:23.10 [[ 4.59684073e-01 -8.88023022e-01 -1.02793819e-02 2.33612178e+02] [ 8.87806515e-01 4.59798978e-01 -1.96084803e-02 7.38128624e+01] [ 2.21392312e-02 -1.12396141e-04 9.99754891e-01 2.31021557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.63, Y:73.84, Z:23.10 [[ 4.60106750e-01 -8.87804163e-01 -1.02735903e-02 2.33625749e+02] [ 8.87587534e-01 4.60221424e-01 -1.96115142e-02 7.38374914e+01] [ 2.21393103e-02 -9.53206414e-05 9.99754891e-01 2.31033423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.64, Y:73.86, Z:23.10 [[ 4.59997636e-01 -8.87860764e-01 -1.02682796e-02 2.33638340e+02] [ 8.87644087e-01 4.60112220e-01 -1.96142944e-02 7.38614697e+01] [ 2.21393234e-02 -9.20485649e-05 9.99754891e-01 2.31038290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.65, Y:73.89, Z:23.10 [[ 4.60193614e-01 -8.87759266e-01 -1.02626840e-02 2.33651473e+02] [ 8.87542498e-01 4.60308026e-01 -1.96172218e-02 7.38864951e+01] [ 2.21393662e-02 -8.08479626e-05 9.99754891e-01 2.31044604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.67, Y:73.91, Z:23.10 [[ 4.60997907e-01 -8.87341939e-01 -1.02573510e-02 2.33665200e+02] [ 8.87125005e-01 4.61112004e-01 -1.96200098e-02 7.39114990e+01] [ 2.21394452e-02 -5.47690680e-05 9.99754891e-01 2.31045973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.68, Y:73.94, Z:23.10 [[ 4.61020345e-01 -8.87330343e-01 -1.02519670e-02 2.33678037e+02] [ 8.87113344e-01 4.61134318e-01 -1.96228227e-02 7.39356371e+01] [ 2.21394598e-02 -4.81362813e-05 9.99754891e-01 2.31046246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.69, Y:73.96, Z:23.10 [[ 4.61595997e-01 -8.87031087e-01 -1.02462991e-02 2.33692311e+02] [ 8.86813948e-01 4.61709703e-01 -1.96257818e-02 7.39598377e+01] [ 2.21394943e-02 -2.73786522e-05 9.99754891e-01 2.31047397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.71, Y:73.98, Z:23.10 [[ 4.61612367e-01 -8.87022632e-01 -1.02407313e-02 2.33705937e+02] [ 8.86805427e-01 4.61725946e-01 -1.96286867e-02 7.39832587e+01] [ 2.21395007e-02 -2.06916314e-05 9.99754891e-01 2.31046806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.72, Y:74.01, Z:23.10 [[ 4.61428140e-01 -8.87118538e-01 -1.02357395e-02 2.33720220e+02] [ 8.86901299e-01 4.61541654e-01 -1.96312894e-02 7.40076845e+01] [ 2.21395009e-02 -1.96613209e-05 9.99754891e-01 2.31048198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.73, Y:74.03, Z:23.10 [[ 4.61239776e-01 -8.87216551e-01 -1.02303621e-02 2.33734334e+02] [ 8.86999274e-01 4.61353217e-01 -1.96340913e-02 7.40322224e+01] [ 2.21395012e-02 -1.82999016e-05 9.99754891e-01 2.31049969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.75, Y:74.06, Z:23.10 [[ 4.62231200e-01 -8.86700495e-01 -1.02249473e-02 2.33748263e+02] [ 8.86483029e-01 4.62344278e-01 -1.96369108e-02 7.40555656e+01] [ 2.21395044e-02 1.25506206e-05 9.99754891e-01 2.31038798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.76, Y:74.08, Z:23.10 [[ 4.61991835e-01 -8.86825300e-01 -1.02192368e-02 2.33761387e+02] [ 8.86607798e-01 4.62104845e-01 -1.96398821e-02 7.40809827e+01] [ 2.21395032e-02 1.30101529e-05 9.99754891e-01 2.31045102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.77, Y:74.11, Z:23.10 [[ 4.62786128e-01 -8.86411121e-01 -1.02139333e-02 2.33774585e+02] [ 8.86193457e-01 4.62898826e-01 -1.96426399e-02 7.41053773e+01] [ 2.21394722e-02 3.88203583e-05 9.99754891e-01 2.31045086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.79, Y:74.13, Z:23.10 [[ 4.63688058e-01 -8.85939712e-01 -1.02084083e-02 2.33787674e+02] [ 8.85721871e-01 4.63800412e-01 -1.96455108e-02 7.41295723e+01] [ 2.21394022e-02 6.75782288e-05 9.99754891e-01 2.31042883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.80, Y:74.15, Z:23.10 [[ 4.66472090e-01 -8.84477076e-01 -1.02025749e-02 2.33801346e+02] [ 8.84258815e-01 4.66583628e-01 -1.96485399e-02 7.41543398e+01] [ 2.21390375e-02 1.43778680e-04 9.99754891e-01 2.31047868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.81, Y:74.18, Z:23.11 [[ 4.67208515e-01 -8.84088356e-01 -1.01971972e-02 2.33814485e+02] [ 8.83869942e-01 4.67319753e-01 -1.96513304e-02 7.41788722e+01] [ 2.21388640e-02 1.68272782e-04 9.99754891e-01 2.31054323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.83, Y:74.20, Z:23.11 [[ 4.67784758e-01 -8.83783655e-01 -1.01917522e-02 2.33828390e+02] [ 8.83565107e-01 4.67895732e-01 -1.96541539e-02 7.42038588e+01] [ 2.21386973e-02 1.88837055e-04 9.99754891e-01 2.31063649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.84, Y:74.23, Z:23.11 [[ 4.68866792e-01 -8.83210151e-01 -1.01863233e-02 2.33842193e+02] [ 8.82991406e-01 4.68977377e-01 -1.96569672e-02 7.42276682e+01] [ 2.21383881e-02 2.22063190e-04 9.99754891e-01 2.31074324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.86, Y:74.25, Z:23.11 [[ 4.69187817e-01 -8.83039721e-01 -1.01805967e-02 2.33855330e+02] [ 8.82820872e-01 4.69298195e-01 -1.96599326e-02 7.42527978e+01] [ 2.21382371e-02 2.36557624e-04 9.99754891e-01 2.31079412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.87, Y:74.28, Z:23.11 [[ 4.70241862e-01 -8.82478927e-01 -1.01752204e-02 2.33868484e+02] [ 8.82259886e-01 4.70351859e-01 -1.96627148e-02 7.42776947e+01] [ 2.21378653e-02 2.69042862e-04 9.99754891e-01 2.31086899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.87, Y:74.30, Z:23.11 [[ 4.65324610e-01 -8.85081681e-01 -1.01698541e-02 2.33873784e+02] [ 8.84863195e-01 4.65435705e-01 -1.96654899e-02 7.43011173e+01] [ 2.21389781e-02 1.51906801e-04 9.99754891e-01 2.31062029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.89, Y:74.33, Z:23.11 [[ 4.71251782e-01 -8.81943364e-01 -9.88237872e-03 2.33894143e+02] [ 8.81720985e-01 4.71354977e-01 -1.98139142e-02 7.43268320e+01] [ 2.21328585e-02 6.23841676e-04 9.99754844e-01 2.31088995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.91, Y:74.35, Z:23.11 [[ 4.72504568e-01 -8.81269607e-01 -1.01643403e-02 2.33907386e+02] [ 8.81050167e-01 4.72613760e-01 -1.96682004e-02 7.43521586e+01] [ 2.21367943e-02 3.38020765e-04 9.99754894e-01 2.31087522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.92, Y:74.38, Z:23.11 [[ 4.72848300e-01 -8.81085285e-01 -1.01590105e-02 2.33920221e+02] [ 8.80865743e-01 4.72957288e-01 -1.96709530e-02 7.43773769e+01] [ 2.21365652e-02 3.52652386e-04 9.99754894e-01 2.31090924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.93, Y:74.40, Z:23.11 [[ 4.72552872e-01 -8.81243829e-01 -1.01536849e-02 2.33932754e+02] [ 8.81024264e-01 4.72661815e-01 -1.96737015e-02 7.44025526e+01] [ 2.21365872e-02 3.51221409e-04 9.99754894e-01 2.31100637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.94, Y:74.43, Z:23.11 [[ 4.72401494e-01 -8.81325050e-01 -1.01481531e-02 2.33944764e+02] [ 8.81105443e-01 4.72510350e-01 -1.96765545e-02 7.44270216e+01] [ 2.21365478e-02 3.53640767e-04 9.99754894e-01 2.31104527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.96, Y:74.45, Z:23.11 [[ 4.72216614e-01 -8.81424190e-01 -1.01423477e-02 2.33957470e+02] [ 8.81204542e-01 4.72325387e-01 -1.96795465e-02 7.44519739e+01] [ 2.21365166e-02 3.55525927e-04 9.99754894e-01 2.31110400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.97, Y:74.48, Z:23.11 [[ 4.71475543e-01 -8.81820875e-01 -1.01368712e-02 2.33969896e+02] [ 8.81601258e-01 4.71584379e-01 -1.96823670e-02 7.44762238e+01] [ 2.21367122e-02 3.43076292e-04 9.99754894e-01 2.31110935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.98, Y:74.50, Z:23.11 [[ 4.70899966e-01 -8.82128439e-01 -1.01311008e-02 2.33983050e+02] [ 8.81908829e-01 4.71008816e-01 -1.96853367e-02 7.45012505e+01] [ 2.21368332e-02 3.35117121e-04 9.99754894e-01 2.31118254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.00, Y:74.53, Z:23.11 [[ 4.69120575e-01 -8.83076076e-01 -1.01256607e-02 2.33995313e+02] [ 8.82856626e-01 4.69229747e-01 -1.96881346e-02 7.45254422e+01] [ 2.21373819e-02 2.96602339e-04 9.99754894e-01 2.31118679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.01, Y:74.55, Z:23.11 [[ 4.68085667e-01 -8.83625144e-01 -1.01199400e-02 2.34008169e+02] [ 8.83405758e-01 4.68194968e-01 -1.96910747e-02 7.45503935e+01] [ 2.21376337e-02 2.77096531e-04 9.99754894e-01 2.31127230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.01, Y:74.57, Z:23.11 [[ 4.61752780e-01 -8.86950994e-01 -1.01145198e-02 2.34012169e+02] [ 8.86732335e-01 4.61863527e-01 -1.96938584e-02 7.45729884e+01] [ 2.21390151e-02 1.24822109e-04 9.99754894e-01 2.31083424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.03, Y:74.60, Z:23.11 [[ 4.63929694e-01 -8.85818051e-01 -9.77855406e-03 2.34034256e+02] [ 8.85595430e-01 4.64032403e-01 -1.98661371e-02 7.45997591e+01] [ 2.21353488e-02 5.56648104e-04 9.99754828e-01 2.31147322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.05, Y:74.62, Z:23.12 [[ 4.62272412e-01 -8.86680333e-01 -1.01096220e-02 2.34047620e+02] [ 8.86461557e-01 4.62382922e-01 -1.96962091e-02 7.46249702e+01] [ 2.21387578e-02 1.43222809e-04 9.99754897e-01 2.31156450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.06, Y:74.65, Z:23.12 [[ 4.60322909e-01 -8.87694049e-01 -1.01042358e-02 2.34060458e+02] [ 8.87475456e-01 4.60433780e-01 -1.96989718e-02 7.46490187e+01] [ 2.21389915e-02 1.00626788e-04 9.99754897e-01 2.31164974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.06, Y:74.67, Z:23.11 [[ 4.50088677e-01 -8.92926762e-01 -1.00985606e-02 2.34062480e+02] [ 8.92709393e-01 4.50201928e-01 -1.97018808e-02 7.46697780e+01] [ 2.21387280e-02 -1.47486439e-04 9.99754897e-01 2.31124266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.09, Y:74.70, Z:23.12 [[ 4.54188359e-01 -8.90853554e-01 -9.63740740e-03 2.34086460e+02] [ 8.90630543e-01 4.54290350e-01 -1.99377359e-02 7.46976354e+01] [ 2.21397841e-02 4.72118155e-04 9.99754773e-01 2.31173150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.10, Y:74.72, Z:23.12 [[ 4.52149140e-01 -8.91885241e-01 -1.00931513e-02 2.34099727e+02] [ 8.91667557e-01 4.52261770e-01 -1.97042930e-02 7.47220981e+01] [ 2.21387146e-02 -9.04564149e-05 9.99754905e-01 2.31182012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.11, Y:74.75, Z:23.12 [[ 4.48369385e-01 -8.93791438e-01 -1.00876372e-02 2.34112957e+02] [ 8.93574169e-01 4.48482814e-01 -1.97071155e-02 7.47454481e+01] [ 2.21381830e-02 -1.77984787e-04 9.99754905e-01 2.31185835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.13, Y:74.77, Z:23.12 [[ 4.46879034e-01 -8.94537582e-01 -1.00818213e-02 2.34126013e+02] [ 8.94320436e-01 4.46992697e-01 -1.97100904e-02 7.47698197e+01] [ 2.21379171e-02 -2.08352681e-04 9.99754905e-01 2.31193255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.14, Y:74.79, Z:23.12 [[ 4.45616362e-01 -8.95167316e-01 -1.00764172e-02 2.34138522e+02] [ 8.94950268e-01 4.45730212e-01 -1.97128528e-02 7.47940281e+01] [ 2.21376651e-02 -2.33522513e-04 9.99754905e-01 2.31199556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.15, Y:74.82, Z:23.12 [[ 4.45164678e-01 -8.95392087e-01 -1.00707130e-02 2.34150959e+02] [ 8.95175031e-01 4.45278512e-01 -1.97157664e-02 7.48191399e+01] [ 2.21376133e-02 -2.38288039e-04 9.99754905e-01 2.31203637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.16, Y:74.84, Z:23.12 [[ 4.45853853e-01 -8.95049180e-01 -1.00652064e-02 2.34162858e+02] [ 8.94831972e-01 4.45967398e-01 -1.97185772e-02 7.48439783e+01] [ 2.21378503e-02 -2.15064908e-04 9.99754905e-01 2.31210890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.17, Y:74.87, Z:23.12 [[ 4.47051486e-01 -8.94451643e-01 -1.00611876e-02 2.34174655e+02] [ 8.94234237e-01 4.47164652e-01 -1.97206276e-02 7.48696347e+01] [ 2.21381552e-02 -1.80922522e-04 9.99754905e-01 2.31214415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.19, Y:74.89, Z:23.12 [[ 4.48695882e-01 -8.93627935e-01 -1.00558087e-02 2.34185861e+02] [ 8.93410260e-01 4.48808530e-01 -1.97233699e-02 7.48944516e+01] [ 2.21384871e-02 -1.34167777e-04 9.99754905e-01 2.31216258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.20, Y:74.92, Z:23.12 [[ 4.50674888e-01 -8.92631562e-01 -1.00518799e-02 2.34197548e+02] [ 8.92413593e-01 4.50786966e-01 -1.97253721e-02 7.49199107e+01] [ 2.21387461e-02 -8.07043795e-05 9.99754905e-01 2.31217667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.21, Y:74.95, Z:23.12 [[ 4.54502557e-01 -8.90688774e-01 -1.00465942e-02 2.34208473e+02] [ 8.90470266e-01 4.54613581e-01 -1.97280638e-02 7.49459350e+01] [ 2.21388831e-02 2.02620200e-05 9.99754905e-01 2.31212867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:74.97, Z:23.12 [[ 4.55932285e-01 -8.89957822e-01 -1.00412619e-02 2.34220279e+02] [ 8.89739077e-01 4.56042839e-01 -1.97307775e-02 7.49714764e+01] [ 2.21388053e-02 6.17953335e-05 9.99754905e-01 2.31210886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.23, Y:75.00, Z:23.12 [[ 4.58004721e-01 -8.88893107e-01 -1.00358714e-02 2.34232114e+02] [ 8.88674045e-01 4.58114646e-01 -1.97335189e-02 7.49974358e+01] [ 2.21385686e-02 1.19426412e-04 9.99754905e-01 2.31208376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.24, Y:75.02, Z:23.12 [[ 4.54715223e-01 -8.90580404e-01 -1.00304692e-02 2.34238045e+02] [ 8.90361689e-01 4.54825838e-01 -1.97362645e-02 7.50213826e+01] [ 2.21388469e-02 4.36344033e-05 9.99754905e-01 2.31162857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.25, Y:75.05, Z:23.12 [[ 4.54460250e-01 -8.90713076e-01 -9.80293152e-03 2.34249425e+02] [ 8.90491874e-01 4.54565871e-01 -1.98517483e-02 7.50465128e+01] [ 2.21382899e-02 2.92399646e-04 9.99754875e-01 2.31165050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.27, Y:75.07, Z:23.12 [[ 4.57938689e-01 -8.88930050e-01 -9.77362695e-03 2.34268110e+02] [ 8.88708119e-01 4.58042789e-01 -1.98666184e-02 7.50726189e+01] [ 2.21367734e-02 4.11791533e-04 9.99754867e-01 2.31222015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:75.10, Z:23.12 [[ 4.56235572e-01 -8.89802581e-01 -1.00234398e-02 2.34280023e+02] [ 8.89583601e-01 4.56345657e-01 -1.97397696e-02 7.50981222e+01] [ 2.21386512e-02 8.92974051e-05 9.99754906e-01 2.31224786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.29, Y:75.12, Z:23.12 [[ 4.54977053e-01 -8.90446811e-01 -1.00178473e-02 2.34291796e+02] [ 8.90227924e-01 4.55087324e-01 -1.97426074e-02 7.51224289e+01] [ 2.21387371e-02 6.42659315e-05 9.99754906e-01 2.31233147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.30, Y:75.15, Z:23.12 [[ 4.51899513e-01 -8.92012663e-01 -1.00119521e-02 2.34303737e+02] [ 8.91794092e-01 4.52010408e-01 -1.97455965e-02 7.51480550e+01] [ 2.21388287e-02 -5.57424269e-06 9.99754906e-01 2.31234463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.32, Y:75.17, Z:23.12 [[ 4.49889170e-01 -8.93028335e-01 -1.00063715e-02 2.34315528e+02] [ 8.92809951e-01 4.50000434e-01 -1.97484242e-02 7.51725469e+01] [ 2.21387739e-02 -4.91859239e-05 9.99754906e-01 2.31234949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.33, Y:75.20, Z:23.12 [[ 4.47996738e-01 -8.93979257e-01 -1.00005109e-02 2.34327794e+02] [ 8.93761044e-01 4.48108334e-01 -1.97513915e-02 7.51978595e+01] [ 2.21386466e-02 -8.95080820e-05 9.99754906e-01 2.31238274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.34, Y:75.22, Z:23.12 [[ 4.44510986e-01 -8.95717635e-01 -9.99508643e-03 2.34339414e+02] [ 8.95499796e-01 4.44623312e-01 -1.97541362e-02 7.52232743e+01] [ 2.21381766e-02 -1.69667332e-04 9.99754906e-01 2.31243505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.35, Y:75.25, Z:23.12 [[ 4.42592063e-01 -8.96667427e-01 -9.98957316e-03 2.34351267e+02] [ 8.96449766e-01 4.42704734e-01 -1.97569238e-02 7.52479693e+01] [ 2.21378214e-02 -2.10892856e-04 9.99754906e-01 2.31243341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.36, Y:75.27, Z:23.12 [[ 4.40542402e-01 -8.97676267e-01 -9.98555690e-03 2.34363211e+02] [ 8.97458818e-01 4.40655482e-01 -1.97589535e-02 7.52729205e+01] [ 2.21373340e-02 -2.56969258e-04 9.99754906e-01 2.31247551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.37, Y:75.30, Z:23.12 [[ 4.37050308e-01 -8.99381689e-01 -9.98026654e-03 2.34374876e+02] [ 8.99164620e-01 4.37164115e-01 -1.97616253e-02 7.52990133e+01] [ 2.21362583e-02 -3.37078159e-04 9.99754906e-01 2.31235881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.39, Y:75.32, Z:23.12 [[ 4.35286153e-01 -9.00236894e-01 -9.97495019e-03 2.34386777e+02] [ 9.00019988e-01 4.35400269e-01 -1.97643084e-02 7.53242543e+01] [ 2.21356556e-02 -3.74524764e-04 9.99754906e-01 2.31240736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.40, Y:75.35, Z:23.13 [[ 4.33844416e-01 -9.00932644e-01 -9.96964608e-03 2.34398680e+02] [ 9.00715859e-01 4.33958763e-01 -1.97669836e-02 7.53495312e+01] [ 2.21351361e-02 -4.04022870e-04 9.99754906e-01 2.31255693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.41, Y:75.37, Z:23.13 [[ 4.32779355e-01 -9.01444810e-01 -9.96415980e-03 2.34410390e+02] [ 9.01228097e-01 4.32893838e-01 -1.97697487e-02 7.53742414e+01] [ 2.21347608e-02 -4.24041665e-04 9.99754906e-01 2.31267246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.42, Y:75.40, Z:23.13 [[ 4.31937342e-01 -9.01848637e-01 -9.95837293e-03 2.34421860e+02] [ 9.01631963e-01 4.32051900e-01 -1.97726633e-02 7.54000765e+01] [ 2.21344834e-02 -4.38235717e-04 9.99754906e-01 2.31296806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.43, Y:75.42, Z:23.13 [[ 4.31785219e-01 -9.01921539e-01 -9.95301037e-03 2.34433549e+02] [ 9.01704823e-01 4.31899697e-01 -1.97753623e-02 7.54247177e+01] [ 2.21345273e-02 -4.35968314e-04 9.99754906e-01 2.31312857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.45, Y:75.45, Z:23.13 [[ 4.32036863e-01 -9.01801086e-01 -9.94735433e-03 2.34445501e+02] [ 9.01584273e-01 4.32151156e-01 -1.97782069e-02 7.54502004e+01] [ 2.21347692e-02 -4.23463746e-04 9.99754906e-01 2.31329021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.46, Y:75.48, Z:23.13 [[ 4.33321181e-01 -9.01184727e-01 -9.94196807e-03 2.34456140e+02] [ 9.00967689e-01 4.33435047e-01 -1.97809141e-02 7.54757456e+01] [ 2.21354551e-02 -3.85902928e-04 9.99754906e-01 2.31345209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:75.50, Z:23.14 [[ 4.34035060e-01 -9.00841179e-01 -9.93660327e-03 2.34467728e+02] [ 9.00623990e-01 4.34148636e-01 -1.97836087e-02 7.55019096e+01] [ 2.21358521e-02 -3.62363502e-04 9.99754906e-01 2.31353488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.48, Y:75.53, Z:23.14 [[ 4.36121242e-01 -8.99833114e-01 -9.93125976e-03 2.34478072e+02] [ 8.99615600e-01 4.36234197e-01 -1.97862907e-02 7.55278552e+01] [ 2.21367147e-02 -3.05094539e-04 9.99754906e-01 2.31372346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.49, Y:75.55, Z:23.14 [[ 4.37296576e-01 -8.99262578e-01 -9.92571672e-03 2.34489181e+02] [ 8.99044854e-01 4.37409125e-01 -1.97890710e-02 7.55532452e+01] [ 2.21371700e-02 -2.69971565e-04 9.99754906e-01 2.31377692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.50, Y:75.58, Z:23.14 [[ 4.38291876e-01 -8.98777960e-01 -9.92018498e-03 2.34500357e+02] [ 8.98560049e-01 4.38404062e-01 -1.97918436e-02 7.55785461e+01] [ 2.21375222e-02 -2.39277649e-04 9.99754906e-01 2.31380761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.51, Y:75.60, Z:23.14 [[ 4.39344221e-01 -8.98264079e-01 -9.91465715e-03 2.34512374e+02] [ 8.98045974e-01 4.39456029e-01 -1.97946124e-02 7.56043320e+01] [ 2.21378451e-02 -2.07169393e-04 9.99754906e-01 2.31388379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.53, Y:75.63, Z:23.14 [[ 4.39091612e-01 -8.98387648e-01 -9.90909152e-03 2.34525112e+02] [ 8.98169512e-01 4.39203359e-01 -1.97973981e-02 7.56299449e+01] [ 2.21378442e-02 -2.07172448e-04 9.99754906e-01 2.31394685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.54, Y:75.66, Z:23.14 [[ 4.41511319e-01 -8.97201023e-01 -9.90352237e-03 2.34535983e+02] [ 8.96982524e-01 4.41622355e-01 -1.98001836e-02 7.56553203e+01] [ 2.21383619e-02 -1.41281302e-04 9.99754906e-01 2.31407988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.55, Y:75.68, Z:23.14 [[ 4.42697266e-01 -8.96616511e-01 -9.89764637e-03 2.34546973e+02] [ 8.96397799e-01 4.42807883e-01 -1.98031205e-02 7.56806738e+01] [ 2.21385606e-02 -1.05441129e-04 9.99754906e-01 2.31415195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.56, Y:75.71, Z:23.14 [[ 4.45296862e-01 -8.95328343e-01 -9.89258214e-03 2.34556565e+02] [ 8.95109255e-01 4.45406733e-01 -1.98056500e-02 7.57075874e+01] [ 2.21387825e-02 -3.55480394e-05 9.99754907e-01 2.31423016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.57, Y:75.73, Z:23.14 [[ 4.46543447e-01 -8.94707325e-01 -9.88703438e-03 2.34567981e+02] [ 8.94488023e-01 4.46652889e-01 -1.98084190e-02 7.57336699e+01] [ 2.21388101e-02 1.48588360e-06 9.99754907e-01 2.31428852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.58, Y:75.76, Z:23.14 [[ 4.47575119e-01 -8.94191741e-01 -9.88147771e-03 2.34579652e+02] [ 8.93972252e-01 4.47684185e-01 -1.98111906e-02 7.57595524e+01] [ 2.21387843e-02 3.32291120e-05 9.99754907e-01 2.31428943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.59, Y:75.79, Z:23.14 [[ 4.48449627e-01 -8.93753545e-01 -9.87585180e-03 2.34591521e+02] [ 8.93533888e-01 4.48558354e-01 -1.98139947e-02 7.57854675e+01] [ 2.21387239e-02 6.11703031e-05 9.99754907e-01 2.31429735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.60, Y:75.81, Z:23.14 [[ 4.49799439e-01 -8.93075049e-01 -9.87026096e-03 2.34602732e+02] [ 8.92855166e-01 4.49907710e-01 -1.98167794e-02 7.58117396e+01] [ 2.21385777e-02 1.00862770e-04 9.99754907e-01 2.31420648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.61, Y:75.84, Z:23.14 [[ 4.50265023e-01 -8.92840466e-01 -9.86468161e-03 2.34614606e+02] [ 8.92620466e-01 4.50373055e-01 -1.98195564e-02 7.58370631e+01] [ 2.21384887e-02 1.18636313e-04 9.99754907e-01 2.31423059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.63, Y:75.86, Z:23.14 [[ 4.50510798e-01 -8.92716539e-01 -9.85912525e-03 2.34626093e+02] [ 8.92496449e-01 4.50618646e-01 -1.98223200e-02 7.58615279e+01] [ 2.21384185e-02 1.30934913e-04 9.99754907e-01 2.31422258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.64, Y:75.89, Z:23.14 [[ 4.50996766e-01 -8.92471193e-01 -9.85327057e-03 2.34637575e+02] [ 8.92250981e-01 4.51104365e-01 -1.98252298e-02 7.58867109e+01] [ 2.21382998e-02 1.49524193e-04 9.99754907e-01 2.31424730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.65, Y:75.91, Z:23.14 [[ 4.52074546e-01 -8.91925795e-01 -9.84788108e-03 2.34648578e+02] [ 8.91705395e-01 4.52181759e-01 -1.98279066e-02 7.59124190e+01] [ 2.21380535e-02 1.82283171e-04 9.99754907e-01 2.31418282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.276875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:234.66, Y:75.94, Z:23.14 [[ 4.52404901e-01 -8.91758337e-01 -9.84249658e-03 2.34660818e+02] [ 8.91537839e-01 4.52511912e-01 -1.98305791e-02 7.59377174e+01] [ 2.21379311e-02 1.96493026e-04 9.99754907e-01 2.31421411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.67, Y:75.96, Z:23.14 [[ 4.52332824e-01 -8.91794959e-01 -9.83706333e-03 2.34673336e+02] [ 8.91574411e-01 4.52439732e-01 -1.98332739e-02 7.59631943e+01] [ 2.21378920e-02 2.00766828e-04 9.99754907e-01 2.31424828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.69, Y:75.99, Z:23.14 [[ 4.51827269e-01 -8.92051264e-01 -9.83166465e-03 2.34685621e+02] [ 8.91830719e-01 4.51934182e-01 -1.98359497e-02 7.59874762e+01] [ 2.21379494e-02 1.94242440e-04 9.99754907e-01 2.31429226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.70, Y:76.01, Z:23.14 [[ 4.50734701e-01 -8.92603876e-01 -9.82597668e-03 2.34697902e+02] [ 8.92383400e-01 4.50841757e-01 -1.98387669e-02 7.60129668e+01] [ 2.21381209e-02 1.73482195e-04 9.99754907e-01 2.31438946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.71, Y:76.04, Z:23.15 [[ 4.48465000e-01 -8.93746441e-01 -9.82049820e-03 2.34709745e+02] [ 8.93526179e-01 4.48572495e-01 -1.98414785e-02 7.60377522e+01] [ 2.21384562e-02 1.23336435e-04 9.99754907e-01 2.31453084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.72, Y:76.06, Z:23.15 [[ 4.46964838e-01 -8.94497683e-01 -9.81469507e-03 2.34722210e+02] [ 8.94277539e-01 4.47072573e-01 -1.98443486e-02 7.60626527e+01] [ 2.21386049e-02 9.26647188e-05 9.99754907e-01 2.31466280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.74, Y:76.09, Z:23.15 [[ 4.45383782e-01 -8.95286024e-01 -9.80926515e-03 2.34735068e+02] [ 8.95066011e-01 4.45491786e-01 -1.98470323e-02 7.60879994e+01] [ 2.21387177e-02 5.96064820e-05 9.99754907e-01 2.31479571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.75, Y:76.11, Z:23.15 [[ 4.42839296e-01 -8.96547403e-01 -9.80370110e-03 2.34748036e+02] [ 8.96327636e-01 4.42947802e-01 -1.98497804e-02 7.61123364e+01] [ 2.21387969e-02 2.93454909e-06 9.99754907e-01 2.31496317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.76, Y:76.14, Z:23.15 [[ 4.41716665e-01 -8.97101104e-01 -9.79782755e-03 2.34760499e+02] [ 8.96881409e-01 4.41825315e-01 -1.98526791e-02 7.61380116e+01] [ 2.21387886e-02 -1.82301583e-05 9.99754907e-01 2.31500491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.77, Y:76.16, Z:23.15 [[ 4.41171822e-01 -8.97369229e-01 -9.79236288e-03 2.34772617e+02] [ 8.97149540e-01 4.41280485e-01 -1.98553742e-02 7.61635126e+01] [ 2.21387805e-02 -2.55822295e-05 9.99754907e-01 2.31502235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.78, Y:76.19, Z:23.15 [[ 4.41182307e-01 -8.97364134e-01 -9.78686266e-03 2.34784724e+02] [ 8.97144384e-01 4.41290846e-01 -1.98580850e-02 7.61886654e+01] [ 2.21387861e-02 -1.91931356e-05 9.99754907e-01 2.31502796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.80, Y:76.21, Z:23.15 [[ 4.42304614e-01 -8.96811549e-01 -9.78137620e-03 2.34796805e+02] [ 8.96591603e-01 4.42412756e-01 -1.98607870e-02 7.62144349e+01] [ 2.21387888e-02 1.46179621e-05 9.99754907e-01 2.31494393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.81, Y:76.24, Z:23.15 [[ 4.42970608e-01 -8.96482835e-01 -9.77585855e-03 2.34808655e+02] [ 8.96262749e-01 4.43078465e-01 -1.98635026e-02 7.62383130e+01] [ 2.21387615e-02 3.72099444e-05 9.99754907e-01 2.31493535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.666875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:234.82, Y:76.26, Z:23.15 [[ 4.43681175e-01 -8.96131442e-01 -9.77005335e-03 2.34821154e+02] [ 8.95911208e-01 4.43788728e-01 -1.98663575e-02 7.62630743e+01] [ 2.21387071e-02 6.12285279e-05 9.99754907e-01 2.31495012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.83, Y:76.29, Z:23.15 [[ 4.45314316e-01 -8.95321066e-01 -9.76466283e-03 2.34834225e+02] [ 8.95100579e-01 4.45421348e-01 -1.98690067e-02 7.62882147e+01] [ 2.21385295e-02 1.07597760e-04 9.99754907e-01 2.31504648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.85, Y:76.31, Z:23.15 [[ 4.45840483e-01 -8.95059229e-01 -9.75914692e-03 2.34846445e+02] [ 8.94838619e-01 4.45947263e-01 -1.98717156e-02 7.63134426e+01] [ 2.21384273e-02 1.26753723e-04 9.99754907e-01 2.31515066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.86, Y:76.34, Z:23.15 [[ 4.46451085e-01 -8.94754881e-01 -9.75353842e-03 2.34857912e+02] [ 8.94534138e-01 4.46557590e-01 -1.98744680e-02 7.63375054e+01] [ 2.21382938e-02 1.48104718e-04 9.99754907e-01 2.31518534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.87, Y:76.36, Z:23.15 [[ 4.46834797e-01 -8.94563375e-01 -9.74849260e-03 2.34870226e+02] [ 8.94342532e-01 4.46941095e-01 -1.98769427e-02 7.63629624e+01] [ 2.21381869e-02 1.63218080e-04 9.99754907e-01 2.31527287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.88, Y:76.39, Z:23.15 [[ 4.47318806e-01 -8.94321508e-01 -9.74305698e-03 2.34882793e+02] [ 8.94100550e-01 4.47424863e-01 -1.98796067e-02 7.63868295e+01] [ 2.21380458e-02 1.81249320e-04 9.99754907e-01 2.31536225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.90, Y:76.41, Z:23.15 [[ 4.47281800e-01 -8.94340079e-01 -9.73732696e-03 2.34895488e+02] [ 8.94119064e-01 4.47387739e-01 -1.98824129e-02 7.64118064e+01] [ 2.21379994e-02 1.86711770e-04 9.99754907e-01 2.31540542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.91, Y:76.44, Z:23.16 [[ 4.46986632e-01 -8.94487698e-01 -9.73191234e-03 2.34908502e+02] [ 8.94266660e-01 4.47092523e-01 -1.98850629e-02 7.64351379e+01] [ 2.21380094e-02 1.85432533e-04 9.99754907e-01 2.31558229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.92, Y:76.46, Z:23.16 [[ 4.46873700e-01 -8.94544184e-01 -9.72620294e-03 2.34921506e+02] [ 8.94323099e-01 4.46979493e-01 -1.98878551e-02 7.64600597e+01] [ 2.21379784e-02 1.88991434e-04 9.99754907e-01 2.31573792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.93, Y:76.48, Z:23.16 [[ 4.46183003e-01 -8.94888951e-01 -9.72073710e-03 2.34933746e+02] [ 8.94667890e-01 4.46288845e-01 -1.98905263e-02 7.64845933e+01] [ 2.21380688e-02 1.77983412e-04 9.99754907e-01 2.31580677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.95, Y:76.51, Z:23.16 [[ 4.45122254e-01 -8.95417109e-01 -9.71497551e-03 2.34946923e+02] [ 8.95196112e-01 4.45228230e-01 -1.98933400e-02 7.65095620e+01] [ 2.21382183e-02 1.58160036e-04 9.99754907e-01 2.31581289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.96, Y:76.53, Z:23.16 [[ 4.44575352e-01 -8.95688830e-01 -9.70961057e-03 2.34960041e+02] [ 8.95467841e-01 4.44681344e-01 -1.98959582e-02 7.65349170e+01] [ 2.21382702e-02 1.50608611e-04 9.99754907e-01 2.31585195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.97, Y:76.56, Z:23.16 [[ 4.43780758e-01 -8.96082846e-01 -9.70426431e-03 2.34972275e+02] [ 8.95861894e-01 4.43886827e-01 -1.98985655e-02 7.65592388e+01] [ 2.21383583e-02 1.36919869e-04 9.99754907e-01 2.31585665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.056875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:234.99, Y:76.58, Z:23.16 [[ 4.42685661e-01 -8.96624416e-01 -9.69862243e-03 2.34985274e+02] [ 8.96403533e-01 4.42791874e-01 -1.99013150e-02 7.65842910e+01] [ 2.21384761e-02 1.16147361e-04 9.99754907e-01 2.31576268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.00, Y:76.61, Z:23.16 [[ 4.41748369e-01 -8.97086629e-01 -9.69320720e-03 2.34998395e+02] [ 8.96865800e-01 4.41854693e-01 -1.99039522e-02 7.66096796e+01] [ 2.21385585e-02 9.90323870e-05 9.99754907e-01 2.31577317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.01, Y:76.63, Z:23.16 [[ 4.40758668e-01 -8.97573364e-01 -9.68775838e-03 2.35011509e+02] [ 8.97352594e-01 4.40865115e-01 -1.99066039e-02 7.66345386e+01] [ 2.21386322e-02 8.06731202e-05 9.99754907e-01 2.31582435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.146875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.02, Y:76.66, Z:23.16 [[ 4.39712516e-01 -8.98086387e-01 -9.68221940e-03 2.35024489e+02] [ 8.97865682e-01 4.39819097e-01 -1.99092976e-02 7.66592720e+01] [ 2.21386942e-02 6.10348248e-05 9.99754907e-01 2.31586091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.04, Y:76.68, Z:23.16 [[ 4.37646931e-01 -8.99094837e-01 -9.67663516e-03 2.35037600e+02] [ 8.98874317e-01 4.37753896e-01 -1.99120114e-02 7.66834614e+01] [ 2.21387714e-02 1.63518621e-05 9.99754907e-01 2.31589103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:76.71, Z:23.16 [[ 4.36665998e-01 -8.99571722e-01 -9.67073387e-03 2.35050239e+02] [ 8.99351256e-01 4.36773072e-01 -1.99148771e-02 7.67080223e+01] [ 2.21387764e-02 -1.23698185e-06 9.99754907e-01 2.31611610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.236875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:235.06, Y:76.73, Z:23.16 [[ 4.35944543e-01 -8.99921629e-01 -9.66522846e-03 2.35063582e+02] [ 8.99701189e-01 4.36051673e-01 -1.99175487e-02 7.67329953e+01] [ 2.21387719e-02 -1.28708848e-05 9.99754907e-01 2.31626846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.266875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.08, Y:76.76, Z:23.16 [[ 4.34760247e-01 -9.00494429e-01 -9.65976556e-03 2.35076463e+02] [ 9.00274072e-01 4.34867545e-01 -1.99201977e-02 7.67582758e+01] [ 2.21387456e-02 -3.59263890e-05 9.99754907e-01 2.31641867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.09, Y:76.78, Z:23.17 [[ 4.33663793e-01 -9.01023036e-01 -9.65420191e-03 2.35089762e+02] [ 9.00802749e-01 4.33771237e-01 -1.99228938e-02 7.67820227e+01] [ 2.21387013e-02 -5.66939344e-05 9.99754907e-01 2.31650551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.10, Y:76.81, Z:23.17 [[ 4.33286983e-01 -9.01204361e-01 -9.64833164e-03 2.35102207e+02] [ 9.00984056e-01 4.33394389e-01 -1.99257362e-02 7.68067916e+01] [ 2.21386932e-02 -5.94308375e-05 9.99754907e-01 2.31650693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.12, Y:76.83, Z:23.16 [[ 4.33825920e-01 -9.00945108e-01 -9.64284363e-03 2.35115264e+02] [ 9.00724679e-01 4.33933072e-01 -1.99283917e-02 7.68313578e+01] [ 2.21387358e-02 -4.00943560e-05 9.99754907e-01 2.31644040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.38687500000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:235.13, Y:76.86, Z:23.16 [[ 4.34200976e-01 -9.00764472e-01 -9.63730263e-03 2.35128228e+02] [ 9.00543940e-01 4.34307915e-01 -1.99310710e-02 7.68563803e+01] [ 2.21387575e-02 -2.47239986e-05 9.99754907e-01 2.31646591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.14, Y:76.88, Z:23.16 [[ 4.34726945e-01 -9.00510806e-01 -9.63176286e-03 2.35140819e+02] [ 9.00290152e-01 4.34833632e-01 -1.99337478e-02 7.68804325e+01] [ 2.21387697e-02 -5.64398360e-06 9.99754907e-01 2.31646538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.15, Y:76.90, Z:23.16 [[ 4.35898855e-01 -8.99944181e-01 -9.62592786e-03 2.35154725e+02] [ 8.99723326e-01 4.36005125e-01 -1.99365651e-02 7.69039596e+01] [ 2.21387496e-02 2.96540485e-05 9.99754907e-01 2.31649620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.17, Y:76.93, Z:23.17 [[ 4.36433754e-01 -8.99684962e-01 -9.62014399e-03 2.35167532e+02] [ 8.99463982e-01 4.36539765e-01 -1.99393556e-02 7.69286592e+01] [ 2.21387138e-02 4.92348000e-05 9.99754907e-01 2.31659300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.18, Y:76.95, Z:23.17 [[ 4.37988561e-01 -8.98929127e-01 -9.61478917e-03 2.35180987e+02] [ 8.98707908e-01 4.38094071e-01 -1.99419374e-02 7.69535008e+01] [ 2.21385705e-02 9.34533921e-05 9.99754907e-01 2.31671747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.19, Y:76.98, Z:23.17 [[ 4.38764582e-01 -8.98550670e-01 -9.60918207e-03 2.35193487e+02] [ 8.98329300e-01 4.38869776e-01 -1.99446388e-02 7.69776912e+01] [ 2.21384482e-02 1.18791309e-04 9.99754907e-01 2.31671865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.21, Y:77.00, Z:23.17 [[ 4.39280226e-01 -8.98298759e-01 -9.60326774e-03 2.35206286e+02] [ 8.98077267e-01 4.39385162e-01 -1.99474861e-02 7.70028364e+01] [ 2.21383354e-02 1.38059772e-04 9.99754908e-01 2.31675541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.22, Y:77.03, Z:23.17 [[ 4.40044994e-01 -8.97924433e-01 -9.59767957e-03 2.35218978e+02] [ 8.97702793e-01 4.40149617e-01 -1.99501745e-02 7.70271505e+01] [ 2.21381641e-02 1.63110668e-04 9.99754908e-01 2.31684111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.23, Y:77.05, Z:23.17 [[ 4.41804425e-01 -8.97060114e-01 -9.59179348e-03 2.35232721e+02] [ 8.96838207e-01 4.41908483e-01 -1.99530041e-02 7.70511473e+01] [ 2.21377390e-02 2.13038635e-04 9.99754908e-01 2.31707032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:77.08, Z:23.17 [[ 4.42651344e-01 -8.96642570e-01 -9.58589874e-03 2.35244888e+02] [ 8.96420504e-01 4.42755061e-01 -1.99558357e-02 7.70755345e+01] [ 2.21374569e-02 2.40481299e-04 9.99754908e-01 2.31716922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.26, Y:77.10, Z:23.17 [[ 4.43230849e-01 -8.96356312e-01 -9.58005451e-03 2.35257059e+02] [ 8.96134118e-01 4.43334292e-01 -1.99586409e-02 7.71003689e+01] [ 2.21372204e-02 2.61271628e-04 9.99754908e-01 2.31727884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.27, Y:77.13, Z:23.17 [[ 4.43866728e-01 -8.96041659e-01 -9.57463897e-03 2.35269532e+02] [ 8.95819336e-01 4.43969893e-01 -1.99612385e-02 7.71251913e+01] [ 2.21369527e-02 2.82982884e-04 9.99754908e-01 2.31742064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.28, Y:77.15, Z:23.17 [[ 4.45224116e-01 -8.95368036e-01 -9.56906522e-03 2.35282331e+02] [ 8.95145500e-01 4.45326819e-01 -1.99639101e-02 7.71487974e+01] [ 2.21364083e-02 3.22708536e-04 9.99754908e-01 2.31737257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.29, Y:77.17, Z:23.17 [[ 4.45376371e-01 -8.95292373e-01 -9.56319065e-03 2.35294694e+02] [ 8.95069760e-01 4.45478905e-01 -1.99667237e-02 7.71736984e+01] [ 2.21362552e-02 3.32984194e-04 9.99754908e-01 2.31733665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.30, Y:77.19, Z:23.16 [[ 4.38641083e-01 -8.98611511e-01 -9.55779772e-03 2.35295358e+02] [ 8.98389618e-01 4.38745167e-01 -1.99693049e-02 7.71949353e+01] [ 2.21380848e-02 1.72731312e-04 9.99754908e-01 2.31648641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.32, Y:77.22, Z:23.17 [[ 4.44342053e-01 -8.95810899e-01 -9.10897216e-03 2.35319531e+02] [ 8.95583857e-01 4.44434670e-01 -2.01836516e-02 7.72223320e+01] [ 2.21290781e-02 8.10596750e-04 9.99754793e-01 2.31711484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:77.25, Z:23.17 [[ 4.44104150e-01 -8.95924237e-01 -9.55332291e-03 2.35331950e+02] [ 8.95701675e-01 4.44206781e-01 -1.99710960e-02 7.72480899e+01] [ 2.21362398e-02 3.12319294e-04 9.99754915e-01 2.31720167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.34, Y:77.27, Z:23.17 [[ 4.43455140e-01 -8.96245711e-01 -9.54801895e-03 2.35344400e+02] [ 8.96023169e-01 4.43557814e-01 -1.99736315e-02 7.72727259e+01] [ 2.21363800e-02 3.02163338e-04 9.99754915e-01 2.31740090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.36, Y:77.30, Z:23.17 [[ 4.41872938e-01 -8.97026894e-01 -9.54238783e-03 2.35357637e+02] [ 8.96804476e-01 4.41975880e-01 -1.99763214e-02 7.72967388e+01] [ 2.21368028e-02 2.69339720e-04 9.99754915e-01 2.31734829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.37, Y:77.32, Z:23.17 [[ 4.40605552e-01 -8.97650157e-01 -9.53644526e-03 2.35369806e+02] [ 8.97427823e-01 4.40708675e-01 -1.99791579e-02 7.73205827e+01] [ 2.21370884e-02 2.44656578e-04 9.99754915e-01 2.31737301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.38, Y:77.35, Z:23.17 [[ 4.39570954e-01 -8.98157304e-01 -9.53070287e-03 2.35382688e+02] [ 8.97935029e-01 4.39674206e-01 -1.99818968e-02 7.73461076e+01] [ 2.21372908e-02 2.25509498e-04 9.99754915e-01 2.31743021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.40, Y:77.37, Z:23.18 [[ 4.37580054e-01 -8.99129003e-01 -9.52535844e-03 2.35395915e+02] [ 8.98906903e-01 4.37683679e-01 -1.99844442e-02 7.73704557e+01] [ 2.21376873e-02 1.82383715e-04 9.99754915e-01 2.31762481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.41, Y:77.39, Z:23.18 [[ 4.36398137e-01 -8.99703305e-01 -9.51995945e-03 2.35407962e+02] [ 8.99481284e-01 4.36501934e-01 -1.99870158e-02 7.73941883e+01] [ 2.21378649e-02 1.59271101e-04 9.99754915e-01 2.31773285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.42, Y:77.42, Z:23.18 [[ 4.35017365e-01 -9.00371777e-01 -9.51602303e-03 2.35420232e+02] [ 9.00149876e-01 4.35121415e-01 -1.99888898e-02 7.74189756e+01] [ 2.21380576e-02 1.29667206e-04 9.99754915e-01 2.31792825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:77.44, Z:23.18 [[ 4.33500009e-01 -9.01103374e-01 -9.51061331e-03 2.35431927e+02] [ 9.00881591e-01 4.33604313e-01 -1.99914634e-02 7.74433044e+01] [ 2.21382180e-02 9.83630967e-05 9.99754915e-01 2.31799536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.44, Y:77.47, Z:23.18 [[ 4.30803572e-01 -9.02395666e-01 -9.50492752e-03 2.35444957e+02] [ 9.02174137e-01 4.30908413e-01 -1.99941663e-02 7.74685303e+01] [ 2.21384022e-02 3.84584913e-05 9.99754915e-01 2.31813863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.45, Y:77.49, Z:23.18 [[ 4.23939178e-01 -9.05640839e-01 -9.49964967e-03 2.35447949e+02] [ 9.05420056e-01 4.24045581e-01 -1.99966736e-02 7.74907533e+01] [ 2.21380887e-02 -1.23799970e-04 9.99754915e-01 2.31759580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.47, Y:77.52, Z:23.18 [[ 4.28512660e-01 -9.03489820e-01 -9.11294802e-03 2.35469990e+02] [ 9.03264520e-01 4.28609347e-01 -2.01800385e-02 7.75185011e+01] [ 2.21383540e-02 4.15999351e-04 9.99754830e-01 2.31837836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.48, Y:77.54, Z:23.18 [[ 4.27588443e-01 -9.03923667e-01 -9.49358510e-03 2.35482006e+02] [ 9.03702397e-01 4.27693821e-01 -1.99993543e-02 7.75433987e+01] [ 2.21382374e-02 -2.78828353e-05 9.99754919e-01 2.31848009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.49, Y:77.57, Z:23.19 [[ 4.26508374e-01 -9.04433847e-01 -9.48810302e-03 2.35494163e+02] [ 9.04212645e-01 4.26613894e-01 -2.00019548e-02 7.75685466e+01] [ 2.21382015e-02 -4.82615199e-05 9.99754919e-01 2.31854585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.51, Y:77.59, Z:23.19 [[ 4.26614636e-01 -9.04383323e-01 -9.52662418e-03 2.35505428e+02] [ 9.04162516e-01 4.26720982e-01 -1.99836859e-02 7.75928811e+01] [ 2.21381227e-02 -8.82835987e-05 9.99754918e-01 2.31853711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.52, Y:77.62, Z:23.18 [[ 4.25895243e-01 -9.04722806e-01 -9.48085103e-03 2.35516620e+02] [ 9.04501600e-01 4.26000753e-01 -2.00053785e-02 7.76188448e+01] [ 2.21381719e-02 -5.52493830e-05 9.99754919e-01 2.31847198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.53, Y:77.64, Z:23.18 [[ 4.25709189e-01 -9.04810424e-01 -9.47539912e-03 2.35527959e+02] [ 9.04589182e-01 4.25814623e-01 -2.00079604e-02 7.76437427e+01] [ 2.21381747e-02 -5.37709367e-05 9.99754919e-01 2.31836419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.54, Y:77.67, Z:23.18 [[ 4.25053077e-01 -9.05118891e-01 -9.46967177e-03 2.35539483e+02] [ 9.04897665e-01 4.25158546e-01 -2.00106708e-02 7.76688447e+01] [ 2.21381480e-02 -6.34866717e-05 9.99754919e-01 2.31843612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.55, Y:77.69, Z:23.18 [[ 4.24333344e-01 -9.05456593e-01 -9.46418204e-03 2.35551365e+02] [ 9.05235393e-01 4.24438867e-01 -2.00132669e-02 7.76940519e+01] [ 2.21381111e-02 -7.50161011e-05 9.99754919e-01 2.31849310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.56, Y:77.72, Z:23.18 [[ 4.22566116e-01 -9.06282744e-01 -9.45858502e-03 2.35562772e+02] [ 9.06061691e-01 4.22671947e-01 -2.00159118e-02 7.77189492e+01] [ 2.21379540e-02 -1.12015446e-04 9.99754919e-01 2.31833198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.57, Y:77.74, Z:23.18 [[ 4.17688814e-01 -9.08540973e-01 -9.45274976e-03 2.35568381e+02] [ 9.08320430e-01 4.17795703e-01 -2.00186671e-02 7.77431034e+01] [ 2.21370976e-02 -2.24552385e-04 9.99754919e-01 2.31810370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.59, Y:77.77, Z:23.18 [[ 4.20422679e-01 -9.07281608e-01 -9.21166414e-03 2.35586549e+02] [ 9.07058221e-01 4.20523568e-01 -2.01323689e-02 7.77694911e+01] [ 2.21394499e-02 1.08588790e-04 9.99754886e-01 2.31849605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.60, Y:77.79, Z:23.19 [[ 4.17705982e-01 -9.08533135e-01 -9.44749892e-03 2.35598258e+02] [ 9.08312535e-01 4.17812751e-01 -2.00210847e-02 7.77946171e+01] [ 2.21371043e-02 -2.18354881e-04 9.99754920e-01 2.31864938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.61, Y:77.82, Z:23.19 [[ 4.16480917e-01 -9.09095426e-01 -9.44209955e-03 2.35610426e+02] [ 9.08874912e-01 4.16587864e-01 -2.00236307e-02 7.78204568e+01] [ 2.21368552e-02 -2.42227320e-04 9.99754920e-01 2.31873528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.62, Y:77.85, Z:23.19 [[ 4.15634661e-01 -9.09482698e-01 -9.43669822e-03 2.35622110e+02] [ 9.09262226e-01 4.15741694e-01 -2.00261759e-02 7.78456696e+01] [ 2.21366894e-02 -2.56860403e-04 9.99754920e-01 2.31884730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.63, Y:77.87, Z:23.19 [[ 4.15281414e-01 -9.09644106e-01 -9.43126438e-03 2.35632604e+02] [ 9.09423617e-01 4.15388413e-01 -2.00287346e-02 7.78705772e+01] [ 2.21366584e-02 -2.59453332e-04 9.99754921e-01 2.31883227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.64, Y:77.90, Z:23.19 [[ 4.15467945e-01 -9.09558984e-01 -9.42553452e-03 2.35643915e+02] [ 9.09338413e-01 4.15574774e-01 -2.00314308e-02 7.78964729e+01] [ 2.21367822e-02 -2.48583223e-04 9.99754921e-01 2.31902349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.66, Y:77.92, Z:23.19 [[ 4.15950281e-01 -9.09338567e-01 -9.41991120e-03 2.35655009e+02] [ 9.09117879e-01 4.16056868e-01 -2.00340748e-02 7.79218197e+01] [ 2.21369756e-02 -2.30630649e-04 9.99754921e-01 2.31906956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.67, Y:77.95, Z:23.19 [[ 4.17438801e-01 -9.08656271e-01 -9.41433200e-03 2.35665407e+02] [ 9.08435350e-01 4.17544904e-01 -2.00366962e-02 7.79483091e+01] [ 2.21373760e-02 -1.88217544e-04 9.99754921e-01 2.31907349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.68, Y:77.97, Z:23.19 [[ 4.18029559e-01 -9.08384700e-01 -9.40877898e-03 2.35676894e+02] [ 9.08163651e-01 4.18135395e-01 -2.00393035e-02 7.79738778e+01] [ 2.21375402e-02 -1.67689893e-04 9.99754921e-01 2.31908626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.69, Y:78.00, Z:23.19 [[ 4.18614414e-01 -9.08115384e-01 -9.40324115e-03 2.35688645e+02] [ 9.07894209e-01 4.18719986e-01 -2.00419017e-02 7.79995899e+01] [ 2.21376843e-02 -1.47319247e-04 9.99754921e-01 2.31912475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.70, Y:78.03, Z:23.19 [[ 4.19975189e-01 -9.07486928e-01 -9.39768937e-03 2.35700032e+02] [ 9.07265537e-01 4.20080306e-01 -2.00445046e-02 7.80256993e+01] [ 2.21379101e-02 -1.08005095e-04 9.99754921e-01 2.31916557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.71, Y:78.05, Z:23.19 [[ 4.20530782e-01 -9.07229657e-01 -9.39208973e-03 2.35711093e+02] [ 9.07008142e-01 4.20635641e-01 -2.00471280e-02 7.80511836e+01] [ 2.21379968e-02 -8.82674327e-05 9.99754921e-01 2.31914456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.72, Y:78.08, Z:23.19 [[ 4.20820910e-01 -9.07095174e-01 -9.38653177e-03 2.35722204e+02] [ 9.06873568e-01 4.20925575e-01 -2.00497301e-02 7.80769789e+01] [ 2.21380447e-02 -7.50519018e-05 9.99754921e-01 2.31913952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.73, Y:78.10, Z:23.19 [[ 4.21700190e-01 -9.06686797e-01 -9.38097444e-03 2.35732976e+02] [ 9.06465032e-01 4.21804517e-01 -2.00523299e-02 7.81014954e+01] [ 2.21381202e-02 -4.74539632e-05 9.99754921e-01 2.31915293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.74, Y:78.13, Z:23.19 [[ 4.21543999e-01 -9.06759485e-01 -9.37511409e-03 2.35743914e+02] [ 9.06537677e-01 4.21648235e-01 -2.00550694e-02 7.81260556e+01] [ 2.21381248e-02 -4.47999739e-05 9.99754921e-01 2.31919887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.76, Y:78.15, Z:23.19 [[ 4.21254293e-01 -9.06894152e-01 -9.37110906e-03 2.35755297e+02] [ 9.06672336e-01 4.21358511e-01 -2.00569407e-02 7.81519672e+01] [ 2.21381188e-02 -4.74529712e-05 9.99754921e-01 2.31936825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.77, Y:78.18, Z:23.20 [[ 4.20988722e-01 -9.07017519e-01 -9.36571704e-03 2.35766677e+02] [ 9.06795677e-01 4.21092886e-01 -2.00594582e-02 7.81775589e+01] [ 2.21381168e-02 -4.79860471e-05 9.99754921e-01 2.31953510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.78, Y:78.20, Z:23.20 [[ 4.21637857e-01 -9.06715999e-01 -9.36026711e-03 2.35776619e+02] [ 9.06494027e-01 4.21741741e-01 -2.00620010e-02 7.82026419e+01] [ 2.21381526e-02 -2.61271306e-05 9.99754921e-01 2.31972725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.79, Y:78.23, Z:23.20 [[ 4.21859588e-01 -9.06612899e-01 -9.35629101e-03 2.35786921e+02] [ 9.06390859e-01 4.21963330e-01 -2.00638551e-02 7.82287462e+01] [ 2.21381616e-02 -1.63269881e-05 9.99754921e-01 2.31981737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.80, Y:78.25, Z:23.20 [[ 4.22129625e-01 -9.06487254e-01 -9.35083989e-03 2.35796817e+02] [ 9.06265127e-01 4.22233181e-01 -2.00663953e-02 7.82546230e+01] [ 2.21381665e-02 -3.72015523e-06 9.99754921e-01 2.31990987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.81, Y:78.28, Z:23.20 [[ 4.22373644e-01 -9.06373636e-01 -9.34538099e-03 2.35805467e+02] [ 9.06151426e-01 4.22477018e-01 -2.00689373e-02 7.82811103e+01] [ 2.21381644e-02 8.25988021e-06 9.99754921e-01 2.31991265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.82, Y:78.31, Z:23.20 [[ 4.21627831e-01 -9.06720871e-01 -9.33995919e-03 2.35815686e+02] [ 9.06498689e-01 4.21731269e-01 -2.00714603e-02 7.83073061e+01] [ 2.21381648e-02 -3.97448806e-06 9.99754921e-01 2.31996369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.82, Y:78.33, Z:23.20 [[ 4.19477531e-01 -9.07717726e-01 -9.33438314e-03 2.35824128e+02] [ 9.07495733e-01 4.19581372e-01 -2.00740532e-02 7.83329126e+01] [ 2.21381072e-02 -5.02986056e-05 9.99754921e-01 2.31983338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.83, Y:78.36, Z:23.20 [[ 4.18180413e-01 -9.08316073e-01 -9.33030771e-03 2.35834966e+02] [ 9.08094186e-01 4.18284480e-01 -2.00759472e-02 7.83590909e+01] [ 2.21380284e-02 -7.74302857e-05 9.99754921e-01 2.31981893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.85, Y:78.39, Z:23.20 [[ 4.16599045e-01 -9.09042508e-01 -9.32495497e-03 2.35845461e+02] [ 9.08820747e-01 4.16703380e-01 -2.00784332e-02 7.83850596e+01] [ 2.21378895e-02 -1.10056461e-04 9.99754921e-01 2.31985098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.86, Y:78.41, Z:23.20 [[ 4.15251781e-01 -9.09658784e-01 -9.31957662e-03 2.35855497e+02] [ 9.09437122e-01 4.15356326e-01 -2.00809293e-02 7.84103735e+01] [ 2.21377388e-02 -1.36927288e-04 9.99754921e-01 2.31988317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.86, Y:78.44, Z:23.20 [[ 4.12511546e-01 -9.10904757e-01 -9.31390611e-03 2.35864089e+02] [ 9.10683351e-01 4.12616632e-01 -2.00835590e-02 7.84375685e+01] [ 2.21372820e-02 -1.97319260e-04 9.99754921e-01 2.31997104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.87, Y:78.46, Z:23.20 [[ 4.11263518e-01 -9.11468964e-01 -9.30842642e-03 2.35874358e+02] [ 9.11247645e-01 4.11368787e-01 -2.00860984e-02 7.84634719e+01] [ 2.21370514e-02 -2.21602152e-04 9.99754921e-01 2.32005594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.88, Y:78.49, Z:23.20 [[ 4.10132523e-01 -9.11978493e-01 -9.30281783e-03 2.35884447e+02] [ 9.11757245e-01 4.10237943e-01 -2.00886957e-02 7.84888028e+01] [ 2.21368273e-02 -2.42884095e-04 9.99754921e-01 2.31998976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.89, Y:78.52, Z:23.20 [[ 4.09427299e-01 -9.12295358e-01 -9.29873415e-03 2.35893376e+02] [ 9.12074149e-01 4.09532800e-01 -2.00905858e-02 7.85157070e+01] [ 2.21366848e-02 -2.55500765e-04 9.99754921e-01 2.32016571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.90, Y:78.54, Z:23.20 [[ 4.09441349e-01 -9.12289107e-01 -9.29338368e-03 2.35903402e+02] [ 9.12067841e-01 4.09546728e-01 -2.00930605e-02 7.85422808e+01] [ 2.21367551e-02 -2.49266604e-04 9.99754921e-01 2.32033991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.91, Y:78.57, Z:23.20 [[ 4.09587710e-01 -9.12223460e-01 -9.28795536e-03 2.35913205e+02] [ 9.12002120e-01 4.09692935e-01 -2.00955694e-02 7.85691259e+01] [ 2.21368595e-02 -2.39736739e-04 9.99754921e-01 2.32048456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.92, Y:78.60, Z:23.21 [[ 4.10001582e-01 -9.12037575e-01 -9.28253337e-03 2.35922774e+02] [ 9.11816130e-01 4.10106587e-01 -2.00980736e-02 7.85953210e+01] [ 2.21370264e-02 -2.23721676e-04 9.99754921e-01 2.32068443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.93, Y:78.62, Z:23.21 [[ 4.10792135e-01 -9.11681830e-01 -9.27705554e-03 2.35930693e+02] [ 9.11460237e-01 4.10896827e-01 -2.01006018e-02 7.86226848e+01] [ 2.21372661e-02 -1.98498121e-04 9.99754921e-01 2.32100923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.94, Y:78.65, Z:23.21 [[ 4.11246343e-01 -9.11477088e-01 -9.27163948e-03 2.35940560e+02] [ 9.11255387e-01 4.11350805e-01 -2.01030997e-02 7.86481888e+01] [ 2.21374111e-02 -1.81505186e-04 9.99754921e-01 2.32105467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.95, Y:78.67, Z:23.21 [[ 4.11566749e-01 -9.11332499e-01 -9.26749389e-03 2.35950852e+02] [ 9.11110719e-01 4.11671042e-01 -2.01050106e-02 7.86745135e+01] [ 2.21375085e-02 -1.69159151e-04 9.99754921e-01 2.32126717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.96, Y:78.70, Z:23.22 [[ 4.11932686e-01 -9.11167205e-01 -9.26209968e-03 2.35959969e+02] [ 9.10945327e-01 4.12036771e-01 -2.01074954e-02 7.87015075e+01] [ 2.21376160e-02 -1.54331842e-04 9.99754921e-01 2.32155617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.97, Y:78.73, Z:23.22 [[ 4.12169538e-01 -9.11060146e-01 -9.25644987e-03 2.35969758e+02] [ 9.10838182e-01 4.12273440e-01 -2.01100959e-02 7.87267837e+01] [ 2.21376954e-02 -1.42359045e-04 9.99754921e-01 2.32162760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.98, Y:78.75, Z:23.22 [[ 4.11810026e-01 -9.11222759e-01 -9.25132104e-03 2.35979507e+02] [ 9.11000783e-01 4.11913903e-01 -2.01124551e-02 7.87529785e+01] [ 2.21376745e-02 -1.45450068e-04 9.99754921e-01 2.32164308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.98, Y:78.78, Z:23.21 [[ 4.08305163e-01 -9.12798669e-01 -9.24574498e-03 2.35983655e+02] [ 9.12577036e-01 4.08409769e-01 -2.01150181e-02 7.87791226e+01] [ 2.21370143e-02 -2.24388831e-04 9.99754921e-01 2.32095539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.00, Y:78.80, Z:23.22 [[ 4.11012309e-01 -9.11584345e-01 -9.10294070e-03 2.35998198e+02] [ 9.11360940e-01 4.11113101e-01 -2.01805874e-02 7.88047541e+01] [ 2.21386458e-02 -1.59476300e-06 9.99754910e-01 2.32150674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.01, Y:78.83, Z:23.22 [[ 4.10756778e-01 -9.11698151e-01 -9.23860759e-03 2.36010115e+02] [ 9.11476164e-01 4.10860630e-01 -2.01182875e-02 7.88307460e+01] [ 2.21375857e-02 -1.57047658e-04 9.99754921e-01 2.32157640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.02, Y:78.86, Z:23.21 [[ 4.08624796e-01 -9.12655756e-01 -9.23296617e-03 2.36020347e+02] [ 9.12433954e-01 4.08729042e-01 -2.01208762e-02 7.88577511e+01] [ 2.21372149e-02 -2.02582897e-04 9.99754921e-01 2.32100684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.03, Y:78.88, Z:23.21 [[ 4.08278186e-01 -9.12810909e-01 -9.22856568e-03 2.36031246e+02] [ 9.12589101e-01 4.08382420e-01 -2.01228941e-02 7.88828275e+01] [ 2.21371812e-02 -2.06149772e-04 9.99754921e-01 2.32142560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.816875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.04, Y:78.91, Z:23.21 [[ 4.06024202e-01 -9.13815798e-01 -9.22140794e-03 2.36042223e+02] [ 9.13594174e-01 4.06128825e-01 -2.01261736e-02 7.89096559e+01] [ 2.21366950e-02 -2.52910993e-04 9.99754921e-01 2.32109819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.846875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.05, Y:78.93, Z:23.22 [[ 4.04867521e-01 -9.14328695e-01 -9.23735732e-03 2.36054452e+02] [ 9.14107369e-01 4.04972776e-01 -2.01188687e-02 7.89336377e+01] [ 2.21361372e-02 -2.98459913e-04 9.99754921e-01 2.32175683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.876875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.07, Y:78.96, Z:23.22 [[ 4.03699716e-01 -9.14845152e-01 -9.21337985e-03 2.36065440e+02] [ 9.14623711e-01 4.03804726e-01 -2.01298431e-02 7.89583949e+01] [ 2.21360957e-02 -3.00363714e-04 9.99754922e-01 2.32187909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.08, Y:78.98, Z:23.22 [[ 4.02687372e-01 -9.15291249e-01 -9.20926118e-03 2.36076299e+02] [ 9.15069881e-01 4.02792536e-01 -2.01317272e-02 7.89836964e+01] [ 2.21358154e-02 -3.20325207e-04 9.99754922e-01 2.32195452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:79.01, Z:23.22 [[ 4.01985678e-01 -9.15599701e-01 -9.20336548e-03 2.36087227e+02] [ 9.15378352e-01 4.02090882e-01 -2.01344221e-02 7.90090705e+01] [ 2.21356602e-02 -3.30812204e-04 9.99754922e-01 2.32203130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.10, Y:79.03, Z:23.22 [[ 4.01211106e-01 -9.15939436e-01 -9.19772984e-03 2.36097948e+02] [ 9.15718117e-01 4.01316374e-01 -2.01369962e-02 7.90341464e+01] [ 2.21354686e-02 -3.43341312e-04 9.99754922e-01 2.32204074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.996875 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:236.11, Y:79.06, Z:23.22 [[ 4.00814284e-01 -9.16113196e-01 -9.19361506e-03 2.36109350e+02] [ 9.15891879e-01 4.00919557e-01 -2.01388747e-02 7.90601181e+01] [ 2.21353889e-02 -3.48408746e-04 9.99754922e-01 2.32210535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.12, Y:79.09, Z:23.22 [[ 4.00682590e-01 -9.16170860e-01 -9.18793606e-03 2.36120321e+02] [ 9.15949499e-01 4.00787770e-01 -2.01414653e-02 7.90855815e+01] [ 2.21354359e-02 -3.45350968e-04 9.99754922e-01 2.32212693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.13, Y:79.11, Z:23.22 [[ 4.01041014e-01 -9.16014078e-01 -9.18224241e-03 2.36131148e+02] [ 9.15792617e-01 4.01145982e-01 -2.01440606e-02 7.91100464e+01] [ 2.21356627e-02 -3.30435333e-04 9.99754922e-01 2.32220066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.086875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.14, Y:79.14, Z:23.22 [[ 4.03316414e-01 -9.15014563e-01 -9.17715206e-03 2.36142066e+02] [ 9.14792789e-01 4.03420719e-01 -2.01463794e-02 7.91358334e+01] [ 2.21364838e-02 -2.69827052e-04 9.99754922e-01 2.32234979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.116875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.15, Y:79.16, Z:23.22 [[ 4.04869349e-01 -9.14328549e-01 -9.17140910e-03 2.36152105e+02] [ 9.14106539e-01 4.04973151e-01 -2.01489934e-02 7.91605221e+01] [ 2.21369744e-02 -2.25935170e-04 9.99754922e-01 2.32234374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.146875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.16, Y:79.19, Z:23.22 [[ 4.06681477e-01 -9.13524032e-01 -9.16624309e-03 2.36162480e+02] [ 9.13301763e-01 4.06784725e-01 -2.01513433e-02 7.91862125e+01] [ 2.21374241e-02 -1.76367920e-04 9.99754922e-01 2.32243070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.176875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.17, Y:79.21, Z:23.22 [[ 4.10556311e-01 -9.11789230e-01 -9.16055713e-03 2.36171394e+02] [ 9.11566468e-01 4.10658489e-01 -2.01539277e-02 7.92115691e+01] [ 2.21379948e-02 -7.61344801e-05 9.99754922e-01 2.32232512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.18, Y:79.24, Z:23.22 [[ 4.12294035e-01 -9.11004833e-01 -9.15546758e-03 2.36182552e+02] [ 9.10781825e-01 4.12395675e-01 -2.01562395e-02 7.92374617e+01] [ 2.21381069e-02 -2.83361485e-05 9.99754922e-01 2.32234955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.19, Y:79.26, Z:23.22 [[ 4.13588066e-01 -9.10418430e-01 -9.12111598e-03 2.36193931e+02] [ 9.10194933e-01 4.13688628e-01 -2.01718295e-02 7.92628055e+01] [ 2.21381073e-02 4.08343933e-05 9.99754921e-01 2.32236913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.266875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.21, Y:79.29, Z:23.22 [[ 4.14692115e-01 -9.09915834e-01 -9.14470951e-03 2.36205523e+02] [ 9.09692451e-01 4.14792929e-01 -2.01611279e-02 7.92881408e+01] [ 2.21380904e-02 4.17875687e-05 9.99754922e-01 2.32245529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.22, Y:79.31, Z:23.23 [[ 4.17046671e-01 -9.08839123e-01 -9.13907998e-03 2.36216656e+02] [ 9.08615424e-01 4.17146782e-01 -2.01636795e-02 7.93127783e+01] [ 2.21378786e-02 1.05286374e-04 9.99754922e-01 2.32253486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.23, Y:79.34, Z:23.23 [[ 4.17927174e-01 -9.08434622e-01 -9.13314518e-03 2.36228028e+02] [ 9.08210768e-01 4.18026936e-01 -2.01663673e-02 7.93382288e+01] [ 2.21377269e-02 1.33252089e-04 9.99754922e-01 2.32265622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.356875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.24, Y:79.36, Z:23.23 [[ 4.18791322e-01 -9.08036628e-01 -9.12753190e-03 2.36239655e+02] [ 9.07812623e-01 4.18890746e-01 -2.01689076e-02 7.93637469e+01] [ 2.21375455e-02 1.60474800e-04 9.99754922e-01 2.32277746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.25, Y:79.39, Z:23.23 [[ 4.19513553e-01 -9.07703239e-01 -9.12191518e-03 2.36250569e+02] [ 9.07479100e-01 4.19612674e-01 -2.01714476e-02 7.93882128e+01] [ 2.21373595e-02 1.84248273e-04 9.99754922e-01 2.32290504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.26, Y:79.41, Z:23.23 [[ 4.21675101e-01 -9.06701168e-01 -9.11599227e-03 2.36261861e+02] [ 9.06476735e-01 4.21773556e-01 -2.01741240e-02 7.94138537e+01] [ 2.21367862e-02 2.43490845e-04 9.99754922e-01 2.32300790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.27, Y:79.44, Z:23.23 [[ 4.22491090e-01 -9.06321290e-01 -9.11038019e-03 2.36272529e+02] [ 9.06096714e-01 4.22589218e-01 -2.01766580e-02 7.94385140e+01] [ 2.21364831e-02 2.69572658e-04 9.99754922e-01 2.32297117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.476875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.28, Y:79.46, Z:23.23 [[ 4.23206723e-01 -9.05987405e-01 -9.10446356e-03 2.36283943e+02] [ 9.05762695e-01 4.23304542e-01 -2.01793274e-02 7.94641000e+01] [ 2.21361773e-02 2.93543580e-04 9.99754922e-01 2.32294605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.30, Y:79.49, Z:23.23 [[ 4.23945508e-01 -9.05641993e-01 -9.09874235e-03 2.36296336e+02] [ 9.05417147e-01 4.24043017e-01 -2.01819068e-02 7.94894858e+01] [ 2.21358404e-02 3.17871375e-04 9.99754922e-01 2.32280850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.536875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.31, Y:79.51, Z:23.23 [[ 4.23935303e-01 -9.05646827e-01 -9.09308344e-03 2.36307913e+02] [ 9.05421928e-01 4.24032688e-01 -2.01844561e-02 7.95136960e+01] [ 2.21357532e-02 3.23826365e-04 9.99754922e-01 2.32276592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.566875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.32, Y:79.54, Z:23.23 [[ 4.23516718e-01 -9.05842688e-01 -9.08921275e-03 2.36320223e+02] [ 9.05617797e-01 4.23614120e-01 -2.01861989e-02 7.95392693e+01] [ 2.21358396e-02 3.17839899e-04 9.99754922e-01 2.32281070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.596875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.33, Y:79.56, Z:23.23 [[ 4.22113944e-01 -9.06497274e-01 -9.08352322e-03 2.36333881e+02] [ 9.06272479e-01 4.22211568e-01 -2.01887588e-02 7.95636155e+01] [ 2.21362234e-02 2.89809522e-04 9.99754922e-01 2.32282693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.35, Y:79.59, Z:23.23 [[ 4.20632890e-01 -9.07185518e-01 -9.07788331e-03 2.36346239e+02] [ 9.06960828e-01 4.20730756e-01 -2.01912945e-02 7.95884253e+01] [ 2.21365947e-02 2.59838001e-04 9.99754922e-01 2.32286813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.36, Y:79.61, Z:23.23 [[ 4.18563211e-01 -9.08142353e-01 -9.07225425e-03 2.36358640e+02] [ 9.07917831e-01 4.18661463e-01 -2.01938234e-02 7.96126383e+01] [ 2.21370695e-02 2.15530165e-04 9.99754922e-01 2.32281606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.686875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.37, Y:79.64, Z:23.23 [[ 4.14127325e-01 -9.10173808e-01 -9.06632142e-03 2.36373130e+02] [ 9.09949711e-01 4.14226540e-01 -2.01964867e-02 7.96367714e+01] [ 2.21378242e-02 1.14020457e-04 9.99754922e-01 2.32294391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.39, Y:79.66, Z:23.23 [[ 4.11407212e-01 -9.11406610e-01 -9.06073416e-03 2.36386031e+02] [ 9.11182755e-01 4.11506972e-01 -2.01989930e-02 7.96616124e+01] [ 2.21380510e-02 5.40266858e-05 9.99754922e-01 2.32303277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.40, Y:79.69, Z:23.23 [[ 4.06146992e-01 -9.13762893e-01 -9.05514153e-03 2.36400441e+02] [ 9.13539561e-01 4.06247917e-01 -2.02014998e-02 7.96860405e+01] [ 2.21380133e-02 -6.74516215e-05 9.99754922e-01 2.32315909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.41, Y:79.71, Z:23.23 [[ 4.03913060e-01 -9.14752614e-01 -9.04957762e-03 2.36413913e+02] [ 9.14529473e-01 4.04014407e-01 -2.02039920e-02 7.97112045e+01] [ 2.21378142e-02 -1.15449241e-04 9.99754922e-01 2.32332754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.806875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.43, Y:79.74, Z:23.23 [[ 4.01680146e-01 -9.15735371e-01 -9.04385227e-03 2.36426785e+02] [ 9.15512420e-01 4.01781911e-01 -2.02065545e-02 7.97358494e+01] [ 2.21375129e-02 -1.63187333e-04 9.99754922e-01 2.32345091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.836875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.44, Y:79.76, Z:23.24 [[ 4.00043077e-01 -9.16451771e-01 -9.03816606e-03 2.36439759e+02] [ 9.16228945e-01 4.00145115e-01 -2.02090975e-02 7.97610551e+01] [ 2.21372412e-02 -1.96519801e-04 9.99754922e-01 2.32357968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.45, Y:79.79, Z:23.24 [[ 3.98183160e-01 -9.17261460e-01 -9.03243151e-03 2.36452640e+02] [ 9.17038784e-01 3.98285523e-01 -2.02116603e-02 7.97850743e+01] [ 2.21368637e-02 -2.35147266e-04 9.99754922e-01 2.32369175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.46, Y:79.81, Z:23.24 [[ 3.97716270e-01 -9.17464056e-01 -9.02638667e-03 2.36463727e+02] [ 9.17241370e-01 3.97818614e-01 -2.02143595e-02 7.98093373e+01] [ 2.21368129e-02 -2.39795628e-04 9.99754922e-01 2.32370098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.48, Y:79.84, Z:23.24 [[ 3.97908239e-01 -9.17380873e-01 -9.02043697e-03 2.36475647e+02] [ 9.17158105e-01 3.98010405e-01 -2.02170141e-02 7.98353171e+01] [ 2.21369298e-02 -2.28650400e-04 9.99754922e-01 2.32373330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.956875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.49, Y:79.86, Z:23.24 [[ 3.98190255e-01 -9.17258553e-01 -9.01487209e-03 2.36487399e+02] [ 9.17035698e-01 3.98292230e-01 -2.02194952e-02 7.98612172e+01] [ 2.21370584e-02 -2.15753567e-04 9.99754922e-01 2.32378963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:79.89, Z:23.24 [[ 3.99454802e-01 -9.16708621e-01 -9.00922150e-03 2.36499074e+02] [ 9.16485569e-01 3.99556345e-01 -2.02220126e-02 7.98852651e+01] [ 2.21373849e-02 -1.79041443e-04 9.99754922e-01 2.32374532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.51, Y:79.91, Z:23.24 [[ 3.98912780e-01 -9.16944656e-01 -9.00510008e-03 2.36511429e+02] [ 9.16721623e-01 3.99014364e-01 -2.02238478e-02 7.99113065e+01] [ 2.21373134e-02 -1.87618615e-04 9.99754922e-01 2.32358885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.046875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.52, Y:79.93, Z:23.23 [[ 3.98174396e-01 -9.17264303e-01 -9.12951010e-03 2.36519198e+02] [ 9.17042610e-01 3.98278899e-01 -2.01685299e-02 7.99347678e+01] [ 2.21359637e-02 -3.41557570e-04 9.99754911e-01 2.32325524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.53, Y:79.96, Z:23.24 [[ 4.03734402e-01 -9.14833388e-01 -8.85469795e-03 2.36534577e+02] [ 9.14608348e-01 4.03831480e-01 -2.02905188e-02 7.99606031e+01] [ 2.21382498e-02 9.33998093e-05 9.99754915e-01 2.32375273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.55, Y:79.99, Z:23.24 [[ 4.03424890e-01 -9.14968681e-01 -8.98169221e-03 2.36547200e+02] [ 9.14744920e-01 4.03524857e-01 -2.02341478e-02 7.99877919e+01] [ 2.21379476e-02 -5.29984586e-05 9.99754924e-01 2.32374951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.56, Y:80.01, Z:23.24 [[ 4.06510659e-01 -9.13600438e-01 -9.12822907e-03 2.36557217e+02] [ 9.13377790e-01 4.06613110e-01 -2.01690959e-02 8.00090894e+01] [ 2.21381524e-02 -1.38569236e-04 9.99754911e-01 2.32389677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.57, Y:80.03, Z:23.24 [[ 4.09211910e-01 -9.12395257e-01 -8.97259775e-03 2.36570193e+02] [ 9.12170781e-01 4.09310255e-01 -2.02380957e-02 8.00339509e+01] [ 2.21377188e-02 9.71282839e-05 9.99754926e-01 2.32399041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.19687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.58, Y:80.06, Z:23.24 [[ 4.06777179e-01 -9.13483396e-01 -8.96723280e-03 2.36576477e+02] [ 9.13259131e-01 4.06876004e-01 -2.02404725e-02 8.00555623e+01] [ 2.21378874e-02 4.39550931e-05 9.99754926e-01 2.32378133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.60, Y:80.08, Z:23.24 [[ 4.11234266e-01 -9.11488837e-01 -8.63010964e-03 2.36595023e+02] [ 9.11260904e-01 4.11324482e-01 -2.03896149e-02 8.00839310e+01] [ 2.21346817e-02 5.20626798e-04 9.99754862e-01 2.32422144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.61, Y:80.11, Z:23.24 [[ 4.12699755e-01 -9.10823016e-01 -8.96361197e-03 2.36608906e+02] [ 9.10598082e-01 4.12797042e-01 -2.02419337e-02 8.01091296e+01] [ 2.21369716e-02 1.91593216e-04 9.99754929e-01 2.32422117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.62, Y:80.13, Z:23.24 [[ 4.12902468e-01 -9.10730584e-01 -9.01973134e-03 2.36619424e+02] [ 9.10506169e-01 4.13000951e-01 -2.02170916e-02 8.01327063e+01] [ 2.21374813e-02 1.35165998e-04 9.99754927e-01 2.32430673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.63, Y:80.16, Z:23.24 [[ 4.13426863e-01 -9.10493298e-01 -8.95448033e-03 2.36631319e+02] [ 9.10268200e-01 4.13523767e-01 -2.02459512e-02 8.01576204e+01] [ 2.21366933e-02 2.19241405e-04 9.99754929e-01 2.32440969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.64, Y:80.18, Z:23.24 [[ 4.13815237e-01 -9.10316908e-01 -8.94852921e-03 2.36644202e+02] [ 9.10091712e-01 4.13911912e-01 -2.02485812e-02 8.01815896e+01] [ 2.21365287e-02 2.35189170e-04 9.99754929e-01 2.32442471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.66, Y:80.21, Z:23.24 [[ 4.13803780e-01 -9.10322175e-01 -8.94262263e-03 2.36656573e+02] [ 9.10096923e-01 4.13900327e-01 -2.02511895e-02 8.02069991e+01] [ 2.21364613e-02 2.41365424e-04 9.99754929e-01 2.32446491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.67, Y:80.23, Z:23.25 [[ 4.13698579e-01 -9.10370043e-01 -8.93707749e-03 2.36668314e+02] [ 9.10144749e-01 4.13795029e-01 -2.02536363e-02 8.02310614e+01] [ 2.21364220e-02 2.44866419e-04 9.99754929e-01 2.32450753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.68, Y:80.26, Z:23.25 [[ 4.13537702e-01 -9.10443190e-01 -8.93123074e-03 2.36680199e+02] [ 9.10217858e-01 4.13634062e-01 -2.02562142e-02 8.02567387e+01] [ 2.21363935e-02 2.47342581e-04 9.99754929e-01 2.32453222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.69, Y:80.28, Z:23.24 [[ 4.12904553e-01 -9.10730565e-01 -8.92573131e-03 2.36691961e+02] [ 9.10505248e-01 4.13000946e-01 -2.02586372e-02 8.02824834e+01] [ 2.21364956e-02 2.37958344e-04 9.99754929e-01 2.32449756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.70, Y:80.31, Z:23.24 [[ 4.12441649e-01 -9.10940350e-01 -8.91995925e-03 2.36703014e+02] [ 9.10715027e-01 4.12538029e-01 -2.02611784e-02 8.03076268e+01] [ 2.21365473e-02 2.33012891e-04 9.99754929e-01 2.32438304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:80.33, Z:23.24 [[ 4.11192318e-01 -9.11505031e-01 -8.91387665e-03 2.36714680e+02] [ 9.11279782e-01 4.11288871e-01 -2.02638540e-02 8.03327767e+01] [ 2.21367832e-02 2.09305534e-04 9.99754930e-01 2.32441150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.73, Y:80.36, Z:23.25 [[ 4.10045930e-01 -9.12021370e-01 -8.90822738e-03 2.36726549e+02] [ 9.11796189e-01 4.10142641e-01 -2.02663372e-02 8.03585528e+01] [ 2.21369765e-02 1.87641322e-04 9.99754930e-01 2.32451193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.74, Y:80.38, Z:23.25 [[ 4.08440970e-01 -9.12741322e-01 -8.90243092e-03 2.36738127e+02] [ 9.12516256e-01 4.08537949e-01 -2.02688831e-02 8.03830316e+01] [ 2.21372280e-02 1.55029363e-04 9.99754930e-01 2.32455194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.75, Y:80.41, Z:23.25 [[ 4.06969165e-01 -9.13398574e-01 -8.89631971e-03 2.36749982e+02] [ 9.13173605e-01 4.07066371e-01 -2.02715651e-02 8.04080473e+01] [ 2.21374112e-02 1.26017573e-04 9.99754930e-01 2.32475698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.76, Y:80.43, Z:23.25 [[ 4.03730328e-01 -9.14834837e-01 -8.89060465e-03 2.36762258e+02] [ 9.14610160e-01 4.03828204e-01 -2.02740713e-02 8.04337708e+01] [ 2.21377036e-02 5.38201020e-05 9.99754930e-01 2.32496841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:80.46, Z:23.25 [[ 4.03473781e-01 -9.14948067e-01 -8.88491746e-03 2.36773668e+02] [ 9.14723363e-01 4.03571594e-01 -2.02765633e-02 8.04600007e+01] [ 2.21377027e-02 5.38201003e-05 9.99754930e-01 2.32503146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.78, Y:80.49, Z:23.25 [[ 4.01881287e-01 -9.15648726e-01 -8.87922956e-03 2.36784862e+02] [ 9.15424137e-01 4.01979364e-01 -2.02790538e-02 8.04851632e+01] [ 2.21377568e-02 2.15111717e-05 9.99754930e-01 2.32512241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:80.51, Z:23.25 [[ 4.00583159e-01 -9.16217423e-01 -8.87508038e-03 2.36795988e+02] [ 9.15992932e-01 4.00681463e-01 -2.02808695e-02 8.05107052e+01] [ 2.21377662e-02 -5.33612429e-06 9.99754930e-01 2.32522463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.81, Y:80.54, Z:23.25 [[ 3.99436403e-01 -9.16718001e-01 -8.86946373e-03 2.36807075e+02] [ 9.16493579e-01 3.99534863e-01 -2.02833255e-02 8.05359684e+01] [ 2.21377496e-02 -2.69079839e-05 9.99754930e-01 2.32525435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.82, Y:80.56, Z:23.25 [[ 3.98184140e-01 -9.17262682e-01 -8.86354703e-03 2.36818481e+02] [ 9.17038338e-01 3.98282775e-01 -2.02859107e-02 8.05617764e+01] [ 2.21377070e-02 -5.06845248e-05 9.99754930e-01 2.32527653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.83, Y:80.59, Z:23.25 [[ 3.98004254e-01 -9.17340804e-01 -8.85794110e-03 2.36829951e+02] [ 9.17116424e-01 3.98102809e-01 -2.02883583e-02 8.05875995e+01] [ 2.21377101e-02 -4.89103678e-05 9.99754930e-01 2.32530052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.83, Y:80.61, Z:23.25 [[ 3.92976211e-01 -9.19506028e-01 -8.85229864e-03 2.36831876e+02] [ 9.19282135e-01 3.93075869e-01 -2.02908199e-02 8.06092599e+01] [ 2.21371562e-02 -1.63950470e-04 9.99754930e-01 2.32489966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:80.64, Z:23.25 [[ 3.99961593e-01 -9.16493113e-01 -8.43192736e-03 2.36850805e+02] [ 9.16264516e-01 4.00050195e-01 -2.04738175e-02 8.06390414e+01] [ 2.21373069e-02 4.62864803e-04 9.99754833e-01 2.32544205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:80.66, Z:23.25 [[ 4.01083471e-01 -9.15998776e-01 -8.84826724e-03 2.36860643e+02] [ 9.15773980e-01 4.01181058e-01 -2.02922787e-02 8.06641893e+01] [ 2.21374596e-02 3.58846578e-05 9.99754936e-01 2.32548979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:80.69, Z:23.26 [[ 4.02346255e-01 -9.15444868e-01 -8.84220800e-03 2.36871060e+02] [ 9.15219880e-01 4.02443398e-01 -2.02949186e-02 8.06905612e+01] [ 2.21373673e-02 7.30199588e-05 9.99754936e-01 2.32559972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.88, Y:80.72, Z:23.26 [[ 4.05125018e-01 -9.14218592e-01 -8.83658276e-03 2.36880658e+02] [ 9.13993257e-01 4.05221352e-01 -2.02973676e-02 8.07163159e+01] [ 2.21370028e-02 1.46394354e-04 9.99754936e-01 2.32575500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.00687500000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:236.89, Y:80.74, Z:23.26 [[ 4.06159493e-01 -9.13759516e-01 -8.83248247e-03 2.36890773e+02] [ 9.13534033e-01 4.06255480e-01 -2.02991517e-02 8.07421498e+01] [ 2.21367874e-02 1.75919811e-04 9.99754936e-01 2.32584633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.90, Y:80.77, Z:23.26 [[ 4.06906708e-01 -9.13427072e-01 -8.82691098e-03 2.36900576e+02] [ 9.13201458e-01 4.07002388e-01 -2.03015741e-02 8.07675056e+01] [ 2.21365812e-02 2.00098710e-04 9.99754936e-01 2.32589608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:80.79, Z:23.26 [[ 4.08110269e-01 -9.12890025e-01 -8.82103807e-03 2.36910435e+02] [ 9.12664229e-01 4.08205520e-01 -2.03041256e-02 8.07942230e+01] [ 2.21362301e-02 2.35676233e-04 9.99754936e-01 2.32592298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:80.82, Z:23.26 [[ 4.03935240e-01 -9.14745106e-01 -8.81553990e-03 2.36912631e+02] [ 9.14519696e-01 4.04031400e-01 -2.03065125e-02 8.08165997e+01] [ 2.21370378e-02 1.40531119e-04 9.99754936e-01 2.32567024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:80.85, Z:23.26 [[ 4.07941073e-01 -9.12969352e-01 -8.42871179e-03 2.36930583e+02] [ 9.12739987e-01 4.08027606e-01 -2.04741000e-02 8.08457714e+01] [ 2.21313729e-02 6.59004019e-04 9.99754854e-01 2.32606451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.94, Y:80.87, Z:23.26 [[ 4.07428357e-01 -9.13194669e-01 -8.81079627e-03 2.36940973e+02] [ 9.12968854e-01 4.07523549e-01 -2.03083342e-02 8.08705489e+01] [ 2.21360695e-02 2.30208678e-04 9.99754941e-01 2.32608246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.95, Y:80.90, Z:23.26 [[ 4.06791221e-01 -9.13478724e-01 -8.80476308e-03 2.36951999e+02] [ 9.13252918e-01 4.06886437e-01 -2.03109496e-02 8.08962130e+01] [ 2.21361590e-02 2.21340430e-04 9.99754941e-01 2.32612698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:80.92, Z:23.26 [[ 4.05619279e-01 -9.13999767e-01 -8.79919964e-03 2.36962688e+02] [ 9.13774032e-01 4.05714661e-01 -2.03133596e-02 8.09224481e+01] [ 2.21363702e-02 1.99010122e-04 9.99754941e-01 2.32614296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.97, Y:80.95, Z:23.26 [[ 4.04856343e-01 -9.14338021e-01 -8.79346801e-03 2.36972852e+02] [ 9.14112311e-01 4.04951786e-01 -2.03158404e-02 8.09471687e+01] [ 2.21364759e-02 1.86779499e-04 9.99754941e-01 2.32609681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.98, Y:80.97, Z:23.26 [[ 4.03567532e-01 -9.14907661e-01 -8.78742298e-03 2.36983463e+02] [ 9.14682029e-01 4.03663158e-01 -2.03184548e-02 8.09734958e+01] [ 2.21366689e-02 1.62170776e-04 9.99754941e-01 2.32605858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.99, Y:81.00, Z:23.26 [[ 4.02047213e-01 -9.15576824e-01 -8.78168700e-03 2.36994194e+02] [ 9.15351297e-01 4.02143087e-01 -2.03209336e-02 8.09988427e+01] [ 2.21368706e-02 1.31646150e-04 9.99754941e-01 2.32592992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.00, Y:81.02, Z:23.26 [[ 4.01311342e-01 -9.15899663e-01 -8.77574425e-03 2.37004917e+02] [ 9.15674158e-01 4.01407265e-01 -2.03234997e-02 8.10237081e+01] [ 2.21369340e-02 1.20328712e-04 9.99754941e-01 2.32584700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.02, Y:81.05, Z:23.26 [[ 4.00422443e-01 -9.16288687e-01 -8.76977185e-03 2.37015937e+02] [ 9.16063218e-01 4.00518452e-01 -2.03260765e-02 8.10491898e+01] [ 2.21370094e-02 1.05351793e-04 9.99754941e-01 2.32599288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.396875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.03, Y:81.07, Z:23.26 [[ 3.99522970e-01 -9.16681290e-01 -8.76409631e-03 2.37027121e+02] [ 9.16455862e-01 3.99619075e-01 -2.03285234e-02 8.10743582e+01] [ 2.21370771e-02 8.98046062e-05 9.99754941e-01 2.32596164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.04, Y:81.10, Z:23.26 [[ 3.97632961e-01 -9.17502765e-01 -8.75813754e-03 2.37038957e+02] [ 9.17277478e-01 3.97729398e-01 -2.03310903e-02 8.10998423e+01] [ 2.21372003e-02 5.06693161e-05 9.99754941e-01 2.32613095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.05, Y:81.13, Z:23.26 [[ 3.96452804e-01 -9.18013381e-01 -8.75250700e-03 2.37049932e+02] [ 9.17788166e-01 3.96549406e-01 -2.03335139e-02 8.11256752e+01] [ 2.21372393e-02 2.83312578e-05 9.99754941e-01 2.32619831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.06, Y:81.15, Z:23.26 [[ 3.95452344e-01 -9.18444846e-01 -8.74687306e-03 2.37060328e+02] [ 9.18219683e-01 3.95549067e-01 -2.03359372e-02 8.11508385e+01] [ 2.21372542e-02 1.03430276e-05 9.99754941e-01 2.32620396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:81.18, Z:23.26 [[ 3.93966699e-01 -9.19083150e-01 -8.74092989e-03 2.37071425e+02] [ 9.18858086e-01 3.94063654e-01 -2.03384914e-02 8.11763362e+01] [ 2.21372475e-02 -1.89857882e-05 9.99754941e-01 2.32636691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.08, Y:81.20, Z:23.26 [[ 3.93382602e-01 -9.19333358e-01 -8.73525365e-03 2.37082981e+02] [ 9.19108302e-01 3.93479575e-01 -2.03409290e-02 8.12024841e+01] [ 2.21372385e-02 -2.68765546e-05 9.99754941e-01 2.32646753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.09, Y:81.23, Z:23.27 [[ 3.92757950e-01 -9.19600450e-01 -8.72957396e-03 2.37093379e+02] [ 9.19375405e-01 3.92854950e-01 -2.03433662e-02 8.12270278e+01] [ 2.21372251e-02 -3.57367776e-05 9.99754941e-01 2.32650004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.10, Y:81.25, Z:23.27 [[ 3.91909616e-01 -9.19962365e-01 -8.72358631e-03 2.37103577e+02] [ 9.19737353e-01 3.92006691e-01 -2.03459335e-02 8.12527657e+01] [ 2.21371973e-02 -4.96411888e-05 9.99754941e-01 2.32651022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.11, Y:81.28, Z:23.26 [[ 3.91288125e-01 -9.20226930e-01 -8.71782705e-03 2.37114038e+02] [ 9.20001929e-01 3.91385224e-01 -2.03484010e-02 8.12774062e+01] [ 2.21371752e-02 -5.83300495e-05 9.99754941e-01 2.32645039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.12, Y:81.30, Z:23.26 [[ 3.90599553e-01 -9.20519470e-01 -8.71175262e-03 2.37124541e+02] [ 9.20294483e-01 3.90696686e-01 -2.03510013e-02 8.13019208e+01] [ 2.21371458e-02 -6.82858879e-05 9.99754941e-01 2.32647460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.69687500000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:237.14, Y:81.33, Z:23.27 [[ 3.90291751e-01 -9.20650073e-01 -8.70585154e-03 2.37135668e+02] [ 9.20425063e-01 3.90388829e-01 -2.03535253e-02 8.13275103e+01] [ 2.21371418e-02 -6.92709118e-05 9.99754941e-01 2.32659332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.726875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:237.15, Y:81.35, Z:23.27 [[ 3.89922043e-01 -9.20806768e-01 -8.70036706e-03 2.37146625e+02] [ 9.20581744e-01 3.90019090e-01 -2.03558695e-02 8.13530360e+01] [ 2.21371316e-02 -7.21968622e-05 9.99754941e-01 2.32680299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.16, Y:81.38, Z:23.27 [[ 3.89409903e-01 -9.21023524e-01 -8.69462619e-03 2.37157568e+02] [ 9.20798499e-01 3.89506948e-01 -2.03583213e-02 8.13782483e+01] [ 2.21371101e-02 -7.82668306e-05 9.99754941e-01 2.32681159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.786875 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:237.17, Y:81.40, Z:23.27 [[ 3.88877865e-01 -9.21248346e-01 -8.68857816e-03 2.37168652e+02] [ 9.21023320e-01 3.88974907e-01 -2.03609022e-02 8.14042053e+01] [ 2.21370863e-02 -8.44789253e-05 9.99754941e-01 2.32699397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.816875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.18, Y:81.43, Z:23.27 [[ 3.88386535e-01 -9.21455646e-01 -8.68286522e-03 2.37178772e+02] [ 9.21230617e-01 3.88483570e-01 -2.03633381e-02 8.14290148e+01] [ 2.21370634e-02 -9.00749482e-05 9.99754941e-01 2.32700927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.19, Y:81.46, Z:23.27 [[ 3.87748846e-01 -9.21724206e-01 -8.67870422e-03 2.37189159e+02] [ 9.21499205e-01 3.87845946e-01 -2.03651114e-02 8.14550692e+01] [ 2.21370164e-02 -1.00870593e-04 9.99754941e-01 2.32705913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.876875 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:237.20, Y:81.48, Z:23.27 [[ 3.87212773e-01 -9.21949591e-01 -8.67301158e-03 2.37199979e+02] [ 9.21724592e-01 3.87309877e-01 -2.03675355e-02 8.14807130e+01] [ 2.21369840e-02 -1.07558186e-04 9.99754941e-01 2.32713883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:81.51, Z:23.27 [[ 3.85674567e-01 -9.22594172e-01 -8.66723841e-03 2.37210651e+02] [ 9.22369281e-01 3.85771920e-01 -2.03699919e-02 8.15056635e+01] [ 2.21368130e-02 -1.38206651e-04 9.99754941e-01 2.32723652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:81.53, Z:23.27 [[ 3.84790325e-01 -9.22963357e-01 -8.66304332e-03 2.37221678e+02] [ 9.22738518e-01 3.84887800e-01 -2.03717758e-02 8.15317634e+01] [ 2.21367023e-02 -1.54861511e-04 9.99754941e-01 2.32737460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.966875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:237.23, Y:81.56, Z:23.27 [[ 3.83767806e-01 -9.23389041e-01 -8.65733638e-03 2.37232525e+02] [ 9.23164256e-01 3.83865404e-01 -2.03742008e-02 8.15575775e+01] [ 2.21365657e-02 -1.73181158e-04 9.99754941e-01 2.32747046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.996875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.24, Y:81.58, Z:23.28 [[ 3.83384691e-01 -9.23548227e-01 -8.65166115e-03 2.37242685e+02] [ 9.23323428e-01 3.83482258e-01 -2.03766104e-02 8.15825746e+01] [ 2.21365410e-02 -1.76200923e-04 9.99754941e-01 2.32752409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.026875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.25, Y:81.61, Z:23.28 [[ 3.83001067e-01 -9.23707423e-01 -8.64751362e-03 2.37252142e+02] [ 9.23482625e-01 3.83098635e-01 -2.03783704e-02 8.16086915e+01] [ 2.21365027e-02 -1.80890959e-04 9.99754941e-01 2.32757236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.056875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.26, Y:81.63, Z:23.28 [[ 3.83357129e-01 -9.23559761e-01 -8.64174518e-03 2.37262262e+02] [ 9.23334870e-01 3.83454483e-01 -2.03808163e-02 8.16346355e+01] [ 2.21366178e-02 -1.66093429e-04 9.99754941e-01 2.32758272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.27, Y:81.66, Z:23.28 [[ 3.83632921e-01 -9.23445289e-01 -8.63599302e-03 2.37272246e+02] [ 9.23220314e-01 3.83730081e-01 -2.03832534e-02 8.16597359e+01] [ 2.21367096e-02 -1.53237145e-04 9.99754941e-01 2.32755522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:81.69, Z:23.27 [[ 3.84251980e-01 -9.23187922e-01 -8.62992796e-03 2.37281878e+02] [ 9.22962825e-01 3.84348856e-01 -2.03858209e-02 8.16867139e+01] [ 2.21368466e-02 -1.31810616e-04 9.99754941e-01 2.32745959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.29, Y:81.71, Z:23.27 [[ 3.84266698e-01 -9.23181850e-01 -8.62423093e-03 2.37292062e+02] [ 9.22956696e-01 3.84363444e-01 -2.03882308e-02 8.17123437e+01] [ 2.21368837e-02 -1.25273567e-04 9.99754941e-01 2.32740359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.30, Y:81.74, Z:23.27 [[ 3.84748354e-01 -9.22981273e-01 -8.61822517e-03 2.37302498e+02] [ 9.22756012e-01 3.84844850e-01 -2.03907691e-02 8.17386594e+01] [ 2.21369776e-02 -1.07204220e-04 9.99754941e-01 2.32746608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.31, Y:81.76, Z:23.28 [[ 3.84653558e-01 -9.23020836e-01 -8.61258284e-03 2.37312804e+02] [ 9.22795532e-01 3.84749952e-01 -2.03931520e-02 8.17646608e+01] [ 2.21369951e-02 -1.03354465e-04 9.99754941e-01 2.32751332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.32, Y:81.79, Z:23.28 [[ 3.84746761e-01 -9.22982043e-01 -8.60689478e-03 2.37322894e+02] [ 9.22756675e-01 3.84843007e-01 -2.03955524e-02 8.17901167e+01] [ 2.21370319e-02 -9.49468791e-05 9.99754941e-01 2.32753751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.33, Y:81.82, Z:23.28 [[ 3.84564976e-01 -9.23057838e-01 -8.60274339e-03 2.37333269e+02] [ 9.22832450e-01 3.84661175e-01 -2.03973033e-02 8.18163905e+01] [ 2.21370320e-02 -9.48023034e-05 9.99754941e-01 2.32765407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.34, Y:81.84, Z:23.28 [[ 3.84186928e-01 -9.23215302e-01 -8.59711548e-03 2.37343908e+02] [ 9.22989901e-01 3.84283094e-01 -2.03996751e-02 8.18423441e+01] [ 2.21370183e-02 -9.77622716e-05 9.99754941e-01 2.32775528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.35, Y:81.87, Z:23.28 [[ 3.83871578e-01 -9.23346522e-01 -8.59140418e-03 2.37354607e+02] [ 9.23121099e-01 3.83967695e-01 -2.04020801e-02 8.18685600e+01] [ 2.21370114e-02 -9.91277664e-05 9.99754941e-01 2.32780892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.37, Y:81.89, Z:23.28 [[ 3.83434792e-01 -9.23528043e-01 -8.58571916e-03 2.37365274e+02] [ 9.23302612e-01 3.83530890e-01 -2.04044723e-02 8.18947835e+01] [ 2.21369908e-02 -1.03432359e-04 9.99754941e-01 2.32787133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.38, Y:81.92, Z:23.28 [[ 3.83200677e-01 -9.23625262e-01 -8.58005946e-03 2.37376603e+02] [ 9.23399802e-01 3.83296707e-01 -2.04068519e-02 8.19204439e+01] [ 2.21369924e-02 -1.02905762e-04 9.99754941e-01 2.32790624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.39, Y:81.95, Z:23.28 [[ 3.82950024e-01 -9.23729268e-01 -8.57430354e-03 2.37387866e+02] [ 9.23503780e-01 3.83045988e-01 -2.04092700e-02 8.19467234e+01] [ 2.21369926e-02 -1.02671273e-04 9.99754942e-01 2.32797570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.40, Y:81.97, Z:23.28 [[ 3.83163194e-01 -9.23640916e-01 -8.56888663e-03 2.37398237e+02] [ 9.23415355e-01 3.83258986e-01 -2.04115441e-02 8.19713724e+01] [ 2.21370401e-02 -9.16890691e-05 9.99754942e-01 2.32799122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.476875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:237.41, Y:82.00, Z:23.28 [[ 3.83164297e-01 -9.23640515e-01 -8.56278869e-03 2.37408570e+02] [ 9.23414897e-01 3.83259954e-01 -2.04141019e-02 8.19966630e+01] [ 2.21370656e-02 -8.50516450e-05 9.99754942e-01 2.32800296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.42, Y:82.02, Z:23.28 [[ 3.83598029e-01 -9.23460520e-01 -8.55689856e-03 2.37419562e+02] [ 9.23234802e-01 3.83693450e-01 -2.04165705e-02 8.20225404e+01] [ 2.21371228e-02 -6.82703266e-05 9.99754942e-01 2.32806220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.43, Y:82.05, Z:23.28 [[ 3.83344767e-01 -9.23565734e-01 -8.55130488e-03 2.37430531e+02] [ 9.23339990e-01 3.83440127e-01 -2.04189131e-02 8.20489494e+01] [ 2.21371219e-02 -6.82782630e-05 9.99754942e-01 2.32812525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.44, Y:82.07, Z:23.28 [[ 3.83180295e-01 -9.23634036e-01 -8.54570324e-03 2.37441460e+02] [ 9.23408257e-01 3.83275571e-01 -2.04212573e-02 8.20744379e+01] [ 2.21371276e-02 -6.61495479e-05 9.99754942e-01 2.32818562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.45, Y:82.10, Z:23.28 [[ 3.83026964e-01 -9.23697685e-01 -8.54002044e-03 2.37452505e+02] [ 9.23471869e-01 3.83122152e-01 -2.04236335e-02 8.21000120e+01] [ 2.21371340e-02 -6.36662978e-05 9.99754942e-01 2.32822982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.46, Y:82.13, Z:23.28 [[ 3.83179230e-01 -9.23634583e-01 -8.53430103e-03 2.37463965e+02] [ 9.23408698e-01 3.83274254e-01 -2.04260232e-02 8.21251553e+01] [ 2.21371592e-02 -5.38199735e-05 9.99754942e-01 2.32817209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.656875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:237.47, Y:82.15, Z:23.28 [[ 3.82951197e-01 -9.23729205e-01 -8.52863269e-03 2.37474458e+02] [ 9.23503290e-01 3.83046151e-01 -2.04283896e-02 8.21497242e+01] [ 2.21371600e-02 -5.31440958e-05 9.99754942e-01 2.32811643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.49, Y:82.17, Z:23.28 [[ 3.82957879e-01 -9.23726489e-01 -8.52266103e-03 2.37485140e+02] [ 9.23500519e-01 3.83052700e-01 -2.04308807e-02 8.21748931e+01] [ 2.21371740e-02 -4.65151476e-05 9.99754942e-01 2.32814365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.50, Y:82.20, Z:23.28 [[ 3.82966172e-01 -9.23723105e-01 -8.51685777e-03 2.37495977e+02] [ 9.23497080e-01 3.83060862e-01 -2.04332996e-02 8.22001342e+01] [ 2.21371858e-02 -4.00307699e-05 9.99754942e-01 2.32814549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:82.23, Z:23.28 [[ 3.81923412e-01 -9.24154786e-01 -8.51109794e-03 2.37507555e+02] [ 9.23928814e-01 3.82018230e-01 -2.04356984e-02 8.22254665e+01] [ 2.21371431e-02 -5.87769528e-05 9.99754942e-01 2.32844763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:82.25, Z:23.29 [[ 3.80924088e-01 -9.24567195e-01 -8.50533172e-03 2.37518391e+02] [ 9.24341273e-01 3.81019023e-01 -2.04380980e-02 8.22501353e+01] [ 2.21370882e-02 -7.64652885e-05 9.99754942e-01 2.32859224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.806875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.53, Y:82.27, Z:23.29 [[ 3.79393178e-01 -9.25196508e-01 -8.49926811e-03 2.37529162e+02] [ 9.24970687e-01 3.79488353e-01 -2.04406193e-02 8.22746986e+01] [ 2.21369629e-02 -1.06542338e-04 9.99754942e-01 2.32874048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:82.30, Z:23.29 [[ 3.77147550e-01 -9.26114242e-01 -8.49326283e-03 2.37537698e+02] [ 9.25888596e-01 3.77243140e-01 -2.04431142e-02 8.23002201e+01] [ 2.21366844e-02 -1.53744744e-04 9.99754942e-01 2.32866193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.866875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.55, Y:82.33, Z:23.29 [[ 3.78386798e-01 -9.25609407e-01 -8.40577357e-03 2.37550067e+02] [ 9.25382823e-01 3.78480151e-01 -2.04794280e-02 8.23259233e+01] [ 2.21373696e-02 -2.94132990e-05 9.99754938e-01 2.32891990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.56, Y:82.35, Z:23.29 [[ 3.78157138e-01 -9.25702530e-01 -8.48558261e-03 2.37560611e+02] [ 9.25476708e-01 3.78252311e-01 -2.04463059e-02 8.23514406e+01] [ 2.21368883e-02 -1.21292551e-04 9.99754942e-01 2.32903609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:82.38, Z:23.29 [[ 3.77570107e-01 -9.25942171e-01 -8.48001321e-03 2.37571180e+02] [ 9.25716358e-01 3.77665301e-01 -2.04486155e-02 8.23772624e+01] [ 2.21368422e-02 -1.29300987e-04 9.99754942e-01 2.32909228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.58, Y:82.40, Z:23.29 [[ 3.76848564e-01 -9.26236117e-01 -8.47435762e-03 2.37581635e+02] [ 9.26010326e-01 3.76943809e-01 -2.04509591e-02 8.24038248e+01] [ 2.21367736e-02 -1.40428116e-04 9.99754942e-01 2.32910119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.59, Y:82.43, Z:23.29 [[ 3.75559081e-01 -9.26759762e-01 -8.46874719e-03 2.37591782e+02] [ 9.26534051e-01 3.75654517e-01 -2.04532821e-02 8.24291124e+01] [ 2.21366020e-02 -1.65166816e-04 9.99754942e-01 2.32912299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.016875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:237.60, Y:82.46, Z:23.29 [[ 3.74635151e-01 -9.27133693e-01 -8.46283518e-03 2.37602441e+02] [ 9.26908022e-01 3.74730681e-01 -2.04557280e-02 8.24551254e+01] [ 2.21364786e-02 -1.80835093e-04 9.99754942e-01 2.32916265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.61, Y:82.48, Z:23.29 [[ 3.73862398e-01 -9.27445622e-01 -8.45731478e-03 2.37612438e+02] [ 9.27219978e-01 3.73957995e-01 -2.04580101e-02 8.24804389e+01] [ 2.21363724e-02 -1.93310515e-04 9.99754942e-01 2.32922444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:82.51, Z:23.29 [[ 3.72988009e-01 -9.27797671e-01 -8.45148896e-03 2.37621412e+02] [ 9.27572063e-01 3.73083689e-01 -2.04604165e-02 8.25067368e+01] [ 2.21362395e-02 -2.07875023e-04 9.99754942e-01 2.32934328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.63, Y:82.53, Z:23.29 [[ 3.72814330e-01 -9.27867526e-01 -8.44569235e-03 2.37630982e+02] [ 9.27641882e-01 3.72909925e-01 -2.04628090e-02 8.25322222e+01] [ 2.21362584e-02 -2.05749521e-04 9.99754942e-01 2.32937268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.64, Y:82.56, Z:23.30 [[ 3.72486062e-01 -9.27999394e-01 -8.44146152e-03 2.37641272e+02] [ 9.27773744e-01 3.72581644e-01 -2.04645542e-02 8.25586357e+01] [ 2.21362275e-02 -2.09005165e-04 9.99754942e-01 2.32951495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:82.58, Z:23.30 [[ 3.72007956e-01 -9.28191208e-01 -8.43571953e-03 2.37652054e+02] [ 9.27965555e-01 3.72103527e-01 -2.04669208e-02 8.25849512e+01] [ 2.21361769e-02 -2.14199774e-04 9.99754942e-01 2.32957677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.66, Y:82.61, Z:23.30 [[ 3.71637422e-01 -9.28339680e-01 -8.42999985e-03 2.37662727e+02] [ 9.28114011e-01 3.71732957e-01 -2.04692764e-02 8.26103033e+01] [ 2.21361503e-02 -2.16851874e-04 9.99754942e-01 2.32965519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.67, Y:82.64, Z:23.30 [[ 3.71561793e-01 -9.28370008e-01 -8.42395271e-03 2.37673030e+02] [ 9.28144290e-01 3.71657213e-01 -2.04717647e-02 8.26365088e+01] [ 2.21361952e-02 -2.12118003e-04 9.99754942e-01 2.32973663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.68, Y:82.66, Z:23.30 [[ 3.71629522e-01 -9.28342950e-01 -8.41821778e-03 2.37682458e+02] [ 9.28117172e-01 3.71724799e-01 -2.04741227e-02 8.26616227e+01] [ 2.21362678e-02 -2.04304041e-04 9.99754942e-01 2.32977816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.69, Y:82.69, Z:23.30 [[ 3.72732935e-01 -9.27900530e-01 -8.41218370e-03 2.37692451e+02] [ 9.27674583e-01 3.72827811e-01 -2.04766016e-02 8.26881253e+01] [ 2.21365456e-02 -1.71465175e-04 9.99754942e-01 2.32997278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.316875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.70, Y:82.71, Z:23.30 [[ 3.73887345e-01 -9.27435759e-01 -8.43598524e-03 2.37702801e+02] [ 9.27209914e-01 3.73982464e-01 -2.04668304e-02 8.27145138e+01] [ 2.21365810e-02 -1.69640268e-04 9.99754942e-01 2.32999098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.346875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.71, Y:82.74, Z:23.30 [[ 3.74260208e-01 -9.27285678e-01 -8.40045852e-03 2.37712897e+02] [ 9.27059468e-01 3.74354452e-01 -2.04814017e-02 8.27405794e+01] [ 2.21368596e-02 -1.22350934e-04 9.99754942e-01 2.33003635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.72, Y:82.77, Z:23.30 [[ 3.75161766e-01 -9.26921344e-01 -8.39473061e-03 2.37722788e+02] [ 9.26694989e-01 3.75255664e-01 -2.04837492e-02 8.27655793e+01] [ 2.21369945e-02 -9.46352668e-05 9.99754942e-01 2.33002995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.73, Y:82.79, Z:23.30 [[ 3.75830123e-01 -9.26650608e-01 -8.38868569e-03 2.37733068e+02] [ 9.26424130e-01 3.75923724e-01 -2.04862244e-02 8.27912346e+01] [ 2.21370783e-02 -7.21405810e-05 9.99754942e-01 2.33009754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.74, Y:82.82, Z:23.30 [[ 3.75716194e-01 -9.26697086e-01 -8.35773751e-03 2.37743334e+02] [ 9.26470338e-01 3.75809139e-01 -2.04988868e-02 8.28181119e+01] [ 2.21371728e-02 -4.14321714e-05 9.99754942e-01 2.33009263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.75, Y:82.84, Z:23.30 [[ 3.76676570e-01 -9.26306942e-01 -8.37915298e-03 2.37752693e+02] [ 9.26080292e-01 3.76769753e-01 -2.04901292e-02 8.28438838e+01] [ 2.21371604e-02 -4.16168324e-05 9.99754942e-01 2.32999692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.76, Y:82.87, Z:23.30 [[ 3.76654117e-01 -9.26316111e-01 -8.37492207e-03 2.37762624e+02] [ 9.26089425e-01 3.76747212e-01 -2.04918584e-02 8.28690078e+01] [ 2.21371671e-02 -3.75839441e-05 9.99754942e-01 2.32998267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.77, Y:82.90, Z:23.30 [[ 3.76441475e-01 -9.26402601e-01 -8.36885868e-03 2.37773426e+02] [ 9.26175881e-01 3.76534488e-01 -2.04943344e-02 8.28952840e+01] [ 2.21371686e-02 -3.61176096e-05 9.99754942e-01 2.33001596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.78, Y:82.92, Z:23.30 [[ 3.75925074e-01 -9.26612322e-01 -8.36317408e-03 2.37784066e+02] [ 9.26385603e-01 3.76018088e-01 -2.04966538e-02 8.29205504e+01] [ 2.21371567e-02 -4.23179379e-05 9.99754942e-01 2.33005777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.79, Y:82.95, Z:23.30 [[ 3.75171162e-01 -9.26917880e-01 -8.35719034e-03 2.37794588e+02] [ 9.26691182e-01 3.75264228e-01 -2.04990933e-02 8.29465171e+01] [ 2.21371307e-02 -5.38659217e-05 9.99754942e-01 2.33007894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.80, Y:82.97, Z:23.30 [[ 3.74134948e-01 -9.27336666e-01 -8.35154923e-03 2.37804722e+02] [ 9.27110021e-01 3.74228142e-01 -2.05013913e-02 8.29723123e+01] [ 2.21370766e-02 -7.25179997e-05 9.99754942e-01 2.33010515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.82, Y:83.00, Z:23.30 [[ 3.72993913e-01 -9.27796253e-01 -8.34586129e-03 2.37815126e+02] [ 9.27569671e-01 3.73087260e-01 -2.05037065e-02 8.29988632e+01] [ 2.21369966e-02 -9.36100825e-05 9.99754942e-01 2.33010680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.83, Y:83.02, Z:23.30 [[ 3.71169704e-01 -9.28527594e-01 -8.34010550e-03 2.37825438e+02] [ 9.28301143e-01 3.71263369e-01 -2.05060475e-02 8.30244404e+01] [ 2.21368066e-02 -1.30905886e-04 9.99754942e-01 2.33006481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.84, Y:83.05, Z:23.30 [[ 3.70240896e-01 -9.28898392e-01 -8.33403138e-03 2.37836335e+02] [ 9.28671980e-01 3.70334653e-01 -2.05085159e-02 8.30505291e+01] [ 2.21367080e-02 -1.46490140e-04 9.99754942e-01 2.33011087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.85, Y:83.08, Z:23.30 [[ 3.69087999e-01 -9.29357139e-01 -8.32816424e-03 2.37847281e+02] [ 9.29130788e-01 3.69181908e-01 -2.05108981e-02 8.30767673e+01] [ 2.21365571e-02 -1.67627465e-04 9.99754942e-01 2.33015611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.85, Y:83.10, Z:23.30 [[ 3.64881066e-01 -9.31016549e-01 -8.36621674e-03 2.37852530e+02] [ 9.30790979e-01 3.64976836e-01 -2.04954489e-02 8.30999843e+01] [ 2.21350774e-02 -3.08797830e-04 9.99754941e-01 2.32983743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.87, Y:83.13, Z:23.30 [[ 3.68075604e-01 -9.29760075e-01 -8.15802158e-03 2.37867982e+02] [ 9.29532284e-01 3.68166000e-01 -2.05798508e-02 8.31273757e+01] [ 2.21378298e-02 -8.20342196e-06 9.99754928e-01 2.33029286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.88, Y:83.15, Z:23.30 [[ 3.67605117e-01 -9.29944791e-01 -8.31644049e-03 2.37878662e+02] [ 9.29718484e-01 3.67699128e-01 -2.05156327e-02 8.31534587e+01] [ 2.21363537e-02 -1.90296885e-04 9.99754943e-01 2.33039372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.856875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.89, Y:83.18, Z:23.30 [[ 3.67237173e-01 -9.30090206e-01 -8.31072868e-03 2.37889630e+02] [ 9.29863884e-01 3.67331148e-01 -2.05179463e-02 8.31798402e+01] [ 2.21363304e-02 -1.92893865e-04 9.99754943e-01 2.33047028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.90, Y:83.21, Z:23.30 [[ 3.65608457e-01 -9.30731692e-01 -8.30499195e-03 2.37900873e+02] [ 9.30505482e-01 3.65702701e-01 -2.05202681e-02 8.32055832e+01] [ 2.21360218e-02 -2.25457003e-04 9.99754943e-01 2.33044177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.91, Y:83.23, Z:23.30 [[ 3.64323994e-01 -9.31235282e-01 -8.29919122e-03 2.37911904e+02] [ 9.31009149e-01 3.64418422e-01 -2.05226138e-02 8.32318505e+01] [ 2.21357603e-02 -2.49742329e-04 9.99754943e-01 2.33041289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.92, Y:83.26, Z:23.30 [[ 3.62511259e-01 -9.31942491e-01 -8.29342381e-03 2.37922555e+02] [ 9.31716488e-01 3.62606001e-01 -2.05249442e-02 8.32564642e+01] [ 2.21353129e-02 -2.86596323e-04 9.99754943e-01 2.33020272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.976875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.93, Y:83.28, Z:23.30 [[ 3.61815572e-01 -9.32212858e-01 -8.28734910e-03 2.37932726e+02] [ 9.31986870e-01 3.61910348e-01 -2.05273967e-02 8.32817537e+01] [ 2.21351806e-02 -2.96568763e-04 9.99754943e-01 2.33011766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.94, Y:83.31, Z:23.30 [[ 3.61436940e-01 -9.32359779e-01 -8.28131380e-03 2.37943165e+02] [ 9.32133775e-01 3.61531676e-01 -2.05298313e-02 8.33076053e+01] [ 2.21351462e-02 -2.99052896e-04 9.99754943e-01 2.33013931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:83.33, Z:23.30 [[ 3.61478133e-01 -9.32343861e-01 -8.27553377e-03 2.37953589e+02] [ 9.32117798e-01 3.61572732e-01 -2.05321609e-02 8.33328582e+01] [ 2.21352415e-02 -2.91845114e-04 9.99754943e-01 2.33019096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.96, Y:83.36, Z:23.30 [[ 3.61648564e-01 -9.32277803e-01 -8.27132186e-03 2.37964547e+02] [ 9.32051685e-01 3.61743028e-01 -2.05338575e-02 8.33585512e+01] [ 2.21353526e-02 -2.83259387e-04 9.99754943e-01 2.33036715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.096875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.97, Y:83.38, Z:23.31 [[ 3.60231904e-01 -9.32826166e-01 -8.26556673e-03 2.37970337e+02] [ 9.32600138e-01 3.60326585e-01 -2.05361739e-02 8.33828208e+01] [ 2.21349838e-02 -3.10683645e-04 9.99754943e-01 2.33055623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:83.41, Z:23.31 [[ 3.64262383e-01 -9.31261621e-01 -8.04425055e-03 2.37984391e+02] [ 9.31033196e-01 3.64351195e-01 -2.06251200e-02 8.34104183e+01] [ 2.21383150e-02 2.34910818e-05 9.99754917e-01 2.33072663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.99, Y:83.44, Z:23.31 [[ 3.65311187e-01 -9.30848826e-01 -8.25830665e-03 2.37994059e+02] [ 9.30622221e-01 3.65404474e-01 -2.05390534e-02 8.34373202e+01] [ 2.21363759e-02 -1.82217700e-04 9.99754944e-01 2.33080289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.00, Y:83.46, Z:23.31 [[ 3.66282052e-01 -9.30467277e-01 -8.25251272e-03 2.38004117e+02] [ 9.30240522e-01 3.66374975e-01 -2.05413811e-02 8.34639840e+01] [ 2.21365971e-02 -1.52882532e-04 9.99754944e-01 2.33092398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.216875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.01, Y:83.49, Z:23.31 [[ 3.67830844e-01 -9.29856151e-01 -8.24674919e-03 2.38014017e+02] [ 9.29629190e-01 3.67923261e-01 -2.05436947e-02 8.34902892e+01] [ 2.21368517e-02 -1.09814214e-04 9.99754944e-01 2.33110468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.02, Y:83.52, Z:23.31 [[ 3.68433252e-01 -9.29617677e-01 -8.24093687e-03 2.38023398e+02] [ 9.29390604e-01 3.68525395e-01 -2.05460260e-02 8.35157540e+01] [ 2.21369435e-02 -8.92101076e-05 9.99754944e-01 2.33113863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:83.54, Z:23.31 [[ 3.70486720e-01 -9.28801242e-01 -8.23669999e-03 2.38032070e+02] [ 9.28573928e-01 3.70578266e-01 -2.05477244e-02 8.35411312e+01] [ 2.21370939e-02 -3.57258572e-05 9.99754944e-01 2.33108024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.306875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.04, Y:83.57, Z:23.31 [[ 3.71513310e-01 -9.28391128e-01 -8.23250679e-03 2.38041931e+02] [ 9.28163675e-01 3.71604513e-01 -2.05494043e-02 8.35667913e+01] [ 2.21371213e-02 -6.73654997e-06 9.99754944e-01 2.33108510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.05, Y:83.59, Z:23.31 [[ 3.72320955e-01 -9.28067562e-01 -8.22838812e-03 2.38051831e+02] [ 9.27839994e-01 3.72411868e-01 -2.05510533e-02 8.35934502e+01] [ 2.21371154e-02 1.69602177e-05 9.99754944e-01 2.33109120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:83.62, Z:23.31 [[ 3.72853408e-01 -9.27853826e-01 -8.22279420e-03 2.38061594e+02] [ 9.27626156e-01 3.72944067e-01 -2.05532913e-02 8.36203241e+01] [ 2.21370923e-02 3.56857318e-05 9.99754944e-01 2.33107536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.07, Y:83.65, Z:23.31 [[ 3.73450444e-01 -9.27613736e-01 -8.21722465e-03 2.38071300e+02] [ 9.27385959e-01 3.73540832e-01 -2.05555178e-02 8.36470144e+01] [ 2.21370496e-02 5.59284652e-05 9.99754944e-01 2.33107515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.08, Y:83.67, Z:23.31 [[ 3.74547909e-01 -9.27171200e-01 -8.21153476e-03 2.38080686e+02] [ 9.26943267e-01 3.74637902e-01 -2.05577905e-02 8.36722517e+01] [ 2.21369435e-02 8.82506054e-05 9.99754944e-01 2.33107647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.09, Y:83.70, Z:23.31 [[ 3.74695030e-01 -9.27111807e-01 -8.20553955e-03 2.38091340e+02] [ 9.26883807e-01 3.74784854e-01 -2.05601832e-02 8.36985258e+01] [ 2.21369006e-02 9.82167265e-05 9.99754944e-01 2.33127598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.10, Y:83.73, Z:23.31 [[ 3.74433384e-01 -9.27217561e-01 -8.19973538e-03 2.38101863e+02] [ 9.26989535e-01 3.74523144e-01 -2.05624977e-02 8.37251180e+01] [ 2.21368997e-02 9.82167231e-05 9.99754944e-01 2.33133903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.11, Y:83.75, Z:23.31 [[ 3.74372564e-01 -9.27242171e-01 -8.19393056e-03 2.38112122e+02] [ 9.27014100e-01 3.74462210e-01 -2.05648106e-02 8.37508452e+01] [ 2.21368770e-02 1.03011721e-04 9.99754944e-01 2.33141571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.12, Y:83.77, Z:23.31 [[ 3.71817480e-01 -9.28269437e-01 -8.22280213e-03 2.38115954e+02] [ 9.28041868e-01 3.71908393e-01 -2.05533152e-02 8.37746386e+01] [ 2.21371435e-02 1.09772136e-05 9.99754943e-01 2.33128130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.13, Y:83.80, Z:23.32 [[ 3.75837274e-01 -9.26651501e-01 -7.95854181e-03 2.38131200e+02] [ 9.26421281e-01 3.75921324e-01 -2.06583784e-02 8.38026154e+01] [ 2.21349029e-02 3.91226118e-04 9.99754916e-01 2.33179359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.14, Y:83.83, Z:23.32 [[ 3.76344107e-01 -9.26443834e-01 -8.18142657e-03 2.38141185e+02] [ 9.26215467e-01 3.76432989e-01 -2.05697286e-02 8.38288815e+01] [ 2.21364571e-02 1.63532319e-04 9.99754945e-01 2.33193383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.15, Y:83.85, Z:23.32 [[ 3.77333169e-01 -9.26041489e-01 -8.17562543e-03 2.38150037e+02] [ 9.25812977e-01 3.77421679e-01 -2.05720341e-02 8.38540906e+01] [ 2.21362154e-02 1.93410706e-04 9.99754945e-01 2.33214638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:83.88, Z:23.32 [[ 3.77151316e-01 -9.26115621e-01 -8.16951707e-03 2.38159449e+02] [ 9.25887074e-01 3.77239735e-01 -2.05744595e-02 8.38804599e+01] [ 2.21361948e-02 1.95634240e-04 9.99754945e-01 2.33218426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.17, Y:83.91, Z:23.32 [[ 3.77006004e-01 -9.26174836e-01 -8.16373018e-03 2.38169254e+02] [ 9.25946253e-01 3.77094330e-01 -2.05767555e-02 8.39067899e+01] [ 2.21361695e-02 1.98384979e-04 9.99754945e-01 2.33224475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:83.93, Z:23.32 [[ 3.76266233e-01 -9.26475672e-01 -8.15786095e-03 2.38177187e+02] [ 9.26247109e-01 3.76354612e-01 -2.05790821e-02 8.39322699e+01] [ 2.21362675e-02 1.87018581e-04 9.99754945e-01 2.33215484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.19, Y:83.96, Z:23.32 [[ 3.75627691e-01 -9.26734783e-01 -8.15357224e-03 2.38186684e+02] [ 9.26506244e-01 3.75716132e-01 -2.05807812e-02 8.39592452e+01] [ 2.21363544e-02 1.76375723e-04 9.99754945e-01 2.33212720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:83.99, Z:23.32 [[ 3.74227040e-01 -9.27301319e-01 -8.14783188e-03 2.38195719e+02] [ 9.27072864e-01 3.74315699e-01 -2.05830535e-02 8.39858723e+01] [ 2.21365541e-02 1.49101355e-04 9.99754945e-01 2.33209952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:84.01, Z:23.32 [[ 3.71473025e-01 -9.28408045e-01 -8.14209852e-03 2.38204807e+02] [ 9.28179805e-01 3.71562235e-01 -2.05853212e-02 8.40122990e+01] [ 2.21368742e-02 8.95601382e-05 9.99754945e-01 2.33205830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:84.04, Z:23.32 [[ 3.69070184e-01 -9.29365912e-01 -8.13639147e-03 2.38214318e+02] [ 9.29137854e-01 3.69159857e-01 -2.05875767e-02 8.40384668e+01] [ 2.21370211e-02 3.84314245e-05 9.99754945e-01 2.33206710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:84.07, Z:23.32 [[ 3.66512909e-01 -9.30377439e-01 -8.13071110e-03 2.38224170e+02] [ 9.30149579e-01 3.66603083e-01 -2.05898198e-02 8.40651925e+01] [ 2.21370476e-02 -1.63427427e-05 9.99754945e-01 2.33208187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.23, Y:84.09, Z:23.32 [[ 3.64021233e-01 -9.31355211e-01 -8.12486707e-03 2.38233934e+02] [ 9.31127541e-01 3.64111887e-01 -2.05921257e-02 8.40918912e+01] [ 2.21369442e-02 -6.93165270e-05 9.99754945e-01 2.33214394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.936875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.24, Y:84.12, Z:23.32 [[ 3.59414887e-01 -9.33142551e-01 -8.11902537e-03 2.38242865e+02] [ 9.32915280e-01 3.59506537e-01 -2.05944287e-02 8.41181506e+01] [ 2.21363804e-02 -1.72418560e-04 9.99754945e-01 2.33228655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.966875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.25, Y:84.14, Z:23.32 [[ 3.57266974e-01 -9.33967069e-01 -8.11321936e-03 2.38252783e+02] [ 9.33739957e-01 3.57359018e-01 -2.05967157e-02 8.41441991e+01] [ 2.21359863e-02 -2.17110808e-04 9.99754945e-01 2.33239922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:84.17, Z:23.32 [[ 3.52726549e-01 -9.35691323e-01 -8.10746203e-03 2.38259900e+02] [ 9.35464609e-01 3.52819568e-01 -2.05989817e-02 8.41700986e+01] [ 2.21347597e-02 -3.18436076e-04 9.99754946e-01 2.33226048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:84.20, Z:23.33 [[ 3.52100120e-01 -9.35928001e-01 -8.01760415e-03 2.38270524e+02] [ 9.35700542e-01 3.52191312e-01 -2.06343171e-02 8.41973823e+01] [ 2.21359657e-02 -2.36731023e-04 9.99754941e-01 2.33262417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.28, Y:84.22, Z:23.33 [[ 3.51022908e-01 -9.36331823e-01 -8.10161118e-03 2.38279601e+02] [ 9.36105226e-01 3.51116211e-01 -2.06012808e-02 8.42236171e+01] [ 2.21342418e-02 -3.52439075e-04 9.99754946e-01 2.33269293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.086875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.29, Y:84.25, Z:23.33 [[ 3.50525087e-01 -9.36518350e-01 -8.09586511e-03 2.38288868e+02] [ 9.36291751e-01 3.50618385e-01 -2.06035386e-02 8.42497921e+01] [ 2.21341511e-02 -3.58034549e-04 9.99754946e-01 2.33279786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:84.28, Z:23.33 [[ 3.50417770e-01 -9.36558560e-01 -8.09012605e-03 2.38296424e+02] [ 9.36331920e-01 3.50510967e-01 -2.06057918e-02 8.42764413e+01] [ 2.21342086e-02 -3.54407634e-04 9.99754946e-01 2.33294954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.146875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.31, Y:84.30, Z:23.33 [[ 3.51022850e-01 -9.36331996e-01 -8.08408519e-03 2.38305176e+02] [ 9.36105241e-01 3.51115768e-01 -2.06081615e-02 8.43031355e+01] [ 2.21345308e-02 -3.33618927e-04 9.99754946e-01 2.33302205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.176875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.31, Y:84.33, Z:23.33 [[ 3.52119146e-01 -9.35920321e-01 -8.07836563e-03 2.38313551e+02] [ 9.35693406e-01 3.52211673e-01 -2.06104033e-02 8.43291392e+01] [ 2.21349900e-02 -3.01555814e-04 9.99754946e-01 2.33310986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:84.35, Z:23.33 [[ 3.53847707e-01 -9.35268217e-01 -8.07232986e-03 2.38321926e+02] [ 9.35041077e-01 3.53939681e-01 -2.06127671e-02 8.43546039e+01] [ 2.21355838e-02 -2.54179650e-04 9.99754946e-01 2.33318764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.236875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.33, Y:84.38, Z:23.33 [[ 3.58041609e-01 -9.33670772e-01 -8.06823434e-03 2.38329080e+02] [ 9.33443185e-01 3.58132472e-01 -2.06143700e-02 8.43822426e+01] [ 2.21365315e-02 -1.50436159e-04 9.99754946e-01 2.33324883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.34, Y:84.41, Z:23.33 [[ 3.59859383e-01 -9.32971715e-01 -8.06251305e-03 2.38337347e+02] [ 9.32743902e-01 3.59949676e-01 -2.06166074e-02 8.44095244e+01] [ 2.21368105e-02 -1.01180261e-04 9.99754946e-01 2.33325426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.296875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.35, Y:84.44, Z:23.33 [[ 3.61758626e-01 -9.32236979e-01 -8.05682130e-03 2.38345481e+02] [ 9.32008933e-01 3.61848329e-01 -2.06188315e-02 8.44360329e+01] [ 2.21369845e-02 -4.99892840e-05 9.99754946e-01 2.33323699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:84.46, Z:23.33 [[ 3.63206452e-01 -9.31673899e-01 -8.05106548e-03 2.38353991e+02] [ 9.31445664e-01 3.63295674e-01 -2.06210787e-02 8.44614542e+01] [ 2.21370381e-02 -9.42119448e-06 9.99754946e-01 2.33324130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.356875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.36, Y:84.49, Z:23.33 [[ 3.65473522e-01 -9.30786953e-01 -8.04686822e-03 2.38362289e+02] [ 9.30558466e-01 3.65562094e-01 -2.06227165e-02 8.44887300e+01] [ 2.21369854e-02 4.89754727e-05 9.99754946e-01 2.33328945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.38687500000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:238.37, Y:84.51, Z:23.33 [[ 3.66306533e-01 -9.30459491e-01 -8.04107554e-03 2.38371207e+02] [ 9.30230875e-01 3.66394773e-01 -2.06249749e-02 8.45149040e+01] [ 2.21369117e-02 7.50062919e-05 9.99754946e-01 2.33335096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.416875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.38, Y:84.54, Z:23.33 [[ 3.67095056e-01 -9.30148727e-01 -8.03532082e-03 2.38379839e+02] [ 9.29919987e-01 3.67182974e-01 -2.06272166e-02 8.45411473e+01] [ 2.21368123e-02 9.99437997e-05 9.99754946e-01 2.33344325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.44687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.39, Y:84.57, Z:23.34 [[ 3.69880788e-01 -9.29044528e-01 -8.02919141e-03 2.38387756e+02] [ 9.28815474e-01 3.69967884e-01 -2.06296022e-02 8.45686923e+01] [ 2.21363620e-02 1.72856290e-04 9.99754946e-01 2.33365135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.476875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.40, Y:84.60, Z:23.34 [[ 3.71038149e-01 -9.28582962e-01 -8.02338331e-03 2.38396970e+02] [ 9.28353751e-01 3.71124830e-01 -2.06318609e-02 8.45955680e+01] [ 2.21360713e-02 2.06669473e-04 9.99754946e-01 2.33378688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.50687500000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.41, Y:84.62, Z:23.34 [[ 3.72463387e-01 -9.28012254e-01 -8.01759441e-03 2.38406354e+02] [ 9.27782862e-01 3.72549588e-01 -2.06341102e-02 8.46223503e+01] [ 2.21356586e-02 2.46863889e-04 9.99754946e-01 2.33393038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:84.65, Z:23.34 [[ 3.75153177e-01 -9.26928209e-01 -8.01177083e-03 2.38413820e+02] [ 9.26698520e-01 3.75238583e-01 -2.06363712e-02 8.46480193e+01] [ 2.21347601e-02 3.17304033e-04 9.99754946e-01 2.33402815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:84.67, Z:23.34 [[ 3.76340477e-01 -9.26446844e-01 -8.00562699e-03 2.38422290e+02] [ 9.26216995e-01 3.76425451e-01 -2.06387543e-02 8.46739722e+01] [ 2.21342305e-02 3.52250865e-04 9.99754946e-01 2.33404550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.596875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.43, Y:84.70, Z:23.34 [[ 3.77511634e-01 -9.25970288e-01 -7.99953136e-03 2.38431299e+02] [ 9.25740281e-01 3.77596182e-01 -2.06411167e-02 8.47006220e+01] [ 2.21336533e-02 3.86773269e-04 9.99754946e-01 2.33409914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.626875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.44, Y:84.73, Z:23.34 [[ 3.78527449e-01 -9.25555546e-01 -7.99378464e-03 2.38440586e+02] [ 9.25325400e-01 3.78611617e-01 -2.06433420e-02 8.47268828e+01] [ 2.21330994e-02 4.17219625e-04 9.99754946e-01 2.33410338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:84.75, Z:23.34 [[ 3.79133256e-01 -9.25307606e-01 -7.98802339e-03 2.38449871e+02] [ 9.25077358e-01 3.79217144e-01 -2.06455711e-02 8.47521090e+01] [ 2.21326994e-02 4.37883016e-04 9.99754946e-01 2.33405282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.686875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.46, Y:84.78, Z:23.34 [[ 3.78740222e-01 -9.25468602e-01 -7.98195337e-03 2.38460270e+02] [ 9.25238340e-01 3.78824072e-01 -2.06479176e-02 8.47783883e+01] [ 2.21327555e-02 4.34987611e-04 9.99754946e-01 2.33404611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.716875 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:238.47, Y:84.80, Z:23.34 [[ 3.77925446e-01 -9.25801673e-01 -7.97622481e-03 2.38470405e+02] [ 9.25571438e-01 3.78009372e-01 -2.06501303e-02 8.48037669e+01] [ 2.21330129e-02 4.21643839e-04 9.99754946e-01 2.33401688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.746875 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:238.48, Y:84.83, Z:23.34 [[ 3.77139303e-01 -9.26122250e-01 -7.97018536e-03 2.38481059e+02] [ 9.25892038e-01 3.77223290e-01 -2.06524610e-02 8.48296111e+01] [ 2.21332432e-02 4.09323601e-04 9.99754946e-01 2.33406117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:84.86, Z:23.34 [[ 3.73843177e-01 -9.27457732e-01 -7.96461585e-03 2.38492564e+02] [ 9.27227774e-01 3.73927858e-01 -2.06546087e-02 8.48557096e+01] [ 2.21344683e-02 3.36571510e-04 9.99754946e-01 2.33413371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.50, Y:84.88, Z:23.34 [[ 3.71666537e-01 -9.28332184e-01 -7.95878792e-03 2.38503147e+02] [ 9.28102377e-01 3.71751627e-01 -2.06568541e-02 8.48809552e+01] [ 2.21351149e-02 2.90891447e-04 9.99754946e-01 2.33413150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.52, Y:84.90, Z:23.34 [[ 3.67383904e-01 -9.30035388e-01 -7.95264620e-03 2.38515257e+02] [ 9.29805925e-01 3.67469917e-01 -2.06592183e-02 8.49048553e+01] [ 2.21361624e-02 1.95446740e-04 9.99754946e-01 2.33427998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.53, Y:84.93, Z:23.34 [[ 3.65175140e-01 -9.30904917e-01 -7.94681112e-03 2.38526705e+02] [ 9.30675610e-01 3.65261567e-01 -2.06614626e-02 8.49306905e+01] [ 2.21365218e-02 1.49149221e-04 9.99754946e-01 2.33445427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.54, Y:84.96, Z:23.35 [[ 3.63260209e-01 -9.31653885e-01 -7.94103082e-03 2.38537989e+02] [ 9.31424707e-01 3.63346979e-01 -2.06636840e-02 8.49568646e+01] [ 2.21367510e-02 1.09821848e-04 9.99754946e-01 2.33455575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.926875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.55, Y:84.98, Z:23.35 [[ 3.61265349e-01 -9.32429290e-01 -7.93516447e-03 2.38548590e+02] [ 9.32200249e-01 3.61352479e-01 -2.06659365e-02 8.49823001e+01] [ 2.21369159e-02 6.87244671e-05 9.99754946e-01 2.33462336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.56, Y:85.01, Z:23.35 [[ 3.59130553e-01 -9.33253651e-01 -7.92897715e-03 2.38560891e+02] [ 9.33024758e-01 3.59218070e-01 -2.06683102e-02 8.50080488e+01] [ 2.21370078e-02 2.46896641e-05 9.99754946e-01 2.33475490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.57, Y:85.03, Z:23.35 [[ 3.58783644e-01 -9.33387123e-01 -7.92315816e-03 2.38571343e+02] [ 9.33158213e-01 3.58871117e-01 -2.06705406e-02 8.50328191e+01] [ 2.21370090e-02 2.26917604e-05 9.99754946e-01 2.33477883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.58, Y:85.06, Z:23.35 [[ 3.58390263e-01 -9.33538291e-01 -7.91702565e-03 2.38581699e+02] [ 9.33309366e-01 3.58477698e-01 -2.06728892e-02 8.50593383e+01] [ 2.21370107e-02 1.99280081e-05 9.99754946e-01 2.33480931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.59, Y:85.09, Z:23.35 [[ 3.58680970e-01 -9.33426684e-01 -7.91123933e-03 2.38593136e+02] [ 9.33197683e-01 3.58768205e-01 -2.06751033e-02 8.50854816e+01] [ 2.21369942e-02 3.30158871e-05 9.99754946e-01 2.33491322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.60, Y:85.11, Z:23.35 [[ 3.58851245e-01 -9.33361285e-01 -7.90535817e-03 2.38603952e+02] [ 9.33132219e-01 3.58938308e-01 -2.06773518e-02 8.51113378e+01] [ 2.21369755e-02 4.33490110e-05 9.99754946e-01 2.33501165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.106875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.61, Y:85.14, Z:23.35 [[ 3.59668369e-01 -9.33046763e-01 -7.89950236e-03 2.38614277e+02] [ 9.32817572e-01 3.59755101e-01 -2.06795886e-02 8.51364936e+01] [ 2.21369095e-02 6.89993081e-05 9.99754946e-01 2.33506567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.62, Y:85.16, Z:23.35 [[ 3.61399137e-01 -9.32377783e-01 -7.89522674e-03 2.38624583e+02] [ 9.32148395e-01 3.61485349e-01 -2.06812209e-02 8.51626075e+01] [ 2.21367197e-02 1.14652446e-04 9.99754946e-01 2.33514290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.166875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.63, Y:85.19, Z:23.35 [[ 3.61791677e-01 -9.32225584e-01 -7.88941764e-03 2.38634229e+02] [ 9.31996112e-01 3.61877663e-01 -2.06834367e-02 8.51881018e+01] [ 2.21366329e-02 1.30188674e-04 9.99754946e-01 2.33516197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.64, Y:85.21, Z:23.35 [[ 3.62379431e-01 -9.31997319e-01 -7.88328947e-03 2.38644258e+02] [ 9.31767741e-01 3.62465137e-01 -2.06857721e-02 8.52138755e+01] [ 2.21365018e-02 1.50703501e-04 9.99754946e-01 2.33519831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.226875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.66, Y:85.24, Z:23.35 [[ 3.62346457e-01 -9.32010187e-01 -7.87756973e-03 2.38655081e+02] [ 9.31780565e-01 3.62432045e-01 -2.06879501e-02 8.52402416e+01] [ 2.21364639e-02 1.56039054e-04 9.99754946e-01 2.33518446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.25687500000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.67, Y:85.27, Z:23.35 [[ 3.61678182e-01 -9.32269771e-01 -7.87188825e-03 2.38665687e+02] [ 9.32040164e-01 3.61763807e-01 -2.06901117e-02 8.52661711e+01] [ 2.21365300e-02 1.46245959e-04 9.99754946e-01 2.33533203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.286875 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.68, Y:85.29, Z:23.35 [[ 3.60956093e-01 -9.32549636e-01 -7.86602090e-03 2.38676211e+02] [ 9.32320047e-01 3.61041767e-01 -2.06923421e-02 8.52906672e+01] [ 2.21365982e-02 1.35378008e-04 9.99754946e-01 2.33536604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.316875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.69, Y:85.32, Z:23.35 [[ 3.58854421e-01 -9.33360449e-01 -7.85982727e-03 2.38688531e+02] [ 9.33131001e-01 3.58940474e-01 -2.06946945e-02 8.53162796e+01] [ 2.21368194e-02 9.21341100e-05 9.99754946e-01 2.33549264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.346875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.70, Y:85.34, Z:23.36 [[ 3.57536541e-01 -9.33866124e-01 -7.85396435e-03 2.38699104e+02] [ 9.33636749e-01 3.57622788e-01 -2.06969193e-02 8.53418045e+01] [ 2.21369084e-02 6.71551994e-05 9.99754946e-01 2.33555286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.376875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.71, Y:85.37, Z:23.36 [[ 3.57272538e-01 -9.33967205e-01 -7.84811372e-03 2.38709173e+02] [ 9.33737806e-01 3.57358720e-01 -2.06991376e-02 8.53685641e+01] [ 2.21369076e-02 6.71529362e-05 9.99754946e-01 2.33561591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.72, Y:85.39, Z:23.36 [[ 3.56193310e-01 -9.34379380e-01 -7.84226035e-03 2.38719143e+02] [ 9.34150032e-01 3.56279627e-01 -2.07013550e-02 8.53939736e+01] [ 2.21369568e-02 4.78363918e-05 9.99754946e-01 2.33560759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.73, Y:85.42, Z:23.36 [[ 3.55547797e-01 -9.34625235e-01 -7.83799147e-03 2.38729466e+02] [ 9.34395911e-01 3.55634178e-01 -2.07029712e-02 8.54202136e+01] [ 2.21369769e-02 3.71086104e-05 9.99754946e-01 2.33569378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.466875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.74, Y:85.44, Z:23.36 [[ 3.54893740e-01 -9.34873837e-01 -7.83218263e-03 2.38740783e+02] [ 9.34644525e-01 3.54980153e-01 -2.07051685e-02 8.54445306e+01] [ 2.21369897e-02 2.78280675e-05 9.99754946e-01 2.33576074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.496875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.75, Y:85.47, Z:23.36 [[ 3.55218071e-01 -9.34750702e-01 -7.82606741e-03 2.38751460e+02] [ 9.34521309e-01 3.55304269e-01 -2.07074796e-02 8.54704087e+01] [ 2.21369663e-02 4.20442206e-05 9.99754946e-01 2.33586415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.526875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.76, Y:85.50, Z:23.36 [[ 3.55599954e-01 -9.34605540e-01 -7.82036288e-03 2.38761608e+02] [ 9.34376064e-01 3.55685932e-01 -2.07096338e-02 8.54970599e+01] [ 2.21369315e-02 5.71849369e-05 9.99754946e-01 2.33590388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.556875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.77, Y:85.52, Z:23.36 [[ 3.56249360e-01 -9.34358242e-01 -7.81469033e-03 2.38771003e+02] [ 9.34128660e-01 3.56335053e-01 -2.07117741e-02 8.55232817e+01] [ 2.21368649e-02 7.86300614e-05 9.99754947e-01 2.33591673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.586875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.78, Y:85.55, Z:23.36 [[ 3.58229087e-01 -9.33601061e-01 -7.80902794e-03 2.38780230e+02] [ 9.33371251e-01 3.58314167e-01 -2.07139088e-02 8.55490062e+01] [ 2.21366125e-02 1.31602455e-04 9.99754947e-01 2.33587896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.79, Y:85.58, Z:23.36 [[ 3.59207550e-01 -9.33225079e-01 -7.80305764e-03 2.38790158e+02] [ 9.32995132e-01 3.59292256e-01 -2.07161576e-02 8.55755549e+01] [ 2.21364160e-02 1.61185407e-04 9.99754947e-01 2.33588913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.80, Y:85.60, Z:23.36 [[ 3.59814922e-01 -9.32991116e-01 -7.79741748e-03 2.38799656e+02] [ 9.32761067e-01 3.59899354e-01 -2.07182803e-02 8.56010074e+01] [ 2.21362569e-02 1.81618960e-04 9.99754947e-01 2.33588867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.676875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.81, Y:85.63, Z:23.36 [[ 3.60479715e-01 -9.32734511e-01 -7.79146904e-03 2.38810650e+02] [ 9.32504354e-01 3.60563851e-01 -2.07205170e-02 8.56271845e+01] [ 2.21360634e-02 2.03747287e-04 9.99754947e-01 2.33588945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.82, Y:85.65, Z:23.36 [[ 3.60279477e-01 -9.32811920e-01 -7.78594519e-03 2.38821098e+02] [ 9.32581736e-01 3.60363540e-01 -2.07225925e-02 8.56528629e+01] [ 2.21360520e-02 2.04894505e-04 9.99754947e-01 2.33596924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.83, Y:85.68, Z:23.36 [[ 3.60374105e-01 -9.32775412e-01 -7.78045884e-03 2.38831848e+02] [ 9.32545175e-01 3.60458022e-01 -2.07246522e-02 8.56793048e+01] [ 2.21359748e-02 2.12998625e-04 9.99754947e-01 2.33608971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.766875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.84, Y:85.70, Z:23.36 [[ 3.60981941e-01 -9.32540395e-01 -7.77494092e-03 2.38841107e+02] [ 9.32310059e-01 3.61065585e-01 -2.07267220e-02 8.57046682e+01] [ 2.21357691e-02 2.33316725e-04 9.99754947e-01 2.33619445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.84, Y:85.73, Z:23.36 [[ 3.57649938e-01 -9.33823411e-01 -7.76912370e-03 2.38841972e+02] [ 9.33593328e-01 3.57734275e-01 -2.07289023e-02 8.57268185e+01] [ 2.21364161e-02 1.60488570e-04 9.99754947e-01 2.33552734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.86, Y:85.76, Z:23.36 [[ 3.62478420e-01 -9.31962808e-01 -7.39733504e-03 2.38860367e+02] [ 9.31729391e-01 3.62553271e-01 -2.08678934e-02 8.57557605e+01] [ 2.21300286e-02 6.71846561e-04 9.99754875e-01 2.33628159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.856875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.87, Y:85.78, Z:23.36 [[ 3.63219124e-01 -9.31671438e-01 -7.75889438e-03 2.38870371e+02] [ 9.31440776e-01 3.63301859e-01 -2.07325864e-02 8.57816231e+01] [ 2.21347793e-02 3.03521274e-04 9.99754950e-01 2.33646217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.87, Y:85.80, Z:23.36 [[ 3.59255558e-01 -9.33207015e-01 -7.75314235e-03 2.38870875e+02] [ 9.32976661e-01 3.59339144e-01 -2.07347372e-02 8.58044534e+01] [ 2.21358098e-02 2.15568728e-04 9.99754950e-01 2.33576550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:85.83, Z:23.37 [[ 3.65267965e-01 -9.30873339e-01 -7.35801445e-03 2.38889550e+02] [ 9.30639415e-01 3.65341235e-01 -2.08820781e-02 8.58337982e+01] [ 2.21267558e-02 7.79895893e-04 9.99754869e-01 2.33657676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.90, Y:85.86, Z:23.37 [[ 3.65089144e-01 -9.30940353e-01 -7.74445392e-03 2.38899369e+02] [ 9.30709416e-01 3.65171093e-01 -2.07377655e-02 8.58598371e+01] [ 2.21336734e-02 3.63296849e-04 9.99754954e-01 2.33667396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.976875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.91, Y:85.88, Z:23.37 [[ 3.64886029e-01 -9.31020032e-01 -7.73860255e-03 2.38908922e+02] [ 9.30789067e-01 3.64967899e-01 -2.07399488e-02 8.58849478e+01] [ 2.21336493e-02 3.64710910e-04 9.99754954e-01 2.33671289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.92, Y:85.91, Z:23.37 [[ 3.64533912e-01 -9.31158009e-01 -7.73243458e-03 2.38918593e+02] [ 9.30927026e-01 3.64615731e-01 -2.07422481e-02 8.59110725e+01] [ 2.21336777e-02 3.62920510e-04 9.99754954e-01 2.33688469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.036875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.93, Y:85.94, Z:23.37 [[ 3.64049341e-01 -9.31347613e-01 -7.72667224e-03 2.38927871e+02] [ 9.31116627e-01 3.64131153e-01 -2.07443944e-02 8.59361545e+01] [ 2.21337643e-02 3.57550122e-04 9.99754954e-01 2.33694493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.066875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.94, Y:85.96, Z:23.37 [[ 3.63663725e-01 -9.31498302e-01 -7.72060031e-03 2.38937408e+02] [ 9.31267303e-01 3.63745498e-01 -2.07466540e-02 8.59622865e+01] [ 2.21338066e-02 3.54862858e-04 9.99754954e-01 2.33712410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.95, Y:85.99, Z:23.37 [[ 3.62900074e-01 -9.31796125e-01 -7.71474931e-03 2.38946711e+02] [ 9.31565147e-01 3.62981905e-01 -2.07488295e-02 8.59888092e+01] [ 2.21339933e-02 3.42960184e-04 9.99754954e-01 2.33724708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.126875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.95, Y:86.01, Z:23.37 [[ 3.58624654e-01 -9.33449803e-01 -7.73450098e-03 2.38950584e+02] [ 9.33219360e-01 3.58707982e-01 -2.07414915e-02 8.60125657e+01] [ 2.21355684e-02 2.20424144e-04 9.99754954e-01 2.33682602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.96, Y:86.04, Z:23.37 [[ 3.56599519e-01 -9.34227757e-01 -7.43519793e-03 2.38957557e+02] [ 9.33995137e-01 3.56676685e-01 -2.08524811e-02 8.60368040e+01] [ 2.21329284e-02 4.91546009e-04 9.99754916e-01 2.33677673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.98, Y:86.07, Z:23.37 [[ 3.61243960e-01 -9.32442600e-01 -7.32109147e-03 2.38976120e+02] [ 9.32208737e-01 3.61317414e-01 -2.08949085e-02 8.60667600e+01] [ 2.21285407e-02 7.23374067e-04 9.99754872e-01 2.33737283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.216875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.98, Y:86.09, Z:23.37 [[ 3.53687893e-01 -9.35331609e-01 -7.72367143e-03 2.38978647e+02] [ 9.35101533e-01 3.53772197e-01 -2.07450244e-02 8.60896719e+01] [ 2.21358973e-02 1.14846966e-04 9.99754964e-01 2.33686852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.246875 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:239.00, Y:86.12, Z:23.37 [[ 3.57158320e-01 -9.34014492e-01 -7.40699097e-03 2.38996228e+02] [ 9.33781615e-01 3.57234717e-01 -2.08627280e-02 8.61189102e+01] [ 2.21321247e-02 5.34784904e-04 9.99754912e-01 2.33741874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.01, Y:86.14, Z:23.37 [[ 3.54840191e-01 -9.34895106e-01 -7.71884369e-03 2.39005063e+02] [ 9.34664889e-01 3.54924104e-01 -2.07467041e-02 8.61443650e+01] [ 2.21355958e-02 1.47232247e-04 9.99754967e-01 2.33738168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.01, Y:86.17, Z:23.37 [[ 3.52993055e-01 -9.35594151e-01 -7.71279344e-03 2.39014672e+02] [ 9.35364052e-01 3.53077289e-01 -2.07489531e-02 8.61712477e+01] [ 2.21358113e-02 1.09966610e-04 9.99754967e-01 2.33741980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.02, Y:86.20, Z:23.37 [[ 3.49307020e-01 -9.36976631e-01 -7.70714301e-03 2.39023474e+02] [ 9.36746818e-01 3.49392034e-01 -2.07510517e-02 8.61981076e+01] [ 2.21360649e-02 2.88463235e-05 9.99754967e-01 2.33734845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.03, Y:86.22, Z:23.37 [[ 3.47383605e-01 -9.37691483e-01 -7.70150077e-03 2.39032770e+02] [ 9.37461799e-01 3.47468966e-01 -2.07531455e-02 8.62245921e+01] [ 2.21360803e-02 -1.05602608e-05 9.99754967e-01 2.33734972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.04, Y:86.25, Z:23.37 [[ 3.43270368e-01 -9.39205105e-01 -7.69584786e-03 2.39041605e+02] [ 9.38975750e-01 3.43356609e-01 -2.07552416e-02 8.62513775e+01] [ 2.21358491e-02 -1.01555116e-04 9.99754967e-01 2.33730498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.05, Y:86.28, Z:23.37 [[ 3.41445425e-01 -9.39870141e-01 -7.69019445e-03 2.39051076e+02] [ 9.39640907e-01 3.41531987e-01 -2.07573360e-02 8.62781461e+01] [ 2.21356478e-02 -1.38523867e-04 9.99754967e-01 2.33741669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.456875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.06, Y:86.30, Z:23.37 [[ 3.39782165e-01 -9.40472770e-01 -7.68439584e-03 2.39059692e+02] [ 9.40243641e-01 3.39869004e-01 -2.07594825e-02 8.63036444e+01] [ 2.21354159e-02 -1.71502423e-04 9.99754967e-01 2.33744762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.486875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:239.07, Y:86.33, Z:23.37 [[ 3.37399248e-01 -9.41330331e-01 -7.67828082e-03 2.39066817e+02] [ 9.41101371e-01 3.37486533e-01 -2.07617440e-02 8.63314428e+01] [ 2.21349757e-02 -2.21043788e-04 9.99754967e-01 2.33745110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.08, Y:86.36, Z:23.38 [[ 3.36462494e-01 -9.41665611e-01 -7.67253739e-03 2.39075575e+02] [ 9.41436690e-01 3.36549879e-01 -2.07638663e-02 8.63585630e+01] [ 2.21348103e-02 -2.36945986e-04 9.99754967e-01 2.33751271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.08, Y:86.38, Z:23.38 [[ 3.35803320e-01 -9.41900925e-01 -7.66672563e-03 2.39084305e+02] [ 9.41672016e-01 3.35890738e-01 -2.07660119e-02 8.63849316e+01] [ 2.21347080e-02 -2.46245224e-04 9.99754967e-01 2.33760737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.09, Y:86.41, Z:23.38 [[ 3.35749386e-01 -9.41920199e-01 -7.66089986e-03 2.39091589e+02] [ 9.41691246e-01 3.35836688e-01 -2.07681609e-02 8.64122975e+01] [ 2.21347615e-02 -2.41305057e-04 9.99754967e-01 2.33764273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.10, Y:86.44, Z:23.38 [[ 3.35993279e-01 -9.41833275e-01 -7.65504788e-03 2.39100094e+02] [ 9.41604250e-01 3.36080393e-01 -2.07703177e-02 8.64389831e+01] [ 2.21348879e-02 -2.29338472e-04 9.99754967e-01 2.33768283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.63687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.11, Y:86.46, Z:23.38 [[ 3.36055963e-01 -9.41810958e-01 -7.64917248e-03 2.39108101e+02] [ 9.41581878e-01 3.36142932e-01 -2.07724813e-02 8.64646658e+01] [ 2.21349657e-02 -2.21606008e-04 9.99754967e-01 2.33758888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.12, Y:86.49, Z:23.38 [[ 3.37426704e-01 -9.41320776e-01 -7.64306414e-03 2.39115407e+02] [ 9.41091519e-01 3.37513205e-01 -2.07747285e-02 8.64924759e+01] [ 2.21353186e-02 -1.82874664e-04 9.99754967e-01 2.33771714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.69687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.12, Y:86.52, Z:23.38 [[ 3.38594364e-01 -9.40901442e-01 -7.63762763e-03 2.39123869e+02] [ 9.40672033e-01 3.38680461e-01 -2.07767270e-02 8.65192513e+01] [ 2.21355676e-02 -1.49620033e-04 9.99754967e-01 2.33785282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.13, Y:86.55, Z:23.38 [[ 3.40115574e-01 -9.40352674e-01 -7.63177823e-03 2.39132225e+02] [ 9.40123078e-01 3.40201170e-01 -2.07788754e-02 8.65453539e+01] [ 2.21358110e-02 -1.07591706e-04 9.99754967e-01 2.33770234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.75687500000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.14, Y:86.57, Z:23.38 [[ 3.41377378e-01 -9.39895370e-01 -7.62750537e-03 2.39140616e+02] [ 9.39665624e-01 3.41462572e-01 -2.07804438e-02 8.65718766e+01] [ 2.21359505e-02 -7.33311758e-05 9.99754967e-01 2.33801918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.786875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.14, Y:86.60, Z:23.38 [[ 3.41566751e-01 -9.39826615e-01 -7.62165990e-03 2.39144772e+02] [ 9.39596804e-01 3.41651768e-01 -2.07825875e-02 8.65979434e+01] [ 2.21359824e-02 -6.26463939e-05 9.99754967e-01 2.33815103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.816875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.16, Y:86.63, Z:23.38 [[ 3.45707160e-01 -9.38312786e-01 -7.46155981e-03 2.39156983e+02] [ 9.38081324e-01 3.45787613e-01 -2.08412159e-02 8.66258072e+01] [ 2.21356943e-02 2.05407670e-04 9.99754954e-01 2.33825374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.846875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.17, Y:86.65, Z:23.39 [[ 3.47108724e-01 -9.37793990e-01 -7.61354710e-03 2.39165480e+02] [ 9.37563616e-01 3.47192204e-01 -2.07855447e-02 8.66526391e+01] [ 2.21359231e-02 7.66591670e-05 9.99754968e-01 2.33858953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.17, Y:86.68, Z:23.39 [[ 3.50468865e-01 -9.36543484e-01 -7.60770706e-03 2.39172894e+02] [ 9.36312766e-01 3.50551389e-01 -2.07876820e-02 8.66792294e+01] [ 2.21354604e-02 1.62242094e-04 9.99754968e-01 2.33876013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.18, Y:86.71, Z:23.39 [[ 3.51878253e-01 -9.36014903e-01 -7.60246077e-03 2.39181936e+02] [ 9.35784019e-01 3.51960313e-01 -2.07896005e-02 8.67063048e+01] [ 2.21351404e-02 2.01147010e-04 9.99754968e-01 2.33949034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.19, Y:86.73, Z:23.39 [[ 3.53527645e-01 -9.35393229e-01 -7.59685602e-03 2.39190845e+02] [ 9.35162157e-01 3.53609173e-01 -2.07916484e-02 8.67326774e+01] [ 2.21346851e-02 2.46130226e-04 9.99754968e-01 2.33947202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.20, Y:86.76, Z:23.41 [[ 3.56949532e-01 -9.34092823e-01 -7.59145597e-03 2.39199225e+02] [ 9.33861412e-01 3.57030094e-01 -2.07936199e-02 8.67599270e+01] [ 2.21335493e-02 3.32905099e-04 9.99754968e-01 2.34076496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.996875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.21, Y:86.79, Z:23.41 [[ 3.58806725e-01 -9.33381052e-01 -7.58594792e-03 2.39207953e+02] [ 9.33149439e-01 3.58886704e-01 -2.07956291e-02 8.67861518e+01] [ 2.21327420e-02 3.82788537e-04 9.99754968e-01 2.34118674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.22, Y:86.81, Z:23.42 [[ 3.60721445e-01 -9.32642791e-01 -7.58053697e-03 2.39216845e+02] [ 9.32410973e-01 3.60800827e-01 -2.07976014e-02 8.68130894e+01] [ 2.21317970e-02 4.33964961e-04 9.99754968e-01 2.34165388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.056875 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:239.22, Y:86.84, Z:23.42 [[ 3.65696837e-01 -9.30703198e-01 -7.57496008e-03 2.39224843e+02] [ 9.30470918e-01 3.65774856e-01 -2.07996324e-02 8.68387873e+01] [ 2.21290143e-02 5.58079727e-04 9.99754968e-01 2.34228506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.086875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.23, Y:86.87, Z:23.43 [[ 3.68040836e-01 -9.29778792e-01 -7.57240528e-03 2.39233740e+02] [ 9.29546297e-01 3.68118212e-01 -2.08005625e-02 8.68651932e+01] [ 2.21274621e-02 6.16555117e-04 9.99754968e-01 2.34261092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.116875 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:239.24, Y:86.89, Z:23.43 [[ 3.70131234e-01 -9.28948661e-01 -7.56672124e-03 2.39242755e+02] [ 9.28715951e-01 3.70207960e-01 -2.08026300e-02 8.68911019e+01] [ 2.21258357e-02 6.72368391e-04 9.99754968e-01 2.34283930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.146875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.25, Y:86.92, Z:23.43 [[ 3.71807928e-01 -9.28278893e-01 -7.56049304e-03 2.39252124e+02] [ 9.28046000e-01 3.71884094e-01 -2.08048933e-02 8.69180159e+01] [ 2.21243704e-02 7.18938947e-04 9.99754968e-01 2.34302126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.26, Y:86.94, Z:23.43 [[ 3.73804221e-01 -9.27476863e-01 -7.55467615e-03 2.39261490e+02] [ 9.27243764e-01 3.73879755e-01 -2.08070053e-02 8.69449523e+01] [ 2.21225565e-02 7.72720069e-04 9.99754968e-01 2.34323394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.27, Y:86.97, Z:23.43 [[ 3.74013965e-01 -9.27392349e-01 -7.54888046e-03 2.39270914e+02] [ 9.27159190e-01 3.74089317e-01 -2.08091078e-02 8.69703805e+01] [ 2.21221629e-02 7.83883033e-04 9.99754968e-01 2.34331581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.236875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.28, Y:87.00, Z:23.43 [[ 3.74878394e-01 -9.27043293e-01 -7.54465043e-03 2.39284127e+02] [ 9.26810034e-01 3.74953434e-01 -2.08106414e-02 8.69990039e+01] [ 2.21212581e-02 8.09002100e-04 9.99754968e-01 2.34340231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.266875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.29, Y:87.03, Z:23.43 [[ 3.71340517e-01 -9.28464937e-01 -7.68644340e-03 2.39292905e+02] [ 9.28233011e-01 3.71419617e-01 -2.07592317e-02 8.70252167e+01] [ 2.21291147e-02 5.73933348e-04 9.99754956e-01 2.34324806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.296875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.30, Y:87.05, Z:23.43 [[ 3.70990015e-01 -9.28605596e-01 -7.61939523e-03 2.39302146e+02] [ 9.28373203e-01 3.71067704e-01 -2.07835172e-02 8.70512497e+01] [ 2.21270019e-02 6.36835018e-04 9.99754965e-01 2.34330649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.32687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.31, Y:87.08, Z:23.44 [[ 3.70811782e-01 -9.28676832e-01 -7.61340421e-03 2.39311443e+02] [ 9.28444410e-01 3.70889382e-01 -2.07856849e-02 8.70759123e+01] [ 2.21269148e-02 6.38954290e-04 9.99754966e-01 2.34365000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.32, Y:87.10, Z:23.44 [[ 3.68766922e-01 -9.29491461e-01 -7.52203820e-03 2.39320989e+02] [ 9.29258538e-01 3.68842990e-01 -2.08186966e-02 8.71023711e+01] [ 2.21252518e-02 6.87328447e-04 9.99754970e-01 2.34351151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.38687500000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.33, Y:87.13, Z:23.43 [[ 3.68769279e-01 -9.29490573e-01 -7.51617835e-03 2.39333861e+02] [ 9.29257607e-01 3.68845215e-01 -2.08208120e-02 8.71309672e+01] [ 2.21250549e-02 6.93609914e-04 9.99754970e-01 2.34343555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.416875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.34, Y:87.15, Z:23.43 [[ 3.66593163e-01 -9.30349640e-01 -7.68116928e-03 2.39340209e+02] [ 9.30118079e-01 3.66673329e-01 -2.07612302e-02 8.71547120e+01] [ 2.21316830e-02 4.66530635e-04 9.99754955e-01 2.34340347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.44687500000003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:239.35, Y:87.18, Z:23.43 [[ 3.66363622e-01 -9.30441460e-01 -7.50911855e-03 2.39353106e+02] [ 9.30208641e-01 3.66440003e-01 -2.08232741e-02 8.71834591e+01] [ 2.21264790e-02 6.43843169e-04 9.99754972e-01 2.34324923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.36, Y:87.21, Z:23.43 [[ 3.63173252e-01 -9.31690072e-01 -7.66808039e-03 2.39360053e+02] [ 9.31458708e-01 3.63253976e-01 -2.07659274e-02 8.72074478e+01] [ 2.21328690e-02 3.99129129e-04 9.99754958e-01 2.34319193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.50687500000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.37, Y:87.23, Z:23.43 [[ 3.61889782e-01 -9.32190710e-01 -7.50101584e-03 2.39369491e+02] [ 9.31958203e-01 3.61967100e-01 -2.08261000e-02 8.72331037e+01] [ 2.21290179e-02 5.46119554e-04 9.99754974e-01 2.34310009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.38, Y:87.26, Z:23.43 [[ 3.60230376e-01 -9.32833266e-01 -7.49501277e-03 2.39379169e+02] [ 9.32600851e-01 3.60307973e-01 -2.08282602e-02 8.72600312e+01] [ 2.21298068e-02 5.13116711e-04 9.99754974e-01 2.34297871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.566875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.39, Y:87.28, Z:23.43 [[ 3.58498469e-01 -9.33499872e-01 -7.53908409e-03 2.39387678e+02] [ 9.33267933e-01 3.58577480e-01 -2.08124095e-02 8.72849073e+01] [ 2.21317274e-02 4.25231527e-04 9.99754973e-01 2.34308130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.596875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.40, Y:87.31, Z:23.43 [[ 3.56545508e-01 -9.34247676e-01 -7.52195787e-03 2.39397084e+02] [ 9.34015774e-01 3.56624623e-01 -2.08185601e-02 8.73101446e+01] [ 2.21322067e-02 3.97136775e-04 9.99754974e-01 2.34301731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.41, Y:87.34, Z:23.43 [[ 3.55246416e-01 -9.34742798e-01 -7.47561350e-03 2.39406729e+02] [ 9.34510656e-01 3.55324821e-01 -2.08351883e-02 8.73361814e+01] [ 2.21318133e-02 4.15585505e-04 9.99754975e-01 2.34328090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.656875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.42, Y:87.36, Z:23.43 [[ 3.54327237e-01 -9.35091660e-01 -7.46974257e-03 2.39416186e+02] [ 9.34859551e-01 3.54405739e-01 -2.08372929e-02 8.73623862e+01] [ 2.21320985e-02 4.00060260e-04 9.99754975e-01 2.34349794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.686875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.42, Y:87.39, Z:23.44 [[ 3.53361803e-01 -9.35456962e-01 -7.46384947e-03 2.39424899e+02] [ 9.35224889e-01 3.53440413e-01 -2.08394036e-02 8.73887601e+01] [ 2.21323912e-02 3.83471446e-04 9.99754975e-01 2.34376969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.716875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.43, Y:87.42, Z:23.44 [[ 3.52962512e-01 -9.35607723e-01 -7.46018193e-03 2.39433715e+02] [ 9.35375656e-01 3.53041140e-01 -2.08407165e-02 8.74153826e+01] [ 2.21324864e-02 3.77919067e-04 9.99754975e-01 2.34421714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.746875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.44, Y:87.44, Z:23.44 [[ 3.52694485e-01 -9.35708838e-01 -7.45457931e-03 2.39442239e+02] [ 9.35476752e-01 3.52773055e-01 -2.08427203e-02 8.74416968e+01] [ 2.21324923e-02 3.77526865e-04 9.99754975e-01 2.34448466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.776875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:239.45, Y:87.47, Z:23.45 [[ 3.52239342e-01 -9.35880297e-01 -7.45090395e-03 2.39450586e+02] [ 9.35648221e-01 3.52317942e-01 -2.08440341e-02 8.74688887e+01] [ 2.21326079e-02 3.70663817e-04 9.99754975e-01 2.34475832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.46, Y:87.50, Z:23.45 [[ 3.51154954e-01 -9.36287758e-01 -7.44529635e-03 2.39458531e+02] [ 9.36055731e-01 3.51233698e-01 -2.08460369e-02 8.74964712e+01] [ 2.21329281e-02 3.50976788e-04 9.99754975e-01 2.34514328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.47, Y:87.52, Z:23.45 [[ 3.50254680e-01 -9.36624957e-01 -7.43973037e-03 2.39467224e+02] [ 9.36392963e-01 3.50333524e-01 -2.08480231e-02 8.75235206e+01] [ 2.21331657e-02 3.35606505e-04 9.99754975e-01 2.34535016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.48, Y:87.55, Z:23.45 [[ 3.49493704e-01 -9.36909221e-01 -7.43382697e-03 2.39475457e+02] [ 9.36677248e-01 3.49572605e-01 -2.08501279e-02 8.75494866e+01] [ 2.21333393e-02 3.23891845e-04 9.99754975e-01 2.34546579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.896875 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:239.48, Y:87.58, Z:23.46 [[ 3.48071732e-01 -9.37438463e-01 -7.42952177e-03 2.39484117e+02] [ 9.37206577e-01 3.48150889e-01 -2.08516619e-02 8.75792636e+01] [ 2.21337444e-02 2.94877385e-04 9.99754975e-01 2.34566823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.49, Y:87.60, Z:23.46 [[ 3.47114698e-01 -9.37792132e-01 -7.56989444e-03 2.39489315e+02] [ 9.37561406e-01 3.47197208e-01 -2.08016310e-02 8.76035021e+01] [ 2.21358521e-02 1.23310974e-04 9.99754964e-01 2.34578069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.956875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:239.50, Y:87.63, Z:23.46 [[ 3.46014947e-01 -9.38199644e-01 -7.42183625e-03 2.39496550e+02] [ 9.37967875e-01 3.46094442e-01 -2.08543236e-02 8.76300542e+01] [ 2.21341753e-02 2.54463721e-04 9.99754977e-01 2.34579287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.986875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:239.50, Y:87.66, Z:23.46 [[ 3.44909762e-01 -9.38606554e-01 -7.41575767e-03 2.39504266e+02] [ 9.38374832e-01 3.44989394e-01 -2.08564849e-02 8.76576442e+01] [ 2.21343912e-02 2.34844893e-04 9.99754977e-01 2.34580393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.016875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:239.51, Y:87.69, Z:23.46 [[ 3.41844781e-01 -9.39727214e-01 -7.41005103e-03 2.39510032e+02] [ 9.39495709e-01 3.41925043e-01 -2.08585123e-02 8.76857433e+01] [ 2.21349936e-02 1.68662405e-04 9.99754977e-01 2.34573361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.046875 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:239.52, Y:87.71, Z:23.46 [[ 3.40108146e-01 -9.40357181e-01 -7.40419437e-03 2.39517662e+02] [ 9.40125779e-01 3.40188705e-01 -2.08605910e-02 8.77117808e+01] [ 2.21352298e-02 1.33982930e-04 9.99754977e-01 2.34567343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.07687500000003 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:239.52, Y:87.74, Z:23.46 [[ 3.36180623e-01 -9.41768473e-01 -7.39804593e-03 2.39524351e+02] [ 9.41537362e-01 3.36262011e-01 -2.08627713e-02 8.77391085e+01] [ 2.21355820e-02 4.81227900e-05 9.99754977e-01 2.34555237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.53, Y:87.77, Z:23.46 [[ 3.33544851e-01 -9.42705249e-01 -7.39226835e-03 2.39532443e+02] [ 9.42474321e-01 3.33626757e-01 -2.08648182e-02 8.77661059e+01] [ 2.21356322e-02 -7.67041762e-06 9.99754977e-01 2.34567153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.54, Y:87.79, Z:23.46 [[ 3.31644998e-01 -9.43375152e-01 -7.41065422e-03 2.39540164e+02] [ 9.43144535e-01 3.31727776e-01 -2.08583074e-02 8.77925967e+01] [ 2.21355288e-02 -7.17647010e-05 9.99754977e-01 2.34564151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.166875 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:239.55, Y:87.82, Z:23.46 [[ 3.29286521e-01 -9.44201169e-01 -7.38515451e-03 2.39547749e+02] [ 9.43970556e-01 3.29369311e-01 -2.08673320e-02 8.78182384e+01] [ 2.21354025e-02 -1.00037259e-04 9.99754977e-01 2.34576065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.19687500000003 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:239.56, Y:87.85, Z:23.46 [[ 3.24971171e-01 -9.45695119e-01 -7.38101889e-03 2.39555020e+02] [ 9.45464854e-01 3.25054922e-01 -2.08687947e-02 8.78458647e+01] [ 2.21347538e-02 -1.96737304e-04 9.99754977e-01 2.34608080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:87.87, Z:23.46 [[ 3.20816701e-01 -9.47112586e-01 -7.37530005e-03 2.39561195e+02] [ 9.46882644e-01 3.20901336e-01 -2.08708156e-02 8.78723791e+01] [ 2.21337558e-02 -2.87837400e-04 9.99754977e-01 2.34624576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.25687500000004 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:239.57, Y:87.90, Z:23.47 [[ 3.19474041e-01 -9.47566901e-01 -7.30110285e-03 2.39569836e+02] [ 9.47336479e-01 3.19557368e-01 -2.08970029e-02 8.78997153e+01] [ 2.21344294e-02 -2.40551111e-04 9.99754975e-01 2.34651007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.286875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:239.58, Y:87.93, Z:23.47 [[ 3.18067932e-01 -9.48039314e-01 -7.36540012e-03 2.39577538e+02] [ 9.47809539e-01 3.18153016e-01 -2.08743159e-02 8.79255339e+01] [ 2.21329964e-02 -3.41545985e-04 9.99754977e-01 2.34658796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.316875 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:239.59, Y:87.95, Z:23.47 [[ 3.17027624e-01 -9.48387752e-01 -7.35922679e-03 2.39585459e+02] [ 9.48158019e-01 3.17112824e-01 -2.08764921e-02 8.79524180e+01] [ 2.21327146e-02 -3.59285211e-04 9.99754977e-01 2.34670915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.59, Y:87.98, Z:23.47 [[ 3.16524380e-01 -9.48555873e-01 -7.35335433e-03 2.39593240e+02] [ 9.48326138e-01 3.16609573e-01 -2.08785604e-02 8.79788172e+01] [ 2.21326235e-02 -3.64804726e-04 9.99754977e-01 2.34673750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.376875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.60, Y:88.00, Z:23.47 [[ 3.16923850e-01 -9.48422529e-01 -7.34716015e-03 2.39599367e+02] [ 9.48192707e-01 3.17008810e-01 -2.08807399e-02 8.80049888e+01] [ 2.21328786e-02 -3.48919194e-04 9.99754977e-01 2.34672217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.61, Y:88.03, Z:23.47 [[ 3.17551660e-01 -9.48212556e-01 -7.34115256e-03 2.39607561e+02] [ 9.47982629e-01 3.17636336e-01 -2.08828518e-02 8.80322897e+01] [ 2.21331991e-02 -3.27900846e-04 9.99754977e-01 2.34688037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.436875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:239.62, Y:88.06, Z:23.47 [[ 3.18359678e-01 -9.47941617e-01 -7.33530969e-03 2.39615068e+02] [ 9.47711571e-01 3.18444029e-01 -2.08849040e-02 8.80582354e+01] [ 2.21335552e-02 -3.02846559e-04 9.99754977e-01 2.34693689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.466875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:239.62, Y:88.08, Z:23.47 [[ 3.16929020e-01 -9.48420926e-01 -7.33104218e-03 2.39619515e+02] [ 9.48190973e-01 3.17013624e-01 -2.08864018e-02 8.80840896e+01] [ 2.21331408e-02 -3.31721156e-04 9.99754977e-01 2.34681450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.496875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:239.63, Y:88.11, Z:23.47 [[ 3.22745000e-01 -9.46458764e-01 -7.17452007e-03 2.39629454e+02] [ 9.46227064e-01 3.22824732e-01 -2.09412562e-02 8.81120859e+01] [ 2.21361479e-02 -3.00393429e-05 9.99754965e-01 2.34702156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.526875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:239.64, Y:88.14, Z:23.47 [[ 3.24418610e-01 -9.45885268e-01 -7.32301611e-03 2.39637493e+02] [ 9.45654590e-01 3.24501215e-01 -2.08891990e-02 8.81387534e+01] [ 2.21351132e-02 -1.48198909e-04 9.99754977e-01 2.34698798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.556875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.65, Y:88.17, Z:23.47 [[ 3.26357168e-01 -9.45218206e-01 -7.31724229e-03 2.39645649e+02] [ 9.44987314e-01 3.26439174e-01 -2.08912213e-02 8.81657625e+01] [ 2.21353972e-02 -9.67013143e-05 9.99754977e-01 2.34698829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.586875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:239.65, Y:88.19, Z:23.47 [[ 3.30751944e-01 -9.43689407e-01 -7.31127541e-03 2.39651440e+02] [ 9.43458089e-01 3.30832742e-01 -2.08933093e-02 8.81929691e+01] [ 2.21356039e-02 1.26207470e-05 9.99754977e-01 2.34669972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.616875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.66, Y:88.22, Z:23.47 [[ 3.33018503e-01 -9.42891980e-01 -7.30695362e-03 2.39659009e+02] [ 9.42660436e-01 3.33098649e-01 -2.08948206e-02 8.82198041e+01] [ 2.21354952e-02 7.03857970e-05 9.99754977e-01 2.34675973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.646875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:239.67, Y:88.25, Z:23.47 [[ 3.35075949e-01 -9.42162832e-01 -7.30116788e-03 2.39666443e+02] [ 9.41931069e-01 3.35155461e-01 -2.08968421e-02 8.82468939e+01] [ 2.21352542e-02 1.24832333e-04 9.99754977e-01 2.34679895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.676875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:239.67, Y:88.27, Z:23.47 [[ 3.39186248e-01 -9.40690953e-01 -7.29527387e-03 2.39672407e+02] [ 9.40458801e-01 3.39264616e-01 -2.08988996e-02 8.82737797e+01] [ 2.21344340e-02 2.27714816e-04 9.99754977e-01 2.34695670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.68, Y:88.30, Z:23.47 [[ 3.40409208e-01 -9.40249131e-01 -7.28992138e-03 2.39680105e+02] [ 9.40016838e-01 3.40487156e-01 -2.09007664e-02 8.83008775e+01] [ 2.21340521e-02 2.62164509e-04 9.99754978e-01 2.34717762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.736875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:239.69, Y:88.33, Z:23.48 [[ 3.42692759e-01 -9.39419296e-01 -7.28420156e-03 2.39687160e+02] [ 9.39186771e-01 3.42770015e-01 -2.09027597e-02 8.83272031e+01] [ 2.21332617e-02 3.21998652e-04 9.99754978e-01 2.34756111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.70, Y:88.35, Z:23.48 [[ 3.43439776e-01 -9.39146495e-01 -7.27890814e-03 2.39695589e+02] [ 9.38913870e-01 3.43516729e-01 -2.09046028e-02 8.83543151e+01] [ 2.21329112e-02 3.45204294e-04 9.99754978e-01 2.34780509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.796875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:239.70, Y:88.38, Z:23.48 [[ 3.44028033e-01 -9.38931209e-01 -7.27307546e-03 2.39703577e+02] [ 9.38698493e-01 3.44104710e-01 -2.09066319e-02 8.83811799e+01] [ 2.21325887e-02 3.65242475e-04 9.99754978e-01 2.34799498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.71, Y:88.41, Z:23.48 [[ 3.45413364e-01 -9.38422505e-01 -7.26707811e-03 2.39709823e+02] [ 9.38189633e-01 3.45489564e-01 -2.09087164e-02 8.84080846e+01] [ 2.21319097e-02 4.04252720e-04 9.99754978e-01 2.34818511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.72, Y:88.43, Z:23.48 [[ 3.46111816e-01 -9.38165167e-01 -7.26163918e-03 2.39717492e+02] [ 9.37932198e-01 3.46187721e-01 -2.09106052e-02 8.84345802e+01] [ 2.21314917e-02 4.26482320e-04 9.99754978e-01 2.34831376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.88687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:239.73, Y:88.46, Z:23.48 [[ 3.46786663e-01 -9.37915964e-01 -7.25630698e-03 2.39725298e+02] [ 9.37682903e-01 3.46862282e-01 -2.09124554e-02 8.84615501e+01] [ 2.21310649e-02 4.48045624e-04 9.99754978e-01 2.34845854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.73, Y:88.49, Z:23.49 [[ 3.47381304e-01 -9.37695932e-01 -7.25043019e-03 2.39732772e+02] [ 9.37462780e-01 3.47456644e-01 -2.09144927e-02 8.84871165e+01] [ 2.21306448e-02 4.68295283e-04 9.99754978e-01 2.34858104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.94687500000003 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:239.74, Y:88.52, Z:23.49 [[ 3.48597922e-01 -9.37244370e-01 -7.24423362e-03 2.39739251e+02] [ 9.37011077e-01 3.48672822e-01 -2.09166388e-02 8.85150245e+01] [ 2.21298693e-02 5.03569675e-04 9.99754978e-01 2.34869455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.75, Y:88.54, Z:23.49 [[ 3.49268639e-01 -9.36994677e-01 -7.23830355e-03 2.39746713e+02] [ 9.36761288e-01 3.49343239e-01 -2.09186907e-02 8.85413639e+01] [ 2.21293543e-02 5.25680066e-04 9.99754978e-01 2.34872469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.75, Y:88.57, Z:23.49 [[ 3.49824082e-01 -9.36787487e-01 -7.23297899e-03 2.39754315e+02] [ 9.36554015e-01 3.49898426e-01 -2.09205316e-02 8.85687018e+01] [ 2.21289002e-02 5.44430259e-04 9.99754978e-01 2.34868091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.036875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:239.76, Y:88.60, Z:23.48 [[ 3.50472697e-01 -9.36545064e-01 -7.22710991e-03 2.39760618e+02] [ 9.36311500e-01 3.50546748e-01 -2.09225589e-02 8.85964027e+01] [ 2.21283592e-02 5.65959537e-04 9.99754978e-01 2.34843608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.066875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:239.77, Y:88.62, Z:23.48 [[ 3.49995155e-01 -9.36723676e-01 -7.22124170e-03 2.39768312e+02] [ 9.36490108e-01 3.50069194e-01 -2.09245841e-02 8.86228028e+01] [ 2.21284876e-02 5.60881633e-04 9.99754978e-01 2.34831657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.78, Y:88.65, Z:23.48 [[ 3.49630571e-01 -9.36859858e-01 -7.21601062e-03 2.39776477e+02] [ 9.36626281e-01 3.49704584e-01 -2.09263879e-02 8.86497068e+01] [ 2.21285648e-02 5.57799754e-04 9.99754978e-01 2.34834190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.78, Y:88.68, Z:23.48 [[ 3.49340522e-01 -9.36968097e-01 -7.21006317e-03 2.39784457e+02] [ 9.36734501e-01 3.49414475e-01 -2.09284369e-02 8.86761374e+01] [ 2.21285781e-02 5.57236139e-04 9.99754978e-01 2.34828900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.156875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:239.79, Y:88.70, Z:23.48 [[ 3.48789412e-01 -9.37173434e-01 -7.20416171e-03 2.39790519e+02] [ 9.36939840e-01 3.48863370e-01 -2.09304681e-02 8.87033579e+01] [ 2.21287468e-02 5.50459547e-04 9.99754978e-01 2.34846750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.186875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:239.80, Y:88.73, Z:23.49 [[ 3.48535386e-01 -9.37267980e-01 -7.19848807e-03 2.39799718e+02] [ 9.37034366e-01 3.48609281e-01 -2.09324192e-02 8.87303927e+01] [ 2.21287460e-02 5.50458106e-04 9.99754978e-01 2.34853055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.81, Y:88.76, Z:23.49 [[ 3.48024996e-01 -9.37457661e-01 -7.19281256e-03 2.39807171e+02] [ 9.37224047e-01 3.48098891e-01 -2.09343693e-02 8.87570206e+01] [ 2.21288949e-02 5.44406886e-04 9.99754978e-01 2.34874206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.81, Y:88.78, Z:23.49 [[ 3.47650287e-01 -9.37596729e-01 -7.18693317e-03 2.39814830e+02] [ 9.37363103e-01 3.47724145e-01 -2.09363875e-02 8.87835301e+01] [ 2.21289586e-02 5.41775158e-04 9.99754978e-01 2.34886166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.82, Y:88.81, Z:23.49 [[ 3.46344393e-01 -9.38079951e-01 -7.18106397e-03 2.39821249e+02] [ 9.37846386e-01 3.46418445e-01 -2.09384004e-02 8.88094444e+01] [ 2.21295467e-02 5.17162701e-04 9.99754978e-01 2.34898547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.83, Y:88.84, Z:23.49 [[ 3.45292383e-01 -9.38467719e-01 -7.17707292e-03 2.39829638e+02] [ 9.38234210e-01 3.45366607e-01 -2.09397684e-02 8.88364130e+01] [ 2.21300180e-02 4.96567160e-04 9.99754978e-01 2.34906985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.83, Y:88.86, Z:23.49 [[ 3.40349871e-01 -9.40271524e-01 -7.17130307e-03 2.39832273e+02] [ 9.40038367e-01 3.40425194e-01 -2.09417442e-02 8.88605825e+01] [ 2.21322180e-02 3.86219901e-04 9.99754978e-01 2.34880113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:88.89, Z:23.49 [[ 3.42097709e-01 -9.39639055e-01 -6.89954714e-03 2.39846376e+02] [ 9.39403858e-01 3.42166533e-01 -2.10346359e-02 8.88897329e+01] [ 2.21257595e-02 7.14439560e-04 9.99754940e-01 2.34926296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.86, Y:88.92, Z:23.49 [[ 3.41276907e-01 -9.39935497e-01 -7.16480942e-03 2.39855056e+02] [ 9.39702221e-01 3.41351856e-01 -2.09438918e-02 8.89166542e+01] [ 2.21316284e-02 4.14879304e-04 9.99754979e-01 2.34941000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.86, Y:88.94, Z:23.50 [[ 3.40246528e-01 -9.40309019e-01 -7.15885995e-03 2.39862843e+02] [ 9.40075783e-01 3.40321600e-01 -2.09459252e-02 8.89430041e+01] [ 2.21319571e-02 3.96907451e-04 9.99754979e-01 2.34953572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.87, Y:88.97, Z:23.50 [[ 3.39436301e-01 -9.40601832e-01 -7.15481885e-03 2.39871197e+02] [ 9.40368631e-01 3.39511484e-01 -2.09473055e-02 8.89688098e+01] [ 2.21322171e-02 3.82108686e-04 9.99754979e-01 2.34964286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.88, Y:89.00, Z:23.50 [[ 3.38681898e-01 -9.40873779e-01 -7.14867950e-03 2.39879743e+02] [ 9.40640595e-01 3.38757132e-01 -2.09494005e-02 8.89952780e+01] [ 2.21324078e-02 3.70844578e-04 9.99754980e-01 2.34966774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.89, Y:89.02, Z:23.50 [[ 3.38118753e-01 -9.41076345e-01 -7.14299535e-03 2.39888686e+02] [ 9.40843164e-01 3.38194000e-01 -2.09513384e-02 8.90219647e+01] [ 2.21325271e-02 3.63602066e-04 9.99754980e-01 2.34963064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.90, Y:89.05, Z:23.49 [[ 3.37097910e-01 -9.41442543e-01 -7.13707948e-03 2.39897933e+02] [ 9.41209402e-01 3.37173278e-01 -2.09533534e-02 8.90474970e+01] [ 2.21328108e-02 3.45845341e-04 9.99754980e-01 2.34940543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.91, Y:89.07, Z:23.49 [[ 3.36361116e-01 -9.41706077e-01 -7.13190473e-03 2.39906930e+02] [ 9.41472958e-01 3.36436551e-01 -2.09551146e-02 8.90727406e+01] [ 2.21329922e-02 3.33990309e-04 9.99754980e-01 2.34932293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.92, Y:89.10, Z:23.49 [[ 3.35317829e-01 -9.42078115e-01 -7.12586707e-03 2.39916000e+02] [ 9.41845036e-01 3.35393388e-01 -2.09571675e-02 8.90991690e+01] [ 2.21332576e-02 3.15849400e-04 9.99754980e-01 2.34937326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.92, Y:89.12, Z:23.49 [[ 3.34625614e-01 -9.42324257e-01 -7.11994009e-03 2.39924744e+02] [ 9.42091191e-01 3.34701212e-01 -2.09591810e-02 8.91245343e+01] [ 2.21333972e-02 3.05845957e-04 9.99754980e-01 2.34939586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.93, Y:89.15, Z:23.50 [[ 3.33801832e-01 -9.42616422e-01 -7.11470024e-03 2.39933647e+02] [ 9.42383384e-01 3.33877517e-01 -2.09609595e-02 8.91501752e+01] [ 2.21335831e-02 2.92031387e-04 9.99754980e-01 2.34963184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.94, Y:89.18, Z:23.50 [[ 3.33186130e-01 -9.42834270e-01 -7.10936297e-03 2.39942946e+02] [ 9.42601243e-01 3.33261849e-01 -2.09627696e-02 8.91767314e+01] [ 2.21336970e-02 2.83209698e-04 9.99754980e-01 2.34984560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.95, Y:89.20, Z:23.50 [[ 3.30127189e-01 -9.43909730e-01 -7.10354996e-03 2.39947675e+02] [ 9.43676908e-01 3.30203534e-01 -2.09647393e-02 8.92012994e+01] [ 2.21344387e-02 2.17574371e-04 9.99754980e-01 2.34971054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.96, Y:89.23, Z:23.50 [[ 3.33568366e-01 -9.42700751e-01 -6.88764789e-03 2.39962401e+02] [ 9.42466124e-01 3.33639053e-01 -2.10377654e-02 8.92286238e+01] [ 2.21303056e-02 5.26158234e-04 9.99754956e-01 2.35035788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.97, Y:89.25, Z:23.51 [[ 3.33798533e-01 -9.42617724e-01 -7.09686719e-03 2.39971535e+02] [ 9.42384559e-01 3.33873823e-01 -2.09669497e-02 8.92548474e+01] [ 2.21332766e-02 3.10758988e-04 9.99754981e-01 2.35051094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.98, Y:89.28, Z:23.51 [[ 3.34489123e-01 -9.42372933e-01 -7.09101293e-03 2.39980667e+02] [ 9.42139671e-01 3.34564112e-01 -2.09689294e-02 8.92810935e+01] [ 2.21329499e-02 3.33154218e-04 9.99754981e-01 2.35062263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.99, Y:89.31, Z:23.51 [[ 3.35252934e-01 -9.42101519e-01 -7.08507100e-03 2.39989269e+02] [ 9.41868154e-01 3.35327601e-01 -2.09709369e-02 8.93065437e+01] [ 2.21325714e-02 3.57365380e-04 9.99754981e-01 2.35070299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.00, Y:89.33, Z:23.51 [[ 3.37370228e-01 -9.41345424e-01 -7.07971837e-03 2.39998183e+02] [ 9.41111854e-01 3.37444251e-01 -2.09727438e-02 8.93334146e+01] [ 2.21316066e-02 4.12772459e-04 9.99754981e-01 2.35073827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.906875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.01, Y:89.36, Z:23.51 [[ 3.38356401e-01 -9.40991449e-01 -7.07386107e-03 2.40006801e+02] [ 9.40757760e-01 3.38430049e-01 -2.09747192e-02 8.93587042e+01] [ 2.21310385e-02 4.42140794e-04 9.99754981e-01 2.35074324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.02, Y:89.38, Z:23.51 [[ 3.38989985e-01 -9.40763434e-01 -7.06767803e-03 2.40016100e+02] [ 9.40529652e-01 3.39063338e-01 -2.09768024e-02 8.93849672e+01] [ 2.21305992e-02 4.63565177e-04 9.99754981e-01 2.35075256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.03, Y:89.41, Z:23.51 [[ 3.40121417e-01 -9.40355013e-01 -7.06198042e-03 2.40026153e+02] [ 9.40121104e-01 3.40194361e-01 -2.09787204e-02 8.94109783e+01] [ 2.21298908e-02 4.96195268e-04 9.99754981e-01 2.35071641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.04, Y:89.44, Z:23.51 [[ 3.40257629e-01 -9.40305779e-01 -7.05609148e-03 2.40035325e+02] [ 9.40071818e-01 3.40330408e-01 -2.09807009e-02 8.94370698e+01] [ 2.21296768e-02 5.05610800e-04 9.99754981e-01 2.35062995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.04, Y:89.46, Z:23.51 [[ 3.40162513e-01 -9.40340236e-01 -7.05023482e-03 2.40044735e+02] [ 9.40106242e-01 3.40235185e-01 -2.09826688e-02 8.94635920e+01] [ 2.21295857e-02 5.09547569e-04 9.99754981e-01 2.35065302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.05, Y:89.49, Z:23.51 [[ 3.39967527e-01 -9.40410793e-01 -7.04427799e-03 2.40054035e+02] [ 9.40176773e-01 3.40040115e-01 -2.09846684e-02 8.94898567e+01] [ 2.21295457e-02 5.11239281e-04 9.99754981e-01 2.35064490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.06, Y:89.52, Z:23.51 [[ 3.39231737e-01 -9.40676507e-01 -7.03833669e-03 2.40063819e+02] [ 9.40442503e-01 3.39304376e-01 -2.09866610e-02 8.95165279e+01] [ 2.21297974e-02 5.00190480e-04 9.99754981e-01 2.35069241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.07, Y:89.54, Z:23.51 [[ 3.38482334e-01 -9.40946468e-01 -7.03237212e-03 2.40072825e+02] [ 9.40712480e-01 3.38555026e-01 -2.09886594e-02 8.95422232e+01] [ 2.21300499e-02 4.88850198e-04 9.99754981e-01 2.35070580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.08, Y:89.57, Z:23.51 [[ 3.37569123e-01 -9.41274503e-01 -7.02832278e-03 2.40082324e+02] [ 9.41040558e-01 3.37641952e-01 -2.09900153e-02 8.95684442e+01] [ 2.21304228e-02 4.71644270e-04 9.99754981e-01 2.35092912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.09, Y:89.59, Z:23.51 [[ 3.35112863e-01 -9.42151821e-01 -7.02247767e-03 2.40093004e+02] [ 9.41918026e-01 3.35186171e-01 -2.09919707e-02 8.95944437e+01] [ 2.21314608e-02 4.20081083e-04 9.99754981e-01 2.35124940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.10, Y:89.62, Z:23.51 [[ 3.33549470e-01 -9.42706485e-01 -7.01666912e-03 2.40102922e+02] [ 9.42472771e-01 3.33623037e-01 -2.09939120e-02 8.96206838e+01] [ 2.21320195e-02 3.89488638e-04 9.99754981e-01 2.35143824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.11, Y:89.65, Z:23.52 [[ 3.32003809e-01 -9.43251991e-01 -7.01090231e-03 2.40112700e+02] [ 9.43018357e-01 3.32077631e-01 -2.09958377e-02 8.96465888e+01] [ 2.21325295e-02 3.59288498e-04 9.99754981e-01 2.35159128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.12, Y:89.67, Z:23.52 [[ 3.29851398e-01 -9.44006877e-01 -7.00515895e-03 2.40122828e+02] [ 9.43773371e-01 3.29925625e-01 -2.09977538e-02 8.96722302e+01] [ 2.21332054e-02 3.14855947e-04 9.99754981e-01 2.35178938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.296875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.13, Y:89.70, Z:23.52 [[ 3.29090871e-01 -9.44272313e-01 -6.99977106e-03 2.40131708e+02] [ 9.44038830e-01 3.29165166e-01 -2.09995497e-02 8.96973371e+01] [ 2.21333742e-02 3.02704423e-04 9.99754981e-01 2.35182759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.14, Y:89.72, Z:23.52 [[ 3.28538861e-01 -9.44464555e-01 -6.99445294e-03 2.40141520e+02] [ 9.44231077e-01 3.28613174e-01 -2.10013209e-02 8.97238747e+01] [ 2.21334726e-02 2.95370202e-04 9.99754981e-01 2.35186626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.356875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.15, Y:89.75, Z:23.52 [[ 3.28245947e-01 -9.44566438e-01 -6.98872504e-03 2.40151046e+02] [ 9.44332943e-01 3.28320205e-01 -2.10032268e-02 8.97506735e+01] [ 2.21334828e-02 2.94540782e-04 9.99754981e-01 2.35187985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.16, Y:89.78, Z:23.52 [[ 3.27833760e-01 -9.44709619e-01 -6.98300951e-03 2.40160573e+02] [ 9.44476116e-01 3.27907993e-01 -2.10051269e-02 8.97774278e+01] [ 2.21335301e-02 2.90904029e-04 9.99754981e-01 2.35194107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.17, Y:89.80, Z:23.52 [[ 3.27687647e-01 -9.44760353e-01 -6.97721683e-03 2.40171301e+02] [ 9.44526821e-01 3.27761787e-01 -2.10070509e-02 8.98033555e+01] [ 2.21334939e-02 2.93582627e-04 9.99754981e-01 2.35191931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.18, Y:89.83, Z:23.52 [[ 3.27556108e-01 -9.44806010e-01 -6.97133300e-03 2.40180654e+02] [ 9.44572447e-01 3.27630150e-01 -2.10090033e-02 8.98287426e+01] [ 2.21334514e-02 2.96698274e-04 9.99754981e-01 2.35190387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.19, Y:89.85, Z:23.52 [[ 3.27438105e-01 -9.44846950e-01 -6.96617346e-03 2.40189594e+02] [ 9.44613360e-01 3.27512062e-01 -2.10107139e-02 8.98540965e+01] [ 2.21334148e-02 2.99367850e-04 9.99754981e-01 2.35190153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.50687500000004 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.20, Y:89.88, Z:23.52 [[ 3.27528183e-01 -9.44815768e-01 -6.96092509e-03 2.40199037e+02] [ 9.44582133e-01 3.27602001e-01 -2.10124526e-02 8.98808248e+01] [ 2.21333095e-02 3.07004946e-04 9.99754981e-01 2.35201747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.536875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.21, Y:89.91, Z:23.52 [[ 3.28231371e-01 -9.44571752e-01 -6.95499344e-03 2.40208143e+02] [ 9.44338021e-01 3.28304883e-01 -2.10144158e-02 8.99060685e+01] [ 2.21329818e-02 3.29725755e-04 9.99754981e-01 2.35220342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.22, Y:89.93, Z:23.52 [[ 3.28467740e-01 -9.44489623e-01 -6.94959525e-03 2.40217061e+02] [ 9.44255835e-01 3.28541073e-01 -2.10162008e-02 8.99325921e+01] [ 2.21328111e-02 3.40948112e-04 9.99754981e-01 2.35244888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.23, Y:89.96, Z:23.53 [[ 3.28660490e-01 -9.44422610e-01 -6.94376498e-03 2.40225618e+02] [ 9.44188767e-01 3.28733646e-01 -2.10181270e-02 8.99578450e+01] [ 2.21326435e-02 3.51603005e-04 9.99754981e-01 2.35265824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.626875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.24, Y:89.98, Z:23.53 [[ 3.29298602e-01 -9.44200344e-01 -6.93839491e-03 2.40235058e+02] [ 9.43966415e-01 3.29371480e-01 -2.10198996e-02 8.99848212e+01] [ 2.21323058e-02 3.72211762e-04 9.99754981e-01 2.35293119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.656875 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:240.24, Y:90.01, Z:23.53 [[ 3.29239664e-01 -9.44220939e-01 -6.93268010e-03 2.40244308e+02] [ 9.43986975e-01 3.29312429e-01 -2.10217842e-02 9.00115035e+01] [ 2.21322266e-02 3.76845457e-04 9.99754981e-01 2.35302659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.686875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:240.25, Y:90.04, Z:23.53 [[ 3.28783275e-01 -9.44379996e-01 -6.92681332e-03 2.40253411e+02] [ 9.44146026e-01 3.28856024e-01 -2.10237172e-02 9.00379398e+01] [ 2.21323022e-02 3.72323323e-04 9.99754981e-01 2.35312990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.716875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:240.26, Y:90.06, Z:23.53 [[ 3.28137937e-01 -9.44604465e-01 -6.92096160e-03 2.40262274e+02] [ 9.44370504e-01 3.28210715e-01 -2.10256434e-02 9.00644483e+01] [ 2.21324504e-02 3.63359259e-04 9.99754981e-01 2.35316570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.746875 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:240.27, Y:90.09, Z:23.53 [[ 3.27138885e-01 -9.44950968e-01 -6.91504510e-03 2.40270923e+02] [ 9.44717044e-01 3.27211779e-01 -2.10275891e-02 9.00907814e+01] [ 2.21327248e-02 3.46181088e-04 9.99754981e-01 2.35298982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.776875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:240.28, Y:90.12, Z:23.53 [[ 3.26695600e-01 -9.45104358e-01 -6.90919431e-03 2.40279436e+02] [ 9.44870428e-01 3.26768473e-01 -2.10295113e-02 9.01163278e+01] [ 2.21327897e-02 3.41955431e-04 9.99754981e-01 2.35287756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.29, Y:90.14, Z:23.53 [[ 3.25949233e-01 -9.45362072e-01 -6.90300076e-03 2.40288068e+02] [ 9.45128155e-01 3.26022153e-01 -2.10315442e-02 9.01430258e+01] [ 2.21329553e-02 3.30995312e-04 9.99754981e-01 2.35293125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.836875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:240.30, Y:90.17, Z:23.53 [[ 3.25419482e-01 -9.45544600e-01 -6.89708260e-03 2.40296868e+02] [ 9.45310684e-01 3.25492401e-01 -2.10334848e-02 9.01693904e+01] [ 2.21330460e-02 3.24819857e-04 9.99754981e-01 2.35295064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.866875 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:240.31, Y:90.20, Z:23.53 [[ 3.25236735e-01 -9.45607519e-01 -6.89109959e-03 2.40305602e+02] [ 9.45373575e-01 3.25309566e-01 -2.10354448e-02 9.01958630e+01] [ 2.21330154e-02 3.26835921e-04 9.99754981e-01 2.35300200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.896875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:240.31, Y:90.22, Z:23.53 [[ 3.24967562e-01 -9.45700100e-01 -6.88510790e-03 2.40313666e+02] [ 9.45466135e-01 3.25040327e-01 -2.10374058e-02 9.02220883e+01] [ 2.21330145e-02 3.26838110e-04 9.99754981e-01 2.35303022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.926875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.32, Y:90.25, Z:23.53 [[ 3.24942387e-01 -9.45708790e-01 -6.87974720e-03 2.40321664e+02] [ 9.45474790e-01 3.25015039e-01 -2.10391587e-02 9.02492181e+01] [ 2.21329386e-02 3.31886895e-04 9.99754981e-01 2.35316487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.956875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:240.33, Y:90.28, Z:23.53 [[ 3.24828264e-01 -9.45748037e-01 -6.87376476e-03 2.40329815e+02] [ 9.45514005e-01 3.24900811e-01 -2.10411131e-02 9.02755569e+01] [ 2.21328831e-02 3.35507381e-04 9.99754981e-01 2.35316987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.986875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.34, Y:90.30, Z:23.53 [[ 3.24171951e-01 -9.45973230e-01 -6.86976998e-03 2.40338167e+02] [ 9.45739221e-01 3.24244572e-01 -2.10424172e-02 9.03020312e+01] [ 2.21330490e-02 3.24350543e-04 9.99754981e-01 2.35335673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.016875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:240.35, Y:90.33, Z:23.54 [[ 3.22399481e-01 -9.46578820e-01 -6.86385883e-03 2.40346815e+02] [ 9.46344906e-01 3.22472409e-01 -2.10443452e-02 9.03276568e+01] [ 2.21335366e-02 2.89108142e-04 9.99754981e-01 2.35355340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.36, Y:90.35, Z:23.54 [[ 3.21091004e-01 -9.47023516e-01 -6.85762224e-03 2.40355267e+02] [ 9.46789660e-01 3.21164117e-01 -2.10463773e-02 9.03539265e+01] [ 2.21338364e-02 2.65076600e-04 9.99754982e-01 2.35371060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.36, Y:90.38, Z:23.54 [[ 3.19577786e-01 -9.47535269e-01 -6.85225520e-03 2.40363769e+02] [ 9.47301492e-01 3.19651152e-01 -2.10481246e-02 9.03807997e+01] [ 2.21341716e-02 2.35361465e-04 9.99754982e-01 2.35385238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.37, Y:90.41, Z:23.54 [[ 3.19311685e-01 -9.47625018e-01 -6.84633887e-03 2.40372531e+02] [ 9.47391221e-01 3.19384986e-01 -2.10500488e-02 9.04079872e+01] [ 2.21341707e-02 2.35365210e-04 9.99754982e-01 2.35391543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.13687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.38, Y:90.43, Z:23.54 [[ 3.17983564e-01 -9.48071549e-01 -6.84042557e-03 2.40380864e+02] [ 9.47837813e-01 3.18057061e-01 -2.10519702e-02 9.04340726e+01] [ 2.21344197e-02 2.10566509e-04 9.99754982e-01 2.35399891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.39, Y:90.46, Z:23.54 [[ 3.15358365e-01 -9.48948047e-01 -6.83418673e-03 2.40389059e+02] [ 9.48714472e-01 3.15432370e-01 -2.10539954e-02 9.04604178e+01] [ 2.21348715e-02 1.55861697e-04 9.99754982e-01 2.35407469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.40, Y:90.49, Z:23.54 [[ 3.13931163e-01 -9.49421191e-01 -6.82837013e-03 2.40397282e+02] [ 9.49187687e-01 3.14005391e-01 -2.10558817e-02 9.04869282e+01] [ 2.21350453e-02 1.28692587e-04 9.99754982e-01 2.35406650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.226875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:240.41, Y:90.51, Z:23.54 [[ 3.12541619e-01 -9.49879566e-01 -6.82245016e-03 2.40406055e+02] [ 9.49646129e-01 3.12616057e-01 -2.10577997e-02 9.05136170e+01] [ 2.21351811e-02 1.02525414e-04 9.99754982e-01 2.35405913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.42, Y:90.54, Z:23.54 [[ 3.09035351e-01 -9.51026123e-01 -6.81647863e-03 2.40415299e+02] [ 9.50792919e-01 3.09110518e-01 -2.10597325e-02 9.05400879e+01] [ 2.21354010e-02 2.71422197e-05 9.99754982e-01 2.35394804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.42, Y:90.57, Z:23.54 [[ 3.07171887e-01 -9.51629681e-01 -6.81046937e-03 2.40424236e+02] [ 9.51396582e-01 3.07247376e-01 -2.10616756e-02 9.05661440e+01] [ 2.21354145e-02 -9.90264142e-06 9.99754982e-01 2.35377636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.316875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:240.43, Y:90.59, Z:23.54 [[ 3.05141730e-01 -9.52282625e-01 -6.80642511e-03 2.40433256e+02] [ 9.52049658e-01 3.05217628e-01 -2.10629825e-02 9.05928244e+01] [ 2.21353532e-02 -5.28597593e-05 9.99754982e-01 2.35375815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.44, Y:90.62, Z:23.54 [[ 3.01323745e-01 -9.53497640e-01 -6.80080034e-03 2.40442863e+02] [ 9.53264938e-01 3.01400451e-01 -2.10647985e-02 9.06188819e+01] [ 2.21349999e-02 -1.35640555e-04 9.99754982e-01 2.35388686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.45, Y:90.65, Z:23.54 [[ 2.99677173e-01 -9.54016468e-01 -6.79494990e-03 2.40452113e+02] [ 9.53783856e-01 2.99754151e-01 -2.10666855e-02 9.06457743e+01] [ 2.21347793e-02 -1.67708754e-04 9.99754982e-01 2.35401927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.46, Y:90.67, Z:23.54 [[ 2.97954975e-01 -9.54555782e-01 -6.78907413e-03 2.40460789e+02] [ 9.54323267e-01 2.98032243e-01 -2.10685789e-02 9.06714756e+01] [ 2.21344968e-02 -2.01483509e-04 9.99754982e-01 2.35418254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.436875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.47, Y:90.70, Z:23.55 [[ 2.95868126e-01 -9.55204713e-01 -6.78287986e-03 2.40469968e+02] [ 9.54972321e-01 2.95945766e-01 -2.10705729e-02 9.06978360e+01] [ 2.21340751e-02 -2.43351592e-04 9.99754982e-01 2.35451568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.466875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.48, Y:90.72, Z:23.55 [[ 2.95273914e-01 -9.55388605e-01 -6.77714452e-03 2.40478764e+02] [ 9.55156219e-01 2.95351572e-01 -2.10724175e-02 9.07234789e+01] [ 2.21339878e-02 -2.51096538e-04 9.99754982e-01 2.35471031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.49, Y:90.75, Z:23.55 [[ 2.94509512e-01 -9.55624556e-01 -6.77169085e-03 2.40487494e+02] [ 9.55392192e-01 2.94587235e-01 -2.10741699e-02 9.07502524e+01] [ 2.21338479e-02 -2.63077069e-04 9.99754982e-01 2.35491382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.526875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.50, Y:90.78, Z:23.55 [[ 2.94429250e-01 -9.55649330e-01 -6.76571468e-03 2.40495929e+02] [ 9.55416929e-01 2.94506861e-01 -2.10760883e-02 9.07762076e+01] [ 2.21338991e-02 -2.58661460e-04 9.99754982e-01 2.35502526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.556875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:240.50, Y:90.80, Z:23.55 [[ 2.95495511e-01 -9.55320209e-01 -6.76032872e-03 2.40504931e+02] [ 9.55087681e-01 2.95572744e-01 -2.10778158e-02 9.08033177e+01] [ 2.21342323e-02 -2.28306749e-04 9.99754982e-01 2.35504849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.51, Y:90.83, Z:23.55 [[ 2.96064783e-01 -9.55143980e-01 -6.75433529e-03 2.40513666e+02] [ 9.54911363e-01 2.96141745e-01 -2.10797362e-02 9.08303470e+01] [ 2.21344238e-02 -2.08824008e-04 9.99754982e-01 2.35504215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.616875 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:240.52, Y:90.86, Z:23.55 [[ 2.96901480e-01 -9.54884271e-01 -6.74832949e-03 2.40521943e+02] [ 9.54651543e-01 2.96978106e-01 -2.10816587e-02 9.08558240e+01] [ 2.21346504e-02 -1.83127511e-04 9.99754982e-01 2.35498433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.53, Y:90.88, Z:23.55 [[ 2.99557525e-01 -9.54054412e-01 -6.74296052e-03 2.40530405e+02] [ 9.53821433e-01 2.99633384e-01 -2.10833758e-02 9.08824406e+01] [ 2.21351038e-02 -1.15896393e-04 9.99754982e-01 2.35479732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.676875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:240.54, Y:90.91, Z:23.55 [[ 3.00847604e-01 -9.53648432e-01 -6.73706304e-03 2.40538773e+02] [ 9.53415308e-01 3.00923018e-01 -2.10852601e-02 9.09094272e+01] [ 2.21352626e-02 -7.97690483e-05 9.99754982e-01 2.35473666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.706875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.55, Y:90.94, Z:23.55 [[ 3.03551074e-01 -9.52791392e-01 -6.73117722e-03 2.40547481e+02] [ 9.52558014e-01 3.03625695e-01 -2.10871389e-02 9.09352641e+01] [ 2.21354028e-02 -1.08131415e-05 9.99754982e-01 2.35475720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.736875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.56, Y:90.96, Z:23.55 [[ 3.04556355e-01 -9.52470577e-01 -6.72501556e-03 2.40555902e+02] [ 9.52237077e-01 3.04630595e-01 -2.10891038e-02 9.09604755e+01] [ 2.21353963e-02 1.90114320e-05 9.99754982e-01 2.35481847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.57, Y:90.99, Z:23.55 [[ 3.06614832e-01 -9.51809961e-01 -6.71885748e-03 2.40565325e+02] [ 9.51576258e-01 3.06688429e-01 -2.10910655e-02 9.09870751e+01] [ 2.21352821e-02 7.33282528e-05 9.99754982e-01 2.35509571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.57, Y:91.01, Z:23.55 [[ 3.06355648e-01 -9.51893456e-01 -6.71310787e-03 2.40573906e+02] [ 9.51659732e-01 3.06429182e-01 -2.10928954e-02 9.10143193e+01] [ 2.21352813e-02 7.33332206e-05 9.99754982e-01 2.35515876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.82687500000003 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:240.58, Y:91.04, Z:23.55 [[ 3.07945433e-01 -9.51380377e-01 -6.70736249e-03 2.40582829e+02] [ 9.51146491e-01 3.08018449e-01 -2.10947222e-02 9.10403079e+01] [ 2.21350962e-02 1.16339077e-04 9.99754982e-01 2.35533490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.856875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:240.59, Y:91.07, Z:23.56 [[ 3.07997751e-01 -9.51363484e-01 -6.70130458e-03 2.40592059e+02] [ 9.51129552e-01 3.08070620e-01 -2.10966465e-02 9.10682765e+01] [ 2.21350542e-02 1.23910865e-04 9.99754982e-01 2.35554781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.88687500000003 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:240.60, Y:91.09, Z:23.56 [[ 3.09124717e-01 -9.50997517e-01 -6.75515154e-03 2.40601261e+02] [ 9.50763871e-01 3.09198503e-01 -2.10795470e-02 9.10927176e+01] [ 2.21352796e-02 9.36549737e-05 9.99754980e-01 2.35557198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.61, Y:91.12, Z:23.56 [[ 3.08666710e-01 -9.51146709e-01 -6.69325880e-03 2.40609978e+02] [ 9.50912672e-01 3.08739235e-01 -2.10991811e-02 9.11196116e+01] [ 2.21348883e-02 1.47910209e-04 9.99754982e-01 2.35569679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.62, Y:91.14, Z:23.56 [[ 3.09718413e-01 -9.50804845e-01 -6.68210874e-03 2.40620009e+02] [ 9.50570651e-01 3.09790433e-01 -2.11027151e-02 9.11447226e+01] [ 2.21346171e-02 1.84082956e-04 9.99754982e-01 2.35583860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.976875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:240.63, Y:91.17, Z:23.56 [[ 3.09995419e-01 -9.50714561e-01 -6.68313011e-03 2.40629029e+02] [ 9.50480353e-01 3.10067393e-01 -2.11023916e-02 9.11711209e+01] [ 2.21345717e-02 1.89460858e-04 9.99754982e-01 2.35593624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.00687500000004 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:240.64, Y:91.20, Z:23.56 [[ 3.10095620e-01 -9.50681921e-01 -6.67764043e-03 2.40637488e+02] [ 9.50447668e-01 3.10167447e-01 -2.11041286e-02 9.11965393e+01] [ 2.21345002e-02 1.97550061e-04 9.99754982e-01 2.35603467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.65, Y:91.22, Z:23.56 [[ 3.10414667e-01 -9.50577838e-01 -6.67150638e-03 2.40646137e+02] [ 9.50343519e-01 3.10486279e-01 -2.11060675e-02 9.12227277e+01] [ 2.21343712e-02 2.11410070e-04 9.99754982e-01 2.35613085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.066875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.65, Y:91.25, Z:23.56 [[ 3.11242709e-01 -9.50307081e-01 -6.66540788e-03 2.40654875e+02] [ 9.50072659e-01 3.11313982e-01 -2.11079933e-02 9.12489343e+01] [ 2.21341102e-02 2.37087224e-04 9.99754982e-01 2.35629322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.096875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:240.66, Y:91.28, Z:23.56 [[ 3.11863255e-01 -9.50103657e-01 -6.65961319e-03 2.40663586e+02] [ 9.49869150e-01 3.11934246e-01 -2.11098214e-02 9.12753003e+01] [ 2.21338799e-02 2.57616483e-04 9.99754983e-01 2.35638176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.126875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:240.67, Y:91.30, Z:23.56 [[ 3.12342182e-01 -9.49946362e-01 -6.65364899e-03 2.40671825e+02] [ 9.49711779e-01 3.12412922e-01 -2.11117011e-02 9.13013304e+01] [ 2.21336696e-02 2.75025958e-04 9.99754983e-01 2.35637985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.156875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:240.68, Y:91.33, Z:23.56 [[ 3.13715634e-01 -9.49493715e-01 -6.64734530e-03 2.40680073e+02] [ 9.49258987e-01 3.13785895e-01 -2.11136857e-02 9.13278626e+01] [ 2.21331551e-02 3.13641025e-04 9.99754983e-01 2.35642480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.186875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:240.69, Y:91.35, Z:23.56 [[ 3.14203772e-01 -9.49332334e-01 -6.64146074e-03 2.40688191e+02] [ 9.49097532e-01 3.14273781e-01 -2.11155366e-02 9.13543128e+01] [ 2.21328986e-02 3.31187242e-04 9.99754983e-01 2.35648005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.216875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:240.70, Y:91.38, Z:23.56 [[ 3.14654301e-01 -9.49183144e-01 -6.63551089e-03 2.40696407e+02] [ 9.48948269e-01 3.14724066e-01 -2.11174061e-02 9.13798677e+01] [ 2.21326409e-02 3.47926086e-04 9.99754983e-01 2.35649562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.246875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:240.70, Y:91.41, Z:23.57 [[ 3.15025088e-01 -9.49060192e-01 -6.62923597e-03 2.40704972e+02] [ 9.48825248e-01 3.15094622e-01 -2.11193758e-02 9.14063029e+01] [ 2.21323954e-02 3.63146756e-04 9.99754983e-01 2.35659408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.276875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:240.71, Y:91.43, Z:23.57 [[ 3.15418452e-01 -9.48929571e-01 -6.62346370e-03 2.40713403e+02] [ 9.48694560e-01 3.15487760e-01 -2.11211859e-02 9.14332412e+01] [ 2.21321396e-02 3.78367783e-04 9.99754983e-01 2.35666249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.306875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:240.72, Y:91.46, Z:23.57 [[ 3.15258898e-01 -9.48982631e-01 -6.61773034e-03 2.40721640e+02] [ 9.48747594e-01 3.15328118e-01 -2.11229822e-02 9.14604309e+01] [ 2.21320996e-02 3.80652337e-04 9.99754983e-01 2.35680835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.336875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:240.73, Y:91.49, Z:23.57 [[ 3.16143788e-01 -9.48688247e-01 -6.61176899e-03 2.40729532e+02] [ 9.48453108e-01 3.16212656e-01 -2.11248480e-02 9.14855387e+01] [ 2.21316200e-02 4.07536611e-04 9.99754983e-01 2.35667094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.366875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:240.74, Y:91.51, Z:23.57 [[ 3.14831153e-01 -9.49125185e-01 -6.53668856e-03 2.40737536e+02] [ 9.48889653e-01 3.14898675e-01 -2.11483122e-02 9.15135435e+01] [ 2.21307903e-02 4.55551355e-04 9.99754980e-01 2.35698456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.396875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:240.74, Y:91.54, Z:23.57 [[ 3.13822002e-01 -9.49458899e-01 -6.59929749e-03 2.40744672e+02] [ 9.49223846e-01 3.13891168e-01 -2.11287571e-02 9.15392787e+01] [ 2.21323477e-02 3.66458304e-04 9.99754982e-01 2.35711496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.426875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.75, Y:91.57, Z:23.57 [[ 3.13100183e-01 -9.49697219e-01 -6.59308866e-03 2.40752665e+02] [ 9.49462178e-01 3.13169389e-01 -2.11306944e-02 9.15662280e+01] [ 2.21325152e-02 3.56135939e-04 9.99754982e-01 2.35730423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.456875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.76, Y:91.59, Z:23.58 [[ 3.12183117e-01 -9.49999108e-01 -6.58755982e-03 2.40760013e+02] [ 9.49764098e-01 3.12252428e-01 -2.11324178e-02 9.15936109e+01] [ 2.21327597e-02 3.40556269e-04 9.99754982e-01 2.35777530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.486875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:240.77, Y:91.62, Z:23.58 [[ 3.11680474e-01 -9.50164174e-01 -6.58211221e-03 2.40767790e+02] [ 9.49929165e-01 3.11749788e-01 -2.11341145e-02 9.16205882e+01] [ 2.21328505e-02 3.34550470e-04 9.99754983e-01 2.35800711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.516875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:240.78, Y:91.65, Z:23.58 [[ 3.11481374e-01 -9.50229503e-01 -6.57613524e-03 2.40775082e+02] [ 9.49994469e-01 3.11550604e-01 -2.11359741e-02 9.16468287e+01] [ 2.21328251e-02 3.36170157e-04 9.99754983e-01 2.35814017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.546875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:240.78, Y:91.67, Z:23.58 [[ 3.12268206e-01 -9.49971265e-01 -6.56983116e-03 2.40781267e+02] [ 9.49736134e-01 3.12337101e-01 -2.11379335e-02 9.16738937e+01] [ 2.21324314e-02 3.61098517e-04 9.99754983e-01 2.35824630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.57687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:240.79, Y:91.70, Z:23.58 [[ 3.12633561e-01 -9.49851133e-01 -6.56375619e-03 2.40788313e+02] [ 9.49615935e-01 3.12702230e-01 -2.11398197e-02 9.17009592e+01] [ 2.21321829e-02 3.75969638e-04 9.99754983e-01 2.35823333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.606875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:240.79, Y:91.73, Z:23.58 [[ 3.13289818e-01 -9.49634923e-01 -6.55768221e-03 2.40794326e+02] [ 9.49399638e-01 3.13358190e-01 -2.11417037e-02 9.17276337e+01] [ 2.21318036e-02 3.97619393e-04 9.99754983e-01 2.35798721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.63687500000003 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:240.80, Y:91.75, Z:23.58 [[ 3.12805568e-01 -9.49794579e-01 -6.55242855e-03 2.40801802e+02] [ 9.49559295e-01 3.12873943e-01 -2.11433319e-02 9.17549974e+01] [ 2.21319061e-02 3.91832486e-04 9.99754983e-01 2.35796912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.81, Y:91.78, Z:23.58 [[ 3.12023010e-01 -9.50051990e-01 -6.54653287e-03 2.40809635e+02] [ 9.49816725e-01 3.12091448e-01 -2.11451572e-02 9.17819650e+01] [ 2.21321156e-02 3.79769186e-04 9.99754983e-01 2.35795774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.69687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:240.82, Y:91.81, Z:23.58 [[ 3.10691108e-01 -9.50488430e-01 -6.54062382e-03 2.40817333e+02] [ 9.50253222e-01 3.10759744e-01 -2.11469848e-02 9.18088196e+01] [ 2.21325270e-02 3.54931279e-04 9.99754983e-01 2.35798885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.82, Y:91.83, Z:23.58 [[ 3.07112267e-01 -9.51650858e-01 -6.53453638e-03 2.40822396e+02] [ 9.51415870e-01 3.07181652e-01 -2.11488657e-02 9.18348972e+01] [ 2.21336258e-02 2.78014461e-04 9.99754983e-01 2.35788489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.75687500000004 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:240.83, Y:91.86, Z:23.58 [[ 3.06637302e-01 -9.51804783e-01 -6.42026855e-03 2.40832210e+02] [ 9.51569087e-01 3.06704263e-01 -2.11841321e-02 9.18617564e+01] [ 2.21322820e-02 3.86516040e-04 9.99754976e-01 2.35801607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.84, Y:91.89, Z:23.58 [[ 3.05124446e-01 -9.52290107e-01 -6.52877642e-03 2.40839841e+02] [ 9.52055227e-01 3.05194194e-01 -2.11506381e-02 9.18888347e+01] [ 2.21340881e-02 2.37821018e-04 9.99754983e-01 2.35812713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.85, Y:91.92, Z:23.58 [[ 3.03580908e-01 -9.52783336e-01 -6.52282478e-03 2.40847215e+02] [ 9.52548530e-01 3.03650904e-01 -2.11524734e-02 9.19151645e+01] [ 2.21343858e-02 2.08179930e-04 9.99754983e-01 2.35819366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.846875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:240.85, Y:91.94, Z:23.58 [[ 3.00826604e-01 -9.53656588e-01 -6.51654783e-03 2.40854959e+02] [ 9.53421944e-01 3.00897140e-01 -2.11544070e-02 9.19423881e+01] [ 2.21348502e-02 1.50788733e-04 9.99754983e-01 2.35839459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.86, Y:91.97, Z:23.59 [[ 2.99400369e-01 -9.54105356e-01 -6.51067537e-03 2.40862858e+02] [ 9.53870777e-01 2.99471125e-01 -2.11562142e-02 9.19690373e+01] [ 2.21350166e-02 1.23835370e-04 9.99754983e-01 2.35857070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:91.99, Z:23.59 [[ 2.98064772e-01 -9.54523483e-01 -6.50473374e-03 2.40870123e+02] [ 9.54288964e-01 2.98135724e-01 -2.11580409e-02 9.19948450e+01] [ 2.21351404e-02 9.90710167e-05 9.99754983e-01 2.35866440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.88, Y:92.02, Z:23.59 [[ 2.96066951e-01 -9.55145084e-01 -6.49845991e-03 2.40876962e+02] [ 9.54910671e-01 2.96138255e-01 -2.11599676e-02 9.20215646e+01] [ 2.21352816e-02 5.93183905e-05 9.99754983e-01 2.35883486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.966875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:240.88, Y:92.05, Z:23.59 [[ 2.95052573e-01 -9.55458962e-01 -6.49242307e-03 2.40884410e+02] [ 9.55224585e-01 2.95123992e-01 -2.11618197e-02 9.20475472e+01] [ 2.21353201e-02 4.21272286e-05 9.99754983e-01 2.35885730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.996875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:240.89, Y:92.07, Z:23.59 [[ 2.94783230e-01 -9.55542123e-01 -6.48832036e-03 2.40892714e+02] [ 9.55307738e-01 2.94854624e-01 -2.11630776e-02 9.20748780e+01] [ 2.21353233e-02 4.01777212e-05 9.99754983e-01 2.35892041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.90, Y:92.10, Z:23.59 [[ 2.93268097e-01 -9.56008265e-01 -6.48235280e-03 2.40900455e+02] [ 9.55773953e-01 2.93339731e-01 -2.11649053e-02 9.21014166e+01] [ 2.21353560e-02 1.13275557e-05 9.99754983e-01 2.35902688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.91, Y:92.13, Z:23.59 [[ 2.91616665e-01 -9.56513344e-01 -6.47638325e-03 2.40908409e+02] [ 9.56279116e-01 2.91688571e-01 -2.11667318e-02 9.21281529e+01] [ 2.21353484e-02 -2.06582994e-05 9.99754983e-01 2.35909120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.91, Y:92.15, Z:23.59 [[ 2.86949502e-01 -9.57923858e-01 -6.47043361e-03 2.40914294e+02] [ 9.57689942e-01 2.87022418e-01 -2.11685504e-02 9.21544582e+01] [ 2.21350190e-02 -1.22364184e-04 9.99754983e-01 2.35894882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.92, Y:92.18, Z:23.59 [[ 2.87123200e-01 -9.57872351e-01 -6.38964569e-03 2.40924273e+02] [ 9.57637870e-01 2.87194287e-01 -2.11932126e-02 9.21811133e+01] [ 2.21354621e-02 -3.39036504e-05 9.99754980e-01 2.35928824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.93, Y:92.21, Z:23.59 [[ 2.85830651e-01 -9.58258357e-01 -6.46226359e-03 2.40932199e+02] [ 9.58024470e-01 2.85903659e-01 -2.11710468e-02 9.22075363e+01] [ 2.21349173e-02 -1.39672569e-04 9.99754983e-01 2.35942791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.94, Y:92.23, Z:23.59 [[ 2.84550737e-01 -9.58639242e-01 -6.45609762e-03 2.40939027e+02] [ 9.58405410e-01 2.84623922e-01 -2.11729269e-02 9.22338535e+01] [ 2.21347584e-02 -1.62786931e-04 9.99754983e-01 2.35941016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.95, Y:92.26, Z:23.59 [[ 2.84388025e-01 -9.58687562e-01 -6.45054005e-03 2.40946465e+02] [ 9.58453704e-01 2.84461127e-01 -2.11746199e-02 9.22612118e+01] [ 2.21347727e-02 -1.60735658e-04 9.99754983e-01 2.35948373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.95, Y:92.29, Z:23.59 [[ 2.85827692e-01 -9.58259360e-01 -6.44438317e-03 2.40952824e+02] [ 9.58025350e-01 2.85900306e-01 -2.11764936e-02 9.22876099e+01] [ 2.21350243e-02 -1.21054152e-04 9.99754983e-01 2.35942474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.96, Y:92.32, Z:23.59 [[ 2.86915146e-01 -9.57934352e-01 -6.44020083e-03 2.40960309e+02] [ 9.57700232e-01 2.86987402e-01 -2.11777654e-02 9.23151607e+01] [ 2.21351655e-02 -9.15601719e-05 9.99754983e-01 2.35949077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.97, Y:92.34, Z:23.59 [[ 2.87675928e-01 -9.57706183e-01 -6.43647722e-03 2.40967378e+02] [ 9.57471980e-01 2.87747915e-01 -2.11788971e-02 9.23418307e+01] [ 2.21352436e-02 -7.00877136e-05 9.99754983e-01 2.35947681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.98, Y:92.37, Z:23.60 [[ 2.88977485e-01 -9.57314299e-01 -6.43017202e-03 2.40975008e+02] [ 9.57079955e-01 2.89049014e-01 -2.11808113e-02 9.23692997e+01] [ 2.21353284e-02 -3.34111881e-05 9.99754983e-01 2.35956564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.356875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.98, Y:92.40, Z:23.60 [[ 2.91730281e-01 -9.56479050e-01 -6.42410596e-03 2.40981794e+02] [ 9.56244462e-01 2.91801002e-01 -2.11826509e-02 9.23957906e+01] [ 2.21353224e-02 3.66049619e-05 9.99754983e-01 2.35962311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.99, Y:92.42, Z:23.60 [[ 2.92994553e-01 -9.56092565e-01 -6.41866192e-03 2.40989440e+02] [ 9.55857847e-01 2.93064843e-01 -2.11843004e-02 9.24230315e+01] [ 2.21352363e-02 7.15562701e-05 9.99754983e-01 2.35975592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.00, Y:92.45, Z:23.60 [[ 2.96597618e-01 -9.54981011e-01 -6.41259030e-03 2.40996298e+02] [ 9.54745990e-01 2.96666888e-01 -2.11861382e-02 9.24494700e+01] [ 2.21347629e-02 1.61363239e-04 9.99754983e-01 2.35983465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.00, Y:92.48, Z:23.60 [[ 2.97231694e-01 -9.54784204e-01 -6.35962645e-03 2.41003414e+02] [ 9.54548793e-01 2.97299632e-01 -2.12021500e-02 9.24761841e+01] [ 2.21341925e-02 2.31377202e-04 9.99754982e-01 2.35992451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.01, Y:92.50, Z:23.60 [[ 2.98612528e-01 -9.54352951e-01 -6.40344202e-03 2.41011348e+02] [ 9.54117724e-01 2.98681098e-01 -2.11889087e-02 9.25024394e+01] [ 2.21342846e-02 2.17636047e-04 9.99754983e-01 2.36000815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.50687500000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.02, Y:92.53, Z:23.60 [[ 3.01409558e-01 -9.53473310e-01 -6.39723194e-03 2.41019864e+02] [ 9.53237844e-01 3.01477301e-01 -2.11907834e-02 9.25293393e+01] [ 2.21334666e-02 2.89021085e-04 9.99754983e-01 2.36007257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.03, Y:92.56, Z:23.60 [[ 3.02727981e-01 -9.53055571e-01 -6.39132159e-03 2.41028247e+02] [ 9.52819974e-01 3.02795266e-01 -2.11925659e-02 9.25557762e+01] [ 2.21329549e-02 3.25803807e-04 9.99754983e-01 2.36010346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.04, Y:92.58, Z:23.60 [[ 3.03908661e-01 -9.52679774e-01 -6.38541861e-03 2.41036626e+02] [ 9.52444057e-01 3.03975523e-01 -2.11943443e-02 9.25822896e+01] [ 2.21324341e-02 3.59390801e-04 9.99754983e-01 2.36015001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.05, Y:92.61, Z:23.60 [[ 3.06313123e-01 -9.51909435e-01 -6.37945174e-03 2.41045299e+02] [ 9.51673513e-01 3.06379257e-01 -2.11961402e-02 9.26087288e+01] [ 2.21313375e-02 4.21500650e-04 9.99754983e-01 2.36011768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.05, Y:92.64, Z:23.60 [[ 3.07412785e-01 -9.51554916e-01 -6.37342102e-03 2.41053876e+02] [ 9.51318880e-01 3.07478512e-01 -2.11979534e-02 9.26357159e+01] [ 2.21307068e-02 4.53366146e-04 9.99754983e-01 2.36014263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.06, Y:92.66, Z:23.60 [[ 3.08364270e-01 -9.51247041e-01 -6.36740462e-03 2.41062757e+02] [ 9.51010902e-01 3.08429627e-01 -2.11997604e-02 9.26623303e+01] [ 2.21301056e-02 4.81777432e-04 9.99754983e-01 2.36024316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.07, Y:92.69, Z:23.60 [[ 3.10213840e-01 -9.50645521e-01 -6.36136617e-03 2.41072831e+02] [ 9.50409218e-01 3.10278603e-01 -2.12015722e-02 9.26886716e+01] [ 2.21289755e-02 5.31120081e-04 9.99754983e-01 2.36042500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.08, Y:92.71, Z:23.61 [[ 3.11132523e-01 -9.50345286e-01 -6.35530467e-03 2.41081685e+02] [ 9.50108884e-01 3.11196922e-01 -2.12033890e-02 9.27144282e+01] [ 2.21282921e-02 5.58832494e-04 9.99754983e-01 2.36052118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.746875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:241.09, Y:92.74, Z:23.61 [[ 3.11898951e-01 -9.50094061e-01 -6.34984312e-03 2.41090852e+02] [ 9.49857574e-01 3.11963037e-01 -2.12050245e-02 9.27413999e+01] [ 2.21276842e-02 5.82378312e-04 9.99754983e-01 2.36066652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.10, Y:92.77, Z:23.61 [[ 3.13628770e-01 -9.49524485e-01 -6.34403500e-03 2.41100696e+02] [ 9.49287847e-01 3.13692297e-01 -2.12067620e-02 9.27673178e+01] [ 2.21264147e-02 6.28735361e-04 9.99754983e-01 2.36091466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.11, Y:92.79, Z:23.61 [[ 3.14375753e-01 -9.49277471e-01 -6.33789818e-03 2.41109029e+02] [ 9.49040746e-01 3.14438956e-01 -2.12085959e-02 9.27929857e+01] [ 2.21257244e-02 6.52544689e-04 9.99754983e-01 2.36101855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.12, Y:92.82, Z:23.61 [[ 3.15207942e-01 -9.49001504e-01 -6.33236385e-03 2.41117943e+02] [ 9.48764691e-01 3.15270814e-01 -2.12102482e-02 9.28201001e+01] [ 2.21249669e-02 6.77715439e-04 9.99754983e-01 2.36107918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.13, Y:92.85, Z:23.61 [[ 3.17433910e-01 -9.48259295e-01 -6.32633280e-03 2.41127637e+02] [ 9.48022300e-01 3.17496091e-01 -2.12120469e-02 9.28458964e+01] [ 2.21231066e-02 7.35918406e-04 9.99754983e-01 2.36112759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.896875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:241.14, Y:92.87, Z:23.61 [[ 3.18311187e-01 -9.47965214e-01 -6.31997196e-03 2.41136456e+02] [ 9.47728124e-01 3.18373007e-01 -2.12139419e-02 9.28722360e+01] [ 2.21221875e-02 7.63019865e-04 9.99754983e-01 2.36121585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.926875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.15, Y:92.90, Z:23.61 [[ 3.19276374e-01 -9.47640613e-01 -6.31398931e-03 2.41145265e+02] [ 9.47403426e-01 3.19337818e-01 -2.12157224e-02 9.28985694e+01] [ 2.21211757e-02 7.91783811e-04 9.99754983e-01 2.36126636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.15, Y:92.92, Z:23.61 [[ 3.21543589e-01 -9.46873767e-01 -6.30801419e-03 2.41154546e+02] [ 9.46636399e-01 3.21604332e-01 -2.12174988e-02 9.29239733e+01] [ 2.21189777e-02 8.50954869e-04 9.99754983e-01 2.36129533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.986875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:241.16, Y:92.95, Z:23.61 [[ 3.22461555e-01 -9.46561572e-01 -6.30365610e-03 2.41163188e+02] [ 9.46324121e-01 3.22521971e-01 -2.12187935e-02 9.29511464e+01] [ 2.21179621e-02 8.76943339e-04 9.99754983e-01 2.36140165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.17, Y:92.98, Z:23.61 [[ 3.23624875e-01 -9.46164510e-01 -6.29765147e-03 2.41171746e+02] [ 9.45926951e-01 3.23684864e-01 -2.12205755e-02 9.29774325e+01] [ 2.21166099e-02 9.10387834e-04 9.99754983e-01 2.36147796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.046875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:241.18, Y:93.00, Z:23.62 [[ 3.25176125e-01 -9.45632541e-01 -6.29167205e-03 2.41179106e+02] [ 9.45394850e-01 3.25235590e-01 -2.12223482e-02 9.30022213e+01] [ 2.21148187e-02 9.52886587e-04 9.99754983e-01 2.36151706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.07687500000003 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:241.19, Y:93.03, Z:23.62 [[ 3.27702763e-01 -9.44760759e-01 -6.16498913e-03 2.41189549e+02] [ 9.44522218e-01 3.27758752e-01 -2.12598503e-02 9.30289997e+01] [ 2.21061015e-02 1.14394247e-03 9.99754976e-01 2.36168571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.106875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:241.20, Y:93.06, Z:23.62 [[ 3.28859141e-01 -9.44358083e-01 -6.28299343e-03 2.41198331e+02] [ 9.44120115e-01 3.28917485e-01 -2.12249189e-02 9.30559713e+01] [ 2.21105101e-02 1.04810811e-03 9.99754983e-01 2.36179206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.13687500000003 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:241.21, Y:93.08, Z:23.62 [[ 3.31018288e-01 -9.43603462e-01 -6.27696712e-03 2.41207124e+02] [ 9.43365327e-01 3.31075953e-01 -2.12267009e-02 9.30811721e+01] [ 2.21077413e-02 1.10495306e-03 9.99754983e-01 2.36189305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.166875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:241.21, Y:93.11, Z:23.62 [[ 3.30085568e-01 -9.43930187e-01 -6.27061045e-03 2.41212978e+02] [ 9.43692075e-01 3.30143326e-01 -2.12285786e-02 9.31053545e+01] [ 2.21084963e-02 1.08972204e-03 9.99754983e-01 2.36199773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.19687500000003 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:241.22, Y:93.13, Z:23.62 [[ 3.30592961e-01 -9.43753804e-01 -6.08710626e-03 2.41221745e+02] [ 9.43514684e-01 3.30646469e-01 -2.12827144e-02 9.31328615e+01] [ 2.20983228e-02 1.29264141e-03 9.99754967e-01 2.36207014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.226875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:241.23, Y:93.16, Z:23.62 [[ 3.31526221e-01 -9.43426160e-01 -6.11932271e-03 2.41232232e+02] [ 9.43187156e-01 3.31580217e-01 -2.12732106e-02 9.31603125e+01] [ 2.20987497e-02 1.28096054e-03 9.99754972e-01 2.36221702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.25687500000004 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:241.24, Y:93.19, Z:23.62 [[ 3.32860279e-01 -9.42956185e-01 -6.13745471e-03 2.41243142e+02] [ 9.42717199e-01 3.32914345e-01 -2.12678643e-02 9.31882060e+01] [ 2.20979109e-02 1.29334314e-03 9.99754975e-01 2.36238878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.286875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:241.25, Y:93.21, Z:23.62 [[ 3.32851885e-01 -9.42958340e-01 -6.26041919e-03 2.41251752e+02] [ 9.42720004e-01 3.32908715e-01 -2.12316068e-02 9.32135593e+01] [ 2.21046688e-02 1.16515792e-03 9.99754983e-01 2.36238144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.316875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:241.26, Y:93.24, Z:23.62 [[ 3.33002437e-01 -9.42905220e-01 -6.25489764e-03 2.41260098e+02] [ 9.42666846e-01 3.33059105e-01 -2.12332333e-02 9.32408656e+01] [ 2.21041771e-02 1.17443382e-03 9.99754983e-01 2.36237470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.346875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:241.27, Y:93.27, Z:23.62 [[ 3.33249329e-01 -9.42818029e-01 -6.24894016e-03 2.41267995e+02] [ 9.42579609e-01 3.33305801e-01 -2.12349865e-02 9.32671961e+01] [ 2.21035361e-02 1.18642142e-03 9.99754983e-01 2.36235907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.376875 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:241.28, Y:93.29, Z:23.62 [[ 3.33427261e-01 -9.42755147e-01 -6.24459552e-03 2.41276015e+02] [ 9.42516693e-01 3.33483591e-01 -2.12362640e-02 9.32942911e+01] [ 2.21030673e-02 1.19511383e-03 9.99754983e-01 2.36234194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.406875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:241.28, Y:93.32, Z:23.62 [[ 3.32945255e-01 -9.42925521e-01 -6.23855038e-03 2.41280882e+02] [ 9.42687064e-01 3.33001570e-01 -2.12380397e-02 9.33202554e+01] [ 2.21033368e-02 1.19010381e-03 9.99754983e-01 2.36201492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.436875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:241.29, Y:93.35, Z:23.62 [[ 3.34585890e-01 -9.42345550e-01 -6.09479240e-03 2.41291444e+02] [ 9.42106251e-01 3.34638559e-01 -2.12801979e-02 9.33490176e+01] [ 2.20928524e-02 1.37811194e-03 9.99754973e-01 2.36215875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.466875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:241.30, Y:93.37, Z:23.62 [[ 3.34743319e-01 -9.42288766e-01 -6.22830515e-03 2.41298912e+02] [ 9.42050148e-01 3.34798950e-01 -2.12410495e-02 9.33746688e+01] [ 2.21004323e-02 1.24292363e-03 9.99754983e-01 2.36211562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.31, Y:93.40, Z:23.62 [[ 3.34435583e-01 -9.42398073e-01 -6.22191677e-03 2.41306957e+02] [ 9.42159440e-01 3.34491148e-01 -2.12429206e-02 9.34012191e+01] [ 2.21004635e-02 1.24235092e-03 9.99754983e-01 2.36214815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.526875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:241.31, Y:93.43, Z:23.62 [[ 3.33665504e-01 -9.42671043e-01 -6.21576255e-03 2.41314765e+02] [ 9.42432423e-01 3.33721126e-01 -2.12447212e-02 9.34271962e+01] [ 2.21011148e-02 1.23069445e-03 9.99754983e-01 2.36213925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.556875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:241.32, Y:93.45, Z:23.62 [[ 3.31558418e-01 -9.43414251e-01 -6.21024118e-03 2.41323168e+02] [ 9.43175727e-01 3.31614448e-01 -2.12463351e-02 9.34540025e+01] [ 2.21035010e-02 1.18705250e-03 9.99754983e-01 2.36235317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.586875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:241.33, Y:93.48, Z:23.62 [[ 3.29734112e-01 -9.44053454e-01 -6.20416842e-03 2.41331008e+02] [ 9.43815006e-01 3.29790467e-01 -2.12481083e-02 9.34801676e+01] [ 2.21054256e-02 1.15063885e-03 9.99754983e-01 2.36244198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.616875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:241.34, Y:93.51, Z:23.63 [[ 3.27499924e-01 -9.44830878e-01 -6.19776225e-03 2.41338770e+02] [ 9.44592530e-01 3.27556699e-01 -2.12499767e-02 9.35070664e+01] [ 2.21077527e-02 1.10500581e-03 9.99754983e-01 2.36266531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.646875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:241.34, Y:93.53, Z:23.63 [[ 3.23430779e-01 -9.46231575e-01 -6.19179355e-03 2.41343056e+02] [ 9.45993441e-01 3.23488446e-01 -2.12517157e-02 9.35318285e+01] [ 2.21120181e-02 1.01606288e-03 9.99754983e-01 2.36273607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.676875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:241.35, Y:93.56, Z:23.63 [[ 3.21594539e-01 -9.46858446e-01 -6.00298199e-03 2.41354225e+02] [ 9.46619413e-01 3.21648435e-01 -2.13066200e-02 9.35604058e+01] [ 2.21052029e-02 1.16955337e-03 9.99754966e-01 2.36306480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.706875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:241.36, Y:93.59, Z:23.63 [[ 3.19709781e-01 -9.47495336e-01 -6.18420361e-03 2.41362189e+02] [ 9.47257390e-01 3.19768213e-01 -2.12538907e-02 9.35876548e+01] [ 2.21154741e-02 9.37044180e-04 9.99754984e-01 2.36321646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.736875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:241.37, Y:93.61, Z:23.63 [[ 3.15325804e-01 -9.48963365e-01 -6.17820822e-03 2.41365305e+02] [ 9.48725657e-01 3.15385202e-01 -2.12556334e-02 9.36123043e+01] [ 2.21193328e-02 8.41025022e-04 9.99754984e-01 2.36320534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.38, Y:93.64, Z:23.63 [[ 3.16253500e-01 -9.48656208e-01 -5.92653827e-03 2.41377078e+02] [ 9.48417077e-01 3.16307027e-01 -2.13286642e-02 9.36416366e+01] [ 2.21081754e-02 1.12443458e-03 9.99754952e-01 2.36319516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.38, Y:93.67, Z:23.63 [[ 3.15468660e-01 -9.48915924e-01 -6.17200993e-03 2.41384357e+02] [ 9.48678174e-01 3.15527884e-01 -2.12573931e-02 9.36686029e+01] [ 2.21189200e-02 8.50790195e-04 9.99754985e-01 2.36316539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.39, Y:93.70, Z:23.63 [[ 3.14752525e-01 -9.49153743e-01 -6.16612594e-03 2.41391466e+02] [ 9.48916005e-01 3.14811796e-01 -2.12590997e-02 9.36959512e+01] [ 2.21193232e-02 8.40219715e-04 9.99754985e-01 2.36297830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.856875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:241.40, Y:93.72, Z:23.63 [[ 3.14290939e-01 -9.49306725e-01 -6.16014595e-03 2.41399259e+02] [ 9.49068983e-01 3.14350192e-01 -2.12608324e-02 9.37232855e+01] [ 2.21194942e-02 8.35683510e-04 9.99754985e-01 2.36296236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.88687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:241.41, Y:93.75, Z:23.63 [[ 3.12350562e-01 -9.49946974e-01 -6.15416833e-03 2.41406873e+02] [ 9.49709319e-01 3.12410167e-01 -2.12625625e-02 9.37500267e+01] [ 2.21209317e-02 7.96702324e-04 9.99754985e-01 2.36300851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.916875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:241.41, Y:93.78, Z:23.63 [[ 3.12081223e-01 -9.50035531e-01 -6.14813653e-03 2.41414734e+02] [ 9.49797860e-01 3.12140761e-01 -2.12643065e-02 9.37774944e+01] [ 2.21209307e-02 7.96703847e-04 9.99754985e-01 2.36307156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.94687500000003 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:241.42, Y:93.80, Z:23.63 [[ 3.10428704e-01 -9.50576822e-01 -6.14210572e-03 2.41422618e+02] [ 9.50339220e-01 3.10488521e-01 -2.12660483e-02 9.38038466e+01] [ 2.21220659e-02 7.64507856e-04 9.99754985e-01 2.36318303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.976875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:241.43, Y:93.83, Z:23.63 [[ 3.08335294e-01 -9.51257956e-01 -6.13574909e-03 2.41430081e+02] [ 9.51020451e-01 3.08395491e-01 -2.12678822e-02 9.38295377e+01] [ 2.21234795e-02 7.22415822e-04 9.99754985e-01 2.36329085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.00687500000004 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:241.44, Y:93.86, Z:23.63 [[ 3.06253134e-01 -9.51930380e-01 -6.12944274e-03 2.41437949e+02] [ 9.51692971e-01 3.06313710e-01 -2.12696995e-02 9.38562093e+01] [ 2.21248055e-02 6.80564575e-04 9.99754985e-01 2.36349237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.036875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:241.45, Y:93.88, Z:23.64 [[ 3.02424801e-01 -9.53153579e-01 -6.12332308e-03 2.41445370e+02] [ 9.52916380e-01 3.02486194e-01 -2.12714612e-02 9.38819841e+01] [ 2.21271900e-02 5.98002546e-04 9.99754985e-01 2.36386555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.066875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:241.45, Y:93.91, Z:23.64 [[ 3.01169848e-01 -9.53550888e-01 -6.11777144e-03 2.41452521e+02] [ 9.53313738e-01 3.01231430e-01 -2.12730577e-02 9.39087204e+01] [ 2.21278081e-02 5.74648009e-04 9.99754985e-01 2.36404074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.096875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:241.46, Y:93.94, Z:23.64 [[ 3.00778077e-01 -9.53674576e-01 -6.11157737e-03 2.41459260e+02] [ 9.53437416e-01 3.00839618e-01 -2.12748371e-02 9.39351871e+01] [ 2.21278758e-02 5.71998054e-04 9.99754985e-01 2.36417980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.126875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:241.47, Y:93.96, Z:23.64 [[ 3.00725603e-01 -9.53691160e-01 -6.10601987e-03 2.41465895e+02] [ 9.53453971e-01 3.00787033e-01 -2.12764320e-02 9.39629441e+01] [ 2.21277567e-02 5.76558963e-04 9.99754985e-01 2.36425155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.156875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:241.47, Y:93.99, Z:23.64 [[ 3.02590516e-01 -9.53101133e-01 -6.09994831e-03 2.41470186e+02] [ 9.52863790e-01 3.02651347e-01 -2.12781726e-02 9.39896986e+01] [ 2.21264080e-02 6.26153361e-04 9.99754985e-01 2.36414274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.186875 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:241.48, Y:94.02, Z:23.64 [[ 3.04064417e-01 -9.52631985e-01 -6.09354342e-03 2.41476495e+02] [ 9.52394511e-01 3.04124738e-01 -2.12800066e-02 9.40171948e+01] [ 2.21252122e-02 6.67035503e-04 9.99754985e-01 2.36400499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.216875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:241.48, Y:94.04, Z:23.64 [[ 3.07200864e-01 -9.51625227e-01 -6.08748062e-03 2.41481223e+02] [ 9.51387522e-01 3.07260267e-01 -2.12817408e-02 9.40437233e+01] [ 2.21226824e-02 7.46216071e-04 9.99754985e-01 2.36367177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.246875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:241.48, Y:94.07, Z:23.64 [[ 3.06529655e-01 -9.51841683e-01 -6.08114405e-03 2.41484297e+02] [ 9.51603985e-01 3.06589084e-01 -2.12835513e-02 9.40688340e+01] [ 2.21229837e-02 7.37198745e-04 9.99754985e-01 2.36360438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.276875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:241.49, Y:94.10, Z:23.64 [[ 3.09727321e-01 -9.50807270e-01 -5.87562206e-03 2.41494805e+02] [ 9.50568265e-01 3.09781351e-01 -2.13421829e-02 9.40980501e+01] [ 2.21124608e-02 1.02507724e-03 9.99754964e-01 2.36362836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.306875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:241.50, Y:94.12, Z:23.64 [[ 3.10720908e-01 -9.50481782e-01 -6.07452983e-03 2.41501076e+02] [ 9.50243788e-01 3.10779141e-01 -2.12854182e-02 9.41244419e+01] [ 2.21192393e-02 8.41540219e-04 9.99754986e-01 2.36379991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.336875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:241.51, Y:94.15, Z:23.64 [[ 3.10441069e-01 -9.50573259e-01 -6.06815397e-03 2.41508164e+02] [ 9.50335247e-01 3.10499229e-01 -2.12872357e-02 9.41519807e+01] [ 2.21192341e-02 8.41651590e-04 9.99754986e-01 2.36404859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.366875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:241.51, Y:94.18, Z:23.64 [[ 3.09693573e-01 -9.50817091e-01 -6.06220380e-03 2.41514686e+02] [ 9.50579093e-01 3.09751788e-01 -2.12889300e-02 9.41780517e+01] [ 2.21196570e-02 8.30440613e-04 9.99754986e-01 2.36431682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.396875 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:241.52, Y:94.20, Z:23.65 [[ 3.09005953e-01 -9.51040823e-01 -6.05593140e-03 2.41521624e+02] [ 9.50802832e-01 3.09064200e-01 -2.12907141e-02 9.42047365e+01] [ 2.21200099e-02 8.20960693e-04 9.99754986e-01 2.36459333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.426875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:241.53, Y:94.23, Z:23.65 [[ 3.08112211e-01 -9.51330786e-01 -6.04997232e-03 2.41527281e+02] [ 9.51092817e-01 3.08170547e-01 -2.12924073e-02 9.42320234e+01] [ 2.21205459e-02 8.06365481e-04 9.99754986e-01 2.36486314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.456875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:241.54, Y:94.26, Z:23.65 [[ 3.09135219e-01 -9.50998890e-01 -6.04381074e-03 2.41535080e+02] [ 9.50760826e-01 3.09193162e-01 -2.12941562e-02 9.42604183e+01] [ 2.21194238e-02 8.36555134e-04 9.99754986e-01 2.36490864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.486875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:241.54, Y:94.29, Z:23.65 [[ 3.09168323e-01 -9.50987991e-01 -6.06537578e-03 2.41538277e+02] [ 9.50750042e-01 3.09226740e-01 -2.12880391e-02 9.42875900e+01] [ 2.21202460e-02 8.14931079e-04 9.99754985e-01 2.36460327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.516875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:241.54, Y:94.31, Z:23.64 [[ 3.09587587e-01 -9.50851773e-01 -6.03585260e-03 2.41543727e+02] [ 9.50613638e-01 3.09645239e-01 -2.12964066e-02 9.43138220e+01] [ 2.21186990e-02 8.55339340e-04 9.99754986e-01 2.36444218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.546875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:241.55, Y:94.34, Z:23.64 [[ 3.10334363e-01 -9.50608347e-01 -6.02944057e-03 2.41550149e+02] [ 9.50370132e-01 3.10391684e-01 -2.12982219e-02 9.43413362e+01] [ 2.21177557e-02 8.79369873e-04 9.99754986e-01 2.36431206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.57687500000003 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:241.56, Y:94.37, Z:23.64 [[ 3.11770636e-01 -9.50138300e-01 -6.02344302e-03 2.41555278e+02] [ 9.49899967e-01 3.11827463e-01 -2.12999179e-02 9.43672560e+01] [ 2.21161428e-02 9.19020644e-04 9.99754986e-01 2.36415526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.606875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:241.56, Y:94.40, Z:23.64 [[ 3.10371626e-01 -9.50596720e-01 -5.94383833e-03 2.41562904e+02] [ 9.50358048e-01 3.10427023e-01 -2.13224105e-02 9.43962395e+01] [ 2.21141415e-02 9.69096636e-04 9.99754983e-01 2.36421228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.63687500000003 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:241.57, Y:94.42, Z:23.64 [[ 3.07728084e-01 -9.51455307e-01 -6.01873227e-03 2.41570093e+02] [ 9.51217192e-01 3.07785818e-01 -2.13012491e-02 9.44223293e+01] [ 2.21196669e-02 8.29870938e-04 9.99754986e-01 2.36432626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.58, Y:94.45, Z:23.64 [[ 3.05632669e-01 -9.52130517e-01 -6.01244475e-03 2.41577843e+02] [ 9.51892496e-01 3.05690788e-01 -2.13030236e-02 9.44491291e+01] [ 2.21212079e-02 7.87698931e-04 9.99754986e-01 2.36445592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.59, Y:94.48, Z:23.65 [[ 3.03008395e-01 -9.52968958e-01 -6.00651681e-03 2.41585517e+02] [ 9.52731065e-01 3.03067036e-01 -2.13046949e-02 9.44761963e+01] [ 2.21230901e-02 7.32906244e-04 9.99754986e-01 2.36460040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.59, Y:94.50, Z:23.65 [[ 3.00293651e-01 -9.53827928e-01 -6.00060621e-03 2.41593294e+02] [ 9.53590170e-01 3.00352838e-01 -2.13063595e-02 9.45028436e+01] [ 2.21248999e-02 6.76045405e-04 9.99754986e-01 2.36471725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.60, Y:94.53, Z:23.65 [[ 2.95247201e-01 -9.55402090e-01 -5.99469944e-03 2.41600839e+02] [ 9.55164615e-01 2.95307512e-01 -2.13080213e-02 9.45295749e+01] [ 2.21280079e-02 5.65208882e-04 9.99754986e-01 2.36491910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.786875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:241.61, Y:94.56, Z:23.65 [[ 2.93370386e-01 -9.55980100e-01 -5.98881699e-03 2.41608194e+02] [ 9.55742710e-01 2.93431032e-01 -2.13096745e-02 9.45568555e+01] [ 2.21289295e-02 5.27859263e-04 9.99754986e-01 2.36506511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.61, Y:94.58, Z:23.65 [[ 2.91398870e-01 -9.56582931e-01 -5.98294531e-03 2.41613915e+02] [ 9.56345633e-01 2.91459875e-01 -2.13113229e-02 9.45836478e+01] [ 2.21298362e-02 4.88331800e-04 9.99754986e-01 2.36514925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.846875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:241.62, Y:94.61, Z:23.65 [[ 2.91082861e-01 -9.56679176e-01 -5.97675644e-03 2.41620458e+02] [ 9.56441863e-01 2.91143806e-01 -2.13130584e-02 9.46113661e+01] [ 2.21298548e-02 4.87445962e-04 9.99754986e-01 2.36516924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.63, Y:94.64, Z:23.65 [[ 2.91272308e-01 -9.56621550e-01 -5.97102100e-03 2.41626961e+02] [ 9.56384192e-01 2.91333079e-01 -2.13146652e-02 9.46385910e+01] [ 2.21296239e-02 4.97781614e-04 9.99754986e-01 2.36524335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.906875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:241.63, Y:94.67, Z:23.65 [[ 2.93199192e-01 -9.56032768e-01 -5.96498488e-03 2.41633797e+02] [ 9.55795254e-01 2.93259349e-01 -2.13163543e-02 9.46678153e+01] [ 2.21284207e-02 5.48633602e-04 9.99754986e-01 2.36522382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.64, Y:94.69, Z:23.65 [[ 2.93964986e-01 -9.55797197e-01 -6.02542318e-03 2.41639488e+02] [ 9.55559976e-01 2.94026300e-01 -2.12994501e-02 9.46937084e+01] [ 2.21295876e-02 5.03639329e-04 9.99754984e-01 2.36517528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.65, Y:94.72, Z:23.65 [[ 2.94819180e-01 -9.55534495e-01 -5.95654390e-03 2.41645792e+02] [ 9.55296832e-01 2.94878747e-01 -2.13186954e-02 9.47202518e+01] [ 2.21272070e-02 5.94892765e-04 9.99754986e-01 2.36514986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.65, Y:94.75, Z:23.65 [[ 2.95603801e-01 -9.55292084e-01 -5.95211958e-03 2.41652437e+02] [ 9.55054348e-01 2.95663074e-01 -2.13199306e-02 9.47471055e+01] [ 2.21265829e-02 6.17654832e-04 9.99754986e-01 2.36524494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.66, Y:94.77, Z:23.66 [[ 2.97174128e-01 -9.54804787e-01 -5.94610410e-03 2.41658712e+02] [ 9.54566921e-01 2.97232876e-01 -2.13216081e-02 9.47749238e+01] [ 2.21253511e-02 6.60276015e-04 9.99754986e-01 2.36550866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.67, Y:94.80, Z:23.66 [[ 2.96798093e-01 -9.54921781e-01 -5.94013346e-03 2.41665172e+02] [ 9.54683905e-01 2.96856801e-01 -2.13232714e-02 9.48031528e+01] [ 2.21254253e-02 6.57756480e-04 9.99754986e-01 2.36573662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.086875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:241.67, Y:94.83, Z:23.66 [[ 2.98487397e-01 -9.54394961e-01 -5.96089043e-03 2.41672381e+02] [ 9.54157095e-01 2.98546147e-01 -2.13174924e-02 9.48290638e+01] [ 2.21249082e-02 6.75376919e-04 9.99754986e-01 2.36597207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.68, Y:94.86, Z:23.66 [[ 3.00008879e-01 -9.53917962e-01 -5.93252211e-03 2.41678360e+02] [ 9.53679849e-01 3.00066616e-01 -2.13253842e-02 9.48562616e+01] [ 2.21228189e-02 7.40077820e-04 9.99754987e-01 2.36642946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.68, Y:94.88, Z:23.67 [[ 3.00589201e-01 -9.53735279e-01 -5.92881196e-03 2.41684704e+02] [ 9.53497110e-01 3.00646711e-01 -2.13264157e-02 9.48833510e+01] [ 2.21222328e-02 7.57385159e-04 9.99754987e-01 2.36663076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.69, Y:94.91, Z:23.67 [[ 3.03051911e-01 -9.52955645e-01 -5.92272091e-03 2.41689071e+02] [ 9.52717296e-01 3.03108670e-01 -2.13281071e-02 9.49111385e+01] [ 2.21199681e-02 8.20844981e-04 9.99754987e-01 2.36663494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.70, Y:94.94, Z:23.67 [[ 3.05722141e-01 -9.52102440e-01 -5.90906356e-03 2.41695845e+02] [ 9.51863861e-01 3.05777926e-01 -2.13318970e-02 9.49381844e+01] [ 2.21170124e-02 8.97009180e-04 9.99754987e-01 2.36681727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.70, Y:94.96, Z:23.67 [[ 3.07857510e-01 -9.51414085e-01 -5.91553518e-03 2.41701274e+02] [ 9.51175415e-01 3.07912904e-01 -2.13301022e-02 9.49649859e+01] [ 2.21152293e-02 9.39920529e-04 9.99754987e-01 2.36674288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.266875 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:241.70, Y:94.99, Z:23.66 [[ 3.11546438e-01 -9.50212541e-01 -5.91138463e-03 2.41703909e+02] [ 9.49973637e-01 3.11600813e-01 -2.13312524e-02 9.49924280e+01] [ 2.21112158e-02 1.03001616e-03 9.99754987e-01 2.36626298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.71, Y:95.02, Z:23.66 [[ 3.13232105e-01 -9.49658042e-01 -5.93729573e-03 2.41709015e+02] [ 9.49419173e-01 3.13286637e-01 -2.13240833e-02 9.50195938e+01] [ 2.21106627e-02 1.04240512e-03 9.99754986e-01 2.36631103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.72, Y:95.05, Z:23.66 [[ 3.15190188e-01 -9.49010364e-01 -5.87148735e-03 2.41715354e+02] [ 9.48771055e-01 3.15242751e-01 -2.13422786e-02 9.50477459e+01] [ 2.21049874e-02 1.15617954e-03 9.99754986e-01 2.36619788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.72, Y:95.08, Z:23.66 [[ 3.17798333e-01 -9.48140120e-01 -5.87640627e-03 2.41720804e+02] [ 9.47900692e-01 3.17850348e-01 -2.13409191e-02 9.50754096e+01] [ 2.21019994e-02 1.21185895e-03 9.99754987e-01 2.36609234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.73, Y:95.10, Z:23.66 [[ 3.18673727e-01 -9.47846414e-01 -5.85075875e-03 2.41728431e+02] [ 9.47606813e-01 3.18724946e-01 -2.13480031e-02 9.51020158e+01] [ 2.20994110e-02 1.25882887e-03 9.99754986e-01 2.36604161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.74, Y:95.13, Z:23.66 [[ 3.18964527e-01 -9.47748343e-01 -5.89137774e-03 2.41735943e+02] [ 9.47508924e-01 3.19016584e-01 -2.13367877e-02 9.51298311e+01] [ 2.21013524e-02 1.22354542e-03 9.99754987e-01 2.36607123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.74, Y:95.16, Z:23.67 [[ 3.17722742e-01 -9.48165335e-01 -5.89541823e-03 2.41742256e+02] [ 9.47926004e-01 3.17775203e-01 -2.13356730e-02 9.51562434e+01] [ 2.21031632e-02 1.19040827e-03 9.99754987e-01 2.36652043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.75, Y:95.18, Z:23.67 [[ 3.16535296e-01 -9.48562502e-01 -5.88096264e-03 2.41749037e+02] [ 9.48323166e-01 3.16587732e-01 -2.13396568e-02 9.51824156e+01] [ 2.21038388e-02 1.17770146e-03 9.99754987e-01 2.36676330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.76, Y:95.21, Z:23.67 [[ 3.14419543e-01 -9.49265948e-01 -5.87464024e-03 2.41755828e+02] [ 9.49026697e-01 3.14472372e-01 -2.13413971e-02 9.52103067e+01] [ 2.21060736e-02 1.13496192e-03 9.99754987e-01 2.36717478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.76, Y:95.24, Z:23.67 [[ 3.13505116e-01 -9.49568374e-01 -5.86907464e-03 2.41762424e+02] [ 9.49329147e-01 3.13558050e-01 -2.13429276e-02 9.52366830e+01] [ 2.21068647e-02 1.11943337e-03 9.99754987e-01 2.36738583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.77, Y:95.26, Z:23.68 [[ 3.12833154e-01 -9.49789989e-01 -5.86476329e-03 2.41769226e+02] [ 9.49550778e-01 3.12886160e-01 -2.13441123e-02 9.52642839e+01] [ 2.21074274e-02 1.10825541e-03 9.99754987e-01 2.36753203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.596875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:241.78, Y:95.29, Z:23.68 [[ 3.13156205e-01 -9.49683560e-01 -5.85888985e-03 2.41775479e+02] [ 9.49444302e-01 3.13208999e-01 -2.13457244e-02 9.52918850e+01] [ 2.21067405e-02 1.12185645e-03 9.99754987e-01 2.36763695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.626875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:241.78, Y:95.32, Z:23.68 [[ 3.11848016e-01 -9.50114098e-01 -5.83231496e-03 2.41780983e+02] [ 9.49874781e-01 3.11900544e-01 -2.13530116e-02 9.53188349e+01] [ 2.21068995e-02 1.11892540e-03 9.99754987e-01 2.36780615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.79, Y:95.35, Z:23.68 [[ 3.11258112e-01 -9.50307398e-01 -5.85115339e-03 2.41785958e+02] [ 9.50068208e-01 3.11311211e-01 -2.13478482e-02 9.53452170e+01] [ 2.21085477e-02 1.08569613e-03 9.99754987e-01 2.36785807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.79, Y:95.37, Z:23.68 [[ 3.10716279e-01 -9.50484735e-01 -5.84494427e-03 2.41793052e+02] [ 9.50245544e-01 3.10769374e-01 -2.13495481e-02 9.53728080e+01] [ 2.21088492e-02 1.07951989e-03 9.99754987e-01 2.36793903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.716875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:241.80, Y:95.40, Z:23.68 [[ 3.09932257e-01 -9.50740711e-01 -5.83917209e-03 2.41800055e+02] [ 9.50501535e-01 3.09985420e-01 -2.13511267e-02 9.54004514e+01] [ 2.21094436e-02 1.06726086e-03 9.99754987e-01 2.36800619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.746875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:241.81, Y:95.43, Z:23.68 [[ 3.07882766e-01 -9.51406420e-01 -5.83325931e-03 2.41806871e+02] [ 9.51167329e-01 3.07936312e-01 -2.13527420e-02 9.54274155e+01] [ 2.21114082e-02 1.02573559e-03 9.99754987e-01 2.36793860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.81, Y:95.45, Z:23.68 [[ 3.06872755e-01 -9.51732712e-01 -5.82733683e-03 2.41813980e+02] [ 9.51493648e-01 3.06926422e-01 -2.13543582e-02 9.54546635e+01] [ 2.21122048e-02 1.00839673e-03 9.99754987e-01 2.36779319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.82, Y:95.48, Z:23.68 [[ 3.06611632e-01 -9.51817107e-01 -5.78817212e-03 2.41821363e+02] [ 9.51577862e-01 3.06664488e-01 -2.13650325e-02 9.54822431e+01] [ 2.21106302e-02 1.04287101e-03 9.99754986e-01 2.36785531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.83, Y:95.51, Z:23.68 [[ 3.04296772e-01 -9.52559734e-01 -5.78165493e-03 2.41828371e+02] [ 9.52320586e-01 3.04350064e-01 -2.13668067e-02 9.55089987e+01] [ 2.21128067e-02 9.95861296e-04 9.99754986e-01 2.36782503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.84, Y:95.54, Z:23.68 [[ 3.02669310e-01 -9.53077934e-01 -5.80871227e-03 2.41835814e+02] [ 9.52839014e-01 3.02723616e-01 -2.13594484e-02 9.55361173e+01] [ 2.21156534e-02 9.30081850e-04 9.99754986e-01 2.36784193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.84, Y:95.56, Z:23.68 [[ 3.00126958e-01 -9.53881618e-01 -5.80249150e-03 2.41843007e+02] [ 9.53642812e-01 3.00181761e-01 -2.13611382e-02 9.55623959e+01] [ 2.21177992e-02 8.77549122e-04 9.99754986e-01 2.36769515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.85, Y:95.59, Z:23.68 [[ 2.98781069e-01 -9.54304075e-01 -5.79704078e-03 2.41850081e+02] [ 9.54065318e-01 2.98836087e-01 -2.13626174e-02 9.55889224e+01] [ 2.21187978e-02 8.51990100e-04 9.99754986e-01 2.36768982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.86, Y:95.62, Z:23.68 [[ 2.97468463e-01 -9.54714084e-01 -5.79066918e-03 2.41857139e+02] [ 9.54475370e-01 2.97523668e-01 -2.13643443e-02 9.56165332e+01] [ 2.21197016e-02 8.28167581e-04 9.99754986e-01 2.36766480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.86, Y:95.64, Z:23.68 [[ 2.96928354e-01 -9.54882239e-01 -5.78468159e-03 2.41863850e+02] [ 9.54643526e-01 2.96983559e-01 -2.13659654e-02 9.56438761e+01] [ 2.21199362e-02 8.21852113e-04 9.99754986e-01 2.36778174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.87, Y:95.67, Z:23.68 [[ 2.96635975e-01 -9.54973171e-01 -5.77413537e-03 2.41870696e+02] [ 9.54734420e-01 2.96691018e-01 -2.13688189e-02 9.56711323e+01] [ 2.21197829e-02 8.25994662e-04 9.99754986e-01 2.36783283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.88, Y:95.70, Z:23.68 [[ 2.96050423e-01 -9.55154876e-01 -5.77154750e-03 2.41877383e+02] [ 9.54916145e-01 2.96105554e-01 -2.13695183e-02 9.56977999e+01] [ 2.21201869e-02 8.15111032e-04 9.99754986e-01 2.36782876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.89, Y:95.73, Z:23.68 [[ 2.95692304e-01 -9.55265800e-01 -5.77176974e-03 2.41885420e+02] [ 9.55027091e-01 2.95747530e-01 -2.13694583e-02 9.57254821e+01] [ 2.21204993e-02 8.06587885e-04 9.99754986e-01 2.36793149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.106875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:241.89, Y:95.75, Z:23.68 [[ 2.94934700e-01 -9.55499804e-01 -5.80070159e-03 2.41892516e+02] [ 9.55261289e-01 2.94990761e-01 -2.13616506e-02 9.57528534e+01] [ 2.21222063e-02 7.59106319e-04 9.99754986e-01 2.36815244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.90, Y:95.78, Z:23.68 [[ 2.94302524e-01 -9.55695005e-01 -5.75172105e-03 2.41899677e+02] [ 9.55456273e-01 2.94357649e-01 -2.13748520e-02 9.57798398e+01] [ 2.21209023e-02 7.95154920e-04 9.99754987e-01 2.36816180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.91, Y:95.81, Z:23.68 [[ 2.94327352e-01 -9.55687323e-01 -5.75761061e-03 2.41906954e+02] [ 9.55448621e-01 2.94382602e-01 -2.13732654e-02 9.58062652e+01] [ 2.21210992e-02 7.89635490e-04 9.99754987e-01 2.36808734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.92, Y:95.83, Z:23.68 [[ 2.94210076e-01 -9.55723669e-01 -5.71841701e-03 2.41915021e+02] [ 9.55484771e-01 2.94264480e-01 -2.13838121e-02 9.58339116e+01] [ 2.21197423e-02 8.27472608e-04 9.99754986e-01 2.36823038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.92, Y:95.86, Z:23.68 [[ 2.94013848e-01 -9.55783816e-01 -5.75803029e-03 2.41923227e+02] [ 9.55545134e-01 2.94069186e-01 -2.13731562e-02 9.58619219e+01] [ 2.21213761e-02 7.81946084e-04 9.99754987e-01 2.36832312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.25687500000004 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:241.93, Y:95.89, Z:23.68 [[ 2.91084757e-01 -9.56679878e-01 -5.76847547e-03 2.41930578e+02] [ 9.56441421e-01 2.91141059e-01 -2.13703479e-02 9.58881892e+01] [ 2.21240219e-02 7.03373657e-04 9.99754986e-01 2.36830703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.286875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:241.94, Y:95.91, Z:23.68 [[ 2.89061791e-01 -9.57293214e-01 -5.74305420e-03 2.41938500e+02] [ 9.57054743e-01 2.89118030e-01 -2.13771775e-02 9.59148149e+01] [ 2.21246474e-02 6.82907952e-04 9.99754987e-01 2.36841807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.95, Y:95.94, Z:23.69 [[ 2.85206067e-01 -9.58449052e-01 -5.73706801e-03 2.41947668e+02] [ 9.58210777e-01 2.85263132e-01 -2.13787839e-02 9.59409705e+01] [ 2.21270491e-02 6.00038462e-04 9.99754987e-01 2.36858411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.346875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:241.96, Y:95.97, Z:23.69 [[ 2.83055099e-01 -9.59086527e-01 -5.73107923e-03 2.41955650e+02] [ 9.58848348e-01 2.83112565e-01 -2.13803892e-02 9.59680997e+01] [ 2.21281838e-02 5.56592331e-04 9.99754987e-01 2.36866734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.96, Y:96.00, Z:23.69 [[ 2.81996263e-01 -9.59398422e-01 -5.72503866e-03 2.41964635e+02] [ 9.59160274e-01 2.82053857e-01 -2.13820066e-02 9.59959398e+01] [ 2.21286326e-02 5.38416279e-04 9.99754987e-01 2.36877298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.97, Y:96.02, Z:23.69 [[ 2.78908899e-01 -9.60300175e-01 -5.77932447e-03 2.41971531e+02] [ 9.60062511e-01 2.78968467e-01 -2.13674767e-02 9.60214587e+01] [ 2.21314409e-02 4.11066612e-04 9.99754985e-01 2.36867591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.98, Y:96.05, Z:23.69 [[ 2.78484284e-01 -9.60423776e-01 -5.71617801e-03 2.41978816e+02] [ 9.60185792e-01 2.78542552e-01 -2.13843562e-02 9.60481796e+01] [ 2.21302429e-02 4.66614209e-04 9.99754987e-01 2.36868550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.99, Y:96.07, Z:23.69 [[ 2.77509685e-01 -9.60705869e-01 -5.71029048e-03 2.41986230e+02] [ 9.60467913e-01 2.77568063e-01 -2.13859282e-02 9.60737831e+01] [ 2.21305810e-02 4.50251416e-04 9.99754987e-01 2.36861859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.00, Y:96.10, Z:23.69 [[ 2.77501621e-01 -9.60708232e-01 -5.70465016e-03 2.41996773e+02] [ 9.60470246e-01 2.77559876e-01 -2.13874326e-02 9.61021280e+01] [ 2.21304646e-02 4.55900479e-04 9.99754987e-01 2.36872889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.00, Y:96.13, Z:23.69 [[ 2.76523986e-01 -9.60989631e-01 -5.78059839e-03 2.42004077e+02] [ 9.60752122e-01 2.76584172e-01 -2.13671861e-02 9.61268459e+01] [ 2.21324663e-02 3.54817299e-04 9.99754984e-01 2.36874178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.01, Y:96.15, Z:23.69 [[ 2.74608073e-01 -9.61539397e-01 -5.69169867e-03 2.42012780e+02] [ 9.61301516e-01 2.74666756e-01 -2.13908408e-02 9.61532003e+01] [ 2.21314565e-02 4.02658993e-04 9.99754988e-01 2.36883482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.02, Y:96.18, Z:23.69 [[ 2.73585060e-01 -9.61831010e-01 -5.68533432e-03 2.42021216e+02] [ 9.61593158e-01 2.73643854e-01 -2.13925322e-02 9.61802634e+01] [ 2.21317576e-02 3.85698606e-04 9.99754988e-01 2.36896152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.616875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:242.03, Y:96.21, Z:23.69 [[ 2.72984955e-01 -9.62001539e-01 -5.67916397e-03 2.42029420e+02] [ 9.61763689e-01 2.73043761e-01 -2.13941701e-02 9.62063892e+01] [ 2.21318849e-02 3.78272870e-04 9.99754988e-01 2.36902853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.646875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:242.04, Y:96.23, Z:23.69 [[ 2.72499861e-01 -9.62139094e-01 -5.67360029e-03 2.42038627e+02] [ 9.61901243e-01 2.72558663e-01 -2.13956455e-02 9.62315198e+01] [ 2.21319759e-02 3.72867228e-04 9.99754988e-01 2.36906979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.05, Y:96.26, Z:23.69 [[ 2.72577660e-01 -9.62117088e-01 -5.66813170e-03 2.42046603e+02] [ 9.61879203e-01 2.72636322e-01 -2.13970941e-02 9.62581588e+01] [ 2.21318485e-02 3.80311848e-04 9.99754988e-01 2.36906897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.05, Y:96.28, Z:23.69 [[ 2.73269233e-01 -9.61920926e-01 -5.66204234e-03 2.42054482e+02] [ 9.61682965e-01 2.73327588e-01 -2.13987053e-02 9.62848309e+01] [ 2.21314548e-02 4.02518120e-04 9.99754988e-01 2.36906232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.736875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:242.06, Y:96.31, Z:23.69 [[ 2.74472722e-01 -9.61578252e-01 -5.65598394e-03 2.42061990e+02] [ 9.61340185e-01 2.74530645e-01 -2.14003065e-02 9.63107256e+01] [ 2.21308103e-02 4.36475743e-04 9.99754988e-01 2.36894764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.07, Y:96.34, Z:23.69 [[ 2.77913322e-01 -9.60589530e-01 -5.65155942e-03 2.42069611e+02] [ 9.60351234e-01 2.77970293e-01 -2.14014749e-02 9.63373843e+01] [ 2.21289984e-02 5.20272923e-04 9.99754988e-01 2.36876393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.08, Y:96.36, Z:23.69 [[ 2.79432343e-01 -9.60148786e-01 -5.64575005e-03 2.42077092e+02] [ 9.59910370e-01 2.79488808e-01 -2.14030073e-02 9.63639963e+01] [ 2.21279955e-02 5.61278469e-04 9.99754988e-01 2.36877239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.82687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:242.09, Y:96.39, Z:23.69 [[ 2.83343128e-01 -9.59002015e-01 -5.63978211e-03 2.42087502e+02] [ 9.58763340e-01 2.83398487e-01 -2.14045798e-02 9.63919860e+01] [ 2.21253409e-02 6.57624256e-04 9.99754988e-01 2.36885515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.09, Y:96.42, Z:23.69 [[ 2.84496618e-01 -9.58659810e-01 -5.74828574e-03 2.42094461e+02] [ 9.58421633e-01 2.84554109e-01 -2.13759976e-02 9.64164846e+01] [ 2.21280081e-02 5.72117617e-04 9.99754982e-01 2.36871143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.10, Y:96.44, Z:23.69 [[ 2.86154529e-01 -9.58166948e-01 -5.62903028e-03 2.42104487e+02] [ 9.57928057e-01 2.86208948e-01 -2.14073673e-02 9.64432674e+01] [ 2.21229107e-02 7.33609068e-04 9.99754989e-01 2.36910550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.916875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:242.11, Y:96.47, Z:23.69 [[ 2.83515758e-01 -9.58951073e-01 -5.62620143e-03 2.42108713e+02] [ 9.58712319e-01 2.83570772e-01 -2.14081105e-02 9.64681943e+01] [ 2.21247568e-02 6.75628052e-04 9.99754989e-01 2.36909691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.94687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:242.12, Y:96.50, Z:23.69 [[ 2.86892947e-01 -9.57947326e-01 -5.41833435e-03 2.42122217e+02] [ 9.57707348e-01 2.86942474e-01 -2.14628071e-02 9.64966446e+01] [ 2.21149890e-02 9.68349371e-04 9.99754965e-01 2.36949884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.976875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:242.13, Y:96.52, Z:23.70 [[ 2.87057950e-01 -9.57896636e-01 -5.63624987e-03 2.42130993e+02] [ 9.57657732e-01 2.87112305e-01 -2.14054285e-02 9.65234277e+01] [ 2.21224247e-02 7.47000158e-04 9.99754990e-01 2.36963095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.00687500000004 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:242.14, Y:96.55, Z:23.70 [[ 2.87710372e-01 -9.57700917e-01 -5.62988866e-03 2.42142411e+02] [ 9.57461944e-01 2.87764423e-01 -2.14071015e-02 9.65516725e+01] [ 2.21216824e-02 7.68640984e-04 9.99754990e-01 2.36958319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.036875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:242.14, Y:96.57, Z:23.69 [[ 2.82278358e-01 -9.59315621e-01 -5.69812962e-03 2.42144261e+02] [ 9.59077313e-01 2.82335283e-01 -2.13891682e-02 9.65731221e+01] [ 2.21277462e-02 5.72752424e-04 9.99754987e-01 2.36898121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.066875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:242.16, Y:96.60, Z:23.69 [[ 2.89178111e-01 -9.57261059e-01 -5.22347119e-03 2.42161600e+02] [ 9.57020060e-01 2.89222701e-01 -2.15135806e-02 9.66041225e+01] [ 2.21048594e-02 1.22228990e-03 9.99754911e-01 2.36918808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.096875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:242.16, Y:96.62, Z:23.69 [[ 2.82331775e-01 -9.59300344e-01 -5.62316659e-03 2.42160114e+02] [ 9.59061648e-01 2.82387016e-01 -2.14085989e-02 9.66247287e+01] [ 2.21251855e-02 6.51364305e-04 9.99754996e-01 2.36873989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.126875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:242.18, Y:96.66, Z:23.69 [[ 2.90167220e-01 -9.56962211e-01 -5.12956158e-03 2.42179381e+02] [ 9.56720750e-01 2.90209453e-01 -2.15378508e-02 9.66562749e+01] [ 2.20995566e-02 1.34202028e-03 9.99754874e-01 2.36932784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.156875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:242.18, Y:96.68, Z:23.69 [[ 2.82316564e-01 -9.59305049e-01 -5.58396460e-03 2.42179921e+02] [ 9.59066160e-01 2.82370935e-01 -2.14185719e-02 9.66763801e+01] [ 2.21236935e-02 6.91426136e-04 9.99755002e-01 2.36884768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.186875 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:242.19, Y:96.70, Z:23.69 [[ 2.83724151e-01 -9.58892090e-01 -5.15427351e-03 2.42189552e+02] [ 9.58651028e-01 2.83768561e-01 -2.15316353e-02 9.67029282e+01] [ 2.21091355e-02 1.16789534e-03 9.99754881e-01 2.36913895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.216875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:242.20, Y:96.73, Z:23.70 [[ 2.83748758e-01 -9.58884643e-01 -5.18490952e-03 2.42201148e+02] [ 9.58643723e-01 2.83793849e-01 -2.15235780e-02 9.67275579e+01] [ 2.21100739e-02 1.13680757e-03 9.99754896e-01 2.36959281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.246875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:242.22, Y:96.76, Z:23.70 [[ 2.87645752e-01 -9.57722891e-01 -5.17557397e-03 2.42215735e+02] [ 9.57481746e-01 2.87689653e-01 -2.15260318e-02 9.67569798e+01] [ 2.21049325e-02 1.23635399e-03 9.99754892e-01 2.36997008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.22, Y:96.78, Z:23.70 [[ 2.83837503e-01 -9.58856745e-01 -5.47851142e-03 2.42219324e+02] [ 9.58617239e-01 2.83889140e-01 -2.14463200e-02 9.67798478e+01] [ 2.21192385e-02 8.35474426e-04 9.99754991e-01 2.36984195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.306875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:242.24, Y:96.81, Z:23.70 [[ 2.92181675e-01 -9.56348882e-01 -5.16572607e-03 2.42241020e+02] [ 9.56107491e-01 2.92224212e-01 -2.15284735e-02 9.68105982e+01] [ 2.20982818e-02 1.35123604e-03 9.99754890e-01 2.37033590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.336875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:242.24, Y:96.83, Z:23.70 [[ 2.86310048e-01 -9.58120449e-01 -5.63585614e-03 2.42241612e+02] [ 9.57881603e-01 2.86364581e-01 -2.14046909e-02 9.68329296e+01] [ 2.21221816e-02 7.29895157e-04 9.99755008e-01 2.36999562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.366875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:242.26, Y:96.86, Z:23.70 [[ 2.93852937e-01 -9.55836270e-01 -5.24184865e-03 2.42262269e+02] [ 9.55595150e-01 2.93896761e-01 -2.15081963e-02 9.68621600e+01] [ 2.20988764e-02 1.31116149e-03 9.99754930e-01 2.37039529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.396875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.26, Y:96.89, Z:23.70 [[ 2.88379835e-01 -9.57499510e-01 -5.63553892e-03 2.42264353e+02] [ 9.57260551e-01 2.88433846e-01 -2.14045446e-02 9.68853818e+01] [ 2.21203212e-02 7.77959956e-04 9.99755013e-01 2.36991323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.426875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:242.28, Y:96.92, Z:23.71 [[ 2.93320262e-01 -9.55999621e-01 -5.28663258e-03 2.42280381e+02] [ 9.55758735e-01 2.93365226e-01 -2.14961688e-02 9.69151161e+01] [ 2.21012434e-02 1.25251660e-03 9.99754953e-01 2.37057024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.29, Y:96.94, Z:23.71 [[ 2.95257671e-01 -9.55401180e-01 -5.61194390e-03 2.42293124e+02] [ 9.55161727e-01 2.95309435e-01 -2.14105943e-02 9.69403827e+01] [ 2.21129671e-02 9.61328194e-04 9.99755016e-01 2.37065984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.30, Y:96.97, Z:23.71 [[ 2.94461460e-01 -9.55646788e-01 -5.62725550e-03 2.42301371e+02] [ 9.55407453e-01 2.94513765e-01 -2.14065693e-02 9.69671607e+01] [ 2.21144234e-02 9.27087803e-04 9.99755016e-01 2.37072060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.516875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:242.30, Y:96.99, Z:23.70 [[ 2.89893673e-01 -9.57042415e-01 -5.61009888e-03 2.42303645e+02] [ 9.56803248e-01 2.89946738e-01 -2.14110753e-02 9.69905061e+01] [ 2.21179371e-02 8.39174447e-04 9.99755016e-01 2.37031660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.546875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.32, Y:97.02, Z:23.71 [[ 2.96272329e-01 -9.55088842e-01 -5.29260126e-03 2.42323201e+02] [ 9.54847852e-01 2.96316683e-01 -2.14942486e-02 9.70195348e+01] [ 2.20972030e-02 1.31452214e-03 9.99754963e-01 2.37075527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.57687500000003 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:242.33, Y:97.05, Z:23.71 [[ 2.96645656e-01 -9.54971095e-01 -5.61805011e-03 2.42332488e+02] [ 9.54731600e-01 2.96697208e-01 -2.14088465e-02 9.70452948e+01] [ 2.21116894e-02 9.87111352e-04 9.99755019e-01 2.37075147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.606875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:242.34, Y:97.07, Z:23.71 [[ 2.96539068e-01 -9.55004235e-01 -5.61180852e-03 2.42341511e+02] [ 9.54764716e-01 2.96590507e-01 -2.14104825e-02 9.70717843e+01] [ 2.21115106e-02 9.91087744e-04 9.99755019e-01 2.37079133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.63687500000003 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:242.35, Y:97.10, Z:23.71 [[ 2.96729001e-01 -9.54945273e-01 -5.60585435e-03 2.42350759e+02] [ 9.54705715e-01 2.96780260e-01 -2.14120413e-02 9.70982934e+01] [ 2.21110345e-02 1.00163245e-03 9.99755019e-01 2.37086532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.666875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.36, Y:97.12, Z:23.71 [[ 2.96953550e-01 -9.54875506e-01 -5.59974567e-03 2.42359815e+02] [ 9.54635907e-01 2.97004615e-01 -2.14136388e-02 9.71225088e+01] [ 2.21105095e-02 1.01313775e-03 9.99755019e-01 2.37064918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.69687500000003 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:242.37, Y:97.15, Z:23.71 [[ 2.98079707e-01 -9.54524899e-01 -5.54132412e-03 2.42369945e+02] [ 9.54284964e-01 2.98129182e-01 -2.14289028e-02 9.71501609e+01] [ 2.21064517e-02 1.09951877e-03 9.99755018e-01 2.37095544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.726875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:242.38, Y:97.18, Z:23.71 [[ 2.97804378e-01 -9.54610536e-01 -5.59262423e-03 2.42377113e+02] [ 9.54370857e-01 2.97855070e-01 -2.14155059e-02 9.71778297e+01] [ 2.21092590e-02 1.04019383e-03 9.99755019e-01 2.37102070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.38, Y:97.20, Z:23.70 [[ 2.92423190e-01 -9.56272696e-01 -5.58644561e-03 2.42378471e+02] [ 9.56033277e-01 2.92475093e-01 -2.14171175e-02 9.71992990e+01] [ 2.21145009e-02 9.22033909e-04 9.99755019e-01 2.37048836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.40, Y:97.23, Z:23.71 [[ 2.99240211e-01 -9.54163903e-01 -5.15194289e-03 2.42396846e+02] [ 9.53922191e-01 2.99280657e-01 -2.15300363e-02 9.72293514e+01] [ 2.20850603e-02 1.52809995e-03 9.99754928e-01 2.37133422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.41, Y:97.26, Z:23.71 [[ 2.99538430e-01 -9.54067920e-01 -5.57971225e-03 2.42405939e+02] [ 9.53828095e-01 2.99588398e-01 -2.14186012e-02 9.72564654e+01] [ 2.21064174e-02 1.09360788e-03 9.99755025e-01 2.37148759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.846875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:242.42, Y:97.28, Z:23.72 [[ 3.00277258e-01 -9.53835679e-01 -5.57364295e-03 2.42416454e+02] [ 9.53595788e-01 3.00326904e-01 -2.14201805e-02 9.72828489e+01] [ 2.21052474e-02 1.11699063e-03 9.99755025e-01 2.37159780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.876875 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:242.43, Y:97.31, Z:23.72 [[ 3.00264796e-01 -9.53839638e-01 -5.56749992e-03 2.42425063e+02] [ 9.53599719e-01 3.00314308e-01 -2.14217771e-02 9.73091277e+01] [ 2.21049400e-02 1.12303916e-03 9.99755025e-01 2.37157528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.43, Y:97.34, Z:23.72 [[ 2.99994818e-01 -9.53924622e-01 -5.56102726e-03 2.42433633e+02] [ 9.53684687e-01 3.00044253e-01 -2.14234572e-02 9.73361017e+01] [ 2.21049176e-02 1.12345960e-03 9.99755025e-01 2.37155301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.936875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.44, Y:97.36, Z:23.71 [[ 2.99155009e-01 -9.54188359e-01 -5.55484636e-03 2.42444375e+02] [ 9.53948439e-01 2.99204516e-01 -2.14250597e-02 9.73618857e+01] [ 2.21055777e-02 1.11037692e-03 9.99755025e-01 2.37125748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.966875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.45, Y:97.39, Z:23.71 [[ 2.98462635e-01 -9.54405193e-01 -5.54833736e-03 2.42453544e+02] [ 9.54165279e-01 2.98512171e-01 -2.14267452e-02 9.73880204e+01] [ 2.21060431e-02 1.10105196e-03 9.99755025e-01 2.37109762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.996875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.46, Y:97.41, Z:23.71 [[ 2.97081312e-01 -9.54836101e-01 -5.54213120e-03 2.42462454e+02] [ 9.54596230e-01 2.97131056e-01 -2.14283503e-02 9.74146006e+01] [ 2.21073018e-02 1.07546488e-03 9.99755025e-01 2.37101609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.47, Y:97.44, Z:23.71 [[ 2.94148466e-01 -9.55743705e-01 -5.53622194e-03 2.42473172e+02] [ 9.55503960e-01 2.94198814e-01 -2.14298770e-02 9.74411328e+01] [ 2.21102199e-02 1.01368345e-03 9.99755025e-01 2.37096555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.48, Y:97.47, Z:23.71 [[ 2.92694659e-01 -9.56189968e-01 -5.53006926e-03 2.42481830e+02] [ 9.55950271e-01 2.92745234e-01 -2.14314646e-02 9.74669815e+01] [ 2.21114528e-02 9.86404011e-04 9.99755025e-01 2.37093779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.49, Y:97.49, Z:23.71 [[ 2.90656656e-01 -9.56811475e-01 -5.52359200e-03 2.42490166e+02] [ 9.56571855e-01 2.90707597e-01 -2.14331338e-02 9.74938327e+01] [ 2.21132186e-02 9.45970361e-04 9.99755025e-01 2.37098241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.50, Y:97.52, Z:23.71 [[ 2.88689804e-01 -9.57406786e-01 -5.51753646e-03 2.42498774e+02] [ 9.57167243e-01 2.88741102e-01 -2.14346926e-02 9.75206409e+01] [ 2.21148597e-02 9.06772048e-04 9.99755025e-01 2.37105783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.146875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.51, Y:97.55, Z:23.71 [[ 2.84923270e-01 -9.58534482e-01 -5.51150637e-03 2.42509785e+02] [ 9.58295113e-01 2.84975375e-01 -2.14362430e-02 9.75468917e+01] [ 2.21180217e-02 8.26034839e-04 9.99755025e-01 2.37120826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.52, Y:97.57, Z:23.71 [[ 2.82957145e-01 -9.59116752e-01 -5.50543207e-03 2.42518808e+02] [ 9.58877461e-01 2.83009605e-01 -2.14378029e-02 9.75735570e+01] [ 2.21194461e-02 7.86944792e-04 9.99755025e-01 2.37133860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.53, Y:97.60, Z:23.72 [[ 2.79993336e-01 -9.59986192e-01 -5.49934538e-03 2.42529462e+02] [ 9.59747033e-01 2.80046399e-01 -2.14393642e-02 9.75996619e+01] [ 2.21215655e-02 7.24898702e-04 9.99755025e-01 2.37150865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.236875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.53, Y:97.62, Z:23.71 [[ 2.74563561e-01 -9.61553262e-01 -5.49326649e-03 2.42530928e+02] [ 9.61314376e-01 2.74617839e-01 -2.14409217e-02 9.76226040e+01] [ 2.21251371e-02 6.06139761e-04 9.99755025e-01 2.37131112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.266875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.54, Y:97.65, Z:23.71 [[ 2.73164040e-01 -9.61953553e-01 -5.17390283e-03 2.42538694e+02] [ 9.61713175e-01 2.73211540e-01 -2.15226361e-02 9.76479412e+01] [ 2.21173463e-02 9.03399721e-04 9.99754973e-01 2.37142810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.56, Y:97.68, Z:23.72 [[ 2.76154522e-01 -9.61099711e-01 -5.10144436e-03 2.42556504e+02] [ 9.60858850e-01 2.76199654e-01 -2.15411706e-02 9.76785572e+01] [ 2.21122300e-02 1.04692371e-03 9.99754947e-01 2.37187472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.56, Y:97.71, Z:23.72 [[ 2.75577246e-01 -9.61263227e-01 -5.49458819e-03 2.42564814e+02] [ 9.61024294e-01 2.75631302e-01 -2.14404205e-02 9.77050975e+01] [ 2.21243683e-02 6.28059305e-04 9.99755029e-01 2.37202342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.57, Y:97.73, Z:23.72 [[ 2.75046551e-01 -9.61415244e-01 -5.48848269e-03 2.42572317e+02] [ 9.61176311e-01 2.75100603e-01 -2.14419833e-02 9.77309832e+01] [ 2.21245345e-02 6.22144016e-04 9.99755029e-01 2.37208224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.58, Y:97.76, Z:23.72 [[ 2.74908018e-01 -9.61454902e-01 -5.48204266e-03 2.42580117e+02] [ 9.61215944e-01 2.74961961e-01 -2.14436297e-02 9.77583056e+01] [ 2.21244361e-02 6.25598948e-04 9.99755029e-01 2.37209465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.59, Y:97.79, Z:23.72 [[ 2.75320699e-01 -9.61336897e-01 -5.46660836e-03 2.42587631e+02] [ 9.61097838e-01 2.75374195e-01 -2.14475718e-02 9.77858680e+01] [ 2.21237050e-02 6.51014997e-04 9.99755029e-01 2.37205489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.59, Y:97.81, Z:23.72 [[ 2.75362868e-01 -9.61324772e-01 -5.47479553e-03 2.42594426e+02] [ 9.61085752e-01 2.75416536e-01 -2.14454817e-02 9.78121164e+01] [ 2.21239221e-02 6.43541378e-04 9.99755029e-01 2.37205516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.60, Y:97.84, Z:23.72 [[ 2.75595967e-01 -9.61258009e-01 -5.46836312e-03 2.42601560e+02] [ 9.61018944e-01 2.75649434e-01 -2.14471218e-02 9.78388383e+01] [ 2.21235688e-02 6.55539729e-04 9.99755029e-01 2.37217937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.61, Y:97.87, Z:23.72 [[ 2.75204141e-01 -9.61370371e-01 -5.44883158e-03 2.42609425e+02] [ 9.61131231e-01 2.75257270e-01 -2.14520973e-02 9.78658210e+01] [ 2.21232412e-02 6.66663795e-04 9.99755029e-01 2.37228576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.61, Y:97.89, Z:23.72 [[ 2.68976260e-01 -9.63131324e-01 -5.46117052e-03 2.42608610e+02] [ 9.62892596e-01 2.69031210e-01 -2.14489556e-02 9.78877961e+01] [ 2.21273863e-02 5.10739202e-04 9.99755029e-01 2.37202138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.61, Y:97.91, Z:23.72 [[ 2.67273153e-01 -9.63607675e-01 -5.03099562e-03 2.42614324e+02] [ 9.63366918e-01 2.67318932e-01 -2.15585203e-02 9.79120680e+01] [ 2.21188360e-02 9.15318961e-04 9.99754930e-01 2.37188168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.62, Y:97.94, Z:23.72 [[ 2.66704013e-01 -9.63766287e-01 -4.84905239e-03 2.42621107e+02] [ 9.63524711e-01 2.66745864e-01 -2.16049852e-02 9.79391565e+01] [ 2.21156211e-02 1.08995447e-03 9.99754826e-01 2.37189728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.626875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.64, Y:97.97, Z:23.73 [[ 2.73609336e-01 -9.61828841e-01 -4.81784198e-03 2.42639262e+02] [ 9.61586835e-01 2.73648753e-01 -2.16129522e-02 9.79734311e+01] [ 2.21063572e-02 1.28073206e-03 9.99754804e-01 2.37256141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.64, Y:97.99, Z:23.72 [[ 2.64589723e-01 -9.64345422e-01 -5.49410434e-03 2.42636213e+02] [ 9.64107139e-01 2.64646492e-01 -2.14396595e-02 9.79939067e+01] [ 2.21292329e-02 3.75808353e-04 9.99755048e-01 2.37189717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.686875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.64, Y:98.02, Z:23.72 [[ 2.62970419e-01 -9.64791180e-01 -4.95362681e-03 2.42642497e+02] [ 9.64550266e-01 2.63015544e-01 -2.15779494e-02 9.80206044e+01] [ 2.21210961e-02 8.96340358e-04 9.99754897e-01 2.37182130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.65, Y:98.05, Z:23.72 [[ 2.63844055e-01 -9.64553086e-01 -4.86405383e-03 2.42652783e+02] [ 9.64311711e-01 2.63886958e-01 -2.16008532e-02 9.80488533e+01] [ 2.21187300e-02 1.00879264e-03 9.99754842e-01 2.37200309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.67, Y:98.08, Z:23.73 [[ 2.68077820e-01 -9.63384154e-01 -5.02541898e-03 2.42670230e+02] [ 9.63143341e-01 2.68123274e-01 -2.15595849e-02 9.80806835e+01] [ 2.21175943e-02 9.39447698e-04 9.99754935e-01 2.37267620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.67, Y:98.10, Z:23.72 [[ 2.61099047e-01 -9.65296373e-01 -5.49537524e-03 2.42668319e+02] [ 9.65058309e-01 2.61156706e-01 -2.14391263e-02 9.81021080e+01] [ 2.21302649e-02 2.94377909e-04 9.99755052e-01 2.37229961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.69, Y:98.14, Z:23.73 [[ 2.65123479e-01 -9.64201250e-01 -5.04889088e-03 2.42685139e+02] [ 9.63960697e-01 2.65170195e-01 -2.15532435e-02 9.81351681e+01] [ 2.21204797e-02 8.47338525e-04 9.99754953e-01 2.37308767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.69, Y:98.16, Z:23.73 [[ 2.63947762e-01 -9.64521346e-01 -5.49108484e-03 2.42692209e+02] [ 9.64283095e-01 2.64004622e-01 -2.14399937e-02 9.81619837e+01] [ 2.21290034e-02 3.64078077e-04 9.99755057e-01 2.37322179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.70, Y:98.19, Z:23.73 [[ 2.63062533e-01 -9.64763194e-01 -5.48489533e-03 2.42699088e+02] [ 9.64524961e-01 2.63119474e-01 -2.14415771e-02 9.81877583e+01] [ 2.21292271e-02 3.50157112e-04 9.99755057e-01 2.37324244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.896875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:242.71, Y:98.22, Z:23.73 [[ 2.61183246e-01 -9.65273692e-01 -5.47837793e-03 2.42706214e+02] [ 9.65035536e-01 2.61240506e-01 -2.14432421e-02 9.82154684e+01] [ 2.21297717e-02 3.13786198e-04 9.99755057e-01 2.37311369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.71, Y:98.24, Z:23.73 [[ 2.59865606e-01 -9.65629286e-01 -5.47260235e-03 2.42712908e+02] [ 9.65391178e-01 2.59923063e-01 -2.14447160e-02 9.82416281e+01] [ 2.21301014e-02 2.89542098e-04 9.99755057e-01 2.37297713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.72, Y:98.27, Z:23.73 [[ 2.58302227e-01 -9.66048684e-01 -5.46810438e-03 2.42719876e+02] [ 9.65810645e-01 2.58359970e-01 -2.14458629e-02 9.82687383e+01] [ 2.21304869e-02 2.58360736e-04 9.99755057e-01 2.37289395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.986875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:242.73, Y:98.30, Z:23.73 [[ 2.55890877e-01 -9.66690243e-01 -5.46198147e-03 2.42727828e+02] [ 9.66452315e-01 2.55949077e-01 -2.14474222e-02 9.82953812e+01] [ 2.21310029e-02 2.09455032e-04 9.99755057e-01 2.37274748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.74, Y:98.32, Z:23.73 [[ 2.54538471e-01 -9.67047248e-01 -5.45770229e-03 2.42735214e+02] [ 9.66809379e-01 2.54596909e-01 -2.14485111e-02 9.83220931e+01] [ 2.21312378e-02 1.82913458e-04 9.99755057e-01 2.37296782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.74, Y:98.35, Z:23.73 [[ 2.52299238e-01 -9.67633905e-01 -5.45171655e-03 2.42743177e+02] [ 9.67396138e-01 2.52358095e-01 -2.14500324e-02 9.83495371e+01] [ 2.21315634e-02 1.37857307e-04 9.99755057e-01 2.37347693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.75, Y:98.38, Z:23.74 [[ 2.51273739e-01 -9.67900744e-01 -5.44588857e-03 2.42749970e+02] [ 9.67663008e-01 2.51332718e-01 -2.14515120e-02 9.83755406e+01] [ 2.21316644e-02 1.20416696e-04 9.99755057e-01 2.37368156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.75, Y:98.40, Z:23.73 [[ 2.45195324e-01 -9.69458428e-01 -5.44145436e-03 2.42750356e+02] [ 9.69221042e-01 2.45255695e-01 -2.14526367e-02 9.83986373e+01] [ 2.21319871e-02 -1.38858615e-05 9.99755058e-01 2.37348698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.76, Y:98.43, Z:23.74 [[ 2.48878118e-01 -9.68521369e-01 -5.10304292e-03 2.42764060e+02] [ 9.68281944e-01 2.48930076e-01 -2.15382170e-02 9.84285642e+01] [ 2.21305243e-02 4.19206603e-04 9.99755002e-01 2.37425831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.77, Y:98.46, Z:23.75 [[ 2.47940235e-01 -9.68760091e-01 -5.43380323e-03 2.42771402e+02] [ 9.68522495e-01 2.47999765e-01 -2.14544461e-02 9.84557705e+01] [ 2.21317931e-02 5.66597644e-05 9.99755060e-01 2.37451070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.77, Y:98.48, Z:23.74 [[ 2.41958138e-01 -9.70271508e-01 -5.42772378e-03 2.42771478e+02] [ 9.70034250e-01 2.42018998e-01 -2.14559841e-02 9.84793038e+01] [ 2.21317423e-02 -7.36280157e-05 9.99755060e-01 2.37419722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.78, Y:98.51, Z:23.74 [[ 2.46424825e-01 -9.69148722e-01 -5.05567721e-03 2.42784382e+02] [ 9.68909193e-01 2.46476337e-01 -2.15497340e-02 9.85102478e+01] [ 2.21310020e-02 4.11897318e-04 9.99754995e-01 2.37449310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.79, Y:98.53, Z:23.74 [[ 2.42094724e-01 -9.70237509e-01 -5.41493483e-03 2.42785638e+02] [ 9.70000172e-01 2.42155268e-01 -2.14590813e-02 9.85344977e+01] [ 2.21316606e-02 -5.73573364e-05 9.99755063e-01 2.37388363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.79, Y:98.56, Z:23.73 [[ 2.41473613e-01 -9.70393691e-01 -5.15546297e-03 2.42791576e+02] [ 9.70154965e-01 2.41528561e-01 -2.15243493e-02 9.85617120e+01] [ 2.21322843e-02 1.95964390e-04 9.99755032e-01 2.37342246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.80, Y:98.59, Z:23.74 [[ 2.44677234e-01 -9.69590961e-01 -5.14007815e-03 2.42803069e+02] [ 9.69351973e-01 2.44731052e-01 -2.15282178e-02 9.85908581e+01] [ 2.21315021e-02 2.84919882e-04 9.99755028e-01 2.37381525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.80, Y:98.61, Z:23.73 [[ 2.39422471e-01 -9.70900453e-01 -5.40287483e-03 2.42803792e+02] [ 9.70663217e-01 2.39483401e-01 -2.14620620e-02 9.86149834e+01] [ 2.21314245e-02 -1.05871957e-04 9.99755064e-01 2.37339752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.82, Y:98.65, Z:23.74 [[ 2.43062010e-01 -9.69997413e-01 -5.08697072e-03 2.42816382e+02] [ 9.69758239e-01 2.43115048e-01 -2.15414077e-02 9.86455194e+01] [ 2.21318289e-02 3.02766102e-04 9.99755015e-01 2.37405521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.82, Y:98.67, Z:23.74 [[ 2.42154848e-01 -9.70222606e-01 -5.39668116e-03 2.42822836e+02] [ 9.69985167e-01 2.42214973e-01 -2.14635369e-02 9.86723214e+01] [ 2.21315657e-02 -3.72011561e-05 9.99755066e-01 2.37430159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.82, Y:98.70, Z:23.74 [[ 2.36014012e-01 -9.71734702e-01 -5.39022760e-03 2.42823475e+02] [ 9.71497611e-01 2.36075495e-01 -2.14651575e-02 9.86967926e+01] [ 2.21309391e-02 -1.70515304e-04 9.99755066e-01 2.37411526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.83, Y:98.72, Z:23.74 [[ 2.34609319e-01 -9.72076304e-01 -5.11151459e-03 2.42829138e+02] [ 9.71837740e-01 2.34664980e-01 -2.15349595e-02 9.87226211e+01] [ 2.21331173e-02 8.47393900e-05 9.99755029e-01 2.37425559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.84, Y:98.75, Z:23.75 [[ 2.38437810e-01 -9.71144498e-01 -5.07690117e-03 2.42842651e+02] [ 9.70905531e-01 2.38491763e-01 -2.15436407e-02 9.87526442e+01] [ 2.21327872e-02 2.07627074e-04 9.99755018e-01 2.37521653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:98.78, Z:23.76 [[ 2.35587137e-01 -9.71838280e-01 -5.39069253e-03 2.42849607e+02] [ 9.71601222e-01 2.35648734e-01 -2.14648361e-02 9.87802598e+01] [ 2.21306592e-02 -1.80764175e-04 9.99755071e-01 2.37553486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.86, Y:98.81, Z:23.76 [[ 2.33871686e-01 -9.72252560e-01 -5.38464138e-03 2.42856308e+02] [ 9.72015577e-01 2.33933568e-01 -2.14663540e-02 9.88075312e+01] [ 2.21303660e-02 -2.13582901e-04 9.99755071e-01 2.37557739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.86, Y:98.84, Z:23.76 [[ 2.32351224e-01 -9.72617078e-01 -5.37858762e-03 2.42863181e+02] [ 9.72380156e-01 2.32413343e-01 -2.14678707e-02 9.88350374e+01] [ 2.21300732e-02 -2.41945832e-04 9.99755071e-01 2.37560124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.87, Y:98.86, Z:23.76 [[ 2.32076742e-01 -9.72682642e-01 -5.37252527e-03 2.42870054e+02] [ 9.72445703e-01 2.32138794e-01 -2.14693877e-02 9.88627976e+01] [ 2.21300723e-02 -2.41943569e-04 9.99755071e-01 2.37566428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.88, Y:98.89, Z:23.76 [[ 2.29022290e-01 -9.73406386e-01 -5.36646469e-03 2.42876564e+02] [ 9.73169608e-01 2.29084951e-01 -2.14709025e-02 9.88899313e+01] [ 2.21292899e-02 -3.05165078e-04 9.99755071e-01 2.37559067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.88, Y:98.92, Z:23.76 [[ 2.27597288e-01 -9.73740592e-01 -5.36042807e-03 2.42883084e+02] [ 9.73503870e-01 2.27660163e-01 -2.14724095e-02 9.89170329e+01] [ 2.21289127e-02 -3.31335299e-04 9.99755071e-01 2.37564697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.89, Y:98.94, Z:23.76 [[ 2.26365390e-01 -9.74027741e-01 -5.35443927e-03 2.42889657e+02] [ 9.73791064e-01 2.26428433e-01 -2.14739028e-02 9.89446031e+01] [ 2.21285743e-02 -3.53156718e-04 9.99755071e-01 2.37578711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.736875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.90, Y:98.97, Z:23.76 [[ 2.25184087e-01 -9.74301556e-01 -5.34834235e-03 2.42895553e+02] [ 9.74064920e-01 2.25247282e-01 -2.14754212e-02 9.89714145e+01] [ 2.21282359e-02 -3.73709540e-04 9.99755071e-01 2.37586346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.90, Y:99.00, Z:23.76 [[ 2.24584258e-01 -9.74440031e-01 -5.34193018e-03 2.42900726e+02] [ 9.74203396e-01 2.24647458e-01 -2.14770161e-02 9.89993071e+01] [ 2.21281153e-02 -3.80726798e-04 9.99755071e-01 2.37584547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.91, Y:99.03, Z:23.76 [[ 2.24635745e-01 -9.74428061e-01 -5.36058223e-03 2.42905874e+02] [ 9.74191533e-01 2.24699343e-01 -2.14723811e-02 9.90263481e+01] [ 2.21278100e-02 -3.98769497e-04 9.99755071e-01 2.37583514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.91, Y:99.05, Z:23.75 [[ 2.27090837e-01 -9.73859006e-01 -5.32814091e-03 2.42910587e+02] [ 9.73622129e-01 2.27153124e-01 -2.14804280e-02 9.90541917e+01] [ 2.21292121e-02 -3.09587513e-04 9.99755071e-01 2.37544263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.92, Y:99.08, Z:23.75 [[ 2.28752432e-01 -9.73470082e-01 -5.32204444e-03 2.42916109e+02] [ 9.73233064e-01 2.28814180e-01 -2.14819384e-02 9.90806956e+01] [ 2.21297836e-02 -2.65543953e-04 9.99755071e-01 2.37521517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.92, Y:99.11, Z:23.75 [[ 2.30869999e-01 -9.72970075e-01 -5.31758627e-03 2.42922382e+02] [ 9.72732898e-01 2.30931132e-01 -2.14830419e-02 9.91085466e+01] [ 2.21303531e-02 -2.12801249e-04 9.99755071e-01 2.37515880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.916875 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:242.92, Y:99.13, Z:23.74 [[ 2.31652766e-01 -9.72784038e-01 -5.31150553e-03 2.42922754e+02] [ 9.72546777e-01 2.31713574e-01 -2.14845452e-02 9.91339555e+01] [ 2.21305706e-02 -1.88733254e-04 9.99755071e-01 2.37414730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.93, Y:99.16, Z:23.75 [[ 2.37549310e-01 -9.71362062e-01 -5.10591859e-03 2.42933978e+02] [ 9.71123325e-01 2.37604125e-01 -2.15352562e-02 9.91620977e+01] [ 2.21317182e-02 1.57208609e-04 9.99755051e-01 2.37485141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.976875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.94, Y:99.19, Z:23.75 [[ 2.39954888e-01 -9.70769560e-01 -5.30216080e-03 2.42939964e+02] [ 9.70531738e-01 2.40013460e-01 -2.14868313e-02 9.91894547e+01] [ 2.21313518e-02 9.95487444e-06 9.99755072e-01 2.37533179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.00687500000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.95, Y:99.22, Z:23.75 [[ 2.39684701e-01 -9.70836336e-01 -5.29651370e-03 2.42946731e+02] [ 9.70598500e-01 2.39743214e-01 -2.14882233e-02 9.92172334e+01] [ 2.21313512e-02 9.61012152e-06 9.99755072e-01 2.37539484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.95, Y:99.24, Z:23.76 [[ 2.40088367e-01 -9.70736620e-01 -5.29053137e-03 2.42952903e+02] [ 9.70498727e-01 2.40146649e-01 -2.14896961e-02 9.92443075e+01] [ 2.21313383e-02 2.49720785e-05 9.99755072e-01 2.37598557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.066875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.96, Y:99.27, Z:23.76 [[ 2.39895099e-01 -9.70784433e-01 -5.28462417e-03 2.42959439e+02] [ 9.70546519e-01 2.39953297e-01 -2.14911486e-02 9.92713271e+01] [ 2.21313355e-02 2.66476218e-05 9.99755072e-01 2.37644078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.096875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.97, Y:99.30, Z:23.77 [[ 2.37207898e-01 -9.71444565e-01 -5.27924970e-03 2.42965240e+02] [ 9.71206784e-01 2.37266636e-01 -2.14924688e-02 9.92991334e+01] [ 2.21313318e-02 -2.90597808e-05 9.99755072e-01 2.37690333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.126875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.97, Y:99.33, Z:23.77 [[ 2.38414477e-01 -9.71149185e-01 -5.27228250e-03 2.42972423e+02] [ 9.70911294e-01 2.38472765e-01 -2.14941779e-02 9.93255196e+01] [ 2.21313492e-02 5.60456928e-06 9.99755072e-01 2.37709681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.156875 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:242.98, Y:99.36, Z:23.77 [[ 2.39850078e-01 -9.70795653e-01 -5.26689199e-03 2.42983436e+02] [ 9.70557647e-01 2.39907895e-01 -2.14954987e-02 9.93566227e+01] [ 2.21313057e-02 4.38747572e-05 9.99755072e-01 2.37739579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.186875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.98, Y:99.38, Z:23.77 [[ 2.39529846e-01 -9.70872740e-01 -5.61915365e-03 2.42984742e+02] [ 9.70636717e-01 2.39595525e-01 -2.14090878e-02 9.93786957e+01] [ 2.21318238e-02 -3.26041352e-04 9.99755008e-01 2.37697642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.99, Y:99.41, Z:23.77 [[ 2.38494367e-01 -9.71129681e-01 -5.25163304e-03 2.42990554e+02] [ 9.70891681e-01 2.38552178e-01 -2.14988655e-02 9.94066689e+01] [ 2.21309749e-02 2.85914737e-05 9.99755080e-01 2.37662720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.246875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.00, Y:99.43, Z:23.76 [[ 2.42538955e-01 -9.70127311e-01 -5.27788749e-03 2.42997634e+02] [ 9.69889211e-01 2.42596356e-01 -2.14924577e-02 9.94324014e+01] [ 2.21308165e-02 9.37921075e-05 9.99755079e-01 2.37630750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.00, Y:99.46, Z:23.76 [[ 2.43388721e-01 -9.69914660e-01 -5.24243655e-03 2.43004423e+02] [ 9.69676324e-01 2.43445127e-01 -2.15011014e-02 9.94589786e+01] [ 2.21304791e-02 1.49658967e-04 9.99755080e-01 2.37608179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.01, Y:99.49, Z:23.76 [[ 2.43896361e-01 -9.69787156e-01 -5.23798617e-03 2.43011595e+02] [ 9.69548767e-01 2.43952545e-01 -2.15021856e-02 9.94867049e+01] [ 2.21303634e-02 1.65821784e-04 9.99755080e-01 2.37589011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.02, Y:99.51, Z:23.76 [[ 2.43833958e-01 -9.69802879e-01 -5.23231414e-03 2.43018792e+02] [ 9.69564464e-01 2.43890031e-01 -2.15035657e-02 9.95140522e+01] [ 2.21303292e-02 1.70233691e-04 9.99755080e-01 2.37576476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.03, Y:99.54, Z:23.76 [[ 2.43892082e-01 -9.69788296e-01 -5.22616948e-03 2.43027354e+02] [ 9.69549846e-01 2.43948005e-01 -2.15050590e-02 9.95403528e+01] [ 2.21302681e-02 1.77881808e-04 9.99755080e-01 2.37561850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.03, Y:99.57, Z:23.75 [[ 2.40231999e-01 -9.70701458e-01 -5.22168282e-03 2.43031249e+02] [ 9.70463197e-01 2.40288721e-01 -2.15061483e-02 9.95655977e+01] [ 2.21307610e-02 9.90140077e-05 9.99755080e-01 2.37520386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.04, Y:99.59, Z:23.76 [[ 2.41417917e-01 -9.70408072e-01 -5.05611293e-03 2.43044383e+02] [ 9.70168888e-01 2.41470675e-01 -2.15462783e-02 9.95928220e+01] [ 2.21295854e-02 2.96374171e-04 9.99755067e-01 2.37612058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.05, Y:99.62, Z:23.76 [[ 2.40331707e-01 -9.70676817e-01 -5.21417793e-03 2.43052420e+02] [ 9.70438510e-01 2.40388238e-01 -2.15079589e-02 9.96197270e+01] [ 2.21307042e-02 1.09005425e-04 9.99755080e-01 2.37644625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.06, Y:99.65, Z:23.77 [[ 2.38916898e-01 -9.71026050e-01 -5.20827780e-03 2.43060064e+02] [ 9.70787795e-01 2.38973646e-01 -2.15093876e-02 9.96465758e+01] [ 2.21308168e-02 8.28236447e-05 9.99755080e-01 2.37679344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.07, Y:99.67, Z:23.77 [[ 2.37382430e-01 -9.71402347e-01 -5.20221560e-03 2.43068429e+02] [ 9.71164149e-01 2.37439420e-01 -2.15108537e-02 9.96730956e+01] [ 2.21309048e-02 5.40934318e-05 9.99755080e-01 2.37731317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.08, Y:99.70, Z:23.77 [[ 2.38100304e-01 -9.71226670e-01 -5.19616122e-03 2.43078295e+02] [ 9.70988399e-01 2.38156984e-01 -2.15123161e-02 9.97026044e+01] [ 2.21308372e-02 7.66767341e-05 9.99755080e-01 2.37745791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.09, Y:99.73, Z:23.77 [[ 2.39138065e-01 -9.70970743e-01 -5.36686270e-03 2.43087496e+02] [ 9.70733321e-01 2.39198269e-01 -2.14710767e-02 9.97295866e+01] [ 2.21315315e-02 -7.52407315e-05 9.99755065e-01 2.37735246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.10, Y:99.76, Z:23.77 [[ 2.40760848e-01 -9.70569252e-01 -5.43517702e-03 2.43095196e+02] [ 9.70332101e-01 2.40822165e-01 -2.14545845e-02 9.97577168e+01] [ 2.21320711e-02 -1.08502779e-04 9.99755050e-01 2.37730693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.10, Y:99.78, Z:23.77 [[ 2.42797941e-01 -9.70061629e-01 -5.44024255e-03 2.43102420e+02] [ 9.69824377e-01 2.42858872e-01 -2.14533626e-02 9.97834879e+01] [ 2.21322950e-02 -6.72475849e-05 9.99755049e-01 2.37705201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.11, Y:99.81, Z:23.76 [[ 2.43553189e-01 -9.69872324e-01 -5.43318269e-03 2.43106374e+02] [ 9.69634986e-01 2.43613779e-01 -2.14550658e-02 9.98062962e+01] [ 2.21322727e-02 -4.27543385e-05 9.99755050e-01 2.37642284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.11, Y:99.83, Z:23.76 [[ 2.43881031e-01 -9.69791348e-01 -5.17543901e-03 2.43114481e+02] [ 9.69552643e-01 2.43935831e-01 -2.15170609e-02 9.98336139e+01] [ 2.21295345e-02 2.29742434e-04 9.99755085e-01 2.37624388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.12, Y:99.86, Z:23.76 [[ 2.43291622e-01 -9.69939412e-01 -5.16945378e-03 2.43124226e+02] [ 9.69700710e-01 2.43346434e-01 -2.15184988e-02 9.98611050e+01] [ 2.21296082e-02 2.22447458e-04 9.99755086e-01 2.37586448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.13, Y:99.89, Z:23.76 [[ 2.41796190e-01 -9.70313123e-01 -5.20061357e-03 2.43131921e+02] [ 9.70074665e-01 2.41852061e-01 -2.15110208e-02 9.98867440e+01] [ 2.21302048e-02 1.56299394e-04 9.99755085e-01 2.37637674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.15, Y:99.91, Z:23.77 [[ 2.37567118e-01 -9.71357424e-01 -5.15932757e-03 2.43146995e+02] [ 9.71118997e-01 2.37623112e-01 -2.15209185e-02 9.99139941e+01] [ 2.21304794e-02 1.02341562e-04 9.99755086e-01 2.37677620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.15, Y:99.94, Z:23.77 [[ 2.31910944e-01 -9.72722338e-01 -5.34485554e-03 2.43152927e+02] [ 9.72485249e-01 2.31972425e-01 -2.14763627e-02 9.99385647e+01] [ 2.21303968e-02 -2.17189640e-04 9.99755069e-01 2.37738228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.16, Y:99.96, Z:23.79 [[ 2.26030997e-01 -9.74105875e-01 -5.26622701e-03 2.43163526e+02] [ 9.73868721e-01 2.26092175e-01 -2.14951955e-02 9.99640859e+01] [ 2.21292490e-02 -2.70033290e-04 9.99755082e-01 2.37858506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.17, Y:99.99, Z:23.78 [[ 2.24047121e-01 -9.74564241e-01 -5.23722935e-03 2.43171463e+02] [ 9.74327049e-01 2.24108143e-01 -2.15021258e-02 9.99902549e+01] [ 2.21289086e-02 -2.85284841e-04 9.99755085e-01 2.37833426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.18, Y:100.02, Z:23.78 [[ 2.20914968e-01 -9.75279546e-01 -5.13653578e-03 2.43178806e+02] [ 9.75041990e-01 2.20974530e-01 -2.15261532e-02 1.00016256e+02] [ 2.21290606e-02 -2.52888618e-04 9.99755090e-01 2.37848500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.19, Y:100.04, Z:23.78 [[ 2.18175756e-01 -9.75896010e-01 -5.13003163e-03 2.43185944e+02] [ 9.75658586e-01 2.18235841e-01 -2.15277032e-02 1.00041984e+02] [ 2.21283564e-02 -3.08336491e-04 9.99755090e-01 2.37837914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.20, Y:100.07, Z:23.78 [[ 2.14517596e-01 -9.76706688e-01 -5.12320626e-03 2.43200039e+02] [ 9.76469451e-01 2.14578421e-01 -2.15293274e-02 1.00074430e+02] [ 2.21271675e-02 -3.84234860e-04 9.99755090e-01 2.37784915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.21, Y:100.10, Z:23.78 [[ 2.10374758e-01 -9.77605144e-01 -5.53576684e-03 2.43206176e+02] [ 9.77370627e-01 2.10445646e-01 -2.14310173e-02 1.00102030e+02] [ 2.21160507e-02 -9.01950835e-04 9.99755003e-01 2.37764693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.026875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:243.21, Y:100.12, Z:23.78 [[ 2.01731579e-01 -9.79425523e-01 -5.47858954e-03 2.43205827e+02] [ 9.79191280e-01 2.01803287e-01 -2.14445927e-02 1.00124515e+02] [ 2.21089788e-02 -1.03853556e-03 9.99755027e-01 2.37774045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.21, Y:100.15, Z:23.78 [[ 1.98906219e-01 -9.80005295e-01 -5.09287782e-03 2.43210998e+02] [ 9.79768894e-01 1.98970155e-01 -2.15358092e-02 1.00152195e+02] [ 2.21185377e-02 -7.06236888e-04 9.99755106e-01 2.37808710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.086875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:243.22, Y:100.18, Z:23.79 [[ 1.96271595e-01 -9.80536374e-01 -5.08716489e-03 2.43215295e+02] [ 9.80300112e-01 1.96336041e-01 -2.15371586e-02 1.00178732e+02] [ 2.21167612e-02 -7.59815826e-04 9.99755106e-01 2.37854145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.22, Y:100.21, Z:23.79 [[ 1.91965176e-01 -9.81388587e-01 -5.08070775e-03 2.43215693e+02] [ 9.81152570e-01 1.92030517e-01 -2.15386818e-02 1.00206921e+02] [ 2.21134674e-02 -8.50272635e-04 9.99755106e-01 2.37906897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.146875 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:243.22, Y:100.24, Z:23.79 [[ 1.89732833e-01 -9.81822644e-01 -5.07427157e-03 2.43218791e+02] [ 9.81586737e-01 1.89798570e-01 -2.15401980e-02 1.00236616e+02] [ 2.21117436e-02 -8.93954886e-04 9.99755106e-01 2.37922049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.176875 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:243.22, Y:100.26, Z:23.79 [[ 1.88499887e-01 -9.82059483e-01 -5.19280918e-03 2.43219501e+02] [ 9.81824392e-01 1.88568513e-01 -2.15122864e-02 1.00262713e+02] [ 2.21055452e-02 -1.04336316e-03 9.99755098e-01 2.37904357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.206875 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:243.22, Y:100.29, Z:23.79 [[ 1.88103572e-01 -9.82136161e-01 -5.06042001e-03 2.43220095e+02] [ 9.81900281e-01 1.88169397e-01 -2.15433841e-02 1.00289564e+02] [ 2.21107527e-02 -9.16440321e-04 9.99755107e-01 2.37892322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.236875 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:243.21, Y:100.32, Z:23.78 [[ 1.90898381e-01 -9.81596798e-01 -5.05311685e-03 2.43214987e+02] [ 9.81360687e-01 1.90963374e-01 -2.15450969e-02 1.00318397e+02] [ 2.21135584e-02 -8.46006095e-04 9.99755107e-01 2.37839557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.266875 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:243.22, Y:100.35, Z:23.78 [[ 1.93026937e-01 -9.81180483e-01 -5.04593137e-03 2.43215785e+02] [ 9.80944189e-01 1.93091260e-01 -2.15467797e-02 1.00346648e+02] [ 2.21156049e-02 -7.90668183e-04 9.99755107e-01 2.37826470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.296875 meters Centerline goodness : 0.985787 Centerline is valid? [True, True] Translation: X:243.21, Y:100.37, Z:23.78 [[ 1.98870369e-01 -9.80012851e-01 -5.03871267e-03 2.43209944e+02] [ 9.79776135e-01 1.98933125e-01 -2.15484676e-02 1.00374693e+02] [ 2.21201421e-02 -6.51458713e-04 9.99755107e-01 2.37834242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.32687500000003 meters Centerline goodness : 0.982085 Centerline is valid? [True, True] Translation: X:243.21, Y:100.40, Z:23.79 [[ 2.00069155e-01 -9.79768859e-01 -5.03145213e-03 2.43211049e+02] [ 9.79532025e-01 2.00131461e-01 -2.15501628e-02 1.00403080e+02] [ 2.21211303e-02 -6.16945621e-04 9.99755108e-01 2.37859466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.356875 meters Centerline goodness : 0.977702 Centerline is valid? [True, True] Translation: X:243.21, Y:100.43, Z:23.79 [[ 1.96929791e-01 -9.80404132e-01 -5.13768175e-03 2.43209240e+02] [ 9.80168126e-01 1.96995186e-01 -2.15253742e-02 1.00428551e+02] [ 2.21156643e-02 -7.96804459e-04 9.99755101e-01 2.37851757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.38687500000003 meters Centerline goodness : 0.154057 Centerline is valid? [True, False] Translation: X:243.42, Y:99.02, Z:24.12 [[ 9.71279674e-01 2.31200844e-01 5.62313420e-02 2.43421828e+02] [-2.37195559e-01 9.22122877e-01 3.05659395e-01 9.90219190e+01] [ 1.88165032e-02 -3.10218582e-01 9.50479021e-01 2.41219040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.416875 meters Centerline goodness : 0.154590 Centerline is valid? [False, False] Translation: X:243.42, Y:99.03, Z:24.12 [[ 9.73247683e-01 2.22665700e-01 5.66474549e-02 2.43423313e+02] [-2.29319894e-01 9.26176304e-01 2.99349026e-01 9.90288161e+01] [ 1.41892300e-02 -3.04331135e-01 9.52460617e-01 2.41153671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.44687500000003 meters Centerline goodness : 0.153992 Centerline is valid? [False, False] Translation: X:243.43, Y:99.04, Z:24.11 [[ 9.75347788e-01 2.13430131e-01 5.60738045e-02 2.43427798e+02] [-2.20459355e-01 9.31233823e-01 2.90174498e-01 9.90368785e+01] [ 9.71415761e-03 -2.95383049e-01 9.55329519e-01 2.41065099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.476875 meters Centerline goodness : 0.148351 Centerline is valid? [False, False] Translation: X:243.45, Y:99.05, Z:24.09 [[ 9.79628898e-01 1.94075557e-01 5.15936041e-02 2.43448771e+02] [-2.00745808e-01 9.39601746e-01 2.77217747e-01 9.90539024e+01] [ 5.32374809e-03 -2.81927715e-01 9.59420878e-01 2.40944997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.50687500000004 meters Centerline goodness : 0.147921 Centerline is valid? [False, False] Translation: X:243.46, Y:99.07, Z:24.09 [[ 9.81359271e-01 1.85304547e-01 5.09529722e-02 2.43455376e+02] [-1.92173089e-01 9.43619685e-01 2.69539226e-01 9.90662829e+01] [ 1.86661657e-03 -2.74306609e-01 9.61640473e-01 2.40855985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.536875 meters Centerline goodness : 0.147921 Centerline is valid? [False, False] Translation: X:243.46, Y:99.07, Z:24.09 [[ 9.81359271e-01 1.85304547e-01 5.09529722e-02 2.43455376e+02] [-1.92173089e-01 9.43619685e-01 2.69539226e-01 9.90662829e+01] [ 1.86661657e-03 -2.74306609e-01 9.61640473e-01 2.40855985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.566875 meters Centerline goodness : 0.144015 Centerline is valid? [False, False] Translation: X:243.46, Y:99.08, Z:24.08 [[ 9.82477106e-01 1.79546784e-01 5.00168848e-02 2.43463043e+02] [-1.86383269e-01 9.46273414e-01 2.64249697e-01 9.90790124e+01] [ 1.15534882e-04 -2.68941588e-01 9.63156482e-01 2.40777659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.596875 meters Centerline goodness : 0.135725 Centerline is valid? [False, False] Translation: X:243.50, Y:99.10, Z:24.07 [[ 9.83162311e-01 1.77148294e-01 4.48369412e-02 2.43497388e+02] [-1.82707850e-01 9.48784422e-01 2.57732347e-01 9.91013022e+01] [ 3.11625441e-03 -2.61584791e-01 9.65175469e-01 2.40653917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.626875 meters Centerline goodness : 0.140337 Centerline is valid? [False, False] Translation: X:243.51, Y:99.12, Z:24.06 [[ 9.83330517e-01 1.76571853e-01 4.33990244e-02 2.43505492e+02] [-1.81801793e-01 9.50794767e-01 2.50873312e-01 9.91184628e+01] [ 3.03360035e-03 -2.54581404e-01 9.67046589e-01 2.40560420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.656875 meters Centerline goodness : 0.138959 Centerline is valid? [False, False] Translation: X:243.51, Y:99.14, Z:24.05 [[ 9.83321004e-01 1.76902858e-01 4.22514186e-02 2.43512948e+02] [-1.81854148e-01 9.52487301e-01 2.44329718e-01 9.91370393e+01] [ 2.97868578e-03 -2.47938139e-01 9.68771287e-01 2.40471066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.686875 meters Centerline goodness : 0.137605 Centerline is valid? [False, False] Translation: X:243.52, Y:99.16, Z:24.04 [[ 9.83122899e-01 1.78295680e-01 4.09880041e-02 2.43520344e+02] [-1.82916492e-01 9.53927199e-01 2.37832833e-01 9.91564569e+01] [ 3.30499457e-03 -2.41316286e-01 9.70440893e-01 2.40378488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.716875 meters Centerline goodness : 0.129236 Centerline is valid? [False, False] Translation: X:243.53, Y:99.19, Z:24.03 [[ 9.81425602e-01 1.87789012e-01 3.92310318e-02 2.43533739e+02] [-1.91710468e-01 9.52417629e-01 2.36955176e-01 9.91878892e+01] [ 7.13325214e-03 -2.40074876e-01 9.70728165e-01 2.40251336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.746875 meters Centerline goodness : 0.136344 Centerline is valid? [False, False] Translation: X:243.54, Y:99.21, Z:24.01 [[ 9.81821835e-01 1.86197233e-01 3.68303590e-02 2.43538286e+02] [-1.89732212e-01 9.57423438e-01 2.17582278e-01 9.92129180e+01] [ 5.25096912e-03 -2.20614936e-01 9.75346850e-01 2.40111768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.776875 meters Centerline goodness : 0.136307 Centerline is valid? [False, False] Translation: X:243.54, Y:99.24, Z:24.00 [[ 9.82393169e-01 1.83466722e-01 3.52650374e-02 2.43539946e+02] [-1.86813915e-01 9.62598606e-01 1.96225596e-01 9.92375865e+01] [ 2.05479103e-03 -1.99358685e-01 9.79924432e-01 2.39970617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.806875 meters Centerline goodness : 0.136168 Centerline is valid? [False, False] Translation: X:243.54, Y:99.26, Z:23.98 [[ 9.83226864e-01 1.79175360e-01 3.40752743e-02 2.43542069e+02] [-1.82379244e-01 9.67571934e-01 1.74763738e-01 9.92618358e+01] [-1.65692340e-03 -1.78047025e-01 9.84020585e-01 2.39848247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.836875 meters Centerline goodness : 0.134719 Centerline is valid? [False, False] Translation: X:243.57, Y:99.29, Z:23.97 [[ 9.83837446e-01 1.76316963e-01 3.12443212e-02 2.43566381e+02] [-1.79032736e-01 9.71831340e-01 1.53268149e-01 9.92937875e+01] [-3.34043603e-03 -1.56384700e-01 9.87690572e-01 2.39749277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.866875 meters Centerline goodness : 0.136322 Centerline is valid? [False, False] Translation: X:243.57, Y:99.32, Z:23.97 [[ 9.84542191e-01 1.72441943e-01 3.06667759e-02 2.43569288e+02] [-1.75024106e-01 9.75223260e-01 1.35300240e-01 9.93176961e+01] [-6.57551681e-03 -1.38576220e-01 9.90329942e-01 2.39661939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.896875 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 488.926875 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 488.956875 meters Centerline goodness : 0.123126 Centerline is valid? [False, False] Translation: X:243.62, Y:99.37, Z:23.95 [[ 9.83967438e-01 1.76483463e-01 2.57228987e-02 2.43617390e+02] [-1.78307119e-01 9.76550633e-01 1.20645898e-01 9.93704624e+01] [-3.82770721e-03 -1.23298211e-01 9.92362283e-01 2.39512916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.986875 meters Centerline goodness : 0.122096 Centerline is valid? [False, False] Translation: X:243.62, Y:99.39, Z:23.94 [[ 9.84219806e-01 1.75076715e-01 2.56810582e-02 2.43620218e+02] [-1.76835766e-01 9.78388120e-01 1.07171816e-01 9.93892161e+01] [-6.36275268e-03 -1.10021954e-01 9.93908791e-01 2.39443685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.016875 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 489.046875 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 489.07687500000003 meters Centerline goodness : 0.137411 Centerline is valid? [False, False] Translation: X:243.67, Y:99.43, Z:23.93 [[ 9.83395423e-01 1.79291284e-01 2.80727230e-02 2.43674472e+02] [-1.81204757e-01 9.78557801e-01 9.79258181e-02 9.94295531e+01] [-9.91353646e-03 -1.01386712e-01 9.94797696e-01 2.39291668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.106875 meters Centerline goodness : 0.149973 Centerline is valid? [False, False] Translation: X:243.68, Y:99.44, Z:23.93 [[ 9.84032337e-01 1.75943868e-01 2.69093925e-02 2.43679601e+02] [-1.77712637e-01 9.79640239e-01 9.33981794e-02 9.94388737e+01] [-9.92868672e-03 -9.66889678e-02 9.95265123e-01 2.39255043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.13687500000003 meters Centerline goodness : 0.151666 Centerline is valid? [False, False] Translation: X:243.68, Y:99.45, Z:23.92 [[ 9.84741757e-01 1.72099528e-01 2.57958374e-02 2.43684091e+02] [-1.73735522e-01 9.80762087e-01 8.90039135e-02 9.94469094e+01] [-9.98204780e-03 -9.21275234e-02 9.95697182e-01 2.39227280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.166875 meters Centerline goodness : 0.137221 Centerline is valid? [False, False] Translation: X:243.69, Y:99.46, Z:23.92 [[ 9.86326803e-01 1.62995092e-01 2.43318271e-02 2.43689865e+02] [-1.64443718e-01 9.83120708e-01 8.01993536e-02 9.94603485e+01] [-1.08490221e-02 -8.31039882e-02 9.96481824e-01 2.39201011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.19687500000003 meters Centerline goodness : 0.139234 Centerline is valid? [False, False] Translation: X:243.69, Y:99.47, Z:23.92 [[ 9.87534929e-01 1.55674117e-01 2.32450547e-02 2.43693269e+02] [-1.56970212e-01 9.84945800e-01 7.24025050e-02 9.94728770e+01] [-1.16239230e-02 -7.51487839e-02 9.97104581e-01 2.39202440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.226875 meters Centerline goodness : 0.052537 Centerline is valid? [False, False] Translation: X:243.70, Y:99.48, Z:23.92 [[ 9.87940431e-01 1.53147480e-01 2.27937128e-02 2.43695981e+02] [-1.54380114e-01 9.85578487e-01 6.92952085e-02 9.94785501e+01] [-1.18526064e-02 -7.19784342e-02 9.97335761e-01 2.39188510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.25687500000004 meters Centerline goodness : 0.052687 Centerline is valid? [False, False] Translation: X:243.70, Y:99.48, Z:23.92 [[ 9.88277148e-01 1.51040708e-01 2.22482371e-02 2.43698838e+02] [-1.52206085e-01 9.86110843e-01 6.64734063e-02 9.94845793e+01] [-1.18990374e-02 -6.90804655e-02 9.97540126e-01 2.39175577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.286875 meters Centerline goodness : 0.052630 Centerline is valid? [False, False] Translation: X:243.70, Y:99.49, Z:23.92 [[ 9.88517055e-01 1.49603368e-01 2.12806136e-02 2.43702375e+02] [-1.50680385e-01 9.86490998e-01 6.42723351e-02 9.94922005e+01] [-1.13777760e-02 -6.67408704e-02 9.97705469e-01 2.39164990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.316875 meters Centerline goodness : 0.143679 Centerline is valid? [False, False] Translation: X:243.72, Y:99.51, Z:23.91 [[ 9.88953118e-01 1.47105076e-01 1.82161223e-02 2.43722487e+02] [-1.48031183e-01 9.86490602e-01 7.01645218e-02 9.95062123e+01] [-7.64847613e-03 -7.20859767e-02 9.97369096e-01 2.39131517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.346875 meters Centerline goodness : 0.140264 Centerline is valid? [False, False] Translation: X:243.73, Y:99.51, Z:23.91 [[ 9.89112197e-01 1.46190890e-01 1.68903958e-02 2.43728510e+02] [-1.47012137e-01 9.86768241e-01 6.83803385e-02 9.95130120e+01] [-6.67032362e-03 -7.01189201e-02 9.97516338e-01 2.39099000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.376875 meters Centerline goodness : 0.140729 Centerline is valid? [False, False] Translation: X:243.73, Y:99.52, Z:23.91 [[ 9.89438236e-01 1.44080244e-01 1.59015638e-02 2.43732773e+02] [-1.44814918e-01 9.87338791e-01 6.47360128e-02 9.95195684e+01] [-6.37305028e-03 -6.63550700e-02 9.97775721e-01 2.39077125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.406875 meters Centerline goodness : 0.142857 Centerline is valid? [False, False] Translation: X:243.74, Y:99.53, Z:23.91 [[ 9.89734671e-01 1.42103005e-01 1.52320762e-02 2.43736231e+02] [-1.42774970e-01 9.87870082e-01 6.10574213e-02 9.95262476e+01] [-6.37086932e-03 -6.26054060e-02 9.98018023e-01 2.39057776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.436875 meters Centerline goodness : 0.142889 Centerline is valid? [False, False] Translation: X:243.74, Y:99.53, Z:23.90 [[ 9.89515907e-01 1.43620463e-01 1.52129283e-02 2.43739581e+02] [-1.44290414e-01 9.87629584e-01 6.13847051e-02 9.95317440e+01] [-6.20863829e-03 -6.29362219e-02 9.97998239e-01 2.39036767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.466875 meters Centerline goodness : 0.146214 Centerline is valid? [False, False] Translation: X:243.76, Y:99.55, Z:23.90 [[ 9.88695986e-01 1.48782455e-01 1.85479837e-02 2.43763791e+02] [-1.49711250e-01 9.86385926e-01 6.80392958e-02 9.95461416e+01] [-8.17241657e-03 -7.00470205e-02 9.97510214e-01 2.39043160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.496875 meters Centerline goodness : 0.129669 Centerline is valid? [False, False] Translation: X:243.77, Y:99.55, Z:23.90 [[ 9.87816983e-01 1.54373550e-01 1.96574632e-02 2.43765584e+02] [-1.55405687e-01 9.85182754e-01 7.25535207e-02 9.95533083e+01] [-8.16584922e-03 -7.47244815e-02 9.97170783e-01 2.39038808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.526875 meters Centerline goodness : 0.139673 Centerline is valid? [False, False] Translation: X:243.79, Y:99.56, Z:23.90 [[ 9.86162237e-01 1.64599866e-01 1.97718357e-02 2.43785975e+02] [-1.65612036e-01 9.83530008e-01 7.23973577e-02 9.95647241e+01] [-7.52959829e-03 -7.46699942e-02 9.97179872e-01 2.39020894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.556875 meters Centerline goodness : 0.139059 Centerline is valid? [False, False] Translation: X:243.79, Y:99.57, Z:23.90 [[ 9.85175015e-01 1.70507751e-01 1.89022720e-02 2.43790755e+02] [-1.71332167e-01 9.83500046e-01 5.80770862e-02 9.95737958e+01] [-8.68779203e-03 -6.04546616e-02 9.98133135e-01 2.38992236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.586875 meters Centerline goodness : 0.137768 Centerline is valid? [False, False] Translation: X:243.79, Y:99.58, Z:23.89 [[ 9.84934623e-01 1.71699259e-01 2.05706668e-02 2.43789496e+02] [-1.72553732e-01 9.83642486e-01 5.16978675e-02 9.95827562e+01] [-1.13576963e-02 -5.44685650e-02 9.98450889e-01 2.38935951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.616875 meters Centerline goodness : 0.102688 Centerline is valid? [False, False] Translation: X:243.79, Y:99.59, Z:23.89 [[ 9.85225097e-01 1.69629261e-01 2.36097668e-02 2.43785452e+02] [-1.70475252e-01 9.84540806e-01 4.02192692e-02 9.95940770e+01] [-1.64224139e-02 -4.36499144e-02 9.98911903e-01 2.38898807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.646875 meters Centerline goodness : 0.100330 Centerline is valid? [False, False] Translation: X:243.79, Y:99.61, Z:23.89 [[ 9.86703737e-01 1.59369969e-01 3.18896266e-02 2.43789907e+02] [-1.59770032e-01 9.87099469e-01 1.04007520e-02 9.96107390e+01] [-2.98206659e-02 -1.53574676e-02 9.99437280e-01 2.38914914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.676875 meters Centerline goodness : 0.141811 Centerline is valid? [False, False] Translation: X:243.79, Y:99.62, Z:23.89 [[ 9.87685062e-01 1.53248588e-01 3.15133237e-02 2.43790750e+02] [-1.53459054e-01 9.88145398e-01 4.35780024e-03 9.96174653e+01] [-3.04719190e-02 -9.14013904e-03 9.99493832e-01 2.38926071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.706875 meters Centerline goodness : 0.097445 Centerline is valid? [False, False] Translation: X:243.80, Y:99.63, Z:23.89 [[ 9.88652227e-01 1.47349319e-01 2.92395517e-02 2.43798050e+02] [-1.47408296e-01 9.89075717e-01 -1.39986976e-04 9.96261940e+01] [-2.89407576e-02 -4.17175405e-03 9.99572423e-01 2.38909770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.736875 meters Centerline goodness : 0.096198 Centerline is valid? [False, False] Translation: X:243.80, Y:99.63, Z:23.89 [[ 9.89770316e-01 1.39840780e-01 2.82714943e-02 2.43800877e+02] [-1.39706116e-01 9.90170389e-01 -6.69340401e-03 9.96326369e+01] [-2.89296074e-02 2.67523193e-03 9.99577871e-01 2.38911437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.766875 meters Centerline goodness : 0.164074 Centerline is valid? [False, False] Translation: X:243.83, Y:99.64, Z:23.88 [[ 9.92229710e-01 1.19533118e-01 3.45258820e-02 2.43827428e+02] [-1.19311049e-01 9.92821140e-01 -8.42960587e-03 9.96359881e+01] [-3.52856426e-02 4.24478619e-03 9.99368253e-01 2.38843718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.796875 meters Centerline goodness : 0.142660 Centerline is valid? [False, False] Translation: X:243.83, Y:99.64, Z:23.88 [[ 9.93768700e-01 1.06588286e-01 3.25992120e-02 2.43831600e+02] [-1.05985424e-01 9.94172553e-01 -1.96983539e-02 9.96437812e+01] [-3.45088556e-02 1.61205662e-02 9.99274370e-01 2.38847217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.82687500000003 meters Centerline goodness : 0.142157 Centerline is valid? [False, False] Translation: X:243.84, Y:99.65, Z:23.89 [[ 9.95144262e-01 8.89349513e-02 4.21719271e-02 2.43839905e+02] [-8.74856572e-02 9.95548877e-01 -3.50527271e-02 9.96512086e+01] [-4.51016273e-02 3.11930815e-02 9.98495285e-01 2.38850371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.856875 meters Centerline goodness : 0.144789 Centerline is valid? [False, False] Translation: X:243.88, Y:99.65, Z:23.88 [[ 9.97035477e-01 5.17558183e-02 5.69349945e-02 2.43878455e+02] [-4.82592781e-02 9.96960470e-01 -6.11626046e-02 9.96519175e+01] [-5.99274595e-02 5.82336449e-02 9.96502655e-01 2.38849608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.88687500000003 meters Centerline goodness : 0.130536 Centerline is valid? [False, False] Translation: X:243.90, Y:99.66, Z:23.89 [[ 9.98247265e-01 3.35679828e-02 4.87400116e-02 2.43904228e+02] [-3.16138121e-02 9.98686332e-01 -4.03258863e-02 9.96602972e+01] [-5.00296420e-02 3.87143481e-02 9.97997111e-01 2.38859044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.916875 meters Centerline goodness : 0.221958 Centerline is valid? [False, False] Translation: X:243.93, Y:99.67, Z:23.89 [[ 9.99094539e-01 2.30944644e-02 3.57316016e-02 2.43932697e+02] [-2.26475194e-02 9.99660759e-01 -1.28630359e-02 9.96736622e+01] [-3.60165449e-02 1.20421568e-02 9.99278637e-01 2.38871910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.94687500000003 meters Centerline goodness : 0.189406 Centerline is valid? [False, False] Translation: X:243.96, Y:99.72, Z:23.88 [[ 9.99580960e-01 2.16911292e-02 1.91676497e-02 2.43959159e+02] [-2.16936431e-02 9.99764662e-01 -7.67904927e-05 9.97179477e+01] [-1.91648045e-02 -3.39057838e-04 9.99816281e-01 2.38844092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.976875 meters Centerline goodness : 0.279101 Centerline is valid? [False, False] Translation: X:243.97, Y:99.73, Z:23.88 [[ 9.99528131e-01 1.85814106e-02 2.44590864e-02 2.43971777e+02] [-1.82165058e-02 9.99720666e-01 -1.50582126e-02 9.97332108e+01] [-2.47320570e-02 1.46055480e-02 9.99587417e-01 2.38821826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.00687500000004 meters Centerline goodness : 0.290482 Centerline is valid? [False, False] Translation: X:243.98, Y:99.75, Z:23.88 [[ 9.99357018e-01 1.60565810e-02 3.20583303e-02 2.43981292e+02] [-1.51187413e-02 9.99456750e-01 -2.92853048e-02 9.97465764e+01] [-3.25111364e-02 2.87817932e-02 9.99056872e-01 2.38790763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.036875 meters Centerline goodness : 0.334545 Centerline is valid? [False, False] Translation: X:244.02, Y:99.77, Z:23.88 [[ 9.98756220e-01 1.90000987e-02 4.60978177e-02 2.44023685e+02] [-1.64997341e-02 9.98403124e-01 -5.40274134e-02 9.97734830e+01] [-4.70507314e-02 5.31996134e-02 9.97474827e-01 2.38825424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.066875 meters Centerline goodness : 0.358725 Centerline is valid? [False, False] Translation: X:244.04, Y:99.79, Z:23.88 [[ 9.98641124e-01 1.68997177e-02 4.92981206e-02 2.44038048e+02] [-1.46684222e-02 9.98866768e-01 -4.52771161e-02 9.97899512e+01] [-5.00074248e-02 4.44924644e-02 9.97757324e-01 2.38803478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.096875 meters Centerline goodness : 0.403380 Centerline is valid? [False, False] Translation: X:244.06, Y:99.81, Z:23.88 [[ 9.98792609e-01 2.28734663e-02 4.34756091e-02 2.44059528e+02] [-2.17432568e-02 9.99417761e-01 -2.62939230e-02 9.98120676e+01] [-4.40517290e-02 2.53168746e-02 9.98708416e-01 2.38808069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.126875 meters Centerline goodness : 0.422497 Centerline is valid? [False, False] Translation: X:244.10, Y:99.86, Z:23.88 [[ 9.98547242e-01 4.50476350e-02 2.95654655e-02 2.44104783e+02] [-4.50311753e-02 9.98984834e-01 -1.22265145e-03 9.98559181e+01] [-2.95905292e-02 -1.10492420e-04 9.99562098e-01 2.38815418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.156875 meters Centerline goodness : 0.436243 Centerline is valid? [False, False] Translation: X:244.11, Y:99.87, Z:23.88 [[ 9.98346749e-01 4.96768080e-02 2.89133663e-02 2.44113551e+02] [-4.96926865e-02 9.98764541e-01 -1.69554059e-04 9.98731568e+01] [-2.88860680e-02 -1.26750910e-03 9.99581907e-01 2.38782268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.186875 meters Centerline goodness : 0.429782 Centerline is valid? [False, False] Translation: X:244.13, Y:99.89, Z:23.88 [[ 9.98199286e-01 5.01912807e-02 3.28484652e-02 2.44128170e+02] [-4.98097194e-02 9.98682573e-01 -1.23333330e-02 9.98921251e+01] [-3.34242155e-02 1.06749514e-02 9.99384244e-01 2.38786811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.216875 meters Centerline goodness : 0.450884 Centerline is valid? [False, False] Translation: X:244.14, Y:99.91, Z:23.88 [[ 9.97982874e-01 5.13690573e-02 3.73015058e-02 2.44140983e+02] [-5.05693356e-02 9.98476536e-01 -2.20759852e-02 9.99054382e+01] [-3.83787009e-02 2.01451428e-02 9.99060183e-01 2.38772785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.246875 meters Centerline goodness : 0.468774 Centerline is valid? [False, False] Translation: X:244.14, Y:99.92, Z:23.87 [[ 9.97898252e-01 5.09592002e-02 4.00279818e-02 2.44144966e+02] [-4.99392475e-02 9.98411664e-01 -2.60810568e-02 9.99195045e+01] [-4.12934737e-02 2.40272736e-02 9.98858118e-01 2.38726389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.276875 meters Centerline goodness : 0.473511 Centerline is valid? [False, False] Translation: X:244.16, Y:99.94, Z:23.87 [[ 9.97728385e-01 5.38832495e-02 4.04309843e-02 2.44160260e+02] [-5.34647218e-02 9.98505083e-01 -1.13632626e-02 9.99351622e+01] [-4.09828328e-02 9.17581835e-03 9.99117717e-01 2.38691162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.306875 meters Centerline goodness : 0.507745 Centerline is valid? [False, False] Translation: X:244.18, Y:99.95, Z:23.87 [[ 9.97601371e-01 5.82717393e-02 3.73618612e-02 2.44178286e+02] [-5.85321184e-02 9.98268016e-01 5.91266011e-03 9.99529932e+01] [-3.69526101e-02 -8.08534672e-03 9.99284310e-01 2.38674911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.336875 meters Centerline goodness : 0.541302 Centerline is valid? [False, False] Translation: X:244.23, Y:99.98, Z:23.86 [[ 9.97664837e-01 6.29494023e-02 2.64999136e-02 2.44229385e+02] [-6.35525133e-02 9.97723314e-01 2.25669236e-02 9.99812400e+01] [-2.50190073e-02 -2.41983623e-02 9.99394061e-01 2.38647529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.366875 meters Centerline goodness : 0.518688 Centerline is valid? [False, False] Translation: X:244.24, Y:99.99, Z:23.86 [[ 9.97889985e-01 5.93929719e-02 2.62307705e-02 2.44235713e+02] [-5.98357563e-02 9.98073007e-01 1.64303165e-02 9.99934110e+01] [-2.52043786e-02 -1.79651862e-02 9.99520881e-01 2.38612426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.396875 meters Centerline goodness : 0.561431 Centerline is valid? [False, False] Translation: X:244.26, Y:100.00, Z:23.86 [[ 9.96646713e-01 7.52296281e-02 3.21843597e-02 2.44261234e+02] [-7.48398828e-02 9.97108863e-01 -1.31494242e-02 1.00003582e+02] [-3.30805366e-02 1.06966567e-02 9.99395447e-01 2.38551933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.426875 meters Centerline goodness : 0.561431 Centerline is valid? [False, False] Translation: X:244.26, Y:100.00, Z:23.86 [[ 9.96646713e-01 7.52296281e-02 3.21843597e-02 2.44261234e+02] [-7.48398828e-02 9.97108863e-01 -1.31494242e-02 1.00003582e+02] [-3.30805366e-02 1.06966567e-02 9.99395447e-01 2.38551933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.456875 meters Centerline goodness : 0.572392 Centerline is valid? [False, False] Translation: X:244.26, Y:100.01, Z:23.85 [[ 9.96402679e-01 7.76890183e-02 3.38543541e-02 2.44264764e+02] [-7.72768893e-02 9.96920708e-01 -1.33185678e-02 1.00009793e+02] [-3.47848132e-02 1.06544974e-02 9.99338030e-01 2.38493478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.486875 meters Centerline goodness : 0.572425 Centerline is valid? [False, False] Translation: X:244.27, Y:100.01, Z:23.85 [[ 9.96656056e-01 7.32924482e-02 3.61237121e-02 2.44269344e+02] [-7.31968948e-02 9.97309638e-01 -3.96239643e-03 1.00012794e+02] [-3.63169400e-02 1.30500284e-03 9.99339470e-01 2.38502418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.516875 meters Centerline goodness : 0.579760 Centerline is valid? [False, False] Translation: X:244.28, Y:100.01, Z:23.85 [[ 9.96767568e-01 6.70711242e-02 4.42253315e-02 2.44279207e+02] [-6.70441126e-02 9.97747812e-01 -2.09541411e-03 1.00013351e+02] [-4.42662695e-02 -8.76407276e-04 9.99019384e-01 2.38485306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.546875 meters Centerline goodness : 0.596122 Centerline is valid? [False, False] Translation: X:244.30, Y:100.01, Z:23.85 [[ 9.96548074e-01 6.52515133e-02 5.13242316e-02 2.44304433e+02] [-6.54166256e-02 9.97856847e-01 1.54201918e-03 1.00007537e+02] [-5.11136168e-02 -4.89415428e-03 9.98680853e-01 2.38456559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.57687500000003 meters Centerline goodness : 0.598008 Centerline is valid? [False, False] Translation: X:244.31, Y:100.01, Z:23.85 [[ 9.96977367e-01 6.19159412e-02 4.69312790e-02 2.44314901e+02] [-6.25869505e-02 9.97955310e-01 1.29642947e-02 1.00009707e+02] [-4.60326226e-02 -1.58623940e-02 9.98813988e-01 2.38486698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.606875 meters Centerline goodness : 0.599740 Centerline is valid? [False, False] Translation: X:244.32, Y:100.01, Z:23.85 [[ 9.97083814e-01 6.17840701e-02 4.47950478e-02 2.44319144e+02] [-6.24685385e-02 9.97948128e-01 1.40433285e-02 1.00010675e+02] [-4.38354801e-02 -1.68006567e-02 9.98897487e-01 2.38496588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.63687500000003 meters Centerline goodness : 0.615043 Centerline is valid? [False, False] Translation: X:244.32, Y:100.01, Z:23.85 [[ 9.97277430e-01 5.83951905e-02 4.50303131e-02 2.44321447e+02] [-5.89310148e-02 9.98205099e-01 1.06637960e-02 1.00009791e+02] [-4.43267737e-02 -1.32884451e-02 9.98928703e-01 2.38504787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.666875 meters Centerline goodness : 0.626282 Centerline is valid? [False, False] Translation: X:244.32, Y:100.01, Z:23.85 [[ 9.97470837e-01 5.53768532e-02 4.45570903e-02 2.44323708e+02] [-5.57042013e-02 9.98428449e-01 6.13798256e-03 1.00012277e+02] [-4.41471644e-02 -8.60447572e-03 9.98987983e-01 2.38506309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.69687500000003 meters Centerline goodness : 0.634050 Centerline is valid? [False, False] Translation: X:244.36, Y:100.01, Z:23.84 [[ 9.97496183e-01 5.61893534e-02 4.29432322e-02 2.44357447e+02] [-5.59658655e-02 9.98412235e-01 -6.38984850e-03 1.00006406e+02] [-4.32340899e-02 3.97049433e-03 9.99057080e-01 2.38428052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.726875 meters Centerline goodness : 0.631687 Centerline is valid? [False, False] Translation: X:244.36, Y:100.00, Z:23.84 [[ 9.97739240e-01 5.15556542e-02 4.31094394e-02 2.44363793e+02] [-5.10170984e-02 9.98606509e-01 -1.35017050e-02 1.00004926e+02] [-4.37454560e-02 1.12718623e-02 9.98979119e-01 2.38353432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.75687500000004 meters Centerline goodness : 0.379386 Centerline is valid? [False, False] Translation: X:244.37, Y:100.00, Z:23.83 [[ 9.97969163e-01 4.71375224e-02 4.28439508e-02 2.44372210e+02] [-4.62673621e-02 9.98706643e-01 -2.10801319e-02 9.99989637e+01] [-4.37822035e-02 1.90550450e-02 9.98859361e-01 2.38274141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.786875 meters Centerline goodness : 0.640345 Centerline is valid? [False, False] Translation: X:244.39, Y:99.99, Z:23.82 [[ 9.97993682e-01 4.47626501e-02 4.47762850e-02 2.44392766e+02] [-4.43342479e-02 9.98961406e-01 -1.05158477e-02 9.99893839e+01] [-4.52004978e-02 8.50962660e-03 9.98941691e-01 2.38192576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.816875 meters Centerline goodness : 0.636753 Centerline is valid? [False, False] Translation: X:244.39, Y:99.99, Z:23.82 [[ 9.98033777e-01 4.36849254e-02 4.49467159e-02 2.44392522e+02] [-4.32868201e-02 9.99014687e-01 -9.79322928e-03 9.99853301e+01] [-4.53302458e-02 7.82837320e-03 9.98941382e-01 2.38211949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.846875 meters Centerline goodness : 0.669290 Centerline is valid? [False, False] Translation: X:244.39, Y:99.98, Z:23.82 [[ 9.98236493e-01 3.94812940e-02 4.43298127e-02 2.44393802e+02] [-3.89246577e-02 9.99152955e-01 -1.33507855e-02 9.99807422e+01] [-4.48193696e-02 1.16017185e-02 9.98927737e-01 2.38226464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.876875 meters Centerline goodness : 0.681298 Centerline is valid? [False, False] Translation: X:244.41, Y:99.96, Z:23.82 [[ 9.98576156e-01 2.54424763e-02 4.68864691e-02 2.44412383e+02] [-2.47201957e-02 9.99567624e-01 -1.59209603e-02 9.99636212e+01] [-4.72712652e-02 1.47392487e-02 9.98773339e-01 2.38171536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.906875 meters Centerline goodness : 0.711698 Centerline is valid? [False, False] Translation: X:244.42, Y:99.96, Z:23.82 [[ 9.98697196e-01 1.62058485e-02 4.83867935e-02 2.44418775e+02] [-1.58162545e-02 9.99839431e-01 -8.42373087e-03 9.99580833e+01] [-4.85155378e-02 7.64745855e-03 9.98793151e-01 2.38178327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.936875 meters Centerline goodness : 0.788731 Centerline is valid? [False, False] Translation: X:244.44, Y:99.95, Z:23.81 [[ 9.99283902e-01 1.34753785e-03 3.78135946e-02 2.44439626e+02] [-1.09247180e-03 9.99976519e-01 -6.76520496e-03 9.99455266e+01] [-3.78218231e-02 6.71905012e-03 9.99261910e-01 2.38128627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.966875 meters Centerline goodness : 0.760737 Centerline is valid? [False, False] Translation: X:244.46, Y:99.95, Z:23.81 [[ 9.99516780e-01 1.08945846e-03 3.10647709e-02 2.44459659e+02] [-4.44404445e-04 9.99784303e-01 -2.07641567e-02 9.99471166e+01] [-3.10806920e-02 2.07403177e-02 9.99301671e-01 2.38069544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.996875 meters Centerline goodness : 0.969688 Centerline is valid? [False, True] Translation: X:244.53, Y:99.91, Z:23.76 [[ 9.98345791e-01 -1.13820344e-02 5.63571741e-02 2.44530625e+02] [ 5.75270587e-03 9.95064953e-01 9.90587962e-02 9.99095440e+01] [-5.72065395e-02 -9.85707260e-02 9.93484385e-01 2.37587402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.026875 meters Centerline goodness : 0.409823 Centerline is valid? [True, False] Translation: X:244.64, Y:99.89, Z:23.73 [[ 9.99429950e-01 -6.97724436e-03 -3.30316990e-02 2.44643637e+02] [ 1.43388551e-02 9.73505402e-01 2.28214001e-01 9.98881110e+01] [ 3.05642326e-02 -2.28557545e-01 9.73050500e-01 2.37317117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.056875 meters Centerline goodness : 0.814052 Centerline is valid? [False, False] Translation: X:244.66, Y:99.89, Z:23.75 [[ 9.99722090e-01 -2.60355723e-03 -2.34299789e-02 2.44659340e+02] [ 7.59281264e-03 9.76481704e-01 2.15466542e-01 9.98900398e+01] [ 2.23179662e-02 -2.15584561e-01 9.76230099e-01 2.37464426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.086875 meters Centerline goodness : 0.840947 Centerline is valid? [False, False] Translation: X:244.67, Y:99.90, Z:23.75 [[ 9.99716275e-01 -7.45172576e-03 -2.26238910e-02 2.44671755e+02] [ 1.25084475e-02 9.72539791e-01 2.32400288e-01 9.98976046e+01] [ 2.02708510e-02 -2.32617340e-01 9.72357067e-01 2.37541991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.116875 meters Centerline goodness : 0.888808 Centerline is valid? [False, False] Translation: X:244.67, Y:99.91, Z:23.76 [[ 9.99791883e-01 -1.57193279e-02 -1.30036142e-02 2.44673301e+02] [ 1.83103696e-02 9.72492068e-01 2.32215221e-01 9.99063293e+01] [ 8.99564447e-03 -2.32404994e-01 9.72577502e-01 2.37583242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.146875 meters Centerline goodness : 0.870266 Centerline is valid? [False, False] Translation: X:244.69, Y:99.90, Z:23.76 [[ 9.99687055e-01 -2.25104815e-02 -1.09119209e-02 2.44687667e+02] [ 2.44549478e-02 9.71249091e-01 2.36806162e-01 9.99026835e+01] [ 5.26757254e-03 -2.36998905e-01 9.71495636e-01 2.37599469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.176875 meters Centerline goodness : 0.869438 Centerline is valid? [False, False] Translation: X:244.70, Y:99.90, Z:23.76 [[ 9.99540799e-01 -2.94691209e-02 -7.05419975e-03 2.44700189e+02] [ 3.03006965e-02 9.70187279e-01 2.40454801e-01 9.99011233e+01] [-2.42096733e-04 -2.40558131e-01 9.70634703e-01 2.37617657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.206875 meters Centerline goodness : 0.909871 Centerline is valid? [False, False] Translation: X:244.73, Y:99.92, Z:23.76 [[ 9.99470640e-01 -3.23347163e-02 -3.59244697e-03 2.44726205e+02] [ 3.23329954e-02 9.74985862e-01 2.19902585e-01 9.99191629e+01] [-3.60790269e-03 -2.19902332e-01 9.75515222e-01 2.37612440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.236875 meters Centerline goodness : 0.902915 Centerline is valid? [False, False] Translation: X:244.73, Y:99.92, Z:23.76 [[ 9.99538825e-01 -3.00598393e-02 -4.30615210e-03 2.44725420e+02] [ 3.02822671e-02 9.76119126e-01 2.15114937e-01 9.99190414e+01] [-2.26300300e-03 -2.15146131e-01 9.76579245e-01 2.37602179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.266875 meters Centerline goodness : 0.895979 Centerline is valid? [False, False] Translation: X:244.73, Y:99.91, Z:23.76 [[ 9.99327331e-01 -3.63780671e-02 -4.63918466e-03 2.44732844e+02] [ 3.65409521e-02 9.77025472e-01 2.09966629e-01 9.99144487e+01] [-3.10557854e-03 -2.09994911e-01 9.77697547e-01 2.37554734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.296875 meters Centerline goodness : 0.879309 Centerline is valid? [False, False] Translation: X:244.83, Y:100.01, Z:23.69 [[ 9.99219016e-01 7.47029932e-03 -3.88014436e-02 2.44825595e+02] [ 2.39214202e-03 9.68729274e-01 2.48108589e-01 1.00011215e+02] [ 3.94415397e-02 -2.48007639e-01 9.67954842e-01 2.36933042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.32687500000003 meters Centerline goodness : 0.891963 Centerline is valid? [False, False] Translation: X:244.84, Y:100.01, Z:23.70 [[ 9.99173226e-01 4.15089811e-03 -4.04429784e-02 2.44840424e+02] [ 5.60776606e-03 9.71194231e-01 2.38223256e-01 1.00005569e+02] [ 4.02668278e-02 -2.38253094e-01 9.70367995e-01 2.36969915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.356875 meters Centerline goodness : 0.901470 Centerline is valid? [False, False] Translation: X:244.87, Y:100.01, Z:23.71 [[ 9.99453862e-01 5.14967703e-04 -3.30410684e-02 2.44865619e+02] [ 7.04479495e-03 9.73572230e-01 2.28270639e-01 1.00010098e+02] [ 3.22854186e-02 -2.28378739e-01 9.73036897e-01 2.37093710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.38687500000003 meters Centerline goodness : 0.905983 Centerline is valid? [False, False] Translation: X:244.88, Y:100.02, Z:23.72 [[ 9.99514209e-01 -2.00660785e-03 -3.11017683e-02 2.44875866e+02] [ 8.58600359e-03 9.77038134e-01 2.12891438e-01 1.00017233e+02] [ 2.99604241e-02 -2.13055057e-01 9.76580727e-01 2.37170436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.416875 meters Centerline goodness : 0.906632 Centerline is valid? [False, False] Translation: X:244.89, Y:100.02, Z:23.72 [[ 9.99266656e-01 -5.41723173e-03 -3.79051935e-02 2.44891186e+02] [ 1.24978664e-02 9.81869066e-01 1.89147931e-01 1.00016344e+02] [ 3.61932788e-02 -1.89482955e-01 9.81216722e-01 2.37188966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.44687500000003 meters Centerline goodness : 0.874187 Centerline is valid? [False, False] Translation: X:244.92, Y:100.02, Z:23.72 [[ 9.98851106e-01 -1.65560702e-02 -4.49706980e-02 2.44921639e+02] [ 2.44223777e-02 9.83280520e-01 1.80452117e-01 1.00017917e+02] [ 4.12312334e-02 -1.81343088e-01 9.82555174e-01 2.37234607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.476875 meters Centerline goodness : 0.900673 Centerline is valid? [False, False] Translation: X:244.92, Y:100.03, Z:23.73 [[ 9.99228153e-01 -1.79473528e-02 -3.49426847e-02 2.44920432e+02] [ 2.38268551e-02 9.84121312e-01 1.75890662e-01 1.00027412e+02] [ 3.12310689e-02 -1.76587476e-01 9.83789349e-01 2.37272735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.50687500000004 meters Centerline goodness : 0.909872 Centerline is valid? [False, False] Translation: X:244.93, Y:100.04, Z:23.74 [[ 9.99360015e-01 -1.69937294e-02 -3.14765468e-02 2.44927571e+02] [ 2.19419502e-02 9.86179911e-01 1.64218558e-01 1.00040681e+02] [ 2.82508524e-02 -1.64804117e-01 9.85921646e-01 2.37376600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.536875 meters Centerline goodness : 0.903145 Centerline is valid? [False, False] Translation: X:244.94, Y:100.05, Z:23.75 [[ 9.99294223e-01 -1.72284940e-02 -3.33801572e-02 2.44940348e+02] [ 2.21020211e-02 9.88190385e-01 1.51628701e-01 1.00046373e+02] [ 3.03736163e-02 -1.52259454e-01 9.87873728e-01 2.37456527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.566875 meters Centerline goodness : 0.912463 Centerline is valid? [False, False] Translation: X:244.96, Y:100.05, Z:23.75 [[ 9.99233571e-01 -1.87055863e-02 -3.43856333e-02 2.44962783e+02] [ 2.30750420e-02 9.91057885e-01 1.31422266e-01 1.00051429e+02] [ 3.16198224e-02 -1.32114990e-01 9.90729941e-01 2.37548679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.596875 meters Centerline goodness : 0.929452 Centerline is valid? [False, False] Translation: X:244.97, Y:100.06, Z:23.75 [[ 9.99294611e-01 -1.93840657e-02 -3.21642271e-02 2.44965424e+02] [ 2.30882221e-02 9.92612635e-01 1.19109575e-01 1.00056330e+02] [ 2.96177904e-02 -1.19768171e-01 9.92360001e-01 2.37453136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.626875 meters Centerline goodness : 0.925539 Centerline is valid? [False, False] Translation: X:244.97, Y:100.07, Z:23.74 [[ 9.99147999e-01 -2.22932777e-02 -3.47316205e-02 2.44972535e+02] [ 2.60424523e-02 9.93419554e-01 1.11531970e-01 1.00072011e+02] [ 3.20166578e-02 -1.12341441e-01 9.93153731e-01 2.37410356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.656875 meters Centerline goodness : 0.923624 Centerline is valid? [False, False] Translation: X:244.99, Y:100.09, Z:23.75 [[ 9.99292736e-01 -1.85333172e-02 -3.27191682e-02 2.44991600e+02] [ 2.15852118e-02 9.95192291e-01 9.55321031e-02 1.00085994e+02] [ 3.07913372e-02 -9.61707868e-02 9.94888473e-01 2.37496784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.686875 meters Centerline goodness : 0.901752 Centerline is valid? [False, False] Translation: X:245.00, Y:100.09, Z:23.76 [[ 9.99347549e-01 -1.89687674e-02 -3.07353577e-02 2.45004322e+02] [ 2.13639383e-02 9.96600027e-01 7.95736700e-02 1.00094931e+02] [ 2.91214438e-02 -8.01783803e-02 9.96355042e-01 2.37577834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.716875 meters Centerline goodness : 0.939169 Centerline is valid? [False, False] Translation: X:245.03, Y:100.10, Z:23.77 [[ 9.99291774e-01 -2.05651433e-02 -3.15123178e-02 2.45027433e+02] [ 2.23153286e-02 9.98168225e-01 5.62336205e-02 1.00100058e+02] [ 3.02981419e-02 -5.68970021e-02 9.97920214e-01 2.37687310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.746875 meters Centerline goodness : 0.927189 Centerline is valid? [False, False] Translation: X:245.03, Y:100.10, Z:23.77 [[ 9.99284704e-01 -2.40556136e-02 -2.91789016e-02 2.45026300e+02] [ 2.54357787e-02 9.98528726e-01 4.78895130e-02 1.00099662e+02] [ 2.79839598e-02 -4.85974459e-02 9.98426355e-01 2.37653929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.776875 meters Centerline goodness : 0.901236 Centerline is valid? [False, False] Translation: X:245.03, Y:100.10, Z:23.77 [[ 9.99257462e-01 -2.43944200e-02 -2.98234404e-02 2.45027547e+02] [ 2.57872991e-02 9.98550273e-01 4.72479447e-02 1.00101301e+02] [ 2.86276183e-02 -4.79819273e-02 9.98437877e-01 2.37653254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.806875 meters Centerline goodness : 0.953346 Centerline is valid? [False, True] Translation: X:245.06, Y:100.12, Z:23.78 [[ 9.99373492e-01 -2.19521657e-02 -2.77619423e-02 2.45061806e+02] [ 2.33518370e-02 9.98418418e-01 5.11405259e-02 1.00117060e+02] [ 2.65953892e-02 -5.17567783e-02 9.98305525e-01 2.37790231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.836875 meters Centerline goodness : 0.944599 Centerline is valid? [True, False] Translation: X:245.06, Y:100.13, Z:23.78 [[ 9.99659004e-01 -2.12221963e-02 -1.52149369e-02 2.45059990e+02] [ 2.19664275e-02 9.98480344e-01 5.05418516e-02 1.00126013e+02] [ 1.41192063e-02 -5.08588349e-02 9.98606042e-01 2.37785249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.866875 meters Centerline goodness : 0.950250 Centerline is valid? [False, True] Translation: X:245.07, Y:100.13, Z:23.78 [[ 9.99662092e-01 -2.28315098e-02 -1.24267187e-02 2.45068646e+02] [ 2.32825930e-02 9.99027090e-01 3.74538833e-02 1.00132573e+02] [ 1.15595000e-02 -3.77305536e-02 9.99221088e-01 2.37849945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.896875 meters Centerline goodness : 0.946830 Centerline is valid? [True, False] Translation: X:245.10, Y:100.14, Z:23.79 [[ 9.99468800e-01 -2.57369536e-02 -1.99931845e-02 2.45100313e+02] [ 2.60145958e-02 9.99566953e-01 1.37531147e-02 1.00136880e+02] [ 1.96305632e-02 -1.42659236e-02 9.99705519e-01 2.37903393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.926875 meters Centerline goodness : 0.947558 Centerline is valid? [False, False] Translation: X:245.11, Y:100.14, Z:23.79 [[ 9.99385003e-01 -2.77449371e-02 -2.14437430e-02 2.45106369e+02] [ 2.79816203e-02 9.99549907e-01 1.08172553e-02 1.00140663e+02] [ 2.11339672e-02 -1.14106334e-02 9.99711535e-01 2.37857841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.956875 meters Centerline goodness : 0.950227 Centerline is valid? [False, True] Translation: X:245.11, Y:100.15, Z:23.78 [[ 9.99341122e-01 -2.87879284e-02 -2.21037609e-02 2.45109930e+02] [ 2.89828511e-02 9.99543347e-01 8.54934665e-03 1.00145287e+02] [ 2.18475491e-02 -9.18434369e-03 9.99719127e-01 2.37829196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.986875 meters Centerline goodness : 0.952400 Centerline is valid? [True, True] Translation: X:245.14, Y:100.15, Z:23.78 [[ 9.99531839e-01 -2.18480358e-02 -2.14188280e-02 2.45136124e+02] [ 2.18137896e-02 9.99760374e-01 -1.83124709e-03 1.00146590e+02] [ 2.14537046e-02 1.36316396e-03 9.99768913e-01 2.37804295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.016875 meters Centerline goodness : 0.960441 Centerline is valid? [True, True] Translation: X:245.17, Y:100.14, Z:23.80 [[ 9.99681937e-01 -1.34051724e-02 -2.13618057e-02 2.45173968e+02] [ 1.33505847e-02 9.99907243e-01 -2.69596065e-03 1.00143547e+02] [ 2.13959640e-02 2.40991057e-03 9.99768176e-01 2.37959105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.046875 meters Centerline goodness : 0.950756 Centerline is valid? [True, True] Translation: X:245.17, Y:100.11, Z:23.72 [[ 9.99455138e-01 2.51571457e-02 -2.13669271e-02 2.45165073e+02] [-2.52187169e-02 9.99678532e-01 -2.61702106e-03 1.00112135e+02] [ 2.12942215e-02 3.15444163e-03 9.99768276e-01 2.37241689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.07687500000003 meters Centerline goodness : 0.954505 Centerline is valid? [True, True] Translation: X:245.20, Y:100.12, Z:23.73 [[ 9.99706962e-01 1.15920209e-02 -2.12512493e-02 2.45202537e+02] [-1.16855754e-02 9.99922547e-01 -4.28342397e-03 1.00124822e+02] [ 2.11999498e-02 4.53050184e-03 9.99764991e-01 2.37342458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.106875 meters Centerline goodness : 0.958077 Centerline is valid? [True, True] Translation: X:245.23, Y:100.12, Z:23.72 [[ 9.99581681e-01 1.96115585e-02 -2.12567760e-02 2.45226472e+02] [-1.97051505e-02 9.99797003e-01 -4.20242658e-03 1.00117666e+02] [ 2.11700448e-02 4.61953660e-03 9.99765217e-01 2.37236724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.13687500000003 meters Centerline goodness : 0.960436 Centerline is valid? [True, True] Translation: X:245.28, Y:100.09, Z:23.76 [[ 9.99066607e-01 3.76151093e-02 -2.12372129e-02 2.45275541e+02] [-3.77185371e-02 9.99278313e-01 -4.49060558e-03 1.00094849e+02] [ 2.10529717e-02 5.28745068e-03 9.99764380e-01 2.37566994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.166875 meters Centerline goodness : 0.964597 Centerline is valid? [True, True] Translation: X:245.32, Y:100.09, Z:23.80 [[ 9.99166505e-01 3.48577185e-02 -2.12422946e-02 2.45321865e+02] [-3.49377634e-02 9.99383677e-01 -3.40867450e-03 1.00091397e+02] [ 2.11103839e-02 4.14799165e-03 9.99768546e-01 2.38024933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.19687500000003 meters Centerline goodness : 0.964932 Centerline is valid? [True, True] Translation: X:245.35, Y:100.08, Z:23.79 [[ 9.99171798e-01 3.47050073e-02 -2.12433871e-02 2.45349334e+02] [-3.47779688e-02 9.99390334e-01 -3.07468593e-03 1.00082218e+02] [ 2.11237287e-02 3.81094132e-03 9.99769606e-01 2.37894671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.226875 meters Centerline goodness : 0.904450 Centerline is valid? [True, False] Translation: X:245.35, Y:100.08, Z:23.79 [[ 9.99231533e-01 3.19439734e-02 -2.27139988e-02 2.45354361e+02] [-3.20995497e-02 9.99463424e-01 -6.51797358e-03 1.00084631e+02] [ 2.24936010e-02 7.24207386e-03 9.99720756e-01 2.37860610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.25687500000004 meters Centerline goodness : 0.947726 Centerline is valid? [False, False] Translation: X:245.36, Y:100.09, Z:23.78 [[ 9.99222649e-01 3.13294387e-02 -2.39283094e-02 2.45357920e+02] [-3.15179844e-02 9.99474719e-01 -7.54344831e-03 1.00087188e+02] [ 2.36794083e-02 8.29175649e-03 9.99685217e-01 2.37842992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.286875 meters Centerline goodness : 0.966141 Centerline is valid? [False, True] Translation: X:245.36, Y:100.09, Z:23.79 [[ 9.99586797e-01 2.47639004e-02 -1.45939995e-02 2.45359229e+02] [-2.48241822e-02 9.99683973e-01 -3.96398638e-03 1.00085033e+02] [ 1.44912237e-02 4.32463255e-03 9.99885644e-01 2.37858786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.316875 meters Centerline goodness : 0.966141 Centerline is valid? [True, True] Translation: X:245.39, Y:100.08, Z:23.79 [[ 9.99530635e-01 2.69274571e-02 -1.46089457e-02 2.45389407e+02] [-2.69740680e-02 9.99631623e-01 -3.00293280e-03 1.00083040e+02] [ 1.45227028e-02 3.39558602e-03 9.99888774e-01 2.37859298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.346875 meters Centerline goodness : 0.973427 Centerline is valid? [True, True] Translation: X:245.44, Y:100.07, Z:23.80 [[ 9.99668571e-01 2.11951245e-02 -1.46121679e-02 2.45435556e+02] [-2.12378867e-02 9.99770592e-01 -2.77752360e-03 1.00073886e+02] [ 1.45499458e-02 3.08693461e-03 9.99889379e-01 2.38014561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.376875 meters Centerline goodness : 0.971429 Centerline is valid? [True, True] Translation: X:245.42, Y:100.08, Z:23.76 [[ 9.99701279e-01 1.95733727e-02 -1.46367696e-02 2.45421228e+02] [-1.96070874e-02 9.99805422e-01 -2.16346650e-03 1.00084415e+02] [ 1.45915752e-02 2.44980465e-03 9.99890536e-01 2.37602211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.406875 meters Centerline goodness : 0.967579 Centerline is valid? [True, True] Translation: X:245.49, Y:100.05, Z:23.78 [[ 9.98035817e-01 6.09232459e-02 -1.45899493e-02 2.45485097e+02] [-6.09765681e-02 9.98133946e-01 -3.23778338e-03 1.00052002e+02] [ 1.43654674e-02 4.12106882e-03 9.99888319e-01 2.37834912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.436875 meters Centerline goodness : 0.975016 Centerline is valid? [True, True] Translation: X:245.54, Y:100.06, Z:23.80 [[ 9.99076476e-01 4.04147306e-02 -1.45891668e-02 2.45541982e+02] [-4.04616577e-02 9.99176779e-01 -2.93574358e-03 1.00059570e+02] [ 1.44585094e-02 3.52333422e-03 9.99889263e-01 2.37976482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.466875 meters Centerline goodness : 0.975096 Centerline is valid? [True, True] Translation: X:245.57, Y:100.05, Z:23.80 [[ 9.99144901e-01 3.86880759e-02 -1.45842092e-02 2.45568719e+02] [-3.87204989e-02 9.99248183e-01 -1.94728033e-03 1.00054841e+02] [ 1.44979080e-02 2.51032307e-03 9.99891749e-01 2.37957362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.496875 meters Centerline goodness : 0.974345 Centerline is valid? [True, True] Translation: X:245.59, Y:100.05, Z:23.79 [[ 9.99186292e-01 3.76039627e-02 -1.45840983e-02 2.45591550e+02] [-3.76359985e-02 9.99289654e-01 -1.92832624e-03 1.00047565e+02] [ 1.45012258e-02 2.47564424e-03 9.99891787e-01 2.37900192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.526875 meters Centerline goodness : 0.878692 Centerline is valid? [True, False] Translation: X:245.59, Y:100.05, Z:23.79 [[ 9.99349451e-01 3.27452871e-02 -1.51136171e-02 2.45592695e+02] [-3.28149113e-02 9.99451840e-01 -4.38189041e-03 1.00045564e+02] [ 1.49618461e-02 4.87499178e-03 9.99876181e-01 2.37903749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.556875 meters Centerline goodness : 0.773317 Centerline is valid? [False, False] Translation: X:245.60, Y:100.05, Z:23.79 [[ 9.99668585e-01 2.09789000e-02 -1.49200140e-02 2.45597685e+02] [-2.10188207e-02 9.99775895e-01 -2.52387568e-03 1.00049094e+02] [ 1.48637222e-02 2.83664033e-03 9.99885505e-01 2.37926867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.586875 meters Centerline goodness : 0.980566 Centerline is valid? [False, True] Translation: X:245.60, Y:100.06, Z:23.80 [[ 9.99759981e-01 1.53981490e-02 -1.55844940e-02 2.45602756e+02] [-1.53440174e-02 9.99875839e-01 3.58707056e-03 1.00057480e+02] [ 1.56377933e-02 -3.34708085e-03 9.99872120e-01 2.37964031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.616875 meters Centerline goodness : 0.976452 Centerline is valid? [True, True] Translation: X:245.60, Y:100.09, Z:23.78 [[ 9.99860984e-01 6.06098020e-03 -1.55331065e-02 2.45596056e+02] [-6.07620183e-03 9.99981105e-01 -9.32940293e-04 1.00087278e+02] [ 1.55271585e-02 1.02719289e-03 9.99878919e-01 2.37843396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.646875 meters Centerline goodness : 0.980187 Centerline is valid? [True, True] Translation: X:245.65, Y:100.06, Z:23.80 [[ 9.99226410e-01 3.61373596e-02 -1.55136035e-02 2.45654298e+02] [-3.61785214e-02 9.99342507e-01 -2.38077937e-03 1.00055059e+02] [ 1.54173683e-02 2.94019686e-03 9.99876822e-01 2.37958000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.676875 meters Centerline goodness : 0.984059 Centerline is valid? [True, True] Translation: X:245.75, Y:100.06, Z:23.83 [[ 9.99878624e-01 1.55790746e-03 -1.55019725e-02 2.45752244e+02] [-1.58769224e-03 9.99996917e-01 -1.90923325e-03 1.00055304e+02] [ 1.54989503e-02 1.93361387e-03 9.99878014e-01 2.38257676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.706875 meters Centerline goodness : 0.985541 Centerline is valid? [True, True] Translation: X:245.78, Y:100.06, Z:23.82 [[ 9.99880906e-01 -3.23677799e-04 -1.54295135e-02 2.45784576e+02] [ 3.31434358e-04 9.99999820e-01 5.00154799e-04 1.00056042e+02] [ 1.54293488e-02 -5.05209104e-04 9.99880833e-01 2.38215628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.736875 meters Centerline goodness : 0.159960 Centerline is valid? [True, False] Translation: X:245.79, Y:100.06, Z:23.82 [[ 9.99863727e-01 2.20479499e-04 -1.65069468e-02 2.45788305e+02] [-2.29171565e-04 9.99999836e-01 -5.24680420e-04 1.00062513e+02] [ 1.65068284e-02 5.28391843e-04 9.99863613e-01 2.38198278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.766875 meters Centerline goodness : 0.976047 Centerline is valid? [False, True] Translation: X:245.81, Y:100.08, Z:23.82 [[ 9.99839605e-01 3.60576123e-03 -1.75431903e-02 2.45807286e+02] [-3.60665090e-03 9.99993496e-01 -1.90748744e-05 1.00083870e+02] [ 1.75430074e-02 8.23439780e-05 9.99846106e-01 2.38235147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.796875 meters Centerline goodness : 0.145188 Centerline is valid? [True, False] Translation: X:245.81, Y:100.09, Z:23.83 [[ 9.99827063e-01 5.88729496e-03 -1.76403844e-02 2.45805254e+02] [-5.89478745e-03 9.99982556e-01 -3.72767704e-04 1.00093255e+02] [ 1.76378821e-02 4.76689556e-04 9.99844327e-01 2.38280620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.82687500000003 meters Centerline goodness : 0.142392 Centerline is valid? [False, False] Translation: X:245.81, Y:100.10, Z:23.83 [[ 9.99813284e-01 5.70426461e-03 -1.84623466e-02 2.45805531e+02] [-5.76181565e-03 9.99978702e-01 -3.06552081e-03 1.00101151e+02] [ 1.84444668e-02 3.17132506e-03 9.99824857e-01 2.38313458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.856875 meters Centerline goodness : 0.201489 Centerline is valid? [False, False] Translation: X:245.81, Y:100.11, Z:23.83 [[ 9.99796871e-01 5.97186703e-03 -1.92497524e-02 2.45807473e+02] [-6.04875871e-03 9.99973949e-01 -3.93867752e-03 1.00106273e+02] [ 1.92257296e-02 4.05431457e-03 9.99806948e-01 2.38313628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.88687500000003 meters Centerline goodness : 0.987807 Centerline is valid? [False, True] Translation: X:245.82, Y:100.11, Z:23.83 [[ 9.99713219e-01 6.27068567e-03 -2.31118708e-02 2.45818565e+02] [-6.39661651e-03 9.99965075e-01 -5.37885587e-03 1.00114900e+02] [ 2.30773345e-02 5.52515109e-03 9.99718415e-01 2.38250139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.916875 meters Centerline goodness : 0.658338 Centerline is valid? [True, False] Translation: X:245.82, Y:100.12, Z:23.82 [[ 9.99693220e-01 3.26489534e-03 -2.45521047e-02 2.45824263e+02] [-3.47141702e-03 9.99958915e-01 -8.37365529e-03 1.00116408e+02] [ 2.45237569e-02 8.45631702e-03 9.99663481e-01 2.38209517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.94687500000003 meters Centerline goodness : 0.141456 Centerline is valid? [False, False] Translation: X:245.82, Y:100.11, Z:23.82 [[ 9.99696344e-01 -6.15615519e-03 -2.38604657e-02 2.45823331e+02] [ 5.80267817e-03 9.99872815e-01 -1.48553712e-02 1.00108921e+02] [ 2.39488829e-02 1.47124057e-02 9.99604920e-01 2.38191241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.976875 meters Centerline goodness : 0.139417 Centerline is valid? [False, False] Translation: X:245.82, Y:100.11, Z:23.82 [[ 9.99694868e-01 -5.76217823e-03 -2.40201829e-02 2.45823707e+02] [ 5.43356239e-03 9.99891062e-01 -1.37237121e-02 1.00105929e+02] [ 2.40966447e-02 1.35890094e-02 9.99617272e-01 2.38187970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.00687500000004 meters Centerline goodness : 0.140418 Centerline is valid? [False, False] Translation: X:245.83, Y:100.10, Z:23.82 [[ 9.99709273e-01 -8.75172047e-03 -2.24672464e-02 2.45831727e+02] [ 8.72230507e-03 9.99960970e-01 -1.40692060e-03 1.00102657e+02] [ 2.24786825e-02 1.21054540e-03 9.99746590e-01 2.38152689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.036875 meters Centerline goodness : 0.912298 Centerline is valid? [False, False] Translation: X:245.84, Y:100.11, Z:23.82 [[ 9.99663591e-01 -8.07903301e-03 -2.46461638e-02 2.45836424e+02] [ 8.02691209e-03 9.99965335e-01 -2.21296844e-03 1.00106451e+02] [ 2.46631881e-02 2.01439138e-03 9.99693788e-01 2.38155821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.066875 meters Centerline goodness : 0.159509 Centerline is valid? [False, False] Translation: X:245.84, Y:100.11, Z:23.82 [[ 9.99645171e-01 -8.09764756e-03 -2.53763715e-02 2.45837824e+02] [ 8.02283706e-03 9.99963170e-01 -3.04846567e-03 1.00108575e+02] [ 2.54001223e-02 2.84379350e-03 9.99673320e-01 2.38162864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.096875 meters Centerline goodness : 0.142806 Centerline is valid? [False, False] Translation: X:245.84, Y:100.11, Z:23.82 [[ 9.99648697e-01 -8.12588821e-03 -2.52280151e-02 2.45837446e+02] [ 8.00479813e-03 9.99955970e-01 -4.89711162e-03 1.00113121e+02] [ 2.52666977e-02 4.69344608e-03 9.99669728e-01 2.38184316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.126875 meters Centerline goodness : 0.987641 Centerline is valid? [False, True] Translation: X:245.84, Y:100.11, Z:23.82 [[ 9.99612126e-01 -1.17779328e-02 -2.52364545e-02 2.45837823e+02] [ 1.15658084e-02 9.99896687e-01 -8.53502384e-03 1.00112837e+02] [ 2.53343722e-02 8.23983333e-03 9.99645074e-01 2.38184447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.156875 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:245.87, Y:100.11, Z:23.81 [[ 9.99620519e-01 -1.13077470e-02 -2.51187723e-02 2.45869870e+02] [ 1.13221140e-02 9.99935810e-01 4.29813362e-04 1.00105465e+02] [ 2.51122997e-02 -7.14047860e-04 9.99684381e-01 2.38090865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.186875 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:245.90, Y:100.10, Z:23.81 [[ 9.99628655e-01 -1.05732927e-02 -2.51148734e-02 2.45902045e+02] [ 1.05949078e-02 9.99943608e-01 7.27735442e-04 1.00102031e+02] [ 2.51057625e-02 -9.93554969e-04 9.99684307e-01 2.38124079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.216875 meters Centerline goodness : 0.137346 Centerline is valid? [True, False] Translation: X:245.90, Y:100.10, Z:23.81 [[ 9.99655033e-01 -7.50940002e-03 -2.51679245e-02 2.45901257e+02] [ 7.67915949e-03 9.99948368e-01 6.65522246e-03 1.00099460e+02] [ 2.51166483e-02 -6.84619513e-03 9.99661084e-01 2.38144151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.246875 meters Centerline goodness : 0.989359 Centerline is valid? [False, True] Translation: X:245.90, Y:100.10, Z:23.82 [[ 9.99681645e-01 -4.68050516e-03 -2.47931691e-02 2.45899365e+02] [ 4.92747290e-03 9.99938760e-01 9.90941038e-03 1.00098406e+02] [ 2.47452697e-02 -1.00284233e-02 9.99643488e-01 2.38153840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.276875 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:245.93, Y:100.10, Z:23.82 [[ 9.99617592e-01 -1.19743156e-02 -2.49256008e-02 2.45931153e+02] [ 1.19865642e-02 9.99928100e-01 3.42047688e-04 1.00102952e+02] [ 2.49197129e-02 -6.40689201e-04 9.99689250e-01 2.38163888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.306875 meters Centerline goodness : 0.991762 Centerline is valid? [True, True] Translation: X:245.96, Y:100.10, Z:23.81 [[ 9.99609698e-01 -1.26255708e-02 -2.49208053e-02 2.45959327e+02] [ 1.26458619e-02 9.99919822e-01 6.56787680e-04 1.00102766e+02] [ 2.49105149e-02 -9.71676398e-04 9.99689213e-01 2.38128384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.336875 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:246.00, Y:100.10, Z:23.81 [[ 9.99539648e-01 -1.73037859e-02 -2.49212857e-02 2.45999129e+02] [ 1.73247251e-02 9.99849721e-01 6.24531449e-04 1.00101001e+02] [ 2.49067338e-02 -1.05599837e-03 9.99689221e-01 2.38148743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.366875 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:246.01, Y:100.10, Z:23.81 [[ 9.99579475e-01 -1.48454930e-02 -2.49095451e-02 2.46013846e+02] [ 1.48849820e-02 9.99888232e-01 1.40061875e-03 1.00104197e+02] [ 2.48859681e-02 -1.77080789e-03 9.99688728e-01 2.38136235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.396875 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:246.05, Y:100.10, Z:23.81 [[ 9.99573257e-01 -1.52358768e-02 -2.49233018e-02 2.46045014e+02] [ 1.52506130e-02 9.99883622e-01 4.01279828e-04 1.00101052e+02] [ 2.49142874e-02 -7.81204215e-04 9.99689286e-01 2.38092903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.426875 meters Centerline goodness : 0.992448 Centerline is valid? [True, True] Translation: X:246.07, Y:100.10, Z:23.80 [[ 9.99533238e-01 -1.76707898e-02 -2.49208715e-02 2.46073620e+02] [ 1.76906967e-02 9.99843340e-01 5.78548358e-04 1.00097081e+02] [ 2.49067440e-02 -1.01914589e-03 9.99689259e-01 2.38045000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.456875 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:246.10, Y:100.09, Z:23.81 [[ 9.99533967e-01 -1.76298273e-02 -2.49206436e-02 2.46102900e+02] [ 1.76501423e-02 9.99844047e-01 5.95442490e-04 1.00093855e+02] [ 2.49062596e-02 -1.03501790e-03 9.99689255e-01 2.38065533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.486875 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:246.13, Y:100.10, Z:23.81 [[ 9.99552842e-01 -1.65267897e-02 -2.49194850e-02 2.46129886e+02] [ 1.65489387e-02 9.99862824e-01 6.82841990e-04 1.00096884e+02] [ 2.49047815e-02 -1.09492768e-03 9.99689228e-01 2.38097054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.516875 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:246.16, Y:100.10, Z:23.81 [[ 9.99613708e-01 -1.23013282e-02 -2.49221160e-02 2.46158941e+02] [ 1.23170789e-02 9.99924027e-01 4.78582275e-04 1.00096462e+02] [ 2.49143354e-02 -7.85365072e-04 9.99689281e-01 2.38101668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.546875 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:246.18, Y:100.10, Z:23.81 [[ 9.99652343e-01 -8.60972302e-03 -2.49211764e-02 2.46184706e+02] [ 8.62615034e-03 9.99962642e-01 5.51740614e-04 1.00095566e+02] [ 2.49154951e-02 -7.66522613e-04 9.99689267e-01 2.38086981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.57687500000003 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:246.21, Y:100.09, Z:23.80 [[ 9.99681952e-01 -3.85598701e-03 -2.49223956e-02 2.46213626e+02] [ 3.86851056e-03 9.99992414e-01 4.54307143e-04 1.00092098e+02] [ 2.49204548e-02 -5.50575203e-04 9.99689286e-01 2.38046872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.606875 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:246.24, Y:100.09, Z:23.81 [[ 9.99677755e-01 -4.82511559e-03 -2.49219594e-02 2.46237192e+02] [ 4.83882752e-03 9.99988173e-01 4.89917963e-04 1.00094556e+02] [ 2.49193007e-02 -6.10353152e-04 9.99689280e-01 2.38055168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.63687500000003 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:246.27, Y:100.10, Z:23.82 [[ 9.99674750e-01 -5.40060721e-03 -2.49244496e-02 2.46266564e+02] [ 5.40925423e-03 9.99985331e-01 2.79520135e-04 1.00098719e+02] [ 2.49225744e-02 -4.14251906e-04 9.99689299e-01 2.38155969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.666875 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:246.33, Y:100.11, Z:23.83 [[ 9.99689312e-01 2.28116746e-04 -2.49244172e-02 2.46325017e+02] [-2.21150077e-04 9.99999936e-01 2.82267904e-04 1.00111990e+02] [ 2.49244799e-02 -2.76668170e-04 9.99689299e-01 2.38311988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.69687500000003 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:246.32, Y:100.10, Z:23.81 [[ 9.99645121e-01 -9.46948306e-03 -2.48990335e-02 2.46320564e+02] [ 9.52522066e-03 9.99952385e-01 2.12089290e-03 1.00097307e+02] [ 2.48777642e-02 -2.35730903e-03 9.99687721e-01 2.38145713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.726875 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:246.35, Y:100.09, Z:23.81 [[ 9.99617167e-01 -1.20213013e-02 -2.49200431e-02 2.46351166e+02] [ 1.20291576e-02 9.99927633e-01 1.65372623e-04 1.00093238e+02] [ 2.49162517e-02 -4.65076440e-04 9.99689434e-01 2.38140342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.75687500000004 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:246.38, Y:100.09, Z:23.82 [[ 9.99625901e-01 -1.12751212e-02 -2.49184613e-02 2.46382829e+02] [ 1.12864094e-02 9.99936258e-01 3.12407121e-04 1.00092459e+02] [ 2.49133505e-02 -5.93530206e-04 9.99689438e-01 2.38183318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.786875 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:246.41, Y:100.09, Z:23.82 [[ 9.99618435e-01 -1.19215354e-02 -2.49170899e-02 2.46408095e+02] [ 1.19361990e-02 9.99928664e-01 4.39841742e-04 1.00092084e+02] [ 2.49100689e-02 -7.37089258e-04 9.99689424e-01 2.38218838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.816875 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:246.45, Y:100.08, Z:23.82 [[ 9.99640053e-01 -9.94096178e-03 -2.49186832e-02 2.46453374e+02] [ 9.95123864e-03 9.99950444e-01 2.88441806e-04 1.00080658e+02] [ 2.49145809e-02 -5.36309746e-04 9.99689440e-01 2.38217153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.846875 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:246.47, Y:100.09, Z:23.82 [[ 9.99602710e-01 -1.31926239e-02 -2.49073520e-02 2.46465440e+02] [ 1.32284812e-02 9.99911686e-01 1.27540240e-03 1.00085416e+02] [ 2.48883264e-02 -1.60438213e-03 9.99688950e-01 2.38246693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.876875 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:246.49, Y:100.09, Z:23.83 [[ 9.99609741e-01 -1.26284059e-02 -2.49176482e-02 2.46494354e+02] [ 1.26385547e-02 9.99920099e-01 2.49845862e-04 1.00085739e+02] [ 2.49125021e-02 -5.64671419e-04 9.99689476e-01 2.38284363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.906875 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:246.56, Y:100.09, Z:23.83 [[ 9.99233744e-01 -3.01834548e-02 -2.49175274e-02 2.46558382e+02] [ 3.01993575e-02 9.99543861e-01 2.62069618e-04 1.00089797e+02] [ 2.48982514e-02 -1.01436212e-03 9.99689476e-01 2.38321234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.936875 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:246.55, Y:100.09, Z:23.83 [[ 9.99670344e-01 -6.30041026e-03 -2.48899132e-02 2.46549478e+02] [ 6.36210432e-03 9.99976881e-01 2.40026611e-03 1.00089899e+02] [ 2.48742151e-02 -2.55782707e-03 9.99687317e-01 2.38321875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.966875 meters Centerline goodness : 0.996686 Centerline is valid? [True, True] Translation: X:246.59, Y:100.09, Z:23.84 [[ 9.99668285e-01 6.54068446e-03 -2.49106265e-02 2.46585598e+02] [-6.53604464e-03 9.99978604e-01 2.67676288e-04 1.00089636e+02] [ 2.49118443e-02 -1.04770529e-04 9.99689646e-01 2.38396439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.996875 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:246.61, Y:100.09, Z:23.84 [[ 9.99657839e-01 7.99133149e-03 -2.49067049e-02 2.46608286e+02] [-7.97721978e-03 9.99967960e-01 6.65891193e-04 1.00093934e+02] [ 2.49112283e-02 -4.66977092e-04 9.99689558e-01 2.38408126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.026875 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:246.63, Y:100.09, Z:23.84 [[ 9.99646188e-01 9.32864181e-03 -2.49093406e-02 2.46634885e+02] [-9.32193560e-03 9.99956476e-01 3.85333220e-04 1.00093058e+02] [ 2.49118511e-02 -1.52993616e-04 9.99689640e-01 2.38443645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.056875 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:246.67, Y:100.09, Z:23.84 [[ 9.99674784e-01 5.45979880e-03 -2.49101569e-02 2.46670943e+02] [-5.45413975e-03 9.99985083e-01 2.95115823e-04 1.00088476e+02] [ 2.49113966e-02 -1.59156370e-04 9.99689650e-01 2.38372636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.086875 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:246.74, Y:100.09, Z:23.83 [[ 9.99423365e-01 -2.30778838e-02 -2.49068216e-02 2.46743311e+02] [ 2.31013789e-02 9.99732912e-01 6.55959365e-04 1.00092109e+02] [ 2.48850311e-02 -1.23096304e-03 9.99689562e-01 2.38330153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.116875 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:246.72, Y:100.08, Z:23.83 [[ 9.99674943e-01 5.57925750e-03 -2.48773163e-02 2.46718023e+02] [-5.50309093e-03 9.99979962e-01 3.12909935e-03 1.00084874e+02] [ 2.48942759e-02 -2.99118007e-03 9.99685615e-01 2.38313523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.146875 meters Centerline goodness : 0.996945 Centerline is valid? [True, True] Translation: X:246.81, Y:100.11, Z:23.84 [[ 9.98995158e-01 -3.72640860e-02 -2.49010439e-02 2.46805183e+02] [ 3.72840808e-02 9.99304649e-01 3.39012588e-04 1.00108157e+02] [ 2.48710960e-02 -1.26708447e-03 9.99689863e-01 2.38366348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.176875 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:246.78, Y:100.09, Z:23.84 [[ 9.99690443e-01 1.38398762e-03 -2.48415333e-02 2.46775016e+02] [-1.28116727e-03 9.99990549e-01 4.15448838e-03 1.00090899e+02] [ 2.48470483e-02 -4.12137618e-03 9.99682769e-01 2.38364440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.206875 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:246.80, Y:100.09, Z:23.84 [[ 9.99646621e-01 9.40747853e-03 -2.48622650e-02 2.46799502e+02] [-9.39332362e-03 9.99955646e-01 6.86062151e-04 1.00093188e+02] [ 2.48676164e-02 -4.52280410e-04 9.99690651e-01 2.38409899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.236875 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:246.83, Y:100.09, Z:23.84 [[ 9.99649791e-01 9.06369243e-03 -2.48625250e-02 2.46826824e+02] [-9.05058788e-03 9.99958838e-01 6.39559639e-04 1.00093441e+02] [ 2.48672984e-02 -4.14315191e-04 9.99690675e-01 2.38416918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.266875 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:246.84, Y:100.10, Z:23.85 [[ 9.99456852e-01 2.16297390e-02 -2.48627248e-02 2.46842144e+02] [-2.16257802e-02 9.99766044e-01 4.28128655e-04 1.00096555e+02] [ 2.48661683e-02 1.09779702e-04 9.99690783e-01 2.38451173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.296875 meters Centerline goodness : 0.997194 Centerline is valid? [True, True] Translation: X:246.87, Y:100.10, Z:23.84 [[ 9.99360697e-01 2.56913907e-02 -2.48625977e-02 2.46873860e+02] [-2.57055801e-02 9.99669525e-01 -2.51227901e-04 1.00095984e+02] [ 2.48479268e-02 8.90174788e-04 9.99690846e-01 2.38423727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.32687500000003 meters Centerline goodness : 0.997325 Centerline is valid? [True, True] Translation: X:246.91, Y:100.10, Z:23.84 [[ 9.99361363e-01 2.56654832e-02 -2.48625850e-02 2.46909901e+02] [-2.56733863e-02 9.99670384e-01 1.33244781e-06 1.00096712e+02] [ 2.48544241e-02 6.36975152e-04 9.99690878e-01 2.38417888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.356875 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:246.93, Y:100.09, Z:23.84 [[ 9.99294130e-01 2.81613248e-02 -2.48632448e-02 2.46931938e+02] [-2.81653235e-02 9.99603261e-01 1.89422059e-04 1.00089637e+02] [ 2.48587149e-02 5.10992980e-04 9.99690844e-01 2.38357087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.38687500000003 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:246.97, Y:100.09, Z:23.83 [[ 9.99401877e-01 2.40368345e-02 -2.48620015e-02 2.46973009e+02] [-2.40468786e-02 9.99710826e-01 -1.05055644e-04 1.00089054e+02] [ 2.48522869e-02 7.02846341e-04 9.99690887e-01 2.38268836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.416875 meters Centerline goodness : 0.996833 Centerline is valid? [True, True] Translation: X:246.98, Y:100.09, Z:23.82 [[ 9.99137756e-01 3.32544509e-02 -2.48573141e-02 2.46984019e+02] [-3.32415220e-02 9.99446912e-01 9.33270049e-04 1.00085169e+02] [ 2.48746012e-02 -1.06170390e-04 9.99690574e-01 2.38220575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.44687500000003 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:247.01, Y:100.08, Z:23.82 [[ 9.99140419e-01 3.31722473e-02 -2.48600993e-02 2.47013215e+02] [-3.31811054e-02 9.99449354e-01 5.62150655e-05 1.00083608e+02] [ 2.48482750e-02 7.68718832e-04 9.99690938e-01 2.38246987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.476875 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:247.04, Y:100.08, Z:23.82 [[ 9.99164265e-01 3.24460947e-02 -2.48600414e-02 2.47039654e+02] [-3.24542534e-02 9.99473219e-01 7.53188253e-05 1.00083561e+02] [ 2.48493894e-02 7.31558205e-04 9.99690939e-01 2.38243623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.50687500000004 meters Centerline goodness : 0.991581 Centerline is valid? [True, True] Translation: X:247.07, Y:100.08, Z:23.83 [[ 9.99018720e-01 3.66546627e-02 -2.48602579e-02 2.47065194e+02] [-3.66659061e-02 9.99327580e-01 3.56826466e-06 1.00079248e+02] [ 2.48436722e-02 9.07959120e-04 9.99690936e-01 2.38308525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.536875 meters Centerline goodness : 0.990235 Centerline is valid? [True, True] Translation: X:247.10, Y:100.08, Z:23.84 [[ 9.99124568e-01 3.36455638e-02 -2.48610775e-02 2.47095156e+02] [-3.36614117e-02 9.99433270e-01 -2.19119043e-04 1.00078278e+02] [ 2.48396156e-02 1.05578618e-03 9.99690892e-01 2.38397378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.566875 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:247.12, Y:100.08, Z:23.84 [[ 9.99087015e-01 3.47430887e-02 -2.48606902e-02 2.47122048e+02] [-3.47566606e-02 9.99395798e-01 -1.13890689e-04 1.00075740e+02] [ 2.48417124e-02 9.77861279e-04 9.99690919e-01 2.38438217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.596875 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:247.15, Y:100.07, Z:23.85 [[ 9.98980934e-01 3.76699237e-02 -2.48610174e-02 2.47151552e+02] [-3.76863213e-02 9.99289600e-01 -1.91202397e-04 1.00072128e+02] [ 2.48361535e-02 1.12792784e-03 9.99690899e-01 2.38464346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.626875 meters Centerline goodness : 0.996791 Centerline is valid? [True, True] Translation: X:247.18, Y:100.07, Z:23.84 [[ 9.98935611e-01 3.88535732e-02 -2.48605056e-02 2.47181810e+02] [-3.88679674e-02 9.99244350e-01 -9.58636129e-05 1.00071894e+02] [ 2.48379951e-02 1.06203890e-03 9.99690925e-01 2.38431325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.656875 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:247.21, Y:100.07, Z:23.84 [[ 9.98769938e-01 4.29021772e-02 -2.48598962e-02 2.47211408e+02] [-4.29150153e-02 9.99078726e-01 1.71096216e-05 1.00069873e+02] [ 2.48377274e-02 1.04977425e-03 9.99690945e-01 2.38425512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.686875 meters Centerline goodness : 0.990831 Centerline is valid? [True, True] Translation: X:247.24, Y:100.07, Z:23.84 [[ 9.98987874e-01 3.74865877e-02 -2.48592531e-02 2.47235890e+02] [-3.74948137e-02 9.99296813e-01 1.35297422e-04 1.00074529e+02] [ 2.48468442e-02 7.96932581e-04 9.99690952e-01 2.38385906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.716875 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:247.26, Y:100.07, Z:23.84 [[ 9.99088711e-01 3.46945361e-02 -2.48603410e-02 2.47261928e+02] [-3.47068681e-02 9.99397533e-01 -6.46135048e-05 1.00071516e+02] [ 2.48431217e-02 9.27379198e-04 9.99690932e-01 2.38386230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.746875 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:247.29, Y:100.07, Z:23.84 [[ 9.99416262e-01 2.34314839e-02 -2.48616405e-02 2.47294338e+02] [-2.34467222e-02 9.99725036e-01 -3.21554943e-04 1.00072920e+02] [ 2.48472699e-02 9.04291216e-04 9.99690850e-01 2.38390279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.776875 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:247.32, Y:100.08, Z:23.84 [[ 9.99508920e-01 1.90773169e-02 -2.48590965e-02 2.47322390e+02] [-1.90799985e-02 9.99817952e-01 1.29339289e-04 1.00075490e+02] [ 2.48570384e-02 3.45035751e-04 9.99690957e-01 2.38409973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.806875 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:247.35, Y:100.07, Z:23.83 [[ 9.99443035e-01 2.22627788e-02 -2.48593615e-02 2.47351607e+02] [-2.22676751e-02 9.99752041e-01 7.98796343e-05 1.00071478e+02] [ 2.48549757e-02 4.73725041e-04 9.99690955e-01 2.38347943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.836875 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:247.38, Y:100.07, Z:23.83 [[ 9.99636991e-01 1.03880244e-02 -2.48590888e-02 2.47378294e+02] [-1.03879668e-02 9.99946035e-01 1.31456773e-04 1.00072841e+02] [ 2.48591128e-02 1.26826335e-04 9.99690956e-01 2.38316113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.866875 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:247.40, Y:100.07, Z:23.83 [[ 9.99648945e-01 9.16498406e-03 -2.48594156e-02 2.47403851e+02] [-9.16613996e-03 9.99957988e-01 6.74547803e-05 1.00069496e+02] [ 2.48589894e-02 1.60433783e-04 9.99690955e-01 2.38278601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.896875 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:247.43, Y:100.07, Z:23.83 [[ 9.99644322e-01 9.65443867e-03 -2.48600438e-02 2.47434658e+02] [-9.65870777e-03 9.99953352e-01 -5.16516841e-05 1.00066552e+02] [ 2.48583854e-02 2.91749210e-04 9.99690940e-01 2.38291751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.926875 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:247.46, Y:100.07, Z:23.83 [[ 9.99654312e-01 8.56060230e-03 -2.48590739e-02 2.47462157e+02] [-8.56000648e-03 9.99963354e-01 1.30382945e-04 1.00068716e+02] [ 2.48592790e-02 8.24559606e-05 9.99690957e-01 2.38309724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.956875 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:247.49, Y:100.07, Z:23.84 [[ 9.99630479e-01 1.09974785e-02 -2.48588124e-02 2.47491923e+02] [-1.09963994e-02 9.99939522e-01 1.80109324e-04 1.00073212e+02] [ 2.48592897e-02 9.33146599e-05 9.99690956e-01 2.38361867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.986875 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:247.52, Y:100.07, Z:23.84 [[ 9.99605728e-01 1.30553777e-02 -2.48585033e-02 2.47521136e+02] [-1.30534347e-02 9.99914771e-01 2.40438682e-04 1.00073503e+02] [ 2.48595237e-02 8.41449654e-05 9.99690951e-01 2.38373172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.016875 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:247.55, Y:100.08, Z:23.84 [[ 9.99632747e-01 1.07911762e-02 -2.48580148e-02 2.47549203e+02] [-1.07860004e-02 9.99941771e-01 3.42287458e-04 1.00080408e+02] [ 2.48602611e-02 -7.40431935e-05 9.99690933e-01 2.38419571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.046875 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:247.58, Y:100.08, Z:23.85 [[ 9.99640117e-01 1.00846684e-02 -2.48583040e-02 2.47577733e+02] [-1.00808486e-02 9.99949148e-01 2.78978743e-04 1.00083519e+02] [ 2.48598533e-02 -2.82855452e-05 9.99690946e-01 2.38485895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.07687500000003 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:247.61, Y:100.09, Z:23.85 [[ 9.99650375e-01 9.01136867e-03 -2.48580398e-02 2.47606177e+02] [-9.00569567e-03 9.99959390e-01 3.40158062e-04 1.00085940e+02] [ 2.48600956e-02 -1.16175194e-04 9.99690933e-01 2.38497199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.106875 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:247.63, Y:100.09, Z:23.85 [[ 9.99680633e-01 4.55057618e-03 -2.48580748e-02 2.47630108e+02] [-4.54367941e-03 9.99989622e-01 3.33921414e-04 1.00089407e+02] [ 2.48593363e-02 -2.20867648e-04 9.99690935e-01 2.38496577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.13687500000003 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:247.66, Y:100.08, Z:23.84 [[ 9.99672861e-01 6.01170998e-03 -2.48602236e-02 2.47660917e+02] [-6.01643227e-03 9.99981894e-01 -1.15160525e-04 1.00077330e+02] [ 2.48590811e-02 2.64692703e-04 9.99690930e-01 2.38419137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.166875 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:247.70, Y:100.07, Z:23.84 [[ 9.99690949e-01 -1.84960944e-04 -2.48590474e-02 2.47696392e+02] [ 1.88307773e-04 9.99999974e-01 1.32291327e-04 1.00073043e+02] [ 2.48590223e-02 -1.36931594e-04 9.99690957e-01 2.38371936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.19687500000003 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:247.72, Y:100.08, Z:23.84 [[ 9.99657411e-01 -8.19941439e-03 -2.48562084e-02 2.47716226e+02] [ 8.21856081e-03 9.99966004e-01 6.68226462e-04 1.00076795e+02] [ 2.48498843e-02 -8.72279796e-04 9.99690813e-01 2.38382280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.226875 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:247.75, Y:100.08, Z:23.85 [[ 9.99662053e-01 -7.60431058e-03 -2.48586756e-02 2.47750412e+02] [ 7.60938699e-03 9.99971042e-01 1.09621715e-04 1.00077613e+02] [ 2.48571222e-02 -2.98743952e-04 9.99690969e-01 2.38475819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.25687500000004 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:247.78, Y:100.08, Z:23.85 [[ 9.99668895e-01 -6.65175970e-03 -2.48566909e-02 2.47775238e+02] [ 6.66743411e-03 9.99977622e-01 5.47765384e-04 1.00083955e+02] [ 2.48524911e-02 -7.13314365e-04 9.99690875e-01 2.38536833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.286875 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:247.81, Y:100.09, Z:23.85 [[ 9.99689524e-01 -1.72002802e-03 -2.48575539e-02 2.47807344e+02] [ 1.72814068e-03 9.99998460e-01 3.04887626e-04 1.00092552e+02] [ 2.48569912e-02 -3.47750316e-04 9.99690957e-01 2.38549088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.316875 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:247.83, Y:100.09, Z:23.86 [[ 9.99691006e-01 -1.72430332e-04 -2.48568308e-02 2.47829473e+02] [ 1.86468333e-04 9.99999824e-01 5.62437485e-04 1.00093381e+02] [ 2.48567295e-02 -5.66898707e-04 9.99690863e-01 2.38596984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.346875 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:247.86, Y:100.09, Z:23.86 [[ 9.99689082e-01 1.95868143e-03 -2.48576637e-02 2.47860590e+02] [-1.95551929e-03 9.99998076e-01 1.51517772e-04 1.00088930e+02] [ 2.48579126e-02 -1.02861022e-04 9.99690989e-01 2.38555216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.376875 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:247.88, Y:100.08, Z:23.85 [[ 9.99685771e-01 3.23562573e-03 -2.48573860e-02 2.47884199e+02] [-3.22949488e-03 9.99994744e-01 2.86781604e-04 1.00080692e+02] [ 2.48581832e-02 -2.06414688e-04 9.99690966e-01 2.38493228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.406875 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:247.91, Y:100.08, Z:23.84 [[ 9.99690096e-01 1.34368246e-03 -2.48577060e-02 2.47914654e+02] [-1.34232110e-03 9.99999097e-01 7.14520610e-05 1.00076690e+02] [ 2.48577796e-02 -3.80628944e-05 9.99690997e-01 2.38419512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.436875 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:247.94, Y:100.07, Z:23.84 [[ 9.99680382e-01 4.60818579e-03 -2.48575503e-02 2.47944379e+02] [-4.60404442e-03 9.99989376e-01 2.23833344e-04 1.00071179e+02] [ 2.48583177e-02 -1.09316537e-04 9.99690978e-01 2.38439479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.466875 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:247.96, Y:100.09, Z:23.86 [[ 9.99690647e-01 -8.45883186e-04 -2.48574940e-02 2.47960810e+02] [ 8.53602889e-04 9.99999591e-01 2.99949132e-04 1.00088857e+02] [ 2.48572301e-02 -3.21074771e-04 9.99690960e-01 2.38554449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.496875 meters Centerline goodness : 0.992964 Centerline is valid? [True, True] Translation: X:247.98, Y:100.10, Z:23.86 [[ 9.99690455e-01 1.12793801e-03 -2.48540226e-02 2.47982599e+02] [-1.14140708e-03 9.99999209e-01 -5.27747384e-04 1.00095544e+02] [ 2.48534076e-02 5.55952579e-04 9.99690952e-01 2.38597873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.526875 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:248.02, Y:100.09, Z:23.87 [[ 9.99643526e-01 9.75561224e-03 -2.48525635e-02 2.48020493e+02] [-9.77931777e-03 9.99951835e-01 -8.32483099e-04 1.00090213e+02] [ 2.48432451e-02 1.07522746e-03 9.99690781e-01 2.38683817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.556875 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:248.05, Y:100.09, Z:23.86 [[ 9.99668985e-01 6.64283609e-03 -2.48554633e-02 2.48049949e+02] [-6.64690470e-03 9.99977906e-01 -8.10747220e-05 1.00089793e+02] [ 2.48543755e-02 2.46259781e-04 9.99691052e-01 2.38617533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.586875 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:248.08, Y:100.08, Z:23.86 [[ 9.99648819e-01 9.18958868e-03 -2.48553910e-02 2.48078304e+02] [-9.19489465e-03 9.99957721e-01 -9.91908133e-05 1.00077006e+02] [ 2.48534286e-02 3.27698681e-04 9.99691052e-01 2.38586731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.616875 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:248.11, Y:100.07, Z:23.86 [[ 9.99648929e-01 9.17760878e-03 -2.48553824e-02 2.48106743e+02] [-9.18296318e-03 9.99957831e-01 -1.01287683e-04 1.00072321e+02] [ 2.48534047e-02 3.29498186e-04 9.99691052e-01 2.38600137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.646875 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:248.13, Y:100.07, Z:23.86 [[ 9.99652996e-01 8.72340979e-03 -2.48553574e-02 2.48134665e+02] [-8.72876852e-03 9.99961898e-01 -1.07107380e-04 1.00070171e+02] [ 2.48534760e-02 3.24026874e-04 9.99691052e-01 2.38630333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.676875 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:248.16, Y:100.07, Z:23.86 [[ 9.99668267e-01 6.75041301e-03 -2.48553268e-02 2.48163256e+02] [-6.75532777e-03 9.99977176e-01 -1.13773332e-04 1.00068773e+02] [ 2.48539915e-02 2.81641469e-04 9.99691052e-01 2.38629229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.706875 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:248.19, Y:100.07, Z:23.86 [[ 9.99677014e-01 5.29916825e-03 -2.48553188e-02 2.48191399e+02] [-5.30367770e-03 9.99985929e-01 -1.15508132e-04 1.00067183e+02] [ 2.48543569e-02 2.47295425e-04 9.99691052e-01 2.38603595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.736875 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:248.22, Y:100.06, Z:23.86 [[ 9.99686692e-01 2.95495976e-03 -2.48553086e-02 2.48220348e+02] [-2.95879828e-03 9.99995616e-01 -1.17659380e-04 1.00062433e+02] [ 2.48548520e-02 1.91164361e-04 9.99691052e-01 2.38599201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.766875 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:248.25, Y:100.06, Z:23.86 [[ 9.99690999e-01 3.48240292e-04 -2.48553005e-02 2.48247300e+02] [-3.51315393e-04 9.99999931e-01 -1.19353539e-04 1.00061838e+02] [ 2.48552572e-02 1.28048709e-04 9.99691052e-01 2.38619131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.796875 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:248.28, Y:100.06, Z:23.87 [[ 9.99688023e-01 -2.46388257e-03 -2.48552860e-02 2.48276082e+02] [ 2.46160323e-03 9.99996963e-01 -1.22300648e-04 1.00060649e+02] [ 2.48555118e-02 6.10786404e-05 9.99691052e-01 2.38651783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.82687500000003 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:248.30, Y:100.06, Z:23.87 [[ 9.99673513e-01 -5.92307837e-03 -2.48552777e-02 2.48303945e+02] [ 5.92182680e-03 9.99982458e-01 -1.23960090e-04 1.00059624e+02] [ 2.48555759e-02 -2.32690310e-05 9.99691052e-01 2.38691764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.856875 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:248.34, Y:100.05, Z:23.87 [[ 9.99680248e-01 -4.64944626e-03 -2.48552622e-02 2.48335571e+02] [ 4.64772583e-03 9.99989191e-01 -1.26987131e-04 1.00050985e+02] [ 2.48555840e-02 1.14260821e-05 9.99691052e-01 2.38742617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.88687500000003 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:248.36, Y:100.06, Z:23.86 [[ 9.99590040e-01 -1.42094871e-02 -2.48564329e-02 2.48360387e+02] [ 1.42163130e-02 9.99898938e-01 9.79142395e-05 1.00055822e+02] [ 2.48525295e-02 -4.51240928e-04 9.99691026e-01 2.38648140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.916875 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:248.39, Y:100.05, Z:23.86 [[ 9.99562196e-01 -1.60511436e-02 -2.48551103e-02 2.48388795e+02] [ 1.60526509e-02 9.99871138e-01 -1.38892547e-04 1.00053368e+02] [ 2.48541368e-02 -2.60158669e-04 9.99691054e-01 2.38631861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.94687500000003 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:248.42, Y:100.05, Z:23.87 [[ 9.99561005e-01 -1.61251896e-02 -2.48550710e-02 2.48415247e+02] [ 1.61265531e-02 9.99869948e-01 -1.45598206e-04 1.00054764e+02] [ 2.48541863e-02 -2.55292333e-04 9.99691054e-01 2.38732632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.976875 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:248.44, Y:100.06, Z:23.88 [[ 9.99571438e-01 -1.54677864e-02 -2.48533192e-02 2.48441692e+02] [ 1.54619378e-02 9.99880366e-01 -4.27488717e-04 1.00058014e+02] [ 2.48569582e-02 4.30250370e-05 9.99691017e-01 2.38772266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.00687500000004 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:248.47, Y:100.06, Z:23.88 [[ 9.99571908e-01 -1.54378664e-02 -2.48530166e-02 2.48470186e+02] [ 1.54307977e-02 9.99880825e-01 -4.76184641e-04 1.00058173e+02] [ 2.48574060e-02 9.24789191e-05 9.99691003e-01 2.38779569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.036875 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:248.51, Y:100.06, Z:23.88 [[ 9.99673846e-01 -5.87523930e-03 -2.48532530e-02 2.48507273e+02] [ 5.86633140e-03 9.99982700e-01 -4.31315398e-04 1.00057258e+02] [ 2.48553571e-02 2.85377304e-04 9.99691017e-01 2.38809558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.066875 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:248.53, Y:100.06, Z:23.88 [[ 9.99646266e-01 -9.46173904e-03 -2.48559653e-02 2.48531122e+02] [ 9.46791987e-03 9.99955170e-01 1.30990012e-04 1.00063314e+02] [ 2.48536116e-02 -3.66277965e-04 9.99691034e-01 2.38760344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.096875 meters Centerline goodness : 0.991623 Centerline is valid? [True, True] Translation: X:248.57, Y:100.06, Z:23.88 [[ 9.99679836e-01 -4.74070154e-03 -2.48546031e-02 2.48566093e+02] [ 4.73893766e-03 9.99988763e-01 -1.29869019e-04 1.00058558e+02] [ 2.48549395e-02 1.20430243e-05 9.99691068e-01 2.38764736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.126875 meters Centerline goodness : 0.991623 Centerline is valid? [True, True] Translation: X:248.59, Y:100.06, Z:23.88 [[ 9.99677551e-01 -5.19123882e-03 -2.48564963e-02 2.48594364e+02] [ 5.19868031e-03 9.99986459e-01 2.34766516e-04 1.00058794e+02] [ 2.48549410e-02 -3.63911794e-04 9.99691002e-01 2.38770134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.156875 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:248.63, Y:100.06, Z:23.88 [[ 9.99656882e-01 -8.26345311e-03 -2.48562762e-02 2.48625136e+02] [ 8.27093884e-03 9.99965776e-01 1.98365665e-04 1.00060377e+02] [ 2.48537863e-02 -4.03882342e-04 9.99691015e-01 2.38774352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.186875 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:248.65, Y:100.07, Z:23.88 [[ 9.99620537e-01 -1.18703724e-02 -2.48571198e-02 2.48647634e+02] [ 1.18823824e-02 9.99929346e-01 3.35509452e-04 1.00067618e+02] [ 2.48513809e-02 -6.30743942e-04 9.99690958e-01 2.38778101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.216875 meters Centerline goodness : 0.996360 Centerline is valid? [True, True] Translation: X:248.68, Y:100.07, Z:23.89 [[ 9.99651681e-01 -8.87758704e-03 -2.48536870e-02 2.48679553e+02] [ 8.87612368e-03 9.99960592e-01 -1.69199836e-04 1.00069645e+02] [ 2.48542097e-02 -5.14634994e-05 9.99691085e-01 2.38880874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.246875 meters Centerline goodness : 0.996445 Centerline is valid? [True, True] Translation: X:248.70, Y:100.07, Z:23.89 [[ 9.99660377e-01 -7.83206032e-03 -2.48553894e-02 2.48704866e+02] [ 7.83678890e-03 9.99969288e-01 9.28393468e-05 1.00071318e+02] [ 2.48538989e-02 -2.87594256e-04 9.99691053e-01 2.38852661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.276875 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:248.73, Y:100.07, Z:23.87 [[ 9.99645795e-01 -9.51596713e-03 -2.48541919e-02 2.48731012e+02] [ 9.51685154e-03 9.99954710e-01 -8.27033711e-05 1.00072526e+02] [ 2.48538533e-02 -1.53859578e-04 9.99691083e-01 2.38716651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.306875 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:248.76, Y:100.07, Z:23.88 [[ 9.99686469e-01 -3.04410523e-03 -2.48535095e-02 2.48764683e+02] [ 3.04062044e-03 9.99995361e-01 -1.78002860e-04 1.00067876e+02] [ 2.48539361e-02 1.02376962e-04 9.99691088e-01 2.38805354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.336875 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:248.79, Y:100.07, Z:23.88 [[ 9.99684653e-01 -3.57642117e-03 -2.48556666e-02 2.48791247e+02] [ 3.58056622e-03 9.99993582e-01 1.22261256e-04 1.00071401e+02] [ 2.48550698e-02 -2.11220061e-04 9.99691043e-01 2.38839469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.366875 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:248.82, Y:100.08, Z:23.88 [[ 9.99671020e-01 -6.32990338e-03 -2.48552602e-02 2.48815003e+02] [ 6.33354172e-03 9.99979941e-01 6.76598996e-05 1.00078929e+02] [ 2.48543333e-02 -2.25059468e-04 9.99691058e-01 2.38771636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.396875 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:248.85, Y:100.09, Z:23.88 [[ 9.99687140e-01 -2.81811877e-03 -2.48531818e-02 2.48852721e+02] [ 2.81411689e-03 9.99996021e-01 -1.95994819e-04 1.00086375e+02] [ 2.48536353e-02 1.25993741e-04 9.99691093e-01 2.38777922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.426875 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:248.88, Y:100.09, Z:23.89 [[ 9.99690925e-01 -3.68796666e-04 -2.48579545e-02 2.48877898e+02] [ 3.79294433e-04 9.99999841e-01 4.17596520e-04 1.00088956e+02] [ 2.48577965e-02 -4.26895936e-04 9.99690906e-01 2.38872223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.456875 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:248.90, Y:100.09, Z:23.88 [[ 9.99684241e-01 -3.68846304e-03 -2.48558630e-02 2.48901175e+02] [ 3.69382205e-03 9.99993163e-01 1.69693043e-04 1.00094501e+02] [ 2.48550672e-02 -2.61452596e-04 9.99691031e-01 2.38822318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.486875 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:248.94, Y:100.09, Z:23.88 [[ 9.99688294e-01 -2.38246180e-03 -2.48523414e-02 2.48939344e+02] [ 2.37765420e-03 9.99997149e-01 -2.22994463e-04 1.00091632e+02] [ 2.48528018e-02 1.63834681e-04 9.99691108e-01 2.38802546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.516875 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:248.97, Y:100.09, Z:23.88 [[ 9.99685023e-01 -3.45862267e-03 -2.48574561e-02 2.48969408e+02] [ 3.46888923e-03 9.99993915e-01 3.69908458e-04 1.00091634e+02] [ 2.48560254e-02 -4.56019707e-04 9.99690937e-01 2.38814147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.546875 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:248.99, Y:100.10, Z:23.89 [[ 9.99649090e-01 -9.15302474e-03 -2.48579581e-02 2.48993359e+02] [ 9.16634112e-03 9.99957899e-01 4.21803474e-04 1.00095713e+02] [ 2.48530508e-02 -6.49511983e-04 9.99690904e-01 2.38870767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.57687500000003 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:249.02, Y:100.10, Z:23.88 [[ 9.99483496e-01 -2.03706301e-02 -2.48551510e-02 2.49022493e+02] [ 2.03806309e-02 9.99792282e-01 1.49080944e-04 1.00095003e+02] [ 2.48469512e-02 -6.55567599e-04 9.99691052e-01 2.38775650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.606875 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:249.05, Y:100.09, Z:23.89 [[ 9.99356089e-01 -2.58766316e-02 -2.48557258e-02 2.49051503e+02] [ 2.58897802e-02 9.99664782e-01 2.07284992e-04 1.00094674e+02] [ 2.48420299e-02 -8.50660797e-04 9.99691027e-01 2.38864961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.63687500000003 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:249.08, Y:100.09, Z:23.89 [[ 9.99295570e-01 -2.81171654e-02 -2.48553674e-02 2.49082606e+02] [ 2.81301253e-02 9.99604255e-01 1.71850520e-04 1.00094808e+02] [ 2.48406991e-02 -8.70914062e-04 9.99691043e-01 2.38901837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.666875 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:249.12, Y:100.10, Z:23.89 [[ 9.99132720e-01 -3.34074426e-02 -2.48545905e-02 2.49115335e+02] [ 3.34202450e-02 9.99441383e-01 9.97662767e-05 1.00097420e+02] [ 2.48373734e-02 -9.30326257e-04 9.99691072e-01 2.38915651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.69687500000003 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:249.15, Y:100.10, Z:23.89 [[ 9.99239374e-01 -3.00458787e-02 -2.48579723e-02 2.49147762e+02] [ 3.00653963e-02 9.99547849e-01 4.11713423e-04 1.00095794e+02] [ 2.48343624e-02 -1.15876505e-03 9.99690908e-01 2.38906830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.726875 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:249.18, Y:100.10, Z:23.89 [[ 9.99066515e-01 -3.53291708e-02 -2.48585663e-02 2.49179119e+02] [ 3.53517532e-02 9.99374821e-01 4.69420106e-04 1.00100623e+02] [ 2.48264410e-02 -1.34777581e-03 9.99690868e-01 2.38943651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.75687500000004 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:249.21, Y:100.10, Z:23.90 [[ 9.99017121e-01 -3.67001925e-02 -2.48573371e-02 2.49211587e+02] [ 3.67204400e-02 9.99325513e-01 3.58428640e-04 1.00102728e+02] [ 2.48274167e-02 -1.27084870e-03 9.99690944e-01 2.38979851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.786875 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:249.24, Y:100.10, Z:23.89 [[ 9.98951603e-01 -3.84423641e-02 -2.48571873e-02 2.49243748e+02] [ 3.84628454e-02 9.99259971e-01 3.46194356e-04 1.00101972e+02] [ 2.48254837e-02 -1.30190956e-03 9.99690952e-01 2.38945034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.816875 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:249.27, Y:100.10, Z:23.89 [[ 9.98957689e-01 -3.82841525e-02 -2.48567775e-02 2.49273083e+02] [ 3.83037536e-02 9.99266093e-01 3.12741318e-04 1.00100286e+02] [ 2.48265619e-02 -1.26452323e-03 9.99690974e-01 2.38900924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.846875 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:249.31, Y:100.10, Z:23.89 [[ 9.98978333e-01 -3.77424881e-02 -2.48554609e-02 2.49309915e+02] [ 3.77591478e-02 9.99286849e-01 2.01104039e-04 1.00097960e+02] [ 2.48301450e-02 -1.13941960e-03 9.99691035e-01 2.38858377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.876875 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:249.34, Y:100.10, Z:23.89 [[ 9.99162256e-01 -3.25082106e-02 -2.48596373e-02 2.49337533e+02] [ 3.25310180e-02 9.99470594e-01 5.13474136e-04 1.00104880e+02] [ 2.48297844e-02 -1.32175329e-03 9.99690820e-01 2.38924641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.906875 meters Centerline goodness : 0.996001 Centerline is valid? [True, True] Translation: X:249.37, Y:100.11, Z:23.90 [[ 9.99214562e-01 -3.08615245e-02 -2.48561088e-02 2.49368014e+02] [ 3.08774981e-02 9.99523143e-01 2.59001728e-04 1.00109249e+02] [ 2.48362628e-02 -1.02629275e-03 9.99691006e-01 2.38952935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.936875 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:249.40, Y:100.11, Z:23.90 [[ 9.99196276e-01 -3.14488471e-02 -2.48550309e-02 2.49399621e+02] [ 3.14630910e-02 9.99504898e-01 1.82121225e-04 1.00112256e+02] [ 2.48369977e-02 -9.63990950e-04 9.99691049e-01 2.38992756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.966875 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:249.43, Y:100.11, Z:23.90 [[ 9.99279447e-01 -2.86849734e-02 -2.48547407e-02 2.49432614e+02] [ 2.86978542e-02 9.99588119e-01 1.61629437e-04 1.00109449e+02] [ 2.48398672e-02 -8.74790700e-04 9.99691060e-01 2.38964412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.996875 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:249.47, Y:100.10, Z:23.89 [[ 9.99153450e-01 -3.27804828e-02 -2.48560318e-02 2.49465907e+02] [ 3.27966606e-02 9.99462015e-01 2.43369468e-04 1.00103681e+02] [ 2.48346818e-02 -1.05835828e-03 9.99691011e-01 2.38905544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.026875 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:249.50, Y:100.10, Z:23.89 [[ 9.99195636e-01 -3.14657053e-02 -2.48594132e-02 2.49496710e+02] [ 3.14868316e-02 9.99504062e-01 4.58757664e-04 1.00099291e+02] [ 2.48326493e-02 -1.24113281e-03 9.99690852e-01 2.38854529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.056875 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:249.52, Y:100.10, Z:23.89 [[ 9.99178514e-01 -3.20046793e-02 -2.48595391e-02 2.49516272e+02] [ 3.20262860e-02 9.99486916e-01 4.71392671e-04 1.00101620e+02] [ 2.48316973e-02 -1.26716414e-03 9.99690843e-01 2.38875753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.086875 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:249.55, Y:100.10, Z:23.90 [[ 9.99197660e-01 -3.14096474e-02 -2.48489675e-02 2.49549542e+02] [ 3.14076050e-02 9.99506548e-01 -4.72565690e-04 1.00102352e+02] [ 2.48515488e-02 -3.08260025e-04 9.99691105e-01 2.38989923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.116875 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:249.58, Y:100.11, Z:23.90 [[ 9.99466530e-01 -2.11914104e-02 -2.48511670e-02 2.49575102e+02] [ 2.11912293e-02 9.99775404e-01 -2.70670235e-04 1.00106390e+02] [ 2.48513214e-02 -2.56100936e-04 9.99691125e-01 2.39043738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.146875 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:249.61, Y:100.11, Z:23.90 [[ 9.99550208e-01 -1.67938263e-02 -2.48465168e-02 2.49605331e+02] [ 1.67821430e-02 9.99858940e-01 -6.78681952e-04 1.00106087e+02] [ 2.48544096e-02 2.61398889e-04 9.99691047e-01 2.39002974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.176875 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:249.64, Y:100.10, Z:23.89 [[ 9.99635646e-01 -1.05435825e-02 -2.48476810e-02 2.49644964e+02] [ 1.05324977e-02 9.99944365e-01 -5.76943429e-04 1.00101585e+02] [ 2.48523816e-02 3.15025075e-04 9.99691082e-01 2.38918757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.206875 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:249.67, Y:100.10, Z:23.89 [[ 9.99601585e-01 -1.33571839e-02 -2.48647889e-02 2.49673135e+02] [ 1.33706716e-02 9.99910538e-01 3.76258720e-04 1.00103814e+02] [ 2.48575387e-02 -7.08567740e-04 9.99690753e-01 2.38945944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.236875 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:249.69, Y:100.11, Z:23.90 [[ 9.99578268e-01 -1.50004110e-02 -2.48651123e-02 2.49690410e+02] [ 1.50150161e-02 9.99887188e-01 4.00764508e-04 1.00109839e+02] [ 2.48562956e-02 -7.73945555e-04 9.99690735e-01 2.38965684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.266875 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:249.73, Y:100.11, Z:23.91 [[ 9.99591021e-01 -1.41550159e-02 -2.48480570e-02 2.49726250e+02] [ 1.41422829e-02 9.99899756e-01 -6.88101124e-04 1.00109363e+02] [ 2.48553063e-02 3.36411453e-04 9.99691003e-01 2.39051093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.296875 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:249.76, Y:100.11, Z:23.91 [[ 9.99489731e-01 -2.00592159e-02 -2.48577231e-02 2.49755512e+02] [ 2.00624901e-02 9.99798721e-01 -1.17696274e-04 1.00111713e+02] [ 2.48550806e-02 -3.81071604e-04 9.99690992e-01 2.39051475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.32687500000003 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:249.78, Y:100.11, Z:23.90 [[ 9.99431637e-01 -2.27705920e-02 -2.48576431e-02 2.49784979e+02] [ 2.27745764e-02 9.99740618e-01 -1.22841955e-04 1.00111295e+02] [ 2.48539927e-02 -4.43350156e-04 9.99690994e-01 2.38961896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.356875 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:249.81, Y:100.10, Z:23.90 [[ 9.99566330e-01 -1.57903648e-02 -2.48559149e-02 2.49813401e+02] [ 1.57894708e-02 9.99875312e-01 -2.32241077e-04 1.00102324e+02] [ 2.48564828e-02 -1.60321382e-04 9.99691017e-01 2.38977735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.38687500000003 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:249.84, Y:100.11, Z:23.90 [[ 9.99436612e-01 -2.25560334e-02 -2.48532547e-02 2.49842033e+02] [ 2.25531023e-02 9.99745567e-01 -3.98268058e-04 1.00108020e+02] [ 2.48559145e-02 -1.62474317e-04 9.99691031e-01 2.39028953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.416875 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:249.88, Y:100.11, Z:23.91 [[ 9.99469130e-01 -2.10659889e-02 -2.48532349e-02 2.49875069e+02] [ 2.10625667e-02 9.99778080e-01 -3.99496246e-04 1.00112005e+02] [ 2.48561353e-02 -1.24188752e-04 9.99691031e-01 2.39096480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.44687500000003 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:249.90, Y:100.12, Z:23.92 [[ 9.99580579e-01 -1.48559861e-02 -2.48589063e-02 2.49901878e+02] [ 1.48594331e-02 9.99889591e-01 -4.60618914e-05 1.00119764e+02] [ 2.48568459e-02 -3.23346684e-04 9.99690969e-01 2.39208203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.476875 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:249.93, Y:100.12, Z:23.92 [[ 9.99577034e-01 -1.50981921e-02 -2.48555189e-02 2.49928932e+02] [ 1.50965004e-02 9.99886009e-01 -2.55714276e-04 1.00119703e+02] [ 2.48565464e-02 -1.19625233e-04 9.99691021e-01 2.39243954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.50687500000004 meters Centerline goodness : 0.996608 Centerline is valid? [True, True] Translation: X:249.97, Y:100.11, Z:23.92 [[ 9.99475058e-01 -2.07822626e-02 -2.48537025e-02 2.49965266e+02] [ 2.07795725e-02 9.99784014e-01 -3.66522841e-04 1.00114155e+02] [ 2.48559516e-02 -1.50118875e-04 9.99691032e-01 2.39194151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.536875 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:249.98, Y:100.10, Z:23.91 [[ 9.99452303e-01 -2.18425435e-02 -2.48595570e-02 2.49983376e+02] [ 2.18513035e-02 9.99761229e-01 8.07505842e-05 1.00103804e+02] [ 2.48518575e-02 -6.23920082e-04 9.99690950e-01 2.39142735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.566875 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:250.02, Y:100.11, Z:23.92 [[ 9.99240283e-01 -3.00267358e-02 -2.48445653e-02 2.50023319e+02] [ 3.00124389e-02 9.99549076e-01 -9.48221713e-04 1.00106143e+02] [ 2.48618343e-02 2.01855336e-04 9.99690876e-01 2.39166692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.596875 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:250.04, Y:100.11, Z:23.92 [[ 9.99224248e-01 -3.05441698e-02 -2.48587125e-02 2.50038838e+02] [ 3.05550772e-02 9.99533083e-01 5.89643016e-05 1.00113467e+02] [ 2.48453045e-02 -8.18478438e-04 9.99690973e-01 2.39225426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.626875 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:250.08, Y:100.11, Z:23.93 [[ 9.99187798e-01 -3.17278693e-02 -2.48412305e-02 2.50078537e+02] [ 3.17110227e-02 9.99496504e-01 -1.07190762e-03 1.00113285e+02] [ 2.48627323e-02 2.83296196e-04 9.99690834e-01 2.39301169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.656875 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:250.11, Y:100.11, Z:23.93 [[ 9.99426435e-01 -2.30043416e-02 -2.48515766e-02 2.50110844e+02] [ 2.30024521e-02 9.99735343e-01 -3.61932404e-04 1.00107862e+02] [ 2.48533255e-02 -2.09922389e-04 9.99691086e-01 2.39275613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.686875 meters Centerline goodness : 0.996051 Centerline is valid? [True, True] Translation: X:250.15, Y:100.10, Z:23.92 [[ 9.99376325e-01 -2.50870173e-02 -2.48516012e-02 2.50149105e+02] [ 2.50858138e-02 9.99685237e-01 -3.60235415e-04 1.00103695e+02] [ 2.48528161e-02 -2.63411896e-04 9.99691086e-01 2.39229270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.716875 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:250.17, Y:100.10, Z:23.92 [[ 9.99242448e-01 -2.99401748e-02 -2.48619315e-02 2.50168374e+02] [ 2.99587979e-02 9.99551063e-01 3.76840506e-04 1.00104064e+02] [ 2.48394874e-02 -1.12138861e-03 9.99690823e-01 2.39183778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.746875 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:250.21, Y:100.10, Z:23.91 [[ 9.99472919e-01 -2.08884900e-02 -2.48506547e-02 2.50207243e+02] [ 2.08856553e-02 9.99781801e-01 -3.73642075e-04 1.00095509e+02] [ 2.48530371e-02 -1.45577073e-04 9.99691105e-01 2.39125527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.776875 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:250.24, Y:100.10, Z:23.91 [[ 9.99423456e-01 -2.31248747e-02 -2.48595223e-02 2.50236819e+02] [ 2.31369813e-02 9.99732284e-01 1.99439042e-04 1.00097294e+02] [ 2.48482551e-02 -7.74498359e-04 9.99690934e-01 2.39144855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.806875 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:250.26, Y:100.11, Z:23.92 [[ 9.99139561e-01 -3.31977082e-02 -2.48606237e-02 2.50255926e+02] [ 3.32147018e-02 9.99448203e-01 2.70819663e-04 1.00108454e+02] [ 2.48379151e-02 -1.09632484e-03 9.99690890e-01 2.39166337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.836875 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:250.30, Y:100.10, Z:23.92 [[ 9.99485171e-01 -2.02950968e-02 -2.48495738e-02 2.50298085e+02] [ 2.02912756e-02 9.99794028e-01 -4.05942524e-04 1.00100709e+02] [ 2.48526941e-02 -9.84960178e-05 9.99691119e-01 2.39172165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.866875 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:250.32, Y:100.10, Z:23.92 [[ 9.99585138e-01 -1.45397841e-02 -2.48625394e-02 2.50315831e+02] [ 1.45536970e-02 9.99894018e-01 3.78726079e-04 1.00104292e+02] [ 2.48543978e-02 -7.40410824e-04 9.99690808e-01 2.39229770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.896875 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:250.35, Y:100.11, Z:23.92 [[ 9.99602651e-01 -1.33083044e-02 -2.48481047e-02 2.50347625e+02] [ 1.33015048e-02 9.99911435e-01 -4.38919555e-04 1.00108755e+02] [ 2.48517453e-02 1.08227966e-04 9.99691142e-01 2.39211387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.926875 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:250.37, Y:100.11, Z:23.92 [[ 9.99599737e-01 -1.35181402e-02 -2.48520658e-02 2.50371802e+02] [ 1.35175597e-02 9.99908615e-01 -1.91363230e-04 1.00113890e+02] [ 2.48523816e-02 -1.44652649e-04 9.99691121e-01 2.39152667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.956875 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:250.41, Y:100.11, Z:23.92 [[ 9.99604418e-01 -1.31864557e-02 -2.48420003e-02 2.50407756e+02] [ 1.31709075e-02 9.99912948e-01 -7.89408232e-04 1.00114382e+02] [ 2.48502472e-02 4.61904269e-04 9.99691078e-01 2.39233413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.986875 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:250.43, Y:100.12, Z:23.93 [[ 9.99448278e-01 -2.20328542e-02 -2.48534421e-02 2.50432782e+02] [ 2.20362083e-02 9.99757164e-01 -1.38952360e-04 1.00122372e+02] [ 2.48504683e-02 -4.08799929e-04 9.99691096e-01 2.39295871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.016875 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:250.46, Y:100.12, Z:23.93 [[ 9.99450284e-01 -2.19478887e-02 -2.48479245e-02 2.50458574e+02] [ 2.19435761e-02 9.99759111e-01 -4.46247552e-04 1.00123892e+02] [ 2.48517331e-02 -9.92500795e-05 9.99691143e-01 2.39338553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.046875 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:250.49, Y:100.12, Z:23.93 [[ 9.99456115e-01 -2.16890790e-02 -2.48406398e-02 2.50488687e+02] [ 2.16748346e-02 9.99764718e-01 -8.42568464e-04 1.00124310e+02] [ 2.48530697e-02 3.03693445e-04 9.99691069e-01 2.39347967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.07687500000003 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:250.53, Y:100.12, Z:23.94 [[ 9.99408240e-01 -2.37922189e-02 -2.48414952e-02 2.50525426e+02] [ 2.37798671e-02 9.99716905e-01 -7.92557474e-04 1.00117424e+02] [ 2.48533194e-02 2.01361017e-04 9.99691088e-01 2.39352771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.106875 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:250.56, Y:100.11, Z:23.93 [[ 9.99381535e-01 -2.48775273e-02 -2.48527040e-02 2.50556891e+02] [ 2.48805206e-02 9.99690414e-01 -1.88821302e-04 1.00111752e+02] [ 2.48497074e-02 -4.29643693e-04 9.99691106e-01 2.39334188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.13687500000003 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:250.59, Y:100.10, Z:23.93 [[ 9.99329075e-01 -2.68994467e-02 -2.48559864e-02 2.50592346e+02] [ 2.69074395e-02 9.99637929e-01 -1.28981071e-05 1.00101562e+02] [ 2.48473337e-02 -6.55921497e-04 9.99691042e-01 2.39250875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.166875 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:250.62, Y:100.10, Z:23.93 [[ 9.99259032e-01 -2.93794560e-02 -2.48643238e-02 2.50623239e+02] [ 2.93994195e-02 9.99567648e-01 4.37646002e-04 1.00102924e+02] [ 2.48407159e-02 -1.16831841e-03 9.99690739e-01 2.39277406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.19687500000003 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:250.65, Y:100.11, Z:23.93 [[ 9.99211930e-01 -3.09402866e-02 -2.48639623e-02 2.50654970e+02] [ 3.09602571e-02 9.99520529e-01 4.18542757e-04 1.00105189e+02] [ 2.48390910e-02 -1.18800758e-03 9.99690756e-01 2.39304708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.226875 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:250.68, Y:100.11, Z:23.94 [[ 9.99158284e-01 -3.26246224e-02 -2.48668155e-02 2.50678353e+02] [ 3.26487505e-02 9.99466728e-01 5.64809023e-04 1.00107185e+02] [ 2.48351281e-02 -1.37620407e-03 9.99690613e-01 2.39386806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.25687500000004 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:250.71, Y:100.11, Z:23.94 [[ 9.99085444e-01 -3.47902035e-02 -2.48579559e-02 2.50711469e+02] [ 3.48034283e-02 9.99394172e-01 9.94453677e-05 1.00105609e+02] [ 2.48394365e-02 -9.64496507e-04 9.99690988e-01 2.39389091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.286875 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:250.74, Y:100.10, Z:23.94 [[ 9.98984381e-01 -3.75799391e-02 -2.48586909e-02 2.50743691e+02] [ 3.75949240e-02 9.99293052e-01 1.35561635e-04 1.00102834e+02] [ 2.48360227e-02 -1.06998455e-03 9.99690966e-01 2.39375096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.316875 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:250.78, Y:100.10, Z:23.93 [[ 9.98761488e-01 -4.30986684e-02 -2.48594907e-02 2.50777064e+02] [ 4.31162744e-02 9.99070046e-01 1.72401815e-04 1.00101618e+02] [ 2.48289422e-02 -1.24403692e-03 9.99690940e-01 2.39329875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.346875 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:250.80, Y:100.10, Z:23.93 [[ 9.98688305e-01 -4.47604103e-02 -2.48631368e-02 2.50803568e+02] [ 4.47827011e-02 9.98996694e-01 3.40179822e-04 1.00101675e+02] [ 2.48229649e-02 -1.45317203e-03 9.99690807e-01 2.39330923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.376875 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:250.82, Y:100.11, Z:23.93 [[ 9.98292118e-01 -5.28676111e-02 -2.48568359e-02 2.50824982e+02] [ 5.28851469e-02 9.98600600e-01 4.81634423e-05 1.00111074e+02] [ 2.48195050e-02 -1.36263860e-03 9.99691020e-01 2.39333921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.406875 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:250.85, Y:100.11, Z:23.93 [[ 9.98461754e-01 -4.95675241e-02 -2.48432345e-02 2.50853091e+02] [ 4.95689746e-02 9.98770547e-01 -5.57809116e-04 1.00112902e+02] [ 2.48403401e-02 -6.74502590e-04 9.99691204e-01 2.39318865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.436875 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:250.89, Y:100.11, Z:23.93 [[ 9.98474922e-01 -4.93040913e-02 -2.48382040e-02 2.50887284e+02] [ 4.92999642e-02 9.98783714e-01 -7.78859386e-04 1.00113156e+02] [ 2.48463946e-02 -4.46851002e-04 9.99691181e-01 2.39320561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.466875 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:250.92, Y:100.11, Z:23.92 [[ 9.98623897e-01 -4.61857941e-02 -2.48431930e-02 2.50916668e+02] [ 4.61862453e-02 9.98932691e-01 -5.55942004e-04 1.00113056e+02] [ 2.48423543e-02 -5.92236836e-04 9.99691206e-01 2.39239899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.496875 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:250.95, Y:100.12, Z:23.94 [[ 9.98757415e-01 -4.32047119e-02 -2.48390562e-02 2.50952392e+02] [ 4.31996552e-02 9.99066185e-01 -7.40398982e-04 1.00119640e+02] [ 2.48478498e-02 -3.33559689e-04 9.99691189e-01 2.39357072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.526875 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:250.98, Y:100.13, Z:23.94 [[ 9.98750593e-01 -4.33569604e-02 -2.48480823e-02 2.50979376e+02] [ 4.33615085e-02 9.99059384e-01 -3.55999618e-04 1.00128250e+02] [ 2.48401448e-02 -7.21895499e-04 9.99691175e-01 2.39403442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.556875 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:251.01, Y:100.14, Z:23.95 [[ 9.99087176e-01 -3.47513916e-02 -2.48426333e-02 2.51009256e+02] [ 3.47475423e-02 9.99395950e-01 -5.86738598e-04 1.00136135e+02] [ 2.48480170e-02 -2.77017442e-04 9.99691202e-01 2.39509815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.586875 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:251.04, Y:100.14, Z:23.95 [[ 9.99185916e-01 -3.17873063e-02 -2.48409311e-02 2.51037811e+02] [ 3.17807548e-02 9.99494647e-01 -6.58587956e-04 1.00138906e+02] [ 2.48493124e-02 -1.31411730e-04 9.99691200e-01 2.39529427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.616875 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:251.08, Y:100.14, Z:23.95 [[ 9.99235731e-01 -3.01843065e-02 -2.48366842e-02 2.51077643e+02] [ 3.01727783e-02 9.99544346e-01 -8.38868770e-04 1.00135594e+02] [ 2.48506880e-02 8.88358820e-05 9.99691170e-01 2.39463768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.646875 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:251.10, Y:100.13, Z:23.94 [[ 9.99382580e-01 -2.48361171e-02 -2.48520725e-02 2.51098918e+02] [ 2.48396529e-02 9.99691434e-01 -1.66469572e-04 1.00133750e+02] [ 2.48485385e-02 -4.50950066e-04 9.99691126e-01 2.39439320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.676875 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:251.13, Y:100.13, Z:23.94 [[ 9.99470117e-01 -2.10387598e-02 -2.48365843e-02 2.51128957e+02] [ 2.10252720e-02 9.99778621e-01 -8.04103268e-04 1.00132541e+02] [ 2.48480033e-02 2.81481246e-04 9.99691201e-01 2.39428004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.706875 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:251.17, Y:100.14, Z:23.95 [[ 9.99409600e-01 -2.37409759e-02 -2.48357976e-02 2.51166461e+02] [ 2.37275030e-02 9.99718113e-01 -8.37072541e-04 1.00137002e+02] [ 2.48486696e-02 2.47286872e-04 9.99691194e-01 2.39538610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.736875 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:251.19, Y:100.14, Z:23.96 [[ 9.99521487e-01 -1.84201347e-02 -2.48494557e-02 2.51189106e+02] [ 1.84196320e-02 9.99830313e-01 -2.49142238e-04 1.00140783e+02] [ 2.48498283e-02 -2.08694810e-04 9.99691174e-01 2.39610487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.766875 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:251.22, Y:100.14, Z:23.97 [[ 9.99473640e-01 -2.08688432e-02 -2.48381634e-02 2.51218974e+02] [ 2.08572071e-02 9.99782200e-01 -7.27476485e-04 1.00144202e+02] [ 2.48479352e-02 2.09038852e-04 9.99691221e-01 2.39654508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.796875 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:251.24, Y:100.14, Z:23.96 [[ 9.99476347e-01 -2.07359874e-02 -2.48404973e-02 2.51242488e+02] [ 2.07267335e-02 9.99784980e-01 -6.29971685e-04 1.00143285e+02] [ 2.48482191e-02 1.14779432e-04 9.99691229e-01 2.39633597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.82687500000003 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:251.28, Y:100.14, Z:23.96 [[ 9.99312320e-01 -2.75438807e-02 -2.48238296e-02 2.51282175e+02] [ 2.75197318e-02 9.99620397e-01 -1.31397492e-03 1.00135717e+02] [ 2.48505984e-02 6.29926196e-04 9.99690978e-01 2.39563254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.856875 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:251.31, Y:100.13, Z:23.96 [[ 9.99449200e-01 -2.20050232e-02 -2.48409877e-02 2.51311882e+02] [ 2.19973458e-02 9.99757860e-01 -5.82316447e-04 1.00131653e+02] [ 2.48477865e-02 3.55599126e-05 9.99691245e-01 2.39575555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.88687500000003 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:251.34, Y:100.13, Z:23.96 [[ 9.99422936e-01 -2.31715443e-02 -2.48369489e-02 2.51341936e+02] [ 2.31599611e-02 9.99731488e-01 -7.53963623e-04 1.00129607e+02] [ 2.48477504e-02 1.78305769e-04 9.99691231e-01 2.39558793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.916875 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:251.38, Y:100.13, Z:23.95 [[ 9.99214061e-01 -3.08935900e-02 -2.48364011e-02 2.51379322e+02] [ 3.08838038e-02 9.99522679e-01 -7.77599264e-04 1.00133267e+02] [ 2.48485690e-02 9.94557842e-06 9.99691227e-01 2.39525237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.94687500000003 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:251.40, Y:100.13, Z:23.96 [[ 9.99401541e-01 -2.40646492e-02 -2.48485777e-02 2.51404239e+02] [ 2.40660956e-02 9.99710341e-01 -2.40884207e-04 1.00134866e+02] [ 2.48471769e-02 -3.57268198e-04 9.99691197e-01 2.39570717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.976875 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:251.43, Y:100.14, Z:23.96 [[ 9.99460252e-01 -2.14985811e-02 -2.48398014e-02 2.51433891e+02] [ 2.14898229e-02 9.99768875e-01 -6.19506825e-04 1.00139754e+02] [ 2.48473789e-02 8.53695131e-05 9.99691253e-01 2.39561809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.00687500000004 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:251.46, Y:100.14, Z:23.95 [[ 9.99445621e-01 -2.21687885e-02 -2.48393814e-02 2.51464088e+02] [ 2.21597836e-02 9.99754238e-01 -6.37758208e-04 1.00141608e+02] [ 2.48474152e-02 8.69693295e-05 9.99691252e-01 2.39544273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.036875 meters Centerline goodness : 0.992544 Centerline is valid? [True, True] Translation: X:251.49, Y:100.14, Z:23.95 [[ 9.99470035e-01 -2.10388439e-02 -2.48398023e-02 2.51494861e+02] [ 2.10299433e-02 9.99778654e-01 -6.19525598e-04 1.00139433e+02] [ 2.48473382e-02 9.68176385e-05 9.99691253e-01 2.39505264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.066875 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:251.53, Y:100.13, Z:23.95 [[ 9.99457834e-01 -2.16116474e-02 -2.48389886e-02 2.51528567e+02] [ 2.16020434e-02 9.99766434e-01 -6.54943059e-04 1.00134386e+02] [ 2.48473415e-02 1.18015060e-04 9.99691250e-01 2.39513818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.096875 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:251.56, Y:100.13, Z:23.95 [[ 9.99450336e-01 -2.19491428e-02 -2.48447575e-02 2.51557537e+02] [ 2.19459431e-02 9.99759078e-01 -4.01475818e-04 1.00133245e+02] [ 2.48475839e-02 -1.43986495e-04 9.99691241e-01 2.39541529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.126875 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:251.59, Y:100.13, Z:23.96 [[ 9.99455350e-01 -2.17224310e-02 -2.48422904e-02 2.51587318e+02] [ 2.17164787e-02 9.99764040e-01 -5.09393485e-04 1.00131962e+02] [ 2.48474939e-02 -3.03710266e-05 9.99691253e-01 2.39553292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.156875 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:251.62, Y:100.13, Z:23.96 [[ 9.99433571e-01 -2.27013628e-02 -2.48432249e-02 2.51616852e+02] [ 2.26967235e-02 9.99742286e-01 -4.68736904e-04 1.00132339e+02] [ 2.48474634e-02 -9.53884098e-05 9.99691250e-01 2.39568877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.186875 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:251.64, Y:100.13, Z:23.96 [[ 9.99370807e-01 -2.53159226e-02 -2.48413879e-02 2.51638510e+02] [ 2.53100990e-02 9.99679497e-01 -5.48872182e-04 1.00134842e+02] [ 2.48473214e-02 -8.02111508e-05 9.99691254e-01 2.39601234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.216875 meters Centerline goodness : 0.991566 Centerline is valid? [True, True] Translation: X:251.68, Y:100.13, Z:23.97 [[ 9.99444433e-01 -2.22396025e-02 -2.48238951e-02 2.51677752e+02] [ 2.22144487e-02 9.99752398e-01 -1.28863078e-03 1.00132387e+02] [ 2.48464073e-02 7.36465714e-04 9.99691009e-01 2.39672541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.246875 meters Centerline goodness : 0.990810 Centerline is valid? [True, True] Translation: X:251.71, Y:100.13, Z:23.97 [[ 9.99446277e-01 -2.21363326e-02 -2.48419528e-02 2.51708335e+02] [ 2.21305533e-02 9.99754960e-01 -5.07579620e-04 1.00131093e+02] [ 2.48471015e-02 -4.24675979e-05 9.99691262e-01 2.39730345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.276875 meters Centerline goodness : 0.990453 Centerline is valid? [True, True] Translation: X:251.74, Y:100.12, Z:23.97 [[ 9.99307147e-01 -2.77161173e-02 -2.48403525e-02 2.51739778e+02] [ 2.77103475e-02 9.99615828e-01 -5.76532164e-04 1.00123648e+02] [ 2.48467888e-02 -1.12202088e-04 9.99691265e-01 2.39685301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.306875 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:251.76, Y:100.12, Z:23.97 [[ 9.99117281e-01 -3.38750269e-02 -2.48423235e-02 2.51761749e+02] [ 3.38733213e-02 9.99426014e-01 -4.89587568e-04 1.00122058e+02] [ 2.48446492e-02 -3.52336607e-04 9.99691262e-01 2.39668867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.336875 meters Centerline goodness : 0.991851 Centerline is valid? [True, True] Translation: X:251.80, Y:100.11, Z:23.97 [[ 9.99244936e-01 -2.98894142e-02 -2.48229846e-02 2.51801698e+02] [ 2.98659610e-02 9.99553048e-01 -1.31510004e-03 1.00111801e+02] [ 2.48511974e-02 5.72744768e-04 9.99690997e-01 2.39675223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.366875 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:251.83, Y:100.11, Z:23.97 [[ 9.99153038e-01 -3.28052166e-02 -2.48399709e-02 2.51834398e+02] [ 3.28015654e-02 9.99461730e-01 -5.54541416e-04 1.00109686e+02] [ 2.48447921e-02 -2.60718189e-04 9.99691287e-01 2.39665069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.396875 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:251.86, Y:100.11, Z:23.97 [[ 9.99120593e-01 -3.37761320e-02 -2.48437633e-02 2.51864775e+02] [ 3.37770509e-02 9.99429319e-01 -3.82770031e-04 1.00112147e+02] [ 2.48425139e-02 -4.56715636e-04 9.99691273e-01 2.39680343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.426875 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:251.90, Y:100.11, Z:23.97 [[ 9.99111818e-01 -3.40358092e-02 -2.48422705e-02 2.51897169e+02] [ 3.40351341e-02 9.99420536e-01 -4.50115953e-04 1.00110974e+02] [ 2.48431954e-02 -3.95793840e-04 9.99691282e-01 2.39686463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.456875 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:251.93, Y:100.11, Z:23.97 [[ 9.99077540e-01 -3.50275397e-02 -2.48422954e-02 2.51931691e+02] [ 3.50271990e-02 9.99386259e-01 -4.48994925e-04 1.00109091e+02] [ 2.48427759e-02 -4.21575279e-04 9.99691282e-01 2.39732617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.486875 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:251.96, Y:100.11, Z:23.98 [[ 9.98888819e-01 -4.00471739e-02 -2.48465533e-02 2.51955920e+02] [ 4.00531802e-02 9.99197517e-01 -2.56083552e-04 1.00110687e+02] [ 2.48368698e-02 -7.39384480e-04 9.99691244e-01 2.39794271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.516875 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:251.98, Y:100.11, Z:23.98 [[ 9.98765931e-01 -4.30092302e-02 -2.48359035e-02 2.51980547e+02] [ 4.30048928e-02 9.99074610e-01 -7.08977274e-04 1.00110318e+02] [ 2.48434132e-02 -3.59963023e-04 9.99691290e-01 2.39787024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.546875 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:252.02, Y:100.10, Z:23.98 [[ 9.98856110e-01 -4.08673790e-02 -2.48259702e-02 2.52015069e+02] [ 4.08515927e-02 9.99164572e-01 -1.14292670e-03 1.00104186e+02] [ 2.48519383e-02 1.27438897e-04 9.99691135e-01 2.39789196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.57687500000003 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:252.05, Y:100.11, Z:23.98 [[ 9.98807318e-01 -4.20411476e-02 -2.48290799e-02 2.52051139e+02] [ 4.20291594e-02 9.99115879e-01 -1.00471489e-03 1.00105005e+02] [ 2.48493674e-02 -4.00287707e-05 9.99691206e-01 2.39771194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.606875 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:252.08, Y:100.10, Z:23.98 [[ 9.98958329e-01 -3.82788698e-02 -2.48391748e-02 2.52083731e+02] [ 3.82771878e-02 9.99267012e-01 -5.43345638e-04 1.00104328e+02] [ 2.48417667e-02 -4.07994109e-04 9.99691312e-01 2.39779121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.63687500000003 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:252.11, Y:100.10, Z:23.98 [[ 9.99448402e-01 -2.20432700e-02 -2.48392126e-02 2.52113784e+02] [ 2.20366159e-02 9.99757018e-01 -5.41614065e-04 1.00100522e+02] [ 2.48451160e-02 -6.05687575e-06 9.99691312e-01 2.39837270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.666875 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:252.14, Y:100.10, Z:23.98 [[ 9.99482941e-01 -2.04193411e-02 -2.48375086e-02 2.52143486e+02] [ 2.04102519e-02 9.99791497e-01 -6.19429729e-04 1.00104278e+02] [ 2.48449782e-02 1.12169642e-04 9.99691310e-01 2.39819737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.69687500000003 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:252.17, Y:100.11, Z:23.99 [[ 9.99650511e-01 -9.04829880e-03 -2.48391834e-02 2.52172614e+02] [ 9.03760396e-03 9.99959013e-01 -5.42792544e-04 1.00105491e+02] [ 2.48430766e-02 3.18116142e-04 9.99691313e-01 2.39896751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.726875 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:252.20, Y:100.10, Z:24.00 [[ 9.99672110e-01 6.22003220e-03 -2.48391644e-02 2.52204977e+02] [-6.23545893e-03 9.99980412e-01 -5.43658902e-04 1.00097360e+02] [ 2.48352963e-02 6.98364232e-04 9.99691313e-01 2.39970625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.75687500000004 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:252.24, Y:100.09, Z:24.00 [[ 9.99638728e-01 1.02536555e-02 -2.48450285e-02 2.52238763e+02] [-1.02634879e-02 9.99947293e-01 -2.68259828e-04 1.00093494e+02] [ 2.48409684e-02 5.23159563e-04 9.99691279e-01 2.39986513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.786875 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:252.27, Y:100.09, Z:24.00 [[ 9.99609313e-01 1.27925780e-02 -2.48509631e-02 2.52270423e+02] [-1.27964048e-02 9.99918123e-01 5.03851192e-06 1.00089067e+02] [ 2.48489928e-02 3.12966439e-04 9.99691167e-01 2.39969512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.816875 meters Centerline goodness : 0.990192 Centerline is valid? [True, True] Translation: X:252.29, Y:100.08, Z:23.99 [[ 9.99621055e-01 1.18318032e-02 -2.48546631e-02 2.52287562e+02] [-1.18296139e-02 9.99930000e-01 2.35120156e-04 1.00082442e+02] [ 2.48557051e-02 5.89900096e-05 9.99691047e-01 2.39867839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.846875 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:252.32, Y:100.08, Z:23.99 [[ 9.99650128e-01 9.09966186e-03 -2.48358115e-02 2.52323013e+02] [-9.12434267e-03 9.99957985e-01 -8.80615215e-04 1.00080240e+02] [ 2.48267547e-02 1.10691757e-03 9.99691156e-01 2.39850248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.876875 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:252.34, Y:100.08, Z:23.98 [[ 9.99561810e-01 1.60930065e-02 -2.48435694e-02 2.52343549e+02] [-1.61080513e-02 9.99870175e-01 -4.05566262e-04 1.00075099e+02] [ 2.48338173e-02 8.05570038e-04 9.99691269e-01 2.39842756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.906875 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:252.38, Y:100.07, Z:23.98 [[ 9.99541941e-01 1.72960752e-02 -2.48345314e-02 2.52379030e+02] [-1.73242544e-02 9.99849501e-01 -9.19954944e-04 1.00072151e+02] [ 2.48148822e-02 1.34977329e-03 9.99691152e-01 2.39842269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.936875 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:252.41, Y:100.07, Z:23.98 [[ 9.99545931e-01 1.70515945e-02 -2.48429975e-02 2.52407404e+02] [-1.70673797e-02 9.99854252e-01 -4.23489285e-04 1.00072530e+02] [ 2.48321555e-02 8.47301864e-04 9.99691275e-01 2.39847359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.966875 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:252.43, Y:100.07, Z:23.99 [[ 9.99453851e-01 2.17905879e-02 -2.48428870e-02 2.52430425e+02] [-2.18079933e-02 9.99762085e-01 -4.29873992e-04 1.00070831e+02] [ 2.48276093e-02 9.71412732e-04 9.99691275e-01 2.39885579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.996875 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:252.46, Y:100.07, Z:23.99 [[ 9.99467580e-01 2.11592120e-02 -2.48363632e-02 2.52463815e+02] [-2.11854162e-02 9.99775250e-01 -7.92396790e-04 1.00066596e+02] [ 2.48140148e-02 1.31814359e-03 9.99691216e-01 2.39898717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.026875 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:252.49, Y:100.06, Z:23.99 [[ 9.99421460e-01 2.32290738e-02 -2.48426142e-02 2.52492389e+02] [-2.32471167e-02 9.99729653e-01 -4.37690530e-04 1.00061390e+02] [ 2.48257309e-02 1.01495646e-03 9.99691279e-01 2.39918885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.056875 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:252.52, Y:100.05, Z:23.99 [[ 9.99412399e-01 2.36157874e-02 -2.48425128e-02 2.52521208e+02] [-2.36340905e-02 9.99720578e-01 -4.43372916e-04 1.00048671e+02] [ 2.48251006e-02 1.03024259e-03 9.99691279e-01 2.39938241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.086875 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:252.54, Y:100.04, Z:24.00 [[ 9.99369496e-01 2.53666225e-02 -2.48424085e-02 2.52541815e+02] [-2.53856086e-02 9.99677633e-01 -4.49139241e-04 1.00044521e+02] [ 2.48230070e-02 1.07949571e-03 9.99691279e-01 2.39975937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.116875 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:252.58, Y:100.04, Z:24.00 [[ 9.99464914e-01 2.12861572e-02 -2.48351628e-02 2.52577329e+02] [-2.13136783e-02 9.99772482e-01 -8.43941274e-04 1.00037728e+02] [ 2.48115481e-02 1.37281836e-03 9.99691204e-01 2.39985284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.146875 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:252.62, Y:100.01, Z:24.00 [[ 9.98937984e-01 3.88041840e-02 -2.48423104e-02 2.52622961e+02] [-3.88272179e-02 9.99245840e-01 -4.45341227e-04 1.00013889e+02] [ 2.48062942e-02 1.40942607e-03 9.99691283e-01 2.39986918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.176875 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:252.63, Y:100.02, Z:24.00 [[ 9.99372473e-01 2.52329049e-02 -2.48588268e-02 2.52634162e+02] [-2.52275118e-02 9.99681595e-01 5.30585925e-04 1.00018407e+02] [ 2.48642999e-02 9.68733795e-05 9.99690831e-01 2.39963210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.206875 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:252.67, Y:100.00, Z:23.99 [[ 9.99127616e-01 3.35726647e-02 -2.48371178e-02 2.52673771e+02] [-3.35990507e-02 9.99435184e-01 -6.45690275e-04 1.00000234e+02] [ 2.48014119e-02 1.47963057e-03 9.99691303e-01 2.39947861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.236875 meters Centerline goodness : 0.997280 Centerline is valid? [True, True] Translation: X:252.69, Y:100.00, Z:23.99 [[ 9.99281926e-01 2.86045622e-02 -2.48477603e-02 2.52693804e+02] [-2.86143650e-02 9.99590524e-01 -3.89745936e-05 1.00001010e+02] [ 2.48364709e-02 7.49949488e-04 9.99691246e-01 2.39922907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.266875 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:252.72, Y:100.00, Z:23.99 [[ 9.99277112e-01 2.87820334e-02 -2.48364286e-02 2.52719664e+02] [-2.88061722e-02 9.99584827e-01 -6.14609645e-04 9.99951309e+01] [ 2.48084275e-02 1.32960779e-03 9.99691339e-01 2.39942610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.296875 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:252.75, Y:99.99, Z:23.99 [[ 9.99269619e-01 2.90445803e-02 -2.48322547e-02 2.52752882e+02] [-2.90739077e-02 9.99576928e-01 -8.20722545e-04 9.99927298e+01] [ 2.47979113e-02 1.54209379e-03 9.99691295e-01 2.39934832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.32687500000003 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:252.78, Y:99.99, Z:24.00 [[ 9.99366492e-01 2.54857841e-02 -2.48412841e-02 2.52776549e+02] [-2.55027588e-02 9.99674684e-01 -3.66705190e-04 9.99949251e+01] [ 2.48238571e-02 9.99994156e-04 9.99691340e-01 2.39965942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.356875 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:252.81, Y:99.98, Z:24.00 [[ 9.99497783e-01 1.96858113e-02 -2.48324645e-02 2.52811180e+02] [-1.97116598e-02 9.99805389e-01 -7.96541584e-04 9.99846714e+01] [ 2.48119512e-02 1.28563064e-03 9.99691309e-01 2.39965894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.38687500000003 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:252.83, Y:99.98, Z:24.00 [[ 9.99636020e-01 1.05135426e-02 -2.48453711e-02 2.52834919e+02] [-1.05227061e-02 9.99944606e-01 -2.38105726e-04 9.99839980e+01] [ 2.48414915e-02 4.99459599e-04 9.99691278e-01 2.39995909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.416875 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:252.86, Y:99.98, Z:23.99 [[ 9.99690943e-01 -1.06075848e-03 -2.48373201e-02 2.52862647e+02] [ 1.04669108e-03 9.99999284e-01 -5.79375429e-04 9.99764564e+01] [ 2.48379169e-02 5.53199368e-04 9.99691338e-01 2.39916565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.44687500000003 meters Centerline goodness : 0.991979 Centerline is valid? [True, True] Translation: X:252.89, Y:99.97, Z:23.99 [[ 9.99664486e-01 -7.36210219e-03 -2.48337501e-02 2.52890459e+02] [ 7.34626920e-03 9.99972750e-01 -7.28731824e-04 9.99729656e+01] [ 2.48384384e-02 5.46051911e-04 9.99691329e-01 2.39882218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.476875 meters Centerline goodness : 0.991329 Centerline is valid? [True, True] Translation: X:252.92, Y:99.97, Z:23.99 [[ 9.99611945e-01 -1.26189481e-02 -2.48338976e-02 2.52918164e+02] [ 1.26048880e-02 9.99920294e-01 -7.22630496e-04 9.99687029e+01] [ 2.48410370e-02 4.09321578e-04 9.99691330e-01 2.39880565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.50687500000004 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:252.95, Y:99.96, Z:23.99 [[ 9.99541314e-01 -1.73345043e-02 -2.48329633e-02 2.52950118e+02] [ 1.73209301e-02 9.99849691e-01 -7.61628347e-04 9.99641569e+01] [ 2.48424332e-02 3.31148977e-04 9.99691324e-01 2.39934055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.536875 meters Centerline goodness : 0.989630 Centerline is valid? [True, True] Translation: X:252.98, Y:99.96, Z:24.01 [[ 9.99374680e-01 -2.51624068e-02 -2.48415338e-02 2.52975070e+02] [ 2.51600629e-02 9.99683353e-01 -4.06954179e-04 9.99624766e+01] [ 2.48439077e-02 -2.18314851e-04 9.99691319e-01 2.40057260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.566875 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:253.00, Y:99.96, Z:24.01 [[ 9.99348936e-01 -2.61725974e-02 -2.48334451e-02 2.53003919e+02] [ 2.61624086e-02 9.99657435e-01 -7.35152150e-04 9.99605186e+01] [ 2.48441789e-02 8.49707802e-05 9.99691332e-01 2.40053738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.596875 meters Centerline goodness : 0.990183 Centerline is valid? [True, True] Translation: X:253.03, Y:99.96, Z:24.00 [[ 9.99208052e-01 -3.10890055e-02 -2.48343015e-02 2.53030082e+02] [ 3.10811861e-02 9.99516617e-01 -7.00892761e-04 9.99623852e+01] [ 2.48440871e-02 -7.15418566e-05 9.99691335e-01 2.40049233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.626875 meters Centerline goodness : 0.988951 Centerline is valid? [True, True] Translation: X:253.06, Y:99.95, Z:24.01 [[ 9.99328624e-01 -2.69369085e-02 -2.48335271e-02 2.53058025e+02] [ 2.69270450e-02 9.99637134e-01 -7.31555451e-04 9.99539908e+01] [ 2.48442217e-02 6.23707988e-05 9.99691333e-01 2.40080714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.656875 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:253.09, Y:99.95, Z:24.01 [[ 9.99331724e-01 -2.68247281e-02 -2.48302128e-02 2.53087231e+02] [ 2.68115668e-02 9.99640133e-01 -8.62877925e-04 9.99537574e+01] [ 2.48444237e-02 1.96564374e-04 9.99691310e-01 2.40096558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.686875 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:253.12, Y:99.95, Z:24.02 [[ 9.99389790e-01 -2.45640705e-02 -2.48325206e-02 2.53116325e+02] [ 2.45526086e-02 9.99698245e-01 -7.66408655e-04 9.99489223e+01] [ 2.48438533e-02 1.56237827e-04 9.99691332e-01 2.40162071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.716875 meters Centerline goodness : 0.987461 Centerline is valid? [True, True] Translation: X:253.14, Y:99.95, Z:24.03 [[ 9.99440333e-01 -2.24124234e-02 -2.48335158e-02 2.53143290e+02] [ 2.24012889e-02 9.99748796e-01 -7.26508019e-04 9.99457130e+01] [ 2.48435603e-02 1.69798656e-04 9.99691337e-01 2.40276625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.746875 meters Centerline goodness : 0.988517 Centerline is valid? [True, True] Translation: X:253.17, Y:99.94, Z:24.02 [[ 9.99461810e-01 -2.14350965e-02 -2.48319640e-02 2.53172615e+02] [ 2.14221334e-02 9.99770209e-01 -7.87967299e-04 9.99445589e+01] [ 2.48431480e-02 2.55589580e-04 9.99691329e-01 2.40233781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.776875 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:253.20, Y:99.94, Z:24.02 [[ 9.99501127e-01 -1.95143040e-02 -2.48332164e-02 2.53202614e+02] [ 1.95019971e-02 9.99809546e-01 -7.37695715e-04 9.99446040e+01] [ 2.48428824e-02 2.53030385e-04 9.99691336e-01 2.40179077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.806875 meters Centerline goodness : 0.988384 Centerline is valid? [True, True] Translation: X:253.23, Y:99.94, Z:24.02 [[ 9.99622798e-01 -1.17261962e-02 -2.48345981e-02 2.53228807e+02] [ 1.17128655e-02 9.99931169e-01 -6.82183433e-04 9.99442349e+01] [ 2.48408881e-02 3.91041807e-04 9.99691341e-01 2.40230484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.836875 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:253.26, Y:99.94, Z:24.02 [[ 9.99652062e-01 -8.89747079e-03 -2.48312432e-02 2.53261600e+02] [ 8.87998710e-03 9.99960241e-01 -8.14281681e-04 9.99423608e+01] [ 2.48375010e-02 5.93497242e-04 9.99691326e-01 2.40164501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.866875 meters Centerline goodness : 0.988774 Centerline is valid? [True, True] Translation: X:253.29, Y:99.94, Z:24.02 [[ 9.99661121e-01 -7.79163209e-03 -2.48381372e-02 2.53286365e+02] [ 7.78063867e-03 9.99969585e-01 -5.39216403e-04 9.99409816e+01] [ 2.48415832e-02 3.45777103e-04 9.99691340e-01 2.40172925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.896875 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:253.32, Y:99.94, Z:24.01 [[ 9.99663718e-01 -7.47013900e-03 -2.48323777e-02 2.53320331e+02] [ 7.45333048e-03 9.99971928e-01 -7.69367921e-04 9.99415027e+01] [ 2.48374279e-02 5.84025279e-04 9.99691333e-01 2.40149898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.926875 meters Centerline goodness : 0.988655 Centerline is valid? [True, True] Translation: X:253.34, Y:99.94, Z:24.02 [[ 9.99686859e-01 -2.98613406e-03 -2.48448774e-02 2.53343360e+02] [ 2.98058882e-03 9.99995524e-01 -2.60223490e-04 9.99393507e+01] [ 2.48455433e-02 1.86089640e-04 9.99691285e-01 2.40174085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.956875 meters Centerline goodness : 0.989918 Centerline is valid? [True, True] Translation: X:253.37, Y:99.94, Z:24.02 [[ 9.99691286e-01 -8.66519198e-04 -2.48310503e-02 2.53373682e+02] [ 8.46863790e-04 9.99999320e-01 -8.02070657e-04 9.99378857e+01] [ 2.48317284e-02 7.80794529e-04 9.99691340e-01 2.40179806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.986875 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:253.40, Y:99.94, Z:24.02 [[ 9.99691580e-01 1.30320681e-04 -2.48340008e-02 2.53402718e+02] [-1.47406053e-04 9.99999754e-01 -6.86153662e-04 9.99365738e+01] [ 2.48339053e-02 6.89602721e-04 9.99691353e-01 2.40174312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.016875 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:253.43, Y:99.93, Z:24.02 [[ 9.99684650e-01 3.71861980e-03 -2.48349001e-02 2.53433065e+02] [-3.73594058e-03 9.99992809e-01 -6.51075318e-04 9.99331923e+01] [ 2.48323004e-02 7.43651712e-04 9.99691354e-01 2.40218290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.046875 meters Centerline goodness : 0.988971 Centerline is valid? [True, True] Translation: X:253.46, Y:99.93, Z:24.02 [[ 9.99684697e-01 3.67319799e-03 -2.48397630e-02 2.53455890e+02] [-3.68582850e-03 9.99993100e-01 -4.62713658e-04 9.99340535e+01] [ 2.48378920e-02 5.54122870e-04 9.99691338e-01 2.40217531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.07687500000003 meters Centerline goodness : 0.987773 Centerline is valid? [True, True] Translation: X:253.48, Y:99.93, Z:24.03 [[ 9.99682889e-01 4.20616391e-03 -2.48279837e-02 2.53484129e+02] [-4.22980226e-03 9.99990650e-01 -8.99644773e-04 9.99332123e+01] [ 2.48239675e-02 1.00437695e-03 9.99691333e-01 2.40307949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.106875 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:253.52, Y:99.93, Z:24.02 [[ 9.99689175e-01 2.25570576e-03 -2.48287154e-02 2.53515131e+02] [-2.27807457e-03 9.99997024e-01 -8.72676787e-04 9.99325724e+01] [ 2.48266730e-02 9.28967202e-04 9.99691339e-01 2.40247823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.13687500000003 meters Centerline goodness : 0.988814 Centerline is valid? [True, True] Translation: X:253.54, Y:99.92, Z:24.02 [[ 9.99685521e-01 3.49398703e-03 -2.48324580e-02 2.53539810e+02] [-3.51328563e-03 9.99993559e-01 -7.33565852e-04 9.99215198e+01] [ 2.48297350e-02 8.20578678e-04 9.99691358e-01 2.40205992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.166875 meters Centerline goodness : 0.989360 Centerline is valid? [True, True] Translation: X:253.57, Y:99.92, Z:24.02 [[ 9.99686574e-01 3.22626871e-03 -2.48262994e-02 2.53566531e+02] [-3.25101432e-03 9.99994258e-01 -9.56452758e-04 9.99171302e+01] [ 2.48230710e-02 1.03686364e-03 9.99691322e-01 2.40198056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.19687500000003 meters Centerline goodness : 0.990346 Centerline is valid? [True, True] Translation: X:253.60, Y:99.91, Z:24.02 [[ 9.99678277e-01 5.19466888e-03 -2.48265728e-02 2.53597318e+02] [-5.21976084e-03 9.99985929e-01 -9.45992024e-04 9.99108461e+01] [ 2.48213094e-02 1.07527645e-03 9.99691326e-01 2.40220476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.226875 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:253.63, Y:99.91, Z:24.02 [[ 9.99691731e-01 5.08251946e-05 -2.48282353e-02 2.53629660e+02] [-7.25662565e-05 9.99999615e-01 -8.74758566e-04 9.99055066e+01] [ 2.48281813e-02 8.76290596e-04 9.99691349e-01 2.40199219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.25687500000004 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:253.65, Y:99.90, Z:24.03 [[ 9.99689760e-01 1.89677961e-03 -2.48351826e-02 2.53654686e+02] [-1.91163573e-03 9.99998008e-01 -5.74460585e-04 9.99003030e+01] [ 2.48340435e-02 6.21758186e-04 9.99691394e-01 2.40275198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.286875 meters Centerline goodness : 0.990697 Centerline is valid? [True, True] Translation: X:253.69, Y:99.89, Z:24.02 [[ 9.99690183e-01 1.76286624e-03 -2.48280128e-02 2.53685174e+02] [-1.78514383e-03 9.99998024e-01 -8.75140843e-04 9.98945769e+01] [ 2.48264210e-02 9.19191283e-04 9.99691354e-01 2.40247111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.316875 meters Centerline goodness : 0.987719 Centerline is valid? [True, True] Translation: X:253.71, Y:99.89, Z:24.04 [[ 9.99690483e-01 1.54243710e-03 -2.48306198e-02 2.53711712e+02] [-1.56193893e-03 9.99998487e-01 -7.66018529e-04 9.98859288e+01] [ 2.48294006e-02 8.04565345e-04 9.99691379e-01 2.40357909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.346875 meters Centerline goodness : 0.987337 Centerline is valid? [True, True] Translation: X:253.74, Y:99.88, Z:24.04 [[ 9.99684848e-01 3.71220479e-03 -2.48279071e-02 2.53739026e+02] [-3.73520691e-03 9.99992637e-01 -8.80150681e-04 9.98820057e+01] [ 2.48244570e-02 9.72610670e-04 9.99691353e-01 2.40382636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.376875 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:253.77, Y:99.88, Z:24.03 [[ 9.99691776e-01 2.47815268e-04 -2.48252299e-02 2.53773075e+02] [-2.72565529e-04 9.99999469e-01 -9.93601311e-04 9.98820614e+01] [ 2.48249705e-02 1.00006156e-03 9.99691313e-01 2.40288440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.406875 meters Centerline goodness : 0.989738 Centerline is valid? [True, True] Translation: X:253.80, Y:99.88, Z:24.03 [[ 9.99682196e-01 4.32820128e-03 -2.48349166e-02 2.53797054e+02] [-4.34384889e-03 9.99990399e-01 -5.76151269e-04 9.98805511e+01] [ 2.48321845e-02 6.83847291e-04 9.99691400e-01 2.40327131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.436875 meters Centerline goodness : 0.989205 Centerline is valid? [True, True] Translation: X:253.83, Y:99.88, Z:24.03 [[ 9.99668287e-01 6.84733603e-03 -2.48280150e-02 2.53826154e+02] [-6.87098404e-03 9.99976018e-01 -8.67287509e-04 9.98777623e+01] [ 2.48214810e-02 1.03759271e-03 9.99691361e-01 2.40324070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.466875 meters Centerline goodness : 0.990661 Centerline is valid? [True, True] Translation: X:253.86, Y:99.87, Z:24.03 [[ 9.99668287e-01 6.84511898e-03 -2.48286218e-02 2.53859605e+02] [-6.86813376e-03 9.99976060e-01 -8.41786776e-04 9.98739399e+01] [ 2.48222652e-02 1.01203384e-03 9.99691368e-01 2.40273979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.496875 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:253.89, Y:99.87, Z:24.02 [[ 9.99657831e-01 8.21344935e-03 -2.48346514e-02 2.53888064e+02] [-8.23055170e-03 9.99965956e-01 -5.86508149e-04 9.98660349e+01] [ 2.48289887e-02 7.90710347e-04 9.99691400e-01 2.40207491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.526875 meters Centerline goodness : 0.990471 Centerline is valid? [True, True] Translation: X:253.92, Y:99.86, Z:24.02 [[ 9.99617705e-01 1.21525855e-02 -2.48346034e-02 2.53919453e+02] [-1.21709521e-02 9.99925758e-01 -5.88534377e-04 9.98589467e+01] [ 2.48256074e-02 8.90570152e-04 9.99691400e-01 2.40208256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.556875 meters Centerline goodness : 0.989345 Centerline is valid? [True, True] Translation: X:253.94, Y:99.86, Z:24.03 [[ 9.99623329e-01 1.16745837e-02 -2.48375514e-02 2.53942106e+02] [-1.16895758e-02 9.99931569e-01 -4.58491930e-04 9.98571396e+01] [ 2.48304991e-02 7.48659669e-04 9.99691395e-01 2.40316085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.586875 meters Centerline goodness : 0.991828 Centerline is valid? [True, True] Translation: X:253.97, Y:99.86, Z:24.03 [[ 9.99648356e-01 9.31001670e-03 -2.48291684e-02 2.53974458e+02] [-9.33313667e-03 9.99956113e-01 -8.15436780e-04 9.98571594e+01] [ 2.48204870e-02 1.04688406e-03 9.99691376e-01 2.40324075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.616875 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:254.01, Y:99.85, Z:24.03 [[ 9.99626053e-01 1.14452078e-02 -2.48346903e-02 2.54005833e+02] [-1.14631037e-02 9.99934129e-01 -5.78354435e-04 9.98523680e+01] [ 2.48264350e-02 8.62820791e-04 9.99691404e-01 2.40331214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.646875 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:254.03, Y:99.85, Z:24.03 [[ 9.99622789e-01 1.17200979e-02 -2.48378387e-02 2.54030604e+02] [-1.17347261e-02 9.99931047e-01 -4.43268950e-04 9.98510271e+01] [ 2.48309309e-02 7.34566977e-04 9.99691395e-01 2.40347811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.676875 meters Centerline goodness : 0.991944 Centerline is valid? [True, True] Translation: X:254.06, Y:99.84, Z:24.04 [[ 9.99546592e-01 1.70253592e-02 -2.48344038e-02 2.54062459e+02] [-1.70452210e-02 9.99854547e-01 -5.88283806e-04 9.98394665e+01] [ 2.48207758e-02 1.01132497e-03 9.99691406e-01 2.40357484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.706875 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:254.09, Y:99.84, Z:24.04 [[ 9.99504575e-01 1.93295520e-02 -2.48389238e-02 2.54085903e+02] [-1.93450309e-02 9.99812794e-01 -3.83008453e-04 9.98366563e+01] [ 2.48268704e-02 8.63328449e-04 9.99691393e-01 2.40363430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.736875 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:254.12, Y:99.83, Z:24.04 [[ 9.99516108e-01 1.87354752e-02 -2.48300553e-02 2.54116209e+02] [-1.87604764e-02 9.99823707e-01 -7.74306300e-04 9.98302369e+01] [ 2.48111709e-02 1.23975529e-03 9.99691387e-01 2.40392537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.766875 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:254.14, Y:99.83, Z:24.04 [[ 9.99467245e-01 2.11767928e-02 -2.48348595e-02 2.54143203e+02] [-2.11972827e-02 9.99775154e-01 -5.62050380e-04 9.98252531e+01] [ 2.48173731e-02 1.08818248e-03 9.99691409e-01 2.40427742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.796875 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:254.17, Y:99.82, Z:24.04 [[ 9.99469626e-01 2.10678714e-02 -2.48316533e-02 2.54171982e+02] [-2.10917924e-02 9.99777297e-01 -7.01780698e-04 9.98219985e+01] [ 2.48113382e-02 1.22515257e-03 9.99691401e-01 2.40391443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.82687500000003 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:254.20, Y:99.81, Z:24.04 [[ 9.99443686e-01 2.22610739e-02 -2.48347213e-02 2.54199345e+02] [-2.22820339e-02 9.99751564e-01 -5.67538735e-04 9.98137612e+01] [ 2.48159175e-02 1.12059111e-03 9.99691410e-01 2.40384337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.856875 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:254.23, Y:99.81, Z:24.04 [[ 9.99444015e-01 2.22496885e-02 -2.48316881e-02 2.54227818e+02] [-2.22738976e-02 9.99751662e-01 -6.98729018e-04 9.98145212e+01] [ 2.48099749e-02 1.25143901e-03 9.99691402e-01 2.40391535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.88687500000003 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:254.26, Y:99.81, Z:24.04 [[ 9.99456360e-01 2.16880180e-02 -2.48317074e-02 2.54257174e+02] [-2.17120335e-02 9.99764022e-01 -6.97891139e-04 9.98094458e+01] [ 2.48107118e-02 1.23665860e-03 9.99691402e-01 2.40393673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.916875 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:254.29, Y:99.80, Z:24.04 [[ 9.99548572e-01 1.69114432e-02 -2.48325329e-02 2.54286726e+02] [-1.69330993e-02 9.99856406e-01 -6.62050705e-04 9.97959720e+01] [ 2.48177708e-02 1.08224358e-03 9.99691406e-01 2.40357328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.94687500000003 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:254.31, Y:99.79, Z:24.04 [[ 9.99584438e-01 1.46353073e-02 -2.48346226e-02 2.54313649e+02] [-1.46540085e-02 9.99892461e-01 -5.71197919e-04 9.97906790e+01] [ 2.48235922e-02 9.34887323e-04 9.99691410e-01 2.40375058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.976875 meters Centerline goodness : 0.996939 Centerline is valid? [True, True] Translation: X:254.34, Y:99.79, Z:24.04 [[ 9.99611124e-01 1.26824556e-02 -2.48345565e-02 2.54342614e+02] [-1.27006260e-02 9.99919179e-01 -5.74057215e-04 9.97868677e+01] [ 2.48252689e-02 8.89248393e-04 9.99691410e-01 2.40430900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.00687500000004 meters Centerline goodness : 0.997381 Centerline is valid? [True, True] Translation: X:254.37, Y:99.78, Z:24.05 [[ 9.99605090e-01 1.31495560e-02 -2.48345183e-02 2.54367954e+02] [-1.31679112e-02 9.99913134e-01 -5.75704769e-04 9.97823255e+01] [ 2.48247908e-02 9.02496150e-04 9.99691410e-01 2.40534175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.036875 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:254.40, Y:99.77, Z:24.06 [[ 9.99648575e-01 9.28584375e-03 -2.48294075e-02 2.54397691e+02] [-9.30845410e-03 9.99956359e-01 -7.95201047e-04 9.97717306e+01] [ 2.48209398e-02 1.02604499e-03 9.99691386e-01 2.40622929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.066875 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:254.43, Y:99.77, Z:24.06 [[ 9.99671378e-01 6.36828098e-03 -2.48310589e-02 2.54428671e+02] [-6.38822978e-03 9.99979333e-01 -7.24137356e-04 9.97656532e+01] [ 2.48259342e-02 8.82525898e-04 9.99691399e-01 2.40572396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.096875 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:254.46, Y:99.75, Z:24.05 [[ 9.99689675e-01 1.94930856e-03 -2.48345192e-02 2.54456543e+02] [-1.96418369e-03 9.99997906e-01 -5.74590340e-04 9.97548256e+01] [ 2.48333472e-02 6.23191588e-04 9.99691411e-01 2.40528994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.126875 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:254.48, Y:99.75, Z:24.05 [[ 9.99691384e-01 -6.21297245e-04 -2.48344475e-02 2.54483822e+02] [ 6.07138197e-04 9.99999649e-01 -5.77673504e-04 9.97510730e+01] [ 2.48347977e-02 5.62417284e-04 9.99691411e-01 2.40523498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.156875 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:254.51, Y:99.75, Z:24.05 [[ 9.99683543e-01 -4.00832889e-03 -2.48343797e-02 2.54512159e+02] [ 3.99514229e-03 9.99991851e-01 -5.80575400e-04 9.97477056e+01] [ 2.48365044e-02 4.81174792e-04 9.99691411e-01 2.40523025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.186875 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:254.54, Y:99.74, Z:24.05 [[ 9.99606288e-01 -1.30585639e-02 -2.48343235e-02 2.54540970e+02] [ 1.30481095e-02 9.99914700e-01 -5.82969130e-04 9.97411934e+01] [ 2.48398178e-02 2.58698635e-04 9.99691411e-01 2.40517702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.216875 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:254.57, Y:99.74, Z:24.05 [[ 9.99536524e-01 -1.76066973e-02 -2.48342863e-02 2.54568523e+02] [ 1.75976072e-02 9.99844979e-01 -5.84547458e-04 9.97377076e+01] [ 2.48407284e-02 1.47252518e-04 9.99691411e-01 2.40549661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.246875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:254.60, Y:99.73, Z:24.06 [[ 9.99455526e-01 -2.17236981e-02 -2.48341092e-02 2.54596337e+02] [ 2.17156939e-02 9.99764011e-01 -5.91978474e-04 9.97331622e+01] [ 2.48411086e-02 5.23662441e-05 9.99691411e-01 2.40559733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.276875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:254.62, Y:99.73, Z:24.06 [[ 9.99365743e-01 -2.55223094e-02 -2.48339144e-02 2.54624639e+02] [ 2.55152775e-02 9.99674252e-01 -6.00038147e-04 9.97278231e+01] [ 2.48411392e-02 -3.39866499e-05 9.99691411e-01 2.40591958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.306875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:254.65, Y:99.72, Z:24.06 [[ 9.99131259e-01 -3.34665758e-02 -2.48337556e-02 2.54653334e+02] [ 3.34618352e-02 9.99439812e-01 -6.06540158e-04 9.97187325e+01] [ 2.48401429e-02 -2.24969807e-04 9.99691411e-01 2.40623990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.336875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:254.68, Y:99.72, Z:24.06 [[ 9.99003045e-01 -3.70972703e-02 -2.48336124e-02 2.54681059e+02] [ 3.70935067e-02 9.99311611e-01 -6.12349799e-04 9.97176608e+01] [ 2.48392337e-02 -3.09426453e-04 9.99691411e-01 2.40635608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.366875 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:254.71, Y:99.72, Z:24.06 [[ 9.98847578e-01 -4.10708637e-02 -2.48334447e-02 2.54708227e+02] [ 4.10681604e-02 9.99156155e-01 -6.19075606e-04 9.97169061e+01] [ 2.48379151e-02 -4.01501720e-04 9.99691411e-01 2.40635646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.396875 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:254.74, Y:99.72, Z:24.06 [[ 9.98819507e-01 -4.17480726e-02 -2.48332764e-02 2.54735931e+02] [ 4.17454124e-02 9.99128084e-01 -6.25755882e-04 9.97173980e+01] [ 2.48377480e-02 -4.11658182e-04 9.99691411e-01 2.40622149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.426875 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:254.76, Y:99.72, Z:24.06 [[ 9.98833785e-01 -4.14051437e-02 -2.48331056e-02 2.54764397e+02] [ 4.14022109e-02 9.99142361e-01 -6.32461945e-04 9.97176714e+01] [ 2.48379949e-02 -3.96421117e-04 9.99691411e-01 2.40613332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.456875 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:254.79, Y:99.72, Z:24.06 [[ 9.98868200e-01 -4.05665447e-02 -2.48329296e-02 2.54791828e+02] [ 4.05631829e-02 9.99176771e-01 -6.39298536e-04 9.97170378e+01] [ 2.48384205e-02 -3.68727687e-04 9.99691411e-01 2.40623135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.486875 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:254.82, Y:99.71, Z:24.06 [[ 9.98989003e-01 -3.74740016e-02 -2.48328528e-02 2.54819933e+02] [ 3.74696107e-02 9.99297561e-01 -6.42268409e-04 9.97105414e+01] [ 2.48394776e-02 -2.88858249e-04 9.99691411e-01 2.40643785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.516875 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:254.85, Y:99.71, Z:24.07 [[ 9.99061193e-01 -3.54974060e-02 -2.48327720e-02 2.54848296e+02] [ 3.54923274e-02 9.99369740e-01 -6.45376220e-04 9.97085677e+01] [ 2.48400301e-02 -2.36602537e-04 9.99691411e-01 2.40656544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.546875 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:254.88, Y:99.71, Z:24.06 [[ 9.99276763e-01 -2.87974445e-02 -2.48325962e-02 2.54876552e+02] [ 2.87901307e-02 9.99585266e-01 -6.52071932e-04 9.97105541e+01] [ 2.48410753e-02 -6.33333598e-05 9.99691411e-01 2.40632769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.57687500000003 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:254.90, Y:99.71, Z:24.06 [[ 9.99374721e-01 -2.51696756e-02 -2.48325416e-02 2.54904370e+02] [ 2.51611903e-02 9.99683193e-01 -6.54145497e-04 9.97137087e+01] [ 2.48411391e-02 2.89201686e-05 9.99691411e-01 2.40631995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.606875 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:254.93, Y:99.72, Z:24.06 [[ 9.99458587e-01 -2.15844170e-02 -2.48323666e-02 2.54931837e+02] [ 2.15746618e-02 9.99767022e-01 -6.60721108e-04 9.97169280e+01] [ 2.48408425e-02 1.24613473e-04 9.99691411e-01 2.40649174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.63687500000003 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:254.96, Y:99.72, Z:24.07 [[ 9.99581530e-01 -1.48367017e-02 -2.48321881e-02 2.54960471e+02] [ 1.48246996e-02 9.99889885e-01 -6.67362289e-04 9.97190144e+01] [ 2.48393552e-02 2.98953288e-04 9.99691411e-01 2.40693691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.666875 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:254.99, Y:99.72, Z:24.07 [[ 9.99625176e-01 -1.15250565e-02 -2.48330698e-02 2.54987261e+02] [ 1.15128449e-02 9.99933524e-01 -6.34668876e-04 9.97166847e+01] [ 2.48387336e-02 3.48531706e-04 9.99691410e-01 2.40664748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.69687500000003 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:255.02, Y:99.71, Z:24.07 [[ 9.99657154e-01 -8.30354920e-03 -2.48319609e-02 2.55015511e+02] [ 8.28933158e-03 9.99965415e-01 -6.75436278e-04 9.97120587e+01] [ 2.48367106e-02 4.69364349e-04 9.99691411e-01 2.40668922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.726875 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:255.04, Y:99.71, Z:24.07 [[ 9.99682951e-01 -4.16827007e-03 -2.48319037e-02 2.55044524e+02] [ 4.15272538e-03 9.99991148e-01 -6.77532001e-04 9.97071619e+01] [ 2.48345081e-02 5.74197113e-04 9.99691411e-01 2.40663625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.75687500000004 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:255.07, Y:99.71, Z:24.07 [[ 9.99687076e-01 -3.02242932e-03 -2.48317435e-02 2.55072923e+02] [ 3.00638683e-03 9.99995247e-01 -6.83354836e-04 9.97091276e+01] [ 2.48336909e-02 6.08487171e-04 9.99691411e-01 2.40660458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.786875 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:255.10, Y:99.71, Z:24.06 [[ 9.99686199e-01 -3.30115546e-03 -2.48315595e-02 2.55100783e+02] [ 3.28503455e-03 9.99994366e-01 -6.89975143e-04 9.97107141e+01] [ 2.48336974e-02 6.08186097e-04 9.99691411e-01 2.40634577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.816875 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:255.13, Y:99.71, Z:24.06 [[ 9.99681107e-01 -4.59214397e-03 -2.48313728e-02 2.55128903e+02] [ 4.57625579e-03 9.99989286e-01 -6.96631544e-04 9.97096439e+01] [ 2.48343058e-02 5.82774679e-04 9.99691411e-01 2.40616679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.846875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:255.16, Y:99.71, Z:24.06 [[ 9.99674674e-01 -5.82737589e-03 -2.48311841e-02 2.55155731e+02] [ 5.81170315e-03 9.99982865e-01 -7.03292582e-04 9.97073235e+01] [ 2.48348570e-02 5.58752311e-04 9.99691411e-01 2.40618719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.876875 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:255.18, Y:99.70, Z:24.06 [[ 9.99666851e-01 -7.04313636e-03 -2.48310551e-02 2.55183751e+02] [ 7.02772606e-03 9.99975055e-01 -7.07818656e-04 9.97043820e+01] [ 2.48354210e-02 5.33076994e-04 9.99691411e-01 2.40638202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.906875 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:255.21, Y:99.70, Z:24.07 [[ 9.99658791e-01 -8.10741608e-03 -2.48308680e-02 2.55211610e+02] [ 8.09217242e-03 9.99967003e-01 -7.14322891e-04 9.96971353e+01] [ 2.48358400e-02 5.13143492e-04 9.99691411e-01 2.40674257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.936875 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:255.24, Y:99.69, Z:24.07 [[ 9.99654714e-01 -8.59598101e-03 -2.48306803e-02 2.55238420e+02] [ 8.58072745e-03 9.99962925e-01 -7.20788809e-04 9.96943598e+01] [ 2.48359556e-02 5.07474630e-04 9.99691411e-01 2.40700844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.966875 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:255.27, Y:99.69, Z:24.07 [[ 9.99657306e-01 -8.28932473e-03 -2.48305986e-02 2.55266942e+02] [ 8.27390701e-03 9.99965509e-01 -7.23592642e-04 9.96913174e+01] [ 2.48357403e-02 5.17898607e-04 9.99691411e-01 2.40731176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.996875 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:255.30, Y:99.69, Z:24.08 [[ 9.99673542e-01 -6.02153876e-03 -2.48304231e-02 2.55295976e+02] [ 6.00527364e-03 9.99981702e-01 -7.29565056e-04 9.96878782e+01] [ 2.48343619e-02 5.80213398e-04 9.99691411e-01 2.40756074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.026875 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:255.32, Y:99.69, Z:24.07 [[ 9.99678930e-01 -5.04932437e-03 -2.48302523e-02 2.55323965e+02] [ 5.03261634e-03 9.99987066e-01 -7.35334654e-04 9.96873426e+01] [ 2.48336441e-02 6.10137426e-04 9.99691411e-01 2.40740196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.056875 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:255.35, Y:99.69, Z:24.07 [[ 9.99679739e-01 -4.88760859e-03 -2.48300547e-02 2.55352626e+02] [ 4.87068659e-03 9.99987863e-01 -7.41946144e-04 9.96857608e+01] [ 2.48333797e-02 6.20769113e-04 9.99691411e-01 2.40708435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.086875 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:255.38, Y:99.68, Z:24.07 [[ 9.99677130e-01 -5.39562601e-03 -2.48298763e-02 2.55381284e+02] [ 5.37871356e-03 9.99985255e-01 -7.47869561e-04 9.96772120e+01] [ 2.48335454e-02 6.14075304e-04 9.99691411e-01 2.40672545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.116875 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:255.41, Y:99.67, Z:24.07 [[ 9.99674838e-01 -5.80502072e-03 -2.48298130e-02 2.55408528e+02] [ 5.78818240e-03 9.99982967e-01 -7.49966976e-04 9.96720276e+01] [ 2.48337436e-02 6.06003629e-04 9.99691411e-01 2.40669837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.146875 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:255.44, Y:99.66, Z:24.07 [[ 9.99659321e-01 -8.04526870e-03 -2.48297249e-02 2.55436709e+02] [ 8.02904887e-03 9.99967483e-01 -7.52869744e-04 9.96629035e+01] [ 2.48349746e-02 5.53254182e-04 9.99691411e-01 2.40670130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.176875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:255.46, Y:99.66, Z:24.07 [[ 9.99650999e-01 -9.02075758e-03 -2.48295234e-02 2.55464497e+02] [ 9.00467490e-03 9.99959169e-01 -7.59458204e-04 9.96622047e+01] [ 2.48353605e-02 5.35611366e-04 9.99691411e-01 2.40680021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.206875 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:255.49, Y:99.66, Z:24.07 [[ 9.99641309e-01 -1.00378590e-02 -2.48293130e-02 2.55491641e+02] [ 1.00219205e-02 9.99949486e-01 -7.66277519e-04 9.96626429e+01] [ 2.48357505e-02 5.17165261e-04 9.99691411e-01 2.40689865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.236875 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:255.52, Y:99.66, Z:24.07 [[ 9.99620368e-01 -1.19427277e-02 -2.48292215e-02 2.55518693e+02] [ 1.19273032e-02 9.99928571e-01 -7.69230356e-04 9.96572296e+01] [ 2.48366347e-02 4.72792679e-04 9.99691411e-01 2.40703662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.266875 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:255.55, Y:99.65, Z:24.07 [[ 9.99598208e-01 -1.36724758e-02 -2.48291335e-02 2.55546494e+02] [ 1.36575145e-02 9.99906434e-01 -7.72058413e-04 9.96519978e+01] [ 2.48373663e-02 4.32643955e-04 9.99691411e-01 2.40710198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.296875 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:255.57, Y:99.65, Z:24.07 [[ 9.99585317e-01 -1.45848764e-02 -2.48289285e-02 2.55574697e+02] [ 1.45700340e-02 9.99893548e-01 -7.78597023e-04 9.96466603e+01] [ 2.48376412e-02 4.16515819e-04 9.99691411e-01 2.40717340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.32687500000003 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:255.60, Y:99.64, Z:24.07 [[ 9.99586982e-01 -1.44706786e-02 -2.48287091e-02 2.55602553e+02] [ 1.44556287e-02 9.99895203e-01 -7.85532713e-04 9.96420701e+01] [ 2.48374743e-02 4.26293673e-04 9.99691411e-01 2.40748358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.356875 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:255.63, Y:99.64, Z:24.08 [[ 9.99587552e-01 -1.44314031e-02 -2.48286410e-02 2.55631116e+02] [ 1.44162879e-02 9.99895770e-01 -7.87678814e-04 9.96430648e+01] [ 2.48374204e-02 4.29417100e-04 9.99691411e-01 2.40783323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.38687500000003 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:255.66, Y:99.64, Z:24.08 [[ 9.99621262e-01 -1.18693409e-02 -2.48284511e-02 2.55659225e+02] [ 1.18532882e-02 9.99929432e-01 -7.93619964e-04 9.96433970e+01] [ 2.48361187e-02 4.99020603e-04 9.99691411e-01 2.40837181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.416875 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:255.69, Y:99.64, Z:24.08 [[ 9.99633912e-01 -1.07513895e-02 -2.48283837e-02 2.55688561e+02] [ 1.07349400e-02 9.99942062e-01 -7.95723525e-04 9.96427697e+01] [ 2.48355003e-02 5.28901012e-04 9.99691411e-01 2.40809177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.44687500000003 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:255.72, Y:99.64, Z:24.08 [[ 9.99647648e-01 -9.38832861e-03 -2.48281945e-02 2.55717958e+02] [ 9.37131351e-03 9.99955767e-01 -8.01581757e-04 9.96412034e+01] [ 2.48346218e-02 5.68626523e-04 9.99691411e-01 2.40764875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.476875 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:255.75, Y:99.64, Z:24.07 [[ 9.99674634e-01 -5.84773987e-03 -2.48280001e-02 2.55746510e+02] [ 5.82948524e-03 9.99982682e-01 -8.07559182e-04 9.96373797e+01] [ 2.48322925e-02 6.62561969e-04 9.99691412e-01 2.40724950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.50687500000004 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:255.77, Y:99.64, Z:24.07 [[ 9.99680966e-01 -4.64113491e-03 -2.48279311e-02 2.55773160e+02] [ 4.62245596e-03 9.99988989e-01 -8.09675350e-04 9.96368268e+01] [ 2.48314155e-02 6.94651018e-04 9.99691412e-01 2.40722721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.536875 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:255.80, Y:99.63, Z:24.07 [[ 9.99691672e-01 -3.74103036e-04 -2.48278350e-02 2.55801512e+02] [ 3.54036698e-04 9.99999607e-01 -8.12610155e-04 9.96340465e+01] [ 2.48281293e-02 8.03569640e-04 9.99691412e-01 2.40748646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.566875 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:255.83, Y:99.63, Z:24.08 [[ 9.99690933e-01 1.27601303e-03 -2.48276173e-02 2.55830454e+02] [-1.29675133e-03 9.99998824e-01 -8.19209534e-04 9.96315048e+01] [ 2.48265428e-02 8.51151589e-04 9.99691412e-01 2.40795369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.596875 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:255.86, Y:99.63, Z:24.08 [[ 9.99687207e-01 3.01446322e-03 -2.48274241e-02 2.55859543e+02] [-3.03588109e-03 9.99995051e-01 -8.25022688e-04 9.96277663e+01] [ 2.48248143e-02 9.00137735e-04 9.99691412e-01 2.40840556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.626875 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:255.89, Y:99.63, Z:24.09 [[ 9.99682319e-01 4.34395010e-03 -2.48272287e-02 2.55887343e+02] [-4.36592217e-03 9.99990124e-01 -8.30861880e-04 9.96254073e+01] [ 2.48233743e-02 9.38991679e-04 9.99691412e-01 2.40875291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.656875 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:255.92, Y:99.62, Z:24.09 [[ 9.99662481e-01 7.65103154e-03 -2.48271246e-02 2.55916393e+02] [-7.67409859e-03 9.99970206e-01 -8.33961130e-04 9.96222453e+01] [ 2.48200042e-02 1.02420545e-03 9.99691412e-01 2.40874023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.686875 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:255.94, Y:99.62, Z:24.09 [[ 9.99650476e-01 9.08564469e-03 -2.48269288e-02 2.55944457e+02] [-9.10929687e-03 9.99958157e-01 -8.39750757e-04 9.96192974e+01] [ 2.48182603e-02 1.06561311e-03 9.99691412e-01 2.40850607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.716875 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:255.97, Y:99.62, Z:24.08 [[ 9.99646379e-01 9.52607036e-03 -2.48268248e-02 2.55973310e+02] [-9.54993401e-03 9.99954043e-01 -8.42813575e-04 9.96152353e+01] [ 2.48176551e-02 1.07961008e-03 9.99691412e-01 2.40819097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.746875 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:256.00, Y:99.62, Z:24.08 [[ 9.99647367e-01 9.42200620e-03 -2.48267662e-02 2.56001792e+02] [-9.44588051e-03 9.99955030e-01 -8.44535616e-04 9.96163002e+01] [ 2.48176925e-02 1.07874847e-03 9.99691412e-01 2.40826176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.776875 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:256.03, Y:99.61, Z:24.08 [[ 9.99640803e-01 1.00945895e-02 -2.48266780e-02 2.56030108e+02] [-1.01187349e-02 9.99948445e-01 -8.47119832e-04 9.96123250e+01] [ 2.48168468e-02 1.09803012e-03 9.99691412e-01 2.40823226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.806875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:256.06, Y:99.61, Z:24.08 [[ 9.99654064e-01 8.68280113e-03 -2.48266050e-02 2.56057879e+02] [-8.70656496e-03 9.99961737e-01 -8.49256424e-04 9.96059709e+01] [ 2.48182811e-02 1.06511708e-03 9.99691412e-01 2.40815034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.836875 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:256.09, Y:99.60, Z:24.08 [[ 9.99669349e-01 6.69600784e-03 -2.48265350e-02 2.56086347e+02] [-6.71921074e-03 9.99977063e-01 -8.51297254e-04 9.96026602e+01] [ 2.48202652e-02 1.01783049e-03 9.99691412e-01 2.40812987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.866875 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:256.11, Y:99.60, Z:24.08 [[ 9.99687259e-01 3.00525293e-03 -2.48264470e-02 2.56113876e+02] [-3.02738305e-03 9.99995053e-01 -8.53855376e-04 9.95966031e+01] [ 2.48237581e-02 9.28747505e-04 9.99691412e-01 2.40826877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.896875 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:256.14, Y:99.59, Z:24.08 [[ 9.99690788e-01 1.40742146e-03 -2.48263402e-02 2.56143317e+02] [-1.42913636e-03 9.99998612e-01 -8.56950520e-04 9.95934051e+01] [ 2.48250996e-02 8.92165766e-04 9.99691412e-01 2.40814914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.926875 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:256.17, Y:99.59, Z:24.08 [[ 9.99691760e-01 -2.01531762e-04 -2.48262837e-02 2.56170742e+02] [ 1.80271856e-04 9.99999615e-01 -8.58581788e-04 9.95888584e+01] [ 2.48264472e-02 8.53841658e-04 9.99691412e-01 2.40800490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.956875 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:256.20, Y:99.58, Z:24.08 [[ 9.99689185e-01 -2.27922590e-03 -2.48261854e-02 2.56198633e+02] [ 2.25853557e-03 9.99997078e-01 -8.61415465e-04 9.95849975e+01] [ 2.48280763e-02 8.05076901e-04 9.99691412e-01 2.40821117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.986875 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:256.23, Y:99.58, Z:24.09 [[ 9.99671693e-01 -6.33811099e-03 -2.48260996e-02 2.56227293e+02] [ 6.31860976e-03 9.99979664e-01 -8.63880775e-04 9.95769076e+01] [ 2.48310701e-02 7.06730721e-04 9.99691412e-01 2.40909090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.016875 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:256.26, Y:99.57, Z:24.09 [[ 9.99651921e-01 -8.92776483e-03 -2.48260414e-02 2.56255294e+02] [ 8.90902000e-03 9.99959939e-01 -8.65551703e-04 9.95738108e+01] [ 2.48327743e-02 6.44074723e-04 9.99691412e-01 2.40941979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.046875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:256.28, Y:99.57, Z:24.09 [[ 9.99633290e-01 -1.08150209e-02 -2.48258074e-02 2.56283253e+02] [ 1.07966923e-02 9.99941334e-01 -8.72211299e-04 9.95671602e+01] [ 2.48337839e-02 6.03854846e-04 9.99691412e-01 2.40912834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.07687500000003 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:256.31, Y:99.57, Z:24.09 [[ 9.99630763e-01 -1.10462784e-02 -2.48257348e-02 2.56311094e+02] [ 1.10279699e-02 9.99938808e-01 -8.74272772e-04 9.95654260e+01] [ 2.48338731e-02 6.00172501e-04 9.99691412e-01 2.40894228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.106875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:256.34, Y:99.56, Z:24.09 [[ 9.99622967e-01 -1.17310463e-02 -2.48255016e-02 2.56338944e+02] [ 1.17127857e-02 9.99931015e-01 -8.80846565e-04 9.95636849e+01] [ 2.48341222e-02 5.89738678e-04 9.99691412e-01 2.40885562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.13687500000003 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:256.37, Y:99.56, Z:24.09 [[ 9.99584903e-01 -1.46194364e-02 -2.48252605e-02 2.56367694e+02] [ 1.46018986e-02 9.99892993e-01 -8.87589187e-04 9.95565852e+01] [ 2.48355801e-02 5.24724815e-04 9.99691412e-01 2.40890775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.166875 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:256.39, Y:99.55, Z:24.09 [[ 9.99554698e-01 -1.65567120e-02 -2.48250185e-02 2.56394401e+02] [ 1.65396046e-02 9.99862811e-01 -8.94307211e-04 9.95523005e+01] [ 2.48364196e-02 4.83312985e-04 9.99691412e-01 2.40899530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.19687500000003 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:256.42, Y:99.54, Z:24.09 [[ 9.99542237e-01 -1.72927502e-02 -2.48249133e-02 2.56422340e+02] [ 1.72757973e-02 9.99850360e-01 -8.97216839e-04 9.95435071e+01] [ 2.48367139e-02 4.67935955e-04 9.99691412e-01 2.40939307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.226875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:256.45, Y:99.54, Z:24.10 [[ 9.99550884e-01 -1.67858935e-02 -2.48246669e-02 2.56449599e+02] [ 1.67686164e-02 9.99858988e-01 -9.03984014e-04 9.95409981e+01] [ 2.48363405e-02 4.87302702e-04 9.99691412e-01 2.40976954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.25687500000004 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:256.48, Y:99.54, Z:24.10 [[ 9.99562572e-01 -1.60749877e-02 -2.48245598e-02 2.56477420e+02] [ 1.60574188e-02 9.99870660e-01 -9.06914653e-04 9.95392937e+01] [ 2.48359277e-02 5.07899590e-04 9.99691412e-01 2.40998875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.286875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:256.50, Y:99.53, Z:24.10 [[ 9.99596521e-01 -1.38039521e-02 -2.48243082e-02 2.56504486e+02] [ 1.37855136e-02 9.99904558e-01 -9.13750517e-04 9.95339530e+01] [ 2.48345523e-02 5.71165999e-04 9.99691412e-01 2.41003714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.316875 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:256.53, Y:99.53, Z:24.10 [[ 9.99613860e-01 -1.24856339e-02 -2.48241987e-02 2.56532518e+02] [ 1.24667155e-02 9.99921867e-01 -9.16715486e-04 9.95323832e+01] [ 2.48337049e-02 6.06885282e-04 9.99691412e-01 2.40998691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.346875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:256.56, Y:99.53, Z:24.10 [[ 9.99634090e-01 -1.07450911e-02 -2.48239545e-02 2.56560293e+02] [ 1.07254736e-02 9.99942054e-01 -9.23280570e-04 9.95319354e+01] [ 2.48324368e-02 6.56694064e-04 9.99691412e-01 2.41001958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.376875 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:256.59, Y:99.53, Z:24.10 [[ 9.99645501e-01 -9.62530411e-03 -2.48238787e-02 2.56589335e+02] [ 9.60529113e-03 9.99953440e-01 -9.25314309e-04 9.95316984e+01] [ 2.48316294e-02 6.86545704e-04 9.99691412e-01 2.41016621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.406875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:256.62, Y:99.53, Z:24.10 [[ 9.99642144e-01 -9.96841959e-03 -2.48236586e-02 2.56618141e+02] [ 9.94836668e-03 9.99950080e-01 -9.31182780e-04 9.95269987e+01] [ 2.48317018e-02 6.83894693e-04 9.99691412e-01 2.41027808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.436875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:256.65, Y:99.52, Z:24.10 [[ 9.99636215e-01 -1.05467999e-02 -2.48234311e-02 2.56645818e+02] [ 1.05267757e-02 9.99944153e-01 -9.37209267e-04 9.95227139e+01] [ 2.48319293e-02 6.75557634e-04 9.99691412e-01 2.41015934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.466875 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:256.67, Y:99.52, Z:24.10 [[ 9.99625452e-01 -1.15221119e-02 -2.48233102e-02 2.56674560e+02] [ 1.15023089e-02 9.99933404e-01 -9.40399970e-04 9.95197731e+01] [ 2.48324925e-02 6.54522363e-04 9.99691412e-01 2.40996542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.496875 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:256.70, Y:99.52, Z:24.10 [[ 9.99622744e-01 -1.17551953e-02 -2.48230849e-02 2.56702900e+02] [ 1.17353174e-02 9.99930691e-01 -9.46310252e-04 9.95196821e+01] [ 2.48324885e-02 6.54646469e-04 9.99691412e-01 2.40972361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.526875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:256.73, Y:99.52, Z:24.10 [[ 9.99640456e-01 -1.01378918e-02 -2.48230050e-02 2.56730535e+02] [ 1.01174639e-02 9.99948367e-01 -9.48401495e-04 9.95199518e+01] [ 2.48313381e-02 6.96914647e-04 9.99691412e-01 2.40976479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.556875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:256.76, Y:99.51, Z:24.10 [[ 9.99680834e-01 -4.69696425e-03 -2.48227361e-02 2.56758089e+02] [ 4.67468744e-03 9.99988617e-01 -9.55387998e-04 9.95134858e+01] [ 2.48269410e-02 8.39044538e-04 9.99691412e-01 2.40980788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.586875 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:256.79, Y:99.51, Z:24.10 [[ 9.99689220e-01 -2.30297162e-03 -2.48225526e-02 2.56786423e+02] [ 2.27984020e-03 9.99996940e-01 -9.60130801e-04 9.95124111e+01] [ 2.48246878e-02 9.03240958e-04 9.99691412e-01 2.40976536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.616875 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:256.81, Y:99.51, Z:24.10 [[ 9.99691847e-01 2.54639689e-04 -2.48222926e-02 2.56814873e+02] [-2.78723805e-04 9.99999494e-01 -9.66806550e-04 9.95132906e+01] [ 2.48220339e-02 9.73427190e-04 9.99691412e-01 2.40985239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.646875 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:256.84, Y:99.51, Z:24.10 [[ 9.99677037e-01 5.44876464e-03 -2.48220322e-02 2.56843177e+02] [-5.47461146e-03 9.99984540e-01 -9.73448124e-04 9.95099608e+01] [ 2.48163443e-02 1.10902472e-03 9.99691412e-01 2.41030003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.676875 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:256.87, Y:99.51, Z:24.10 [[ 9.99666501e-01 7.12437975e-03 -2.48219513e-02 2.56871595e+02] [-7.15079293e-03 9.99973957e-01 -9.75505063e-04 9.95073370e+01] [ 2.48143550e-02 1.15267637e-03 9.99691412e-01 2.41033675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.706875 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:256.90, Y:99.51, Z:24.10 [[ 9.99661574e-01 7.78547744e-03 -2.48218511e-02 2.56899290e+02] [-7.81215697e-03 9.99969006e-01 -9.78049363e-04 9.95055356e+01] [ 2.48134672e-02 1.17163056e-03 9.99691412e-01 2.41022254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.736875 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:256.93, Y:99.50, Z:24.10 [[ 9.99673645e-01 6.04017549e-03 -2.48217496e-02 2.56926699e+02] [-6.06638189e-03 9.99981119e-01 -9.80618149e-04 9.95007189e+01] [ 2.48153578e-02 1.13087633e-03 9.99691412e-01 2.41003652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.766875 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:256.95, Y:99.50, Z:24.10 [[ 9.99681761e-01 4.50157378e-03 -2.48216317e-02 2.56954351e+02] [-4.52738061e-03 9.99989268e-01 -9.83592044e-04 9.94974397e+01] [ 2.48169376e-02 1.09565600e-03 9.99691412e-01 2.41019781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.796875 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:256.98, Y:99.49, Z:24.10 [[ 9.99690213e-01 1.83571904e-03 -2.48215289e-02 2.56983007e+02] [-1.86076991e-03 9.99997782e-01 -9.86180212e-04 9.94892115e+01] [ 2.48196635e-02 1.03206186e-03 9.99691412e-01 2.40998222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.82687500000003 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:257.01, Y:99.49, Z:24.10 [[ 9.99691882e-01 1.90089160e-04 -2.48214439e-02 2.57010825e+02] [-2.14686629e-04 9.99999489e-01 -9.88315493e-04 9.94863495e+01] [ 2.48212433e-02 9.93339808e-04 9.99691412e-01 2.40994039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.856875 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:257.04, Y:99.48, Z:24.10 [[ 9.99691501e-01 -8.96525966e-04 -2.48213440e-02 2.57039473e+02] [ 8.72200841e-04 9.99999129e-01 -9.90817305e-04 9.94829905e+01] [ 2.48222107e-02 9.68862442e-04 9.99691412e-01 2.41022639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.88687500000003 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:257.07, Y:99.48, Z:24.11 [[ 9.99691455e-01 -9.48220217e-04 -2.48212767e-02 2.57068113e+02] [ 9.23869274e-04 9.99999081e-01 -9.92500382e-04 9.94757323e+01] [ 2.48221950e-02 9.69262536e-04 9.99691412e-01 2.41112093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.916875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:257.10, Y:99.47, Z:24.11 [[ 9.99691305e-01 -1.10030369e-03 -2.48210401e-02 2.57096214e+02] [ 1.07585373e-03 9.99998923e-01 -9.98382149e-04 9.94737907e+01] [ 2.48221119e-02 9.71370145e-04 9.99691412e-01 2.41139410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.94687500000003 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:257.12, Y:99.47, Z:24.11 [[ 9.99691410e-01 -1.00719567e-03 -2.48207635e-02 2.57123632e+02] [ 9.82547702e-04 9.99999012e-01 -1.00521375e-03 9.94708884e+01] [ 2.48217514e-02 9.80515962e-04 9.99691412e-01 2.41135953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.976875 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:257.15, Y:99.47, Z:24.11 [[ 9.99691303e-01 -1.11114775e-03 -2.48206432e-02 2.57151505e+02] [ 1.08645835e-03 9.99998902e-01 -1.00817562e-03 9.94664582e+01] [ 2.48217361e-02 9.80897804e-04 9.99691412e-01 2.41124210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.00687500000004 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:257.18, Y:99.46, Z:24.11 [[ 9.99691927e-01 2.05927815e-06 -2.48203631e-02 2.57179662e+02] [-2.72609670e-05 9.99999484e-01 -1.01502510e-03 9.94552276e+01] [ 2.48203482e-02 1.01538903e-03 9.99691412e-01 2.41117902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.036875 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:257.21, Y:99.45, Z:24.11 [[ 9.99691929e-01 4.02235101e-06 -2.48202762e-02 2.57206982e+02] [-2.92771742e-05 9.99999482e-01 -1.01714444e-03 9.94526814e+01] [ 2.48202593e-02 1.01755775e-03 9.99691412e-01 2.41114855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.066875 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:257.23, Y:99.45, Z:24.11 [[ 9.99691922e-01 -1.45342633e-04 -2.48201554e-02 2.57234966e+02] [ 1.20060919e-04 9.99999473e-01 -1.02008329e-03 9.94516274e+01] [ 2.48202906e-02 1.01678910e-03 9.99691412e-01 2.41101798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.096875 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:257.26, Y:99.45, Z:24.11 [[ 9.99691812e-01 -5.05320714e-04 -2.48198754e-02 2.57263615e+02] [ 4.79981966e-04 9.99999358e-01 -1.02685239e-03 9.94508740e+01] [ 2.48203783e-02 1.01462283e-03 9.99691412e-01 2.41079640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.126875 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:257.29, Y:99.44, Z:24.11 [[ 9.99691670e-01 -7.43487024e-04 -2.48195941e-02 2.57291887e+02] [ 7.18054165e-04 9.99999208e-01 -1.03360544e-03 9.94436141e+01] [ 2.48203430e-02 1.01546494e-03 9.99691412e-01 2.41067053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.156875 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:257.32, Y:99.44, Z:24.11 [[ 9.99691317e-01 -1.12782798e-03 -2.48193119e-02 2.57320279e+02] [ 1.10234649e-03 9.99998851e-01 -1.04033772e-03 9.94386538e+01] [ 2.48204568e-02 1.01265710e-03 9.99691412e-01 2.41084303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.186875 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:257.35, Y:99.43, Z:24.11 [[ 9.99689977e-01 -1.98901275e-03 -2.48192245e-02 2.57348170e+02] [ 1.96374457e-03 9.99997529e-01 -1.04242060e-03 9.94333950e+01] [ 2.48212365e-02 9.93358811e-04 9.99691412e-01 2.41114862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.216875 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:257.38, Y:99.42, Z:24.12 [[ 9.99688805e-01 -2.51254463e-03 -2.48189421e-02 2.57376673e+02] [ 2.48727192e-03 9.99996356e-01 -1.04910088e-03 9.94224718e+01] [ 2.48214876e-02 9.87042950e-04 9.99691412e-01 2.41168334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.246875 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:257.41, Y:99.42, Z:24.12 [[ 9.99687974e-01 -2.82659239e-03 -2.48186571e-02 2.57406043e+02] [ 2.80125026e-03 9.99995519e-01 -1.05579988e-03 9.94193109e+01] [ 2.48215302e-02 9.85947171e-04 9.99691412e-01 2.41166710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.276875 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:257.43, Y:99.42, Z:24.11 [[ 9.99691380e-01 -1.09184963e-03 -2.48184056e-02 2.57434191e+02] [ 1.06582813e-03 9.99998868e-01 -1.06167976e-03 9.94151782e+01] [ 2.48195367e-02 1.03489995e-03 9.99691412e-01 2.41113992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.306875 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:257.46, Y:99.41, Z:24.11 [[ 9.99691932e-01 -3.05091104e-04 -2.48183165e-02 2.57462396e+02] [ 2.78776138e-04 9.99999395e-01 -1.06375724e-03 9.94142926e+01] [ 2.48186261e-02 1.05651078e-03 9.99691412e-01 2.41109228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.336875 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:257.49, Y:99.41, Z:24.11 [[ 9.99691974e-01 1.52543146e-04 -2.48180268e-02 2.57490718e+02] [-1.79165281e-04 9.99999411e-01 -1.07047337e-03 9.94119014e+01] [ 2.48178489e-02 1.07459017e-03 9.99691412e-01 2.41105604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.366875 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:257.52, Y:99.40, Z:24.12 [[ 9.99691876e-01 -4.71805710e-04 -2.48179368e-02 2.57519480e+02] [ 4.45323971e-04 9.99999326e-01 -1.07255635e-03 9.94026549e+01] [ 2.48184261e-02 1.06117384e-03 9.99691412e-01 2.41150644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.396875 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:257.55, Y:99.40, Z:24.12 [[ 9.99691464e-01 -1.02526090e-03 -2.48178649e-02 2.57547442e+02] [ 9.98908211e-04 9.99998924e-01 -1.07421753e-03 9.93989060e+01] [ 2.48189396e-02 1.04909532e-03 9.99691412e-01 2.41179735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.426875 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:257.58, Y:99.40, Z:24.12 [[ 9.99690604e-01 -1.66568369e-03 -2.48177563e-02 2.57575711e+02] [ 1.63946590e-03 9.99998076e-01 -1.07672219e-03 9.93959286e+01] [ 2.48195020e-02 1.03570119e-03 9.99691412e-01 2.41182979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.456875 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:257.60, Y:99.39, Z:24.11 [[ 9.99691168e-01 -1.28897479e-03 -2.48174646e-02 2.57603740e+02] [ 1.26247557e-03 9.99998616e-01 -1.08340365e-03 9.93919721e+01] [ 2.48188267e-02 1.05173761e-03 9.99691412e-01 2.41143520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.486875 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:257.63, Y:99.39, Z:24.12 [[ 9.99691385e-01 -1.11069352e-03 -2.48173739e-02 2.57632212e+02] [ 1.08408812e-03 9.99998823e-01 -1.08547594e-03 9.93912531e+01] [ 2.48185504e-02 1.05823673e-03 9.99691412e-01 2.41154576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.516875 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:257.66, Y:99.39, Z:24.12 [[ 9.99690212e-01 -1.89518190e-03 -2.48170788e-02 2.57660528e+02] [ 1.86865159e-03 9.99997658e-01 -1.09218157e-03 9.93894231e+01] [ 2.48190906e-02 1.04546875e-03 9.99691412e-01 2.41182663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.546875 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:257.69, Y:99.38, Z:24.12 [[ 9.99666025e-01 -7.20803503e-03 -2.48169866e-02 2.57689830e+02] [ 7.18308719e-03 9.99973603e-01 -1.09427231e-03 9.93809947e+01] [ 2.48242191e-02 9.15644268e-04 9.99691412e-01 2.41238768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.57687500000003 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:257.72, Y:99.38, Z:24.12 [[ 9.99633852e-01 -1.07834729e-02 -2.48169119e-02 2.57718217e+02] [ 1.07595834e-02 9.99941513e-01 -1.09596385e-03 9.93797200e+01] [ 2.48272788e-02 8.28542929e-04 9.99691412e-01 2.41247741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.606875 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:257.75, Y:99.38, Z:24.12 [[ 9.99569455e-01 -1.56537575e-02 -2.48166135e-02 2.57745903e+02] [ 1.56312006e-02 9.99877217e-01 -1.10268119e-03 9.93809165e+01] [ 2.48308275e-02 7.14292970e-04 9.99691412e-01 2.41245981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.63687500000003 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:257.77, Y:99.38, Z:24.12 [[ 9.99539660e-01 -1.74530370e-02 -2.48165204e-02 2.57774354e+02] [ 1.74309822e-02 9.99847459e-01 -1.10477208e-03 9.93814934e+01] [ 2.48320165e-02 6.71687188e-04 9.99691412e-01 2.41243314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.666875 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:257.80, Y:99.38, Z:24.13 [[ 9.99534910e-01 -1.77233773e-02 -2.48162410e-02 2.57802923e+02] [ 1.77012509e-02 9.99842703e-01 -1.11101260e-03 9.93828778e+01] [ 2.48320284e-02 6.71217366e-04 9.99691412e-01 2.41250392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.69687500000003 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:257.83, Y:99.38, Z:24.12 [[ 9.99498628e-01 -1.96637245e-02 -2.48159388e-02 2.57832416e+02] [ 1.96420292e-02 9.99806452e-01 -1.11772267e-03 9.93828377e+01] [ 2.48331143e-02 6.29726884e-04 9.99691412e-01 2.41238341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.726875 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:257.86, Y:99.38, Z:24.12 [[ 9.99450235e-01 -2.19865635e-02 -2.48156911e-02 2.57861799e+02] [ 2.19654479e-02 9.99758100e-01 -1.12319547e-03 9.93825247e+01] [ 2.48343834e-02 5.77490208e-04 9.99691412e-01 2.41220061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.75687500000004 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:257.89, Y:99.38, Z:24.12 [[ 9.99362701e-01 -2.56590422e-02 -2.48154245e-02 2.57889627e+02] [ 2.56389126e-02 9.99670631e-01 -1.12905444e-03 9.93796200e+01] [ 2.48362215e-02 4.92094394e-04 9.99691412e-01 2.41238600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.786875 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:257.92, Y:99.38, Z:24.13 [[ 9.99321306e-01 -2.72236989e-02 -2.48152828e-02 2.57918647e+02] [ 2.72039744e-02 9.99629262e-01 -1.13215986e-03 9.93789623e+01] [ 2.48369044e-02 4.56317155e-04 9.99691412e-01 2.41276838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.816875 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:257.95, Y:99.38, Z:24.13 [[ 9.99288859e-01 -2.83899938e-02 -2.48150110e-02 2.57946791e+02] [ 2.83704815e-02 9.99596829e-01 -1.13808617e-03 9.93793187e+01] [ 2.48373166e-02 4.33263017e-04 9.99691412e-01 2.41283227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.846875 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:257.97, Y:99.38, Z:24.13 [[ 9.99274469e-01 -2.88921450e-02 -2.48149151e-02 2.57974418e+02] [ 2.88727357e-02 9.99582445e-01 -1.14017322e-03 9.93811032e+01] [ 2.48374956e-02 4.22871499e-04 9.99691412e-01 2.41282592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.876875 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:258.00, Y:99.38, Z:24.13 [[ 9.99293982e-01 -2.82094240e-02 -2.48146280e-02 2.58002515e+02] [ 2.81896500e-02 9.99601935e-01 -1.14638806e-03 9.93831044e+01] [ 2.48370891e-02 4.46063009e-04 9.99691412e-01 2.41300782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.906875 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:258.03, Y:99.38, Z:24.13 [[ 9.99369111e-01 -2.54092322e-02 -2.48143163e-02 2.58030922e+02] [ 2.53884289e-02 9.99676997e-01 -1.15309522e-03 9.93847483e+01] [ 2.48356005e-02 5.22371237e-04 9.99691412e-01 2.41318314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.936875 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:258.06, Y:99.39, Z:24.13 [[ 9.99389429e-01 -2.45974105e-02 -2.48140448e-02 2.58058067e+02] [ 2.45762129e-02 9.99697288e-01 -1.15890893e-03 9.93853332e+01] [ 2.48350395e-02 5.48366088e-04 9.99691412e-01 2.41329554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.966875 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:258.09, Y:99.39, Z:24.13 [[ 9.99388620e-01 -2.46304088e-02 -2.48139099e-02 2.58085698e+02] [ 2.46091498e-02 9.99696474e-01 -1.16179120e-03 9.93862157e+01] [ 2.48349936e-02 5.50431675e-04 9.99691412e-01 2.41331866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.996875 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:258.11, Y:99.39, Z:24.13 [[ 9.99402758e-01 -2.40501978e-02 -2.48135961e-02 2.58113560e+02] [ 2.40285948e-02 9.99710589e-01 -1.16845448e-03 9.93890400e+01] [ 2.48345163e-02 5.71520789e-04 9.99691412e-01 2.41300979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.026875 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:258.14, Y:99.39, Z:24.13 [[ 9.99423083e-01 -2.31905444e-02 -2.48132803e-02 2.58142541e+02] [ 2.31685111e-02 9.99730883e-01 -1.17512226e-03 9.93912038e+01] [ 2.48338544e-02 5.99557549e-04 9.99691412e-01 2.41320936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.056875 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:258.17, Y:99.39, Z:24.13 [[ 9.99453258e-01 -2.18517932e-02 -2.48130017e-02 2.58170111e+02] [ 2.18292024e-02 9.99761017e-01 -1.18097566e-03 9.93922573e+01] [ 2.48328783e-02 6.38681928e-04 9.99691413e-01 2.41347513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.086875 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:258.20, Y:99.39, Z:24.14 [[ 9.99472334e-01 -2.09615136e-02 -2.48126794e-02 2.58197558e+02] [ 2.09384816e-02 9.99780060e-01 -1.18770933e-03 9.93933743e+01] [ 2.48321183e-02 6.67542785e-04 9.99691413e-01 2.41352966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.116875 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:258.23, Y:99.40, Z:24.13 [[ 9.99504419e-01 -1.93716967e-02 -2.48123548e-02 2.58226489e+02] [ 1.93480081e-02 9.99812096e-01 -1.19445165e-03 9.93967456e+01] [ 2.48308311e-02 7.13790065e-04 9.99691413e-01 2.41309438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.146875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:258.25, Y:99.40, Z:24.13 [[ 9.99520918e-01 -1.85012300e-02 -2.48120667e-02 2.58254594e+02] [ 1.84771256e-02 9.99828563e-01 -1.20040830e-03 9.93992095e+01] [ 2.48300220e-02 7.41377532e-04 9.99691413e-01 2.41284600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.176875 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:258.28, Y:99.40, Z:24.13 [[ 9.99523949e-01 -1.83369172e-02 -2.48119664e-02 2.58282319e+02] [ 1.83127109e-02 9.99831585e-01 -1.20247751e-03 9.94001141e+01] [ 2.48298374e-02 7.47530699e-04 9.99691413e-01 2.41278522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.206875 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:258.31, Y:99.40, Z:24.13 [[ 9.99491681e-01 -2.00190229e-02 -2.48116418e-02 2.58310333e+02] [ 1.99951692e-02 9.99799345e-01 -1.20913714e-03 9.93959210e+01] [ 2.48308690e-02 7.12409537e-04 9.99691413e-01 2.41320243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.236875 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:258.34, Y:99.40, Z:24.14 [[ 9.99457235e-01 -2.16707865e-02 -2.48115410e-02 2.58338696e+02] [ 2.16473901e-02 9.99764934e-01 -1.21120268e-03 9.93951598e+01] [ 2.48319564e-02 6.73440169e-04 9.99691413e-01 2.41360255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.266875 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:258.37, Y:99.40, Z:24.14 [[ 9.99399007e-01 -2.42080211e-02 -2.48112150e-02 2.58365744e+02] [ 2.41852411e-02 9.99706752e-01 -1.21784517e-03 9.93964000e+01] [ 2.48334208e-02 6.17048041e-04 9.99691413e-01 2.41353213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.296875 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:258.40, Y:99.40, Z:24.13 [[ 9.99370315e-01 -2.53650809e-02 -2.48109916e-02 2.58395063e+02] [ 2.53425447e-02 9.99678079e-01 -1.22237802e-03 9.93991509e+01] [ 2.48340102e-02 5.92834639e-04 9.99691413e-01 2.41340137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.32687500000003 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:258.42, Y:99.40, Z:24.13 [[ 9.99332830e-01 -2.68015440e-02 -2.48107085e-02 2.58422084e+02] [ 2.67793083e-02 9.99640616e-01 -1.22809836e-03 9.94012130e+01] [ 2.48347068e-02 5.62865403e-04 9.99691413e-01 2.41324747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.356875 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:258.45, Y:99.40, Z:24.13 [[ 9.99267259e-01 -2.91441435e-02 -2.48105671e-02 2.58450559e+02] [ 2.91225586e-02 9.99575090e-01 -1.23094911e-03 9.94010047e+01] [ 2.48358998e-02 5.07499945e-04 9.99691413e-01 2.41323929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.38687500000003 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:258.48, Y:99.40, Z:24.13 [[ 9.99235258e-01 -3.02216966e-02 -2.48102523e-02 2.58477855e+02] [ 3.02002870e-02 9.99543102e-01 -1.23726085e-03 9.94007296e+01] [ 2.48363087e-02 4.87037921e-04 9.99691413e-01 2.41331171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.416875 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:258.51, Y:99.40, Z:24.14 [[ 9.99196587e-01 -3.14744233e-02 -2.48101053e-02 2.58505749e+02] [ 3.14533267e-02 9.99504452e-01 -1.24020231e-03 9.94005218e+01] [ 2.48368453e-02 4.58845573e-04 9.99691413e-01 2.41356883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.44687500000003 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:258.53, Y:99.40, Z:24.14 [[ 9.99172988e-01 -3.22151484e-02 -2.48097715e-02 2.58534062e+02] [ 3.21941151e-02 9.99480857e-01 -1.24684443e-03 9.94018132e+01] [ 2.48370589e-02 4.47084633e-04 9.99691413e-01 2.41382509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.476875 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:258.56, Y:99.40, Z:24.14 [[ 9.99073067e-01 -3.51781146e-02 -2.48094309e-02 2.58563152e+02] [ 3.51578271e-02 9.99380986e-01 -1.25358435e-03 9.94045251e+01] [ 2.48381723e-02 3.80176681e-04 9.99691413e-01 2.41405168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.50687500000004 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:258.59, Y:99.41, Z:24.14 [[ 9.99036518e-01 -3.62014292e-02 -2.48091356e-02 2.58591973e+02] [ 3.61813127e-02 9.99344448e-01 -1.25940189e-03 9.94057985e+01] [ 2.48384641e-02 3.60561381e-04 9.99691413e-01 2.41434765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.536875 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:258.62, Y:99.41, Z:24.14 [[ 9.98984445e-01 -3.76111697e-02 -2.48088417e-02 2.58620406e+02] [ 3.75913447e-02 9.99292395e-01 -1.26516530e-03 9.94062146e+01] [ 2.48388711e-02 3.31282736e-04 9.99691413e-01 2.41448141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.566875 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:258.65, Y:99.40, Z:24.14 [[ 9.98930057e-01 -3.90291859e-02 -2.48085265e-02 2.58649134e+02] [ 3.90096452e-02 9.99238025e-01 -1.27131586e-03 9.94036253e+01] [ 2.48392414e-02 3.02183812e-04 9.99691413e-01 2.41426568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.596875 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:258.68, Y:99.40, Z:24.14 [[ 9.98921296e-01 -3.92529772e-02 -2.48082312e-02 2.58678456e+02] [ 3.92333631e-02 9.99229259e-01 -1.27705246e-03 9.94035664e+01] [ 2.48392386e-02 3.02364560e-04 9.99691413e-01 2.41422079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.626875 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:258.71, Y:99.41, Z:24.14 [[ 9.98909153e-01 -3.95609823e-02 -2.48079329e-02 2.58707623e+02] [ 3.95413200e-02 9.99217113e-01 -1.28282051e-03 9.94052288e+01] [ 2.48392607e-02 3.00482735e-04 9.99691413e-01 2.41407747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.656875 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:258.73, Y:99.41, Z:24.14 [[ 9.98926971e-01 -3.91086654e-02 -2.48076355e-02 2.58734929e+02] [ 3.90887214e-02 9.99234913e-01 -1.28854735e-03 9.94100015e+01] [ 2.48390488e-02 3.17465952e-04 9.99691413e-01 2.41362051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.686875 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:258.76, Y:99.41, Z:24.14 [[ 9.98938041e-01 -3.88250085e-02 -2.48074491e-02 2.58763943e+02] [ 3.88048882e-02 9.99245971e-01 -1.29212469e-03 9.94115708e+01] [ 2.48389103e-02 3.28102213e-04 9.99691413e-01 2.41418739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.716875 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:258.79, Y:99.41, Z:24.15 [[ 9.98924087e-01 -3.91825689e-02 -2.48071474e-02 2.58792997e+02] [ 3.91624156e-02 9.99232015e-01 -1.29789255e-03 9.94117535e+01] [ 2.48389506e-02 3.24988317e-04 9.99691413e-01 2.41458409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.746875 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:258.82, Y:99.41, Z:24.15 [[ 9.98922707e-01 -3.92179296e-02 -2.48068446e-02 2.58821373e+02] [ 3.91976442e-02 9.99230627e-01 -1.30365304e-03 9.94103099e+01] [ 2.48388855e-02 3.29878750e-04 9.99691413e-01 2.41513633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.776875 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:258.85, Y:99.41, Z:24.16 [[ 9.98900875e-01 -3.97703170e-02 -2.48065415e-02 2.58850274e+02] [ 3.97500592e-02 9.99208796e-01 -1.30939649e-03 9.94116708e+01] [ 2.48389895e-02 3.21895806e-04 9.99691413e-01 2.41551197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.806875 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:258.88, Y:99.41, Z:24.16 [[ 9.98881564e-01 -4.02525917e-02 -2.48062498e-02 2.58877814e+02] [ 4.02323460e-02 9.99189486e-01 -1.31489892e-03 9.94142067e+01] [ 2.48390721e-02 3.15414668e-04 9.99691413e-01 2.41562893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.836875 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:258.91, Y:99.42, Z:24.15 [[ 9.98903704e-01 -3.96995956e-02 -2.48058996e-02 2.58906586e+02] [ 3.96790162e-02 9.99211604e-01 -1.32147279e-03 9.94173305e+01] [ 2.48388047e-02 3.35750372e-04 9.99691413e-01 2.41525315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.866875 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:258.93, Y:99.42, Z:24.14 [[ 9.98984036e-01 -3.76241667e-02 -2.48055923e-02 2.58934710e+02] [ 3.76028051e-02 9.99291883e-01 -1.32721602e-03 9.94225715e+01] [ 2.48379624e-02 3.93107766e-04 9.99691413e-01 2.41423363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.896875 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:258.96, Y:99.42, Z:24.15 [[ 9.99032579e-01 -3.63124512e-02 -2.48054832e-02 2.58962964e+02] [ 3.62906348e-02 9.99340394e-01 -1.32925178e-03 9.94239077e+01] [ 2.48373898e-02 4.27759097e-04 9.99691413e-01 2.41460744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.926875 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:258.99, Y:99.42, Z:24.15 [[ 9.99099183e-01 -3.44313325e-02 -2.48053697e-02 2.58990674e+02] [ 3.44088841e-02 9.99406952e-01 -1.33136602e-03 9.94223501e+01] [ 2.48364997e-02 4.76641611e-04 9.99691413e-01 2.41516266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.956875 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:259.02, Y:99.42, Z:24.15 [[ 9.99122331e-01 -3.37530243e-02 -2.48052574e-02 2.59017871e+02] [ 3.37303151e-02 9.99430081e-01 -1.33345597e-03 9.94230757e+01] [ 2.48361286e-02 4.95596488e-04 9.99691413e-01 2.41533652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.986875 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:259.05, Y:99.43, Z:24.16 [[ 9.99136543e-01 -3.33297999e-02 -2.48051026e-02 2.59045467e+02] [ 3.33068891e-02 9.99444278e-01 -1.33632993e-03 9.94252625e+01] [ 2.48358574e-02 5.08995262e-04 9.99691413e-01 2.41559134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.016875 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:259.07, Y:99.43, Z:24.16 [[ 9.99154110e-01 -3.27992402e-02 -2.48047428e-02 2.59073802e+02] [ 3.27760010e-02 9.99461820e-01 -1.34297536e-03 9.94285696e+01] [ 2.48354419e-02 5.28839076e-04 9.99691413e-01 2.41559968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.046875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:259.10, Y:99.43, Z:24.15 [[ 9.99175590e-01 -3.21384746e-02 -2.48044290e-02 2.59102227e+02] [ 3.21148888e-02 9.99483274e-01 -1.34874627e-03 9.94342221e+01] [ 2.48349585e-02 5.51042874e-04 9.99691413e-01 2.41493745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.07687500000003 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:259.13, Y:99.44, Z:24.15 [[ 9.99192985e-01 -3.15932795e-02 -2.48041144e-02 2.59131636e+02] [ 3.15693829e-02 9.99500645e-01 -1.35450613e-03 9.94370298e+01] [ 2.48345217e-02 5.70362433e-04 9.99691413e-01 2.41469367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.106875 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:259.16, Y:99.44, Z:24.15 [[ 9.99205862e-01 -3.11835853e-02 -2.48038229e-02 2.59160602e+02] [ 3.11594306e-02 9.99513502e-01 -1.35982470e-03 9.94394611e+01] [ 2.48341601e-02 5.85871816e-04 9.99691413e-01 2.41468493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.13687500000003 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:259.19, Y:99.44, Z:24.15 [[ 9.99259538e-01 -2.94136450e-02 -2.48035087e-02 2.59188248e+02] [ 2.93888038e-02 9.99567123e-01 -1.36553022e-03 9.94391643e+01] [ 2.48329371e-02 6.35573647e-04 9.99691413e-01 2.41536646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.166875 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:259.22, Y:99.44, Z:24.16 [[ 9.99266050e-01 -2.91917152e-02 -2.48033410e-02 2.59217384e+02] [ 2.91667304e-02 9.99573624e-01 -1.36856982e-03 9.94375860e+01] [ 2.48327164e-02 6.44133001e-04 9.99691413e-01 2.41587692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.19687500000003 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:259.25, Y:99.44, Z:24.16 [[ 9.99242540e-01 -2.99859371e-02 -2.48030306e-02 2.59245719e+02] [ 2.99610577e-02 9.99550122e-01 -1.37417325e-03 9.94355594e+01] [ 2.48330781e-02 6.30007342e-04 9.99691413e-01 2.41624579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.226875 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:259.27, Y:99.43, Z:24.17 [[ 9.99176430e-01 -3.21137014e-02 -2.48026748e-02 2.59272906e+02] [ 3.20893185e-02 9.99484052e-01 -1.38056475e-03 9.94343329e+01] [ 2.48342130e-02 5.83526823e-04 9.99691413e-01 2.41657457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.25687500000004 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:259.30, Y:99.44, Z:24.17 [[ 9.99168184e-01 -3.23693429e-02 -2.48025193e-02 2.59301454e+02] [ 3.23449695e-02 9.99475807e-01 -1.38335379e-03 9.94360492e+01] [ 2.48342962e-02 5.79966360e-04 9.99691413e-01 2.41664550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.286875 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:259.33, Y:99.44, Z:24.16 [[ 9.99146084e-01 -3.30447562e-02 -2.48021637e-02 2.59329223e+02] [ 3.30204334e-02 9.99453711e-01 -1.38969974e-03 9.94445409e+01] [ 2.48345368e-02 5.69534860e-04 9.99691413e-01 2.41609820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.316875 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:259.36, Y:99.45, Z:24.16 [[ 9.99154962e-01 -3.27752821e-02 -2.48020534e-02 2.59357015e+02] [ 3.27508275e-02 9.99462579e-01 -1.39166528e-03 9.94495417e+01] [ 2.48343365e-02 5.78201494e-04 9.99691413e-01 2.41574502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.346875 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:259.39, Y:99.45, Z:24.16 [[ 9.99156337e-01 -3.27335873e-02 -2.48017480e-02 2.59385086e+02] [ 3.27089854e-02 9.99463942e-01 -1.39708690e-03 9.94501460e+01] [ 2.48341845e-02 5.84668215e-04 9.99691413e-01 2.41587694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.376875 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:259.41, Y:99.45, Z:24.16 [[ 9.99131933e-01 -3.34704570e-02 -2.48013972e-02 2.59413947e+02] [ 3.34459281e-02 9.99439543e-01 -1.40328602e-03 9.94492543e+01] [ 2.48344658e-02 5.72562129e-04 9.99691413e-01 2.41613478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.406875 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:259.44, Y:99.45, Z:24.17 [[ 9.99069468e-01 -3.52860288e-02 -2.48010941e-02 2.59441087e+02] [ 3.52619265e-02 9.99377112e-01 -1.40862266e-03 9.94501565e+01] [ 2.48353505e-02 5.32777531e-04 9.99691413e-01 2.41664505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.436875 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:259.47, Y:99.45, Z:24.16 [[ 9.99117960e-01 -3.38898415e-02 -2.47947547e-02 2.59471481e+02] [ 3.38625545e-02 9.99425344e-01 -1.51967862e-03 9.94492247e+01] [ 2.48320079e-02 6.78724472e-04 9.99691408e-01 2.41608790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.466875 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:259.50, Y:99.45, Z:24.16 [[ 9.99124856e-01 -3.36815990e-02 -2.48006524e-02 2.59497802e+02] [ 3.36568093e-02 9.99432445e-01 -1.41641633e-03 9.94532448e+01] [ 2.48342838e-02 5.80465931e-04 9.99691413e-01 2.41626298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.496875 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:259.53, Y:99.45, Z:24.16 [[ 9.99247681e-01 -2.98229391e-02 -2.47924265e-02 2.59528968e+02] [ 2.97933902e-02 9.99554860e-01 -1.56046537e-03 9.94547655e+01] [ 2.48279281e-02 8.20640968e-04 9.99691403e-01 2.41642069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.526875 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:259.56, Y:99.46, Z:24.17 [[ 9.99260944e-01 -2.93682412e-02 -2.48006615e-02 2.59556144e+02] [ 2.93421277e-02 9.99568424e-01 -1.41626538e-03 9.94583056e+01] [ 2.48315513e-02 6.87514504e-04 9.99691413e-01 2.41654577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.556875 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:259.58, Y:99.46, Z:24.17 [[ 9.99253043e-01 -2.96360231e-02 -2.48004518e-02 2.59584694e+02] [ 2.96099012e-02 9.99560522e-01 -1.41992786e-03 9.94600452e+01] [ 2.48316335e-02 6.84528305e-04 9.99691413e-01 2.41661666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.586875 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:259.61, Y:99.46, Z:24.17 [[ 9.99246615e-01 -2.98522867e-02 -2.48000695e-02 2.59613855e+02] [ 2.98260665e-02 9.99554086e-01 -1.42657360e-03 9.94628010e+01] [ 2.48315973e-02 6.85810317e-04 9.99691413e-01 2.41694935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.616875 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:259.64, Y:99.47, Z:24.17 [[ 9.99215574e-01 -3.08740862e-02 -2.47997298e-02 2.59642263e+02] [ 3.08480346e-02 9.99523060e-01 -1.43245414e-03 9.94652051e+01] [ 2.48321276e-02 6.66307561e-04 9.99691413e-01 2.41692523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.646875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:259.67, Y:99.47, Z:24.17 [[ 9.99166957e-01 -3.24096448e-02 -2.47993431e-02 2.59670094e+02] [ 3.23839005e-02 9.99474468e-01 -1.43911901e-03 9.94681854e+01] [ 2.48329516e-02 6.34820704e-04 9.99691413e-01 2.41691138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.676875 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:259.70, Y:99.47, Z:24.17 [[ 9.99123215e-01 -3.37312805e-02 -2.47992234e-02 2.59699219e+02] [ 3.37058919e-02 9.99430756e-01 -1.44117828e-03 9.94699340e+01] [ 2.48337194e-02 6.04034737e-04 9.99691413e-01 2.41717295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.706875 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:259.73, Y:99.47, Z:24.18 [[ 9.99021560e-01 -3.66188313e-02 -2.47988810e-02 2.59728565e+02] [ 3.65941861e-02 9.99329161e-01 -1.44704596e-03 9.94679266e+01] [ 2.48352341e-02 5.38135242e-04 9.99691413e-01 2.41779186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.736875 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:259.76, Y:99.47, Z:24.18 [[ 9.98959908e-01 -3.82640156e-02 -2.47985372e-02 2.59757462e+02] [ 3.82397313e-02 9.99267538e-01 -1.45291480e-03 9.94678066e+01] [ 2.48359675e-02 5.03114240e-04 9.99691413e-01 2.41791185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.766875 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:259.79, Y:99.47, Z:24.18 [[ 9.98910549e-01 -3.95318278e-02 -2.47981894e-02 2.59786552e+02] [ 3.95077873e-02 9.99218198e-01 -1.45882684e-03 9.94687919e+01] [ 2.48364722e-02 4.77515925e-04 9.99691413e-01 2.41796764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.796875 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:259.81, Y:99.47, Z:24.18 [[ 9.98857919e-01 -4.08402327e-02 -2.47978379e-02 2.59814057e+02] [ 4.08164475e-02 9.99165588e-01 -1.46477619e-03 9.94713574e+01] [ 2.48369681e-02 4.50943650e-04 9.99691413e-01 2.41823371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.82687500000003 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:259.84, Y:99.47, Z:24.18 [[ 9.98845104e-01 -4.11525447e-02 -2.47977140e-02 2.59841134e+02] [ 4.11288037e-02 9.99152776e-01 -1.46687173e-03 9.94741880e+01] [ 2.48370703e-02 4.45277337e-04 9.99691413e-01 2.41824655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.856875 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:259.87, Y:99.48, Z:24.18 [[ 9.98816672e-01 -4.18370439e-02 -2.47975417e-02 2.59869579e+02] [ 4.18134416e-02 9.99124355e-01 -1.46977930e-03 9.94770456e+01] [ 2.48373190e-02 4.31169509e-04 9.99691413e-01 2.41811136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.88687500000003 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:259.90, Y:99.48, Z:24.18 [[ 9.98805977e-01 -4.20918111e-02 -2.47971888e-02 2.59897755e+02] [ 4.20681401e-02 9.99113654e-01 -1.47570907e-03 9.94789769e+01] [ 2.48373251e-02 4.30775432e-04 9.99691413e-01 2.41777312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.916875 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:259.93, Y:99.48, Z:24.17 [[ 9.98773439e-01 -4.28570161e-02 -2.47970637e-02 2.59926283e+02] [ 4.28335287e-02 9.99081130e-01 -1.47780810e-03 9.94801385e+01] [ 2.48376128e-02 4.13849741e-04 9.99691413e-01 2.41733391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.94687500000003 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:259.96, Y:99.48, Z:24.18 [[ 9.98684131e-01 -4.48901732e-02 -2.47967370e-02 2.59955008e+02] [ 4.48671767e-02 9.98991860e-01 -1.48326855e-03 9.94799003e+01] [ 2.48383226e-02 3.68757182e-04 9.99691413e-01 2.41825979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.976875 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:259.98, Y:99.48, Z:24.18 [[ 9.98598999e-01 -4.67458953e-02 -2.47963827e-02 2.59983556e+02] [ 4.67233242e-02 9.98906759e-01 -1.48916862e-03 9.94813453e+01] [ 2.48388868e-02 3.28512864e-04 9.99691413e-01 2.41847011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.00687500000004 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:260.01, Y:99.48, Z:24.18 [[ 9.98492919e-01 -4.89596580e-02 -2.47960349e-02 2.60012568e+02] [ 4.89376260e-02 9.98800718e-01 -1.49493758e-03 9.94840011e+01] [ 2.48394891e-02 2.79225506e-04 9.99691413e-01 2.41846746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.036875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:260.04, Y:99.49, Z:24.19 [[ 9.98428332e-01 -5.02597305e-02 -2.47956858e-02 2.60040783e+02] [ 5.02379561e-02 9.98736149e-01 -1.50070525e-03 9.94866537e+01] [ 2.48397728e-02 2.52662061e-04 9.99691413e-01 2.41856049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.066875 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:260.07, Y:99.49, Z:24.19 [[ 9.98391841e-01 -5.09796586e-02 -2.47952838e-02 2.60069375e+02] [ 5.09579419e-02 9.98699663e-01 -1.50731813e-03 9.94895733e+01] [ 2.48398842e-02 2.41377485e-04 9.99691413e-01 2.41889864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.096875 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:260.10, Y:99.49, Z:24.19 [[ 9.98407712e-01 -5.06680687e-02 -2.47949272e-02 2.60097220e+02] [ 5.06461108e-02 9.98715516e-01 -1.51316223e-03 9.94913460e+01] [ 2.48397475e-02 2.54986212e-04 9.99691413e-01 2.41899918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.126875 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:260.13, Y:99.49, Z:24.19 [[ 9.98430594e-01 -5.02153382e-02 -2.47945190e-02 2.60125651e+02] [ 5.01930754e-02 9.98738377e-01 -1.51982196e-03 9.94930303e+01] [ 2.48395560e-02 2.72923587e-04 9.99691413e-01 2.41914950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.156875 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:260.15, Y:99.49, Z:24.20 [[ 9.98528239e-01 -4.82349259e-02 -2.47941094e-02 2.60154407e+02] [ 4.82118876e-02 9.98835964e-01 -1.52647462e-03 9.94938915e+01] [ 2.48388776e-02 3.28857197e-04 9.99691413e-01 2.41960783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.186875 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:260.18, Y:99.49, Z:24.20 [[ 9.98554690e-01 -4.76843839e-02 -2.47937497e-02 2.60181946e+02] [ 4.76610314e-02 9.98862392e-01 -1.53229476e-03 9.94948376e+01] [ 2.48386107e-02 3.48384432e-04 9.99691413e-01 2.41984274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.216875 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:260.21, Y:99.50, Z:24.20 [[ 9.98576396e-01 -4.72277951e-02 -2.47934940e-02 2.60210485e+02] [ 4.72041995e-02 9.98884079e-01 -1.53642140e-03 9.94960046e+01] [ 2.48383882e-02 3.63877111e-04 9.99691413e-01 2.41993579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.246875 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:260.24, Y:99.50, Z:24.20 [[ 9.98573125e-01 -4.72970342e-02 -2.47932369e-02 2.60238206e+02] [ 4.72733572e-02 9.98880802e-01 -1.54055852e-03 9.94990325e+01] [ 2.48383522e-02 3.66300796e-04 9.99691413e-01 2.41970539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.276875 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:260.27, Y:99.51, Z:24.19 [[ 9.98595495e-01 -4.68224291e-02 -2.47931109e-02 2.60266603e+02] [ 4.67985556e-02 9.98903156e-01 -1.54258389e-03 9.95059613e+01] [ 2.48381442e-02 3.80135546e-04 9.99691413e-01 2.41899724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.306875 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:260.30, Y:99.51, Z:24.19 [[ 9.98597465e-01 -4.67805802e-02 -2.47927417e-02 2.60295339e+02] [ 4.67565471e-02 9.98905114e-01 -1.54849463e-03 9.95082551e+01] [ 2.48380360e-02 3.87099813e-04 9.99691413e-01 2.41881152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.336875 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:260.32, Y:99.51, Z:24.19 [[ 9.98472208e-01 -4.93820616e-02 -2.47923723e-02 2.60322637e+02] [ 4.93586838e-02 9.98779908e-01 -1.55438609e-03 9.95080514e+01] [ 2.48388822e-02 3.28292448e-04 9.99691413e-01 2.41874765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.366875 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:260.35, Y:99.50, Z:24.20 [[ 9.98248078e-01 -5.37226426e-02 -2.47921880e-02 2.60351597e+02] [ 5.37005299e-02 9.98555871e-01 -1.55732164e-03 9.95027927e+01] [ 2.48400483e-02 2.23239704e-04 9.99691413e-01 2.41976001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.396875 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:260.38, Y:99.50, Z:24.20 [[ 9.98189972e-01 -5.47918425e-02 -2.47918211e-02 2.60380963e+02] [ 5.47699150e-02 9.98497778e-01 -1.56314009e-03 9.95022838e+01] [ 2.48402256e-02 2.02464830e-04 9.99691413e-01 2.42031969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.426875 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:260.41, Y:99.50, Z:24.21 [[ 9.98158263e-01 -5.53666439e-02 -2.47914536e-02 2.60409122e+02] [ 5.53447494e-02 9.98466072e-01 -1.56894728e-03 9.95032085e+01] [ 2.48402926e-02 1.93980908e-04 9.99691414e-01 2.42065593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.456875 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:260.44, Y:99.51, Z:24.21 [[ 9.98146731e-01 -5.55743422e-02 -2.47910330e-02 2.60436671e+02] [ 5.55523474e-02 9.98454533e-01 -1.57556521e-03 9.95060617e+01] [ 2.48402803e-02 1.95445182e-04 9.99691414e-01 2.42058843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.486875 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:260.46, Y:99.51, Z:24.20 [[ 9.98203339e-01 -5.45483213e-02 -2.47906110e-02 2.60464146e+02] [ 5.45258459e-02 9.98511106e-01 -1.58217684e-03 9.95115920e+01] [ 2.48400055e-02 2.27605166e-04 9.99691414e-01 2.41981427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.516875 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:260.49, Y:99.52, Z:24.20 [[ 9.98151307e-01 -5.54924430e-02 -2.47902428e-02 2.60492613e+02] [ 5.54701160e-02 9.98459085e-01 -1.58792498e-03 9.95155603e+01] [ 2.48401610e-02 2.09871750e-04 9.99691414e-01 2.41958270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.546875 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:260.52, Y:99.52, Z:24.20 [[ 9.98139605e-01 -5.57027324e-02 -2.47898181e-02 2.60519381e+02] [ 5.56803063e-02 9.98447375e-01 -1.59452800e-03 9.95180544e+01] [ 2.48401484e-02 2.11256879e-04 9.99691414e-01 2.41950097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.57687500000003 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:260.55, Y:99.51, Z:24.20 [[ 9.98059605e-01 -5.71183947e-02 -2.47893973e-02 2.60548342e+02] [ 5.70962433e-02 9.98367395e-01 -1.60104282e-03 9.95143603e+01] [ 2.48403751e-02 1.82554703e-04 9.99691414e-01 2.42016223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.606875 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:260.58, Y:99.51, Z:24.21 [[ 9.97999613e-01 -5.81573514e-02 -2.47890263e-02 2.60575103e+02] [ 5.81353783e-02 9.98307416e-01 -1.60676776e-03 9.95117091e+01] [ 2.48405141e-02 1.62434177e-04 9.99691414e-01 2.42067718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.63687500000003 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:260.60, Y:99.51, Z:24.21 [[ 9.97934170e-01 -5.92697743e-02 -2.47888425e-02 2.60602901e+02] [ 5.92480739e-02 9.98241992e-01 -1.60959826e-03 9.95106967e+01] [ 2.48406640e-02 1.37581930e-04 9.99691414e-01 2.42107774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.666875 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:260.63, Y:99.51, Z:24.21 [[ 9.97884426e-01 -6.01016456e-02 -2.47884072e-02 2.60631357e+02] [ 6.00800360e-02 9.98192254e-01 -1.61627346e-03 9.95121619e+01] [ 2.48407368e-02 1.23565718e-04 9.99691414e-01 2.42095489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.69687500000003 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:260.66, Y:99.52, Z:24.20 [[ 9.97891767e-01 -5.99797804e-02 -2.47880336e-02 2.60659762e+02] [ 5.99579914e-02 9.98199583e-01 -1.62198378e-03 9.95181279e+01] [ 2.48406910e-02 1.32323557e-04 9.99691414e-01 2.42016402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.726875 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:260.69, Y:99.52, Z:24.20 [[ 9.97799919e-01 -6.14889671e-02 -2.47876708e-02 2.60687312e+02] [ 6.14675064e-02 9.98107758e-01 -1.62750884e-03 9.95226947e+01] [ 2.48408404e-02 1.00291871e-04 9.99691414e-01 2.42003877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.75687500000004 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:260.72, Y:99.53, Z:24.20 [[ 9.97690741e-01 -6.32358897e-02 -2.47872349e-02 2.60715974e+02] [ 6.32148038e-02 9.97998606e-01 -1.63412145e-03 9.95257051e+01] [ 2.48409610e-02 6.34276514e-05 9.99691414e-01 2.42015759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.786875 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:260.74, Y:99.53, Z:24.20 [[ 9.97634652e-01 -6.41148437e-02 -2.47868458e-02 2.60744120e+02] [ 6.40938829e-02 9.97942526e-01 -1.64000146e-03 9.95270293e+01] [ 2.48409960e-02 4.74370868e-05 9.99691414e-01 2.42031548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.816875 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:260.77, Y:99.52, Z:24.21 [[ 9.97558075e-01 -6.52955362e-02 -2.47867090e-02 2.60771847e+02] [ 6.52748885e-02 9.97865969e-01 -1.64206674e-03 9.95237814e+01] [ 2.48410330e-02 2.01072673e-05 9.99691414e-01 2.42092854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.846875 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:260.80, Y:99.52, Z:24.21 [[ 9.97520867e-01 -6.58615674e-02 -2.47865767e-02 2.60799450e+02] [ 6.58410449e-02 9.97828770e-01 -1.64406094e-03 9.95229942e+01] [ 2.48410398e-02 8.01098429e-06 9.99691414e-01 2.42115866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.876875 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:260.83, Y:99.52, Z:24.22 [[ 9.97448142e-01 -6.69539795e-02 -2.47864461e-02 2.60827853e+02] [ 6.69337453e-02 9.97756065e-01 -1.64602854e-03 9.95244896e+01] [ 2.48410351e-02 -1.72215635e-05 9.99691414e-01 2.42170940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.906875 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:260.86, Y:99.53, Z:24.22 [[ 9.97371518e-01 -6.80860444e-02 -2.47860046e-02 2.60855837e+02] [ 6.80659951e-02 9.97679452e-01 -1.65265046e-03 9.95281273e+01] [ 2.48410099e-02 -3.87775662e-05 9.99691414e-01 2.42177642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.936875 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:260.88, Y:99.53, Z:24.21 [[ 9.97189548e-01 -7.07013601e-02 -2.47855501e-02 2.60883130e+02] [ 7.06819497e-02 9.97497523e-01 -1.65943833e-03 9.95331846e+01] [ 2.48408494e-02 -9.71164488e-05 9.99691414e-01 2.42126282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.966875 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:260.91, Y:99.53, Z:24.21 [[ 9.97042281e-01 -7.27487007e-02 -2.47854092e-02 2.60911163e+02] [ 7.27298705e-02 9.97350292e-01 -1.66154013e-03 9.95342854e+01] [ 2.48406100e-02 -1.46013842e-04 9.99691414e-01 2.42132203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.996875 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:260.94, Y:99.54, Z:24.22 [[ 9.96938225e-01 -7.41611832e-02 -2.47849687e-02 2.60939784e+02] [ 7.41426266e-02 9.97246253e-01 -1.66808513e-03 9.95357426e+01] [ 2.48404243e-02 -1.74644856e-04 9.99691414e-01 2.42160080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.026875 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:260.97, Y:99.54, Z:24.22 [[ 9.96790109e-01 -7.61262285e-02 -2.47845851e-02 2.60968713e+02] [ 7.61081380e-02 9.97098165e-01 -1.67376491e-03 9.95377159e+01] [ 2.48400818e-02 -2.17916315e-04 9.99691414e-01 2.42193215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.056875 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:261.00, Y:99.54, Z:24.22 [[ 9.96646186e-01 -7.79879696e-02 -2.47841924e-02 2.60996168e+02] [ 7.79703104e-02 9.96954267e-01 -1.67956054e-03 9.95421331e+01] [ 2.48396919e-02 -2.58503565e-04 9.99691414e-01 2.42159534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.086875 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:261.02, Y:99.55, Z:24.21 [[ 9.96605410e-01 -7.85073673e-02 -2.47840528e-02 2.61024993e+02] [ 7.84898175e-02 9.96913497e-01 -1.68161775e-03 9.95467489e+01] [ 2.48395761e-02 -2.69386435e-04 9.99691414e-01 2.42130480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.116875 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:261.05, Y:99.55, Z:24.21 [[ 9.96658705e-01 -7.78279881e-02 -2.47836580e-02 2.61052164e+02] [ 7.78100841e-02 9.96966771e-01 -1.68741570e-03 9.95497947e+01] [ 2.48398117e-02 -2.46640966e-04 9.99691414e-01 2.42140444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.146875 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:261.08, Y:99.55, Z:24.22 [[ 9.96726655e-01 -7.69529402e-02 -2.47834620e-02 2.61080569e+02] [ 7.69346943e-02 9.97034701e-01 -1.69029079e-03 9.95499942e+01] [ 2.48400444e-02 -2.21950186e-04 9.99691414e-01 2.42182358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.176875 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:261.11, Y:99.55, Z:24.22 [[ 9.96788317e-01 -7.61502000e-02 -2.47830115e-02 2.61107925e+02] [ 7.61315425e-02 9.97096339e-01 -1.69686996e-03 9.95502795e+01] [ 2.48402670e-02 -1.95348739e-04 9.99691414e-01 2.42223774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.206875 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:261.14, Y:99.55, Z:24.22 [[ 9.96822702e-01 -7.56988330e-02 -2.47827987e-02 2.61136209e+02] [ 7.56799589e-02 9.97130711e-01 -1.69997132e-03 9.95519395e+01] [ 2.48403756e-02 -1.80991185e-04 9.99691414e-01 2.42247696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.236875 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:261.16, Y:99.56, Z:24.22 [[ 9.96942861e-01 -7.40997166e-02 -2.47823504e-02 2.61163654e+02] [ 7.40801865e-02 9.97250828e-01 -1.70648279e-03 9.95581151e+01] [ 2.48406693e-02 -1.34615301e-04 9.99691414e-01 2.42241592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.266875 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:261.19, Y:99.56, Z:24.22 [[ 9.96981150e-01 -7.35829053e-02 -2.47818887e-02 2.61191355e+02] [ 7.35630496e-02 9.97289097e-01 -1.71316168e-03 9.95640772e+01] [ 2.48407668e-02 -1.15041401e-04 9.99691414e-01 2.42211661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.296875 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:261.22, Y:99.57, Z:24.22 [[ 9.97006208e-01 -7.32426561e-02 -2.47817451e-02 2.61218991e+02] [ 7.32226437e-02 9.97314144e-01 -1.71523630e-03 9.95687098e+01] [ 2.48408133e-02 -1.04483653e-04 9.99691414e-01 2.42201556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.32687500000003 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:261.25, Y:99.57, Z:24.22 [[ 9.96994001e-01 -7.34086803e-02 -2.47816027e-02 2.61248249e+02] [ 7.33886681e-02 9.97301937e-01 -1.71729070e-03 9.95713984e+01] [ 2.48408044e-02 -1.06560295e-04 9.99691414e-01 2.42201116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.356875 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:261.28, Y:99.57, Z:24.22 [[ 9.97013828e-01 -7.31390291e-02 -2.47812072e-02 2.61277341e+02] [ 7.31187922e-02 9.97321750e-01 -1.72297918e-03 9.95692431e+01] [ 2.48408540e-02 -9.41378741e-05 9.99691414e-01 2.42206571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.38687500000003 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:261.31, Y:99.57, Z:24.22 [[ 9.97015289e-01 -7.31192504e-02 -2.47808131e-02 2.61306031e+02] [ 7.30988670e-02 9.97323201e-01 -1.72862868e-03 9.95683314e+01] [ 2.48408759e-02 -8.79801402e-05 9.99691414e-01 2.42214202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.416875 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:261.34, Y:99.57, Z:24.22 [[ 9.97027195e-01 -7.29568619e-02 -2.47804166e-02 2.61335482e+02] [ 7.29362876e-02 9.97335094e-01 -1.73429452e-03 9.95677701e+01] [ 2.48409078e-02 -7.82527927e-05 9.99691414e-01 2.42244932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.44687500000003 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:261.36, Y:99.57, Z:24.23 [[ 9.97129737e-01 -7.15418695e-02 -2.47800172e-02 2.61364318e+02] [ 7.15207169e-02 9.97437597e-01 -1.73998273e-03 9.95682244e+01] [ 2.48410024e-02 -3.72960753e-05 9.99691414e-01 2.42315002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.476875 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:261.39, Y:99.57, Z:24.23 [[ 9.97110573e-01 -7.18086032e-02 -2.47796095e-02 2.61392848e+02] [ 7.17873892e-02 9.97418429e-01 -1.74576868e-03 9.95703310e+01] [ 2.48410004e-02 -3.81390644e-05 9.99691414e-01 2.42322081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.50687500000004 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:261.42, Y:99.57, Z:24.23 [[ 9.97226427e-01 -7.01815329e-02 -2.47791409e-02 2.61421167e+02] [ 7.01596519e-02 9.97534236e-01 -1.75239567e-03 9.95725810e+01] [ 2.48410272e-02 9.03937878e-06 9.99691414e-01 2.42317271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.536875 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:261.45, Y:99.57, Z:24.23 [[ 9.97399849e-01 -6.76724312e-02 -2.47786732e-02 2.61449629e+02] [ 6.76496121e-02 9.97707590e-01 -1.75898357e-03 9.95745441e+01] [ 2.48409050e-02 7.81423196e-05 9.99691414e-01 2.42283137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.566875 meters Centerline goodness : 0.997478 Centerline is valid? [True, True] Translation: X:261.48, Y:99.58, Z:24.23 [[ 9.97612008e-01 -6.44695264e-02 -2.47782677e-02 2.61478616e+02] [ 6.44455780e-02 9.97919663e-01 -1.76467733e-03 9.95761542e+01] [ 2.48404885e-02 1.63613510e-04 9.99691414e-01 2.42267298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.596875 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:261.51, Y:99.58, Z:24.22 [[ 9.97834014e-01 -6.09371604e-02 -2.47778906e-02 2.61507920e+02] [ 6.09119918e-02 9.98141571e-01 -1.76995709e-03 9.95775692e+01] [ 2.48396988e-02 2.56852718e-04 9.99691414e-01 2.42245599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.626875 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:261.54, Y:99.58, Z:24.22 [[ 9.98163945e-01 -5.52703946e-02 -2.47774752e-02 2.61537023e+02] [ 5.52433362e-02 9.98471342e-01 -1.77575237e-03 9.95778395e+01] [ 2.48377455e-02 4.03701597e-04 9.99691414e-01 2.42156881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.656875 meters Centerline goodness : 0.996651 Centerline is valid? [True, True] Translation: X:261.57, Y:99.58, Z:24.22 [[ 9.98220680e-01 -5.42361179e-02 -2.47773578e-02 2.61565451e+02] [ 5.42087004e-02 9.98528046e-01 -1.77739006e-03 9.95800376e+01] [ 2.48372853e-02 4.31079156e-04 9.99691414e-01 2.42162931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.686875 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:261.59, Y:99.58, Z:24.22 [[ 9.98257220e-01 -5.35595785e-02 -2.47768720e-02 2.61593054e+02] [ 5.35317853e-02 9.98564552e-01 -1.78413543e-03 9.95815631e+01] [ 2.48368637e-02 4.54675883e-04 9.99691414e-01 2.42177777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.716875 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:261.62, Y:99.58, Z:24.22 [[ 9.98207418e-01 -5.44799900e-02 -2.47766464e-02 2.61621532e+02] [ 5.44524026e-02 9.98514768e-01 -1.78726284e-03 9.95847934e+01] [ 2.48372174e-02 4.34911094e-04 9.99691414e-01 2.42236974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.746875 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:261.65, Y:99.59, Z:24.23 [[ 9.98179802e-01 -5.49838325e-02 -2.47762234e-02 2.61650654e+02] [ 5.49562552e-02 9.98487153e-01 -1.79310756e-03 9.95882770e+01] [ 2.48373327e-02 4.28235290e-04 9.99691414e-01 2.42259728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.776875 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:261.68, Y:99.59, Z:24.23 [[ 9.98156893e-01 -5.53983493e-02 -2.47757976e-02 2.61678489e+02] [ 5.53707542e-02 9.98464242e-01 -1.79897228e-03 9.95912040e+01] [ 2.48374081e-02 4.23801983e-04 9.99691414e-01 2.42260847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.806875 meters Centerline goodness : 0.996951 Centerline is valid? [True, True] Translation: X:261.71, Y:99.59, Z:24.23 [[ 9.98092745e-01 -5.65425249e-02 -2.47753116e-02 2.61707035e+02] [ 5.65151166e-02 9.98400111e-01 -1.80564082e-03 9.95917254e+01] [ 2.48377693e-02 4.02017374e-04 9.99691414e-01 2.42266577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.836875 meters Centerline goodness : 0.997287 Centerline is valid? [True, True] Translation: X:261.74, Y:99.59, Z:24.23 [[ 9.98037189e-01 -5.75150277e-02 -2.47748213e-02 2.61736323e+02] [ 5.74877526e-02 9.98344567e-01 -1.81234367e-03 9.95920340e+01] [ 2.48380452e-02 3.84537585e-04 9.99691414e-01 2.42292219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.866875 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:261.76, Y:99.59, Z:24.23 [[ 9.97995332e-01 -5.82369800e-02 -2.47743915e-02 2.61764827e+02] [ 5.82097819e-02 9.98302717e-01 -1.81819924e-03 9.95921775e+01] [ 2.48382288e-02 3.72442429e-04 9.99691414e-01 2.42311323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.896875 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:261.79, Y:99.60, Z:24.23 [[ 9.97651793e-01 -6.38525963e-02 -2.47738987e-02 2.61788305e+02] [ 6.38269623e-02 9.97959312e-01 -1.82488932e-03 9.95984182e+01] [ 2.48398668e-02 2.39361397e-04 9.99691414e-01 2.42295002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.926875 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:261.82, Y:99.59, Z:24.23 [[ 9.97770096e-01 -6.19872292e-02 -2.47471057e-02 2.61821551e+02] [ 6.19520629e-02 9.98076732e-01 -2.18592792e-03 9.95947197e+01] [ 2.48350100e-02 6.47919256e-04 9.99691354e-01 2.42290216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.956875 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:261.85, Y:99.60, Z:24.23 [[ 9.97665436e-01 -6.36392660e-02 -2.47733959e-02 2.61849383e+02] [ 6.36134379e-02 9.97972936e-01 -1.83006202e-03 9.95976784e+01] [ 2.48396424e-02 2.49868740e-04 9.99691417e-01 2.42282361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.986875 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:261.88, Y:99.60, Z:24.23 [[ 9.97587156e-01 -6.48549914e-02 -2.47729090e-02 2.61877772e+02] [ 6.48293750e-02 9.97894673e-01 -1.83662866e-03 9.96010704e+01] [ 2.48398685e-02 2.26184955e-04 9.99691417e-01 2.42265971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.016875 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:261.90, Y:99.61, Z:24.22 [[ 9.97549159e-01 -6.54369975e-02 -2.47724793e-02 2.61904851e+02] [ 6.54114170e-02 9.97856679e-01 -1.84240681e-03 9.96069306e+01] [ 2.48399455e-02 2.17488389e-04 9.99691417e-01 2.42209599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.046875 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:261.93, Y:99.61, Z:24.22 [[ 9.97469964e-01 -6.66334726e-02 -2.47719878e-02 2.61933276e+02] [ 6.66080975e-02 9.97777502e-01 -1.84899140e-03 9.96098815e+01] [ 2.48401368e-02 1.94298408e-04 9.99691417e-01 2.42236328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.07687500000003 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:261.96, Y:99.61, Z:24.23 [[ 9.97408421e-01 -6.75485876e-02 -2.47715562e-02 2.61961826e+02] [ 6.75233515e-02 9.97715970e-01 -1.85475588e-03 9.96117026e+01] [ 2.48402634e-02 1.77290634e-04 9.99691417e-01 2.42270655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.106875 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:261.99, Y:99.61, Z:24.23 [[ 9.97361212e-01 -6.82422493e-02 -2.47711214e-02 2.61988801e+02] [ 6.82170833e-02 9.97668767e-01 -1.86054474e-03 9.96089864e+01] [ 2.48403419e-02 1.65821500e-04 9.99691417e-01 2.42330280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.13687500000003 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:262.02, Y:99.61, Z:24.24 [[ 9.97338560e-01 -6.85725741e-02 -2.47709079e-02 2.62016930e+02] [ 6.85474395e-02 9.97646118e-01 -1.86338271e-03 9.96092331e+01] [ 2.48403771e-02 1.60441114e-04 9.99691417e-01 2.42370304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.166875 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:262.05, Y:99.61, Z:24.24 [[ 9.97412001e-01 -6.74961227e-02 -2.47704126e-02 2.62045851e+02] [ 6.74704932e-02 9.97719518e-01 -1.86994343e-03 9.96116594e+01] [ 2.48401381e-02 1.93832063e-04 9.99691417e-01 2.42370290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.19687500000003 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:262.07, Y:99.62, Z:24.23 [[ 9.97671690e-01 -6.35424898e-02 -2.47699772e-02 2.62073532e+02] [ 6.35154990e-02 9.97979090e-01 -1.87569415e-03 9.96232639e+01] [ 2.48391055e-02 2.98049492e-04 9.99691417e-01 2.42294645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.226875 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:262.10, Y:99.63, Z:24.23 [[ 9.97710772e-01 -6.29260598e-02 -2.47694732e-02 2.62102207e+02] [ 6.28987145e-02 9.98018140e-01 -1.88232547e-03 9.96286052e+01] [ 2.48388309e-02 3.20048376e-04 9.99691417e-01 2.42280836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.25687500000004 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:262.13, Y:99.63, Z:24.23 [[ 9.97550475e-01 -6.54182299e-02 -2.47690283e-02 2.62128247e+02] [ 6.53915076e-02 9.97857898e-01 -1.88816223e-03 9.96337407e+01] [ 2.48394907e-02 2.63853030e-04 9.99691417e-01 2.42283862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.286875 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:262.16, Y:99.63, Z:24.23 [[ 9.97558088e-01 -6.53072526e-02 -2.47552738e-02 2.62159323e+02] [ 6.52760406e-02 9.97865103e-01 -2.06768365e-03 9.96302266e+01] [ 2.48374586e-02 4.46708285e-04 9.99691403e-01 2.42340157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.316875 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:262.19, Y:99.63, Z:24.24 [[ 9.97446225e-01 -6.69891802e-02 -2.47684688e-02 2.62186481e+02] [ 6.69627661e-02 9.97753675e-01 -1.89524682e-03 9.96309881e+01] [ 2.48397918e-02 2.31841601e-04 9.99691418e-01 2.42356186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.346875 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:262.22, Y:99.63, Z:24.24 [[ 9.97342156e-01 -6.85212218e-02 -2.47682476e-02 2.62215106e+02] [ 6.84952084e-02 9.97649640e-01 -1.89813363e-03 9.96321121e+01] [ 2.48400957e-02 1.96582403e-04 9.99691418e-01 2.42381142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.376875 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:262.24, Y:99.64, Z:24.24 [[ 9.97214798e-01 -7.03505719e-02 -2.47678057e-02 2.62242330e+02] [ 7.03249798e-02 9.97522317e-01 -1.90388143e-03 9.96350543e+01] [ 2.48403781e-02 1.56783294e-04 9.99691418e-01 2.42412576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.406875 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:262.27, Y:99.64, Z:24.24 [[ 9.97205349e-01 -7.04844776e-02 -2.47675298e-02 2.62270487e+02] [ 7.04588378e-02 9.97512864e-01 -1.90746374e-03 9.96381566e+01] [ 2.48403762e-02 1.57041675e-04 9.99691418e-01 2.42405803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.436875 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:262.30, Y:99.64, Z:24.24 [[ 9.97237024e-01 -7.00350830e-02 -2.47670156e-02 2.62298741e+02] [ 7.00091394e-02 9.97544514e-01 -1.91411764e-03 9.96400926e+01] [ 2.48402559e-02 1.74911536e-04 9.99691418e-01 2.42396999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.466875 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:262.33, Y:99.64, Z:24.24 [[ 9.97263067e-01 -6.96634440e-02 -2.47664996e-02 2.62326930e+02] [ 6.96372205e-02 9.97570533e-01 -1.92077141e-03 9.96410243e+01] [ 2.48401377e-02 1.90844198e-04 9.99691418e-01 2.42398755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.496875 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:262.36, Y:99.64, Z:24.24 [[ 9.97338101e-01 -6.85810362e-02 -2.47659842e-02 2.62355111e+02] [ 6.85543146e-02 9.97645524e-01 -1.92739334e-03 9.96428951e+01] [ 2.48398559e-02 2.24447737e-04 9.99691418e-01 2.42416563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.526875 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:262.38, Y:99.65, Z:24.24 [[ 9.97195455e-01 -7.06250284e-02 -2.47654983e-02 2.62379436e+02] [ 7.05987825e-02 9.97502919e-01 -1.93361691e-03 9.96491953e+01] [ 2.48402186e-02 1.79779963e-04 9.99691418e-01 2.42404709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.556875 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:262.40, Y:99.65, Z:24.24 [[ 9.97197751e-01 -7.05979421e-02 -2.47502912e-02 2.62404501e+02] [ 7.05668382e-02 9.97504781e-01 -2.12896448e-03 9.96523673e+01] [ 2.48388344e-02 3.76448793e-04 9.99691398e-01 2.42392565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.586875 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:262.44, Y:99.65, Z:24.24 [[ 9.97440824e-01 -6.70805516e-02 -2.47386683e-02 2.62437578e+02] [ 6.70446638e-02 9.97747374e-01 -2.27819491e-03 9.96520883e+01] [ 2.48357639e-02 6.13768909e-04 9.99691356e-01 2.42375892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.616875 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:262.46, Y:99.66, Z:24.24 [[ 9.97366644e-01 -6.81645722e-02 -2.47662879e-02 2.62463335e+02] [ 6.81378465e-02 9.97674064e-01 -1.92239045e-03 9.96585986e+01] [ 2.48397220e-02 2.29806591e-04 9.99691420e-01 2.42362838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.646875 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:262.49, Y:99.66, Z:24.24 [[ 9.97564588e-01 -6.52086470e-02 -2.47532854e-02 2.62493082e+02] [ 6.51768797e-02 9.97871540e-01 -2.08884731e-03 9.96575085e+01] [ 2.48368099e-02 4.70418199e-04 9.99691408e-01 2.42387576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.676875 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:262.52, Y:99.66, Z:24.24 [[ 9.97449156e-01 -6.69467055e-02 -2.47652854e-02 2.62518973e+02] [ 6.69192842e-02 9.97756515e-01 -1.93529030e-03 9.96594087e+01] [ 2.48392862e-02 2.73078497e-04 9.99691420e-01 2.42384436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.706875 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:262.55, Y:99.66, Z:24.24 [[ 9.97378932e-01 -6.79896959e-02 -2.47521026e-02 2.62547322e+02] [ 6.79584251e-02 9.97685937e-01 -2.10333600e-03 9.96595391e+01] [ 2.48378299e-02 4.15709101e-04 9.99691407e-01 2.42420154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.736875 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:262.58, Y:99.66, Z:24.25 [[ 9.97370901e-01 -6.81072914e-02 -2.47524253e-02 2.62576840e+02] [ 6.80761590e-02 9.97677919e-01 -2.09921693e-03 9.96593775e+01] [ 2.48379202e-02 4.08647836e-04 9.99691408e-01 2.42465162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.766875 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:262.61, Y:99.66, Z:24.25 [[ 9.97352132e-01 -6.83799879e-02 -2.47568428e-02 2.62606629e+02] [ 6.83503380e-02 9.97659290e-01 -2.04286009e-03 9.96610380e+01] [ 2.48385850e-02 3.45312293e-04 9.99691415e-01 2.42501485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.796875 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:262.63, Y:99.67, Z:24.24 [[ 9.97303744e-01 -6.90792937e-02 -2.47647587e-02 2.62633578e+02] [ 6.90523653e-02 9.97611147e-01 -1.94191297e-03 9.96705534e+01] [ 2.48397453e-02 2.26611916e-04 9.99691420e-01 2.42416980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.82687500000003 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:262.66, Y:99.68, Z:24.24 [[ 9.97351053e-01 -6.83929874e-02 -2.47644075e-02 2.62659946e+02] [ 6.83657365e-02 9.97658427e-01 -1.94638065e-03 9.96750823e+01] [ 2.48395387e-02 2.48187831e-04 9.99691420e-01 2.42385613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.856875 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:262.69, Y:99.68, Z:24.24 [[ 9.97445031e-01 -6.70085461e-02 -2.47641852e-02 2.62688223e+02] [ 6.69807985e-02 9.97752361e-01 -1.94920482e-03 9.96769036e+01] [ 2.48391377e-02 2.85499761e-04 9.99691420e-01 2.42403933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.88687500000003 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:262.72, Y:99.68, Z:24.24 [[ 9.97520696e-01 -6.58727673e-02 -2.47636700e-02 2.62716810e+02] [ 6.58445078e-02 9.97827979e-01 -1.95572925e-03 9.96770207e+01] [ 2.48387121e-02 3.20328744e-04 9.99691420e-01 2.42434213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.916875 meters Centerline goodness : 0.997235 Centerline is valid? [True, True] Translation: X:262.74, Y:99.68, Z:24.25 [[ 9.97589719e-01 -6.48192782e-02 -2.47631462e-02 2.62743686e+02] [ 6.47905302e-02 9.97896957e-01 -1.96233819e-03 9.96779431e+01] [ 2.48382656e-02 3.53191027e-04 9.99691420e-01 2.42463292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.94687500000003 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:262.77, Y:99.68, Z:24.25 [[ 9.97551335e-01 -6.54074241e-02 -2.47629183e-02 2.62766657e+02] [ 6.53787859e-02 9.97858583e-01 -1.96521089e-03 9.96838618e+01] [ 2.48384299e-02 3.41429214e-04 9.99691420e-01 2.42501616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.976875 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:262.80, Y:99.68, Z:24.25 [[ 9.97720051e-01 -6.27906487e-02 -2.47393206e-02 2.62798746e+02] [ 6.27538833e-02 9.98026473e-01 -2.26044876e-03 9.96839946e+01] [ 2.48324319e-02 7.02806613e-04 9.99691381e-01 2.42518040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.00687500000004 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:262.83, Y:99.69, Z:24.25 [[ 9.97673507e-01 -6.35169914e-02 -2.47621834e-02 2.62826271e+02] [ 6.34875627e-02 9.97980678e-01 -1.97360937e-03 9.96894088e+01] [ 2.48375384e-02 3.96927107e-04 9.99691422e-01 2.42480520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.036875 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:262.85, Y:99.69, Z:24.25 [[ 9.97427239e-01 -6.72737931e-02 -2.47616477e-02 2.62853551e+02] [ 6.72453551e-02 9.97734504e-01 -1.98030866e-03 9.96934639e+01] [ 2.48387731e-02 3.10108007e-04 9.99691422e-01 2.42472686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.066875 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:262.87, Y:99.70, Z:24.24 [[ 9.96995804e-01 -7.33910469e-02 -2.47612859e-02 2.62873980e+02] [ 7.33643822e-02 9.97303228e-01 -1.98482201e-03 9.97032072e+01] [ 2.48401785e-02 1.62262779e-04 9.99691422e-01 2.42441710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.096875 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:262.91, Y:99.70, Z:24.25 [[ 9.97155882e-01 -7.11968893e-02 -2.47214532e-02 2.62910457e+02] [ 7.11573473e-02 9.97462028e-01 -2.47664109e-03 9.97013755e+01] [ 2.48350400e-02 7.10484203e-04 9.99691310e-01 2.42478910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.126875 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:262.93, Y:99.71, Z:24.24 [[ 9.96129462e-01 -8.43386470e-02 -2.47605902e-02 2.62925874e+02] [ 8.43152416e-02 9.96437144e-01 -1.98962310e-03 9.97135072e+01] [ 2.48401739e-02 -1.05772953e-04 9.99691430e-01 2.42414099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.156875 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:262.97, Y:99.71, Z:24.25 [[ 9.96550184e-01 -7.92326471e-02 -2.46965381e-02 2.62967173e+02] [ 7.91881286e-02 9.96855821e-01 -2.77696357e-03 9.97051040e+01] [ 2.48389140e-02 8.11710915e-04 9.99691137e-01 2.42493842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.186875 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:263.00, Y:99.71, Z:24.25 [[ 9.96335246e-01 -8.18720049e-02 -2.47598819e-02 2.62995011e+02] [ 8.18478724e-02 9.96642851e-01 -1.98822500e-03 9.97060598e+01] [ 2.48395392e-02 -4.56050088e-05 9.99691450e-01 2.42532175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.216875 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:263.02, Y:99.71, Z:24.26 [[ 9.96119077e-01 -8.44615887e-02 -2.47593490e-02 2.63023109e+02] [ 8.44380915e-02 9.96426731e-01 -1.99483826e-03 9.97086653e+01] [ 2.48393644e-02 -1.03535739e-04 9.99691450e-01 2.42553474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.246875 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:263.05, Y:99.71, Z:24.25 [[ 9.95903889e-01 -8.69623147e-02 -2.47588151e-02 2.63051491e+02] [ 8.69394258e-02 9.96211589e-01 -2.00144295e-03 9.97121454e+01] [ 2.48390687e-02 -1.59272353e-04 9.99691450e-01 2.42542687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.276875 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:263.08, Y:99.71, Z:24.25 [[ 9.95858652e-01 -8.74789917e-02 -2.47582746e-02 2.63078409e+02] [ 8.74560968e-02 9.96166351e-01 -2.00810690e-03 9.97147406e+01] [ 2.48390273e-02 -1.65471433e-04 9.99691450e-01 2.42541101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.306875 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:263.11, Y:99.72, Z:24.26 [[ 9.95886353e-01 -8.71631307e-02 -2.47580402e-02 2.63106483e+02] [ 8.71400665e-02 9.96194040e-01 -2.01099365e-03 9.97174632e+01] [ 2.48390965e-02 -1.54696131e-04 9.99691450e-01 2.42557234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.336875 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:263.13, Y:99.72, Z:24.26 [[ 9.96108182e-01 -8.45905143e-02 -2.47575071e-02 2.63134181e+02] [ 8.45664929e-02 9.96415796e-01 -2.01753442e-03 9.97200510e+01] [ 2.48394354e-02 -8.39730082e-05 9.99691450e-01 2.42562720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.366875 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:263.16, Y:99.72, Z:24.26 [[ 9.96085525e-01 -8.48570571e-02 -2.47569673e-02 2.63162682e+02] [ 8.48329538e-02 9.96393132e-01 -2.02413708e-03 9.97224866e+01] [ 2.48394345e-02 -8.39930191e-05 9.99691450e-01 2.42569795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.396875 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:263.19, Y:99.72, Z:24.26 [[ 9.96149529e-01 -8.41025345e-02 -2.47564241e-02 2.63189229e+02] [ 8.40780337e-02 9.96457104e-01 -2.03075955e-03 9.97239052e+01] [ 2.48395066e-02 -5.85312898e-05 9.99691450e-01 2.42581839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.426875 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:263.22, Y:99.73, Z:24.26 [[ 9.96097444e-01 -8.47172557e-02 -2.47561883e-02 2.63217567e+02] [ 8.46928734e-02 9.96405029e-01 -2.03362923e-03 9.97257506e+01] [ 2.48394740e-02 -7.09798510e-05 9.99691450e-01 2.42590887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.456875 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:263.25, Y:99.73, Z:24.26 [[ 9.96029450e-01 -8.55131124e-02 -2.47556425e-02 2.63245259e+02] [ 8.54888112e-02 9.96337042e-01 -2.04025148e-03 9.97283555e+01] [ 2.48394319e-02 -8.41798884e-05 9.99691450e-01 2.42595100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.486875 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:263.27, Y:99.73, Z:24.26 [[ 9.96043271e-01 -8.53521440e-02 -2.47550928e-02 2.63272934e+02] [ 8.53276279e-02 9.96350845e-01 -2.04690062e-03 9.97318749e+01] [ 2.48394649e-02 -7.34917511e-05 9.99691450e-01 2.42588824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.516875 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:263.30, Y:99.73, Z:24.26 [[ 9.96035024e-01 -8.54484883e-02 -2.47545413e-02 2.63300119e+02] [ 8.54238367e-02 9.96342587e-01 -2.05354805e-03 9.97332086e+01] [ 2.48394763e-02 -6.92221098e-05 9.99691450e-01 2.42608998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.546875 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:263.33, Y:99.73, Z:24.27 [[ 9.96086588e-01 -8.48453473e-02 -2.47543010e-02 2.63328661e+02] [ 8.48204376e-02 9.96394131e-01 -2.05644059e-03 9.97323263e+01] [ 2.48395197e-02 -5.12777519e-05 9.99691450e-01 2.42663011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.57687500000003 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:263.36, Y:99.73, Z:24.27 [[ 9.96074059e-01 -8.49924700e-02 -2.47537568e-02 2.63356696e+02] [ 8.49674435e-02 9.96381592e-01 -2.06297062e-03 9.97341886e+01] [ 2.48395246e-02 -4.83919074e-05 9.99691450e-01 2.42678800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.606875 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:263.38, Y:99.74, Z:24.27 [[ 9.96091680e-01 -8.47858636e-02 -2.47532099e-02 2.63384938e+02] [ 8.47606107e-02 9.96399195e-01 -2.06951177e-03 9.97374004e+01] [ 2.48395438e-02 -3.66737349e-05 9.99691450e-01 2.42670607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.63687500000003 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:263.41, Y:99.74, Z:24.26 [[ 9.96294214e-01 -8.23719931e-02 -2.47526632e-02 2.63412926e+02] [ 8.23458332e-02 9.96601653e-01 -2.07603030e-03 9.97441353e+01] [ 2.48395518e-02 3.00582953e-05 9.99691450e-01 2.42623659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.666875 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:263.44, Y:99.75, Z:24.26 [[ 9.96382642e-01 -8.12955332e-02 -2.47521052e-02 2.63440860e+02] [ 8.12688765e-02 9.96690038e-01 -2.08266163e-03 9.97486702e+01] [ 2.48394878e-02 6.35521119e-05 9.99691450e-01 2.42620935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.69687500000003 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:263.47, Y:99.75, Z:24.26 [[ 9.96576918e-01 -7.88784414e-02 -2.47515451e-02 2.63471570e+02] [ 7.88508742e-02 9.96884233e-01 -2.08929819e-03 9.97506946e+01] [ 2.48392256e-02 1.30465381e-04 9.99691450e-01 2.42625592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.726875 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:263.50, Y:99.76, Z:24.27 [[ 9.96822331e-01 -7.57096253e-02 -2.47647660e-02 2.63495846e+02] [ 7.56849715e-02 9.97129906e-01 -1.93266270e-03 9.97561132e+01] [ 2.48400100e-02 5.22007252e-05 9.99691438e-01 2.42679004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.75687500000004 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:263.52, Y:99.76, Z:24.27 [[ 9.96889924e-01 -7.48189767e-02 -2.47507581e-02 2.63523934e+02] [ 7.47899439e-02 9.97197103e-01 -2.09792812e-03 9.97603868e+01] [ 2.48383491e-02 2.40295595e-04 9.99691452e-01 2.42671507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.786875 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:263.55, Y:99.76, Z:24.27 [[ 9.96917321e-01 -7.44532338e-02 -2.47501894e-02 2.63550704e+02] [ 7.44239224e-02 9.97224473e-01 -2.10461567e-03 9.97638862e+01] [ 2.48381901e-02 2.56121641e-04 9.99691452e-01 2.42657094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.816875 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:263.58, Y:99.77, Z:24.27 [[ 9.96932003e-01 -7.42565642e-02 -2.47496209e-02 2.63578773e+02] [ 7.42270266e-02 9.97239134e-01 -2.11128043e-03 9.97654192e+01] [ 2.48380669e-02 2.67712263e-04 9.99691452e-01 2.42670834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.846875 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:263.61, Y:99.76, Z:24.27 [[ 9.96959474e-01 -7.38870258e-02 -2.47490437e-02 2.63608148e+02] [ 7.38572071e-02 9.97266578e-01 -2.11802465e-03 9.97613226e+01] [ 2.48378887e-02 2.83689496e-04 9.99691452e-01 2.42744468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.876875 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:263.64, Y:99.76, Z:24.28 [[ 9.96978175e-01 -7.36344276e-02 -2.47485392e-02 2.63635655e+02] [ 7.36043852e-02 9.97285257e-01 -2.12390318e-03 9.97620325e+01] [ 2.48377457e-02 2.95884100e-04 9.99691452e-01 2.42765741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.906875 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:263.66, Y:99.77, Z:24.28 [[ 9.96966767e-01 -7.37887819e-02 -2.47483615e-02 2.63664034e+02] [ 7.37587356e-02 9.97273849e-01 -2.12597216e-03 9.97659041e+01] [ 2.48377666e-02 2.94115736e-04 9.99691452e-01 2.42766076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.936875 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:263.69, Y:99.78, Z:24.27 [[ 9.97045874e-01 -7.27122537e-02 -2.47477905e-02 2.63691345e+02] [ 7.26817114e-02 9.97352907e-01 -2.13259767e-03 9.97767793e+01] [ 2.48373468e-02 3.27585942e-04 9.99691452e-01 2.42703066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.966875 meters Centerline goodness : 0.997325 Centerline is valid? [True, True] Translation: X:263.72, Y:99.78, Z:24.27 [[ 9.97126431e-01 -7.15992718e-02 -2.47472139e-02 2.63718680e+02] [ 7.15682213e-02 9.97433413e-01 -2.13926879e-03 9.97823972e+01] [ 2.48368681e-02 3.62007376e-04 9.99691452e-01 2.42674284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.996875 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:263.75, Y:99.79, Z:24.27 [[ 9.97200939e-01 -7.05540347e-02 -2.47470349e-02 2.63746203e+02] [ 7.05226111e-02 9.97507883e-01 -2.14133684e-03 9.97855215e+01] [ 2.48364424e-02 3.90117591e-04 9.99691452e-01 2.42679901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.026875 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:263.77, Y:99.79, Z:24.27 [[ 9.97292830e-01 -6.92432307e-02 -2.47464542e-02 2.63774389e+02] [ 6.92112378e-02 9.97599715e-01 -2.14802655e-03 9.97854852e+01] [ 2.48357920e-02 4.29478747e-04 9.99691452e-01 2.42704888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.056875 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:263.80, Y:99.78, Z:24.28 [[ 9.97389804e-01 -6.78322921e-02 -2.47458709e-02 2.63804070e+02] [ 6.77996989e-02 9.97696626e-01 -2.15472633e-03 9.97794105e+01] [ 2.48350319e-02 4.71339477e-04 9.99691452e-01 2.42808183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.086875 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:263.83, Y:99.78, Z:24.29 [[ 9.97407422e-01 -6.75729346e-02 -2.47453578e-02 2.63831577e+02] [ 6.75401158e-02 9.97714220e-01 -2.16060284e-03 9.97802568e+01] [ 2.48347936e-02 4.83696977e-04 9.99691452e-01 2.42855509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.116875 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:263.86, Y:99.79, Z:24.29 [[ 9.97291782e-01 -6.92587757e-02 -2.47451756e-02 2.63858421e+02] [ 6.92264239e-02 9.97598629e-01 -2.16268752e-03 9.97859789e+01] [ 2.48355383e-02 4.43810482e-04 9.99691452e-01 2.42872705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.146875 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:263.89, Y:99.79, Z:24.29 [[ 9.97546031e-01 -6.54987414e-02 -2.47352231e-02 2.63887371e+02] [ 6.54624183e-02 9.97852439e-01 -2.27624171e-03 9.97944394e+01] [ 2.48311937e-02 6.51428364e-04 9.99691446e-01 2.42853634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.176875 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:263.91, Y:99.80, Z:24.28 [[ 9.97700945e-01 -6.30914822e-02 -2.47444615e-02 2.63914468e+02] [ 6.30570292e-02 9.98007564e-01 -2.17094370e-03 9.97978205e+01] [ 2.48321278e-02 6.05640346e-04 9.99691452e-01 2.42833945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.206875 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:263.94, Y:99.80, Z:24.28 [[ 9.97856189e-01 -6.05867175e-02 -2.47442054e-02 2.63942986e+02] [ 6.05514227e-02 9.98162712e-01 -2.17385878e-03 9.97992557e+01] [ 2.48304502e-02 6.70901592e-04 9.99691452e-01 2.42840676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.236875 meters Centerline goodness : 0.996951 Centerline is valid? [True, True] Translation: X:263.97, Y:99.80, Z:24.28 [[ 9.97952128e-01 -5.89856159e-02 -2.47436235e-02 2.63969996e+02] [ 5.89496656e-02 9.98258575e-01 -2.18046250e-03 9.98017417e+01] [ 2.48291503e-02 7.17368861e-04 9.99691452e-01 2.42834905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.266875 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:264.00, Y:99.81, Z:24.28 [[ 9.98036148e-01 -5.75500334e-02 -2.47354182e-02 2.63997775e+02] [ 5.75113425e-02 9.98342265e-01 -2.27333733e-03 9.98057166e+01] [ 2.48252441e-02 8.46305723e-04 9.99691448e-01 2.42828916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.296875 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:264.03, Y:99.81, Z:24.28 [[ 9.98104248e-01 -5.63571529e-02 -2.47341979e-02 2.64025743e+02] [ 5.63177543e-02 9.98410276e-01 -2.28714660e-03 9.98108616e+01] [ 2.48237744e-02 8.89836263e-04 9.99691447e-01 2.42809467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.326875 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:264.06, Y:99.81, Z:24.28 [[ 9.98389830e-01 -5.10501223e-02 -2.47312036e-02 2.64055960e+02] [ 5.10082608e-02 9.98695534e-01 -2.32096626e-03 9.98136405e+01] [ 2.48174282e-02 1.05573342e-03 9.99691443e-01 2.42823366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3568750000001 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:264.09, Y:99.81, Z:24.28 [[ 9.98477219e-01 -4.93054912e-02 -2.47429166e-02 2.64085267e+02] [ 4.92663710e-02 9.98783277e-01 -2.18854517e-03 9.98147399e+01] [ 2.48207187e-02 9.66218785e-04 9.99691452e-01 2.42831688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.386875 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:264.11, Y:99.81, Z:24.28 [[ 9.98481263e-01 -4.92237936e-02 -2.47423866e-02 2.64114654e+02] [ 4.91845005e-02 9.98787299e-01 -2.19452163e-03 9.98144748e+01] [ 2.48204041e-02 9.74246805e-04 9.99691452e-01 2.42831913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.416875 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:264.14, Y:99.81, Z:24.28 [[ 9.98346860e-01 -5.18785788e-02 -2.47418623e-02 2.64144133e+02] [ 5.18399537e-02 9.98652981e-01 -2.20041638e-03 9.98121358e+01] [ 2.48226890e-02 9.14161786e-04 9.99691452e-01 2.42821060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.446875 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:264.17, Y:99.82, Z:24.28 [[ 9.98108753e-01 -5.62741727e-02 -2.47413459e-02 2.64171060e+02] [ 5.62367525e-02 9.98415024e-01 -2.20620722e-03 9.98170426e+01] [ 2.48262840e-02 8.10661789e-04 9.99691452e-01 2.42832388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4768750000001 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:264.20, Y:99.82, Z:24.28 [[ 9.97985027e-01 -5.84336453e-02 -2.47264030e-02 2.64198034e+02] [ 5.83927546e-02 9.98290867e-01 -2.37315478e-03 9.98201873e+01] [ 2.48228144e-02 9.24530147e-04 9.99691439e-01 2.42831325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.506875 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:264.23, Y:99.82, Z:24.28 [[ 9.97823092e-01 -6.11387569e-02 -2.47210525e-02 2.64225298e+02] [ 6.10972085e-02 9.98128855e-01 -2.43322744e-03 9.98220241e+01] [ 2.48235603e-02 9.17543230e-04 9.99691427e-01 2.42842147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.536875 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:264.26, Y:99.82, Z:24.29 [[ 9.97958157e-01 -5.88948891e-02 -2.47165684e-02 2.64257737e+02] [ 5.88514130e-02 9.98263665e-01 -2.48335975e-03 9.98198167e+01] [ 2.48199093e-02 1.02368414e-03 9.99691414e-01 2.42856868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.566875 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:264.29, Y:99.82, Z:24.29 [[ 9.97883028e-01 -6.01443373e-02 -2.47410887e-02 2.64286894e+02] [ 6.01080433e-02 9.98189433e-01 -2.20870276e-03 9.98213004e+01] [ 2.48291343e-02 7.16888567e-04 9.99691452e-01 2.42881039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.596875 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:264.31, Y:99.83, Z:24.29 [[ 9.97654548e-01 -6.38224629e-02 -2.47405655e-02 2.64311829e+02] [ 6.37871538e-02 9.97961069e-01 -2.21454784e-03 9.98256703e+01] [ 2.48314591e-02 6.31223467e-04 9.99691452e-01 2.42880042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.626875 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:264.34, Y:99.82, Z:24.29 [[ 9.97791896e-01 -6.16472887e-02 -2.47172996e-02 2.64343977e+02] [ 6.16049062e-02 9.98097550e-01 -2.47323213e-03 9.98225167e+01] [ 2.48227443e-02 9.45064052e-04 9.99691421e-01 2.42938959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.656875 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:264.37, Y:99.82, Z:24.30 [[ 9.97717272e-01 -6.28344931e-02 -2.47400631e-02 2.64372197e+02] [ 6.27987577e-02 9.98023742e-01 -2.21950454e-03 9.98247336e+01] [ 2.48306318e-02 6.60792788e-04 9.99691454e-01 2.42971613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.686875 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:264.40, Y:99.83, Z:24.30 [[ 9.97692977e-01 -6.32191615e-02 -2.47398775e-02 2.64399811e+02] [ 6.31834931e-02 9.97999454e-01 -2.22157118e-03 9.98270741e+01] [ 2.48308301e-02 6.53294085e-04 9.99691454e-01 2.42987413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.716875 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:264.43, Y:99.83, Z:24.30 [[ 9.97755604e-01 -6.22230831e-02 -2.47395052e-02 2.64427891e+02] [ 6.21870062e-02 9.98062033e-01 -2.22570989e-03 9.98302136e+01] [ 2.48300514e-02 6.82238749e-04 9.99691454e-01 2.42955081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.746875 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:264.46, Y:99.83, Z:24.29 [[ 9.97845763e-01 -6.07602089e-02 -2.47392289e-02 2.64456275e+02] [ 6.07236068e-02 9.98152131e-01 -2.22877693e-03 9.98330684e+01] [ 2.48289350e-02 7.21720413e-04 9.99691454e-01 2.42942570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.776875 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:264.48, Y:99.84, Z:24.29 [[ 9.97913223e-01 -5.96422260e-02 -2.47387214e-02 2.64483820e+02] [ 5.96051414e-02 9.98219532e-01 -2.23439587e-03 9.98367842e+01] [ 2.48279392e-02 7.55178199e-04 9.99691454e-01 2.42921210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.806875 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:264.51, Y:99.84, Z:24.29 [[ 9.97835875e-01 -6.09227088e-02 -2.47384508e-02 2.64512516e+02] [ 6.08859433e-02 9.98142222e-01 -2.23738769e-03 9.98428437e+01] [ 2.48288000e-02 7.26321793e-04 9.99691454e-01 2.42894041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.836875 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:264.54, Y:99.85, Z:24.29 [[ 9.97278562e-01 -6.94514450e-02 -2.47379425e-02 2.64536028e+02] [ 6.94171609e-02 9.97585198e-01 -2.24299371e-03 9.98532223e+01] [ 2.48339844e-02 5.19651812e-04 9.99691454e-01 2.42883867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.866875 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:264.57, Y:99.85, Z:24.29 [[ 9.97430403e-01 -6.72470109e-02 -2.47069002e-02 2.64569342e+02] [ 6.72036223e-02 9.97735937e-01 -2.58322015e-03 9.98498206e+01] [ 2.48246761e-02 9.16189122e-04 9.99691400e-01 2.42945060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.896875 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:264.60, Y:99.85, Z:24.30 [[ 9.97303416e-01 -6.90938753e-02 -2.47372945e-02 2.64596810e+02] [ 6.90593347e-02 9.97610019e-01 -2.24890835e-03 9.98510782e+01] [ 2.48335586e-02 5.34502884e-04 9.99691457e-01 2.42985396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.926875 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:264.62, Y:99.86, Z:24.30 [[ 9.96877226e-01 -7.49924827e-02 -2.47371118e-02 2.64620983e+02] [ 7.49597067e-02 9.97184023e-01 -2.25091585e-03 9.98584059e+01] [ 2.48362544e-02 3.89600099e-04 9.99691457e-01 2.42968294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.956875 meters Centerline goodness : 0.998076 Centerline is valid? [True, True] Translation: X:264.65, Y:99.86, Z:24.29 [[ 9.96849413e-01 -7.53705935e-02 -2.47087353e-02 2.64654314e+02] [ 7.53302523e-02 9.97155352e-01 -2.56075261e-03 9.98585998e+01] [ 2.48314531e-02 6.91369467e-04 9.99691413e-01 2.42945592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.986875 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:264.68, Y:99.86, Z:24.29 [[ 9.96691110e-01 -7.74270151e-02 -2.47363714e-02 2.64682253e+02] [ 7.73948124e-02 9.96997966e-01 -2.25801371e-03 9.98625566e+01] [ 2.48369433e-02 3.36075371e-04 9.99691459e-01 2.42913891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.016875 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:264.71, Y:99.86, Z:24.29 [[ 9.96573233e-01 -7.89297906e-02 -2.47361938e-02 2.64709569e+02] [ 7.88980024e-02 9.96880132e-01 -2.25995756e-03 9.98643371e+01] [ 2.48373982e-02 3.00576933e-04 9.99691459e-01 2.42942018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.046875 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:264.74, Y:99.86, Z:24.30 [[ 9.96565774e-01 -7.90240131e-02 -2.47358843e-02 2.64738829e+02] [ 7.89921700e-02 9.96872667e-01 -2.26333993e-03 9.98647861e+01] [ 2.48373852e-02 3.01625931e-04 9.99691459e-01 2.43019318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.076875 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:264.77, Y:99.87, Z:24.31 [[ 9.96552416e-01 -7.91924484e-02 -2.47353579e-02 2.64767999e+02] [ 7.91605147e-02 9.96859300e-01 -2.26907900e-03 9.98653065e+01] [ 2.48373655e-02 3.03192500e-04 9.99691459e-01 2.43072778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1068750000001 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:264.80, Y:99.87, Z:24.31 [[ 9.96555979e-01 -7.91477713e-02 -2.47348236e-02 2.64795348e+02] [ 7.91156797e-02 9.96862846e-01 -2.27488777e-03 9.98680834e+01] [ 2.48372790e-02 3.10140625e-04 9.99691459e-01 2.43069943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.136875 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:264.82, Y:99.87, Z:24.31 [[ 9.96609959e-01 -7.84652014e-02 -2.47346347e-02 2.64823932e+02] [ 7.84328487e-02 9.96916799e-01 -2.27694007e-03 9.98742348e+01] [ 2.48370334e-02 3.29213289e-04 9.99691459e-01 2.43071978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.166875 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:264.85, Y:99.88, Z:24.30 [[ 9.96829190e-01 -7.56293025e-02 -2.47340948e-02 2.64851908e+02] [ 7.55959318e-02 9.97135921e-01 -2.28278991e-03 9.98818610e+01] [ 2.48359002e-02 4.05754674e-04 9.99691459e-01 2.43046124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.196875 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:264.88, Y:99.88, Z:24.30 [[ 9.96905342e-01 -7.46189745e-02 -2.47335502e-02 2.64879813e+02] [ 7.45851470e-02 9.97212023e-01 -2.28867503e-03 9.98841941e+01] [ 2.48353722e-02 4.36836885e-04 9.99691459e-01 2.43049444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2268750000001 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:264.91, Y:99.88, Z:24.31 [[ 9.96981738e-01 -7.35914217e-02 -2.47329250e-02 2.64908796e+02] [ 7.35571110e-02 9.97288365e-01 -2.29541165e-03 9.98848661e+01] [ 2.48347810e-02 4.69200978e-04 9.99691459e-01 2.43071950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.256875 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:264.94, Y:99.89, Z:24.31 [[ 9.96961023e-01 -7.38717138e-02 -2.47323565e-02 2.64937274e+02] [ 7.38373378e-02 9.97267642e-01 -2.30152121e-03 9.98876016e+01] [ 2.48347962e-02 4.68355581e-04 9.99691459e-01 2.43079029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.286875 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:264.97, Y:99.89, Z:24.31 [[ 9.96989536e-01 -7.34861052e-02 -2.47317076e-02 2.64965132e+02] [ 7.34514382e-02 9.97296123e-01 -2.30847276e-03 9.98879401e+01] [ 2.48344768e-02 4.84943686e-04 9.99691459e-01 2.43103395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.316875 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:264.99, Y:99.89, Z:24.31 [[ 9.96972512e-01 -7.37167727e-02 -2.47315068e-02 2.64992711e+02] [ 7.36821234e-02 9.97279101e-01 -2.31062290e-03 9.98890490e+01] [ 2.48345465e-02 4.81357590e-04 9.99691459e-01 2.43137000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.346875 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:265.02, Y:99.89, Z:24.32 [[ 9.96949011e-01 -7.40339929e-02 -2.47313133e-02 2.65020771e+02] [ 7.39993898e-02 9.97255605e-01 -2.31269147e-03 9.98929249e+01] [ 2.48346586e-02 4.75533378e-04 9.99691459e-01 2.43159846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.376875 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:265.05, Y:99.90, Z:24.32 [[ 9.96988214e-01 -7.35043620e-02 -2.47307381e-02 2.65048406e+02] [ 7.34694439e-02 9.97294773e-01 -2.31882633e-03 9.98973084e+01] [ 2.48342797e-02 4.94888948e-04 9.99691459e-01 2.43150291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.406875 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:265.08, Y:99.90, Z:24.31 [[ 9.97036270e-01 -7.28498152e-02 -2.47301421e-02 2.65076240e+02] [ 7.28145387e-02 9.97342788e-01 -2.32516508e-03 9.99023644e+01] [ 2.48338167e-02 5.17560032e-04 9.99691459e-01 2.43134710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.436875 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:265.10, Y:99.91, Z:24.31 [[ 9.97230295e-01 -7.01440629e-02 -2.47295220e-02 2.65104259e+02] [ 7.01077918e-02 9.97536696e-01 -2.33174145e-03 9.99062432e+01] [ 2.48321635e-02 5.91551028e-04 9.99691459e-01 2.43105518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.466875 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:265.13, Y:99.91, Z:24.31 [[ 9.97215426e-01 -7.03552081e-02 -2.47293307e-02 2.65130815e+02] [ 7.03189517e-02 9.97521829e-01 -2.33376919e-03 9.99074599e+01] [ 2.48322400e-02 5.88330031e-04 9.99691459e-01 2.43124475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.496875 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:265.16, Y:99.91, Z:24.32 [[ 9.97153577e-01 -7.12265682e-02 -2.47289201e-02 2.65159129e+02] [ 7.11904719e-02 9.97459999e-01 -2.33811177e-03 9.99078886e+01] [ 2.48326443e-02 5.70993030e-04 9.99691459e-01 2.43153927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.526875 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:265.19, Y:99.91, Z:24.32 [[ 9.96923189e-01 -7.43819038e-02 -2.47282834e-02 2.65187678e+02] [ 7.43466108e-02 9.97229704e-01 -2.34482646e-03 9.99065468e+01] [ 2.48341914e-02 4.99147813e-04 9.99691459e-01 2.43171899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.556875 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:265.22, Y:99.91, Z:24.32 [[ 9.96810447e-01 -7.58780142e-02 -2.47277267e-02 2.65216878e+02] [ 7.58430361e-02 9.97116998e-01 -2.35068235e-03 9.99079993e+01] [ 2.48348017e-02 4.67758859e-04 9.99691459e-01 2.43199439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.586875 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:265.25, Y:99.91, Z:24.32 [[ 9.96715701e-01 -7.71127641e-02 -2.47271609e-02 2.65245407e+02] [ 7.70780186e-02 9.97022279e-01 -2.35661861e-03 9.99098122e+01] [ 2.48352557e-02 4.42958205e-04 9.99691459e-01 2.43237079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.616875 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:265.27, Y:99.91, Z:24.33 [[ 9.96634623e-01 -7.81538529e-02 -2.47265939e-02 2.65273383e+02] [ 7.81192804e-02 9.96941220e-01 -2.36255345e-03 9.99123328e+01] [ 2.48356033e-02 4.22978848e-04 9.99691459e-01 2.43261059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.646875 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:265.30, Y:99.92, Z:24.32 [[ 9.96558341e-01 -7.91206911e-02 -2.47262955e-02 2.65301123e+02] [ 7.90863387e-02 9.96864963e-01 -2.36567181e-03 9.99153974e+01] [ 2.48359513e-02 4.02017788e-04 9.99691459e-01 2.43241892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.676875 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:265.33, Y:99.92, Z:24.32 [[ 9.96520240e-01 -7.95993356e-02 -2.47256537e-02 2.65329366e+02] [ 7.95649646e-02 9.96826860e-01 -2.37236136e-03 9.99184483e+01] [ 2.48360341e-02 3.96810350e-04 9.99691459e-01 2.43218949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.706875 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:265.36, Y:99.92, Z:24.32 [[ 9.96480726e-01 -8.00926714e-02 -2.47250117e-02 2.65357564e+02] [ 8.00582866e-02 9.96787345e-01 -2.37903350e-03 9.99215376e+01] [ 2.48361219e-02 3.91218957e-04 9.99691459e-01 2.43194023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.736875 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:265.39, Y:99.92, Z:24.32 [[ 9.96464863e-01 -8.02898846e-02 -2.47247252e-02 2.65385601e+02] [ 8.02554868e-02 9.96771480e-01 -2.38200720e-03 9.99216890e+01] [ 2.48361520e-02 3.89291620e-04 9.99691459e-01 2.43196844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.766875 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:265.41, Y:99.92, Z:24.32 [[ 9.96299995e-01 -8.23104907e-02 -2.47245311e-02 2.65411887e+02] [ 8.22766648e-02 9.96606676e-01 -2.38402039e-03 9.99241475e+01] [ 2.48368626e-02 3.40947547e-04 9.99691459e-01 2.43223244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.796875 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:265.44, Y:99.92, Z:24.32 [[ 9.96448840e-01 -8.04920309e-02 -2.47132157e-02 2.65441016e+02] [ 8.04547430e-02 9.96755125e-01 -2.50105264e-03 9.99238546e+01] [ 2.48343392e-02 5.03875590e-04 9.99691453e-01 2.43224278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.826875 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:265.47, Y:99.93, Z:24.32 [[ 9.96536412e-01 -7.93972242e-02 -2.47236840e-02 2.65469990e+02] [ 7.93622817e-02 9.96842968e-01 -2.39289412e-03 9.99261048e+01] [ 2.48356197e-02 4.22478143e-04 9.99691459e-01 2.43238538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8568750000001 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:265.50, Y:99.93, Z:24.32 [[ 9.96627270e-01 -7.82486561e-02 -2.47231198e-02 2.65497876e+02] [ 7.82132161e-02 9.96933769e-01 -2.39870882e-03 9.99289480e+01] [ 2.48350088e-02 4.56943911e-04 9.99691459e-01 2.43248080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.886875 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:265.53, Y:99.93, Z:24.33 [[ 9.96641874e-01 -7.80624928e-02 -2.47229189e-02 2.65527070e+02] [ 7.80269443e-02 9.96948360e-01 -2.40077832e-03 9.99309682e+01] [ 2.48348842e-02 4.63662389e-04 9.99691459e-01 2.43275264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.916875 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:265.55, Y:99.93, Z:24.33 [[ 9.96687615e-01 -7.74753108e-02 -2.47259816e-02 2.65553882e+02] [ 7.74403619e-02 9.96994171e-01 -2.36931374e-03 9.99323400e+01] [ 2.48352228e-02 4.46676698e-04 9.99691458e-01 2.43303515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.946875 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:265.58, Y:99.93, Z:24.33 [[ 9.96649106e-01 -7.79728787e-02 -2.47141407e-02 2.65583501e+02] [ 7.79350743e-02 9.96955325e-01 -2.49065922e-03 9.99340010e+01] [ 2.48330981e-02 5.56214896e-04 9.99691456e-01 2.43293285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9768750000001 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:265.61, Y:99.94, Z:24.33 [[ 9.96280618e-01 -8.25456201e-02 -2.47214588e-02 2.65610520e+02] [ 8.25110788e-02 9.96587219e-01 -2.41577142e-03 9.99362320e+01] [ 2.48365012e-02 3.66992012e-04 9.99691459e-01 2.43265187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.006875 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:265.64, Y:99.94, Z:24.33 [[ 9.94858603e-01 -9.82102071e-02 -2.47207580e-02 2.65639646e+02] [ 9.81803163e-02 9.95165692e-01 -2.42292135e-03 9.99375547e+01] [ 2.48392059e-02 -1.66276974e-05 9.99691459e-01 2.43304921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.036875 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:265.67, Y:99.94, Z:24.33 [[ 9.94393952e-01 -1.02808466e-01 -2.47201869e-02 2.65668434e+02] [ 1.02779851e-01 9.94701163e-01 -2.42873413e-03 9.99399633e+01] [ 2.48388931e-02 -1.25618597e-04 9.99691459e-01 2.43334750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.066875 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:265.70, Y:99.94, Z:24.33 [[ 9.94151572e-01 -1.05126553e-01 -2.47196141e-02 2.65696296e+02] [ 1.05098509e-01 9.94458836e-01 -2.43455053e-03 9.99427132e+01] [ 2.48385746e-02 -1.77682355e-04 9.99691459e-01 2.43340045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.096875 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:265.73, Y:99.95, Z:24.33 [[ 9.94027342e-01 -1.06294950e-01 -2.47189647e-02 2.65725281e+02] [ 1.06267104e-01 9.94334624e-01 -2.44112631e-03 9.99452436e+01] [ 2.48384019e-02 -2.00266490e-04 9.99691459e-01 2.43326363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.126875 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:265.75, Y:99.95, Z:24.33 [[ 9.94027647e-01 -1.06292230e-01 -2.47183889e-02 2.65753077e+02] [ 1.06264239e-01 9.94334915e-01 -2.44694242e-03 9.99485142e+01] [ 2.48384481e-02 -1.94352377e-04 9.99691459e-01 2.43321939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.156875 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:265.78, Y:99.95, Z:24.33 [[ 9.94033456e-01 -1.06237935e-01 -2.47181847e-02 2.65780430e+02] [ 1.06209876e-01 9.94340719e-01 -2.44900361e-03 9.99539577e+01] [ 2.48384746e-02 -1.90923801e-04 9.99691459e-01 2.43313214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.186875 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:265.81, Y:99.96, Z:24.33 [[ 9.94159658e-01 -1.05050549e-01 -2.47175278e-02 2.65808083e+02] [ 1.05021959e-01 9.94466871e-01 -2.45561567e-03 9.99601781e+01] [ 2.48387263e-02 -1.54609145e-04 9.99691459e-01 2.43291890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.216875 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:265.84, Y:99.97, Z:24.33 [[ 9.94575403e-01 -1.01038718e-01 -2.47173229e-02 2.65836899e+02] [ 1.01008836e-01 9.94882493e-01 -2.45767679e-03 9.99665364e+01] [ 2.48391523e-02 -5.23231341e-05 9.99691459e-01 2.43287721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.246875 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:265.87, Y:99.97, Z:24.33 [[ 9.94831369e-01 -9.84866934e-02 -2.47167583e-02 2.65866022e+02] [ 9.84558836e-02 9.95138368e-01 -2.46334221e-03 9.99688706e+01] [ 2.48392009e-02 1.70998297e-05 9.99691459e-01 2.43317077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.276875 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:265.89, Y:99.97, Z:24.34 [[ 9.95083650e-01 -9.59043198e-02 -2.47161947e-02 2.65893495e+02] [ 9.58725732e-02 9.95390553e-01 -2.46898400e-03 9.99708299e+01] [ 2.48390529e-02 8.72404237e-05 9.99691459e-01 2.43351255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.306875 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:265.92, Y:99.97, Z:24.34 [[ 9.95327853e-01 -9.33358735e-02 -2.47159947e-02 2.65921648e+02] [ 9.33032852e-02 9.95634668e-01 -2.47098405e-03 9.99730940e+01] [ 2.48387327e-02 1.53355746e-04 9.99691459e-01 2.43388912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.336875 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:265.95, Y:99.98, Z:24.34 [[ 9.95651540e-01 -8.98173825e-02 -2.47153519e-02 2.65949201e+02] [ 8.97835508e-02 9.95958220e-01 -2.47739748e-03 9.99788483e+01] [ 2.48379712e-02 2.47592570e-04 9.99691459e-01 2.43397000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.366875 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:265.98, Y:99.98, Z:24.34 [[ 9.96062121e-01 -8.51449311e-02 -2.47101670e-02 2.65977379e+02] [ 8.51083814e-02 9.96368490e-01 -2.52898045e-03 9.99827378e+01] [ 2.48357617e-02 4.15979315e-04 9.99691458e-01 2.43414243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.396875 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:266.00, Y:99.99, Z:24.34 [[ 9.96196353e-01 -8.35584698e-02 -2.47145258e-02 2.66004931e+02] [ 8.35225070e-02 9.96502791e-01 -2.48564161e-03 9.99897220e+01] [ 2.48357903e-02 4.11967950e-04 9.99691459e-01 2.43386524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.426875 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:266.03, Y:100.00, Z:24.34 [[ 9.96426633e-01 -8.07676299e-02 -2.47094209e-02 2.66032609e+02] [ 8.07295537e-02 9.96732816e-01 -2.53627240e-03 9.99967893e+01] [ 2.48335394e-02 5.32428840e-04 9.99691458e-01 2.43378841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.456875 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:266.06, Y:100.00, Z:24.34 [[ 9.96659847e-01 -7.78386740e-02 -2.47040593e-02 2.66061727e+02] [ 7.77983842e-02 9.96965750e-01 -2.58930772e-03 9.99984478e+01] [ 2.48306493e-02 6.58723140e-04 9.99691455e-01 2.43416048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.486875 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:266.09, Y:100.00, Z:24.34 [[ 9.96698597e-01 -7.73379970e-02 -2.47131573e-02 2.66089412e+02] [ 7.72997823e-02 9.97004763e-01 -2.49934892e-03 1.00000967e+02] [ 2.48324302e-02 5.80775884e-04 9.99691459e-01 2.43436002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.516875 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:266.12, Y:100.00, Z:24.34 [[ 9.96530139e-01 -7.94794002e-02 -2.47124995e-02 2.66119790e+02] [ 7.94416826e-02 9.96836366e-01 -2.50583689e-03 1.00004172e+02] [ 2.48334806e-02 5.33939445e-04 9.99691459e-01 2.43437586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.546875 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:266.15, Y:100.01, Z:24.34 [[ 9.96500361e-01 -7.98484339e-02 -2.47236468e-02 2.66145948e+02] [ 7.98135574e-02 9.96806930e-01 -2.39582727e-03 1.00007437e+02] [ 2.48360055e-02 4.14160540e-04 9.99691453e-01 2.43448073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.576875 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:266.17, Y:100.01, Z:24.34 [[ 9.96366375e-01 -8.15068767e-02 -2.47118672e-02 2.66173336e+02] [ 8.14696363e-02 9.96672659e-01 -2.51172333e-03 1.00011313e+02] [ 2.48343651e-02 4.89329837e-04 9.99691460e-01 2.43448012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6068750000001 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:266.20, Y:100.02, Z:24.35 [[ 9.96117174e-01 -8.44981187e-02 -2.47112059e-02 2.66201952e+02] [ 8.44616372e-02 9.96423550e-01 -2.51821245e-03 1.00016677e+02] [ 2.48356118e-02 4.21285760e-04 9.99691460e-01 2.43455132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.636875 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:266.23, Y:100.02, Z:24.35 [[ 9.95910956e-01 -8.68950539e-02 -2.47106661e-02 2.66230490e+02] [ 8.68591786e-02 9.96217404e-01 -2.52349876e-03 1.00019784e+02] [ 2.48364752e-02 3.66831907e-04 9.99691460e-01 2.43478370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.666875 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:266.26, Y:100.02, Z:24.35 [[ 9.95636241e-01 -8.99882683e-02 -2.47100791e-02 2.66257823e+02] [ 8.99532028e-02 9.95942782e-01 -2.52923317e-03 1.00022028e+02] [ 2.48374263e-02 2.95445441e-04 9.99691460e-01 2.43490056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.696875 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:266.29, Y:100.02, Z:24.35 [[ 9.94923896e-01 -9.75493084e-02 -2.47097894e-02 2.66285441e+02] [ 9.75165025e-02 9.95230687e-01 -2.53206034e-03 1.00023603e+02] [ 2.48389415e-02 1.09595096e-04 9.99691460e-01 2.43520439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7268750000001 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:266.31, Y:100.03, Z:24.35 [[ 9.94585642e-01 -1.00939885e-01 -2.47091051e-02 2.66313805e+02] [ 1.00907960e-01 9.94892526e-01 -2.53872118e-03 1.00026506e+02] [ 2.48391622e-02 3.16302612e-05 9.99691460e-01 2.43532997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.756875 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:266.34, Y:100.03, Z:24.35 [[ 9.94315013e-01 -1.03571953e-01 -2.47084251e-02 2.66341346e+02] [ 1.03540676e-01 9.94621963e-01 -2.54532238e-03 1.00030015e+02] [ 2.48391663e-02 -2.74747637e-05 9.99691460e-01 2.43537532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.786875 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:266.37, Y:100.04, Z:24.35 [[ 9.94042476e-01 -1.06155939e-01 -2.47077442e-02 2.66369189e+02] [ 1.06125296e-01 9.94349490e-01 -2.55191499e-03 1.00035436e+02] [ 2.48390337e-02 -8.54047670e-05 9.99691460e-01 2.43511087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.816875 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:266.40, Y:100.04, Z:24.35 [[ 9.93954418e-01 -1.06977347e-01 -2.47075320e-02 2.66395984e+02] [ 1.06946906e-01 9.94261453e-01 -2.55396765e-03 1.00038872e+02] [ 2.48389633e-02 -1.03866684e-04 9.99691460e-01 2.43515543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.846875 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:266.42, Y:100.04, Z:24.35 [[ 9.93913365e-01 -1.07358159e-01 -2.47072397e-02 2.66423950e+02] [ 1.07327766e-01 9.94220405e-01 -2.55679235e-03 1.00041085e+02] [ 2.48389343e-02 -1.10542740e-04 9.99691460e-01 2.43530756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.876875 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:266.45, Y:100.04, Z:24.36 [[ 9.93953674e-01 -1.06984483e-01 -2.47065742e-02 2.66451129e+02] [ 1.06953815e-01 9.94260686e-01 -2.56320642e-03 1.00042058e+02] [ 2.48389988e-02 -9.47539456e-05 9.99691460e-01 2.43558673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.906875 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:266.48, Y:100.05, Z:24.36 [[ 9.94070449e-01 -1.05894016e-01 -2.47062842e-02 2.66479410e+02] [ 1.05862942e-01 9.94377420e-01 -2.56599859e-03 1.00045391e+02] [ 2.48390951e-02 -6.46965650e-05 9.99691460e-01 2.43574137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.936875 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:266.51, Y:100.05, Z:24.36 [[ 9.94240727e-01 -1.04283314e-01 -2.47055937e-02 2.66506701e+02] [ 1.04251578e-01 9.94547631e-01 -2.57262976e-03 1.00049379e+02] [ 2.48391721e-02 -1.77838369e-05 9.99691460e-01 2.43566827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.966875 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:266.53, Y:100.05, Z:24.36 [[ 9.94484493e-01 -1.01932577e-01 -2.47051218e-02 2.66534429e+02] [ 1.01900003e-01 9.94791309e-01 -2.57715371e-03 1.00054062e+02] [ 2.48391364e-02 4.54874176e-05 9.99691460e-01 2.43571288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.996875 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:266.56, Y:100.06, Z:24.36 [[ 9.95179235e-01 -9.49103528e-02 -2.47045492e-02 2.66562103e+02] [ 9.48754779e-02 9.95485798e-01 -2.58263139e-03 1.00060744e+02] [ 2.48381463e-02 2.26325225e-04 9.99691460e-01 2.43585500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.026875 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:266.59, Y:100.06, Z:24.36 [[ 9.95564034e-01 -9.07851816e-02 -2.47043451e-02 2.66590329e+02] [ 9.07489881e-02 9.95870444e-01 -2.58458137e-03 1.00064157e+02] [ 2.48369689e-02 3.31221936e-04 9.99691460e-01 2.43587187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.056875 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:266.62, Y:100.07, Z:24.36 [[ 9.95933035e-01 -8.66436184e-02 -2.47036915e-02 2.66619405e+02] [ 8.66059963e-02 9.96239273e-01 -2.59081421e-03 1.00066386e+02] [ 2.48352652e-02 4.40789647e-04 9.99691460e-01 2.43601309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.086875 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:266.65, Y:100.07, Z:24.36 [[ 9.96558745e-01 -7.91228554e-02 -2.47030776e-02 2.66648015e+02] [ 7.90827778e-02 9.96864671e-01 -2.59665417e-03 1.00068416e+02] [ 2.48310800e-02 6.34130425e-04 9.99691460e-01 2.43606301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.116875 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:266.68, Y:100.07, Z:24.36 [[ 9.96825698e-01 -7.56856348e-02 -2.47024624e-02 2.66675669e+02] [ 7.56443579e-02 9.97131465e-01 -2.60249399e-03 1.00072641e+02] [ 2.48285739e-02 7.25630987e-04 9.99691460e-01 2.43579316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.146875 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:266.70, Y:100.08, Z:24.35 [[ 9.96879314e-01 -7.49762121e-02 -2.47022437e-02 2.66703400e+02] [ 7.49346662e-02 9.97185044e-01 -2.60456808e-03 1.00079578e+02] [ 2.48279886e-02 7.45385652e-04 9.99691460e-01 2.43542121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.176875 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:266.73, Y:100.08, Z:24.35 [[ 9.96864083e-01 -7.51821949e-02 -2.46908311e-02 2.66731805e+02] [ 7.51380392e-02 9.97169453e-01 -2.71256616e-03 1.00082664e+02] [ 2.48248792e-02 8.48839143e-04 9.99691455e-01 2.43548708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.206875 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:266.76, Y:100.09, Z:24.35 [[ 9.97174794e-01 -7.09424575e-02 -2.46900533e-02 2.66761648e+02] [ 7.08968222e-02 9.97479946e-01 -2.71990878e-03 1.00085935e+02] [ 2.48207901e-02 9.61778158e-04 9.99691454e-01 2.43529944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.236875 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:266.79, Y:100.09, Z:24.36 [[ 9.97307664e-01 -6.90455470e-02 -2.47009309e-02 2.66792010e+02] [ 6.90018697e-02 9.97613097e-01 -2.61725002e-03 1.00088851e+02] [ 2.48226817e-02 9.05793084e-04 9.99691459e-01 2.43570356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.266875 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:266.82, Y:100.09, Z:24.36 [[ 9.97202735e-01 -7.05429187e-02 -2.47063202e-02 2.66819275e+02] [ 7.05009580e-02 9.97508410e-01 -2.56641077e-03 1.00090408e+02] [ 2.48258043e-02 8.17412598e-04 9.99691458e-01 2.43571001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.296875 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:266.85, Y:100.09, Z:24.36 [[ 9.97095708e-01 -7.20441164e-02 -2.46940131e-02 2.66848519e+02] [ 7.19997495e-02 9.97401044e-01 -2.68225551e-03 1.00089854e+02] [ 2.48230751e-02 8.96502702e-04 9.99691458e-01 2.43612924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.326875 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:266.88, Y:100.09, Z:24.36 [[ 9.96911908e-01 -7.45429109e-02 -2.46982343e-02 2.66876051e+02] [ 7.45002907e-02 9.97217490e-01 -2.64259953e-03 1.00090714e+02] [ 2.48264983e-02 7.94413307e-04 9.99691459e-01 2.43637221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3568750000001 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:266.90, Y:100.09, Z:24.37 [[ 9.96755307e-01 -7.66092765e-02 -2.46956913e-02 2.66904499e+02] [ 7.65666996e-02 9.97060896e-01 -2.66644362e-03 1.00090329e+02] [ 2.48273824e-02 7.66924250e-04 9.99691459e-01 2.43692278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.386875 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:266.93, Y:100.09, Z:24.37 [[ 9.96689895e-01 -7.74547150e-02 -2.46985894e-02 2.66931844e+02] [ 7.74130688e-02 9.96995612e-01 -2.63932396e-03 1.00093189e+02] [ 2.48288133e-02 7.18593922e-04 9.99691459e-01 2.43689725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.416875 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:266.96, Y:100.10, Z:24.36 [[ 9.96469189e-01 -8.02442934e-02 -2.46983648e-02 2.66958372e+02] [ 8.02034512e-02 9.96775014e-01 -2.64142362e-03 1.00098287e+02] [ 2.48306721e-02 6.51203152e-04 9.99691459e-01 2.43635538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.446875 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:266.99, Y:100.10, Z:24.36 [[ 9.96494015e-01 -7.99398181e-02 -2.46840796e-02 2.66986479e+02] [ 7.98955870e-02 9.96799377e-01 -2.77452432e-03 1.00101624e+02] [ 2.48268701e-02 7.92647849e-04 9.99691452e-01 2.43613558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4768750000001 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:267.02, Y:100.10, Z:24.37 [[ 9.96711649e-01 -7.71794754e-02 -2.46823421e-02 2.67016428e+02] [ 7.71339994e-02 9.97016830e-01 -2.79066736e-03 1.00102713e+02] [ 2.48240928e-02 8.77642904e-04 9.99691449e-01 2.43664571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.506875 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:267.04, Y:100.11, Z:24.36 [[ 9.96501556e-01 -7.98418005e-02 -2.46968940e-02 2.67043626e+02] [ 7.98004904e-02 9.96807319e-01 -2.65532443e-03 1.00107512e+02] [ 2.48300506e-02 6.75210678e-04 9.99691459e-01 2.43627202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.536875 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:267.07, Y:100.11, Z:24.37 [[ 9.96627558e-01 -7.82570861e-02 -2.46847935e-02 2.67073159e+02] [ 7.82125107e-02 9.96932868e-01 -2.76760778e-03 1.00107350e+02] [ 2.48256669e-02 8.27614507e-04 9.99691453e-01 2.43681268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.566875 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:267.10, Y:100.11, Z:24.37 [[ 9.96572436e-01 -7.89524002e-02 -2.46961256e-02 2.67100818e+02] [ 7.89106396e-02 9.96878138e-01 -2.66249734e-03 1.00108053e+02] [ 2.48292383e-02 7.04584384e-04 9.99691459e-01 2.43682281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.596875 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:267.13, Y:100.11, Z:24.37 [[ 9.96332797e-01 -8.19212685e-02 -2.46954080e-02 2.67128889e+02] [ 8.18802544e-02 9.96638600e-01 -2.66913740e-03 1.00109354e+02] [ 2.48310560e-02 6.37282840e-04 9.99691459e-01 2.43718038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.626875 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:267.16, Y:100.11, Z:24.37 [[ 9.96257950e-01 -8.28267506e-02 -2.46946692e-02 2.67156392e+02] [ 8.27858456e-02 9.96563768e-01 -2.67595549e-03 1.00112967e+02] [ 2.48314532e-02 6.21572859e-04 9.99691459e-01 2.43709726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.656875 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:267.18, Y:100.12, Z:24.37 [[ 9.95996622e-01 -8.59122415e-02 -2.46944421e-02 2.67184008e+02] [ 8.58722320e-02 9.96302558e-01 -2.67804937e-03 1.00119265e+02] [ 2.48332130e-02 5.46761269e-04 9.99691459e-01 2.43662830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.686875 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:267.21, Y:100.12, Z:24.37 [[ 9.96202455e-01 -8.34952673e-02 -2.46821497e-02 2.67212633e+02] [ 8.34517143e-02 9.96507913e-01 -2.79116321e-03 1.00120469e+02] [ 2.48290064e-02 7.20795933e-04 9.99691453e-01 2.43689832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.716875 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:267.24, Y:100.12, Z:24.37 [[ 9.96254866e-01 -8.28641394e-02 -2.46936502e-02 2.67241072e+02] [ 8.28230117e-02 9.96560654e-01 -2.68541142e-03 1.00121471e+02] [ 2.48312445e-02 6.30151716e-04 9.99691459e-01 2.43725688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.746875 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:267.27, Y:100.13, Z:24.37 [[ 9.96092869e-01 -8.47894826e-02 -2.46929157e-02 2.67268884e+02] [ 8.47487790e-02 9.96398714e-01 -2.69214911e-03 1.00125147e+02] [ 2.48322553e-02 5.88936080e-04 9.99691459e-01 2.43710647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.776875 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:267.30, Y:100.12, Z:24.38 [[ 9.96288291e-01 -8.24653109e-02 -2.46802220e-02 2.67299074e+02] [ 8.24210179e-02 9.96593643e-01 -2.80830147e-03 1.00124915e+02] [ 2.48277398e-02 7.63708858e-04 9.99691452e-01 2.43752791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.806875 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:267.33, Y:100.13, Z:24.38 [[ 9.96248815e-01 -8.29373137e-02 -2.46921294e-02 2.67327404e+02] [ 8.28958623e-02 9.96554559e-01 -2.69938205e-03 1.00126322e+02] [ 2.48309336e-02 6.42380810e-04 9.99691458e-01 2.43787867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.836875 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:267.35, Y:100.13, Z:24.38 [[ 9.96119236e-01 -8.44798839e-02 -2.46904022e-02 2.67351859e+02] [ 8.44385154e-02 9.96424992e-01 -2.71515007e-03 1.00130853e+02] [ 2.48315094e-02 6.19792307e-04 9.99691458e-01 2.43792771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.866875 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:267.38, Y:100.13, Z:24.38 [[ 9.96252739e-01 -8.28956390e-02 -2.46737292e-02 2.67381994e+02] [ 8.28500280e-02 9.96557903e-01 -2.86688668e-03 1.00133480e+02] [ 2.48264523e-02 8.11924555e-04 9.99691446e-01 2.43802095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.896875 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:267.41, Y:100.14, Z:24.38 [[ 9.96041425e-01 -8.53923722e-02 -2.46905518e-02 2.67408870e+02] [ 8.53513164e-02 9.96347223e-01 -2.71383689e-03 1.00138463e+02] [ 2.48321037e-02 5.95722863e-04 9.99691458e-01 2.43801563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.926875 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:267.44, Y:100.14, Z:24.39 [[ 9.95062612e-01 -9.61327095e-02 -2.46759169e-02 2.67437443e+02] [ 9.60916647e-02 9.95368419e-01 -2.84650987e-03 1.00141940e+02] [ 2.48352711e-02 4.61305612e-04 9.99691451e-01 2.43864848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.956875 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:267.47, Y:100.15, Z:24.39 [[ 9.94619184e-01 -1.00613737e-01 -2.46891573e-02 2.67465218e+02] [ 1.00577045e-01 9.94925537e-01 -2.72662172e-03 1.00145254e+02] [ 2.48382087e-02 2.28787785e-04 9.99691458e-01 2.43877662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.986875 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:267.49, Y:100.15, Z:24.39 [[ 9.94350257e-01 -1.03237824e-01 -2.46884053e-02 2.67492540e+02] [ 1.03201772e-01 9.94656686e-01 -2.73341361e-03 1.00148071e+02] [ 2.48386791e-02 1.70083355e-04 9.99691458e-01 2.43878272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.016875 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:267.52, Y:100.16, Z:24.38 [[ 9.94149238e-01 -1.05156013e-01 -2.46881750e-02 2.67521425e+02] [ 1.05120500e-01 9.94455729e-01 -2.73549185e-03 1.00155277e+02] [ 2.48389505e-02 1.24253818e-04 9.99691458e-01 2.43829404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.046875 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:267.55, Y:100.16, Z:24.38 [[ 9.94157772e-01 -1.05075385e-01 -2.46878252e-02 2.67550031e+02] [ 1.05039769e-01 9.94464251e-01 -2.73864578e-03 1.00162906e+02] [ 2.48389238e-02 1.29442522e-04 9.99691458e-01 2.43790801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.076875 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:267.58, Y:100.17, Z:24.38 [[ 9.93519987e-01 -1.10944030e-01 -2.46871834e-02 2.67577624e+02] [ 1.10910081e-01 9.93826656e-01 -2.74441872e-03 1.00169703e+02] [ 2.48392578e-02 -1.14226668e-05 9.99691458e-01 2.43778930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1068750000001 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:267.61, Y:100.17, Z:24.38 [[ 9.93287578e-01 -1.13005933e-01 -2.46869549e-02 2.67605667e+02] [ 1.12972569e-01 9.93594311e-01 -2.74647227e-03 1.00173314e+02] [ 2.48391857e-02 -6.09119334e-05 9.99691458e-01 2.43801846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.136875 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:267.63, Y:100.18, Z:24.38 [[ 9.93099116e-01 -1.14650497e-01 -2.46862134e-02 2.67633102e+02] [ 1.14617476e-01 9.93405886e-01 -2.75312153e-03 1.00176398e+02] [ 2.48390764e-02 -9.53489155e-05 9.99691458e-01 2.43823181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.166875 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:267.66, Y:100.18, Z:24.39 [[ 9.92952769e-01 -1.15911285e-01 -2.46854776e-02 2.67661583e+02] [ 1.15878491e-01 9.93259563e-01 -2.75970288e-03 1.00179381e+02] [ 2.48389674e-02 -1.20261270e-04 9.99691458e-01 2.43871412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.196875 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:267.69, Y:100.18, Z:24.39 [[ 9.92978668e-01 -1.15689342e-01 -2.46848315e-02 2.67689892e+02] [ 1.15656335e-01 9.93285440e-01 -2.76547036e-03 1.00183611e+02] [ 2.48390191e-02 -1.08904068e-04 9.99691458e-01 2.43866977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2268750000001 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:267.72, Y:100.19, Z:24.38 [[ 9.93040516e-01 -1.15157410e-01 -2.46840790e-02 2.67716480e+02] [ 1.15124072e-01 9.93347252e-01 -2.77217073e-03 1.00189213e+02] [ 2.48390980e-02 -8.88538376e-05 9.99691458e-01 2.43842084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.256875 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:267.74, Y:100.20, Z:24.38 [[ 9.93522595e-01 -1.10921436e-01 -2.46837515e-02 2.67743375e+02] [ 1.10886718e-01 9.93829178e-01 -2.77508358e-03 1.00199852e+02] [ 2.48392487e-02 2.00080426e-05 9.99691458e-01 2.43837069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.286875 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:267.77, Y:100.21, Z:24.39 [[ 9.93818589e-01 -1.08237409e-01 -2.46835224e-02 2.67771671e+02] [ 1.08201813e-01 9.94125070e-01 -2.77712033e-03 1.00205477e+02] [ 2.48390967e-02 8.91519323e-05 9.99691458e-01 2.43872741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.316875 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:267.80, Y:100.21, Z:24.39 [[ 9.94103609e-01 -1.05587741e-01 -2.46828670e-02 2.67799199e+02] [ 1.05551183e-01 9.94409977e-01 -2.78293303e-03 1.00209232e+02] [ 2.48387328e-02 1.61217950e-04 9.99691458e-01 2.43896746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.346875 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:267.83, Y:100.21, Z:24.39 [[ 9.94343082e-01 -1.03308413e-01 -2.46821139e-02 2.67825923e+02] [ 1.03270988e-01 9.94649346e-01 -2.78959674e-03 1.00211891e+02] [ 2.48382372e-02 2.24869942e-04 9.99691458e-01 2.43922258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.376875 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:267.85, Y:100.21, Z:24.39 [[ 9.94569972e-01 -1.01100846e-01 -2.46817874e-02 2.67852432e+02] [ 1.01062669e-01 9.94876143e-01 -2.79248194e-03 1.00214631e+02] [ 2.48376438e-02 2.82911371e-04 9.99691458e-01 2.43948394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.406875 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:267.88, Y:100.22, Z:24.40 [[ 9.95010277e-01 -9.66715236e-02 -2.46812788e-02 2.67879774e+02] [ 9.66318728e-02 9.95316260e-01 -2.79697039e-03 1.00220168e+02] [ 2.48360655e-02 3.98016090e-04 9.99691458e-01 2.43972107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.436875 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:267.91, Y:100.22, Z:24.40 [[ 9.95209459e-01 -9.45991715e-02 -2.46805600e-02 2.67906074e+02] [ 9.45587268e-02 9.95515338e-01 -2.80329832e-03 1.00224586e+02] [ 2.48350658e-02 4.56106668e-04 9.99691458e-01 2.43954107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.466875 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:267.93, Y:100.23, Z:24.39 [[ 9.95363287e-01 -9.29667375e-02 -2.46802247e-02 2.67934004e+02] [ 9.29257180e-02 9.95669090e-01 -2.80624728e-03 1.00229788e+02] [ 2.48342245e-02 4.99807909e-04 9.99691458e-01 2.43933714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.496875 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:267.96, Y:100.24, Z:24.39 [[ 9.95764212e-01 -8.85695084e-02 -2.46794639e-02 2.67962078e+02] [ 8.85269732e-02 9.96069808e-01 -2.81292275e-03 1.00236821e+02] [ 2.48316080e-02 6.16209567e-04 9.99691458e-01 2.43891315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.526875 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:267.99, Y:100.24, Z:24.39 [[ 9.95875122e-01 -8.73137428e-02 -2.46789764e-02 2.67989098e+02] [ 8.72707165e-02 9.96180649e-01 -2.81719319e-03 1.00240513e+02] [ 2.48306984e-02 6.51820663e-04 9.99691458e-01 2.43889176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.556875 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:268.02, Y:100.24, Z:24.39 [[ 9.95968058e-01 -8.62474038e-02 -2.46782022e-02 2.68017267e+02] [ 8.62038830e-02 9.96273515e-01 -2.82395889e-03 1.00242956e+02] [ 2.48297983e-02 6.85215992e-04 9.99691458e-01 2.43899623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.586875 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:268.05, Y:100.24, Z:24.39 [[ 9.96030925e-01 -8.55204833e-02 -2.46706993e-02 2.68045274e+02] [ 8.54751202e-02 9.96336116e-01 -2.88938464e-03 1.00243764e+02] [ 2.48274102e-02 7.69185472e-04 9.99691456e-01 2.43919774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.616875 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:268.07, Y:100.25, Z:24.39 [[ 9.96046446e-01 -8.53376480e-02 -2.46771667e-02 2.68073123e+02] [ 8.52936231e-02 9.96351831e-01 -2.83305051e-03 1.00246882e+02] [ 2.48289061e-02 7.17044935e-04 9.99691458e-01 2.43924954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.646875 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:268.10, Y:100.25, Z:24.39 [[ 9.96087019e-01 -8.48629805e-02 -2.46763926e-02 2.68100795e+02] [ 8.48186436e-02 9.96392359e-01 -2.83977726e-03 1.00250263e+02] [ 2.48283610e-02 7.35647122e-04 9.99691458e-01 2.43928723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.676875 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:268.13, Y:100.25, Z:24.39 [[ 9.96136630e-01 -8.42788693e-02 -2.46756166e-02 2.68129053e+02] [ 8.42341869e-02 9.96441920e-01 -2.84650381e-03 1.00254796e+02] [ 2.48277189e-02 7.56976206e-04 9.99691458e-01 2.43938914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.706875 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:268.16, Y:100.26, Z:24.40 [[ 9.96154650e-01 -8.40658126e-02 -2.46749276e-02 2.68158050e+02] [ 8.40209174e-02 9.96459908e-01 -2.85246397e-03 1.00257021e+02] [ 2.48273708e-02 7.68285194e-04 9.99691458e-01 2.43960173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.736875 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:268.19, Y:100.26, Z:24.40 [[ 9.96112292e-01 -8.45664448e-02 -2.46742377e-02 2.68185223e+02] [ 8.45215556e-02 9.96417551e-01 -2.85842002e-03 1.00257943e+02] [ 2.48275699e-02 7.61802372e-04 9.99691458e-01 2.43983848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.766875 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:268.21, Y:100.26, Z:24.40 [[ 9.95902622e-01 -8.70010827e-02 -2.46734507e-02 2.68213118e+02] [ 8.69567721e-02 9.96207965e-01 -2.86519653e-03 1.00258056e+02] [ 2.48291634e-02 7.07933105e-04 9.99691458e-01 2.44005596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.796875 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:268.24, Y:100.26, Z:24.40 [[ 9.95756803e-01 -8.86546588e-02 -2.46726540e-02 2.68239687e+02] [ 8.86106858e-02 9.96062196e-01 -2.87204132e-03 1.00261542e+02] [ 2.48301177e-02 6.73593896e-04 9.99691458e-01 2.44004690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.826875 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:268.27, Y:100.27, Z:24.40 [[ 9.95583861e-01 -9.05762257e-02 -2.46723131e-02 2.68267425e+02] [ 9.05327697e-02 9.95889327e-01 -2.87496673e-03 1.00265761e+02] [ 2.48312969e-02 6.28617640e-04 9.99691458e-01 2.43966662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8568750000001 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:268.30, Y:100.27, Z:24.40 [[ 9.95365333e-01 -9.29475655e-02 -2.46699094e-02 2.68297299e+02] [ 9.29043275e-02 9.95670830e-01 -2.89554393e-03 1.00269044e+02] [ 2.48322430e-02 5.90182700e-04 9.99691458e-01 2.43980938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.886875 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:268.32, Y:100.27, Z:24.40 [[ 9.95358072e-01 -9.30206174e-02 -2.46875033e-02 2.68324141e+02] [ 9.29811447e-02 9.95664087e-01 -2.74451353e-03 1.00270531e+02] [ 2.48357568e-02 4.36301384e-04 9.99691450e-01 2.43986846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.916875 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:268.35, Y:100.27, Z:24.40 [[ 9.95240660e-01 -9.42723123e-02 -2.46730417e-02 2.68351752e+02] [ 9.42301554e-02 9.95546308e-01 -2.86832759e-03 1.00272529e+02] [ 2.48335594e-02 5.29731694e-04 9.99691459e-01 2.43990138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.946875 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:268.38, Y:100.28, Z:24.40 [[ 9.95085857e-01 -9.58931278e-02 -2.46707490e-02 2.68379702e+02] [ 9.58509834e-02 9.95391505e-01 -2.88791362e-03 1.00275574e+02] [ 2.48339850e-02 5.09006450e-04 9.99691459e-01 2.43999704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9768750000001 meters Centerline goodness : 0.996991 Centerline is valid? [True, True] Translation: X:268.41, Y:100.28, Z:24.40 [[ 9.94736162e-01 -9.94553066e-02 -2.46700049e-02 2.68407076e+02] [ 9.94140995e-02 9.95041939e-01 -2.89425540e-03 1.00278263e+02] [ 2.48355386e-02 4.26474180e-04 9.99691459e-01 2.43982028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.006875 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:268.43, Y:100.28, Z:24.40 [[ 9.94458260e-01 -1.02196734e-01 -2.46697571e-02 2.68434696e+02] [ 1.02156317e-01 9.94764142e-01 -2.89636633e-03 1.00281157e+02] [ 2.48365889e-02 3.60143891e-04 9.99691459e-01 2.43985225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.036875 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:268.46, Y:100.28, Z:24.40 [[ 9.94276905e-01 -1.03946517e-01 -2.46689674e-02 2.68461627e+02] [ 1.03906473e-01 9.94582836e-01 -2.90307680e-03 1.00283787e+02] [ 2.48370963e-02 3.23196819e-04 9.99691459e-01 2.43976210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.066875 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:268.49, Y:100.29, Z:24.40 [[ 9.94250932e-01 -1.04194734e-01 -2.46686236e-02 2.68490007e+02] [ 1.04154693e-01 9.94556864e-01 -2.90599539e-03 1.00287258e+02] [ 2.48371383e-02 3.19935690e-04 9.99691460e-01 2.43983300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.096875 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:268.52, Y:100.29, Z:24.40 [[ 9.93982220e-01 -1.06727884e-01 -2.46678966e-02 2.68517862e+02] [ 1.06688470e-01 9.94288233e-01 -2.91215379e-03 1.00289240e+02] [ 2.48378073e-02 2.62848955e-04 9.99691460e-01 2.44013408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.126875 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:268.55, Y:100.29, Z:24.40 [[ 9.93882239e-01 -1.07655143e-01 -2.46671036e-02 2.68545953e+02] [ 1.07615848e-01 9.94188267e-01 -2.91885505e-03 1.00292060e+02] [ 2.48379747e-02 2.46426924e-04 9.99691460e-01 2.44020125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.156875 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:268.58, Y:100.30, Z:24.40 [[ 9.93775212e-01 -1.08638859e-01 -2.46663105e-02 2.68576373e+02] [ 1.08599702e-01 9.94081257e-01 -2.92554193e-03 1.00295458e+02] [ 2.48381445e-02 2.28577095e-04 9.99691460e-01 2.44043311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.186875 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:268.60, Y:100.30, Z:24.40 [[ 9.93580918e-01 -1.10397845e-01 -2.46834855e-02 2.68601952e+02] [ 1.10362828e-01 9.93887476e-01 -2.78062865e-03 1.00298863e+02] [ 2.48395825e-02 3.86402877e-05 9.99691449e-01 2.44025625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.216875 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:268.63, Y:100.30, Z:24.40 [[ 9.93139491e-01 -1.14304751e-01 -2.46652633e-02 2.68626974e+02] [ 1.14267133e-01 9.93445728e-01 -2.93382933e-03 1.00304546e+02] [ 2.48389511e-02 9.52728493e-05 9.99691461e-01 2.44004471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.246875 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:268.66, Y:100.30, Z:24.40 [[ 9.93375989e-01 -1.12235686e-01 -2.46433526e-02 2.68656816e+02] [ 1.12192873e-01 9.93681559e-01 -3.11748984e-03 1.00304542e+02] [ 2.48375386e-02 3.32031032e-04 9.99691446e-01 2.44049223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.276875 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:268.68, Y:100.31, Z:24.41 [[ 9.93465353e-01 -1.11437207e-01 -2.46645897e-02 2.68684982e+02] [ 1.11398570e-01 9.93771462e-01 -2.93928526e-03 1.00308151e+02] [ 2.48385111e-02 1.72478038e-04 9.99691462e-01 2.44051017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.306875 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:268.71, Y:100.31, Z:24.41 [[ 9.93608163e-01 -1.10156774e-01 -2.46637943e-02 2.68714855e+02] [ 1.10117577e-01 9.93914202e-01 -2.94594403e-03 1.00312375e+02] [ 2.48382111e-02 2.11196756e-04 9.99691462e-01 2.44063298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.336875 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:268.74, Y:100.32, Z:24.40 [[ 9.93863876e-01 -1.07821671e-01 -2.46796111e-02 2.68740298e+02] [ 1.07785040e-01 9.94170241e-01 -2.81363472e-03 1.00315514e+02] [ 2.48391057e-02 1.36277047e-04 9.99691453e-01 2.44031367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.366875 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:268.77, Y:100.32, Z:24.40 [[ 9.94110011e-01 -1.05532179e-01 -2.46626087e-02 2.68768125e+02] [ 1.05491322e-01 9.94415832e-01 -2.95551520e-03 1.00318685e+02] [ 2.48367905e-02 3.36416054e-04 9.99691463e-01 2.44022886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.396875 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:268.80, Y:100.32, Z:24.40 [[ 9.94345086e-01 -1.03293959e-01 -2.46618679e-02 2.68796140e+02] [ 1.03252260e-01 9.94650793e-01 -2.96168392e-03 1.00320999e+02] [ 2.48358705e-02 3.98542252e-04 9.99691463e-01 2.44038493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.426875 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:268.82, Y:100.32, Z:24.41 [[ 9.94791376e-01 -9.89037406e-02 -2.46610564e-02 2.68823620e+02] [ 9.88605257e-02 9.95096872e-01 -2.96842564e-03 1.00323349e+02] [ 2.48337285e-02 5.14959230e-04 9.99691463e-01 2.44059399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.456875 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:268.85, Y:100.33, Z:24.41 [[ 9.95151319e-01 -9.52153663e-02 -2.46553417e-02 2.68851299e+02] [ 9.51698465e-02 9.95456481e-01 -3.01578249e-03 1.00326368e+02] [ 2.48304685e-02 6.54714832e-04 9.99691462e-01 2.44099393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.486875 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:268.88, Y:100.33, Z:24.41 [[ 9.95343110e-01 -9.31878602e-02 -2.46599990e-02 2.68877881e+02] [ 9.31426737e-02 9.95648321e-01 -2.97720642e-03 1.00331631e+02] [ 2.48301261e-02 6.66443654e-04 9.99691463e-01 2.44093010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.516875 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:268.91, Y:100.34, Z:24.41 [[ 9.95554979e-01 -9.08965625e-02 -2.46596440e-02 2.68905010e+02] [ 9.08506010e-02 9.95860074e-01 -2.98014408e-03 1.00338055e+02] [ 2.48284398e-02 7.26553797e-04 9.99691463e-01 2.44051302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.546875 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:268.93, Y:100.34, Z:24.40 [[ 9.95385838e-01 -9.27297103e-02 -2.46624112e-02 2.68933047e+02] [ 9.26848769e-02 9.95691101e-01 -2.95727350e-03 1.00341379e+02] [ 2.48303705e-02 6.57795618e-04 9.99691462e-01 2.44017371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.576875 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:268.96, Y:100.34, Z:24.40 [[ 9.94863357e-01 -9.81776367e-02 -2.46587124e-02 2.68958079e+02] [ 9.81337188e-02 9.95168753e-01 -2.98780015e-03 1.00344394e+02] [ 2.48329152e-02 5.52601735e-04 9.99691463e-01 2.44004528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6068750000001 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:268.99, Y:100.34, Z:24.41 [[ 9.94578369e-01 -1.01030997e-01 -2.46293708e-02 2.68990096e+02] [ 1.00981975e-01 9.94883014e-01 -3.22928278e-03 1.00338558e+02] [ 2.48296003e-02 7.24652291e-04 9.99691435e-01 2.44113780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.636875 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:269.02, Y:100.34, Z:24.42 [[ 9.94346109e-01 -1.03285037e-01 -2.46579895e-02 2.69016918e+02] [ 1.03242545e-01 9.94651706e-01 -2.99355537e-03 1.00339779e+02] [ 2.48353008e-02 4.30876536e-04 9.99691463e-01 2.44151370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.666875 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:269.04, Y:100.34, Z:24.42 [[ 9.94151373e-01 -1.05142996e-01 -2.46576275e-02 2.69044343e+02] [ 1.05101002e-01 9.94457038e-01 -2.99653418e-03 1.00343256e+02] [ 2.48360158e-02 3.87467222e-04 9.99691463e-01 2.44167192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.696875 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:269.07, Y:100.35, Z:24.42 [[ 9.94071654e-01 -1.05894224e-01 -2.46568476e-02 2.69071097e+02] [ 1.05852302e-01 9.94377329e-01 -3.00293817e-03 1.00347989e+02] [ 2.48362041e-02 3.75151639e-04 9.99691464e-01 2.44165754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7268750000001 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:269.10, Y:100.35, Z:24.41 [[ 9.94166505e-01 -1.05000084e-01 -2.46564838e-02 2.69098637e+02] [ 1.04957813e-01 9.94472132e-01 -3.00592199e-03 1.00353805e+02] [ 2.48358081e-02 4.00496336e-04 9.99691464e-01 2.44126667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.756875 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:269.13, Y:100.36, Z:24.41 [[ 9.94348777e-01 -1.03259901e-01 -2.46556641e-02 2.69125293e+02] [ 1.03216929e-01 9.94654307e-01 -3.01263044e-03 1.00355931e+02] [ 2.48349464e-02 4.50723466e-04 9.99691464e-01 2.44113180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.786875 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:269.15, Y:100.36, Z:24.41 [[ 9.94485981e-01 -1.01930123e-01 -2.46553075e-02 2.69153776e+02] [ 1.01886670e-01 9.94791442e-01 -3.01554601e-03 1.00357156e+02] [ 2.48342639e-02 4.86871056e-04 9.99691464e-01 2.44118427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.816875 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:269.18, Y:100.36, Z:24.41 [[ 9.94539374e-01 -1.01408043e-01 -2.46544775e-02 2.69181450e+02] [ 1.01364262e-01 9.94844788e-01 -3.02231731e-03 1.00357253e+02] [ 2.48338657e-02 5.06730648e-04 9.99691464e-01 2.44110568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.846875 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:269.21, Y:100.36, Z:24.41 [[ 9.94501687e-01 -1.01777027e-01 -2.46542222e-02 2.69209387e+02] [ 1.01733307e-01 9.94807111e-01 -3.02439803e-03 1.00361013e+02] [ 2.48340098e-02 4.99613380e-04 9.99691464e-01 2.44108825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.876875 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:269.24, Y:100.37, Z:24.41 [[ 9.94544004e-01 -1.01362878e-01 -2.46534133e-02 2.69237260e+02] [ 1.01318868e-01 9.94849386e-01 -3.03097768e-03 1.00365505e+02] [ 2.48336617e-02 5.16584753e-04 9.99691464e-01 2.44104876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.906875 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:269.27, Y:100.37, Z:24.41 [[ 9.94491550e-01 -1.01876430e-01 -2.46525919e-02 2.69265392e+02] [ 1.01832412e-01 9.94796930e-01 -3.03764359e-03 1.00370060e+02] [ 2.48337871e-02 5.10477974e-04 9.99691464e-01 2.44106194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.936875 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:269.29, Y:100.37, Z:24.41 [[ 9.94200291e-01 -1.04680810e-01 -2.46517617e-02 2.69293525e+02] [ 1.04637488e-01 9.94505771e-01 -3.04436684e-03 1.00371746e+02] [ 2.48350060e-02 4.47211986e-04 9.99691464e-01 2.44099076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.966875 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:269.32, Y:100.37, Z:24.41 [[ 9.93850538e-01 -1.07950967e-01 -2.46515035e-02 2.69321463e+02] [ 1.07908598e-01 9.94156152e-01 -3.04645541e-03 1.00373089e+02] [ 2.48363117e-02 3.67612163e-04 9.99691464e-01 2.44108307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.996875 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:269.35, Y:100.37, Z:24.42 [[ 9.93224310e-01 -1.13568543e-01 -2.46506816e-02 2.69350901e+02] [ 1.13527738e-01 9.93530136e-01 -3.05309197e-03 1.00371671e+02] [ 2.48379302e-02 2.33869048e-04 9.99691464e-01 2.44154482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.026875 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:269.38, Y:100.37, Z:24.42 [[ 9.92873474e-01 -1.16596069e-01 -2.46499618e-02 2.69379863e+02] [ 1.16556053e-01 9.93179405e-01 -3.05889198e-03 1.00373214e+02] [ 2.48384892e-02 1.63990455e-04 9.99691464e-01 2.44191602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.056875 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:269.41, Y:100.38, Z:24.42 [[ 9.92524117e-01 -1.19533647e-01 -2.46492458e-02 2.69407361e+02] [ 1.19494393e-01 9.92830146e-01 -3.06465114e-03 1.00375738e+02] [ 2.48388432e-02 9.62934953e-05 9.99691464e-01 2.44229362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.086875 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:269.44, Y:100.38, Z:24.43 [[ 9.92060678e-01 -1.23320989e-01 -2.46484172e-02 2.69435080e+02] [ 1.23282738e-01 9.92366834e-01 -3.07130104e-03 1.00378352e+02] [ 2.48390276e-02 8.19263600e-06 9.99691464e-01 2.44258627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.116875 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:269.46, Y:100.38, Z:24.43 [[ 9.91912248e-01 -1.24509387e-01 -2.46475921e-02 2.69462735e+02] [ 1.24471339e-01 9.92218430e-01 -3.07790818e-03 1.00381273e+02] [ 2.48390236e-02 -1.49039780e-05 9.99691464e-01 2.44270551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.146875 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:269.49, Y:100.38, Z:24.43 [[ 9.91683260e-01 -1.26320419e-01 -2.46467698e-02 2.69490758e+02] [ 1.26282767e-01 9.91989490e-01 -3.08447921e-03 1.00384692e+02] [ 2.48389693e-02 -5.36358710e-05 9.99691464e-01 2.44275656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.176875 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:269.52, Y:100.39, Z:24.43 [[ 9.91490878e-01 -1.27821804e-01 -2.46459814e-02 2.69518724e+02] [ 1.27784459e-01 9.91797146e-01 -3.09076545e-03 1.00388225e+02] [ 2.48388813e-02 -8.49076499e-05 9.99691464e-01 2.44267953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.206875 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:269.55, Y:100.39, Z:24.43 [[ 9.91397805e-01 -1.28541859e-01 -2.46451385e-02 2.69546420e+02] [ 1.28504570e-01 9.91704079e-01 -3.09747263e-03 1.00392046e+02] [ 2.48388392e-02 -9.61853541e-05 9.99691464e-01 2.44266225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.236875 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:269.57, Y:100.40, Z:24.43 [[ 9.91407425e-01 -1.28467801e-01 -2.46443109e-02 2.69573741e+02] [ 1.28430326e-01 9.91713677e-01 -3.10404301e-03 1.00395943e+02] [ 2.48388697e-02 -8.77055823e-05 9.99691464e-01 2.44265236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.266875 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:269.60, Y:100.40, Z:24.43 [[ 9.91444323e-01 -1.28182829e-01 -2.46437862e-02 2.69602023e+02] [ 1.28145162e-01 9.91750552e-01 -3.10820291e-03 1.00399920e+02] [ 2.48389068e-02 -7.63718530e-05 9.99691464e-01 2.44264828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.296875 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:269.63, Y:100.40, Z:24.43 [[ 9.91619940e-01 -1.26817271e-01 -2.46429374e-02 2.69629506e+02] [ 1.26779016e-01 9.91926095e-01 -3.11491821e-03 1.00403954e+02] [ 2.48389981e-02 -3.53923360e-05 9.99691464e-01 2.44273014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.326875 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:269.66, Y:100.41, Z:24.43 [[ 9.91730328e-01 -1.25951277e-01 -2.46420845e-02 2.69657265e+02] [ 1.25912587e-01 9.92036429e-01 -3.12165080e-03 1.00408005e+02] [ 2.48390214e-02 -6.91284670e-06 9.99691464e-01 2.44288426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3568750000001 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:269.68, Y:100.41, Z:24.43 [[ 9.91859745e-01 -1.24928201e-01 -2.46412257e-02 2.69684124e+02] [ 1.24889028e-01 9.92165784e-01 -3.12841521e-03 1.00412695e+02] [ 2.48390083e-02 2.55303930e-05 9.99691464e-01 2.44304529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.386875 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:269.71, Y:100.42, Z:24.43 [[ 9.92080260e-01 -1.23164869e-01 -2.46408537e-02 2.69710472e+02] [ 1.23125079e-01 9.92386220e-01 -3.13134301e-03 1.00417626e+02] [ 2.48389151e-02 7.26365458e-05 9.99691464e-01 2.44319544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.416875 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:269.74, Y:100.42, Z:24.43 [[ 9.92584946e-01 -1.19029389e-01 -2.46400090e-02 2.69737614e+02] [ 1.18988159e-01 9.92890715e-01 -3.13797513e-03 1.00423646e+02] [ 2.48383474e-02 1.82837551e-04 9.99691464e-01 2.44309286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.446875 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:269.77, Y:100.43, Z:24.43 [[ 9.92718805e-01 -1.17907959e-01 -2.46391543e-02 2.69765600e+02] [ 1.17866218e-01 9.93024504e-01 -3.14467198e-03 1.00428035e+02] [ 2.48380659e-02 2.17651081e-04 9.99691464e-01 2.44307671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4768750000001 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:269.79, Y:100.43, Z:24.43 [[ 9.92993259e-01 -1.15573973e-01 -2.46382765e-02 2.69792019e+02] [ 1.15531343e-01 9.93298836e-01 -3.15153450e-03 1.00431594e+02] [ 2.48374068e-02 2.82959335e-04 9.99691464e-01 2.44296912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.506875 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:269.82, Y:100.44, Z:24.43 [[ 9.93116784e-01 -1.14507760e-01 -2.46378956e-02 2.69820331e+02] [ 1.14464728e-01 9.93422305e-01 -3.15450972e-03 1.00435532e+02] [ 2.48370509e-02 3.12626530e-04 9.99691464e-01 2.44299307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.536875 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:269.81, Y:100.45, Z:24.42 [[ 9.91229298e-01 -1.29836406e-01 -2.46370811e-02 2.69814202e+02] [ 1.29797941e-01 9.91535427e-01 -3.16085820e-03 1.00453419e+02] [ 2.48389332e-02 -6.47071374e-05 9.99691464e-01 2.44243618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.566875 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:269.85, Y:100.46, Z:24.43 [[ 9.91976366e-01 -1.24049030e-01 -2.43870474e-02 2.69850925e+02] [ 1.23961136e-01 9.92274023e-01 -5.08929762e-03 1.00456584e+02] [ 2.48299560e-02 2.02541686e-03 9.99689637e-01 2.44306337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.596875 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:269.87, Y:100.46, Z:24.43 [[ 9.91544898e-01 -1.27445391e-01 -2.44210567e-02 2.69871608e+02] [ 1.27364948e-01 9.91844172e-01 -4.82794915e-03 1.00464455e+02] [ 2.48371826e-02 1.67674173e-03 9.99690103e-01 2.44321090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.626875 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:269.93, Y:100.45, Z:24.44 [[ 9.93663342e-01 -1.09724031e-01 -2.43680198e-02 2.69934173e+02] [ 1.09628313e-01 9.93958872e-01 -5.23384585e-03 1.00451682e+02] [ 2.47950881e-02 2.52925586e-03 9.99689355e-01 2.44360440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.656875 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:269.96, Y:100.45, Z:24.44 [[ 9.93655707e-01 -1.09733577e-01 -2.46349127e-02 2.69961243e+02] [ 1.09689411e-01 9.93960948e-01 -3.14111093e-03 1.00454534e+02] [ 2.48308266e-02 4.18993746e-04 9.99691580e-01 2.44361297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.686875 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:269.99, Y:100.46, Z:24.44 [[ 9.93757430e-01 -1.08808639e-01 -2.46343188e-02 2.69988905e+02] [ 1.08764073e-01 9.94062614e-01 -3.14576168e-03 1.00456121e+02] [ 2.48303414e-02 4.46795181e-04 9.99691580e-01 2.44353197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.716875 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:269.99, Y:100.47, Z:24.43 [[ 9.92170953e-01 -1.22433505e-01 -2.46340569e-02 2.69990075e+02] [ 1.22393080e-01 9.92476713e-01 -3.14781163e-03 1.00473868e+02] [ 2.48341254e-02 1.08129173e-04 9.99691580e-01 2.44302395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.746875 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:270.05, Y:100.46, Z:24.43 [[ 9.93792124e-01 -1.08536994e-01 -2.44322631e-02 2.70045137e+02] [ 1.08454308e-01 9.94090380e-01 -4.68824500e-03 1.00463323e+02] [ 2.47967257e-02 2.00935679e-03 9.99690495e-01 2.44326030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.776875 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:270.05, Y:100.49, Z:24.43 [[ 9.92340192e-01 -1.21055408e-01 -2.46278678e-02 2.70048675e+02] [ 1.21014066e-01 9.92645738e-01 -3.16771590e-03 1.00485005e+02] [ 2.48302172e-02 1.63133389e-04 9.99691669e-01 2.44253133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.806875 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:270.10, Y:100.47, Z:24.43 [[ 9.94197384e-01 -1.04758992e-01 -2.44359392e-02 2.70102635e+02] [ 1.04676555e-01 9.94495531e-01 -4.63218311e-03 1.00470170e+02] [ 2.47866951e-02 2.04743439e-03 9.99690666e-01 2.44250541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.836875 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:270.13, Y:100.47, Z:24.42 [[ 9.94233284e-01 -1.04373504e-01 -2.46241371e-02 2.70129167e+02] [ 1.04326958e-01 9.94537999e-01 -3.17092343e-03 1.00473344e+02] [ 2.48206004e-02 5.83676290e-04 9.99691751e-01 2.44246128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.866875 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:270.16, Y:100.48, Z:24.42 [[ 9.94217695e-01 -1.04521991e-01 -2.46237563e-02 2.70156893e+02] [ 1.04475418e-01 9.94522405e-01 -3.17387747e-03 1.00479893e+02] [ 2.48206173e-02 5.82947922e-04 9.99691751e-01 2.44242062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.896875 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:270.15, Y:100.51, Z:24.41 [[ 9.91314050e-01 -1.29190426e-01 -2.46229040e-02 2.70146265e+02] [ 1.29151274e-01 9.91619803e-01 -3.18047574e-03 1.00508149e+02] [ 2.48274463e-02 -2.72291316e-05 9.99691751e-01 2.44120373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.926875 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:270.17, Y:100.51, Z:24.41 [[ 9.91535607e-01 -1.27534653e-01 -2.43321213e-02 2.70174514e+02] [ 1.27440701e-01 9.91831600e-01 -5.37997752e-03 1.00507319e+02] [ 2.48195004e-02 2.23353670e-03 9.99689454e-01 2.44097823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.956875 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:270.24, Y:100.49, Z:24.42 [[ 9.93796370e-01 -1.08531058e-01 -2.42854617e-02 2.70240736e+02] [ 1.08423082e-01 9.94088365e-01 -5.72342865e-03 1.00485328e+02] [ 2.47630647e-02 3.05481800e-03 9.99688681e-01 2.44206929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.986875 meters Centerline goodness : 0.990712 Centerline is valid? [True, True] Translation: X:270.25, Y:100.51, Z:24.43 [[ 9.92012657e-01 -1.23713919e-01 -2.46121000e-02 2.70245536e+02] [ 1.23671312e-01 9.92317909e-01 -3.25167347e-03 1.00505328e+02] [ 2.48253049e-02 1.81890537e-04 9.99691788e-01 2.44263068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.016875 meters Centerline goodness : 0.990712 Centerline is valid? [True, True] Translation: X:270.27, Y:100.51, Z:24.43 [[ 9.92105883e-01 -1.22997768e-01 -2.44431292e-02 2.70273285e+02] [ 1.22923407e-01 9.92405833e-01 -4.52755302e-03 1.00508952e+02] [ 2.48143829e-02 1.48717928e-03 9.99690970e-01 2.44264005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.046875 meters Centerline goodness : 0.989396 Centerline is valid? [True, True] Translation: X:270.30, Y:100.51, Z:24.43 [[ 9.91536943e-01 -1.27505241e-01 -2.44316381e-02 2.70298055e+02] [ 1.27430099e-01 9.91836819e-01 -4.61458852e-03 1.00512543e+02] [ 2.48205824e-02 1.46220895e-03 9.99690853e-01 2.44267218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.076875 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:270.35, Y:100.49, Z:24.43 [[ 9.93577042e-01 -1.10497055e-01 -2.43939199e-02 2.70354371e+02] [ 1.10409780e-01 9.93874071e-01 -4.90020499e-03 1.00490817e+02] [ 2.47859427e-02 2.17540383e-03 9.99690414e-01 2.44279845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1068750000001 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:270.39, Y:100.49, Z:24.42 [[ 9.93548813e-01 -1.10706058e-01 -2.45952300e-02 2.70385040e+02] [ 1.10657144e-01 9.93853010e-01 -3.34515276e-03 1.00489465e+02] [ 2.48143720e-02 6.01934646e-04 9.99691895e-01 2.44181120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.136875 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:270.41, Y:100.50, Z:24.42 [[ 9.93154780e-01 -1.14184230e-01 -2.46078210e-02 2.70413653e+02] [ 1.14138790e-01 9.93459505e-01 -3.24788481e-03 1.00495318e+02] [ 2.48177309e-02 4.16945405e-04 9.99691906e-01 2.44157890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.166875 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:270.43, Y:100.51, Z:24.42 [[ 9.92652155e-01 -1.18471489e-01 -2.46212275e-02 2.70434332e+02] [ 1.18429933e-01 9.92957433e-01 -3.14434376e-03 1.00505341e+02] [ 2.48203460e-02 2.05349295e-04 9.99691907e-01 2.44175905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.196875 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:270.45, Y:100.52, Z:24.41 [[ 9.91419621e-01 -1.28387403e-01 -2.45725396e-02 2.70446601e+02] [ 1.28339544e-01 9.91724035e-01 -3.52146340e-03 1.00520771e+02] [ 2.48212897e-02 3.37619372e-04 9.99691847e-01 2.44120439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2268750000001 meters Centerline goodness : 0.993565 Centerline is valid? [True, True] Translation: X:270.48, Y:100.51, Z:24.41 [[ 9.92160187e-01 -1.22552780e-01 -2.44740694e-02 2.70484919e+02] [ 1.22484046e-01 9.92461195e-01 -4.29369542e-03 1.00513633e+02] [ 2.48157685e-02 1.26235061e-03 9.99691244e-01 2.44132284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.256875 meters Centerline goodness : 0.985205 Centerline is valid? [True, True] Translation: X:270.52, Y:100.52, Z:24.43 [[ 9.92239697e-01 -1.21893188e-01 -2.45445528e-02 2.70519838e+02] [ 1.21837375e-01 9.92542946e-01 -3.76230947e-03 1.00515184e+02] [ 2.48201227e-02 7.42668925e-04 9.99691657e-01 2.44268441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.286875 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:270.53, Y:100.52, Z:24.41 [[ 9.91895996e-01 -1.24651032e-01 -2.45856262e-02 2.70534207e+02] [ 1.24603774e-01 9.92200580e-01 -3.45084099e-03 1.00519711e+02] [ 2.48240235e-02 3.59413543e-04 9.99691772e-01 2.44101172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.316875 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:270.56, Y:100.53, Z:24.41 [[ 9.91208210e-01 -1.30022968e-01 -2.45012912e-02 2.70563496e+02] [ 1.29959808e-01 9.91510538e-01 -4.15952061e-03 1.00527921e+02] [ 2.48341217e-02 9.38767860e-04 9.99691145e-01 2.44122865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.346875 meters Centerline goodness : 0.983044 Centerline is valid? [True, True] Translation: X:270.61, Y:100.53, Z:24.42 [[ 9.91231317e-01 -1.29851116e-01 -2.44778067e-02 2.70608955e+02] [ 1.29783680e-01 9.91532875e-01 -4.33055818e-03 1.00534831e+02] [ 2.48328779e-02 1.11576506e-03 9.99690994e-01 2.44198196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.376875 meters Centerline goodness : 0.983642 Centerline is valid? [True, True] Translation: X:270.64, Y:100.54, Z:24.42 [[ 9.91104193e-01 -1.30795417e-01 -2.45974897e-02 2.70636701e+02] [ 1.30750027e-01 9.91409359e-01 -3.45158730e-03 1.00540431e+02] [ 2.48376333e-02 2.04760205e-04 9.99691477e-01 2.44217596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.406875 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:270.66, Y:100.55, Z:24.41 [[ 9.90059500e-01 -1.38483353e-01 -2.45875568e-02 2.70655954e+02] [ 1.38438523e-01 9.90364758e-01 -3.52442270e-03 1.00549001e+02] [ 2.48387236e-02 8.55231264e-05 9.99691468e-01 2.44065737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.436875 meters Centerline goodness : 0.985869 Centerline is valid? [True, True] Translation: X:270.69, Y:100.55, Z:24.41 [[ 9.89830499e-01 -1.40119961e-01 -2.45352889e-02 2.70694480e+02] [ 1.40066134e-01 9.90134441e-01 -3.90735720e-03 1.00552547e+02] [ 2.48407332e-02 4.31058263e-04 9.99691328e-01 2.44119634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.466875 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:270.72, Y:100.56, Z:24.41 [[ 9.89406030e-01 -1.43075222e-01 -2.46005823e-02 2.70723358e+02] [ 1.43034215e-01 9.89711809e-01 -3.42763614e-03 1.00556459e+02] [ 2.48378966e-02 -1.27401115e-04 9.99691484e-01 2.44083480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.496875 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:270.74, Y:100.56, Z:24.41 [[ 9.88365334e-01 -1.50095235e-01 -2.46046199e-02 2.70742710e+02] [ 1.50057139e-01 9.88671487e-01 -3.39793686e-03 1.00564460e+02] [ 2.48359003e-02 -3.33695871e-04 9.99691486e-01 2.44066936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.526875 meters Centerline goodness : 0.984681 Centerline is valid? [True, True] Translation: X:270.78, Y:100.56, Z:24.42 [[ 9.87680471e-01 -1.54545037e-01 -2.45584681e-02 2.70776776e+02] [ 1.54499975e-01 9.87985739e-01 -3.73330489e-03 1.00564382e+02] [ 2.48403800e-02 -1.06970369e-04 9.99691424e-01 2.44199937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.556875 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:270.79, Y:100.57, Z:24.41 [[ 9.86996841e-01 -1.58847797e-01 -2.45888686e-02 2.70793432e+02] [ 1.58809569e-01 9.87302986e-01 -3.51220109e-03 1.00566911e+02] [ 2.48345687e-02 -4.38416239e-04 9.99691478e-01 2.44133998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.586875 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:270.82, Y:100.57, Z:24.41 [[ 9.86932478e-01 -1.59258127e-01 -2.45179998e-02 2.70819837e+02] [ 1.59206185e-01 9.87236971e-01 -4.06865517e-03 1.00571329e+02] [ 2.48530423e-02 1.12070698e-04 9.99691109e-01 2.44147245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.616875 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:270.85, Y:100.58, Z:24.42 [[ 9.87295905e-01 -1.56992448e-01 -2.44983171e-02 2.70849769e+02] [ 1.56935970e-01 9.87599750e-01 -4.22321656e-03 1.00577222e+02] [ 2.48575450e-02 3.24897240e-04 9.99690951e-01 2.44165936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.646875 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:270.89, Y:100.57, Z:24.42 [[ 9.88742738e-01 -1.47603285e-01 -2.45166891e-02 2.70891678e+02] [ 1.47547487e-01 9.89046560e-01 -4.07943276e-03 1.00573941e+02] [ 2.48502847e-02 4.16133639e-04 9.99691097e-01 2.44210027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.676875 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:270.91, Y:100.58, Z:24.42 [[ 9.88377674e-01 -1.50012820e-01 -2.46115259e-02 2.70910903e+02] [ 1.49976356e-01 9.88683971e-01 -3.33129784e-03 1.00584521e+02] [ 2.48327585e-02 -3.98566570e-04 9.99691540e-01 2.44180353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.706875 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:270.94, Y:100.59, Z:24.42 [[ 9.89286199e-01 -1.43909851e-01 -2.45514019e-02 2.70938203e+02] [ 1.43859730e-01 9.89590774e-01 -3.80489347e-03 1.00591533e+02] [ 2.48434024e-02 2.32170552e-04 9.99691328e-01 2.44162821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.736875 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:270.97, Y:100.60, Z:24.42 [[ 9.89723970e-01 -1.40867913e-01 -2.45498336e-02 2.70967408e+02] [ 1.40816548e-01 9.90028347e-01 -3.81728189e-03 1.00595732e+02] [ 2.48427637e-02 3.21032556e-04 9.99691319e-01 2.44157309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.766875 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:270.99, Y:100.60, Z:24.42 [[ 9.89805859e-01 -1.40290267e-01 -2.45561283e-02 2.70994414e+02] [ 1.40239959e-01 9.90110377e-01 -3.76753019e-03 1.00601340e+02] [ 2.48418253e-02 2.85373023e-04 9.99691354e-01 2.44179323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.796875 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:271.02, Y:100.61, Z:24.42 [[ 9.90363416e-01 -1.36297939e-01 -2.45596443e-02 2.71020417e+02] [ 1.36247096e-01 9.90667827e-01 -3.73962123e-03 1.00606879e+02] [ 2.48401521e-02 3.57403851e-04 9.99691372e-01 2.44209786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.826875 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:271.05, Y:100.61, Z:24.42 [[ 9.90832051e-01 -1.32850969e-01 -2.45451772e-02 2.71049180e+02] [ 1.32796224e-01 9.91135867e-01 -3.85434379e-03 1.00610498e+02] [ 2.48396587e-02 5.59500515e-04 9.99691292e-01 2.44197282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8568750000001 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:271.08, Y:100.61, Z:24.42 [[ 9.91148654e-01 -1.30466842e-01 -2.45509247e-02 2.71077375e+02] [ 1.30412493e-01 9.91452507e-01 -3.80884792e-03 1.00614174e+02] [ 2.48380042e-02 5.73387204e-04 9.99691325e-01 2.44181869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.886875 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:271.11, Y:100.62, Z:24.42 [[ 9.91616265e-01 -1.26863607e-01 -2.45521351e-02 2.71108823e+02] [ 1.26808392e-01 9.91919955e-01 -3.79926490e-03 1.00618906e+02] [ 2.48357412e-02 6.53996113e-04 9.99691331e-01 2.44190750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.916875 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:271.13, Y:100.62, Z:24.42 [[ 9.92466408e-01 -1.20025258e-01 -2.45838725e-02 2.71131771e+02] [ 1.19974199e-01 9.92770674e-01 -3.54680156e-03 1.00620120e+02] [ 2.48318534e-02 5.70650984e-04 9.99691479e-01 2.44212963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.946875 meters Centerline goodness : 0.985403 Centerline is valid? [True, True] Translation: X:271.18, Y:100.63, Z:24.43 [[ 9.92265356e-01 -1.21685364e-01 -2.45384579e-02 2.71179911e+02] [ 1.21626446e-01 9.92568343e-01 -3.88496204e-03 1.00631590e+02] [ 2.48288395e-02 8.70387807e-04 9.99691338e-01 2.44290579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9768750000001 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:271.19, Y:100.63, Z:24.42 [[ 9.92875118e-01 -1.16566965e-01 -2.47212927e-02 2.71192116e+02] [ 1.16540721e-01 9.93182756e-01 -2.50459952e-03 1.00633181e+02] [ 2.48447152e-02 -3.94282740e-04 9.99691245e-01 2.44215428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.006875 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:271.23, Y:100.64, Z:24.42 [[ 9.93180880e-01 -1.13963405e-01 -2.45780994e-02 2.71228798e+02] [ 1.13908892e-01 9.93484637e-01 -3.61125993e-03 1.00638712e+02] [ 2.48295157e-02 7.86970237e-04 9.99691390e-01 2.44231184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.036875 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:271.25, Y:100.64, Z:24.42 [[ 9.93355784e-01 -1.12416330e-01 -2.46344321e-02 2.71254302e+02] [ 1.12372170e-01 9.93661120e-01 -3.17407271e-03 1.00641126e+02] [ 2.48350950e-02 3.84758893e-04 9.99691487e-01 2.44208940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.066875 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:271.28, Y:100.64, Z:24.42 [[ 9.93727000e-01 -1.09090440e-01 -2.46155512e-02 2.71279443e+02] [ 1.09041619e-01 9.94031638e-01 -3.32095375e-03 1.00642654e+02] [ 2.48309210e-02 6.16001843e-04 9.99691475e-01 2.44196856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.096875 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:271.31, Y:100.64, Z:24.42 [[ 9.93715262e-01 -1.09202664e-01 -2.45917775e-02 2.71311764e+02] [ 1.09149315e-01 9.94019185e-01 -3.50535864e-03 1.00644783e+02] [ 2.48274931e-02 7.99152724e-04 9.99691431e-01 2.44209562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.126875 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:271.34, Y:100.64, Z:24.42 [[ 9.93670103e-01 -1.09604979e-01 -2.46267121e-02 2.71335484e+02] [ 1.09558485e-01 9.93975092e-01 -3.23336791e-03 1.00644603e+02] [ 2.48327317e-02 5.14835743e-04 9.99691488e-01 2.44219533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.156875 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:271.36, Y:100.65, Z:24.42 [[ 9.93394252e-01 -1.12086600e-01 -2.45856500e-02 2.71363236e+02] [ 1.12032963e-01 9.93698140e-01 -3.55266532e-03 1.00645849e+02] [ 2.48289209e-02 7.74794089e-04 9.99691415e-01 2.44227090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.186875 meters Centerline goodness : 0.992061 Centerline is valid? [True, True] Translation: X:271.39, Y:100.65, Z:24.43 [[ 9.92963233e-01 -1.15843807e-01 -2.45810840e-02 2.71392413e+02] [ 1.15790441e-01 9.93267184e-01 -3.58815458e-03 1.00647912e+02] [ 2.48312495e-02 7.16651021e-04 9.99691400e-01 2.44251688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.216875 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:271.42, Y:100.65, Z:24.43 [[ 9.92907708e-01 -1.16317418e-01 -2.45874365e-02 2.71422629e+02] [ 1.16265422e-01 9.93211875e-01 -3.53869607e-03 1.00650254e+02] [ 2.48321459e-02 6.54929924e-04 9.99691420e-01 2.44257819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.246875 meters Centerline goodness : 0.990858 Centerline is valid? [True, True] Translation: X:271.45, Y:100.65, Z:24.43 [[ 9.92649185e-01 -1.18500255e-01 -2.46025368e-02 2.71453779e+02] [ 1.18451838e-01 9.92953905e-01 -3.42118677e-03 1.00653154e+02] [ 2.48345964e-02 4.81822546e-04 9.99691458e-01 2.44276244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.276875 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:271.48, Y:100.66, Z:24.43 [[ 9.92169764e-01 -1.22445010e-01 -2.46247501e-02 2.71481581e+02] [ 1.22402096e-01 9.92475277e-01 -3.24819454e-03 1.00657662e+02] [ 2.48371809e-02 2.08639382e-04 9.99691488e-01 2.44287559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.306875 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:271.51, Y:100.66, Z:24.43 [[ 9.92011591e-01 -1.23718707e-01 -2.46309625e-02 2.71511508e+02] [ 1.23677385e-01 9.92317321e-01 -3.19987753e-03 1.00655710e+02] [ 2.48376154e-02 1.28022568e-04 9.99691491e-01 2.44298111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.336875 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:271.54, Y:100.66, Z:24.43 [[ 9.92064163e-01 -1.23293741e-01 -2.46444731e-02 2.71536177e+02] [ 1.23254893e-01 9.92370219e-01 -3.09500339e-03 1.00657604e+02] [ 2.48380358e-02 3.28900562e-05 9.99691488e-01 2.44279767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.366875 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:271.57, Y:100.66, Z:24.43 [[ 9.92158251e-01 -1.22540569e-01 -2.46133015e-02 2.71567315e+02] [ 1.22495505e-01 9.92463461e-01 -3.33606840e-03 1.00660852e+02] [ 2.48366061e-02 2.94889004e-04 9.99691480e-01 2.44291903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.396875 meters Centerline goodness : 0.990014 Centerline is valid? [True, True] Translation: X:271.60, Y:100.67, Z:24.43 [[ 9.92090460e-01 -1.23084714e-01 -2.46307173e-02 2.71596316e+02] [ 1.23043160e-01 9.92396157e-01 -3.20136602e-03 1.00665500e+02] [ 2.48374684e-02 1.45403397e-04 9.99691492e-01 2.44308820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.426875 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:271.61, Y:100.67, Z:24.43 [[ 9.91523750e-01 -1.27565940e-01 -2.46492220e-02 2.71610796e+02] [ 1.27529321e-01 9.91830086e-01 -3.05836927e-03 1.00674387e+02] [ 2.48379837e-02 -1.11052767e-04 9.99691484e-01 2.44258718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.456875 meters Centerline goodness : 0.990089 Centerline is valid? [True, True] Translation: X:271.65, Y:100.68, Z:24.43 [[ 9.91792423e-01 -1.25481200e-01 -2.45409492e-02 2.71651231e+02] [ 1.25423269e-01 9.92095690e-01 -3.89183780e-03 1.00675076e+02] [ 2.48353224e-02 7.81889159e-04 9.99691250e-01 2.44323292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.486875 meters Centerline goodness : 0.990309 Centerline is valid? [True, True] Translation: X:271.68, Y:100.68, Z:24.44 [[ 9.92187080e-01 -1.22300572e-01 -2.46448557e-02 2.71676290e+02] [ 1.22261675e-01 9.92493107e-01 -3.08463983e-03 1.00676979e+02] [ 2.48371026e-02 4.74184471e-05 9.99691510e-01 2.44354000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.516875 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:271.70, Y:100.68, Z:24.44 [[ 9.92409742e-01 -1.20486574e-01 -2.46148252e-02 2.71703201e+02] [ 1.20441329e-01 9.92714903e-01 -3.31792010e-03 1.00679442e+02] [ 2.48352687e-02 3.28093978e-04 9.99691503e-01 2.44352723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.546875 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:271.73, Y:100.68, Z:24.44 [[ 9.92488893e-01 -1.19835820e-01 -2.46002864e-02 2.71732366e+02] [ 1.19787579e-01 9.92793617e-01 -3.43066792e-03 1.00682626e+02] [ 2.48341242e-02 4.58091048e-04 9.99691481e-01 2.44380037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.576875 meters Centerline goodness : 0.989896 Centerline is valid? [True, True] Translation: X:271.76, Y:100.69, Z:24.44 [[ 9.92185631e-01 -1.22319792e-01 -2.46077667e-02 2.71762855e+02] [ 1.22273748e-01 9.92490682e-01 -3.37281060e-03 1.00686869e+02] [ 2.48355407e-02 3.37570338e-04 9.99691493e-01 2.44380171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6068750000001 meters Centerline goodness : 0.990598 Centerline is valid? [True, True] Translation: X:271.79, Y:100.69, Z:24.44 [[ 9.91910239e-01 -1.24528858e-01 -2.46301075e-02 2.71789242e+02] [ 1.24487784e-01 9.92215980e-01 -3.19996128e-03 1.00691002e+02] [ 2.48368738e-02 1.07926851e-04 9.99691511e-01 2.44376325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.636875 meters Centerline goodness : 0.991584 Centerline is valid? [True, True] Translation: X:271.80, Y:100.70, Z:24.44 [[ 9.91773263e-01 -1.25616440e-01 -2.46232549e-02 2.71802117e+02] [ 1.25574385e-01 9.92078874e-01 -3.25295716e-03 1.00699389e+02] [ 2.48368359e-02 1.34145850e-04 9.99691509e-01 2.44357352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.666875 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:271.84, Y:100.70, Z:24.44 [[ 9.92320283e-01 -1.21239967e-01 -2.45219682e-02 2.71839578e+02] [ 1.21177011e-01 9.92622682e-01 -4.04271132e-03 1.00697711e+02] [ 2.48312000e-02 1.04016563e-03 9.99691117e-01 2.44375927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.696875 meters Centerline goodness : 0.989644 Centerline is valid? [True, True] Translation: X:271.87, Y:100.70, Z:24.44 [[ 9.92432301e-01 -1.20305016e-01 -2.45933109e-02 2.71869670e+02] [ 1.20255622e-01 9.92736850e-01 -3.48300865e-03 1.00703260e+02] [ 2.48337094e-02 4.99166391e-04 9.99691471e-01 2.44412314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7268750000001 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:271.90, Y:100.71, Z:24.44 [[ 9.92382113e-01 -1.20714266e-01 -2.46131763e-02 2.71897280e+02] [ 1.20668865e-01 9.92687240e-01 -3.32702419e-03 1.00707129e+02] [ 2.48348053e-02 3.31635255e-04 9.99691514e-01 2.44427462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.756875 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:271.93, Y:100.71, Z:24.44 [[ 9.92161000e-01 -1.22519129e-01 -2.46092069e-02 2.71926450e+02] [ 1.22473510e-01 9.92466101e-01 -3.35817790e-03 1.00710936e+02] [ 2.48352447e-02 3.17877190e-04 9.99691507e-01 2.44419661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.786875 meters Centerline goodness : 0.990700 Centerline is valid? [True, True] Translation: X:271.95, Y:100.71, Z:24.44 [[ 9.92224032e-01 -1.22004866e-01 -2.46228177e-02 2.71951827e+02] [ 1.21961739e-01 9.92529477e-01 -3.25135095e-03 1.00713533e+02] [ 2.48355530e-02 2.23026892e-04 9.99691525e-01 2.44437221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.816875 meters Centerline goodness : 0.990475 Centerline is valid? [True, True] Translation: X:271.97, Y:100.72, Z:24.44 [[ 9.91519505e-01 -1.27607603e-01 -2.46042900e-02 2.71971273e+02] [ 1.27562597e-01 9.91824706e-01 -3.39655389e-03 1.00720894e+02] [ 2.48365688e-02 2.29162300e-04 9.99691499e-01 2.44419661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.846875 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:272.01, Y:100.72, Z:24.45 [[ 9.92022512e-01 -1.23649330e-01 -2.45393190e-02 2.72005449e+02] [ 1.23590520e-01 9.92325620e-01 -3.90476305e-03 1.00720462e+02] [ 2.48338163e-02 8.40785648e-04 9.99691240e-01 2.44469093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.876875 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:272.04, Y:100.72, Z:24.45 [[ 9.91313620e-01 -1.29203002e-01 -2.45741993e-02 2.72039768e+02] [ 1.29152611e-01 9.91618072e-01 -3.63347113e-03 1.00724663e+02] [ 2.48376755e-02 4.28087422e-04 9.99691406e-01 2.44476350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.906875 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:272.07, Y:100.73, Z:24.45 [[ 9.91287346e-01 -1.29393947e-01 -2.46293512e-02 2.72068117e+02] [ 1.29354304e-01 9.91593267e-01 -3.20276307e-03 1.00728188e+02] [ 2.48367170e-02 -1.10540919e-05 9.99691521e-01 2.44485502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.936875 meters Centerline goodness : 0.990647 Centerline is valid? [True, True] Translation: X:272.09, Y:100.73, Z:24.45 [[ 9.91559377e-01 -1.27292431e-01 -2.46300452e-02 2.72088624e+02] [ 1.27252274e-01 9.91865231e-01 -3.19734304e-03 1.00732812e+02] [ 2.48366831e-02 3.61262043e-05 9.99691521e-01 2.44488451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.966875 meters Centerline goodness : 0.986209 Centerline is valid? [True, True] Translation: X:272.14, Y:100.74, Z:24.45 [[ 9.91932916e-01 -1.24361250e-01 -2.45635977e-02 2.72139522e+02] [ 1.24307976e-01 9.92236822e-01 -3.68997227e-03 1.00739120e+02] [ 2.48317957e-02 6.06753850e-04 9.99691459e-01 2.44471598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.996875 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:272.15, Y:100.74, Z:24.45 [[ 9.92683709e-01 -1.18171715e-01 -2.47890839e-02 2.72151639e+02] [ 1.18158958e-01 9.92992711e-01 -1.98390234e-03 1.00739541e+02] [ 2.48498208e-02 -9.59664796e-04 9.99690735e-01 2.44496330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.026875 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:272.16, Y:100.76, Z:24.45 [[ 9.90829667e-01 -1.32856503e-01 -2.46113954e-02 2.72164374e+02] [ 1.32815348e-01 9.91135283e-01 -3.30661682e-03 1.00757105e+02] [ 2.48325279e-02 7.52299594e-06 9.99691625e-01 2.44469462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.056875 meters Centerline goodness : 0.985021 Centerline is valid? [True, True] Translation: X:272.22, Y:100.76, Z:24.46 [[ 9.91049469e-01 -1.31228289e-01 -2.44966572e-02 2.72215437e+02] [ 1.31166939e-01 9.91351810e-01 -4.10165101e-03 1.00761879e+02] [ 2.48230581e-02 8.51787511e-04 9.99691498e-01 2.44550530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.086875 meters Centerline goodness : 0.990633 Centerline is valid? [True, True] Translation: X:272.22, Y:100.76, Z:24.45 [[ 9.90707553e-01 -1.33746007e-01 -2.47092989e-02 2.72224591e+02] [ 1.33721726e-01 9.91015404e-01 -2.63984604e-03 1.00763320e+02] [ 2.48403647e-02 -6.88854685e-04 9.99691193e-01 2.44532014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.116875 meters Centerline goodness : 0.990085 Centerline is valid? [True, True] Translation: X:272.25, Y:100.77, Z:24.46 [[ 9.90717109e-01 -1.33712283e-01 -2.45078672e-02 2.72254871e+02] [ 1.33651815e-01 9.91019885e-01 -4.09630590e-03 1.00768904e+02] [ 2.48355101e-02 7.82759422e-04 9.99691245e-01 2.44553694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.146875 meters Centerline goodness : 0.989490 Centerline is valid? [True, True] Translation: X:272.28, Y:100.77, Z:24.46 [[ 9.90835429e-01 -1.32830106e-01 -2.45217313e-02 2.72282893e+02] [ 1.32771834e-01 9.91138571e-01 -3.99660696e-03 1.00773277e+02] [ 2.48353034e-02 7.04184536e-04 9.99691308e-01 2.44557696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.176875 meters Centerline goodness : 0.989227 Centerline is valid? [True, True] Translation: X:272.30, Y:100.78, Z:24.45 [[ 9.89970115e-01 -1.39132012e-01 -2.45245743e-02 2.72298203e+02] [ 1.39076178e-01 9.90273703e-01 -3.97616388e-03 1.00784847e+02] [ 2.48392527e-02 5.25499363e-04 9.99691320e-01 2.44549136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.206875 meters Centerline goodness : 0.988692 Centerline is valid? [True, True] Translation: X:272.34, Y:100.78, Z:24.45 [[ 9.91074027e-01 -1.31053825e-01 -2.44370304e-02 2.72337654e+02] [ 1.30979854e-01 9.91374310e-01 -4.61040045e-03 1.00781230e+02] [ 2.48304548e-02 1.36848947e-03 9.99690740e-01 2.44540081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.236875 meters Centerline goodness : 0.989246 Centerline is valid? [True, True] Translation: X:272.36, Y:100.79, Z:24.45 [[ 9.90488309e-01 -1.35396062e-01 -2.45115563e-02 2.72356372e+02] [ 1.35336819e-01 9.90791300e-01 -4.06758033e-03 1.00788790e+02] [ 2.48365711e-02 7.11574692e-04 9.99691272e-01 2.44529717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.266875 meters Centerline goodness : 0.989864 Centerline is valid? [True, True] Translation: X:272.40, Y:100.79, Z:24.45 [[ 9.91197283e-01 -1.30117868e-01 -2.44394537e-02 2.72396428e+02] [ 1.30044063e-01 9.91497581e-01 -4.59214661e-03 1.00785617e+02] [ 2.48291796e-02 1.37351739e-03 9.99690765e-01 2.44549968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.296875 meters Centerline goodness : 0.988866 Centerline is valid? [True, True] Translation: X:272.41, Y:100.79, Z:24.46 [[ 9.90459528e-01 -1.35603427e-01 -2.45282457e-02 2.72410970e+02] [ 1.35547382e-01 9.90763027e-01 -3.94102041e-03 1.00794235e+02] [ 2.48360948e-02 5.78681735e-04 9.99691369e-01 2.44561290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.326875 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:272.45, Y:100.79, Z:24.46 [[ 9.91520964e-01 -1.27631083e-01 -2.44230458e-02 2.72453355e+02] [ 1.27553656e-01 9.91820495e-01 -4.70865569e-03 1.00790804e+02] [ 2.48242481e-02 1.55348205e-03 9.99690624e-01 2.44611910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3568750000001 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:272.48, Y:100.80, Z:24.46 [[ 9.91491884e-01 -1.27836706e-01 -2.45279525e-02 2.72479421e+02] [ 1.27778411e-01 9.91794932e-01 -3.93592197e-03 1.00797030e+02] [ 2.48298543e-02 7.68291901e-04 9.99691396e-01 2.44597182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.386875 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:272.51, Y:100.80, Z:24.46 [[ 9.91615357e-01 -1.26876313e-01 -2.45231384e-02 2.72508390e+02] [ 1.26816846e-01 9.91918200e-01 -3.97143310e-03 1.00798780e+02] [ 2.48288281e-02 8.28186988e-04 9.99691374e-01 2.44632127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.416875 meters Centerline goodness : 0.990588 Centerline is valid? [True, True] Translation: X:272.54, Y:100.80, Z:24.46 [[ 9.91466559e-01 -1.28033778e-01 -2.45237411e-02 2.72536999e+02] [ 1.27974775e-01 9.91769489e-01 -3.96698441e-03 1.00801570e+02] [ 2.48298062e-02 7.94712137e-04 9.99691377e-01 2.44642692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.446875 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:272.57, Y:100.80, Z:24.46 [[ 9.91502510e-01 -1.27754458e-01 -2.45269367e-02 2.72568003e+02] [ 1.27695950e-01 9.91805522e-01 -3.94347268e-03 1.00800877e+02] [ 2.48297475e-02 7.77972569e-04 9.99691392e-01 2.44608932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4768750000001 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:272.59, Y:100.80, Z:24.46 [[ 9.91584553e-01 -1.27112858e-01 -2.45437472e-02 2.72594474e+02] [ 1.27057226e-01 9.91888035e-01 -3.81928134e-03 1.00803386e+02] [ 2.48301290e-02 6.68679927e-04 9.99691461e-01 2.44598457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.506875 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:272.62, Y:100.81, Z:24.46 [[ 9.91713008e-01 -1.26109501e-01 -2.45296410e-02 2.72622583e+02] [ 1.26050987e-01 9.92016006e-01 -3.92343881e-03 1.00806357e+02] [ 2.48285794e-02 7.98939855e-04 9.99691404e-01 2.44641561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.536875 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:272.65, Y:100.81, Z:24.47 [[ 9.91900825e-01 -1.24623277e-01 -2.45314350e-02 2.72648639e+02] [ 1.24564638e-01 9.92203791e-01 -3.91010014e-03 1.00809965e+02] [ 2.48274723e-02 8.22682227e-04 9.99691412e-01 2.44663282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.566875 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:272.68, Y:100.81, Z:24.47 [[ 9.92115007e-01 -1.22909587e-01 -2.45162438e-02 2.72677593e+02] [ 1.22847636e-01 9.92417389e-01 -4.02294208e-03 1.00813119e+02] [ 2.48248048e-02 9.79458605e-04 9.99691337e-01 2.44660949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.596875 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:272.70, Y:100.82, Z:24.47 [[ 9.92360758e-01 -1.20908974e-01 -2.45182823e-02 2.72703881e+02] [ 1.20846789e-01 9.92663080e-01 -4.00778437e-03 1.00816151e+02] [ 2.48229707e-02 1.01421226e-03 9.99691348e-01 2.44680091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.626875 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:272.73, Y:100.82, Z:24.47 [[ 9.93079512e-01 -1.14858140e-01 -2.45089692e-02 2.72733827e+02] [ 1.14792405e-01 9.93381136e-01 -4.07706671e-03 1.00819990e+02] [ 2.48150320e-02 1.23540792e-03 9.99691296e-01 2.44658145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.656875 meters Centerline goodness : 0.991702 Centerline is valid? [True, True] Translation: X:272.76, Y:100.82, Z:24.47 [[ 9.93440284e-01 -1.11692648e-01 -2.45184542e-02 2.72763440e+02] [ 1.11627692e-01 9.93742022e-01 -4.00643672e-03 1.00824095e+02] [ 2.48125077e-02 1.24321717e-03 9.99691349e-01 2.44659552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.686875 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:272.79, Y:100.83, Z:24.47 [[ 9.93355123e-01 -1.12444820e-01 -2.45308528e-02 2.72785140e+02] [ 1.12382376e-01 9.93657327e-01 -3.91383850e-03 1.00831631e+02] [ 2.48153525e-02 1.13099598e-03 9.99691412e-01 2.44651037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.716875 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:272.82, Y:100.83, Z:24.47 [[ 9.94049667e-01 -1.06140000e-01 -2.44859181e-02 2.72817831e+02] [ 1.06067319e-01 9.94349861e-01 -4.25189475e-03 1.00830177e+02] [ 2.47988653e-02 1.62943888e-03 9.99691133e-01 2.44679457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.746875 meters Centerline goodness : 0.990516 Centerline is valid? [True, True] Translation: X:272.84, Y:100.84, Z:24.47 [[ 9.93638465e-01 -1.09916540e-01 -2.45143943e-02 2.72842493e+02] [ 1.09850281e-01 9.93939945e-01 -4.03742278e-03 1.00837629e+02] [ 2.48096153e-02 1.31882547e-03 9.99691324e-01 2.44691863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.776875 meters Centerline goodness : 0.992064 Centerline is valid? [True, True] Translation: X:272.88, Y:100.84, Z:24.47 [[ 9.94169611e-01 -1.05011892e-01 -2.44803399e-02 2.72881127e+02] [ 1.04937907e-01 9.94469518e-01 -4.29108702e-03 1.00835868e+02] [ 2.47955670e-02 1.69715268e-03 9.99691102e-01 2.44714613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.806875 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:272.91, Y:100.84, Z:24.47 [[ 9.94175841e-01 -1.04936599e-01 -2.45501159e-02 2.72907028e+02] [ 1.04875482e-01 9.94478225e-01 -3.76749926e-03 1.00839793e+02] [ 2.48099042e-02 1.17085152e-03 9.99691501e-01 2.44721873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.836875 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:272.94, Y:100.85, Z:24.47 [[ 9.93899651e-01 -1.07523498e-01 -2.45393728e-02 2.72935616e+02] [ 1.07461178e-01 9.94201834e-01 -3.84817238e-03 1.00845629e+02] [ 2.48108584e-02 1.18766729e-03 9.99691458e-01 2.44689477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.866875 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:272.96, Y:100.85, Z:24.47 [[ 9.94043879e-01 -1.06176842e-01 -2.45610571e-02 2.72959601e+02] [ 1.06118201e-01 9.94346704e-01 -3.68243646e-03 1.00849035e+02] [ 2.48131957e-02 1.05412822e-03 9.99691549e-01 2.44701651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.896875 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:272.98, Y:100.86, Z:24.47 [[ 9.93088280e-01 -1.14776191e-01 -2.45376239e-02 2.72980886e+02] [ 1.14715759e-01 9.93390853e-01 -3.86109230e-03 1.00856925e+02] [ 2.48186126e-02 1.01955336e-03 9.99691451e-01 2.44702207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.926875 meters Centerline goodness : 0.990086 Centerline is valid? [True, True] Translation: X:273.01, Y:100.86, Z:24.47 [[ 9.92561813e-01 -1.19258343e-01 -2.44641397e-02 2.73011110e+02] [ 1.19185666e-01 9.92862178e-01 -4.41286135e-03 1.00862104e+02] [ 2.48157896e-02 1.46426288e-03 9.99690969e-01 2.44730266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.956875 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:273.04, Y:100.86, Z:24.48 [[ 9.93641441e-01 -1.09894779e-01 -2.44912914e-02 2.73041148e+02] [ 1.09824430e-01 9.93942114e-01 -4.20328726e-03 1.00855078e+02] [ 2.48048453e-02 1.48681829e-03 9.99691207e-01 2.44771102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.986875 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:273.07, Y:100.86, Z:24.47 [[ 9.93268195e-01 -1.13212987e-01 -2.45175945e-02 2.73072577e+02] [ 1.13148650e-01 9.93570019e-01 -4.00012919e-03 1.00858936e+02] [ 2.48128134e-02 1.19906838e-03 9.99691396e-01 2.44748127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.016875 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:273.11, Y:100.86, Z:24.47 [[ 9.93322886e-01 -1.12729769e-01 -2.45284049e-02 2.73105893e+02] [ 1.12667312e-01 9.93625043e-01 -3.91799840e-03 1.00859569e+02] [ 2.48137124e-02 1.12828803e-03 9.99691456e-01 2.44727098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.046875 meters Centerline goodness : 0.992242 Centerline is valid? [True, True] Translation: X:273.13, Y:100.86, Z:24.48 [[ 9.93371930e-01 -1.12287480e-01 -2.45709418e-02 2.73130686e+02] [ 1.12233005e-01 9.93675434e-01 -3.58935273e-03 1.00863329e+02] [ 2.48185806e-02 8.07891615e-04 9.99691645e-01 2.44753605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.076875 meters Centerline goodness : 0.987009 Centerline is valid? [True, True] Translation: X:273.17, Y:100.87, Z:24.47 [[ 9.93597478e-01 -1.10280470e-01 -2.45411971e-02 2.73171865e+02] [ 1.10220021e-01 9.93899923e-01 -3.80650060e-03 1.00867919e+02] [ 2.48112766e-02 1.07719814e-03 9.99691573e-01 2.44726631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1068750000001 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:273.18, Y:100.87, Z:24.47 [[ 9.93560697e-01 -1.10579323e-01 -2.46851005e-02 2.73176922e+02] [ 1.10545643e-01 9.93867302e-01 -2.72903538e-03 1.00867020e+02] [ 2.48354891e-02 -1.73680164e-05 9.99691552e-01 2.44718271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.136875 meters Centerline goodness : 0.991009 Centerline is valid? [True, True] Translation: X:273.20, Y:100.87, Z:24.47 [[ 9.93071981e-01 -1.14919536e-01 -2.45263288e-02 2.73200699e+02] [ 1.14855155e-01 9.93374106e-01 -4.02239087e-03 1.00873170e+02] [ 2.48260713e-02 1.17754837e-03 9.99691092e-01 2.44688291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.166875 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:273.24, Y:100.87, Z:24.47 [[ 9.93912902e-01 -1.07410606e-01 -2.44970439e-02 2.73240856e+02] [ 1.07337984e-01 9.94213445e-01 -4.26423003e-03 1.00867607e+02] [ 2.48133140e-02 1.60880992e-03 9.99690808e-01 2.44699962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.196875 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:273.26, Y:100.88, Z:24.47 [[ 9.93277856e-01 -1.13116318e-01 -2.45723227e-02 2.73258694e+02] [ 1.13060879e-01 9.93581401e-01 -3.63831229e-03 1.00876226e+02] [ 2.48261553e-02 8.35686620e-04 9.99691434e-01 2.44720325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2268750000001 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:273.30, Y:100.87, Z:24.48 [[ 9.93717625e-01 -1.09201425e-01 -2.45016522e-02 2.73297299e+02] [ 1.09130351e-01 9.94018475e-01 -4.22344768e-03 1.00871295e+02] [ 2.48163015e-02 1.52304050e-03 9.99690868e-01 2.44790127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.256875 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:273.33, Y:100.87, Z:24.48 [[ 9.93751078e-01 -1.08881596e-01 -2.45681326e-02 2.73327570e+02] [ 1.08824083e-01 9.94054249e-01 -3.66990325e-03 1.00873037e+02] [ 2.48216415e-02 9.73365801e-04 9.99691422e-01 2.44819505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.286875 meters Centerline goodness : 0.992189 Centerline is valid? [True, True] Translation: X:273.35, Y:100.88, Z:24.49 [[ 9.93818314e-01 -1.08260700e-01 -2.45922526e-02 2.73352190e+02] [ 1.08208070e-01 9.94122230e-01 -3.46479738e-03 1.00875885e+02] [ 2.48228064e-02 7.82298901e-04 9.99691561e-01 2.44879852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.316875 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:273.38, Y:100.88, Z:24.49 [[ 9.93715766e-01 -1.09203028e-01 -2.45697823e-02 2.73381413e+02] [ 1.09145947e-01 9.94019010e-01 -3.65642389e-03 1.00879980e+02] [ 2.48221232e-02 9.51753912e-04 9.99691431e-01 2.44888030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.346875 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:273.41, Y:100.88, Z:24.49 [[ 9.93678297e-01 -1.09541189e-01 -2.45798830e-02 2.73411419e+02] [ 1.09486344e-01 9.93981888e-01 -3.57014022e-03 1.00883788e+02] [ 2.48230359e-02 8.56409335e-04 9.99691494e-01 2.44867896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.376875 meters Centerline goodness : 0.989457 Centerline is valid? [True, True] Translation: X:273.45, Y:100.88, Z:24.48 [[ 9.94479932e-01 -1.02004985e-01 -2.45895924e-02 2.73454561e+02] [ 1.01949810e-01 9.94783420e-01 -3.49041513e-03 1.00877900e+02] [ 2.48173586e-02 9.64243525e-04 9.99691537e-01 2.44844246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.406875 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:273.47, Y:100.89, Z:24.49 [[ 9.93627599e-01 -1.09967801e-01 -2.47240130e-02 2.73465248e+02] [ 1.09943035e-01 9.93935081e-01 -2.36293924e-03 1.00888323e+02] [ 2.48339111e-02 -3.70351395e-04 9.99691522e-01 2.44857344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.436875 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:273.48, Y:100.89, Z:24.49 [[ 9.93135718e-01 -1.14350356e-01 -2.46057083e-02 2.73482078e+02] [ 1.14301061e-01 9.93440321e-01 -3.40523302e-03 1.00894901e+02] [ 2.48336923e-02 5.69399989e-04 9.99691434e-01 2.44875941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.466875 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:273.52, Y:100.89, Z:24.50 [[ 9.93492174e-01 -1.11227149e-01 -2.45320368e-02 2.73517911e+02] [ 1.11160785e-01 9.93794155e-01 -4.05673852e-03 1.00894445e+02] [ 2.48310143e-02 1.30333750e-03 9.99690813e-01 2.44953305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.496875 meters Centerline goodness : 0.990800 Centerline is valid? [True, True] Translation: X:273.55, Y:100.90, Z:24.50 [[ 9.93053878e-01 -1.15065005e-01 -2.45772104e-02 2.73551081e+02] [ 1.15009730e-01 9.93357639e-01 -3.65554308e-03 1.00899797e+02] [ 2.48345848e-02 8.03532897e-04 9.99691251e-01 2.44975086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.526875 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:273.57, Y:100.90, Z:24.50 [[ 9.93599447e-01 -1.10247003e-01 -2.46117096e-02 2.73572563e+02] [ 1.10197897e-01 9.93904031e-01 -3.34684548e-03 1.00900859e+02] [ 2.48306570e-02 6.13265184e-04 9.99691484e-01 2.44958159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.556875 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:273.60, Y:100.91, Z:24.49 [[ 9.93838204e-01 -1.08080446e-01 -2.45813130e-02 2.73604556e+02] [ 1.08023960e-01 9.94141706e-01 -3.61824200e-03 1.00907248e+02] [ 2.48283697e-02 9.40576373e-04 9.99691286e-01 2.44920876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.586875 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] Translation: X:273.63, Y:100.91, Z:24.49 [[ 9.93777269e-01 -1.08633843e-01 -2.46054414e-02 2.73631048e+02] [ 1.08582871e-01 9.94081579e-01 -3.40223423e-03 1.00912277e+02] [ 2.48294138e-02 7.09333578e-04 9.99691451e-01 2.44924908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.616875 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:273.66, Y:100.91, Z:24.49 [[ 9.94312798e-01 -1.03620539e-01 -2.45935596e-02 2.73655888e+02] [ 1.03565389e-01 9.94616457e-01 -3.50912248e-03 1.00913333e+02] [ 2.48247762e-02 9.42123823e-04 9.99691374e-01 2.44927968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.646875 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:273.69, Y:100.92, Z:24.49 [[ 9.94029780e-01 -1.06308427e-01 -2.45624501e-02 2.73691131e+02] [ 1.06247204e-01 9.94332531e-01 -3.78799342e-03 1.00916686e+02] [ 2.48259388e-02 1.15568662e-03 9.99691121e-01 2.44946283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.676875 meters Centerline goodness : 0.989236 Centerline is valid? [True, True] Translation: X:273.72, Y:100.92, Z:24.49 [[ 9.93715151e-01 -1.09201211e-01 -2.46027443e-02 2.73724751e+02] [ 1.09149759e-01 9.94019404e-01 -3.42859582e-03 1.00920290e+02] [ 2.48300120e-02 7.21663999e-04 9.99691427e-01 2.44928570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.706875 meters Centerline goodness : 0.991581 Centerline is valid? [True, True] Translation: X:273.75, Y:100.92, Z:24.50 [[ 9.94200094e-01 -1.04684506e-01 -2.46440217e-02 2.73747285e+02] [ 1.04640904e-01 9.94505376e-01 -3.05578422e-03 1.00920326e+02] [ 2.48285053e-02 4.59288247e-04 9.99691620e-01 2.44959497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.736875 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:273.77, Y:100.93, Z:24.50 [[ 9.94300212e-01 -1.03737597e-01 -2.46089353e-02 2.73773419e+02] [ 1.03685884e-01 9.94604378e-01 -3.37161427e-03 1.00925027e+02] [ 2.48259179e-02 8.00797567e-04 9.99691469e-01 2.44956528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.766875 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:273.80, Y:100.93, Z:24.50 [[ 9.94715294e-01 -9.96813473e-02 -2.45990229e-02 2.73797797e+02] [ 9.96261741e-02 9.95018916e-01 -3.46140002e-03 1.00929789e+02] [ 2.48215302e-02 9.92400998e-04 9.99691406e-01 2.44970524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.796875 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:273.83, Y:100.93, Z:24.50 [[ 9.94752033e-01 -9.93206084e-02 -2.45725521e-02 2.73825952e+02] [ 9.92593868e-02 9.95054708e-01 -3.70177813e-03 1.00932713e+02] [ 2.48186965e-02 1.24329486e-03 9.99691196e-01 2.44976405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.826875 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:273.86, Y:100.94, Z:24.50 [[ 9.94760256e-01 -9.92387230e-02 -2.45704999e-02 2.73859324e+02] [ 9.91770166e-02 9.95062851e-01 -3.72040536e-03 1.00936114e+02] [ 2.48184000e-02 1.26408251e-03 9.99691177e-01 2.44975776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8568750000001 meters Centerline goodness : 0.991878 Centerline is valid? [True, True] Translation: X:273.89, Y:100.94, Z:24.50 [[ 9.94874588e-01 -9.80752369e-02 -2.46130290e-02 2.73887216e+02] [ 9.80227885e-02 9.95178594e-01 -3.33136740e-03 1.00938095e+02] [ 2.48210842e-02 9.01655032e-04 9.99691503e-01 2.44997660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.886875 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:273.91, Y:100.94, Z:24.50 [[ 9.95100280e-01 -9.57590196e-02 -2.46098315e-02 2.73911162e+02] [ 9.57051395e-02 9.95404055e-01 -3.36066230e-03 1.00940117e+02] [ 2.48185397e-02 9.88908645e-04 9.99691483e-01 2.45018019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.916875 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:273.94, Y:100.94, Z:24.50 [[ 9.94982212e-01 -9.69876812e-02 -2.45720954e-02 2.73943897e+02] [ 9.69256563e-02 9.95284726e-01 -3.70557820e-03 1.00941747e+02] [ 2.48156267e-02 1.30531792e-03 9.99691193e-01 2.45031416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.946875 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:273.97, Y:100.94, Z:24.50 [[ 9.95353489e-01 -9.30933438e-02 -2.45979798e-02 2.73968207e+02] [ 9.30360359e-02 9.95656708e-01 -3.46651298e-03 1.00942706e+02] [ 2.48138528e-02 1.16190726e-03 9.99691414e-01 2.45042618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9768750000001 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:274.00, Y:100.95, Z:24.51 [[ 9.95115281e-01 -9.56128076e-02 -2.45717037e-02 2.74001525e+02] [ 9.55502929e-02 9.95417696e-01 -3.70849774e-03 1.00945021e+02] [ 2.48136886e-02 1.34254928e-03 9.99691192e-01 2.45060049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.006875 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:274.03, Y:100.95, Z:24.51 [[ 9.95622983e-01 -9.01639193e-02 -2.46037099e-02 2.74027227e+02] [ 9.01070988e-02 9.95926241e-01 -3.41065342e-03 1.00946124e+02] [ 2.48109982e-02 1.17875602e-03 9.99691465e-01 2.45091497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.036875 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:274.06, Y:100.95, Z:24.51 [[ 9.95464885e-01 -9.18980291e-02 -2.45848637e-02 2.74062505e+02] [ 9.18374243e-02 9.95767560e-01 -3.58534532e-03 1.00950556e+02] [ 2.48102959e-02 1.31127481e-03 9.99691317e-01 2.45064226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.066875 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:274.09, Y:100.96, Z:24.50 [[ 9.95751101e-01 -8.87298781e-02 -2.46323602e-02 2.74086436e+02] [ 8.86792857e-02 9.96055279e-01 -3.14087225e-03 1.00957655e+02] [ 2.48138816e-02 9.43146890e-04 9.99691643e-01 2.45016318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.096875 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:274.12, Y:100.96, Z:24.50 [[ 9.95846822e-01 -8.76562593e-02 -2.46066606e-02 2.74115019e+02] [ 8.75993982e-02 9.96150045e-01 -3.38137410e-03 1.00960858e+02] [ 2.48083247e-02 1.21180199e-03 9.99691492e-01 2.44995350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.126875 meters Centerline goodness : 0.991013 Centerline is valid? [True, True] Translation: X:274.15, Y:100.96, Z:24.50 [[ 9.95654643e-01 -8.98126575e-02 -2.46072666e-02 2.74149168e+02] [ 8.97565930e-02 9.95958010e-01 -3.37571424e-03 1.00963564e+02] [ 2.48109862e-02 1.15238115e-03 9.99691496e-01 2.44993734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.156875 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:274.17, Y:100.96, Z:24.50 [[ 9.95905372e-01 -8.69773329e-02 -2.46461706e-02 2.74169201e+02] [ 8.69294423e-02 9.96209924e-01 -3.00994543e-03 1.00962479e+02] [ 2.48145567e-02 8.55142956e-04 9.99691706e-01 2.45007127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.186875 meters Centerline goodness : 0.992861 Centerline is valid? [True, True] Translation: X:274.20, Y:100.96, Z:24.50 [[ 9.96058081e-01 -8.52248604e-02 -2.45972075e-02 2.74198554e+02] [ 8.51650059e-02 9.96360809e-01 -3.47269081e-03 1.00964253e+02] [ 2.48036532e-02 1.36418042e-03 9.99691411e-01 2.45031211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.216875 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:274.24, Y:100.98, Z:24.49 [[ 9.95429561e-01 -9.22749025e-02 -2.46034772e-02 2.74237309e+02] [ 9.22186573e-02 9.95732930e-01 -3.41339695e-03 1.00975749e+02] [ 2.48134633e-02 1.12889660e-03 9.99691461e-01 2.44934995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.246875 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:274.26, Y:100.97, Z:24.51 [[ 9.95987471e-01 -8.60312230e-02 -2.46492462e-02 2.74258495e+02] [ 8.59838271e-02 9.96292081e-01 -2.97825323e-03 1.00966582e+02] [ 2.48140715e-02 8.46866388e-04 9.99691725e-01 2.45102862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.276875 meters Centerline goodness : 0.992069 Centerline is valid? [True, True] Translation: X:274.29, Y:100.97, Z:24.51 [[ 9.95845550e-01 -8.76668102e-02 -2.46205591e-02 2.74289659e+02] [ 8.76132116e-02 9.96149269e-01 -3.24940139e-03 1.00969259e+02] [ 2.48106166e-02 1.07881565e-03 9.99691587e-01 2.45119096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.306875 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:274.31, Y:100.97, Z:24.51 [[ 9.95946337e-01 -8.65078121e-02 -2.46433201e-02 2.74314291e+02] [ 8.64592231e-02 9.96250775e-01 -3.03239827e-03 1.00973054e+02] [ 2.48132529e-02 8.89463645e-04 9.99691708e-01 2.45116122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.336875 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:274.34, Y:100.98, Z:24.51 [[ 9.95908031e-01 -8.69523202e-02 -2.46269762e-02 2.74343792e+02] [ 8.69000190e-02 9.96211937e-01 -3.18806783e-03 1.00975842e+02] [ 2.48108976e-02 1.03493765e-03 9.99691627e-01 2.45106045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.366875 meters Centerline goodness : 0.991776 Centerline is valid? [True, True] Translation: X:274.37, Y:100.98, Z:24.51 [[ 9.95591964e-01 -9.04972693e-02 -2.46350332e-02 2.74372798e+02] [ 9.04479477e-02 9.95896324e-01 -3.11133825e-03 1.00980493e+02] [ 2.48155066e-02 8.69435165e-04 9.99691670e-01 2.45111521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.396875 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:274.40, Y:100.98, Z:24.51 [[ 9.95205364e-01 -9.46528437e-02 -2.46398525e-02 2.74400447e+02] [ 9.46059241e-02 9.95510081e-01 -3.06564096e-03 1.00984577e+02] [ 2.48193932e-02 7.19866307e-04 9.99691692e-01 2.45117040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.426875 meters Centerline goodness : 0.991582 Centerline is valid? [True, True] Translation: X:274.43, Y:100.99, Z:24.51 [[ 9.95304072e-01 -9.36091735e-02 -2.46399271e-02 2.74426455e+02] [ 9.35619521e-02 9.95608742e-01 -3.06492546e-03 1.00987372e+02] [ 2.48186319e-02 7.45173118e-04 9.99691693e-01 2.45149648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.456875 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:274.45, Y:100.99, Z:24.52 [[ 9.95265487e-01 -9.40209505e-02 -2.46306785e-02 2.74454325e+02] [ 9.39716541e-02 9.95569878e-01 -3.15387568e-03 1.00987979e+02] [ 2.48180920e-02 8.24358011e-04 9.99691644e-01 2.45173967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.486875 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:274.49, Y:100.98, Z:24.52 [[ 9.96412636e-01 -8.09659628e-02 -2.46246234e-02 2.74493222e+02] [ 8.09112470e-02 9.96716135e-01 -3.21193452e-03 1.00977178e+02] [ 2.48038168e-02 1.20800316e-03 9.99691608e-01 2.45234189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.516875 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:274.50, Y:100.99, Z:24.53 [[ 9.95031034e-01 -9.64547092e-02 -2.46927359e-02 2.74501839e+02] [ 9.64210415e-02 9.95337362e-01 -2.55326955e-03 1.00994198e+02] [ 2.48238774e-02 1.59683135e-04 9.99691827e-01 2.45255385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.546875 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:274.53, Y:101.00, Z:24.52 [[ 9.94961644e-01 -9.71961981e-02 -2.45809943e-02 2.74527034e+02] [ 9.71359256e-02 9.95264479e-01 -3.63708875e-03 1.00999721e+02] [ 2.48181017e-02 1.23106617e-03 9.99691225e-01 2.45234932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.576875 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:274.57, Y:101.00, Z:24.52 [[ 9.95162601e-01 -9.51229638e-02 -2.45564505e-02 2.74565606e+02] [ 9.50561712e-02 9.95464366e-01 -3.87573090e-03 1.01003498e+02] [ 2.48137425e-02 1.52274028e-03 9.99690932e-01 2.45169245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6068750000001 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:274.59, Y:101.01, Z:24.52 [[ 9.95325453e-01 -9.33885530e-02 -2.46134305e-02 2.74587958e+02] [ 9.33350510e-02 9.95629234e-01 -3.31613961e-03 1.01007576e+02] [ 2.48155405e-02 1.00334237e-03 9.99691544e-01 2.45161707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.636875 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:274.62, Y:101.01, Z:24.52 [[ 9.95306433e-01 -9.35996488e-02 -2.45807029e-02 2.74621047e+02] [ 9.35383085e-02 9.95609042e-01 -3.63604279e-03 1.01011553e+02] [ 2.48131024e-02 1.31973940e-03 9.99691236e-01 2.45159636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.666875 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:274.64, Y:101.02, Z:24.52 [[ 9.94871438e-01 -9.81096363e-02 -2.46032826e-02 2.74640947e+02] [ 9.80550923e-02 9.95175123e-01 -3.41656592e-03 1.01016199e+02] [ 2.48197728e-02 9.86566706e-04 9.99691455e-01 2.45190740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.696875 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:274.68, Y:101.01, Z:24.53 [[ 9.95042731e-01 -9.63685584e-02 -2.45573812e-02 2.74677728e+02] [ 9.63024376e-02 9.95344619e-01 -3.86383044e-03 1.01012856e+02] [ 2.48154090e-02 1.47974073e-03 9.99690955e-01 2.45263709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7268750000001 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:274.70, Y:101.02, Z:24.53 [[ 9.94577034e-01 -1.01050495e-01 -2.46032843e-02 2.74700437e+02] [ 1.00996923e-01 9.94880882e-01 -3.41362439e-03 1.01018274e+02] [ 2.48222856e-02 9.10256413e-04 9.99691465e-01 2.45274968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.756875 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:274.75, Y:101.00, Z:24.53 [[ 9.96118919e-01 -8.45169385e-02 -2.45761209e-02 2.74751056e+02] [ 8.44517402e-02 9.96420773e-01 -3.68068608e-03 1.01002604e+02] [ 2.47992377e-02 1.59090486e-03 9.99691186e-01 2.45319318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.786875 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:274.79, Y:101.00, Z:24.54 [[ 9.95828430e-01 -8.78395249e-02 -2.46972942e-02 2.74785756e+02] [ 8.78053087e-02 9.96134596e-01 -2.46856783e-03 1.01003306e+02] [ 2.48186671e-02 2.89716480e-04 9.99691927e-01 2.45359236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.816875 meters Centerline goodness : 0.987582 Centerline is valid? [True, True] Translation: X:274.82, Y:101.00, Z:24.54 [[ 9.95827252e-01 -8.78402142e-02 -2.47422791e-02 2.74818752e+02] [ 8.78178086e-02 9.96134560e-01 -1.99278253e-03 1.01003407e+02] [ 2.48216858e-02 -1.88345580e-04 9.99691877e-01 2.45370265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.846875 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:274.82, Y:101.00, Z:24.53 [[ 9.96129839e-01 -8.43310862e-02 -2.47711865e-02 2.74815071e+02] [ 8.43148896e-02 9.96437711e-01 -1.69943618e-03 1.00995126e+02] [ 2.48262597e-02 -3.95720766e-04 9.99691703e-01 2.45295165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.876875 meters Centerline goodness : 0.989797 Centerline is valid? [True, True] Translation: X:274.88, Y:101.00, Z:24.54 [[ 9.96010830e-01 -8.57797099e-02 -2.45818481e-02 2.74876420e+02] [ 8.57139499e-02 9.96312849e-01 -3.71838037e-03 1.00997743e+02] [ 2.48101727e-02 1.59653982e-03 9.99690905e-01 2.45351074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.906875 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:274.87, Y:101.00, Z:24.53 [[ 9.95790988e-01 -8.82421947e-02 -2.47714358e-02 2.74866408e+02] [ 8.82290430e-02 9.96098888e-01 -1.62550638e-03 1.01001467e+02] [ 2.48182379e-02 -5.66895475e-04 9.99691819e-01 2.45255789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.936875 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:274.93, Y:100.98, Z:24.53 [[ 9.97528951e-01 -6.58076362e-02 -2.46037979e-02 2.74930761e+02] [ 6.57324723e-02 9.97829846e-01 -3.85222684e-03 1.00979491e+02] [ 2.48039099e-02 2.22543933e-03 9.99689859e-01 2.45338084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.966875 meters Centerline goodness : 0.991025 Centerline is valid? [True, True] Translation: X:274.93, Y:101.00, Z:24.53 [[ 9.95861140e-01 -8.74521869e-02 -2.47528684e-02 2.74930832e+02] [ 8.74349446e-02 9.96168641e-01 -1.78009892e-03 1.01004944e+02] [ 2.48137048e-02 -3.91534342e-04 9.99692016e-01 2.45314733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.996875 meters Centerline goodness : 0.990775 Centerline is valid? [True, True] Translation: X:274.97, Y:101.00, Z:24.54 [[ 9.96404413e-01 -8.10623205e-02 -2.46403480e-02 2.74966930e+02] [ 8.10040949e-02 9.96708126e-01 -3.35368529e-03 1.01003499e+02] [ 2.48310926e-02 1.34565773e-03 9.99690755e-01 2.45365065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.026875 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:275.02, Y:100.98, Z:24.54 [[ 9.97946232e-01 -5.91197033e-02 -2.46612701e-02 2.75016468e+02] [ 5.90619998e-02 9.98249619e-01 -3.06233709e-03 1.00984611e+02] [ 2.47991479e-02 1.59950383e-03 9.99691174e-01 2.45404498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.056875 meters Centerline goodness : 0.992162 Centerline is valid? [True, True] Translation: X:275.02, Y:101.01, Z:24.53 [[ 9.97395392e-01 -6.77469739e-02 -2.47543813e-02 2.75021034e+02] [ 6.77248631e-02 9.97702533e-01 -1.73145428e-03 1.01005666e+02] [ 2.48148097e-02 5.04574368e-05 9.99692064e-01 2.45339360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.086875 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:275.07, Y:100.99, Z:24.54 [[ 9.98288062e-01 -5.30380413e-02 -2.46558795e-02 2.75072803e+02] [ 5.29774558e-02 9.98590883e-01 -3.10444515e-03 1.00992408e+02] [ 2.47857901e-02 1.79292477e-03 9.99691177e-01 2.45382464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.116875 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:275.10, Y:101.00, Z:24.54 [[ 9.98381533e-01 -5.12020556e-02 -2.47520459e-02 2.75100418e+02] [ 5.11750303e-02 9.98688211e-01 -1.72446992e-03 1.00995372e+02] [ 2.48078728e-02 4.54992228e-04 9.99692134e-01 2.45389706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.146875 meters Centerline goodness : 0.990604 Centerline is valid? [True, True] Translation: X:275.10, Y:101.02, Z:24.53 [[ 9.97294889e-01 -6.92117255e-02 -2.47515847e-02 2.75099842e+02] [ 6.91900755e-02 9.97601993e-01 -1.73106429e-03 1.01022484e+02] [ 2.48120401e-02 1.38175524e-05 9.99692134e-01 2.45333795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.176875 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:275.13, Y:101.02, Z:24.54 [[ 9.98153763e-01 -5.55049406e-02 -2.46630660e-02 2.75132737e+02] [ 5.54456792e-02 9.98456952e-01 -3.08073914e-03 1.01016541e+02] [ 2.47960059e-02 1.70759092e-03 9.99691073e-01 2.45421197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.206875 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:275.16, Y:101.02, Z:24.54 [[ 9.98267890e-01 -5.34059911e-02 -2.46783429e-02 2.75159329e+02] [ 5.33519184e-02 9.98571720e-01 -2.84481646e-03 1.01019266e+02] [ 2.47950256e-02 1.52325199e-03 9.99691396e-01 2.45420908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.236875 meters Centerline goodness : 0.992231 Centerline is valid? [True, True] Translation: X:275.19, Y:101.02, Z:24.54 [[ 9.98835602e-01 -4.14575771e-02 -2.46720412e-02 2.75189925e+02] [ 4.13974535e-02 9.99138424e-01 -2.94292024e-03 1.01021102e+02] [ 2.47727907e-02 1.91813384e-03 9.99691267e-01 2.45357665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.266875 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:275.22, Y:101.03, Z:24.54 [[ 9.98472256e-01 -4.94400974e-02 -2.46745071e-02 2.75215611e+02] [ 4.93833443e-02 9.98775675e-01 -2.90451581e-03 1.01031361e+02] [ 2.47878970e-02 1.68156877e-03 9.99691319e-01 2.45419175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.296875 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:275.27, Y:101.01, Z:24.54 [[ 9.99317577e-01 -2.75009835e-02 -2.46592078e-02 2.75270858e+02] [ 2.74319321e-02 9.99618760e-01 -3.13420862e-03 1.01010714e+02] [ 2.47360005e-02 2.45562005e-03 9.99691002e-01 2.45423911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.326875 meters Centerline goodness : 0.989452 Centerline is valid? [True, True] Translation: X:275.28, Y:101.03, Z:24.54 [[ 9.98817484e-01 -4.18408382e-02 -2.47584000e-02 2.75283700e+02] [ 4.18141792e-02 9.99124134e-01 -1.59371810e-03 1.01028571e+02] [ 2.48033975e-02 5.56581326e-04 9.99692193e-01 2.45443748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3568750000001 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:275.31, Y:101.03, Z:24.54 [[ 9.98870587e-01 -4.05836409e-02 -2.47086708e-02 2.75306297e+02] [ 4.05369661e-02 9.99175188e-01 -2.38717392e-03 1.01030065e+02] [ 2.47851710e-02 1.38286326e-03 9.99691844e-01 2.45441930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.386875 meters Centerline goodness : 0.992205 Centerline is valid? [True, True] Translation: X:275.32, Y:101.04, Z:24.54 [[ 9.98827511e-01 -4.16432712e-02 -2.46868806e-02 2.75323171e+02] [ 4.15882507e-02 9.99131082e-01 -2.73820274e-03 1.01036125e+02] [ 2.47794574e-02 1.70830805e-03 9.99691482e-01 2.45406589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.416875 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:275.36, Y:101.03, Z:24.54 [[ 9.99009078e-01 -3.70643139e-02 -2.46393872e-02 2.75360383e+02] [ 3.69891352e-02 9.99309538e-01 -3.50010969e-03 1.01032770e+02] [ 2.47521039e-02 2.58525172e-03 9.99690277e-01 2.45427231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.446875 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:275.39, Y:101.04, Z:24.54 [[ 9.99014758e-01 -3.68961406e-02 -2.46614896e-02 2.75386692e+02] [ 3.68295515e-02 9.99316600e-01 -3.14905187e-03 1.01036139e+02] [ 2.47608238e-02 2.23767769e-03 9.99690899e-01 2.45414914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4768750000001 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:275.44, Y:101.02, Z:24.55 [[ 9.99452799e-01 -2.20539326e-02 -2.46521264e-02 2.75443941e+02] [ 2.19793177e-02 9.99753000e-01 -3.29361765e-03 1.01017934e+02] [ 2.47186746e-02 2.74997846e-03 9.99690665e-01 2.45474446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.506875 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:275.45, Y:101.04, Z:24.54 [[ 9.99118031e-01 -3.39122575e-02 -2.47612383e-02 2.75449055e+02] [ 3.38844700e-02 9.99424568e-01 -1.54105392e-03 1.01036611e+02] [ 2.47992505e-02 7.00673327e-04 9.99692206e-01 2.45431400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.536875 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:275.49, Y:101.04, Z:24.55 [[ 9.99177913e-01 -3.21647175e-02 -2.46764700e-02 2.75485700e+02] [ 3.21021918e-02 9.99480309e-01 -2.92589568e-03 1.01035391e+02] [ 2.47577565e-02 2.13132156e-03 9.99691208e-01 2.45451465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.566875 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:275.51, Y:101.04, Z:24.54 [[ 9.99196783e-01 -3.15543876e-02 -2.47003903e-02 2.75512547e+02] [ 3.15014244e-02 9.99500504e-01 -2.53050068e-03 1.01036967e+02] [ 2.47679010e-02 1.75037066e-03 9.99691696e-01 2.45427904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.596875 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:275.54, Y:101.04, Z:24.54 [[ 9.99124237e-01 -3.37759163e-02 -2.46970957e-02 2.75540894e+02] [ 3.37222642e-02 9.99427898e-01 -2.58579177e-03 1.01040735e+02] [ 2.47703039e-02 1.75068524e-03 9.99691636e-01 2.45401235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.626875 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:275.59, Y:101.02, Z:24.54 [[ 9.99527575e-01 -1.82952123e-02 -2.46963972e-02 2.75587392e+02] [ 1.82365823e-02 9.99830326e-01 -2.59718751e-03 1.01021824e+02] [ 2.47397230e-02 2.14558266e-03 9.99691624e-01 2.45387474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.656875 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:275.59, Y:101.04, Z:24.54 [[ 9.99076695e-01 -3.51075707e-02 -2.47631870e-02 2.75594558e+02] [ 3.50816706e-02 9.99383353e-01 -1.47970756e-03 1.01039752e+02] [ 2.47998658e-02 6.09607372e-04 9.99692250e-01 2.45409773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.686875 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:275.62, Y:101.04, Z:24.54 [[ 9.99104540e-01 -3.43617901e-02 -2.46857323e-02 2.75622486e+02] [ 3.43030259e-02 9.99407555e-01 -2.80014640e-03 1.01041471e+02] [ 2.47673254e-02 1.95084367e-03 9.99691339e-01 2.45410673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.716875 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:275.68, Y:101.02, Z:24.54 [[ 9.99501619e-01 -1.96826495e-02 -2.46800757e-02 2.75675967e+02] [ 1.96171282e-02 9.99803377e-01 -2.89415859e-03 1.01021802e+02] [ 2.47321877e-02 2.40856399e-03 9.99691211e-01 2.45437157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.746875 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:275.69, Y:101.04, Z:24.55 [[ 9.98963163e-01 -3.82009156e-02 -2.47646567e-02 2.75685419e+02] [ 3.81769860e-02 9.99269958e-01 -1.43852615e-03 1.01036430e+02] [ 2.48015305e-02 4.91594684e-04 9.99692274e-01 2.45464075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.776875 meters Centerline goodness : 0.992148 Centerline is valid? [True, True] Translation: X:275.71, Y:101.04, Z:24.55 [[ 9.98925242e-01 -3.92156384e-02 -2.47082068e-02 2.75709624e+02] [ 3.91670826e-02 9.99229681e-01 -2.44624605e-03 1.01037436e+02] [ 2.47851047e-02 1.47586854e-03 9.99691713e-01 2.45485009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.806875 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:275.75, Y:101.03, Z:24.55 [[ 9.98961808e-01 -3.82820376e-02 -2.46939720e-02 2.75746351e+02] [ 3.82269130e-02 9.99265435e-01 -2.70069185e-03 1.01034009e+02] [ 2.47792206e-02 1.75391369e-03 9.99691409e-01 2.45501287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.836875 meters Centerline goodness : 0.990829 Centerline is valid? [True, True] Translation: X:275.77, Y:101.04, Z:24.55 [[ 9.98901622e-01 -3.98059967e-02 -2.47190784e-02 2.75771366e+02] [ 3.97623724e-02 9.99206622e-01 -2.25401690e-03 1.01035289e+02] [ 2.47891902e-02 1.26865194e-03 9.99691896e-01 2.45543122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.866875 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:275.79, Y:101.04, Z:24.56 [[ 9.98679089e-01 -4.50480264e-02 -2.47133918e-02 2.75790069e+02] [ 4.50034198e-02 9.98984049e-01 -2.35845916e-03 1.01041272e+02] [ 2.47945281e-02 1.24315670e-03 9.99691795e-01 2.45573066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.896875 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:275.83, Y:101.03, Z:24.56 [[ 9.98911945e-01 -3.95714234e-02 -2.46785222e-02 2.75832827e+02] [ 3.95092789e-02 9.99214697e-01 -3.00087752e-03 1.01034905e+02] [ 2.47778911e-02 2.02258179e-03 9.99690935e-01 2.45556679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.926875 meters Centerline goodness : 0.984834 Centerline is valid? [True, True] Translation: X:275.88, Y:101.03, Z:24.56 [[ 9.98985152e-01 -3.76462624e-02 -2.47270005e-02 2.75880070e+02] [ 3.76025058e-02 9.99290282e-01 -2.23234698e-03 1.01032112e+02] [ 2.47934908e-02 1.30028431e-03 9.99691749e-01 2.45633970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.956875 meters Centerline goodness : 0.985435 Centerline is valid? [True, True] Translation: X:275.91, Y:101.03, Z:24.56 [[ 9.98859981e-01 -4.07854293e-02 -2.48049666e-02 2.75910128e+02] [ 4.07738344e-02 9.99167927e-01 -9.73249756e-04 1.01031972e+02] [ 2.48240215e-02 -3.92533677e-05 9.99691836e-01 2.45635957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.986875 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:275.92, Y:101.03, Z:24.56 [[ 9.98804458e-01 -4.21232853e-02 -2.48049181e-02 2.75916827e+02] [ 4.21120835e-02 9.99112418e-01 -9.74026957e-04 1.01032123e+02] [ 2.48239309e-02 -7.17243142e-05 9.99691836e-01 2.45570925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.016875 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:275.94, Y:101.04, Z:24.56 [[ 9.98753451e-01 -4.33563865e-02 -2.47339390e-02 2.75943222e+02] [ 4.33123865e-02 9.99058903e-01 -2.31214216e-03 1.01036666e+02] [ 2.48109081e-02 1.23797403e-03 9.99691396e-01 2.45566040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.046875 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:276.00, Y:101.02, Z:24.56 [[ 9.99279568e-01 -2.87934115e-02 -2.47241497e-02 2.75997429e+02] [ 2.87404118e-02 9.99583792e-01 -2.49639125e-03 1.01021542e+02] [ 2.47857389e-02 1.78401053e-03 9.99691195e-01 2.45562838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.076875 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:276.03, Y:101.02, Z:24.56 [[ 9.99248187e-01 -2.97988109e-02 -2.48010569e-02 2.76025529e+02] [ 2.97835880e-02 9.99555887e-01 -9.83045976e-04 1.01021922e+02] [ 2.48193361e-02 2.43642448e-04 9.99691923e-01 2.45591039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1068750000001 meters Centerline goodness : 0.992588 Centerline is valid? [True, True] Translation: X:276.03, Y:101.04, Z:24.56 [[ 9.98757230e-01 -4.32304891e-02 -2.48016101e-02 2.76028795e+02] [ 4.32196724e-02 9.99065120e-01 -9.72257740e-04 1.01038121e+02] [ 2.48204548e-02 -1.00868017e-04 9.99691920e-01 2.45606902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.136875 meters Centerline goodness : 0.986300 Centerline is valid? [True, True] Translation: X:276.08, Y:101.04, Z:24.56 [[ 9.98713574e-01 -4.42832594e-02 -2.47020182e-02 2.76081105e+02] [ 4.42352111e-02 9.99018045e-01 -2.48843676e-03 1.01041741e+02] [ 2.47879581e-02 1.39253658e-03 9.99691761e-01 2.45642671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.166875 meters Centerline goodness : 0.989174 Centerline is valid? [True, True] Translation: X:276.11, Y:101.04, Z:24.56 [[ 9.98545773e-01 -4.78699294e-02 -2.47953535e-02 2.76114496e+02] [ 4.78583767e-02 9.98853569e-01 -1.05947721e-03 1.01044661e+02] [ 2.48176444e-02 -1.28728880e-04 9.99691987e-01 2.45570975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.196875 meters Centerline goodness : 0.989877 Centerline is valid? [True, True] Translation: X:276.14, Y:101.05, Z:24.56 [[ 9.98408398e-01 -5.06527635e-02 -2.47985487e-02 2.76139513e+02] [ 5.06432303e-02 9.98716295e-01 -1.01271442e-03 1.01049752e+02] [ 2.48180114e-02 -2.44776034e-04 9.99691956e-01 2.45572274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2268750000001 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:276.16, Y:101.05, Z:24.56 [[ 9.98395351e-01 -5.09108950e-02 -2.47952577e-02 2.76159282e+02] [ 5.09002151e-02 9.98703179e-01 -1.06208201e-03 1.01054262e+02] [ 2.48171742e-02 -2.01706205e-04 9.99691986e-01 2.45577473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.256875 meters Centerline goodness : 0.990610 Centerline is valid? [True, True] Translation: X:276.16, Y:101.08, Z:24.56 [[ 9.97308309e-01 -6.90173571e-02 -2.47536008e-02 2.76163251e+02] [ 6.89969885e-02 9.97615459e-01 -1.67702547e-03 1.01075141e+02] [ 2.48103186e-02 -3.54124712e-05 9.99692176e-01 2.45606612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.286875 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:276.19, Y:101.07, Z:24.56 [[ 9.97689459e-01 -6.32917624e-02 -2.46960865e-02 2.76190004e+02] [ 6.32461780e-02 9.97994509e-01 -2.62334007e-03 1.01071520e+02] [ 2.48125945e-02 1.05534565e-03 9.99691563e-01 2.45612203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.316875 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:276.22, Y:101.07, Z:24.57 [[ 9.97451684e-01 -6.69355410e-02 -2.46935512e-02 2.76220996e+02] [ 6.68900412e-02 9.97756794e-01 -2.66492846e-03 1.01071485e+02] [ 2.48165369e-02 1.00638472e-03 9.99691516e-01 2.45683201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.346875 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:276.24, Y:101.07, Z:24.57 [[ 9.97305365e-01 -6.90779783e-02 -2.47030704e-02 2.76244374e+02] [ 6.90370685e-02 9.97610948e-01 -2.50610928e-03 1.01071935e+02] [ 2.48171704e-02 7.93928672e-04 9.99691691e-01 2.45685399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.376875 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:276.27, Y:101.07, Z:24.57 [[ 9.97012741e-01 -7.31846623e-02 -2.46900839e-02 2.76270561e+02] [ 7.31395817e-02 9.97317991e-01 -2.72520458e-03 1.01074653e+02] [ 2.48233081e-02 9.11241276e-04 9.99691439e-01 2.45677670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.406875 meters Centerline goodness : 0.984237 Centerline is valid? [True, True] Translation: X:276.32, Y:101.08, Z:24.58 [[ 9.96891853e-01 -7.48158876e-02 -2.46823143e-02 2.76322992e+02] [ 7.47687570e-02 9.97196889e-01 -2.82816610e-03 1.01082549e+02] [ 2.48247188e-02 9.73909784e-04 9.99691345e-01 2.45771706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.436875 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:276.35, Y:101.09, Z:24.57 [[ 9.96706188e-01 -7.72145656e-02 -2.47928598e-02 2.76348428e+02] [ 7.72055163e-02 9.97014321e-01 -1.32343798e-03 1.01087381e+02] [ 2.48210250e-02 -5.95066723e-04 9.99691734e-01 2.45738554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.466875 meters Centerline goodness : 0.993292 Centerline is valid? [True, True] Translation: X:276.38, Y:101.09, Z:24.58 [[ 9.96713117e-01 -7.71359020e-02 -2.47591245e-02 2.76377014e+02] [ 7.71157220e-02 9.97020577e-01 -1.77024882e-03 1.01090310e+02] [ 2.48219063e-02 -1.44887548e-04 9.99691879e-01 2.45758595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.496875 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:276.40, Y:101.09, Z:24.58 [[ 9.96716087e-01 -7.70967771e-02 -2.47614555e-02 2.76404621e+02] [ 7.70773490e-02 9.97023599e-01 -1.73949512e-03 1.01093700e+02] [ 2.48218650e-02 -1.74764578e-04 9.99691875e-01 2.45773684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.526875 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:276.43, Y:101.10, Z:24.58 [[ 9.96744761e-01 -7.67257175e-02 -2.47597759e-02 2.76433229e+02] [ 7.67056269e-02 9.97052227e-01 -1.76155872e-03 1.01096759e+02] [ 2.48219466e-02 -1.43389711e-04 9.99691878e-01 2.45773633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.556875 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:276.46, Y:101.10, Z:24.58 [[ 9.96720248e-01 -7.70432477e-02 -2.47605397e-02 2.76460988e+02] [ 7.70235033e-02 9.97027739e-01 -1.75156659e-03 1.01100631e+02] [ 2.48218913e-02 -1.61321625e-04 9.99691876e-01 2.45769470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.586875 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:276.49, Y:101.11, Z:24.57 [[ 9.96751006e-01 -7.66446030e-02 -2.47596012e-02 2.76486779e+02] [ 7.66244318e-02 9.97058466e-01 -1.76379562e-03 1.01106580e+02] [ 2.48219554e-02 -1.39125313e-04 9.99691878e-01 2.45691700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.616875 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:276.49, Y:101.12, Z:24.57 [[ 9.95620541e-01 -9.01512319e-02 -2.47485923e-02 2.76491767e+02] [ 9.01316789e-02 9.95928032e-01 -1.90669253e-03 1.01122846e+02] [ 2.48197075e-02 -3.32289930e-04 9.99691888e-01 2.45673393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.646875 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:276.54, Y:101.11, Z:24.57 [[ 9.96879895e-01 -7.49871503e-02 -2.46455269e-02 2.76542970e+02] [ 7.49303815e-02 9.97183568e-01 -3.22018703e-03 1.01113026e+02] [ 2.48175871e-02 1.36344098e-03 9.99691066e-01 2.45688963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.676875 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:276.56, Y:101.13, Z:24.57 [[ 9.96213749e-01 -8.33411541e-02 -2.47470750e-02 2.76555421e+02] [ 8.33198435e-02 9.96521059e-01 -1.89280796e-03 1.01126648e+02] [ 2.48187302e-02 -1.76281099e-04 9.99691952e-01 2.45680580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.706875 meters Centerline goodness : 0.983739 Centerline is valid? [True, True] Translation: X:276.60, Y:101.13, Z:24.57 [[ 9.96339519e-01 -8.18490099e-02 -2.46637930e-02 2.76603696e+02] [ 8.18037770e-02 9.96644411e-01 -2.83907652e-03 1.01133656e+02] [ 2.48134070e-02 8.11092715e-04 9.99691771e-01 2.45744369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.736875 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:276.61, Y:101.13, Z:24.57 [[ 9.96398991e-01 -8.10887840e-02 -2.47721718e-02 2.76614649e+02] [ 8.10743988e-02 9.96706790e-01 -1.58615534e-03 1.01134398e+02] [ 2.48192113e-02 -4.27945357e-04 9.99691864e-01 2.45721317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.766875 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:276.66, Y:101.13, Z:24.58 [[ 9.97414964e-01 -6.74845806e-02 -2.46823976e-02 2.76656445e+02] [ 6.74378050e-02 9.97719763e-01 -2.72355781e-03 1.01128550e+02] [ 2.48099140e-02 1.05199060e-03 9.99691633e-01 2.45757095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.796875 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:276.67, Y:101.14, Z:24.58 [[ 9.96896651e-01 -7.47313726e-02 -2.47444638e-02 2.76674343e+02] [ 7.47065730e-02 9.97203699e-01 -1.92644057e-03 1.01139304e+02] [ 2.48192364e-02 7.18880616e-05 9.99691953e-01 2.45804639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.826875 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:276.70, Y:101.14, Z:24.58 [[ 9.97075833e-01 -7.23174402e-02 -2.46975898e-02 2.76701055e+02] [ 7.22770506e-02 9.97381397e-01 -2.52531256e-03 1.01142421e+02] [ 2.48155408e-02 7.32859182e-04 9.99691778e-01 2.45786935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8568750000001 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:276.73, Y:101.15, Z:24.58 [[ 9.97435789e-01 -6.71738168e-02 -2.46885547e-02 2.76729768e+02] [ 6.71289962e-02 9.97740810e-01 -2.64070002e-03 1.01146924e+02] [ 2.48101644e-02 9.76610818e-04 9.99691703e-01 2.45770158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.886875 meters Centerline goodness : 0.988691 Centerline is valid? [True, True] Translation: X:276.77, Y:101.15, Z:24.57 [[ 9.97722598e-01 -6.27706231e-02 -2.46873631e-02 2.76770008e+02] [ 6.27240789e-02 9.98027372e-01 -2.65597467e-03 1.01151561e+02] [ 2.48053813e-02 1.10143383e-03 9.99691692e-01 2.45714413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.916875 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:276.79, Y:101.15, Z:24.58 [[ 9.97822106e-01 -6.11456363e-02 -2.47438157e-02 2.76789850e+02] [ 6.11167507e-02 9.98128772e-01 -1.92266534e-03 1.01151855e+02] [ 2.48150770e-02 4.06216362e-04 9.99691976e-01 2.45777402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.946875 meters Centerline goodness : 0.991556 Centerline is valid? [True, True] Translation: X:276.82, Y:101.15, Z:24.58 [[ 9.98141220e-01 -5.57108724e-02 -2.47063663e-02 2.76819667e+02] [ 5.56681728e-02 9.98446409e-01 -2.41324563e-03 1.01153183e+02] [ 2.48024268e-02 1.03340167e-03 9.99691838e-01 2.45777415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9768750000001 meters Centerline goodness : 0.990326 Centerline is valid? [True, True] Translation: X:276.85, Y:101.16, Z:24.58 [[ 9.98234873e-01 -5.40025021e-02 -2.47157551e-02 2.76846122e+02] [ 5.39623330e-02 9.98540346e-01 -2.28981915e-03 1.01155328e+02] [ 2.48033346e-02 9.52057520e-04 9.99691897e-01 2.45800054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.006875 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:276.88, Y:101.15, Z:24.58 [[ 9.98720300e-01 -4.41294630e-02 -2.47053358e-02 2.76883111e+02] [ 4.40828978e-02 9.99024930e-01 -2.42655124e-03 1.01150902e+02] [ 2.47883288e-02 1.33436318e-03 9.99691832e-01 2.45785005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.036875 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:276.90, Y:101.16, Z:24.58 [[ 9.98492648e-01 -4.89896809e-02 -2.47475750e-02 2.76904828e+02] [ 4.89584519e-02 9.98799072e-01 -1.86658840e-03 1.01158593e+02] [ 2.48092985e-02 6.52171833e-04 9.99691989e-01 2.45846633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.066875 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:276.93, Y:101.16, Z:24.58 [[ 9.98608943e-01 -4.65737940e-02 -2.47196418e-02 2.76933047e+02] [ 4.65327086e-02 9.98914267e-01 -2.23499365e-03 1.01162939e+02] [ 2.47968950e-02 1.08161275e-03 9.99691925e-01 2.45843477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.096875 meters Centerline goodness : 0.989957 Centerline is valid? [True, True] Translation: X:276.96, Y:101.17, Z:24.58 [[ 9.98606748e-01 -4.66188936e-02 -2.47232966e-02 2.76959282e+02] [ 4.65790153e-02 9.98912215e-01 -2.18673397e-03 1.01166670e+02] [ 2.47983461e-02 1.03210049e-03 9.99691941e-01 2.45833655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.126875 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:276.99, Y:101.17, Z:24.58 [[ 9.98601372e-01 -4.67380138e-02 -2.47155303e-02 2.76987472e+02] [ 4.66956324e-02 9.98906540e-01 -2.28945179e-03 1.01168419e+02] [ 2.47955093e-02 1.13214238e-03 9.99691903e-01 2.45841870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.156875 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:277.02, Y:101.17, Z:24.59 [[ 9.98528204e-01 -4.82765635e-02 -2.47143727e-02 2.77015652e+02] [ 4.82342736e-02 9.98833391e-01 -2.30477457e-03 1.01168373e+02] [ 2.47968073e-02 1.10930260e-03 9.99691896e-01 2.45857227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.186875 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:277.04, Y:101.17, Z:24.59 [[ 9.98489032e-01 -4.90819993e-02 -2.47105119e-02 2.77043660e+02] [ 4.90386912e-02 9.98794101e-01 -2.35592324e-03 1.01169459e+02] [ 2.47963470e-02 1.14059236e-03 9.99691873e-01 2.45855931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.216875 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:277.07, Y:101.17, Z:24.59 [[ 9.98313527e-01 -5.25320396e-02 -2.47080257e-02 2.77073932e+02] [ 5.24889723e-02 9.98618647e-01 -2.38882625e-03 1.01171102e+02] [ 2.47993851e-02 1.08789868e-03 9.99691856e-01 2.45855210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.246875 meters Centerline goodness : 0.990302 Centerline is valid? [True, True] Translation: X:277.10, Y:101.17, Z:24.59 [[ 9.98109011e-01 -5.62807105e-02 -2.47160759e-02 2.77101607e+02] [ 5.62414139e-02 9.98414589e-01 -2.28274389e-03 1.01170000e+02] [ 2.48053652e-02 8.88360191e-04 9.99691905e-01 2.45864690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.276875 meters Centerline goodness : 0.990255 Centerline is valid? [True, True] Translation: X:277.13, Y:101.17, Z:24.59 [[ 9.98024746e-01 -5.77573344e-02 -2.47122780e-02 2.77127469e+02] [ 5.77172560e-02 9.98330245e-01 -2.33260708e-03 1.01170346e+02] [ 2.48057397e-02 9.01674711e-04 9.99691884e-01 2.45894411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.306875 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:277.15, Y:101.17, Z:24.59 [[ 9.98066101e-01 -5.70402755e-02 -2.47075933e-02 2.77152815e+02] [ 5.69984136e-02 9.98371394e-01 -2.39581908e-03 1.01170818e+02] [ 2.48040125e-02 9.82892188e-04 9.99691850e-01 2.45892618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.336875 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:277.18, Y:101.17, Z:24.59 [[ 9.97924693e-01 -5.94678017e-02 -2.46959074e-02 2.77180241e+02] [ 5.94227846e-02 9.98229639e-01 -2.55338783e-03 1.01173707e+02] [ 2.48040311e-02 1.08058918e-03 9.99691749e-01 2.45878627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.366875 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:277.21, Y:101.18, Z:24.59 [[ 9.97735868e-01 -6.25568711e-02 -2.46936187e-02 2.77206449e+02] [ 6.25120341e-02 9.98040864e-01 -2.58427478e-03 1.01177171e+02] [ 2.48069047e-02 1.03477531e-03 9.99691726e-01 2.45866194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.396875 meters Centerline goodness : 0.990749 Centerline is valid? [True, True] Translation: X:277.23, Y:101.18, Z:24.59 [[ 9.97770412e-01 -6.20050301e-02 -2.46897024e-02 2.77234976e+02] [ 6.19587111e-02 9.98075229e-01 -2.63737384e-03 1.01178450e+02] [ 2.48057108e-02 1.10175145e-03 9.99691684e-01 2.45874662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.426875 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:277.27, Y:101.17, Z:24.59 [[ 9.97499769e-01 -6.62163620e-02 -2.46901602e-02 2.77269432e+02] [ 6.61714838e-02 9.97804796e-01 -2.63115827e-03 1.01174692e+02] [ 2.48101860e-02 9.90795234e-04 9.99691689e-01 2.45909196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.456875 meters Centerline goodness : 0.989570 Centerline is valid? [True, True] Translation: X:277.30, Y:101.17, Z:24.59 [[ 9.97384094e-01 -6.79307306e-02 -2.47059584e-02 2.77298419e+02] [ 6.78915634e-02 9.97689767e-01 -2.42165161e-03 1.01173877e+02] [ 2.48133865e-02 7.37990652e-04 9.99691828e-01 2.45940575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.486875 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:277.32, Y:101.17, Z:24.60 [[ 9.97326980e-01 -6.87607491e-02 -2.47154517e-02 2.77321695e+02] [ 6.87250210e-02 9.97633005e-01 -2.29310395e-03 1.01174297e+02] [ 2.48146259e-02 5.88404505e-04 9.99691897e-01 2.45959880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.516875 meters Centerline goodness : 0.989988 Centerline is valid? [True, True] Translation: X:277.35, Y:101.18, Z:24.60 [[ 9.97003600e-01 -7.33076766e-02 -2.46942657e-02 2.77354431e+02] [ 7.32662410e-02 9.97309081e-01 -2.57977170e-03 1.01176618e+02] [ 2.48169325e-02 7.62785649e-04 9.99691721e-01 2.45987866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.546875 meters Centerline goodness : 0.990110 Centerline is valid? [True, True] Translation: X:277.38, Y:101.18, Z:24.60 [[ 9.97152431e-01 -7.12498111e-02 -2.47081725e-02 2.77381518e+02] [ 7.12124118e-02 9.97458307e-01 -2.39136843e-03 1.01176639e+02] [ 2.48157565e-02 6.25030281e-04 9.99691846e-01 2.45980519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.576875 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:277.41, Y:101.18, Z:24.60 [[ 9.97050709e-01 -7.26595446e-02 -2.47077668e-02 2.77410897e+02] [ 7.26224418e-02 9.97356624e-01 -2.39685691e-03 1.01177168e+02] [ 2.48166095e-02 5.95449527e-04 9.99691843e-01 2.45965600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6068750000001 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:277.44, Y:101.18, Z:24.60 [[ 9.97085200e-01 -7.21822260e-02 -2.47149791e-02 2.77436514e+02] [ 7.21474318e-02 9.97391332e-01 -2.29779698e-03 1.01178487e+02] [ 2.48163660e-02 5.07977092e-04 9.99691898e-01 2.45962119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.636875 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:277.46, Y:101.18, Z:24.60 [[ 9.97096753e-01 -7.20264923e-02 -2.47032209e-02 2.77464850e+02] [ 7.19876313e-02 9.97402491e-01 -2.45997736e-03 1.01180435e+02] [ 2.48162376e-02 6.74509080e-04 9.99691802e-01 2.45968393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.666875 meters Centerline goodness : 0.991157 Centerline is valid? [True, True] Translation: X:277.50, Y:101.18, Z:24.60 [[ 9.97025071e-01 -7.30123401e-02 -2.47023585e-02 2.77497380e+02] [ 7.29734872e-02 9.97330818e-01 -2.47185566e-03 1.01180621e+02] [ 2.48168994e-02 6.61884825e-04 9.99691794e-01 2.45965785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.696875 meters Centerline goodness : 0.992127 Centerline is valid? [True, True] Translation: X:277.53, Y:101.18, Z:24.60 [[ 9.96936845e-01 -7.42020962e-02 -2.47179189e-02 2.77525633e+02] [ 7.41689092e-02 9.97243137e-01 -2.25799274e-03 1.01180735e+02] [ 2.48173228e-02 4.17775078e-04 9.99691916e-01 2.45996024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7268750000001 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:277.56, Y:101.17, Z:24.60 [[ 9.97697069e-01 -6.31625927e-02 -2.47193225e-02 2.77562338e+02] [ 6.31264951e-02 9.98003023e-01 -2.23870778e-03 1.01169973e+02] [ 2.48113612e-02 6.73107994e-04 9.99691924e-01 2.46017463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.756875 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:277.59, Y:101.17, Z:24.60 [[ 9.97574814e-01 -6.50525476e-02 -2.47519005e-02 2.77590914e+02] [ 6.50282121e-02 9.97881825e-01 -1.78767184e-03 1.01170744e+02] [ 2.48157643e-02 1.73764566e-04 9.99692026e-01 2.46008615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.786875 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:277.61, Y:101.18, Z:24.60 [[ 9.96768057e-01 -7.64251499e-02 -2.47514941e-02 2.77609598e+02] [ 7.64041780e-02 9.97075316e-01 -1.79328208e-03 1.01183306e+02] [ 2.48161556e-02 -1.03631265e-04 9.99692026e-01 2.46002612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.816875 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:277.63, Y:101.18, Z:24.60 [[ 9.97118299e-01 -7.17218443e-02 -2.47199360e-02 2.77630105e+02] [ 7.16884039e-02 9.97424567e-01 -2.23747334e-03 1.01184837e+02] [ 2.48167472e-02 4.58892856e-04 9.99691912e-01 2.45971723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.846875 meters Centerline goodness : 0.991966 Centerline is valid? [True, True] Translation: X:277.67, Y:101.19, Z:24.60 [[ 9.96841047e-01 -7.54892993e-02 -2.46838714e-02 2.77665262e+02] [ 7.54445314e-02 9.97146232e-01 -2.74125496e-03 1.01186477e+02] [ 2.48203648e-02 8.70332353e-04 9.99691548e-01 2.45992676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.876875 meters Centerline goodness : 0.992597 Centerline is valid? [True, True] Translation: X:277.69, Y:101.19, Z:24.60 [[ 9.96787828e-01 -7.61799225e-02 -2.47112336e-02 2.77690934e+02] [ 7.61449097e-02 9.97093978e-01 -2.35612745e-03 1.01189025e+02] [ 2.48189118e-02 4.66924518e-04 9.99691854e-01 2.45996265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.906875 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:277.72, Y:101.19, Z:24.60 [[ 9.96739445e-01 -7.68135636e-02 -2.47013177e-02 2.77718908e+02] [ 7.67753242e-02 9.97045299e-01 -2.49413795e-03 1.01191442e+02] [ 2.48199163e-02 5.89554002e-04 9.99691765e-01 2.46034418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.936875 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:277.76, Y:101.18, Z:24.61 [[ 9.97680413e-01 -6.34319442e-02 -2.47018700e-02 2.77760215e+02] [ 6.33897921e-02 9.97985747e-01 -2.48654085e-03 1.01179295e+02] [ 2.48098403e-02 9.14926698e-04 9.99691770e-01 2.46059247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.966875 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:277.79, Y:101.18, Z:24.61 [[ 9.97711317e-01 -6.29239616e-02 -2.47528395e-02 2.77788508e+02] [ 6.28992505e-02 9.98018301e-01 -1.77640954e-03 1.01180959e+02] [ 2.48155655e-02 2.15408846e-04 9.99692023e-01 2.46062143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.996875 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:277.80, Y:101.20, Z:24.60 [[ 9.96800770e-01 -7.59969542e-02 -2.47525508e-02 2.77798823e+02] [ 7.59761697e-02 9.97108044e-01 -1.78042224e-03 1.01197229e+02] [ 2.48162742e-02 -1.05877740e-04 9.99692023e-01 2.46022781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.026875 meters Centerline goodness : 0.991248 Centerline is valid? [True, True] Translation: X:277.84, Y:101.20, Z:24.60 [[ 9.97056408e-01 -7.25911742e-02 -2.46787522e-02 2.77835950e+02] [ 7.25439695e-02 9.97361274e-01 -2.80388210e-03 1.01197374e+02] [ 2.48171688e-02 1.00533396e-03 9.99691501e-01 2.46048219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.056875 meters Centerline goodness : 0.992076 Centerline is valid? [True, True] Translation: X:277.86, Y:101.20, Z:24.60 [[ 9.97453406e-01 -6.69032310e-02 -2.47115297e-02 2.77859598e+02] [ 6.68657064e-02 9.97759234e-01 -2.34262843e-03 1.01199184e+02] [ 2.48128863e-02 6.84308825e-04 9.99691879e-01 2.46041579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.086875 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:277.89, Y:101.20, Z:24.61 [[ 9.97588075e-01 -6.48704688e-02 -2.46952546e-02 2.77891613e+02] [ 6.48266672e-02 9.97893227e-01 -2.57099317e-03 1.01200452e+02] [ 2.48100089e-02 9.63881072e-04 9.99691720e-01 2.46070526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.116875 meters Centerline goodness : 0.992069 Centerline is valid? [True, True] Translation: X:277.92, Y:101.20, Z:24.61 [[ 9.97674058e-01 -6.35297796e-02 -2.47070898e-02 2.77918269e+02] [ 6.34896123e-02 9.97979595e-01 -2.40758801e-03 1.01201822e+02] [ 2.48101251e-02 8.33344548e-04 9.99691834e-01 2.46091463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.146875 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:277.95, Y:101.20, Z:24.61 [[ 9.97719175e-01 -6.28192059e-02 -2.47021236e-02 2.77945487e+02] [ 6.27771190e-02 9.98024499e-01 -2.47634917e-03 1.01204528e+02] [ 2.48088868e-02 9.19972900e-04 9.99691789e-01 2.46099647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.176875 meters Centerline goodness : 0.990510 Centerline is valid? [True, True] Translation: X:277.97, Y:101.21, Z:24.61 [[ 9.97770771e-01 -6.19952703e-02 -2.46996948e-02 2.77974760e+02] [ 6.19520985e-02 9.98075968e-01 -2.51000266e-03 1.01208140e+02] [ 2.48077801e-02 9.74209365e-04 9.99691765e-01 2.46081913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.206875 meters Centerline goodness : 0.990176 Centerline is valid? [True, True] Translation: X:278.00, Y:101.21, Z:24.60 [[ 9.97749342e-01 -6.23352906e-02 -2.47095655e-02 2.78002334e+02] [ 6.22956404e-02 9.98054922e-01 -2.37193136e-03 1.01212160e+02] [ 2.48093585e-02 8.27294745e-04 9.99691858e-01 2.46049326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.236875 meters Centerline goodness : 0.991492 Centerline is valid? [True, True] Translation: X:278.03, Y:101.21, Z:24.60 [[ 9.97883574e-01 -6.01468833e-02 -2.47128736e-02 2.78029145e+02] [ 6.01077376e-02 9.98189189e-01 -2.32448218e-03 1.01214858e+02] [ 2.48079336e-02 8.34127667e-04 9.99691888e-01 2.46017860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.266875 meters Centerline goodness : 0.990794 Centerline is valid? [True, True] Translation: X:278.06, Y:101.22, Z:24.60 [[ 9.97819441e-01 -6.12029755e-02 -2.47094941e-02 2.78060724e+02] [ 6.11629565e-02 9.98124973e-01 -2.37282043e-03 1.01216299e+02] [ 2.48083868e-02 8.56340638e-04 9.99691858e-01 2.46037835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.296875 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:278.09, Y:101.22, Z:24.60 [[ 9.97863665e-01 -6.04731406e-02 -2.47205416e-02 2.78087468e+02] [ 6.04367422e-02 9.98169566e-01 -2.21756871e-03 1.01216316e+02] [ 2.48093956e-02 7.18802243e-04 9.99691941e-01 2.46038777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.326875 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:278.11, Y:101.22, Z:24.61 [[ 9.97996124e-01 -5.82445295e-02 -2.47246969e-02 2.78112577e+02] [ 5.82089319e-02 9.98302091e-01 -2.15764607e-03 1.01215104e+02] [ 2.48083877e-02 7.14124218e-04 9.99691970e-01 2.46081793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3568750000001 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:278.14, Y:101.21, Z:24.61 [[ 9.98071510e-01 -5.69431857e-02 -2.47130431e-02 2.78142125e+02] [ 5.69030252e-02 9.98377001e-01 -2.32584601e-03 1.01213084e+02] [ 2.48053749e-02 9.15113724e-04 9.99691881e-01 2.46122498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.386875 meters Centerline goodness : 0.992178 Centerline is valid? [True, True] Translation: X:278.17, Y:101.22, Z:24.61 [[ 9.98073062e-01 -5.69138733e-02 -2.47179063e-02 2.78169967e+02] [ 5.68754446e-02 9.98378734e-01 -2.25551604e-03 1.01215294e+02] [ 2.48062021e-02 8.45327888e-04 9.99691921e-01 2.46140106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.416875 meters Centerline goodness : 0.992448 Centerline is valid? [True, True] Translation: X:278.20, Y:101.22, Z:24.61 [[ 9.98051682e-01 -5.72881784e-02 -2.47165044e-02 2.78198812e+02] [ 5.72493622e-02 9.98357316e-01 -2.27579889e-03 1.01218423e+02] [ 2.48062793e-02 8.56360795e-04 9.99691910e-01 2.46124979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.446875 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:278.22, Y:101.23, Z:24.61 [[ 9.97906333e-01 -5.97658808e-02 -2.47182290e-02 2.78223299e+02] [ 5.97284431e-02 9.98212125e-01 -2.25078097e-03 1.01225146e+02] [ 2.48085558e-02 7.69687251e-04 9.99691924e-01 2.46104550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4768750000001 meters Centerline goodness : 0.993104 Centerline is valid? [True, True] Translation: X:278.25, Y:101.23, Z:24.60 [[ 9.97926025e-01 -5.94425447e-02 -2.47029030e-02 2.78247011e+02] [ 5.93994403e-02 9.98231224e-01 -2.47569674e-03 1.01228772e+02] [ 2.48063708e-02 1.00322360e-03 9.99691771e-01 2.46032685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.506875 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:278.28, Y:101.23, Z:24.60 [[ 9.97969398e-01 -5.87200320e-02 -2.46786907e-02 2.78278146e+02] [ 5.86679070e-02 9.98273539e-01 -2.83152440e-03 1.01228972e+02] [ 2.48023511e-02 1.37792757e-03 9.99691425e-01 2.46026539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.536875 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:278.31, Y:101.23, Z:24.61 [[ 9.97846909e-01 -6.07634861e-02 -2.46849201e-02 2.78312031e+02] [ 6.07142487e-02 9.98151428e-01 -2.73993397e-03 1.01226361e+02] [ 2.48057762e-02 1.23530826e-03 9.99691526e-01 2.46091580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.566875 meters Centerline goodness : 0.990316 Centerline is valid? [True, True] Translation: X:278.35, Y:101.23, Z:24.61 [[ 9.97581886e-01 -6.49615587e-02 -2.47057992e-02 2.78345061e+02] [ 6.49212611e-02 9.97887430e-01 -2.43055337e-03 1.01228136e+02] [ 2.48114990e-02 8.20744377e-04 9.99691810e-01 2.46110108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.596875 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:278.39, Y:101.22, Z:24.61 [[ 9.98163814e-01 -5.52994015e-02 -2.47179419e-02 2.78390559e+02] [ 5.52605010e-02 9.98469426e-01 -2.25460314e-03 1.01216729e+02] [ 2.48047874e-02 8.84537422e-04 9.99691923e-01 2.46107363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.626875 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:278.40, Y:101.23, Z:24.61 [[ 9.97636750e-01 -6.40839466e-02 -2.47823232e-02 2.78402026e+02] [ 6.40713141e-02 9.97944470e-01 -1.30425861e-03 1.01231703e+02] [ 2.48149645e-02 -2.86659693e-04 9.99692020e-01 2.46091688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.656875 meters Centerline goodness : 0.993472 Centerline is valid? [True, True] Translation: X:278.41, Y:101.24, Z:24.60 [[ 9.97438995e-01 -6.71121547e-02 -2.47266869e-02 2.78407904e+02] [ 6.70795989e-02 9.97745322e-01 -2.14467051e-03 1.01244103e+02] [ 2.48148697e-02 4.80521756e-04 9.99691948e-01 2.46040786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.686875 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:278.44, Y:101.24, Z:24.61 [[ 9.97483681e-01 -6.64754544e-02 -2.46438563e-02 2.78443934e+02] [ 6.64114011e-02 9.97786501e-01 -3.40946016e-03 1.01244857e+02] [ 2.48159526e-02 1.76424784e-03 9.99690480e-01 2.46113196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.716875 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:278.50, Y:101.23, Z:24.61 [[ 9.98453346e-01 -4.98238947e-02 -2.46677049e-02 2.78495856e+02] [ 4.97636700e-02 9.98756365e-01 -3.04970215e-03 1.01227795e+02] [ 2.47889753e-02 1.81742979e-03 9.99691054e-01 2.46132682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.746875 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:278.51, Y:101.24, Z:24.61 [[ 9.97981182e-01 -5.84844407e-02 -2.47614608e-02 2.78508848e+02] [ 5.84629791e-02 9.98288310e-01 -1.59039393e-03 1.01239305e+02] [ 2.48120902e-02 1.39554452e-04 9.99692123e-01 2.46120230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.776875 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:278.55, Y:101.23, Z:24.61 [[ 9.98395606e-01 -5.09518415e-02 -2.47006793e-02 2.78552816e+02] [ 5.09049075e-02 9.98700311e-01 -2.52559838e-03 1.01229320e+02] [ 2.47972600e-02 1.26416053e-03 9.99691701e-01 2.46149885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.806875 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:278.59, Y:101.23, Z:24.62 [[ 9.98207374e-01 -5.44878549e-02 -2.47611187e-02 2.78587030e+02] [ 5.44655092e-02 9.98514408e-01 -1.57647566e-03 1.01230425e+02] [ 2.48102326e-02 2.25022684e-04 9.99692153e-01 2.46188011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.836875 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:278.59, Y:101.25, Z:24.62 [[ 9.97239952e-01 -6.99892487e-02 -2.47786936e-02 2.78588479e+02] [ 6.99784342e-02 9.97547652e-01 -1.30436025e-03 1.01246633e+02] [ 2.48092189e-02 -4.33214031e-04 9.99692110e-01 2.46156104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.866875 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:278.64, Y:101.23, Z:24.62 [[ 9.98229613e-01 -5.41185619e-02 -2.46743113e-02 2.78639288e+02] [ 5.40637859e-02 9.98533325e-01 -2.88216628e-03 1.01232139e+02] [ 2.47941008e-02 1.54307704e-03 9.99691388e-01 2.46196376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.896875 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:278.67, Y:101.23, Z:24.62 [[ 9.98250718e-01 -5.36896557e-02 -2.47573339e-02 2.78667760e+02] [ 5.36667596e-02 9.98557637e-01 -1.58880016e-03 1.01233929e+02] [ 2.48069270e-02 2.57375015e-04 9.99692228e-01 2.46212414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.926875 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:278.70, Y:101.24, Z:24.62 [[ 9.98320885e-01 -5.23689308e-02 -2.47569253e-02 2.78695824e+02] [ 5.23454715e-02 9.98627762e-01 -1.59514228e-03 1.01236584e+02] [ 2.48064888e-02 2.96550930e-04 9.99692228e-01 2.46215445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.956875 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:278.70, Y:101.26, Z:24.62 [[ 9.97452486e-01 -6.69003164e-02 -2.47565130e-02 2.78696844e+02] [ 6.68811698e-02 9.97759663e-01 -1.60151547e-03 1.01258075e+02] [ 2.48081919e-02 -5.83089613e-05 9.99692228e-01 2.46200392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.986875 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:278.72, Y:101.26, Z:24.62 [[ 9.97574879e-01 -6.50854466e-02 -2.46626343e-02 2.78723585e+02] [ 6.50290219e-02 9.97878608e-01 -3.08386256e-03 1.01260942e+02] [ 2.48110297e-02 1.47259683e-03 9.99691074e-01 2.46188211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.016875 meters Centerline goodness : 0.986204 Centerline is valid? [True, True] Translation: X:278.78, Y:101.27, Z:24.62 [[ 9.97842505e-01 -6.08500690e-02 -2.46496192e-02 2.78782622e+02] [ 6.07884724e-02 9.98145408e-01 -3.24123992e-03 1.01266529e+02] [ 2.48011339e-02 1.73583427e-03 9.99690898e-01 2.46237716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.046875 meters Centerline goodness : 0.991687 Centerline is valid? [True, True] Translation: X:278.78, Y:101.26, Z:24.62 [[ 9.97948688e-01 -5.90153164e-02 -2.48114676e-02 2.78778416e+02] [ 5.90034595e-02 9.98257044e-01 -1.21034442e-03 1.01261073e+02] [ 2.48396512e-02 -2.56100800e-04 9.99691415e-01 2.46216686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.076875 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:278.81, Y:101.26, Z:24.62 [[ 9.98125999e-01 -5.59888125e-02 -2.46929879e-02 2.78810712e+02] [ 5.59273395e-02 9.98429798e-01 -3.17366264e-03 1.01260513e+02] [ 2.48319045e-02 1.78670208e-03 9.99690044e-01 2.46214581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1068750000001 meters Centerline goodness : 0.989647 Centerline is valid? [True, True] Translation: X:278.85, Y:101.26, Z:24.63 [[ 9.98097392e-01 -5.64950137e-02 -2.46963660e-02 2.78851479e+02] [ 5.64351030e-02 9.98401405e-01 -3.11673018e-03 1.01258698e+02] [ 2.48329663e-02 1.71705830e-03 9.99690140e-01 2.46263671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.136875 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:278.88, Y:101.26, Z:24.62 [[ 9.98468027e-01 -4.94926297e-02 -2.47402395e-02 2.78876966e+02] [ 4.94493979e-02 9.98773850e-01 -2.35654675e-03 1.01255312e+02] [ 2.48265360e-02 1.12954663e-03 9.99691136e-01 2.46231293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.166875 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:278.91, Y:101.25, Z:24.62 [[ 9.98565679e-01 -4.74821590e-02 -2.47392082e-02 2.78907748e+02] [ 4.74378692e-02 9.98871368e-01 -2.37441094e-03 1.01254668e+02] [ 2.48240289e-02 1.19742995e-03 9.99691119e-01 2.46235059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.196875 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:278.93, Y:101.26, Z:24.62 [[ 9.98330870e-01 -5.21822721e-02 -2.47484075e-02 2.78928100e+02] [ 5.21434100e-02 9.98637154e-01 -2.21346962e-03 1.01261616e+02] [ 2.48301832e-02 9.19308690e-04 9.99691261e-01 2.46226683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2268750000001 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:278.98, Y:101.25, Z:24.62 [[ 9.99112968e-01 -3.40913307e-02 -2.47195801e-02 2.78978066e+02] [ 3.40345609e-02 9.99416972e-01 -2.71377460e-03 1.01249046e+02] [ 2.47976840e-02 1.87004734e-03 9.99690741e-01 2.46205618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.256875 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:279.01, Y:101.25, Z:24.62 [[ 9.99136178e-01 -3.33491109e-02 -2.47938368e-02 2.79006191e+02] [ 3.33251012e-02 9.99443610e-01 -1.38105314e-03 1.01251397e+02] [ 2.48260986e-02 5.53603043e-04 9.99691632e-01 2.46207897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.286875 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:279.03, Y:101.25, Z:24.62 [[ 9.99130848e-01 -3.35086567e-02 -2.47935018e-02 2.79034629e+02] [ 3.34845475e-02 9.99438273e-01 -1.38704051e-03 1.01253277e+02] [ 2.48260525e-02 5.55635770e-04 9.99691632e-01 2.46224712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.316875 meters Centerline goodness : 0.989006 Centerline is valid? [True, True] Translation: X:279.06, Y:101.27, Z:24.63 [[ 9.98525067e-01 -4.83010558e-02 -2.47931259e-02 2.79055567e+02] [ 4.82813359e-02 9.98832804e-01 -1.39372715e-03 1.01266099e+02] [ 2.48315060e-02 1.94626258e-04 9.99691632e-01 2.46292151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.346875 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:279.07, Y:101.27, Z:24.62 [[ 9.98755141e-01 -4.32955290e-02 -2.47722733e-02 2.79069264e+02] [ 4.32649765e-02 9.99062068e-01 -1.76822847e-03 1.01265547e+02] [ 2.48255949e-02 6.94255457e-04 9.99691556e-01 2.46236861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.376875 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:279.09, Y:101.27, Z:24.62 [[ 9.98573732e-01 -4.73189978e-02 -2.47268108e-02 2.79091439e+02] [ 4.72693162e-02 9.98878823e-01 -2.59019987e-03 1.01271369e+02] [ 2.48216533e-02 1.41768611e-03 9.99690890e-01 2.46217418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.406875 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:279.15, Y:101.25, Z:24.63 [[ 9.99176759e-01 -3.21833323e-02 -2.46989337e-02 2.79147109e+02] [ 3.21169222e-02 9.99479370e-01 -3.08087925e-03 1.01254408e+02] [ 2.47852277e-02 2.28508921e-03 9.99690187e-01 2.46254651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.436875 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:279.17, Y:101.26, Z:24.62 [[ 9.99209182e-01 -3.10855416e-02 -2.47931437e-02 2.79174576e+02] [ 3.10617265e-02 9.99516563e-01 -1.34518443e-03 1.01255865e+02] [ 2.48229736e-02 5.74002785e-04 9.99691698e-01 2.46229196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.466875 meters Centerline goodness : 0.986609 Centerline is valid? [True, True] Translation: X:279.21, Y:101.26, Z:24.63 [[ 9.99174947e-01 -3.21674320e-02 -2.47927873e-02 2.79211680e+02] [ 3.21437876e-02 9.99482341e-01 -1.35172174e-03 1.01256911e+02] [ 2.48234345e-02 5.53672408e-04 9.99691698e-01 2.46294273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.496875 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:279.23, Y:101.26, Z:24.62 [[ 9.99313048e-01 -2.75102672e-02 -2.48317787e-02 2.79231720e+02] [ 2.75030912e-02 9.99621520e-01 -6.30530814e-04 1.01255510e+02] [ 2.48397265e-02 -5.28530049e-05 9.99691445e-01 2.46243903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.526875 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:279.26, Y:101.26, Z:24.62 [[ 9.99306376e-01 -2.77918137e-02 -2.47867393e-02 2.79260264e+02] [ 2.77644402e-02 9.99613445e-01 -1.44788901e-03 1.01257616e+02] [ 2.48173973e-02 7.58694775e-04 9.99691713e-01 2.46246949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.556875 meters Centerline goodness : 0.990006 Centerline is valid? [True, True] Translation: X:279.28, Y:101.27, Z:24.63 [[ 9.98747905e-01 -4.34542505e-02 -2.47861118e-02 2.79278142e+02] [ 4.34314133e-02 9.99055345e-01 -1.45921336e-03 1.01271742e+02] [ 2.48261065e-02 3.80890417e-04 9.99691712e-01 2.46261140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.586875 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:279.32, Y:101.26, Z:24.62 [[ 9.99333983e-01 -2.68112328e-02 -2.47537340e-02 2.79321028e+02] [ 2.67675927e-02 9.99639493e-01 -2.09270011e-03 1.01258296e+02] [ 2.48009180e-02 1.42870847e-03 9.99691389e-01 2.46241373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.616875 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:279.35, Y:101.26, Z:24.62 [[ 9.99335169e-01 -2.67274928e-02 -2.47964040e-02 2.79348226e+02] [ 2.67049783e-02 9.99642591e-01 -1.23873613e-03 1.01260500e+02] [ 2.48206499e-02 5.75725154e-04 9.99691754e-01 2.46237752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.646875 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:279.38, Y:101.26, Z:24.62 [[ 9.99328145e-01 -2.69889593e-02 -2.47962614e-02 2.79376079e+02] [ 2.69664546e-02 9.99635568e-01 -1.24158387e-03 1.01261494e+02] [ 2.48207339e-02 5.72082446e-04 9.99691754e-01 2.46247542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.676875 meters Centerline goodness : 0.991408 Centerline is valid? [True, True] Translation: X:279.38, Y:101.28, Z:24.63 [[ 9.98697100e-01 -4.46011595e-02 -2.47959440e-02 2.79384815e+02] [ 4.45839210e-02 9.99004863e-01 -1.24789176e-03 1.01276256e+02] [ 2.48269260e-02 1.40765477e-04 9.99691754e-01 2.46303544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.706875 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:279.41, Y:101.27, Z:24.63 [[ 9.98691322e-01 -4.47619831e-02 -2.47387981e-02 2.79413657e+02] [ 4.47164738e-02 9.98996859e-01 -2.39001600e-03 1.01274725e+02] [ 2.48209634e-02 1.28065642e-03 9.99691092e-01 2.46333785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.736875 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:279.44, Y:101.27, Z:24.63 [[ 9.98757361e-01 -4.32642692e-02 -2.47373469e-02 2.79439367e+02] [ 4.32175774e-02 9.99062755e-01 -2.41927635e-03 1.01274999e+02] [ 2.48188302e-02 1.34718186e-03 9.99691058e-01 2.46305917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.766875 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:279.49, Y:101.26, Z:24.63 [[ 9.99164798e-01 -3.25323997e-02 -2.47254815e-02 2.79490837e+02] [ 3.24766021e-02 9.99468970e-01 -2.65501084e-03 1.01259416e+02] [ 2.47987254e-02 1.84979375e-03 9.99690753e-01 2.46349152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.796875 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:279.50, Y:101.28, Z:24.63 [[ 9.98556884e-01 -4.76373253e-02 -2.47958764e-02 2.79503638e+02] [ 4.76223237e-02 9.98864698e-01 -1.19549796e-03 1.01276828e+02] [ 2.48246759e-02 1.29354625e-05 9.99691820e-01 2.46325548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.826875 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:279.52, Y:101.28, Z:24.63 [[ 9.98395040e-01 -5.09386214e-02 -2.47507606e-02 2.79523150e+02] [ 5.09015618e-02 9.98701414e-01 -2.12544519e-03 1.01283949e+02] [ 2.48268869e-02 8.62181570e-04 9.99691394e-01 2.46318732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8568750000001 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:279.58, Y:101.26, Z:24.64 [[ 9.98928427e-01 -3.91311067e-02 -2.47134485e-02 2.79578601e+02] [ 3.90727490e-02 9.99232333e-01 -2.84004798e-03 1.01264635e+02] [ 2.48056110e-02 1.87138229e-03 9.99690542e-01 2.46360173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.886875 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:279.59, Y:101.28, Z:24.64 [[ 9.98404707e-01 -5.07279534e-02 -2.47934436e-02 2.79585040e+02] [ 5.07129018e-02 9.98712508e-01 -1.23587989e-03 1.01279567e+02] [ 2.48242159e-02 -2.34391715e-05 9.99691831e-01 2.46350846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.916875 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:279.64, Y:101.27, Z:24.64 [[ 9.98923020e-01 -3.92604480e-02 -2.47268514e-02 2.79635548e+02] [ 3.92098160e-02 9.99227798e-01 -2.52936096e-03 1.01265480e+02] [ 2.48070612e-02 1.55710159e-03 9.99691045e-01 2.46369698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.946875 meters Centerline goodness : 0.991798 Centerline is valid? [True, True] Translation: X:279.67, Y:101.26, Z:24.64 [[ 9.99130438e-01 -3.35224862e-02 -2.47913354e-02 2.79667162e+02] [ 3.35023143e-02 9.99437885e-01 -1.22868309e-03 1.01258681e+02] [ 2.48185883e-02 3.97047563e-04 9.99691893e-01 2.46370576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9768750000001 meters Centerline goodness : 0.993203 Centerline is valid? [True, True] Translation: X:279.67, Y:101.27, Z:24.64 [[ 9.98769950e-01 -4.29363690e-02 -2.48003171e-02 2.79669202e+02] [ 4.29235884e-02 9.99077809e-01 -1.04769726e-03 1.01265371e+02] [ 2.48224308e-02 -1.81100596e-05 9.99691876e-01 2.46426584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.006875 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:279.73, Y:101.25, Z:24.64 [[ 9.99379255e-01 -2.50764815e-02 -2.47442027e-02 2.79725263e+02] [ 2.50215052e-02 9.99683714e-01 -2.52895467e-03 1.01246630e+02] [ 2.47997938e-02 1.90824764e-03 9.99690617e-01 2.46416045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.036875 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:279.73, Y:101.26, Z:24.64 [[ 9.99002323e-01 -3.71374171e-02 -2.48026450e-02 2.79728700e+02] [ 3.71270900e-02 9.99310167e-01 -8.76895348e-04 1.01264512e+02] [ 2.48181010e-02 -4.48295461e-05 9.99691982e-01 2.46373380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.066875 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:279.76, Y:101.27, Z:24.64 [[ 9.98774828e-01 -4.28529239e-02 -2.47481433e-02 2.79756312e+02] [ 4.28051817e-02 9.99080420e-01 -2.45590913e-03 1.01272701e+02] [ 2.48306282e-02 1.39355145e-03 9.99690701e-01 2.46350104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.096875 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:279.79, Y:101.27, Z:24.64 [[ 9.99084162e-01 -3.49090495e-02 -2.47425674e-02 2.79793987e+02] [ 3.48546484e-02 9.99388940e-01 -2.62668227e-03 1.01267688e+02] [ 2.48191432e-02 1.76188317e-03 9.99690405e-01 2.46364699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.126875 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:279.82, Y:101.27, Z:24.63 [[ 9.99014273e-01 -3.68428828e-02 -2.47605529e-02 2.79818815e+02] [ 3.68029402e-02 9.99320404e-01 -2.06707503e-03 1.01270614e+02] [ 2.48198828e-02 1.15377631e-03 9.99691273e-01 2.46346949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.156875 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:279.87, Y:101.25, Z:24.64 [[ 9.99483950e-01 -2.04716307e-02 -2.47537168e-02 2.79870295e+02] [ 2.04216629e-02 9.99788880e-01 -2.26973605e-03 1.01252271e+02] [ 2.47949560e-02 1.76305269e-03 9.99691003e-01 2.46388168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.186875 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:279.88, Y:101.27, Z:24.64 [[ 9.99133880e-01 -3.34127964e-02 -2.48007043e-02 2.79876656e+02] [ 3.34036339e-02 9.99441636e-01 -7.83749103e-04 1.01268663e+02] [ 2.48130437e-02 -4.53633637e-05 9.99692108e-01 2.46369293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.216875 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:279.90, Y:101.27, Z:24.64 [[ 9.99074669e-01 -3.51704124e-02 -2.47557499e-02 2.79903100e+02] [ 3.51256132e-02 9.99380390e-01 -2.24231153e-03 1.01271579e+02] [ 2.48192740e-02 1.37067576e-03 9.99691015e-01 2.46370493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.246875 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:279.93, Y:101.27, Z:24.64 [[ 9.99124499e-01 -3.37293268e-02 -2.47501163e-02 2.79931550e+02] [ 3.36794629e-02 9.99429735e-01 -2.42890147e-03 1.01271200e+02] [ 2.48179274e-02 1.59320433e-03 9.99690718e-01 2.46407010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.276875 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:279.97, Y:101.27, Z:24.65 [[ 9.99154506e-01 -3.28277678e-02 -2.47509703e-02 2.79966199e+02] [ 3.27783404e-02 9.99459764e-01 -2.40016691e-03 1.01270156e+02] [ 2.48163911e-02 1.58684185e-03 9.99690767e-01 2.46453877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.306875 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:279.99, Y:101.27, Z:24.65 [[ 9.99173136e-01 -3.22467475e-02 -2.47626912e-02 2.79991609e+02] [ 3.22073547e-02 9.99479231e-01 -1.98810339e-03 1.01272610e+02] [ 2.48139054e-02 1.18891872e-03 9.99691381e-01 2.46496852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.336875 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:280.02, Y:101.28, Z:24.65 [[ 9.99172730e-01 -3.22628876e-02 -2.47580774e-02 2.80018325e+02] [ 3.22194841e-02 9.99478505e-01 -2.15011890e-03 1.01275559e+02] [ 2.48145352e-02 1.35064769e-03 9.99691160e-01 2.46509719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.366875 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:280.05, Y:101.28, Z:24.65 [[ 9.99318937e-01 -2.73652840e-02 -2.47548578e-02 2.80051280e+02] [ 2.73175510e-02 9.99624241e-01 -2.26441035e-03 1.01275007e+02] [ 2.48075222e-02 1.58662605e-03 9.99690987e-01 2.46492178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.396875 meters Centerline goodness : 0.991009 Centerline is valid? [True, True] Translation: X:280.08, Y:101.28, Z:24.65 [[ 9.99314668e-01 -2.75137964e-02 -2.47625633e-02 2.80080232e+02] [ 2.74731445e-02 9.99620580e-01 -1.98044204e-03 1.01277290e+02] [ 2.48076573e-02 1.29877930e-03 9.99691399e-01 2.46492007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.426875 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:280.10, Y:101.28, Z:24.65 [[ 9.99377832e-01 -2.51119858e-02 -2.47656240e-02 2.80104969e+02] [ 2.50735345e-02 9.99683876e-01 -1.86196601e-03 1.01278420e+02] [ 2.48045527e-02 1.23984583e-03 9.99691551e-01 2.46497222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.456875 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:280.13, Y:101.28, Z:24.64 [[ 9.99399727e-01 -2.42285544e-02 -2.47621119e-02 2.80129470e+02] [ 2.41864000e-02 9.99705465e-01 -2.00050391e-03 1.01283623e+02] [ 2.48032879e-02 1.40039672e-03 9.99691370e-01 2.46411135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.486875 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:280.16, Y:101.28, Z:24.65 [[ 9.99331054e-01 -2.69189902e-02 -2.47550364e-02 2.80161973e+02] [ 2.68706439e-02 9.99636311e-01 -2.28362035e-03 1.01284514e+02] [ 2.48075060e-02 1.61690896e-03 9.99690939e-01 2.46469231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.516875 meters Centerline goodness : 0.993104 Centerline is valid? [True, True] Translation: X:280.19, Y:101.28, Z:24.64 [[ 9.99438242e-01 -2.25861733e-02 -2.47601563e-02 2.80189042e+02] [ 2.25419372e-02 9.99743767e-01 -2.06427973e-03 1.01281406e+02] [ 2.48004361e-02 1.50497822e-03 9.99691289e-01 2.46443672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.546875 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:280.22, Y:101.28, Z:24.65 [[ 9.99255452e-01 -2.95905744e-02 -2.47576131e-02 2.80221355e+02] [ 2.95458054e-02 9.99561067e-01 -2.17222133e-03 1.01280579e+02] [ 2.48110234e-02 1.43912039e-03 9.99691123e-01 2.46549655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.576875 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:280.25, Y:101.28, Z:24.66 [[ 9.99411908e-01 -2.37192567e-02 -2.47635685e-02 2.80251435e+02] [ 2.36794198e-02 9.99717796e-01 -1.90073206e-03 1.01275072e+02] [ 2.48016641e-02 1.31322732e-03 9.99691529e-01 2.46552220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6068750000001 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:280.28, Y:101.28, Z:24.66 [[ 9.99378163e-01 -2.50984620e-02 -2.47659915e-02 2.80276253e+02] [ 2.50618423e-02 9.99684304e-01 -1.78796022e-03 1.01277983e+02] [ 2.48030480e-02 1.16616703e-03 9.99691677e-01 2.46554953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.636875 meters Centerline goodness : 0.991939 Centerline is valid? [True, True] Translation: X:280.31, Y:101.28, Z:24.65 [[ 9.99535593e-01 -1.77621502e-02 -2.47609492e-02 2.80313839e+02] [ 1.77174194e-02 9.99840984e-01 -2.02473935e-03 1.01275142e+02] [ 2.47929756e-02 1.58509892e-03 9.99691350e-01 2.46540109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.666875 meters Centerline goodness : 0.992472 Centerline is valid? [True, True] Translation: X:280.34, Y:101.28, Z:24.65 [[ 9.99543583e-01 -1.72910467e-02 -2.47718754e-02 2.80338932e+02] [ 1.72595110e-02 9.99849939e-01 -1.48630484e-03 1.01277925e+02] [ 2.47938579e-02 1.05807601e-03 9.99692025e-01 2.46505498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.696875 meters Centerline goodness : 0.992060 Centerline is valid? [True, True] Translation: X:280.37, Y:101.28, Z:24.65 [[ 9.99604900e-01 -1.32866141e-02 -2.47691406e-02 2.80371999e+02] [ 1.32503810e-02 9.99910887e-01 -1.62639088e-03 1.01275748e+02] [ 2.47885426e-02 1.29754774e-03 9.99691875e-01 2.46535977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7268750000001 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:280.41, Y:101.26, Z:24.65 [[ 9.99693066e-01 -3.96238970e-05 -2.47744235e-02 2.80414470e+02] [ 5.76381513e-06 9.99999066e-01 -1.36680532e-03 1.01260369e+02] [ 2.47744545e-02 1.36624301e-03 9.99692132e-01 2.46530850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.756875 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:280.44, Y:101.26, Z:24.65 [[ 9.99692421e-01 -6.66956173e-04 -2.47915178e-02 2.80443625e+02] [ 6.55385049e-04 9.99999672e-01 -4.74859541e-04 1.01260560e+02] [ 2.47918264e-02 4.58465494e-04 9.99692530e-01 2.46544071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.786875 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:280.46, Y:101.28, Z:24.66 [[ 9.99580579e-01 -1.49683653e-02 -2.47914049e-02 2.80456008e+02] [ 1.49610465e-02 9.99887962e-01 -4.80680358e-04 1.01277027e+02] [ 2.47958224e-02 1.09573387e-04 9.99692530e-01 2.46550019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.816875 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:280.50, Y:101.26, Z:24.66 [[ 9.99689880e-01 -2.57494315e-03 -2.47692214e-02 2.80503314e+02] [ 2.53618909e-03 9.99995510e-01 -1.59589296e-03 1.01260225e+02] [ 2.47732195e-02 1.53257861e-03 9.99691922e-01 2.46590129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.846875 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:280.51, Y:101.28, Z:24.66 [[ 9.99523531e-01 -1.83891699e-02 -2.47900874e-02 2.80514978e+02] [ 1.83836206e-02 9.99830905e-01 -4.51751393e-04 1.01275547e+02] [ 2.47942028e-02 -4.19541364e-06 9.99692576e-01 2.46609223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.876875 meters Centerline goodness : 0.992865 Centerline is valid? [True, True] Translation: X:280.54, Y:101.28, Z:24.66 [[ 9.99501743e-01 -1.95632795e-02 -2.47698277e-02 2.80541573e+02] [ 1.95295476e-02 9.99807995e-01 -1.60301328e-03 1.01275230e+02] [ 2.47964320e-02 1.11847103e-03 9.99691896e-01 2.46627577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.906875 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:280.59, Y:101.26, Z:24.66 [[ 9.99682703e-01 -4.59290325e-03 -2.47668793e-02 2.80591195e+02] [ 4.55065580e-03 9.99988094e-01 -1.76189631e-03 1.01256935e+02] [ 2.47746767e-02 1.64863173e-03 9.99691701e-01 2.46633647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.936875 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:280.61, Y:101.27, Z:24.66 [[ 9.99551020e-01 -1.68299257e-02 -2.47893635e-02 2.80607984e+02] [ 1.68248656e-02 9.99858367e-01 -4.12695650e-04 1.01270664e+02] [ 2.47927982e-02 -4.56735123e-06 9.99692611e-01 2.46638759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.966875 meters Centerline goodness : 0.992119 Centerline is valid? [True, True] Translation: X:280.63, Y:101.27, Z:24.66 [[ 9.99558309e-01 -1.64091842e-02 -2.47775290e-02 2.80631904e+02] [ 1.63840905e-02 9.99865033e-01 -1.21544564e-03 1.01273968e+02] [ 2.47941293e-02 8.08951515e-04 9.99692251e-01 2.46632897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.996875 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:280.66, Y:101.27, Z:24.66 [[ 9.99610693e-01 -1.28341917e-02 -2.47738853e-02 2.80655357e+02] [ 1.28017186e-02 9.99916976e-01 -1.46894082e-03 1.01274867e+02] [ 2.47906811e-02 1.15122065e-03 9.99692001e-01 2.46595006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.026875 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] Translation: X:280.68, Y:101.28, Z:24.66 [[ 9.99498243e-01 -1.97427591e-02 -2.47686541e-02 2.80684460e+02] [ 1.97033802e-02 9.99804189e-01 -1.83293559e-03 1.01282306e+02] [ 2.47999913e-02 1.34398969e-03 9.99691529e-01 2.46619755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.056875 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:280.71, Y:101.28, Z:24.66 [[ 9.99607434e-01 -1.30946574e-02 -2.47690865e-02 2.80714765e+02] [ 1.30540504e-02 9.99913171e-01 -1.80041129e-03 1.01277032e+02] [ 2.47905116e-02 1.47636761e-03 9.99691578e-01 2.46635736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.086875 meters Centerline goodness : 0.990323 Centerline is valid? [True, True] Translation: X:280.75, Y:101.28, Z:24.66 [[ 9.99585175e-01 -1.46923702e-02 -2.47711954e-02 2.80747569e+02] [ 1.46563914e-02 9.99891255e-01 -1.63338672e-03 1.01277494e+02] [ 2.47925000e-02 1.26965281e-03 9.99691812e-01 2.46642045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.116875 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:280.80, Y:101.26, Z:24.67 [[ 9.99693080e-01 5.49364329e-05 -2.47738390e-02 2.80800924e+02] [-9.12896016e-05 9.99998921e-01 -1.46627292e-03 1.01256686e+02] [ 2.47737317e-02 1.46808449e-03 9.99692006e-01 2.46669499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.146875 meters Centerline goodness : 0.990824 Centerline is valid? [True, True] Translation: X:280.80, Y:101.28, Z:24.67 [[ 9.99555180e-01 -1.65740878e-02 -2.47940009e-02 2.80804169e+02] [ 1.65790166e-02 9.99862559e-01 -6.77016926e-06 1.01277566e+02] [ 2.47907054e-02 -4.04292995e-04 9.99692581e-01 2.46663109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.176875 meters Centerline goodness : 0.990845 Centerline is valid? [True, True] Translation: X:280.84, Y:101.27, Z:24.67 [[ 9.99596613e-01 -1.38889840e-02 -2.47731110e-02 2.80838110e+02] [ 1.38550715e-02 9.99902828e-01 -1.54005175e-03 1.01274110e+02] [ 2.47920935e-02 1.19619729e-03 9.99691913e-01 2.46661979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.206875 meters Centerline goodness : 0.990359 Centerline is valid? [True, True] Translation: X:280.86, Y:101.28, Z:24.67 [[ 9.99597732e-01 -1.38031793e-02 -2.47759381e-02 2.80862464e+02] [ 1.37748941e-02 9.99904261e-01 -1.31195472e-03 1.01275160e+02] [ 2.47916752e-02 9.70141043e-04 9.99692168e-01 2.46703902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.236875 meters Centerline goodness : 0.989991 Centerline is valid? [True, True] Translation: X:280.89, Y:101.28, Z:24.67 [[ 9.99605209e-01 -1.32554424e-02 -2.47733736e-02 2.80893592e+02] [ 1.32214435e-02 9.99911414e-01 -1.53569513e-03 1.01275343e+02] [ 2.47915353e-02 1.20754910e-03 9.99691913e-01 2.46713673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.266875 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:280.92, Y:101.27, Z:24.67 [[ 9.99660576e-01 -8.05534600e-03 -2.47758654e-02 2.80917682e+02] [ 8.02722599e-03 9.99967020e-01 -1.23422420e-03 1.01274437e+02] [ 2.47849904e-02 1.03492381e-03 9.99692269e-01 2.46719050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.296875 meters Centerline goodness : 0.989267 Centerline is valid? [True, True] Translation: X:280.96, Y:101.27, Z:24.68 [[ 9.99673822e-01 -6.20453252e-03 -2.47740351e-02 2.80955700e+02] [ 6.17055787e-03 9.99979914e-01 -1.44759308e-03 1.01273715e+02] [ 2.47825191e-02 1.29425129e-03 9.99692028e-01 2.46759746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.326875 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:280.98, Y:101.28, Z:24.68 [[ 9.99673814e-01 -6.18903152e-03 -2.47782371e-02 2.80982784e+02] [ 6.16511350e-03 9.99980453e-01 -1.04156008e-03 1.01275963e+02] [ 2.47841990e-02 8.88459698e-04 9.99692430e-01 2.46773673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3568750000001 meters Centerline goodness : 0.990987 Centerline is valid? [True, True] Translation: X:281.03, Y:101.26, Z:24.68 [[ 9.99621940e-01 1.19164655e-02 -2.47785362e-02 2.81028080e+02] [-1.19451768e-02 9.99928143e-01 -1.01101912e-03 1.01257687e+02] [ 2.47647080e-02 1.30662089e-03 9.99692454e-01 2.46809999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.386875 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:281.06, Y:101.26, Z:24.68 [[ 9.99606950e-01 1.30972723e-02 -2.47872368e-02 2.81055815e+02] [-1.31005755e-02 9.99914183e-01 2.91279202e-05 1.01258389e+02] [ 2.47854912e-02 2.95610596e-04 9.99692749e-01 2.46817410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.416875 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:281.08, Y:101.26, Z:24.68 [[ 9.99609698e-01 1.28859949e-02 -2.47871504e-02 2.81084236e+02] [-1.28894889e-02 9.99916927e-01 1.88124459e-05 1.01258810e+02] [ 2.47853337e-02 3.00688597e-04 9.99692751e-01 2.46824406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.446875 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:281.09, Y:101.28, Z:24.68 [[ 9.99692315e-01 -9.36765545e-04 -2.47870527e-02 2.81089170e+02] [ 9.37244410e-04 9.99999561e-01 7.70161915e-06 1.01281273e+02] [ 2.47870346e-02 -3.09307760e-05 9.99692754e-01 2.46770305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4768750000001 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:281.14, Y:101.26, Z:24.68 [[ 9.99595050e-01 1.40037364e-02 -2.47715957e-02 2.81143656e+02] [-1.40439257e-02 9.99900329e-01 -1.44916193e-03 1.01261623e+02] [ 2.47488330e-02 1.79646554e-03 9.99692087e-01 2.46814031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.506875 meters Centerline goodness : 0.988027 Centerline is valid? [True, True] Translation: X:281.16, Y:101.28, Z:24.68 [[ 9.99692645e-01 -5.84548567e-04 -2.47845628e-02 2.81155607e+02] [ 5.85847448e-04 9.99999827e-01 4.51457827e-05 1.01280249e+02] [ 2.47845321e-02 -5.96518798e-05 9.99692815e-01 2.46768131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.536875 meters Centerline goodness : 0.986827 Centerline is valid? [True, True] Translation: X:281.19, Y:101.28, Z:24.68 [[ 9.99690987e-01 -2.04111256e-03 -2.47742837e-02 2.81186848e+02] [ 2.01425183e-03 9.99997356e-01 -1.10912475e-03 1.01280425e+02] [ 2.47764820e-02 1.05888037e-03 9.99692455e-01 2.46819244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.566875 meters Centerline goodness : 0.987280 Centerline is valid? [True, True] Translation: X:281.21, Y:101.28, Z:24.69 [[ 9.99684281e-01 -4.18541129e-03 -2.47754197e-02 2.81206482e+02] [ 4.16287512e-03 9.99990873e-01 -9.61125105e-04 1.01284243e+02] [ 2.47792163e-02 8.57684681e-04 9.99692580e-01 2.46851472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.596875 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:281.23, Y:101.28, Z:24.68 [[ 9.99687967e-01 -3.20922770e-03 -2.47723359e-02 2.81234064e+02] [ 3.17426136e-03 9.99993910e-01 -1.45070165e-03 1.01280984e+02] [ 2.47768407e-02 1.37161511e-03 9.99692066e-01 2.46822054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.626875 meters Centerline goodness : 0.988465 Centerline is valid? [True, True] Translation: X:281.27, Y:101.28, Z:24.68 [[ 9.99690189e-01 -2.42683235e-03 -2.47716679e-02 2.81267432e+02] [ 2.38900244e-03 9.99995935e-01 -1.55662453e-03 1.01278072e+02] [ 2.47753449e-02 1.49696270e-03 9.99691923e-01 2.46813705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.656875 meters Centerline goodness : 0.989336 Centerline is valid? [True, True] Translation: X:281.29, Y:101.28, Z:24.68 [[ 9.99690544e-01 -2.25901102e-03 -2.47732369e-02 2.81291361e+02] [ 2.22919274e-03 9.99996757e-01 -1.23119947e-03 1.01279463e+02] [ 2.47759378e-02 1.17559415e-03 9.99692338e-01 2.46787060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.686875 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:281.32, Y:101.28, Z:24.68 [[ 9.99692817e-01 7.62370667e-04 -2.47727814e-02 2.81318181e+02] [-7.97373297e-04 9.99998698e-01 -1.40309975e-03 1.01277444e+02] [ 2.47716794e-02 1.42242189e-03 9.99692123e-01 2.46805245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.716875 meters Centerline goodness : 0.988676 Centerline is valid? [True, True] Translation: X:281.35, Y:101.28, Z:24.68 [[ 9.99662674e-01 -7.80133329e-03 -2.47724934e-02 2.81347977e+02] [ 7.76564661e-03 9.99968667e-01 -1.53645350e-03 1.01281496e+02] [ 2.47837036e-02 1.34356079e-03 9.99691934e-01 2.46751173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.746875 meters Centerline goodness : 0.989163 Centerline is valid? [True, True] Translation: X:281.38, Y:101.27, Z:24.68 [[ 9.99687141e-01 -3.45794955e-03 -2.47722226e-02 2.81383069e+02] [ 3.41914261e-03 9.99992861e-01 -1.60873609e-03 1.01273357e+02] [ 2.47776086e-02 1.52353302e-03 9.99691827e-01 2.46782158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.776875 meters Centerline goodness : 0.988653 Centerline is valid? [True, True] Translation: X:281.41, Y:101.27, Z:24.68 [[ 9.99686756e-01 -3.56020176e-03 -2.47732772e-02 2.81410930e+02] [ 3.53038185e-03 9.99992990e-01 -1.24734506e-03 1.01274267e+02] [ 2.47775443e-02 1.15949521e-03 9.99692317e-01 2.46845461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.806875 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:281.44, Y:101.27, Z:24.68 [[ 9.99688974e-01 -2.87136570e-03 -2.47731799e-02 2.81442226e+02] [ 2.84051224e-03 9.99995146e-01 -1.28053798e-03 1.01272956e+02] [ 2.47767365e-02 1.20977117e-03 9.99692278e-01 2.46836296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.836875 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:281.47, Y:101.27, Z:24.69 [[ 9.99693097e-01 5.33515441e-05 -2.47731434e-02 2.81465970e+02] [-7.81820596e-05 9.99999496e-01 -1.00134842e-03 1.01272386e+02] [ 2.47730775e-02 1.00297792e-03 9.99692597e-01 2.46895694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.866875 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:281.50, Y:101.27, Z:24.69 [[ 9.99691975e-01 1.49952685e-03 -2.47731156e-02 2.81502831e+02] [-1.53010002e-03 9.99998091e-01 -1.21521739e-03 1.01268227e+02] [ 2.47712460e-02 1.25274842e-03 9.99692361e-01 2.46904657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.896875 meters Centerline goodness : 0.989294 Centerline is valid? [True, True] Translation: X:281.52, Y:101.27, Z:24.69 [[ 9.99693065e-01 2.29587503e-04 -2.47734228e-02 2.81524823e+02] [-2.49374682e-04 9.99999652e-01 -7.95639635e-04 1.01269516e+02] [ 2.47732315e-02 8.01573290e-04 9.99692775e-01 2.46943371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.926875 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:281.55, Y:101.27, Z:24.70 [[ 9.99691264e-01 -1.91327329e-03 -2.47733044e-02 2.81551274e+02] [ 1.88529375e-03 9.99997558e-01 -1.15272971e-03 1.01268225e+02] [ 2.47754494e-02 1.10566887e-03 9.99692430e-01 2.46964608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.956875 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:281.58, Y:101.27, Z:24.70 [[ 9.99690479e-01 -2.28700871e-03 -2.47732878e-02 2.81580419e+02] [ 2.25718710e-03 9.99996694e-01 -1.23167719e-03 1.01267489e+02] [ 2.47760228e-02 1.17537802e-03 9.99692336e-01 2.46951964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.986875 meters Centerline goodness : 0.989185 Centerline is valid? [True, True] Translation: X:281.60, Y:101.27, Z:24.69 [[ 9.99687728e-01 -3.27644749e-03 -2.47731830e-02 2.81604221e+02] [ 3.24882384e-03 9.99994055e-01 -1.15522844e-03 1.01271332e+02] [ 2.47768208e-02 1.07438398e-03 9.99692430e-01 2.46920131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.016875 meters Centerline goodness : 0.991290 Centerline is valid? [True, True] Translation: X:281.64, Y:101.27, Z:24.69 [[ 9.99691466e-01 1.80028413e-03 -2.47735993e-02 2.81639677e+02] [-1.83614298e-03 9.99997299e-01 -1.42479084e-03 1.01266445e+02] [ 2.47709674e-02 1.46983912e-03 9.99692072e-01 2.46891665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.046875 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:281.67, Y:101.27, Z:24.69 [[ 9.99691934e-01 1.53191228e-03 -2.47727871e-02 2.81667049e+02] [-1.55807865e-03 9.99998249e-01 -1.03698692e-03 1.01268277e+02] [ 2.47711551e-02 1.07526541e-03 9.99692570e-01 2.46872753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.076875 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:281.69, Y:101.27, Z:24.69 [[ 9.99685586e-01 3.88194575e-03 -2.47721621e-02 2.81691722e+02] [-3.90574257e-03 9.99991956e-01 -9.12315666e-04 1.01269052e+02] [ 2.47684212e-02 1.00878251e-03 9.99692707e-01 2.46924670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1068750000001 meters Centerline goodness : 0.990134 Centerline is valid? [True, True] Translation: X:281.72, Y:101.27, Z:24.69 [[ 9.99667716e-01 7.12387287e-03 -2.47731243e-02 2.81720522e+02] [-7.15307793e-03 9.99973822e-01 -1.09048384e-03 1.01268614e+02] [ 2.47647073e-02 1.26732558e-03 9.99692504e-01 2.46924644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.136875 meters Centerline goodness : 0.989810 Centerline is valid? [True, True] Translation: X:281.76, Y:101.26, Z:24.69 [[ 9.99640703e-01 1.02355272e-02 -2.47729636e-02 2.81760941e+02] [-1.02648647e-02 9.99946756e-01 -1.05737599e-03 1.01262011e+02] [ 2.47608218e-02 1.31128719e-03 9.99692544e-01 2.46924313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.166875 meters Centerline goodness : 0.990247 Centerline is valid? [True, True] Translation: X:281.79, Y:101.26, Z:24.69 [[ 9.99663546e-01 7.69530090e-03 -2.47704894e-02 2.81785241e+02] [-7.70820162e-03 9.99970201e-01 -4.25368318e-04 1.01264307e+02] [ 2.47664779e-02 6.16161128e-04 9.99693074e-01 2.46891280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.196875 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:281.81, Y:101.27, Z:24.69 [[ 9.99683372e-01 4.41565840e-03 -2.47721159e-02 2.81809993e+02] [-4.43639402e-03 9.99989853e-01 -7.82159081e-04 1.01265732e+02] [ 2.47684108e-02 8.91810295e-04 9.99692818e-01 2.46870379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2268750000001 meters Centerline goodness : 0.991365 Centerline is valid? [True, True] Translation: X:281.83, Y:101.26, Z:24.69 [[ 9.99636049e-01 1.06831337e-02 -2.47717663e-02 2.81834790e+02] [-1.07048662e-02 9.99942424e-01 -7.44860341e-04 1.01260982e+02] [ 2.47623826e-02 1.00976769e-03 9.99692855e-01 2.46932689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.256875 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:281.86, Y:101.26, Z:24.69 [[ 9.99645516e-01 9.75432484e-03 -2.47728638e-02 2.81862609e+02] [-9.77857850e-03 9.99951820e-01 -8.58087121e-04 1.01261948e+02] [ 2.47633002e-02 1.10002634e-03 9.99692737e-01 2.46939506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.286875 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:281.89, Y:101.26, Z:24.69 [[ 9.99625170e-01 1.16547067e-02 -2.47727123e-02 2.81886308e+02] [-1.16792123e-02 9.99931439e-01 -8.44754997e-04 1.01261590e+02] [ 2.47611685e-02 1.13376412e-03 9.99692752e-01 2.46933197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.316875 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:281.92, Y:101.26, Z:24.70 [[ 9.99658122e-01 8.35085704e-03 -2.47770399e-02 2.81924241e+02] [-8.38353308e-03 9.99964119e-01 -1.21521918e-03 1.01259642e+02] [ 2.47660027e-02 1.42252285e-03 9.99692263e-01 2.47032261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.346875 meters Centerline goodness : 0.992392 Centerline is valid? [True, True] Translation: X:281.95, Y:101.26, Z:24.70 [[ 9.99672180e-01 6.48077508e-03 -2.47695776e-02 2.81946276e+02] [-6.49813148e-03 9.99978695e-01 -6.20287479e-04 1.01262439e+02] [ 2.47650299e-02 7.81040109e-04 9.99692995e-01 2.47045253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.376875 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:281.98, Y:101.26, Z:24.70 [[ 9.99681278e-01 4.85151190e-03 -2.47750902e-02 2.81979805e+02] [-4.87904166e-03 9.99987545e-01 -1.05085920e-03 1.01261059e+02] [ 2.47696834e-02 1.17140296e-03 9.99692498e-01 2.47036369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.406875 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:282.01, Y:101.26, Z:24.71 [[ 9.99687631e-01 3.31120054e-03 -2.47724976e-02 2.82011835e+02] [-3.33280910e-03 9.99994101e-01 -8.31043900e-04 1.01258960e+02] [ 2.47695998e-02 9.13346313e-04 9.99692769e-01 2.47061030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.436875 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:282.04, Y:101.26, Z:24.71 [[ 9.99686735e-01 3.60553698e-03 -2.47675398e-02 2.82036299e+02] [-3.61865590e-03 9.99993335e-01 -4.84882568e-04 1.01257939e+02] [ 2.47656265e-02 5.74355875e-04 9.99693120e-01 2.47080813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.466875 meters Centerline goodness : 0.991180 Centerline is valid? [True, True] Translation: X:282.07, Y:101.25, Z:24.71 [[ 9.99681813e-01 4.76674647e-03 -2.47699515e-02 2.82069648e+02] [-4.78439939e-03 9.99988341e-01 -6.53459290e-04 1.01254921e+02] [ 2.47665479e-02 7.71760709e-04 9.99692964e-01 2.47107602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.496875 meters Centerline goodness : 0.993378 Centerline is valid? [True, True] Translation: X:282.11, Y:101.24, Z:24.71 [[ 9.99575518e-01 1.53427404e-02 -2.47666057e-02 2.82109512e+02] [-1.53574581e-02 9.99881986e-01 -4.04150283e-04 1.01240146e+02] [ 2.47574821e-02 7.84330839e-04 9.99693179e-01 2.47124031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.526875 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:282.12, Y:101.26, Z:24.71 [[ 9.99693531e-01 -5.69857265e-05 -2.47556048e-02 2.82122392e+02] [ 6.58609507e-05 9.99999934e-01 3.57698538e-04 1.01257969e+02] [ 2.47555828e-02 -3.59219342e-04 9.99693469e-01 2.47125916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.556875 meters Centerline goodness : 0.991738 Centerline is valid? [True, True] Translation: X:282.17, Y:101.24, Z:24.71 [[ 9.99628315e-01 1.13854009e-02 -2.47710606e-02 2.82173056e+02] [-1.14087897e-02 9.99934595e-01 -8.03073747e-04 1.01243207e+02] [ 2.47602971e-02 1.08538308e-03 9.99692828e-01 2.47090959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.586875 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:282.20, Y:101.25, Z:24.71 [[ 9.99621358e-01 1.20289498e-02 -2.47476103e-02 2.82199055e+02] [-1.20166399e-02 9.99927589e-01 6.46074515e-04 1.01245069e+02] [ 2.47535899e-02 -3.48446762e-04 9.99693522e-01 2.47092694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.616875 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:282.23, Y:101.25, Z:24.71 [[ 9.99630765e-01 1.12112018e-02 -2.47516255e-02 2.82227869e+02] [-1.12048902e-02 9.99937146e-01 3.93679074e-04 1.01246244e+02] [ 2.47544834e-02 -1.16194467e-04 9.99693554e-01 2.47105574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.646875 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:282.26, Y:101.25, Z:24.71 [[ 9.99633396e-01 1.09740694e-02 -2.47516516e-02 2.82256000e+02] [-1.09677260e-02 9.99939776e-01 3.92028658e-04 1.01247138e+02] [ 2.47544631e-02 -1.20415605e-04 9.99693554e-01 2.47132951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.676875 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:282.27, Y:101.26, Z:24.72 [[ 9.99693435e-01 -6.24431855e-04 -2.47516839e-02 2.82274284e+02] [ 6.34278819e-04 9.99999723e-01 3.89981129e-04 1.01261939e+02] [ 2.47514335e-02 -4.05561044e-04 9.99693554e-01 2.47152565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.706875 meters Centerline goodness : 0.988996 Centerline is valid? [True, True] Translation: X:282.30, Y:101.27, Z:24.72 [[ 9.99687097e-01 -3.52072155e-03 -2.47651496e-02 2.82298048e+02] [ 3.51019363e-03 9.99993729e-01 -4.68569780e-04 1.01267792e+02] [ 2.47666440e-02 3.81492693e-04 9.99693187e-01 2.47155505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.736875 meters Centerline goodness : 0.990481 Centerline is valid? [True, True] Translation: X:282.33, Y:101.27, Z:24.71 [[ 9.99689354e-01 2.75327415e-03 -2.47712466e-02 2.82327810e+02] [-2.77484201e-03 9.99995800e-01 -8.36349863e-04 1.01266801e+02] [ 2.47688398e-02 9.04826350e-04 9.99692796e-01 2.47096414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.766875 meters Centerline goodness : 0.989486 Centerline is valid? [True, True] Translation: X:282.36, Y:101.27, Z:24.72 [[ 9.99690124e-01 2.46643005e-03 -2.47703827e-02 2.82361495e+02] [-2.48664564e-03 9.99996600e-01 -7.85350220e-04 1.01267775e+02] [ 2.47683615e-02 8.46702023e-04 9.99692859e-01 2.47165098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.796875 meters Centerline goodness : 0.987581 Centerline is valid? [True, True] Translation: X:282.39, Y:101.27, Z:24.72 [[ 9.99688786e-01 3.00516848e-03 -2.47648972e-02 2.82394149e+02] [-3.01768661e-03 9.99995337e-01 -4.68122114e-04 1.01266572e+02] [ 2.47633749e-02 5.42709127e-04 9.99693193e-01 2.47157772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.826875 meters Centerline goodness : 0.990737 Centerline is valid? [True, True] Translation: X:282.43, Y:101.25, Z:24.72 [[ 9.99577473e-01 1.52230688e-02 -2.47615278e-02 2.82433620e+02] [-1.52342499e-02 9.99883918e-01 -2.62960091e-04 1.01251698e+02] [ 2.47546504e-02 6.40072286e-04 9.99693352e-01 2.47197540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8568750000001 meters Centerline goodness : 0.986809 Centerline is valid? [True, True] Translation: X:282.45, Y:101.27, Z:24.72 [[ 9.99683513e-01 4.50924869e-03 -2.47495501e-02 2.82453397e+02] [-4.50001502e-03 9.99989783e-01 4.28767455e-04 1.01268162e+02] [ 2.47512306e-02 -3.17258408e-04 9.99693591e-01 2.47218583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.886875 meters Centerline goodness : 0.988174 Centerline is valid? [True, True] Translation: X:282.48, Y:101.27, Z:24.72 [[ 9.99674995e-01 6.06894287e-03 -2.47602982e-02 2.82477248e+02] [-6.07416116e-03 9.99981543e-01 -1.35546526e-04 1.01270160e+02] [ 2.47590185e-02 2.85900514e-04 9.99693408e-01 2.47236054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.916875 meters Centerline goodness : 0.988435 Centerline is valid? [True, True] Translation: X:282.50, Y:101.28, Z:24.72 [[ 9.99679809e-01 5.19412774e-03 -2.47648878e-02 2.82500788e+02] [-5.20499992e-03 9.99986384e-01 -3.74574946e-04 1.01275315e+02] [ 2.47626050e-02 5.03356250e-04 9.99693233e-01 2.47220344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.946875 meters Centerline goodness : 0.986338 Centerline is valid? [True, True] Translation: X:282.54, Y:101.27, Z:24.73 [[ 9.99675239e-01 5.98377164e-03 -2.47711663e-02 2.82535627e+02] [-6.00289883e-03 9.99981739e-01 -6.97866010e-04 1.01274964e+02] [ 2.47665381e-02 8.46338176e-04 9.99692904e-01 2.47274858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9768750000001 meters Centerline goodness : 0.986550 Centerline is valid? [True, True] Translation: X:282.56, Y:101.27, Z:24.73 [[ 9.99623572e-01 1.18045030e-02 -2.47662575e-02 2.82564988e+02] [-1.18186365e-02 9.99930067e-01 -4.24375290e-04 1.01272184e+02] [ 2.47595160e-02 7.16918938e-04 9.99693179e-01 2.47262328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.006875 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:282.61, Y:101.26, Z:24.72 [[ 9.99314876e-01 2.75046664e-02 -2.47643442e-02 2.82606139e+02] [-2.75209069e-02 9.99621178e-01 -3.15153005e-04 1.01257055e+02] [ 2.47462947e-02 9.96474296e-04 9.99693267e-01 2.47246618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.036875 meters Centerline goodness : 0.985899 Centerline is valid? [True, True] Translation: X:282.63, Y:101.27, Z:24.73 [[ 9.99572698e-01 1.55518808e-02 -2.47499616e-02 2.82625911e+02] [-1.55452659e-02 9.99879059e-01 4.59661583e-04 1.01271819e+02] [ 2.47541169e-02 -7.47204356e-05 9.99693567e-01 2.47308614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.066875 meters Centerline goodness : 0.988054 Centerline is valid? [True, True] Translation: X:282.65, Y:101.28, Z:24.73 [[ 9.99576393e-01 1.52955687e-02 -2.47604432e-02 2.82646661e+02] [-1.53013016e-02 9.99882927e-01 -4.20765373e-05 1.01275875e+02] [ 2.47569009e-02 4.20925723e-04 9.99693412e-01 2.47268043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.096875 meters Centerline goodness : 0.985547 Centerline is valid? [True, True] Translation: X:282.68, Y:101.28, Z:24.73 [[ 9.99559624e-01 1.63340669e-02 -2.47741115e-02 2.82684760e+02] [-1.63562240e-02 9.99865989e-01 -6.91979101e-04 1.01277630e+02] [ 2.47594886e-02 1.09688529e-03 9.99692835e-01 2.47297364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.126875 meters Centerline goodness : 0.981165 Centerline is valid? [True, True] Translation: X:282.73, Y:101.27, Z:24.74 [[ 9.99500400e-01 1.96319516e-02 -2.47696630e-02 2.82733557e+02] [-1.96452406e-02 9.99806971e-01 -2.93253698e-04 1.01274020e+02] [ 2.47591245e-02 7.79713177e-04 9.99693142e-01 2.47356499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.156875 meters Centerline goodness : 0.986682 Centerline is valid? [True, True] Translation: X:282.74, Y:101.28, Z:24.73 [[ 9.99537006e-01 1.76940211e-02 -2.47526994e-02 2.82744503e+02] [-1.76741927e-02 9.99843279e-01 1.01962197e-03 1.01275686e+02] [ 2.47668614e-02 -5.81665915e-04 9.99693085e-01 2.47331287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.186875 meters Centerline goodness : 0.985738 Centerline is valid? [True, True] Translation: X:282.78, Y:101.27, Z:24.73 [[ 9.99484011e-01 2.04418582e-02 -2.47758191e-02 2.82777185e+02] [-2.04540418e-02 9.99790766e-01 -2.38406839e-04 1.01270828e+02] [ 2.47657616e-02 7.45049463e-04 9.99693004e-01 2.47337316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.216875 meters Centerline goodness : 0.986444 Centerline is valid? [True, True] Translation: X:282.80, Y:101.27, Z:24.74 [[ 9.99510028e-01 1.91360124e-02 -2.47692943e-02 2.82797430e+02] [-1.91398558e-02 9.99816813e-01 8.19198409e-05 1.01274668e+02] [ 2.47663245e-02 3.92201020e-04 9.99693191e-01 2.47358315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.246875 meters Centerline goodness : 0.989236 Centerline is valid? [True, True] Translation: X:282.85, Y:101.25, Z:24.74 [[ 9.99140294e-01 3.32351216e-02 -2.47810490e-02 2.82850938e+02] [-3.32589828e-02 9.99446615e-01 -5.51228260e-04 1.01254234e+02] [ 2.47490154e-02 1.37494685e-03 9.99692751e-01 2.47408030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.276875 meters Centerline goodness : 0.987224 Centerline is valid? [True, True] Translation: X:282.86, Y:101.27, Z:24.74 [[ 9.99512328e-01 1.90415873e-02 -2.47492403e-02 2.82864068e+02] [-1.90220028e-02 9.99818538e-01 1.02652315e-03 1.01270495e+02] [ 2.47642959e-02 -5.55242424e-04 9.99693164e-01 2.47350797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.306875 meters Centerline goodness : 0.987224 Centerline is valid? [True, True] Translation: X:282.89, Y:101.27, Z:24.74 [[ 9.99506014e-01 1.93398859e-02 -2.47728990e-02 2.82892256e+02] [-1.93489614e-02 9.99812783e-01 -1.26676181e-04 1.01270205e+02] [ 2.47658112e-02 6.05943473e-04 9.99693097e-01 2.47352761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.336875 meters Centerline goodness : 0.988544 Centerline is valid? [True, True] Translation: X:282.92, Y:101.27, Z:24.73 [[ 9.99513567e-01 1.89444858e-02 -2.47736893e-02 2.82923837e+02] [-1.89543926e-02 9.99820336e-01 -1.65111018e-04 1.01266629e+02] [ 2.47661104e-02 6.34600936e-04 9.99693071e-01 2.47349725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.366875 meters Centerline goodness : 0.989763 Centerline is valid? [True, True] Translation: X:282.97, Y:101.25, Z:24.74 [[ 9.99365268e-01 2.56043891e-02 -2.47684595e-02 2.82965331e+02] [-2.56097300e-02 9.99672012e-01 1.01601580e-04 1.01250562e+02] [ 2.47629372e-02 5.32776471e-04 9.99693209e-01 2.47409961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.396875 meters Centerline goodness : 0.990255 Centerline is valid? [True, True] Translation: X:282.99, Y:101.25, Z:24.74 [[ 9.99426010e-01 2.31328325e-02 -2.47491821e-02 2.82988905e+02] [-2.31139747e-02 9.99732287e-01 1.04779406e-03 1.01249972e+02] [ 2.47667949e-02 -4.75140663e-04 9.99693143e-01 2.47383733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.426875 meters Centerline goodness : 0.988577 Centerline is valid? [True, True] Translation: X:283.02, Y:101.26, Z:24.74 [[ 9.99614407e-01 1.25686088e-02 -2.47602152e-02 2.83018858e+02] [-1.25604081e-02 9.99920997e-01 4.86707275e-04 1.01258891e+02] [ 2.47643763e-02 -1.75521196e-04 9.99693300e-01 2.47406208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.456875 meters Centerline goodness : 0.987657 Centerline is valid? [True, True] Translation: X:283.05, Y:101.26, Z:24.74 [[ 9.99623063e-01 1.18580148e-02 -2.47612461e-02 2.83046654e+02] [-1.18508887e-02 9.99929681e-01 4.34519607e-04 1.01259479e+02] [ 2.47646575e-02 -1.40913048e-04 9.99693299e-01 2.47399709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.486875 meters Centerline goodness : 0.985413 Centerline is valid? [True, True] Translation: X:283.08, Y:101.25, Z:24.74 [[ 9.99593657e-01 1.41199302e-02 -2.47618378e-02 2.83084641e+02] [-1.41142708e-02 9.99900307e-01 4.03322390e-04 1.01254400e+02] [ 2.47650641e-02 -5.36632191e-05 9.99693297e-01 2.47418362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.516875 meters Centerline goodness : 0.987740 Centerline is valid? [True, True] Translation: X:283.10, Y:101.26, Z:24.74 [[ 9.99645878e-01 9.78832811e-03 -2.47448372e-02 2.83102746e+02] [-9.76031284e-03 9.99951582e-01 1.25269304e-03 1.01259727e+02] [ 2.47559009e-02 -1.01073209e-03 9.99693015e-01 2.47446738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.546875 meters Centerline goodness : 0.986973 Centerline is valid? [True, True] Translation: X:283.14, Y:101.25, Z:24.75 [[ 9.99611195e-01 1.28193802e-02 -2.47613053e-02 2.83141034e+02] [-1.28138512e-02 9.99917826e-01 3.81955865e-04 1.01252596e+02] [ 2.47641670e-02 -6.45196781e-05 9.99693319e-01 2.47508097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.576875 meters Centerline goodness : 0.987220 Centerline is valid? [True, True] Translation: X:283.17, Y:101.25, Z:24.75 [[ 9.99631202e-01 1.11853992e-02 -2.47456272e-02 2.83168928e+02] [-1.11599717e-02 9.99937046e-01 1.16542259e-03 1.01252548e+02] [ 2.47571051e-02 -8.88832281e-04 9.99693101e-01 2.47518017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6068750000001 meters Centerline goodness : 0.987942 Centerline is valid? [True, True] Translation: X:283.19, Y:101.26, Z:24.75 [[ 9.99685283e-01 4.10938691e-03 -2.47476836e-02 2.83185480e+02] [-4.08456861e-03 9.99991103e-01 1.05331975e-03 1.01260445e+02] [ 2.47517919e-02 -9.51904643e-04 9.99693174e-01 2.47483365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.636875 meters Centerline goodness : 0.987632 Centerline is valid? [True, True] Translation: X:283.21, Y:101.26, Z:24.75 [[ 9.99691928e-01 1.61702139e-03 -2.47675930e-02 2.83213055e+02] [-1.61550381e-03 9.99998692e-01 8.12819303e-05 1.01263757e+02] [ 2.47676921e-02 -4.12447487e-05 9.99693233e-01 2.47498806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.666875 meters Centerline goodness : 0.986596 Centerline is valid? [True, True] Translation: X:283.26, Y:101.26, Z:24.76 [[ 9.99675077e-01 6.02056161e-03 -2.47687820e-02 2.83257805e+02] [-6.02218207e-03 9.99981866e-01 9.16907594e-06 1.01257430e+02] [ 2.47683880e-02 1.39996018e-04 9.99693207e-01 2.47554630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.696875 meters Centerline goodness : 0.985515 Centerline is valid? [True, True] Translation: X:283.27, Y:101.27, Z:24.76 [[ 9.99691643e-01 -1.99331116e-03 -2.47516760e-02 2.83274315e+02] [ 2.01876527e-03 9.99997459e-01 1.00343420e-03 1.01265360e+02] [ 2.47496129e-02 -1.05309260e-03 9.99693127e-01 2.47584168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7268750000001 meters Centerline goodness : 0.986383 Centerline is valid? [True, True] Translation: X:283.29, Y:101.27, Z:24.76 [[ 9.99682870e-01 -4.53684335e-03 -2.47704913e-02 2.83294962e+02] [ 4.54047136e-03 9.99989688e-01 9.02231031e-05 1.01270271e+02] [ 2.47698266e-02 -2.02664197e-04 9.99693160e-01 2.47565931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.756875 meters Centerline goodness : 0.984606 Centerline is valid? [True, True] Translation: X:283.34, Y:101.27, Z:24.77 [[ 9.99692672e-01 8.01857459e-04 -2.47773658e-02 2.83341845e+02] [-8.13381384e-04 9.99999566e-01 -4.55024099e-04 1.01265280e+02] [ 2.47769902e-02 4.75037706e-04 9.99692890e-01 2.47655576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.786875 meters Centerline goodness : 0.987953 Centerline is valid? [True, True] Translation: X:283.37, Y:101.27, Z:24.77 [[ 9.99693332e-01 6.13441278e-04 -2.47561082e-02 2.83365452e+02] [-5.91227048e-04 9.99999416e-01 9.04632588e-04 1.01272484e+02] [ 2.47566487e-02 -8.89718685e-04 9.99693111e-01 2.47733118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.816875 meters Centerline goodness : 0.986371 Centerline is valid? [True, True] Translation: X:283.40, Y:101.28, Z:24.76 [[ 9.99692151e-01 -1.59521332e-03 -2.47600216e-02 2.83399877e+02] [ 1.61124666e-03 9.99998505e-01 6.27612814e-04 1.01277893e+02] [ 2.47589835e-02 -6.67314106e-04 9.99693227e-01 2.47621770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.846875 meters Centerline goodness : 0.988054 Centerline is valid? [True, True] Translation: X:283.43, Y:101.28, Z:24.77 [[ 9.99691420e-01 -2.04490355e-03 -2.47564954e-02 2.83426712e+02] [ 2.06713724e-03 9.99997483e-01 8.72537189e-04 1.01282237e+02] [ 2.47546488e-02 -9.23443015e-04 9.99693130e-01 2.47663795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.876875 meters Centerline goodness : 0.984098 Centerline is valid? [True, True] Translation: X:283.44, Y:101.29, Z:24.78 [[ 9.99674964e-01 -6.08778251e-03 -2.47569119e-02 2.83443717e+02] [ 6.11052127e-03 9.99980975e-01 8.42933884e-04 1.01292832e+02] [ 2.47513093e-02 -9.93937537e-04 9.99693145e-01 2.47796496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.906875 meters Centerline goodness : 0.985667 Centerline is valid? [True, True] Translation: X:283.48, Y:101.29, Z:24.78 [[ 9.99691917e-01 -1.63464927e-03 -2.47668924e-02 2.83481259e+02] [ 1.63662035e-03 9.99998659e-01 5.93150654e-05 1.01292268e+02] [ 2.47667622e-02 -9.98307914e-05 9.99693252e-01 2.47778256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.936875 meters Centerline goodness : 0.985390 Centerline is valid? [True, True] Translation: X:283.51, Y:101.30, Z:24.78 [[ 9.99689721e-01 -2.71987686e-03 -2.47601331e-02 2.83512577e+02] [ 2.73461070e-03 9.99996103e-01 5.61222384e-04 1.01295592e+02] [ 2.47585102e-02 -6.28757573e-04 9.99693263e-01 2.47782473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.966875 meters Centerline goodness : 0.986001 Centerline is valid? [True, True] Translation: X:283.54, Y:101.30, Z:24.78 [[ 9.99689474e-01 -2.82054991e-03 -2.47588246e-02 2.83541271e+02] [ 2.83795260e-03 9.99995750e-01 6.67778841e-04 1.01300254e+02] [ 2.47568359e-02 -7.37835849e-04 9.99693230e-01 2.47814497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.996875 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:283.57, Y:101.31, Z:24.77 [[ 9.99693163e-01 -7.25313376e-04 -2.47599073e-02 2.83570039e+02] [ 7.39558264e-04 9.99999566e-01 5.66168505e-04 1.01313774e+02] [ 2.47594859e-02 -5.84306178e-04 9.99693266e-01 2.47728174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.026875 meters Centerline goodness : 0.987980 Centerline is valid? [True, True] Translation: X:283.60, Y:101.32, Z:24.78 [[ 9.99693369e-01 2.14083405e-04 -2.47612878e-02 2.83597476e+02] [-2.03547214e-04 9.99999888e-01 4.28030248e-04 1.01320685e+02] [ 2.47613767e-02 -4.22858910e-04 9.99693301e-01 2.47754000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.056875 meters Centerline goodness : 0.989085 Centerline is valid? [True, True] Translation: X:283.63, Y:101.32, Z:24.77 [[ 9.99690874e-01 2.24407044e-03 -2.47612777e-02 2.83627814e+02] [-2.23413113e-03 9.99997412e-01 4.29062450e-04 1.01324882e+02] [ 2.47621765e-02 -3.73609874e-04 9.99693300e-01 2.47689460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.086875 meters Centerline goodness : 0.986032 Centerline is valid? [True, True] Translation: X:283.66, Y:101.33, Z:24.78 [[ 9.99675960e-01 5.90575065e-03 -2.47607862e-02 2.83656052e+02] [-5.89574134e-03 9.99982506e-01 4.77224621e-04 1.01329274e+02] [ 2.47631714e-02 -3.31086791e-04 9.99693291e-01 2.47808378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.116875 meters Centerline goodness : 0.986861 Centerline is valid? [True, True] Translation: X:283.69, Y:101.33, Z:24.78 [[ 9.99664607e-01 7.58872175e-03 -2.47605409e-02 2.83686040e+02] [-7.57861013e-03 9.99971156e-01 5.02191998e-04 1.01330612e+02] [ 2.47636377e-02 -3.14373081e-04 9.99693285e-01 2.47775234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.146875 meters Centerline goodness : 0.983622 Centerline is valid? [True, True] Translation: X:283.71, Y:101.33, Z:24.78 [[ 9.99654945e-01 8.77027913e-03 -2.47602984e-02 2.83714106e+02] [-8.75994299e-03 9.99961493e-01 5.25885275e-04 1.01333372e+02] [ 2.47639571e-02 -3.08805014e-04 9.99693278e-01 2.47811995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.176875 meters Centerline goodness : 0.983797 Centerline is valid? [True, True] Translation: X:283.74, Y:101.34, Z:24.79 [[ 9.99653766e-01 8.90428987e-03 -2.47600805e-02 2.83741469e+02] [-8.89346116e-03 9.99960303e-01 5.47431581e-04 1.01343827e+02] [ 2.47639721e-02 -3.27039227e-04 9.99693272e-01 2.47877298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.206875 meters Centerline goodness : 0.984547 Centerline is valid? [True, True] Translation: X:283.77, Y:101.35, Z:24.78 [[ 9.99652564e-01 9.03582470e-03 -2.47609681e-02 2.83770915e+02] [-9.02744320e-03 9.99959150e-01 4.50259087e-04 1.01348538e+02] [ 2.47640251e-02 -2.26574417e-04 9.99693299e-01 2.47807428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.236875 meters Centerline goodness : 0.987610 Centerline is valid? [True, True] Translation: X:283.80, Y:101.35, Z:24.77 [[ 9.99650967e-01 9.21056318e-03 -2.47610698e-02 2.83801443e+02] [-9.20251174e-03 9.99957560e-01 4.39097687e-04 1.01351910e+02] [ 2.47640633e-02 -2.11080392e-04 9.99693301e-01 2.47695247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.266875 meters Centerline goodness : 0.990012 Centerline is valid? [True, True] Translation: X:283.83, Y:101.36, Z:24.77 [[ 9.99670086e-01 6.82863886e-03 -2.47606126e-02 2.83831024e+02] [-6.81853645e-03 9.99976632e-01 4.92409593e-04 1.01357245e+02] [ 2.47633965e-02 -3.23416001e-04 9.99693288e-01 2.47659259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.296875 meters Centerline goodness : 0.986856 Centerline is valid? [True, True] Translation: X:283.86, Y:101.36, Z:24.77 [[ 9.99675007e-01 6.06542594e-03 -2.47606590e-02 2.83857579e+02] [-6.05522629e-03 9.99981548e-01 4.86886582e-04 1.01357370e+02] [ 2.47631553e-02 -3.36796954e-04 9.99693289e-01 2.47693963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.326875 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:283.88, Y:101.36, Z:24.76 [[ 9.99680160e-01 5.14338244e-03 -2.47613453e-02 2.83882724e+02] [-5.13495987e-03 9.99986735e-01 4.03722403e-04 1.01357391e+02] [ 2.47630933e-02 -2.76444762e-04 9.99693309e-01 2.47644985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3568750000001 meters Centerline goodness : 0.985152 Centerline is valid? [True, True] Translation: X:283.92, Y:101.36, Z:24.77 [[ 9.99683563e-01 -4.42364780e-03 -2.47629886e-02 2.83915405e+02] [ 4.42980061e-03 9.99990170e-01 1.93617151e-04 1.01362617e+02] [ 2.47618887e-02 -3.03250986e-04 9.99693331e-01 2.47748286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.386875 meters Centerline goodness : 0.987607 Centerline is valid? [True, True] Translation: X:283.94, Y:101.37, Z:24.77 [[ 9.99670462e-01 -6.77404502e-03 -2.47604450e-02 2.83942675e+02] [ 6.78913411e-03 9.99976816e-01 5.25388878e-04 1.01365263e+02] [ 2.47563119e-02 -6.93317724e-04 9.99693275e-01 2.47700617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.416875 meters Centerline goodness : 0.989635 Centerline is valid? [True, True] Translation: X:283.97, Y:101.37, Z:24.76 [[ 9.99566176e-01 -1.59475968e-02 -2.47615314e-02 2.83966874e+02] [ 1.59615416e-02 9.99872540e-01 3.65609435e-04 1.01373957e+02] [ 2.47525447e-02 -7.60683039e-04 9.99693319e-01 2.47641275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.446875 meters Centerline goodness : 0.980831 Centerline is valid? [True, True] Translation: X:284.00, Y:101.37, Z:24.79 [[ 9.99561592e-01 -1.62293793e-02 -2.47634933e-02 2.84002230e+02] [ 1.62356161e-02 9.99868192e-01 5.08055032e-05 1.01373156e+02] [ 2.47594047e-02 -4.52833800e-04 9.99693336e-01 2.47869270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4768750000001 meters Centerline goodness : 0.988103 Centerline is valid? [True, True] Translation: X:284.02, Y:101.38, Z:24.77 [[ 9.99395351e-01 -2.44103262e-02 -2.47602211e-02 2.84022470e+02] [ 2.44309031e-02 9.99701381e-01 5.28837523e-04 1.01381211e+02] [ 2.47399181e-02 -1.13343232e-03 9.99693279e-01 2.47673082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.506875 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:284.06, Y:101.38, Z:24.76 [[ 9.99464850e-01 -2.13702361e-02 -2.47654335e-02 2.84055363e+02] [ 2.13746492e-02 9.99771532e-01 -8.65355134e-05 1.01378227e+02] [ 2.47616247e-02 -4.42863251e-04 9.99693286e-01 2.47610263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.536875 meters Centerline goodness : 0.989601 Centerline is valid? [True, True] Translation: X:284.08, Y:101.38, Z:24.76 [[ 9.99436079e-01 -2.26772991e-02 -2.47641809e-02 2.84083571e+02] [ 2.26856457e-02 9.99742646e-01 5.61231948e-05 1.01382687e+02] [ 2.47565351e-02 -6.17882981e-04 9.99693319e-01 2.47629481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.566875 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] Translation: X:284.12, Y:101.38, Z:24.76 [[ 9.99511378e-01 -1.90710728e-02 -2.47648825e-02 2.84117027e+02] [ 1.90763658e-02 9.99818029e-01 -2.25250572e-05 1.01383463e+02] [ 2.47608056e-02 -4.49909906e-04 9.99693303e-01 2.47579727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.596875 meters Centerline goodness : 0.991452 Centerline is valid? [True, True] Translation: X:284.15, Y:101.39, Z:24.75 [[ 9.99605849e-01 -1.32261449e-02 -2.47631769e-02 2.84147990e+02] [ 1.32343045e-02 9.99912409e-01 1.65641209e-04 1.01389131e+02] [ 2.47588170e-02 -4.93299345e-04 9.99693332e-01 2.47503157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.626875 meters Centerline goodness : 0.979856 Centerline is valid? [True, True] Translation: X:284.18, Y:101.39, Z:24.78 [[ 9.99650830e-01 -9.22065266e-03 -2.47628420e-02 2.84182480e+02] [ 9.22851073e-03 9.99957396e-01 2.03069524e-04 1.01388174e+02] [ 2.47599146e-02 -4.31522772e-04 9.99693333e-01 2.47781570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.656875 meters Centerline goodness : 0.988903 Centerline is valid? [True, True] Translation: X:284.21, Y:101.39, Z:24.76 [[ 9.99669303e-01 -6.94688117e-03 -2.47593398e-02 2.84207700e+02] [ 6.96327748e-03 9.99975590e-01 5.76071409e-04 1.01391573e+02] [ 2.47547335e-02 -7.48287057e-04 9.99693275e-01 2.47584526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.686875 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:284.24, Y:101.39, Z:24.75 [[ 9.99689864e-01 2.64901727e-03 -2.47620277e-02 2.84240127e+02] [-2.64340410e-03 9.99996473e-01 2.59414685e-04 1.01392638e+02] [ 2.47626276e-02 -1.93878185e-04 9.99693340e-01 2.47505616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.716875 meters Centerline goodness : 0.990178 Centerline is valid? [True, True] Translation: X:284.27, Y:101.40, Z:24.75 [[ 9.99673850e-01 6.25228658e-03 -2.47609058e-02 2.84267530e+02] [-6.24441508e-03 9.99980425e-01 3.95209052e-04 1.01395210e+02] [ 2.47628920e-02 -2.40462781e-04 9.99693324e-01 2.47477397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.746875 meters Centerline goodness : 0.990449 Centerline is valid? [True, True] Translation: X:284.30, Y:101.39, Z:24.74 [[ 9.99632049e-01 1.10724483e-02 -2.47622090e-02 2.84298215e+02] [-1.10700961e-02 9.99938698e-01 2.32076630e-04 1.01393955e+02] [ 2.47632607e-02 4.21287962e-05 9.99693343e-01 2.47446838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.776875 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:284.33, Y:101.40, Z:24.75 [[ 9.99605296e-01 1.32709277e-02 -2.47615407e-02 2.84325524e+02] [-1.32671781e-02 9.99911937e-01 3.15709119e-04 1.01396622e+02] [ 2.47635499e-02 1.29312644e-05 9.99693336e-01 2.47454090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.806875 meters Centerline goodness : 0.988266 Centerline is valid? [True, True] Translation: X:284.36, Y:101.40, Z:24.75 [[ 9.99500940e-01 1.96136295e-02 -2.47624008e-02 2.84359294e+02] [-1.96145733e-02 9.99807595e-01 2.04795953e-04 1.01395597e+02] [ 2.47616532e-02 2.81010179e-04 9.99693344e-01 2.47535470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.836875 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:284.39, Y:101.40, Z:24.74 [[ 9.99474288e-01 2.09303411e-02 -2.47602376e-02 2.84387766e+02] [-2.09250588e-02 9.99780935e-01 4.72441239e-04 1.01396688e+02] [ 2.47647019e-02 4.59165565e-05 9.99693307e-01 2.47412269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.866875 meters Centerline goodness : 0.989390 Centerline is valid? [True, True] Translation: X:284.42, Y:101.40, Z:24.74 [[ 9.99476474e-01 2.08249482e-02 -2.47608461e-02 2.84415032e+02] [-2.08217440e-02 9.99783129e-01 3.87247826e-04 1.01397852e+02] [ 2.47635406e-02 1.28518907e-04 9.99693328e-01 2.47440445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.896875 meters Centerline goodness : 0.988636 Centerline is valid? [True, True] Translation: X:284.44, Y:101.39, Z:24.74 [[ 9.99395834e-01 2.43888851e-02 -2.47618500e-02 2.84443987e+02] [-2.43904127e-02 9.99702481e-01 2.40373068e-04 1.01393667e+02] [ 2.47603453e-02 3.63723898e-04 9.99693349e-01 2.47426004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.926875 meters Centerline goodness : 0.988477 Centerline is valid? [True, True] Translation: X:284.47, Y:101.39, Z:24.74 [[ 9.99319826e-01 2.73266878e-02 -2.47615958e-02 2.84472515e+02] [-2.73281939e-02 9.99626477e-01 2.77633977e-04 1.01390595e+02] [ 2.47599336e-02 3.99244552e-04 9.99693346e-01 2.47432049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.956875 meters Centerline goodness : 0.989616 Centerline is valid? [True, True] Translation: X:284.50, Y:101.39, Z:24.73 [[ 9.99331872e-01 2.68823624e-02 -2.47618189e-02 2.84500993e+02] [-2.68845668e-02 9.99638515e-01 2.43936296e-04 1.01391175e+02] [ 2.47594255e-02 4.21937459e-04 9.99693349e-01 2.47339436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.986875 meters Centerline goodness : 0.988158 Centerline is valid? [True, True] Translation: X:284.53, Y:101.39, Z:24.74 [[ 9.99180032e-01 3.20322511e-02 -2.47628336e-02 2.84531050e+02] [-3.20399517e-02 9.99486585e-01 8.58234926e-05 1.01386785e+02] [ 2.47528691e-02 7.07646873e-04 9.99693350e-01 2.47406812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.016875 meters Centerline goodness : 0.988004 Centerline is valid? [True, True] Translation: X:284.56, Y:101.39, Z:24.74 [[ 9.99132917e-01 3.34702441e-02 -2.47620154e-02 2.84560388e+02] [-3.34752644e-02 9.99439524e-01 2.11868167e-04 1.01385358e+02] [ 2.47552281e-02 6.17230553e-04 9.99693352e-01 2.47354434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.046875 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:284.59, Y:101.38, Z:24.74 [[ 9.99090594e-01 3.47103864e-02 -2.47623523e-02 2.84589307e+02] [-3.47170815e-02 9.99397168e-01 1.59607895e-04 1.01382662e+02] [ 2.47529648e-02 7.00213855e-04 9.99693353e-01 2.47350204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.076875 meters Centerline goodness : 0.989532 Centerline is valid? [True, True] Translation: X:284.62, Y:101.38, Z:24.73 [[ 9.99095272e-01 3.45754890e-02 -2.47623446e-02 2.84616195e+02] [-3.45821133e-02 9.99401847e-01 1.60794349e-04 1.01381331e+02] [ 2.47530924e-02 6.95685331e-04 9.99693353e-01 2.47256282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1068750000001 meters Centerline goodness : 0.988812 Centerline is valid? [True, True] Translation: X:284.64, Y:101.38, Z:24.73 [[ 9.99148005e-01 3.30152134e-02 -2.47641016e-02 2.84643760e+02] [-3.30280783e-02 9.99454418e-01 -1.10548488e-04 1.01375858e+02] [ 2.47469409e-02 9.28364987e-04 9.99693316e-01 2.47294635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.136875 meters Centerline goodness : 0.988031 Centerline is valid? [True, True] Translation: X:284.68, Y:101.37, Z:24.73 [[ 9.99020728e-01 3.66643782e-02 -2.47650606e-02 2.84678331e+02] [-3.66821262e-02 9.99326950e-01 -2.62593840e-04 1.01368026e+02] [ 2.47387646e-02 1.17077177e-03 9.99693264e-01 2.47275550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.166875 meters Centerline goodness : 0.988747 Centerline is valid? [True, True] Translation: X:284.71, Y:101.36, Z:24.72 [[ 9.99005499e-01 3.70784206e-02 -2.47629604e-02 2.84712062e+02] [-3.70886194e-02 9.99311979e-01 4.74565105e-05 1.01362692e+02] [ 2.47476826e-02 8.71014700e-04 9.99693350e-01 2.47247155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.196875 meters Centerline goodness : 0.988774 Centerline is valid? [True, True] Translation: X:284.73, Y:101.36, Z:24.72 [[ 9.99249483e-01 2.97884966e-02 -2.47611671e-02 2.84731623e+02] [-2.97900864e-02 9.99556130e-01 3.04747748e-04 1.01362539e+02] [ 2.47592543e-02 4.33118279e-04 9.99693349e-01 2.47205487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2268750000001 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:284.76, Y:101.36, Z:24.73 [[ 9.99298899e-01 2.80775687e-02 -2.47661106e-02 2.84759941e+02] [-2.80964978e-02 9.99605129e-01 -4.16602047e-04 1.01358179e+02] [ 2.47446340e-02 1.11215094e-03 9.99693186e-01 2.47254050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.256875 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:284.79, Y:101.36, Z:24.73 [[ 9.99289728e-01 2.84018134e-02 -2.47664379e-02 2.84789114e+02] [-2.84220999e-02 9.99595901e-01 -4.67414902e-04 1.01357815e+02] [ 2.47431544e-02 1.17099708e-03 9.99693155e-01 2.47261104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.286875 meters Centerline goodness : 0.987426 Centerline is valid? [True, True] Translation: X:284.83, Y:101.34, Z:24.73 [[ 9.99128306e-01 3.36043235e-02 -2.47664599e-02 2.84829948e+02] [-3.36262918e-02 9.99434365e-01 -4.70971037e-04 1.01344352e+02] [ 2.47366245e-02 1.30336470e-03 9.99693153e-01 2.47297036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.316875 meters Centerline goodness : 0.988113 Centerline is valid? [True, True] Translation: X:284.85, Y:101.34, Z:24.73 [[ 9.99339186e-01 2.66103139e-02 -2.47604965e-02 2.84849540e+02] [-2.66096958e-02 9.99645836e-01 3.54504837e-04 1.01341669e+02] [ 2.47611607e-02 3.04598706e-04 9.99693349e-01 2.47274209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.346875 meters Centerline goodness : 0.988312 Centerline is valid? [True, True] Translation: X:284.88, Y:101.34, Z:24.72 [[ 9.99380159e-01 2.50190504e-02 -2.47658085e-02 2.84877149e+02] [-2.50347434e-02 9.99686529e-01 -3.23760917e-04 1.01339352e+02] [ 2.47499449e-02 9.43565897e-04 9.99693228e-01 2.47194283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.376875 meters Centerline goodness : 0.989075 Centerline is valid? [True, True] Translation: X:284.92, Y:101.33, Z:24.73 [[ 9.99176365e-01 3.21426113e-02 -2.47678249e-02 2.84921601e+02] [-3.21673894e-02 9.99482314e-01 -6.02545625e-04 1.01326044e+02] [ 2.47356355e-02 1.39876562e-03 9.99693049e-01 2.47261261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.406875 meters Centerline goodness : 0.987977 Centerline is valid? [True, True] Translation: X:284.93, Y:101.33, Z:24.72 [[ 9.99419671e-01 2.33952940e-02 -2.47584437e-02 2.84934884e+02] [-2.33912750e-02 9.99726285e-01 4.51965830e-04 1.01329987e+02] [ 2.47622408e-02 1.27428024e-04 9.99693361e-01 2.47219049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.436875 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:284.96, Y:101.33, Z:24.72 [[ 9.99414444e-01 2.36072499e-02 -2.47682553e-02 2.84963023e+02] [-2.36287566e-02 9.99720636e-01 -5.75966682e-04 1.01325737e+02] [ 2.47477390e-02 1.16087250e-03 9.99693054e-01 2.47193792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.466875 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:285.01, Y:101.30, Z:24.71 [[ 9.99114584e-01 3.40083299e-02 -2.47685566e-02 2.85012823e+02] [-3.40338282e-02 9.99420496e-01 -6.08517558e-04 1.01304811e+02] [ 2.47335084e-02 1.45094757e-03 9.99693027e-01 2.47148966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.496875 meters Centerline goodness : 0.989824 Centerline is valid? [True, True] Translation: X:285.02, Y:101.31, Z:24.71 [[ 9.99512567e-01 1.90212815e-02 -2.47551879e-02 2.85023577e+02] [-1.90115921e-02 9.99819067e-01 6.26722905e-04 1.01308859e+02] [ 2.47626299e-02 -1.55781885e-04 9.99693347e-01 2.47134551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.526875 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:285.07, Y:101.29, Z:24.71 [[ 9.99277575e-01 2.88257465e-02 -2.47670118e-02 2.85072447e+02] [-2.88488828e-02 9.99583618e-01 -5.77283622e-04 1.01290932e+02] [ 2.47400586e-02 1.29136720e-03 9.99693084e-01 2.47108207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.556875 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:285.10, Y:101.29, Z:24.71 [[ 9.99354397e-01 2.60406224e-02 -2.47522755e-02 2.85101804e+02] [-2.60318095e-02 9.99660885e-01 6.78254416e-04 1.01289454e+02] [ 2.47615438e-02 -3.34700123e-05 9.99693385e-01 2.47111884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.586875 meters Centerline goodness : 0.983242 Centerline is valid? [True, True] Translation: X:285.13, Y:101.29, Z:24.73 [[ 9.99460487e-01 2.15883371e-02 -2.47523409e-02 2.85133347e+02] [-2.15782648e-02 9.99766935e-01 6.73979318e-04 1.01285565e+02] [ 2.47611221e-02 -1.39503131e-04 9.99693387e-01 2.47332932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.616875 meters Centerline goodness : 0.990376 Centerline is valid? [True, True] Translation: X:285.14, Y:101.29, Z:24.71 [[ 9.99554776e-01 1.66691420e-02 -2.47465178e-02 2.85141899e+02] [-1.66481326e-02 9.99860854e-01 1.05477827e-03 1.01285526e+02] [ 2.47606567e-02 -6.42325347e-04 9.99693202e-01 2.47097182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.646875 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:285.19, Y:101.27, Z:24.71 [[ 9.99297724e-01 2.81080296e-02 -2.47789735e-02 2.85194614e+02] [-2.81253220e-02 9.99604344e-01 -3.49560906e-04 1.01265746e+02] [ 2.47593441e-02 1.04623203e-03 9.99692893e-01 2.47066933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.676875 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:285.21, Y:101.28, Z:24.71 [[ 9.99569544e-01 1.57619059e-02 -2.47444816e-02 2.85208107e+02] [-1.57411996e-02 9.99875568e-01 1.03137772e-03 1.01278841e+02] [ 2.47576590e-02 -6.41425932e-04 9.99693276e-01 2.47055856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.706875 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:285.24, Y:101.28, Z:24.70 [[ 9.99570153e-01 1.56822304e-02 -2.47704886e-02 2.85235296e+02] [-1.56877334e-02 9.99876940e-01 -2.78371962e-05 1.01280111e+02] [ 2.47670037e-02 4.16418052e-04 9.99693164e-01 2.46971844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.736875 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:285.28, Y:101.27, Z:24.70 [[ 9.99360329e-01 2.57902852e-02 -2.47748595e-02 2.85282617e+02] [-2.58033325e-02 9.99667017e-01 -2.07040537e-04 1.01267204e+02] [ 2.47612703e-02 8.46182037e-04 9.99693035e-01 2.47008842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.766875 meters Centerline goodness : 0.991253 Centerline is valid? [True, True] Translation: X:285.30, Y:101.28, Z:24.70 [[ 9.99496023e-01 1.98827037e-02 -2.47462804e-02 2.85296609e+02] [-1.98666527e-02 9.99802239e-01 8.94328347e-04 1.01278130e+02] [ 2.47591682e-02 -4.02251869e-04 9.99693364e-01 2.47002827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.796875 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:285.34, Y:101.27, Z:24.70 [[ 9.99151630e-01 3.28999710e-02 -2.47711826e-02 2.85343326e+02] [-3.29116149e-02 9.99458264e-01 -6.24044003e-05 1.01267699e+02] [ 2.47557100e-02 8.77611081e-04 9.99693145e-01 2.46965800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.826875 meters Centerline goodness : 0.981021 Centerline is valid? [True, True] Translation: X:285.38, Y:101.27, Z:24.72 [[ 9.99091711e-01 3.46965511e-02 -2.47366500e-02 2.85375510e+02] [-3.46813179e-02 9.99397876e-01 1.04469141e-03 1.01267104e+02] [ 2.47580027e-02 -1.85842901e-04 9.99693456e-01 2.47171809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8568750000001 meters Centerline goodness : 0.989812 Centerline is valid? [True, True] Translation: X:285.39, Y:101.27, Z:24.70 [[ 9.99112589e-01 3.40991225e-02 -2.47241559e-02 2.85392096e+02] [-3.40739247e-02 9.99418278e-01 1.43985405e-03 1.01267725e+02] [ 2.47588711e-02 -5.96127279e-04 9.99693274e-01 2.46961720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.886875 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:285.43, Y:101.25, Z:24.70 [[ 9.98748862e-01 4.34471047e-02 -2.47600341e-02 2.85433566e+02] [-4.34496770e-02 9.99055522e-01 4.34345212e-04 1.01254595e+02] [ 2.47555199e-02 6.42013699e-04 9.99693329e-01 2.47004890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.916875 meters Centerline goodness : 0.983663 Centerline is valid? [True, True] Translation: X:285.47, Y:101.25, Z:24.71 [[ 9.98510723e-01 4.86278870e-02 -2.47318508e-02 2.85467585e+02] [-4.86139659e-02 9.98816964e-01 1.16417538e-03 1.01246766e+02] [ 2.47592035e-02 3.98717549e-05 9.99693443e-01 2.47069449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.946875 meters Centerline goodness : 0.982767 Centerline is valid? [True, True] Translation: X:285.50, Y:101.24, Z:24.71 [[ 9.98442679e-01 5.00136969e-02 -2.47152968e-02 2.85499154e+02] [-4.99898385e-02 9.98748473e-01 1.58262545e-03 1.01243954e+02] [ 2.47635179e-02 -3.44647097e-04 9.99693278e-01 2.47075590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9768750000001 meters Centerline goodness : 0.989763 Centerline is valid? [True, True] Translation: X:285.52, Y:101.25, Z:24.71 [[ 9.98357854e-01 5.16796668e-02 -2.47144978e-02 2.85517789e+02] [-5.16558203e-02 9.98663661e-01 1.60275526e-03 1.01247774e+02] [ 2.47643007e-02 -3.23475648e-04 9.99693265e-01 2.47072029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.006875 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:285.55, Y:101.25, Z:24.70 [[ 9.98103818e-01 5.63572203e-02 -2.47514021e-02 2.85546006e+02] [-5.63560464e-02 9.98410457e-01 7.45531487e-04 1.01249285e+02] [ 2.47540747e-02 6.50773340e-04 9.99693359e-01 2.47002299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.036875 meters Centerline goodness : 0.983718 Centerline is valid? [True, True] Translation: X:285.59, Y:101.25, Z:24.69 [[ 9.97903799e-01 5.97901821e-02 -2.47616961e-02 2.85589777e+02] [-5.97971200e-02 9.98210445e-01 4.60832633e-04 1.01250214e+02] [ 2.47449369e-02 1.02081148e-03 9.99693276e-01 2.46943950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.066875 meters Centerline goodness : 0.991464 Centerline is valid? [True, True] Translation: X:285.61, Y:101.25, Z:24.70 [[ 9.97705738e-01 6.30243069e-02 -2.47224105e-02 2.85605292e+02] [-6.30063626e-02 9.98011991e-01 1.50489039e-03 1.01251769e+02] [ 2.47681068e-02 5.62313828e-05 9.99693222e-01 2.46967404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.096875 meters Centerline goodness : 0.991595 Centerline is valid? [True, True] Translation: X:285.64, Y:101.25, Z:24.70 [[ 9.97442743e-01 6.70414885e-02 -2.47671922e-02 2.85637604e+02] [-6.70504943e-02 9.97749474e-01 4.67590915e-04 1.01249053e+02] [ 2.47428010e-02 1.19425732e-03 9.99693137e-01 2.46970108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.126875 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:285.67, Y:101.25, Z:24.70 [[ 9.97486634e-01 6.63875431e-02 -2.47610436e-02 2.85667394e+02] [-6.63928745e-02 9.97793374e-01 6.07635354e-04 1.01250717e+02] [ 2.47467446e-02 1.03784871e-03 9.99693214e-01 2.46986196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.156875 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:285.70, Y:101.24, Z:24.70 [[ 9.97047695e-01 7.26815338e-02 -2.47646763e-02 2.85700484e+02] [-7.26908181e-02 9.97354384e-01 5.26304457e-04 1.01241379e+02] [ 2.47374111e-02 1.27541393e-03 9.99693170e-01 2.47034775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.186875 meters Centerline goodness : 0.990205 Centerline is valid? [True, True] Translation: X:285.73, Y:101.24, Z:24.71 [[ 9.96855250e-01 7.52781105e-02 -2.47551367e-02 2.85733308e+02] [-7.52829575e-02 9.97161939e-01 7.37430272e-04 1.01235136e+02] [ 2.47403925e-02 1.12852867e-03 9.99693273e-01 2.47059636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.216875 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:285.76, Y:101.23, Z:24.71 [[ 9.96697503e-01 7.73416201e-02 -2.47459317e-02 2.85763836e+02] [-7.73420871e-02 9.97004172e-01 9.39663332e-04 1.01229778e+02] [ 2.47444722e-02 9.77341905e-04 9.99693331e-01 2.47087355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.246875 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:285.80, Y:101.23, Z:24.70 [[ 9.96587927e-01 7.87415511e-02 -2.47441280e-02 2.85797553e+02] [-7.87414700e-02 9.96894589e-01 9.79137659e-04 1.01227395e+02] [ 2.47443861e-02 9.72592244e-04 9.99693338e-01 2.46974903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.276875 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:285.83, Y:101.23, Z:24.70 [[ 9.96402534e-01 8.10562108e-02 -2.47362136e-02 2.85825753e+02] [-8.10525673e-02 9.96709163e-01 1.15153263e-03 1.01226519e+02] [ 2.47481497e-02 8.57543586e-04 9.99693350e-01 2.47044446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.306875 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:285.85, Y:101.23, Z:24.69 [[ 9.95920672e-01 8.67741889e-02 -2.47437983e-02 2.85853873e+02] [-8.67764144e-02 9.96227324e-01 9.85828414e-04 1.01227338e+02] [ 2.47359924e-02 1.16537119e-03 9.99693339e-01 2.46912808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.336875 meters Centerline goodness : 0.991288 Centerline is valid? [True, True] Translation: X:285.89, Y:101.23, Z:24.69 [[ 9.96263748e-01 8.27401045e-02 -2.47511698e-02 2.85890038e+02] [-8.27451343e-02 9.96570402e-01 8.22652136e-04 1.01233244e+02] [ 2.47343496e-02 1.22846037e-03 9.99693304e-01 2.46889237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.366875 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:285.93, Y:101.23, Z:24.69 [[ 9.95780987e-01 8.83657260e-02 -2.47330529e-02 2.85925298e+02] [-8.83627377e-02 9.96087621e-01 1.21584234e-03 1.01232021e+02] [ 2.47437266e-02 9.74767577e-04 9.99693352e-01 2.46896948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.396875 meters Centerline goodness : 0.991782 Centerline is valid? [True, True] Translation: X:285.96, Y:101.23, Z:24.69 [[ 9.95628594e-01 9.00697430e-02 -2.47213281e-02 2.85957638e+02] [-9.00609806e-02 9.95935168e-01 1.46987127e-03 1.01229411e+02] [ 2.47532310e-02 7.62981188e-04 9.99693301e-01 2.46945901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.426875 meters Centerline goodness : 0.991205 Centerline is valid? [True, True] Translation: X:285.98, Y:101.23, Z:24.69 [[ 9.95779736e-01 8.83845098e-02 -2.47163115e-02 2.85982642e+02] [-8.83725464e-02 9.96086243e-01 1.57803964e-03 1.01231436e+02] [ 2.47590521e-02 6.12863493e-04 9.99693260e-01 2.46896088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.456875 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:286.01, Y:101.23, Z:24.69 [[ 9.95613377e-01 9.02348341e-02 -2.47321198e-02 2.86013392e+02] [-9.02320076e-02 9.95920010e-01 1.23252979e-03 1.01226447e+02] [ 2.47424301e-02 1.00450567e-03 9.99693355e-01 2.46870434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.486875 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:286.04, Y:101.23, Z:24.69 [[ 9.95866559e-01 8.73955557e-02 -2.47348804e-02 2.86043176e+02] [-8.73933485e-02 9.96173192e-01 1.17228883e-03 1.01226974e+02] [ 2.47426776e-02 9.94220775e-04 9.99693359e-01 2.46855643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.516875 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:286.08, Y:101.22, Z:24.69 [[ 9.95270500e-01 9.39397032e-02 -2.47379084e-02 2.86077902e+02] [-9.39411437e-02 9.95577138e-01 1.10646994e-03 1.01216669e+02] [ 2.47324375e-02 1.22267051e-03 9.99693359e-01 2.46921368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.546875 meters Centerline goodness : 0.985486 Centerline is valid? [True, True] Translation: X:286.11, Y:101.21, Z:24.67 [[ 9.95399330e-01 9.25688851e-02 -2.47219748e-02 2.86107960e+02] [-9.25618313e-02 9.95705909e-01 1.43196518e-03 1.01214627e+02] [ 2.47483718e-02 8.62934075e-04 9.99693340e-01 2.46684732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.576875 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:286.13, Y:101.22, Z:24.67 [[ 9.95602194e-01 9.03606490e-02 -2.47229657e-02 2.86134764e+02] [-9.03534165e-02 9.95908764e-01 1.41174957e-03 1.01215928e+02] [ 2.47493848e-02 8.28263452e-04 9.99693344e-01 2.46747023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6068750000001 meters Centerline goodness : 0.990916 Centerline is valid? [True, True] Translation: X:286.17, Y:101.20, Z:24.68 [[ 9.94699988e-01 9.98002852e-02 -2.47353543e-02 2.86174098e+02] [-9.98022077e-02 9.95006620e-01 1.15986612e-03 1.01204744e+02] [ 2.47275963e-02 1.31492416e-03 9.99693361e-01 2.46771422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.636875 meters Centerline goodness : 0.990090 Centerline is valid? [True, True] Translation: X:286.21, Y:101.20, Z:24.68 [[ 9.94307048e-01 1.03650774e-01 -2.46983937e-02 2.86206571e+02] [-1.03635665e-01 9.94613523e-01 1.89443539e-03 1.01202601e+02] [ 2.47617161e-02 6.75984000e-04 9.99693153e-01 2.46798318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.666875 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:286.22, Y:101.21, Z:24.69 [[ 9.95075050e-01 9.59987263e-02 -2.46959415e-02 2.86221177e+02] [-9.59800555e-02 9.95381361e-01 1.94300262e-03 1.01213028e+02] [ 2.47684056e-02 4.36884407e-04 9.99693121e-01 2.46888584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.696875 meters Centerline goodness : 0.985535 Centerline is valid? [True, True] Translation: X:286.26, Y:101.21, Z:24.68 [[ 9.94793149e-01 9.88648922e-02 -2.47451671e-02 2.86257987e+02] [-9.88728238e-02 9.95099666e-01 9.05767901e-04 1.01211649e+02] [ 2.47134562e-02 1.54557285e-03 9.99693381e-01 2.46782270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7268750000001 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:286.29, Y:101.21, Z:24.69 [[ 9.94739345e-01 9.94095034e-02 -2.47262169e-02 2.86287965e+02] [-9.94078243e-02 9.95045926e-01 1.30013015e-03 1.01211761e+02] [ 2.47329667e-02 1.16468881e-03 9.99693415e-01 2.46948929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.756875 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:286.32, Y:101.21, Z:24.69 [[ 9.94545355e-01 1.01330872e-01 -2.47303710e-02 2.86319023e+02] [-1.01331933e-01 9.94851932e-01 1.21351566e-03 1.01208536e+02] [ 2.47260239e-02 1.29907993e-03 9.99693421e-01 2.46923754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.786875 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:286.35, Y:101.21, Z:24.69 [[ 9.94554406e-01 1.01242752e-01 -2.47272966e-02 2.86351529e+02] [-1.01242206e-01 9.94860987e-01 1.27722328e-03 1.01206525e+02] [ 2.47295323e-02 1.23317802e-03 9.99693418e-01 2.46921175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.816875 meters Centerline goodness : 0.991080 Centerline is valid? [True, True] Translation: X:286.38, Y:101.20, Z:24.69 [[ 9.94465467e-01 1.02113134e-01 -2.47253406e-02 2.86382154e+02] [-1.02111851e-01 9.94772051e-01 1.31775208e-03 1.01204760e+02] [ 2.47306376e-02 1.21429137e-03 9.99693414e-01 2.46917862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.846875 meters Centerline goodness : 0.990845 Centerline is valid? [True, True] Translation: X:286.41, Y:101.21, Z:24.69 [[ 9.94546797e-01 1.01317714e-01 -2.47262885e-02 2.86414857e+02] [-1.01316673e-01 9.94853380e-01 1.29812091e-03 1.01205455e+02] [ 2.47305543e-02 1.21414328e-03 9.99693416e-01 2.46868257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.876875 meters Centerline goodness : 0.990016 Centerline is valid? [True, True] Translation: X:286.45, Y:101.20, Z:24.69 [[ 9.94615388e-01 1.00642424e-01 -2.47251228e-02 2.86447365e+02] [-1.00640579e-01 9.94921970e-01 1.32216533e-03 1.01201919e+02] [ 2.47326338e-02 1.17330469e-03 9.99693413e-01 2.46867907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.906875 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:286.47, Y:101.20, Z:24.70 [[ 9.95053777e-01 9.62123422e-02 -2.47217588e-02 2.86470972e+02] [-9.62074128e-02 9.95360336e-01 1.39147590e-03 1.01198912e+02] [ 2.47409353e-02 9.93823098e-04 9.99693402e-01 2.46969998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.936875 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:286.49, Y:101.20, Z:24.70 [[ 9.95656791e-01 8.97503886e-02 -2.47471715e-02 2.86487874e+02] [-8.97561762e-02 9.95963381e-01 8.79053625e-04 1.01204031e+02] [ 2.47261720e-02 1.34597578e-03 9.99693355e-01 2.47003800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.966875 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:286.52, Y:101.20, Z:24.70 [[ 9.95602052e-01 9.03442557e-02 -2.47884874e-02 2.86520336e+02] [-9.03695621e-02 9.95908295e-01 9.97322684e-05 1.01200701e+02] [ 2.46960705e-02 2.14083110e-03 9.99692713e-01 2.47007111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.996875 meters Centerline goodness : 0.993067 Centerline is valid? [True, True] Translation: X:286.54, Y:101.21, Z:24.70 [[ 9.95986299e-01 8.60047935e-02 -2.47884736e-02 2.86544476e+02] [-8.60287587e-02 9.96292649e-01 9.99899739e-05 1.01205549e+02] [ 2.47051737e-02 2.03293297e-03 9.99692714e-01 2.46954529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.026875 meters Centerline goodness : 0.990910 Centerline is valid? [True, True] Translation: X:286.59, Y:101.19, Z:24.68 [[ 9.94212727e-01 1.04529559e-01 -2.47916255e-02 2.86593044e+02] [-1.04560748e-01 9.94518501e-01 3.84820800e-05 1.01191410e+02] [ 2.46597527e-02 2.55397154e-03 9.99692640e-01 2.46840148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.056875 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:286.62, Y:101.19, Z:24.70 [[ 9.93906195e-01 1.07424796e-01 -2.47060441e-02 2.86621205e+02] [-1.07417276e-01 9.94212681e-01 1.63513085e-03 1.01191482e+02] [ 2.47387159e-02 1.02868928e-03 9.99693422e-01 2.46951413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.086875 meters Centerline goodness : 0.990316 Centerline is valid? [True, True] Translation: X:286.66, Y:101.19, Z:24.68 [[ 9.93677406e-01 1.09518705e-01 -2.47156951e-02 2.86655188e+02] [-1.09516311e-01 9.93983934e-01 1.45453864e-03 1.01193705e+02] [ 2.47263031e-02 1.26142957e-03 9.99693462e-01 2.46845430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.116875 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:286.66, Y:101.21, Z:24.70 [[ 9.94997792e-01 9.67930710e-02 -2.47082167e-02 2.86661413e+02] [-9.67832997e-02 9.95304201e-01 1.59382826e-03 1.01206378e+02] [ 2.47464634e-02 8.05487145e-04 9.99693435e-01 2.46960038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.146875 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:286.69, Y:101.20, Z:24.70 [[ 9.94873420e-01 9.80362345e-02 -2.48148062e-02 2.86692596e+02] [-9.80710322e-02 9.95179400e-01 -1.86268918e-04 1.01204579e+02] [ 2.46769228e-02 2.61892765e-03 9.99692048e-01 2.46961477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.176875 meters Centerline goodness : 0.992027 Centerline is valid? [True, True] Translation: X:286.73, Y:101.20, Z:24.70 [[ 9.94774113e-01 9.90364138e-02 -2.48244563e-02 2.86729984e+02] [-9.90754922e-02 9.95079860e-01 -3.46195444e-04 1.01198558e+02] [ 2.46680306e-02 2.80388149e-03 9.99691766e-01 2.46982507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.206875 meters Centerline goodness : 0.991761 Centerline is valid? [True, True] Translation: X:286.76, Y:101.20, Z:24.70 [[ 9.94830897e-01 9.84692679e-02 -2.48050293e-02 2.86761933e+02] [-9.84999377e-02 9.95137057e-01 -1.46728655e-05 1.01196539e+02] [ 2.46829590e-02 2.45789086e-03 9.99692308e-01 2.46997544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.236875 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:286.80, Y:101.20, Z:24.70 [[ 9.94699600e-01 9.97873315e-02 -2.48031020e-02 2.86796547e+02] [-9.98175936e-02 9.95005753e-01 1.80820606e-05 1.01197284e+02] [ 2.46810335e-02 2.45779973e-03 9.99692356e-01 2.47020660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.266875 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:286.84, Y:101.19, Z:24.70 [[ 9.94152064e-01 1.05105107e-01 -2.47909159e-02 2.86836298e+02] [-1.05131730e-01 9.94458278e-01 2.30600553e-04 1.01191855e+02] [ 2.46777688e-02 2.37705987e-03 9.99692631e-01 2.47041851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.296875 meters Centerline goodness : 0.991762 Centerline is valid? [True, True] Translation: X:286.87, Y:101.19, Z:24.71 [[ 9.94076320e-01 1.05826700e-01 -2.47584394e-02 2.86865888e+02] [-1.05839719e-01 9.94382891e-01 7.87678433e-04 1.01194499e+02] [ 2.47027260e-02 1.83741379e-03 9.99693153e-01 2.47070280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.326875 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:286.90, Y:101.20, Z:24.70 [[ 9.94011024e-01 1.06436732e-01 -2.47650073e-02 2.86896084e+02] [-1.06452643e-01 9.94317542e-01 6.78755014e-04 1.01201581e+02] [ 2.46965256e-02 1.96161051e-03 9.99693070e-01 2.47044911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3568750000001 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:286.93, Y:101.20, Z:24.71 [[ 9.93604850e-01 1.10162312e-01 -2.47722965e-02 2.86932108e+02] [-1.10182372e-01 9.93911230e-01 5.57879406e-04 1.01199257e+02] [ 2.46829210e-02 2.17515870e-03 9.99692964e-01 2.47053424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.386875 meters Centerline goodness : 0.990847 Centerline is valid? [True, True] Translation: X:286.97, Y:101.19, Z:24.70 [[ 9.92693481e-01 1.18097522e-01 -2.47513056e-02 2.86969857e+02] [-1.18111279e-01 9.92999948e-01 9.10520002e-04 1.01192957e+02] [ 2.46855753e-02 2.01954109e-03 9.99693225e-01 2.47015419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.416875 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:287.00, Y:101.20, Z:24.71 [[ 9.92896307e-01 1.16385532e-01 -2.47251070e-02 2.86997202e+02] [-1.16387975e-01 9.93202915e-01 1.34518005e-03 1.01203234e+02] [ 2.47136078e-02 1.54208082e-03 9.99693383e-01 2.47069763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.446875 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:287.03, Y:101.21, Z:24.71 [[ 9.92966632e-01 1.15780898e-01 -2.47396625e-02 2.87027809e+02] [-1.15788869e-01 9.93273223e-01 1.11490054e-03 1.01206484e+02] [ 2.47023285e-02 1.75751852e-03 9.99693306e-01 2.47118427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4768750000001 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:287.06, Y:101.21, Z:24.71 [[ 9.92550219e-01 1.19297043e-01 -2.47442509e-02 2.87059161e+02] [-1.19307891e-01 9.92856757e-01 1.04277534e-03 1.01205606e+02] [ 2.46918967e-02 1.91717749e-03 9.99693270e-01 2.47078491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.506875 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:287.09, Y:101.21, Z:24.71 [[ 9.92377203e-01 1.20727905e-01 -2.47439052e-02 2.87087893e+02] [-1.20739060e-01 9.92683726e-01 1.04817979e-03 1.01214623e+02] [ 2.46894166e-02 1.94736613e-03 9.99693273e-01 2.47122872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.536875 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:287.12, Y:101.21, Z:24.71 [[ 9.92093052e-01 1.23039594e-01 -2.47514405e-02 2.87122959e+02] [-1.23054396e-01 9.92399491e-01 9.30013360e-04 1.01214981e+02] [ 2.46777454e-02 2.12311377e-03 9.99693204e-01 2.47131724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.566875 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:287.15, Y:101.22, Z:24.71 [[ 9.91944092e-01 1.24238612e-01 -2.47322859e-02 2.87154179e+02] [-1.24246408e-01 9.92250636e-01 1.22720809e-03 1.01222384e+02] [ 2.46930931e-02 1.85557586e-03 9.99693357e-01 2.47129381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.596875 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:287.19, Y:101.23, Z:24.71 [[ 9.91979681e-01 1.23953549e-01 -2.47352096e-02 2.87185620e+02] [-1.23962379e-01 9.92286215e-01 1.18199533e-03 1.01225482e+02] [ 2.46909200e-02 1.89372007e-03 9.99693339e-01 2.47122558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.626875 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:287.22, Y:101.23, Z:24.71 [[ 9.92115112e-01 1.22864633e-01 -2.47363491e-02 2.87218368e+02] [-1.22873562e-01 9.92421650e-01 1.16445883e-03 1.01228129e+02] [ 2.46919592e-02 1.88416612e-03 9.99693332e-01 2.47102758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.656875 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:287.25, Y:101.23, Z:24.71 [[ 9.92464085e-01 1.20013392e-01 -2.47351248e-02 2.87248671e+02] [-1.20020975e-01 9.92770651e-01 1.18319841e-03 1.01229655e+02] [ 2.46983056e-02 1.79445186e-03 9.99693340e-01 2.47142569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.686875 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:287.28, Y:101.23, Z:24.72 [[ 9.92751763e-01 1.17609375e-01 -2.47380647e-02 2.87280391e+02] [-1.17617318e-01 9.93058342e-01 1.13876062e-03 1.01228567e+02] [ 2.47002704e-02 1.77911821e-03 9.99693319e-01 2.47163592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.716875 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:287.31, Y:101.23, Z:24.72 [[ 9.93101600e-01 1.14617429e-01 -2.47397705e-02 2.87311059e+02] [-1.14625084e-01 9.93408200e-01 1.11316686e-03 1.01230031e+02] [ 2.47042792e-02 1.73031048e-03 9.99693305e-01 2.47175062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.746875 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:287.34, Y:101.23, Z:24.72 [[ 9.93176149e-01 1.13968253e-01 -2.47461965e-02 2.87341924e+02] [-1.13978089e-01 9.93482743e-01 1.01722656e-03 1.01231070e+02] [ 2.47008507e-02 1.81023903e-03 9.99693248e-01 2.47180924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.776875 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:287.37, Y:101.23, Z:24.73 [[ 9.93215851e-01 1.13624180e-01 -2.47349814e-02 2.87369876e+02] [-1.13629965e-01 9.93522445e-01 1.17608718e-03 1.01234843e+02] [ 2.47083911e-02 1.64252665e-03 9.99693352e-01 2.47290594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.806875 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:287.40, Y:101.24, Z:24.73 [[ 9.93239903e-01 1.13411438e-01 -2.47455307e-02 2.87404594e+02] [-1.13420864e-01 9.93546503e-01 1.02683968e-03 1.01241586e+02] [ 2.47022909e-02 1.78676133e-03 9.99693255e-01 2.47263870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.836875 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:287.44, Y:101.24, Z:24.73 [[ 9.92945667e-01 1.15962579e-01 -2.47301888e-02 2.87435734e+02] [-1.15967491e-01 9.93252235e-01 1.24030084e-03 1.01241552e+02] [ 2.47071438e-02 1.63634661e-03 9.99693393e-01 2.47312349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.866875 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:287.47, Y:101.24, Z:24.73 [[ 9.92833065e-01 1.16921763e-01 -2.47347041e-02 2.87473651e+02] [-1.16928526e-01 9.93139634e-01 1.17771688e-03 1.01241903e+02] [ 2.47027157e-02 1.72291622e-03 9.99693357e-01 2.47254553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.896875 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:287.50, Y:101.24, Z:24.73 [[ 9.92997945e-01 1.15519242e-01 -2.47059700e-02 2.87502454e+02] [-1.15515731e-01 9.93304404e-01 1.57407730e-03 1.01244857e+02] [ 2.47223850e-02 1.29087265e-03 9.99693522e-01 2.47319012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.926875 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:287.53, Y:101.24, Z:24.74 [[ 9.92769380e-01 1.17465013e-01 -2.47169821e-02 2.87530590e+02] [-1.17465846e-01 9.93075903e-01 1.42326939e-03 1.01244251e+02] [ 2.47130237e-02 1.49042296e-03 9.99693476e-01 2.47365283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.956875 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:287.56, Y:101.25, Z:24.74 [[ 9.93284125e-01 1.13027562e-01 -2.47268546e-02 2.87563341e+02] [-1.13030332e-01 9.93590700e-01 1.29010930e-03 1.01250763e+02] [ 2.47141907e-02 1.51343950e-03 9.99693412e-01 2.47389799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.986875 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:287.59, Y:101.25, Z:24.74 [[ 9.93663881e-01 1.09640720e-01 -2.47185064e-02 2.87594691e+02] [-1.09639662e-01 9.93970411e-01 1.40216908e-03 1.01253756e+02] [ 2.47231988e-02 1.31684393e-03 9.99693468e-01 2.47363638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.016875 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:287.63, Y:101.25, Z:24.74 [[ 9.93940221e-01 1.07106070e-01 -2.47209936e-02 2.87627984e+02] [-1.07105066e-01 9.94246766e-01 1.36850125e-03 1.01254701e+02] [ 2.47253427e-02 1.28753521e-03 9.99693453e-01 2.47376684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.046875 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:287.66, Y:101.26, Z:24.75 [[ 9.94677576e-01 1.00027924e-01 -2.47170904e-02 2.87660332e+02] [-1.00023444e-01 9.94984066e-01 1.42064981e-03 1.01255372e+02] [ 2.47352158e-02 1.05919999e-03 9.99693477e-01 2.47451542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.076875 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:287.70, Y:101.25, Z:24.75 [[ 9.94428474e-01 1.02475873e-01 -2.47124665e-02 2.87697789e+02] [-1.02470621e-01 9.94734927e-01 1.48209808e-03 1.01246168e+02] [ 2.47342328e-02 1.05846126e-03 9.99693502e-01 2.47481165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1068750000001 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:287.72, Y:101.26, Z:24.75 [[ 9.95594984e-01 9.04509977e-02 -2.46828768e-02 2.87721924e+02] [-9.04323687e-02 9.95900839e-01 1.87222488e-03 1.01256232e+02] [ 2.47510423e-02 3.68153313e-04 9.99693578e-01 2.47504206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.136875 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:287.75, Y:101.26, Z:24.75 [[ 9.96058483e-01 8.51856370e-02 -2.47165147e-02 2.87752944e+02] [-8.51764050e-02 9.96364863e-01 1.42798690e-03 1.01259729e+02] [ 2.47483108e-02 6.82905403e-04 9.99693480e-01 2.47517797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.166875 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:287.79, Y:101.26, Z:24.75 [[ 9.95993005e-01 8.59457860e-02 -2.47236035e-02 2.87790922e+02] [-8.59391079e-02 9.96299498e-01 1.33447881e-03 1.01257614e+02] [ 2.47468066e-02 7.95592870e-04 9.99693434e-01 2.47507355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.196875 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:287.82, Y:101.26, Z:24.75 [[ 9.96383101e-01 8.13134356e-02 -2.46747229e-02 2.87823366e+02] [-8.12895340e-02 9.96688579e-01 1.97184003e-03 1.01262107e+02] [ 2.47533516e-02 4.10886427e-05 9.99693588e-01 2.47508105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2268750000001 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:287.86, Y:101.26, Z:24.75 [[ 9.96487760e-01 8.00220874e-02 -2.46700347e-02 2.87856008e+02] [-7.99962749e-02 9.96793089e-01 2.03302853e-03 1.01262823e+02] [ 2.47536073e-02 -5.23771602e-05 9.99693581e-01 2.47540792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.256875 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:287.89, Y:101.26, Z:24.76 [[ 9.96483928e-01 8.00699008e-02 -2.46696742e-02 2.87887018e+02] [-8.00439868e-02 9.96789249e-01 2.03772503e-03 1.01263975e+02] [ 2.47536265e-02 -5.59011678e-05 9.99693580e-01 2.47556777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.286875 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:287.92, Y:101.27, Z:24.76 [[ 9.96559419e-01 7.91235079e-02 -2.46737571e-02 2.87918911e+02] [-7.90986199e-02 9.96864820e-01 1.98456826e-03 1.01266286e+02] [ 2.47534265e-02 -2.60800576e-05 9.99693587e-01 2.47594930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.316875 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:287.95, Y:101.27, Z:24.76 [[ 9.96540140e-01 7.93666484e-02 -2.46715131e-02 2.87949934e+02] [-7.93411126e-02 9.96845491e-01 2.01374226e-03 1.01268639e+02] [ 2.47535106e-02 -4.93096892e-05 9.99693584e-01 2.47630770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.346875 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:287.98, Y:101.28, Z:24.77 [[ 9.96650913e-01 7.79628690e-02 -2.46728453e-02 2.87981045e+02] [-7.79373318e-02 9.96956261e-01 1.99642880e-03 1.01277777e+02] [ 2.47533950e-02 -6.68068528e-05 9.99693586e-01 2.47677823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.376875 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:288.01, Y:101.28, Z:24.77 [[ 9.96530656e-01 7.94867929e-02 -2.46678251e-02 2.88010208e+02] [-7.94601052e-02 9.96835915e-01 2.06176194e-03 1.01280611e+02] [ 2.47536568e-02 -9.45010000e-05 9.99693577e-01 2.47687301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.406875 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:288.04, Y:101.28, Z:24.77 [[ 9.96539975e-01 7.93658700e-02 -2.46807091e-02 2.88040301e+02] [-7.93433024e-02 9.96845552e-01 1.89386256e-03 1.01282040e+02] [ 2.47531631e-02 7.09392151e-05 9.99693591e-01 2.47691052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.436875 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:288.07, Y:101.28, Z:24.77 [[ 9.96634794e-01 7.81661587e-02 -2.46807403e-02 2.88071288e+02] [-7.81432334e-02 9.96940344e-01 1.89345511e-03 1.01284720e+02] [ 2.47532299e-02 4.15496080e-05 9.99693591e-01 2.47711569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.466875 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:288.10, Y:101.29, Z:24.77 [[ 9.96683119e-01 7.75475368e-02 -2.46807403e-02 2.88101447e+02] [-7.75244218e-02 9.96988655e-01 1.89345511e-03 1.01286008e+02] [ 2.47532509e-02 2.61853778e-05 9.99693591e-01 2.47727167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.496875 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:288.13, Y:101.29, Z:24.77 [[ 9.96705280e-01 7.72621781e-02 -2.46807719e-02 2.88131556e+02] [-7.72389858e-02 9.97010810e-01 1.89304403e-03 1.01287920e+02] [ 2.47532571e-02 1.95108044e-05 9.99693591e-01 2.47740159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.526875 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:288.16, Y:101.29, Z:24.78 [[ 9.96810290e-01 7.58953408e-02 -2.46808346e-02 2.88160950e+02] [-7.58717498e-02 9.97115789e-01 1.89222603e-03 1.01294193e+02] [ 2.47532610e-02 -1.36122664e-05 9.99693591e-01 2.47754891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.556875 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:288.19, Y:101.30, Z:24.78 [[ 9.96852923e-01 7.53332816e-02 -2.46809090e-02 2.88190464e+02] [-7.53095424e-02 9.97158411e-01 1.89125556e-03 1.01295246e+02] [ 2.47532504e-02 -2.65956731e-05 9.99693591e-01 2.47759882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.586875 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:288.22, Y:101.30, Z:24.78 [[ 9.96896670e-01 7.47521221e-02 -2.46809711e-02 2.88219770e+02] [-7.47282249e-02 9.97202145e-01 1.89044481e-03 1.01295788e+02] [ 2.47532320e-02 -4.02129787e-05 9.99693591e-01 2.47772678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.616875 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:288.25, Y:101.30, Z:24.78 [[ 9.97070055e-01 7.24026921e-02 -2.46810951e-02 2.88251326e+02] [-7.23781152e-02 9.97375476e-01 1.88882371e-03 1.01298134e+02] [ 2.47530749e-02 -9.69184156e-05 9.99693591e-01 2.47805698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.646875 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:288.28, Y:101.30, Z:24.78 [[ 9.96969775e-01 7.37755762e-02 -2.46664204e-02 2.88278173e+02] [-7.37466832e-02 9.97274836e-01 2.08022041e-03 1.01297658e+02] [ 2.47526698e-02 -2.54850184e-04 9.99693573e-01 2.47837309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.676875 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:288.31, Y:101.30, Z:24.79 [[ 9.96939828e-01 7.41748019e-02 -2.46795101e-02 2.88306937e+02] [-7.41502717e-02 9.97245252e-01 1.90886942e-03 1.01297676e+02] [ 2.47531143e-02 -7.30355724e-05 9.99693592e-01 2.47876608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.706875 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:288.34, Y:101.30, Z:24.79 [[ 9.96927802e-01 7.43356714e-02 -2.46812750e-02 2.88335733e+02] [-7.43117623e-02 9.97233276e-01 1.88577058e-03 1.01298106e+02] [ 2.47531687e-02 -4.58680725e-05 9.99693592e-01 2.47894078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.736875 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:288.36, Y:101.30, Z:24.79 [[ 9.96923726e-01 7.43902776e-02 -2.46814047e-02 2.88364551e+02] [-7.43664273e-02 9.97229204e-01 1.88407212e-03 1.01303447e+02] [ 2.47531742e-02 -4.28083094e-05 9.99693592e-01 2.47900213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.766875 meters Centerline goodness : 0.996001 Centerline is valid? [True, True] Translation: X:288.39, Y:101.31, Z:24.79 [[ 9.96955006e-01 7.39698475e-02 -2.46815333e-02 2.88392793e+02] [-7.39459101e-02 9.97260477e-01 1.88238542e-03 1.01305061e+02] [ 2.47531574e-02 -5.15551216e-05 9.99693592e-01 2.47894591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.796875 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:288.42, Y:101.31, Z:24.79 [[ 9.97003178e-01 7.33176538e-02 -2.46816861e-02 2.88421777e+02] [-7.32935662e-02 9.97308637e-01 1.88037994e-03 1.01305223e+02] [ 2.47531238e-02 -6.57359815e-05 9.99693592e-01 2.47911194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.826875 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:288.45, Y:101.30, Z:24.79 [[ 9.97091171e-01 7.21110585e-02 -2.46818127e-02 2.88449126e+02] [-7.20866425e-02 9.97396604e-01 1.87871709e-03 1.01303780e+02] [ 2.47530324e-02 -9.40232152e-05 9.99693592e-01 2.47910046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8568750000001 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:288.48, Y:101.30, Z:24.79 [[ 9.97101648e-01 7.19659878e-02 -2.46819706e-02 2.88478259e+02] [-7.19415787e-02 9.97407082e-01 1.87664020e-03 1.01301510e+02] [ 2.47530265e-02 -9.55411118e-05 9.99693592e-01 2.47920384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.886875 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:288.51, Y:101.30, Z:24.79 [[ 9.97072776e-01 7.23648666e-02 -2.46820951e-02 2.88505712e+02] [-7.23406203e-02 9.97378223e-01 1.87500054e-03 1.01300521e+02] [ 2.47530683e-02 -8.39939167e-05 9.99693592e-01 2.47910732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.916875 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:288.54, Y:101.30, Z:24.79 [[ 9.96865489e-01 7.51663626e-02 -2.46822579e-02 2.88535038e+02] [-7.51430278e-02 9.97171007e-01 1.87285597e-03 1.01302384e+02] [ 2.47532077e-02 -1.22858936e-05 9.99693592e-01 2.47940184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.946875 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:288.56, Y:101.30, Z:24.80 [[ 9.96678171e-01 7.76105922e-02 -2.46823832e-02 2.88563364e+02] [-7.75880476e-02 9.96983748e-01 1.87120305e-03 1.01302558e+02] [ 2.47531601e-02 5.00706825e-05 9.99693592e-01 2.47954697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9768750000001 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:288.59, Y:101.30, Z:24.80 [[ 9.96433051e-01 8.06966334e-02 -2.46825388e-02 2.88592583e+02] [-8.06750860e-02 9.96738700e-01 1.86914826e-03 1.01302381e+02] [ 2.47528756e-02 1.28784832e-04 9.99693592e-01 2.47973214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.006875 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:288.62, Y:101.30, Z:24.80 [[ 9.95885449e-01 8.71948304e-02 -2.46826630e-02 2.88621631e+02] [-8.71753180e-02 9.96191235e-01 1.86750663e-03 1.01301093e+02] [ 2.47514894e-02 2.91896318e-04 9.99693592e-01 2.48005083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.036875 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:288.65, Y:101.30, Z:24.80 [[ 9.95891270e-01 8.71282881e-02 -2.46827875e-02 2.88650877e+02] [-8.71087961e-02 9.96197057e-01 1.86586000e-03 1.01298947e+02] [ 2.47514894e-02 2.91894213e-04 9.99693592e-01 2.48012342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.066875 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:288.68, Y:101.30, Z:24.80 [[ 9.95638288e-01 8.99730682e-02 -2.46829120e-02 2.88678432e+02] [-8.99544907e-02 9.95944132e-01 1.86421127e-03 1.01296180e+02] [ 2.47505302e-02 3.64258662e-04 9.99693592e-01 2.47981841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.096875 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:288.71, Y:101.29, Z:24.80 [[ 9.95370177e-01 9.28921744e-02 -2.46830663e-02 2.88706561e+02] [-9.28745445e-02 9.95676078e-01 1.86216584e-03 1.01292740e+02] [ 2.47493193e-02 4.38884195e-04 9.99693592e-01 2.48030870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.126875 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:288.73, Y:101.29, Z:24.80 [[ 9.94975554e-01 9.70277643e-02 -2.46831902e-02 2.88734039e+02] [-9.70114465e-02 9.95281527e-01 1.86052208e-03 1.01288609e+02] [ 2.47472455e-02 5.43377994e-04 9.99693592e-01 2.48045237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.156875 meters Centerline goodness : 0.994983 Centerline is valid? [True, True] Translation: X:288.76, Y:101.28, Z:24.81 [[ 9.94816335e-01 9.86468007e-02 -2.46833436e-02 2.88762367e+02] [-9.86310314e-02 9.95122337e-01 1.85848437e-03 1.01284847e+02] [ 2.47462801e-02 5.85693026e-04 9.99693592e-01 2.48060638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.186875 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:288.79, Y:101.28, Z:24.81 [[ 9.94685138e-01 9.99610092e-02 -2.46834677e-02 2.88790905e+02] [-9.99456851e-02 9.94991162e-01 1.85683495e-03 1.01281196e+02] [ 2.47454433e-02 6.20039961e-04 9.99693592e-01 2.48058362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.216875 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:288.82, Y:101.28, Z:24.81 [[ 9.94394442e-01 1.02812519e-01 -2.46835908e-02 2.88819200e+02] [-1.02798114e-01 9.94700511e-01 1.85519741e-03 1.01275732e+02] [ 2.47435179e-02 6.92628569e-04 9.99693592e-01 2.48080964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.246875 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:288.85, Y:101.27, Z:24.81 [[ 9.94301083e-01 1.03711479e-01 -2.46837160e-02 2.88848927e+02] [-1.03697391e-01 9.94607166e-01 1.85353030e-03 1.01271592e+02] [ 2.47428332e-02 7.16669764e-04 9.99693592e-01 2.48100195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.276875 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:288.88, Y:101.27, Z:24.81 [[ 9.94189384e-01 1.04776814e-01 -2.46837788e-02 2.88878286e+02] [-1.04763074e-01 9.94495483e-01 1.85269313e-03 1.01267251e+02] [ 2.47420258e-02 7.44020719e-04 9.99693592e-01 2.48118502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.306875 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:288.91, Y:101.26, Z:24.81 [[ 9.94066885e-01 1.05932696e-01 -2.46838413e-02 2.88907178e+02] [-1.05919333e-01 9.94373001e-01 1.85186026e-03 1.01262388e+02] [ 2.47411179e-02 7.73623039e-04 9.99693592e-01 2.48139707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.336875 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:288.94, Y:101.25, Z:24.82 [[ 9.93681781e-01 1.09486178e-01 -2.46839039e-02 2.88935781e+02] [-1.09473931e-01 9.93987944e-01 1.85102566e-03 1.01253300e+02] [ 2.47381646e-02 8.62913505e-04 9.99693592e-01 2.48165010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.366875 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:288.97, Y:101.25, Z:24.82 [[ 9.93510144e-01 1.11032864e-01 -2.46839349e-02 2.88966123e+02] [-1.11021103e-01 9.93816326e-01 1.85061169e-03 1.01247400e+02] [ 2.47367762e-02 9.01836197e-04 9.99693592e-01 2.48182880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.396875 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:289.00, Y:101.24, Z:24.82 [[ 9.93166383e-01 1.14066821e-01 -2.46839349e-02 2.88997141e+02] [-1.14055996e-01 9.93472599e-01 1.85061169e-03 1.01237947e+02] [ 2.47339064e-02 9.77385450e-04 9.99693592e-01 2.48203512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.426875 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:289.03, Y:101.23, Z:24.82 [[ 9.92947121e-01 1.15959997e-01 -2.46838732e-02 2.89028583e+02] [-1.15949735e-01 9.93253357e-01 1.85143401e-03 1.01232442e+02] [ 2.47320322e-02 1.02371249e-03 9.99693592e-01 2.48216357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.456875 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:289.06, Y:101.23, Z:24.82 [[ 9.92809886e-01 1.17129156e-01 -2.46838115e-02 2.89059912e+02] [-1.17119235e-01 9.93116133e-01 1.85225633e-03 1.01227231e+02] [ 2.47308447e-02 1.05201072e-03 9.99693592e-01 2.48230131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.486875 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:289.09, Y:101.22, Z:24.82 [[ 9.92691297e-01 1.18130093e-01 -2.46833762e-02 2.89091682e+02] [-1.18120337e-01 9.92997550e-01 1.85803890e-03 1.01221611e+02] [ 2.47300224e-02 1.07114967e-03 9.99693592e-01 2.48242225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.516875 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:289.12, Y:101.21, Z:24.83 [[ 9.92410880e-01 1.20463265e-01 -2.46829414e-02 2.89123222e+02] [-1.20454086e-01 9.92717150e-01 1.86379808e-03 1.01210403e+02] [ 2.47276984e-02 1.12350764e-03 9.99693592e-01 2.48271149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.546875 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:289.15, Y:101.20, Z:24.83 [[ 9.92285950e-01 1.21488142e-01 -2.46824985e-02 2.89154561e+02] [-1.21479134e-01 9.92592225e-01 1.86964397e-03 1.01203707e+02] [ 2.47267957e-02 1.14318710e-03 9.99693592e-01 2.48290407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.576875 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:289.19, Y:101.20, Z:24.83 [[ 9.91983044e-01 1.23937227e-01 -2.46820515e-02 2.89185664e+02] [-1.23928829e-01 9.92289337e-01 1.87552651e-03 1.01195017e+02] [ 2.47241841e-02 1.19832726e-03 9.99693592e-01 2.48296947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6068750000001 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:289.22, Y:101.19, Z:24.83 [[ 9.91864405e-01 1.24883226e-01 -2.46816069e-02 2.89217828e+02] [-1.24874975e-01 9.92170702e-01 1.88135962e-03 1.01189631e+02] [ 2.47233175e-02 1.21606140e-03 9.99693592e-01 2.48285924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.636875 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:289.25, Y:101.18, Z:24.83 [[ 9.91714718e-01 1.26066490e-01 -2.46811325e-02 2.89250756e+02] [-1.26058451e-01 9.92021020e-01 1.88756350e-03 1.01183114e+02] [ 2.47221607e-02 1.23934082e-03 9.99693592e-01 2.48318629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.666875 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:289.28, Y:101.18, Z:24.84 [[ 9.91602682e-01 1.26944815e-01 -2.46806428e-02 2.89282771e+02] [-1.26936889e-01 9.91908987e-01 1.89394452e-03 1.01176229e+02] [ 2.47213778e-02 1.25484354e-03 9.99693592e-01 2.48363093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.696875 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:289.31, Y:101.17, Z:24.84 [[ 9.91511507e-01 1.27655091e-01 -2.46801345e-02 2.89313657e+02] [-1.27647220e-01 9.91817813e-01 1.90054536e-03 1.01167343e+02] [ 2.47208113e-02 1.26593796e-03 9.99693593e-01 2.48395521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7268750000001 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:289.35, Y:101.16, Z:24.84 [[ 9.91456273e-01 1.28083415e-01 -2.46798847e-02 2.89345846e+02] [-1.28075596e-01 9.91762581e-01 1.90378393e-03 1.01162411e+02] [ 2.47204293e-02 1.27337240e-03 9.99693593e-01 2.48415350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.756875 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:289.38, Y:101.16, Z:24.85 [[ 9.91428505e-01 1.28298261e-01 -2.46794536e-02 2.89377375e+02] [-1.28290370e-01 9.91734811e-01 1.90935555e-03 1.01157343e+02] [ 2.47204403e-02 1.27314673e-03 9.99693593e-01 2.48467949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.786875 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:289.41, Y:101.15, Z:24.85 [[ 9.91513779e-01 1.27637662e-01 -2.46789883e-02 2.89408155e+02] [-1.27629418e-01 9.91820076e-01 1.91535035e-03 1.01148544e+02] [ 2.47215869e-02 1.25066866e-03 9.99693593e-01 2.48476606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.816875 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:289.44, Y:101.14, Z:24.85 [[ 9.91561647e-01 1.27265352e-01 -2.46785589e-02 2.89439993e+02] [-1.27256856e-01 9.91867936e-01 1.92086724e-03 1.01143152e+02] [ 2.47223312e-02 1.23585754e-03 9.99693593e-01 2.48479542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.846875 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:289.47, Y:101.14, Z:24.85 [[ 9.91599906e-01 1.26966996e-01 -2.46781014e-02 2.89470892e+02] [-1.26958262e-01 9.91906189e-01 1.92672724e-03 1.01138466e+02] [ 2.47229923e-02 1.22254633e-03 9.99693593e-01 2.48465848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.876875 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:289.50, Y:101.13, Z:24.85 [[ 9.91625745e-01 1.26765115e-01 -2.46776789e-02 2.89501739e+02] [-1.26756185e-01 9.91932022e-01 1.93212344e-03 1.01130866e+02] [ 2.47235058e-02 1.21210509e-03 9.99693593e-01 2.48458837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.906875 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:289.53, Y:101.12, Z:24.85 [[ 9.91679922e-01 1.26340604e-01 -2.46776132e-02 2.89532561e+02] [-1.26331522e-01 9.91986195e-01 1.93296314e-03 1.01124575e+02] [ 2.47240633e-02 1.20067970e-03 9.99693593e-01 2.48463174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.936875 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:289.56, Y:101.12, Z:24.85 [[ 9.91755462e-01 1.25746334e-01 -2.46771905e-02 2.89564741e+02] [-1.25736935e-01 9.92061725e-01 1.93834435e-03 1.01117551e+02] [ 2.47250358e-02 1.18047069e-03 9.99693593e-01 2.48488640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.966875 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:289.60, Y:101.11, Z:24.86 [[ 9.91971190e-01 1.24033141e-01 -2.46766664e-02 2.89596276e+02] [-1.24023048e-01 9.92277431e-01 1.94499364e-03 1.01108484e+02] [ 2.47273428e-02 1.13109772e-03 9.99693593e-01 2.48552224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.996875 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:289.63, Y:101.10, Z:24.86 [[ 9.92021658e-01 1.23628872e-01 -2.46765357e-02 2.89626927e+02] [-1.23618613e-01 9.92327894e-01 1.94665010e-03 1.01104256e+02] [ 2.47278769e-02 1.11936006e-03 9.99693593e-01 2.48582704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.026875 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:289.64, Y:101.12, Z:24.86 [[ 9.93211060e-01 1.13678808e-01 -2.46762981e-02 2.89644136e+02] [-1.13665406e-01 9.93517174e-01 1.94965751e-03 1.01116458e+02] [ 2.47379607e-02 8.68420028e-04 9.99693593e-01 2.48625266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.056875 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:289.69, Y:101.10, Z:24.85 [[ 9.92600560e-01 1.18876920e-01 -2.47468413e-02 2.89685646e+02] [-1.18888824e-01 9.92907074e-01 9.94941606e-04 1.01100248e+02] [ 2.46895893e-02 1.95454326e-03 9.99693255e-01 2.48540307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.086875 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:289.72, Y:101.09, Z:24.86 [[ 9.92582698e-01 1.19039679e-01 -2.46807992e-02 2.89715492e+02] [-1.19029830e-01 9.92888912e-01 1.87302030e-03 1.01093722e+02] [ 2.47282556e-02 1.07862378e-03 9.99693628e-01 2.48632092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.116875 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:289.75, Y:101.09, Z:24.86 [[ 9.92542186e-01 1.19376776e-01 -2.46818690e-02 2.89746515e+02] [-1.19367383e-01 9.92848414e-01 1.85881514e-03 1.01087211e+02] [ 2.47272539e-02 1.10125768e-03 9.99693628e-01 2.48636251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.146875 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:289.76, Y:101.09, Z:24.87 [[ 9.93612649e-01 1.10112313e-01 -2.46816285e-02 2.89762403e+02] [-1.10099985e-01 9.93918772e-01 1.86200310e-03 1.01093526e+02] [ 2.47365634e-02 8.67337099e-04 9.99693628e-01 2.48689812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.176875 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:289.79, Y:101.09, Z:24.87 [[ 9.93335600e-01 1.12568909e-01 -2.47512858e-02 2.89793943e+02] [-1.12579816e-01 9.93642224e-01 9.56817886e-04 1.01088693e+02] [ 2.47016306e-02 1.83605393e-03 9.99693182e-01 2.48729012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.206875 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:289.84, Y:101.07, Z:24.87 [[ 9.91962992e-01 1.24082765e-01 -2.47566026e-02 2.89836913e+02] [-1.24098947e-01 9.92269451e-01 8.87613279e-04 1.01069357e+02] [ 2.46753579e-02 2.19178878e-03 9.99693114e-01 2.48730541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.236875 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:289.85, Y:101.08, Z:24.88 [[ 9.93062909e-01 1.14966154e-01 -2.46747193e-02 2.89852837e+02] [-1.14953559e-01 9.93368986e-01 1.93301665e-03 1.01082289e+02] [ 2.47333324e-02 9.16839666e-04 9.99693664e-01 2.48762306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.266875 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:289.88, Y:101.08, Z:24.88 [[ 9.93115895e-01 1.14490458e-01 -2.47538866e-02 2.89882700e+02] [-1.14502863e-01 9.93422492e-01 9.20385897e-04 1.01078510e+02] [ 2.46964431e-02 1.92034101e-03 9.99693152e-01 2.48791715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.296875 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:289.91, Y:101.07, Z:24.88 [[ 9.92951924e-01 1.15903078e-01 -2.47578689e-02 2.89912463e+02] [-1.15917158e-01 9.93258503e-01 8.70536065e-04 1.01071980e+02] [ 2.46918616e-02 2.00546135e-03 9.99693098e-01 2.48822227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.326875 meters Centerline goodness : 0.993663 Centerline is valid? [True, True] Translation: X:289.94, Y:101.07, Z:24.88 [[ 9.92926900e-01 1.16116483e-01 -2.47615179e-02 2.89944491e+02] [-1.16131750e-01 9.93233475e-01 8.25444701e-04 1.01065463e+02] [ 2.46898162e-02 2.05599215e-03 9.99693046e-01 2.48824646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3568750000001 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:289.98, Y:101.05, Z:24.88 [[ 9.92949242e-01 1.15926339e-01 -2.47565378e-02 2.89980711e+02] [-1.15940020e-01 9.93255821e-01 8.86877928e-04 1.01051787e+02] [ 2.46923878e-02 1.98964872e-03 9.99693117e-01 2.48840507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.386875 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:290.01, Y:101.05, Z:24.89 [[ 9.93069907e-01 1.14896019e-01 -2.47197326e-02 2.90012566e+02] [-1.14898217e-01 9.93376371e-01 1.33614998e-03 1.01046134e+02] [ 2.47095166e-02 1.51336287e-03 9.99693528e-01 2.48862741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.416875 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:290.05, Y:101.03, Z:24.89 [[ 9.92338328e-01 1.21052352e-01 -2.47178232e-02 2.90052388e+02] [-1.21055873e-01 9.92644764e-01 1.35934080e-03 1.01027778e+02] [ 2.47005692e-02 1.64331171e-03 9.99693544e-01 2.48866064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.446875 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:290.08, Y:101.02, Z:24.89 [[ 9.92756856e-01 1.17582865e-01 -2.46595588e-02 2.90083315e+02] [-1.17567978e-01 9.93062705e-01 2.05766837e-03 1.01019996e+02] [ 2.47304347e-02 8.56410085e-04 9.99693789e-01 2.48896788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4768750000001 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:290.12, Y:101.01, Z:24.89 [[ 9.92884656e-01 1.16498890e-01 -2.46590467e-02 2.90115955e+02] [-1.16483518e-01 9.93190481e-01 2.06378642e-03 1.01013816e+02] [ 2.47315593e-02 8.23270644e-04 9.99693789e-01 2.48919576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.506875 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:290.14, Y:101.02, Z:24.90 [[ 9.93625195e-01 1.10004224e-01 -2.46585029e-02 2.90139222e+02] [-1.09986692e-01 9.93930904e-01 2.07026418e-03 1.01019254e+02] [ 2.47365859e-02 6.55040513e-04 9.99693789e-01 2.48967560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.536875 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:290.18, Y:101.00, Z:24.90 [[ 9.92801263e-01 1.17198110e-01 -2.47033544e-02 2.90176953e+02] [-1.17196111e-01 9.93107607e-01 1.53373377e-03 1.01001989e+02] [ 2.47128399e-02 1.37244423e-03 9.99693649e-01 2.48965568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.566875 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:290.21, Y:101.00, Z:24.90 [[ 9.92677281e-01 1.18253329e-01 -2.46569536e-02 2.90208208e+02] [-1.18238020e-01 9.92983097e-01 2.08302886e-03 1.00997022e+02] [ 2.47302632e-02 8.47613935e-04 9.99693801e-01 2.48980385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.596875 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:290.23, Y:101.00, Z:24.90 [[ 9.93086360e-01 1.14767286e-01 -2.46566885e-02 2.90233489e+02] [-1.14750825e-01 9.93392116e-01 2.08616157e-03 1.01002129e+02] [ 2.47331831e-02 7.57636753e-04 9.99693801e-01 2.49024263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.626875 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:290.27, Y:101.00, Z:24.90 [[ 9.92621928e-01 1.18709784e-01 -2.46920102e-02 2.90265569e+02] [-1.18704935e-01 9.92928174e-01 1.66724955e-03 1.00998276e+02] [ 2.47153114e-02 1.27611501e-03 9.99693716e-01 2.49030345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.656875 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:290.30, Y:100.99, Z:24.91 [[ 9.92462500e-01 1.20035448e-01 -2.46916507e-02 2.90296711e+02] [-1.20030902e-01 9.92768749e-01 1.67149934e-03 1.00994858e+02] [ 2.47137384e-02 1.30486070e-03 9.99693717e-01 2.49072721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.686875 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:290.33, Y:100.99, Z:24.91 [[ 9.92156321e-01 1.22540156e-01 -2.46930061e-02 2.90328245e+02] [-1.22536775e-01 9.92462592e-01 1.65575413e-03 1.00988775e+02] [ 2.47097812e-02 1.38303441e-03 9.99693710e-01 2.49118365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.716875 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:290.36, Y:100.98, Z:24.92 [[ 9.92125829e-01 1.22787309e-01 -2.46904237e-02 2.90357860e+02] [-1.22783261e-01 9.92432078e-01 1.68564434e-03 1.00983174e+02] [ 2.47105442e-02 1.35919946e-03 9.99693724e-01 2.49158172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.746875 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:290.39, Y:100.98, Z:24.92 [[ 9.92015542e-01 1.23674856e-01 -2.46919784e-02 2.90390547e+02] [-1.23671528e-01 9.92321809e-01 1.66768402e-03 1.00977758e+02] [ 2.47086393e-02 1.39932625e-03 9.99693716e-01 2.49166778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.776875 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:290.42, Y:100.97, Z:24.92 [[ 9.91987521e-01 1.23901456e-01 -2.46817328e-02 2.90423131e+02] [-1.23895275e-01 9.92293693e-01 1.78542773e-03 1.00972338e+02] [ 2.47127449e-02 1.28682803e-03 9.99693765e-01 2.49186468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.806875 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:290.46, Y:100.97, Z:24.92 [[ 9.92048289e-01 1.23414617e-01 -2.46784382e-02 2.90455107e+02] [-1.23407350e-01 9.92354424e-01 1.82309124e-03 1.00968013e+02] [ 2.47147534e-02 1.23690611e-03 9.99693779e-01 2.49216002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.836875 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:290.49, Y:100.96, Z:24.92 [[ 9.92032729e-01 1.23539583e-01 -2.46786448e-02 2.90487204e+02] [-1.23532413e-01 9.92338867e-01 1.82073991e-03 1.00963189e+02] [ 2.47145119e-02 1.24237895e-03 9.99693778e-01 2.49245288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.866875 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:290.52, Y:100.96, Z:24.92 [[ 9.91619246e-01 1.26816357e-01 -2.46755437e-02 2.90523119e+02] [-1.26809324e-01 9.91925376e-01 1.85591327e-03 1.00955157e+02] [ 2.47116581e-02 1.28872971e-03 9.99693790e-01 2.49235709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.896875 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:290.55, Y:100.95, Z:24.92 [[ 9.91619459e-01 1.26820459e-01 -2.46458677e-02 2.90554733e+02] [-1.26805137e-01 9.91925230e-01 2.18991119e-03 1.00951075e+02] [ 2.47245835e-02 9.53664065e-04 9.99693846e-01 2.49192417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.926875 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:290.59, Y:100.95, Z:24.92 [[ 9.91588153e-01 1.27066020e-01 -2.46406504e-02 2.90588003e+02] [-1.27049321e-01 9.91893853e-01 2.24839035e-03 1.00947950e+02] [ 2.47266037e-02 9.01100684e-04 9.99693845e-01 2.49200865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.956875 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:290.62, Y:100.94, Z:24.93 [[ 9.91848272e-01 1.25019483e-01 -2.46400750e-02 2.90618677e+02] [-1.25001994e-01 9.92153928e-01 2.25482146e-03 1.00941440e+02] [ 2.47286438e-02 8.43617743e-04 9.99693844e-01 2.49265308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.986875 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:290.65, Y:100.94, Z:24.93 [[ 9.92088821e-01 1.23095178e-01 -2.46444585e-02 2.90650031e+02] [-1.23078312e-01 9.92394510e-01 2.20584835e-03 1.00938329e+02] [ 2.47285546e-02 8.44800851e-04 9.99693846e-01 2.49343273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.016875 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:290.68, Y:100.93, Z:24.93 [[ 9.92262362e-01 1.21688465e-01 -2.46439079e-02 2.90680164e+02] [-1.21671013e-01 9.92568019e-01 2.21198230e-03 1.00934828e+02] [ 2.47299276e-02 8.03582467e-04 9.99693846e-01 2.49335968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.046875 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:290.71, Y:100.93, Z:24.94 [[ 9.92542216e-01 1.19383023e-01 -2.46504076e-02 2.90709844e+02] [-1.19366658e-01 9.92847936e-01 2.13953871e-03 1.00933967e+02] [ 2.47295309e-02 8.18854284e-04 9.99693843e-01 2.49366404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.076875 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:290.74, Y:100.93, Z:24.94 [[ 9.92509027e-01 1.19656729e-01 -2.46596688e-02 2.90743444e+02] [-1.19642995e-01 9.92814889e-01 2.03692321e-03 1.00927608e+02] [ 2.47262179e-02 9.28691961e-04 9.99693829e-01 2.49391490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1068750000001 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:290.78, Y:100.92, Z:24.94 [[ 9.92632529e-01 1.18631741e-01 -2.46408872e-02 2.90775235e+02] [-1.18612555e-01 9.92938078e-01 2.24394952e-03 1.00924753e+02] [ 2.47330789e-02 6.95301302e-04 9.99693849e-01 2.49414942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.136875 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:290.81, Y:100.92, Z:24.94 [[ 9.92650574e-01 1.18480461e-01 -2.46418158e-02 2.90806774e+02] [-1.18461482e-01 9.92956136e-01 2.23372901e-03 1.00920824e+02] [ 2.47328954e-02 7.01793623e-04 9.99693849e-01 2.49425885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.166875 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:290.84, Y:100.92, Z:24.95 [[ 9.92804738e-01 1.17182680e-01 -2.46367900e-02 2.90839173e+02] [-1.17161931e-01 9.93110186e-01 2.28896366e-03 1.00917105e+02] [ 2.47352740e-02 6.13999927e-04 9.99693848e-01 2.49451548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.196875 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:290.87, Y:100.91, Z:24.95 [[ 9.93022754e-01 1.15320554e-01 -2.46369563e-02 2.90871517e+02] [-1.15299278e-01 9.93328166e-01 2.28713767e-03 1.00910380e+02] [ 2.47363366e-02 5.69443517e-04 9.99693848e-01 2.49489310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2268750000001 meters Centerline goodness : 0.989849 Centerline is valid? [True, True] Translation: X:290.90, Y:100.91, Z:24.93 [[ 9.93430401e-01 1.11757210e-01 -2.46244604e-02 2.90899517e+02] [-1.11731452e-01 9.93735482e-01 2.42376754e-03 1.00909135e+02] [ 2.47410736e-02 3.43482348e-04 9.99693834e-01 2.49347418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.256875 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:290.93, Y:100.90, Z:24.96 [[ 9.93460585e-01 1.11485073e-01 -2.46403191e-02 2.90932443e+02] [-1.11463536e-01 9.93765977e-01 2.25010735e-03 1.00904104e+02] [ 2.47375642e-02 5.11104131e-04 9.99693849e-01 2.49550548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.286875 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:290.96, Y:100.90, Z:24.96 [[ 9.93970359e-01 1.06848048e-01 -2.46255991e-02 2.90962434e+02] [-1.06821102e-01 9.94275334e-01 2.41086949e-03 1.00902076e+02] [ 2.47422225e-02 2.34200828e-04 9.99693837e-01 2.49561920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.316875 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:290.99, Y:100.90, Z:24.96 [[ 9.94194868e-01 1.04737078e-01 -2.46314751e-02 2.90992823e+02] [-1.04711072e-01 9.94499917e-01 2.34680669e-03 1.00901348e+02] [ 2.47417976e-02 2.46004994e-04 9.99693845e-01 2.49575430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.346875 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:291.03, Y:100.90, Z:24.96 [[ 9.94225695e-01 1.04442156e-01 -2.46394792e-02 2.91025466e+02] [-1.04418221e-01 9.94530909e-01 2.25952602e-03 1.00897743e+02] [ 2.47407134e-02 3.26331765e-04 9.99693848e-01 2.49617992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.376875 meters Centerline goodness : 0.991922 Centerline is valid? [True, True] Translation: X:291.06, Y:100.89, Z:24.97 [[ 9.94419370e-01 1.02581891e-01 -2.46388560e-02 2.91056990e+02] [-1.02557217e-01 9.94724525e-01 2.26630136e-03 1.00894160e+02] [ 2.47413558e-02 2.73238535e-04 9.99693848e-01 2.49657362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.406875 meters Centerline goodness : 0.989472 Centerline is valid? [True, True] Translation: X:291.09, Y:100.89, Z:24.96 [[ 9.94829704e-01 9.85231624e-02 -2.46383098e-02 2.91094684e+02] [-9.84970974e-02 9.95134744e-01 2.27222350e-03 1.00890526e+02] [ 2.47423048e-02 1.66326567e-04 9.99693848e-01 2.49596611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.436875 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:291.12, Y:100.89, Z:24.97 [[ 9.94754469e-01 9.92885669e-02 -2.46033931e-02 2.91120708e+02] [-9.92533741e-02 9.95058663e-01 2.65049570e-03 1.00892183e+02] [ 2.47449833e-02 -1.94622668e-04 9.99693777e-01 2.49711479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.466875 meters Centerline goodness : 0.990177 Centerline is valid? [True, True] Translation: X:291.15, Y:100.89, Z:24.97 [[ 9.94705025e-01 9.97739327e-02 -2.46389192e-02 2.91152524e+02] [-9.97484583e-02 9.95010110e-01 2.26386560e-03 1.00890589e+02] [ 2.47418485e-02 2.05815708e-04 9.99693852e-01 2.49698555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.496875 meters Centerline goodness : 0.988047 Centerline is valid? [True, True] Translation: X:291.19, Y:100.89, Z:24.96 [[ 9.95171909e-01 9.50043417e-02 -2.46383278e-02 2.91191465e+02] [-9.49772461e-02 9.95476855e-01 2.27028338e-03 1.00888201e+02] [ 2.47425718e-02 8.07582815e-05 9.99693852e-01 2.49621639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.526875 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:291.22, Y:100.89, Z:24.97 [[ 9.95124424e-01 9.55134250e-02 -2.45879273e-02 2.91223501e+02] [-9.54730851e-02 9.95428040e-01 2.81205590e-03 1.00886371e+02] [ 2.47441014e-02 -4.50860225e-04 9.99693716e-01 2.49665460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.556875 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:291.26, Y:100.89, Z:24.97 [[ 9.95143368e-01 9.53157921e-02 -2.45881551e-02 2.91255078e+02] [-9.52754525e-02 9.95446982e-01 2.80960327e-03 1.00885634e+02] [ 2.47440044e-02 -4.53310454e-04 9.99693717e-01 2.49671839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.586875 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:291.29, Y:100.88, Z:24.98 [[ 9.95194863e-01 9.47746363e-02 -2.45957746e-02 2.91290239e+02] [-9.47362015e-02 9.95498680e-01 2.72584524e-03 1.00883857e+02] [ 2.47434021e-02 -3.82636924e-04 9.99693762e-01 2.49779173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.616875 meters Centerline goodness : 0.991196 Centerline is valid? [True, True] Translation: X:291.32, Y:100.88, Z:24.97 [[ 9.95170073e-01 9.50383878e-02 -2.45811044e-02 2.91318623e+02] [-9.49960288e-02 9.95473462e-01 2.88790876e-03 1.00884237e+02] [ 2.47442993e-02 -5.38853068e-04 9.99693668e-01 2.49731451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.646875 meters Centerline goodness : 0.991207 Centerline is valid? [True, True] Translation: X:291.35, Y:100.89, Z:24.98 [[ 9.95085767e-01 9.59132661e-02 -2.45959690e-02 2.91354797e+02] [-9.58752287e-02 9.95389633e-01 2.72383169e-03 1.00885791e+02] [ 2.47438242e-02 -3.52301991e-04 9.99693763e-01 2.49820044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.676875 meters Centerline goodness : 0.991375 Centerline is valid? [True, True] Translation: X:291.38, Y:100.89, Z:24.98 [[ 9.95144880e-01 9.53043420e-02 -2.45713156e-02 2.91384469e+02] [-9.52594372e-02 9.95447977e-01 2.99427325e-03 1.00887810e+02] [ 2.47448336e-02 -6.39086009e-04 9.99693595e-01 2.49795919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.706875 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:291.42, Y:100.89, Z:24.99 [[ 9.95137306e-01 9.53802806e-02 -2.45834279e-02 2.91418797e+02] [-9.53387359e-02 9.95440782e-01 2.85917216e-03 1.00886000e+02] [ 2.47440554e-02 -5.01515931e-04 9.99693693e-01 2.49851337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.736875 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:291.45, Y:100.89, Z:24.99 [[ 9.95007533e-01 9.67284642e-02 -2.45685272e-02 2.91450641e+02] [-9.66832174e-02 9.95310605e-01 3.02568473e-03 1.00887103e+02] [ 2.47459855e-02 -6.35214842e-04 9.99693569e-01 2.49860145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.766875 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:291.48, Y:100.89, Z:24.99 [[ 9.94984435e-01 9.69640259e-02 -2.45754321e-02 2.91482630e+02] [-9.69207698e-02 9.95287734e-01 2.94799494e-03 1.00887532e+02] [ 2.47454756e-02 -5.51339274e-04 9.99693632e-01 2.49861309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.796875 meters Centerline goodness : 0.991437 Centerline is valid? [True, True] Translation: X:291.51, Y:100.89, Z:24.98 [[ 9.95084354e-01 9.59325091e-02 -2.45780896e-02 2.91511283e+02] [-9.58896808e-02 9.95387691e-01 2.91794973e-03 1.00889613e+02] [ 2.47446541e-02 -5.46820956e-04 9.99693655e-01 2.49823198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.826875 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:291.55, Y:100.89, Z:24.99 [[ 9.94804933e-01 9.87830318e-02 -2.45979384e-02 2.91546437e+02] [-9.87467054e-02 9.95108965e-01 2.69009679e-03 1.00886837e+02] [ 2.47433650e-02 -2.47156172e-04 9.99693806e-01 2.49869049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8568750000001 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:291.58, Y:100.89, Z:24.99 [[ 9.94488701e-01 1.01922359e-01 -2.45775668e-02 2.91580343e+02] [-1.01881313e-01 9.94792276e-01 2.91978056e-03 1.00890087e+02] [ 2.47471646e-02 -3.99693986e-04 9.99693662e-01 2.49860352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.886875 meters Centerline goodness : 0.990918 Centerline is valid? [True, True] Translation: X:291.61, Y:100.89, Z:24.99 [[ 9.94431671e-01 1.02478843e-01 -2.45710774e-02 2.91612668e+02] [-1.02436149e-01 9.94735078e-01 2.99330468e-03 1.00891589e+02] [ 2.47484630e-02 -4.59670421e-04 9.99693604e-01 2.49873743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.916875 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:291.64, Y:100.90, Z:24.98 [[ 9.94614765e-01 1.00685681e-01 -2.45736040e-02 2.91639104e+02] [-1.00643153e-01 9.94918171e-01 2.96447399e-03 1.00895557e+02] [ 2.47472052e-02 -4.75344629e-04 9.99693628e-01 2.49788867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.946875 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:291.67, Y:100.89, Z:24.98 [[ 9.94456115e-01 1.02232684e-01 -2.46071829e-02 2.91672322e+02] [-1.02200426e-01 9.94760512e-01 2.56826910e-03 1.00893602e+02] [ 2.47408149e-02 -3.91663356e-05 9.99693898e-01 2.49833643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9768750000001 meters Centerline goodness : 0.991413 Centerline is valid? [True, True] Translation: X:291.71, Y:100.89, Z:24.98 [[ 9.94537723e-01 1.01438235e-01 -2.45967853e-02 2.91705796e+02] [-1.01402702e-01 9.94841822e-01 2.69084514e-03 1.00892039e+02] [ 2.47428653e-02 -1.81966497e-04 9.99693832e-01 2.49837764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.006875 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:291.74, Y:100.89, Z:24.98 [[ 9.94648410e-01 1.00347341e-01 -2.45957617e-02 2.91736530e+02] [-1.00311175e-01 9.94952442e-01 2.70295055e-03 1.00892182e+02] [ 2.47428471e-02 -2.21255720e-04 9.99693824e-01 2.49820805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.036875 meters Centerline goodness : 0.989802 Centerline is valid? [True, True] Translation: X:291.77, Y:100.89, Z:24.98 [[ 9.94270774e-01 1.04020170e-01 -2.46055350e-02 2.91773793e+02] [-1.03987913e-01 9.94575188e-01 2.59038407e-03 1.00888656e+02] [ 2.47415068e-02 -1.68649385e-05 9.99693882e-01 2.49845839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.066875 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:291.80, Y:100.89, Z:24.98 [[ 9.94373654e-01 1.03041518e-01 -2.45658752e-02 2.91802145e+02] [-1.02997667e-01 9.94676930e-01 3.04709515e-03 1.00890531e+02] [ 2.47490866e-02 -4.99723319e-04 9.99693570e-01 2.49838343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.096875 meters Centerline goodness : 0.990886 Centerline is valid? [True, True] Translation: X:291.83, Y:100.89, Z:24.98 [[ 9.94299620e-01 1.03746129e-01 -2.45968717e-02 2.91832318e+02] [-1.03711792e-01 9.94603805e-01 2.67104159e-03 1.00891254e+02] [ 2.47412524e-02 -1.04829996e-04 9.99693883e-01 2.49843036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.126875 meters Centerline goodness : 0.991495 Centerline is valid? [True, True] Translation: X:291.85, Y:100.89, Z:24.99 [[ 9.93042044e-01 1.15161382e-01 -2.46039796e-02 2.91852959e+02] [-1.15132685e-01 9.93346760e-01 2.58449079e-03 1.00891275e+02] [ 2.47379169e-02 2.66214224e-04 9.99693935e-01 2.49927660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.156875 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:291.90, Y:100.89, Z:24.99 [[ 9.93472715e-01 1.11374518e-01 -2.46511761e-02 2.91898675e+02] [-1.11359042e-01 9.93778219e-01 2.00396918e-03 1.00887125e+02] [ 2.47209930e-02 7.54242654e-04 9.99694105e-01 2.49893673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.186875 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:291.93, Y:100.89, Z:24.99 [[ 9.93402652e-01 1.12015375e-01 -2.45708377e-02 2.91927042e+02] [-1.11976153e-01 9.93706454e-01 2.97074324e-03 1.00887855e+02] [ 2.47489689e-02 -1.99796317e-04 9.99693677e-01 2.49887133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.216875 meters Centerline goodness : 0.991988 Centerline is valid? [True, True] Translation: X:291.95, Y:100.89, Z:24.99 [[ 9.91927403e-01 1.24399676e-01 -2.45916084e-02 2.91947203e+02] [-1.24370666e-01 9.92232122e-01 2.71160524e-03 1.00887922e+02] [ 2.47379066e-02 3.68759160e-04 9.99693903e-01 2.49896139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.246875 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:291.98, Y:100.88, Z:24.99 [[ 9.91469802e-01 1.27985190e-01 -2.46459416e-02 2.91981405e+02] [-1.27974349e-01 9.91775415e-01 2.02313436e-03 1.00883843e+02] [ 2.47021701e-02 1.14817170e-03 9.99694195e-01 2.49899744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.276875 meters Centerline goodness : 0.990835 Centerline is valid? [True, True] Translation: X:292.02, Y:100.88, Z:25.00 [[ 9.91953121e-01 1.24184930e-01 -2.46395991e-02 2.92020669e+02] [-1.24170930e-01 9.92258614e-01 2.10328525e-03 1.00880395e+02] [ 2.47100508e-02 9.73161572e-04 9.99694186e-01 2.49954491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.306875 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:292.04, Y:100.88, Z:24.99 [[ 9.90939167e-01 1.32042515e-01 -2.45833481e-02 2.92039236e+02] [-1.32013951e-01 9.91243937e-01 2.78836600e-03 1.00880715e+02] [ 2.47362776e-02 4.82243841e-04 9.99693895e-01 2.49923929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.336875 meters Centerline goodness : 0.992502 Centerline is valid? [True, True] Translation: X:292.07, Y:100.88, Z:24.99 [[ 9.90527560e-01 1.35083878e-01 -2.46474893e-02 2.92072857e+02] [-1.35075882e-01 9.90833245e-01 1.99669391e-03 1.00877082e+02] [ 2.46912730e-02 1.35150100e-03 9.99694210e-01 2.49908987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.366875 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:292.11, Y:100.87, Z:25.00 [[ 9.91384123e-01 1.28648893e-01 -2.46370273e-02 2.92113079e+02] [-1.28635725e-01 9.91689636e-01 2.12518608e-03 1.00874622e+02] [ 2.47056874e-02 1.06232614e-03 9.99694203e-01 2.49985092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.396875 meters Centerline goodness : 0.990078 Centerline is valid? [True, True] Translation: X:292.15, Y:100.87, Z:25.00 [[ 9.91411462e-01 1.28447765e-01 -2.45862802e-02 2.92145441e+02] [-1.28419211e-01 9.91716179e-01 2.74338986e-03 1.00871247e+02] [ 2.47349941e-02 4.37522544e-04 9.99693947e-01 2.50041298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.426875 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:292.17, Y:100.87, Z:25.00 [[ 9.90541141e-01 1.34994165e-01 -2.45931445e-02 2.92166813e+02] [-1.34969720e-01 9.90846156e-01 2.65883287e-03 1.00865466e+02] [ 2.47269496e-02 6.85646477e-04 9.99694007e-01 2.49957899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.456875 meters Centerline goodness : 0.989621 Centerline is valid? [True, True] Translation: X:292.21, Y:100.86, Z:25.00 [[ 9.91573517e-01 1.27178999e-01 -2.46467740e-02 2.92207385e+02] [-1.27168704e-01 9.91879104e-01 1.99102440e-03 1.00862120e+02] [ 2.46998366e-02 1.16005124e-03 9.99694239e-01 2.50029213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.486875 meters Centerline goodness : 0.992703 Centerline is valid? [True, True] Translation: X:292.23, Y:100.86, Z:25.00 [[ 9.90687360e-01 1.33917103e-01 -2.45919606e-02 2.92228225e+02] [-1.33892070e-01 9.90992325e-01 2.66913753e-03 1.00860340e+02] [ 2.47278874e-02 6.48387711e-04 9.99694009e-01 2.49965997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.516875 meters Centerline goodness : 0.990257 Centerline is valid? [True, True] Translation: X:292.27, Y:100.86, Z:25.00 [[ 9.91935461e-01 1.24323277e-01 -2.46528537e-02 2.92270664e+02] [-1.24314189e-01 9.92241073e-01 1.90685713e-03 1.00858506e+02] [ 2.46986407e-02 1.17322030e-03 9.99694254e-01 2.50000313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.546875 meters Centerline goodness : 0.989875 Centerline is valid? [True, True] Translation: X:292.31, Y:100.85, Z:25.00 [[ 9.91765459e-01 1.25684548e-01 -2.45899956e-02 2.92308040e+02] [-1.25656954e-01 9.92070159e-01 2.67027676e-03 1.00851117e+02] [ 2.47306134e-02 4.41615699e-04 9.99694054e-01 2.50040825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.576875 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:292.32, Y:100.85, Z:24.99 [[ 9.90710108e-01 1.33755025e-01 -2.45575784e-02 2.92322392e+02] [-1.33720223e-01 9.91014395e-01 3.06131393e-03 1.00848669e+02] [ 2.47463798e-02 2.50970208e-04 9.99693730e-01 2.49949490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6068750000001 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:292.36, Y:100.84, Z:24.99 [[ 9.90887326e-01 1.32419795e-01 -2.46435492e-02 2.92355195e+02] [-1.32410776e-01 9.91192901e-01 2.00460633e-03 1.00844101e+02] [ 2.46919606e-02 1.27673247e-03 9.99694292e-01 2.49948798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.636875 meters Centerline goodness : 0.989543 Centerline is valid? [True, True] Translation: X:292.40, Y:100.84, Z:25.01 [[ 9.92415816e-01 1.20430772e-01 -2.46429866e-02 2.92400074e+02] [-1.20417889e-01 9.92721253e-01 2.01149877e-03 1.00836394e+02] [ 2.47058629e-02 9.71213242e-04 9.99694292e-01 2.50072603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.666875 meters Centerline goodness : 0.989448 Centerline is valid? [True, True] Translation: X:292.43, Y:100.84, Z:25.01 [[ 9.93163442e-01 1.14119767e-01 -2.45572195e-02 2.92426542e+02] [-1.14079540e-01 9.93466976e-01 3.03747262e-03 1.00837833e+02] [ 2.47434222e-02 -2.15230471e-04 9.99693811e-01 2.50053580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.696875 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:292.45, Y:100.83, Z:25.00 [[ 9.91887597e-01 1.24716046e-01 -2.45947838e-02 2.92447585e+02] [-1.24690669e-01 9.92192340e-01 2.56872994e-03 1.00833179e+02] [ 2.47231179e-02 5.18848671e-04 9.99694202e-01 2.49978997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7268750000001 meters Centerline goodness : 0.990139 Centerline is valid? [True, True] Translation: X:292.49, Y:100.83, Z:25.01 [[ 9.93523466e-01 1.10922585e-01 -2.46435050e-02 2.92485550e+02] [-1.10908187e-01 9.93828735e-01 1.95447578e-03 1.00833531e+02] [ 2.47082189e-02 7.91348925e-04 9.99694392e-01 2.50054088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.756875 meters Centerline goodness : 0.989317 Centerline is valid? [True, True] Translation: X:292.52, Y:100.83, Z:25.01 [[ 9.93280352e-01 1.13085592e-01 -2.46128439e-02 2.92519103e+02] [-1.13062283e-01 9.93585145e-01 2.34107457e-03 1.00828246e+02] [ 2.47196978e-02 4.57440947e-04 9.99694317e-01 2.50066220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.786875 meters Centerline goodness : 0.988581 Centerline is valid? [True, True] Translation: X:292.55, Y:100.83, Z:25.01 [[ 9.93397208e-01 1.12055918e-01 -2.46060814e-02 2.92550126e+02] [-1.12030191e-01 9.93701842e-01 2.42596273e-03 1.00827492e+02] [ 2.47229519e-02 3.46679383e-04 9.99694281e-01 2.50078920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.816875 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:292.58, Y:100.83, Z:25.01 [[ 9.93254537e-01 1.13314639e-01 -2.46011809e-02 2.92577747e+02] [-1.13287771e-01 9.93559104e-01 2.48763726e-03 1.00826782e+02] [ 2.47246130e-02 3.16155967e-04 9.99694250e-01 2.50098344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.846875 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:292.61, Y:100.82, Z:25.01 [[ 9.93261458e-01 1.13249315e-01 -2.46225219e-02 2.92609342e+02] [-1.13229120e-01 9.93566429e-01 2.21735804e-03 1.00824464e+02] [ 2.47152254e-02 5.85570206e-04 9.99694361e-01 2.50105454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.876875 meters Centerline goodness : 0.989342 Centerline is valid? [True, True] Translation: X:292.64, Y:100.82, Z:25.01 [[ 9.93079522e-01 1.14833732e-01 -2.46226740e-02 2.92640370e+02] [-1.14814071e-01 9.93384528e-01 2.21542800e-03 1.00821781e+02] [ 2.47141892e-02 6.26933263e-04 9.99694361e-01 2.50088472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.906875 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:292.67, Y:100.82, Z:25.01 [[ 9.92550503e-01 1.19318402e-01 -2.46296228e-02 2.92674443e+02] [-1.19302309e-01 9.92855697e-01 2.12706773e-03 1.00816116e+02] [ 2.47074596e-02 8.27148718e-04 9.99694382e-01 2.50081969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.936875 meters Centerline goodness : 0.989191 Centerline is valid? [True, True] Translation: X:292.70, Y:100.82, Z:25.01 [[ 9.92605679e-01 1.18861361e-01 -2.46158913e-02 2.92704609e+02] [-1.18840816e-01 9.92910653e-01 2.30105239e-03 1.00815197e+02] [ 2.47148870e-02 6.41334948e-04 9.99694335e-01 2.50080417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.966875 meters Centerline goodness : 0.989858 Centerline is valid? [True, True] Translation: X:292.74, Y:100.81, Z:25.01 [[ 9.92055121e-01 1.23370061e-01 -2.46264899e-02 2.92736229e+02] [-1.23354244e-01 9.92360337e-01 2.16617699e-03 1.00808497e+02] [ 2.47055932e-02 8.88815082e-04 9.99694375e-01 2.50089350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.996875 meters Centerline goodness : 0.989632 Centerline is valid? [True, True] Translation: X:292.77, Y:100.81, Z:25.01 [[ 9.92229330e-01 1.21961775e-01 -2.46227967e-02 2.92768338e+02] [-1.21944362e-01 9.92534470e-01 2.21311493e-03 1.00806790e+02] [ 2.47088899e-02 8.06693697e-04 9.99694363e-01 2.50103504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.026875 meters Centerline goodness : 0.989240 Centerline is valid? [True, True] Translation: X:292.80, Y:100.80, Z:25.01 [[ 9.92065919e-01 1.23284731e-01 -2.46188463e-02 2.92800508e+02] [-1.23266481e-01 9.92371025e-01 2.26329493e-03 1.00804570e+02] [ 2.47100595e-02 7.89340804e-04 9.99694348e-01 2.50092763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.056875 meters Centerline goodness : 0.989946 Centerline is valid? [True, True] Translation: X:292.83, Y:100.80, Z:25.01 [[ 9.91962672e-01 1.24112854e-01 -2.46182042e-02 2.92831682e+02] [-1.24094657e-01 9.92267785e-01 2.27145472e-03 1.00801233e+02] [ 2.47097677e-02 8.01789310e-04 9.99694346e-01 2.50098929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.086875 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:292.87, Y:100.80, Z:25.01 [[ 9.91622632e-01 1.26800172e-01 -2.46226064e-02 2.92865860e+02] [-1.26784191e-01 9.91927851e-01 2.21537032e-03 1.00796391e+02] [ 2.47047583e-02 9.24945885e-04 9.99694363e-01 2.50124323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.116875 meters Centerline goodness : 0.989225 Centerline is valid? [True, True] Translation: X:292.89, Y:100.79, Z:25.02 [[ 9.91310827e-01 1.29216761e-01 -2.46144820e-02 2.92894654e+02] [-1.29198968e-01 9.91615980e-01 2.31850683e-03 1.00793535e+02] [ 2.47077036e-02 8.81804748e-04 9.99694329e-01 2.50165626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.146875 meters Centerline goodness : 0.989339 Centerline is valid? [True, True] Translation: X:292.93, Y:100.79, Z:25.01 [[ 9.91232657e-01 1.29812629e-01 -2.46272550e-02 2.92926189e+02] [-1.29799051e-01 9.91537976e-01 2.15588339e-03 1.00793011e+02] [ 2.46987195e-02 1.05961230e-03 9.99694379e-01 2.50114794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.176875 meters Centerline goodness : 0.982809 Centerline is valid? [True, True] Translation: X:292.97, Y:100.79, Z:25.02 [[ 9.90579521e-01 1.34705119e-01 -2.46321631e-02 2.92970055e+02] [-1.34694563e-01 9.90884951e-01 2.09478310e-03 1.00786001e+02] [ 2.46898178e-02 1.24276922e-03 9.99694388e-01 2.50235101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.206875 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:292.99, Y:100.79, Z:25.01 [[ 9.90883306e-01 1.32473402e-01 -2.45167591e-02 2.92988180e+02] [-1.32427962e-01 9.91186541e-01 3.47504348e-03 1.00787193e+02] [ 2.47610325e-02 -1.96658134e-04 9.99693379e-01 2.50128107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.236875 meters Centerline goodness : 0.989679 Centerline is valid? [True, True] Translation: X:293.02, Y:100.78, Z:25.01 [[ 9.90600321e-01 1.34553952e-01 -2.46219198e-02 2.93019127e+02] [-1.34542161e-01 9.90905554e-01 2.14241556e-03 1.00783926e+02] [ 2.46862676e-02 1.19040875e-03 9.99694539e-01 2.50107852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.266875 meters Centerline goodness : 0.989429 Centerline is valid? [True, True] Translation: X:293.05, Y:100.78, Z:25.01 [[ 9.90480865e-01 1.35429698e-01 -2.46262792e-02 2.93053740e+02] [-1.35419545e-01 9.90786148e-01 2.08720004e-03 1.00777148e+02] [ 2.46820452e-02 1.26754783e-03 9.99694548e-01 2.50125531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.296875 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:293.07, Y:100.78, Z:25.01 [[ 9.89171633e-01 1.44685761e-01 -2.46071486e-02 2.93069519e+02] [-1.44672406e-01 9.89476861e-01 2.33154150e-03 1.00775574e+02] [ 2.46855450e-02 1.25368068e-03 9.99694479e-01 2.50086904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.326875 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:293.10, Y:100.77, Z:25.01 [[ 9.88933111e-01 1.46293180e-01 -2.46902505e-02 2.93101197e+02] [-1.46306989e-01 9.89238438e-01 1.25600780e-03 1.00772573e+02] [ 2.46082902e-02 2.37024849e-03 9.99694360e-01 2.50105925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3568750000001 meters Centerline goodness : 0.990494 Centerline is valid? [True, True] Translation: X:293.14, Y:100.77, Z:25.01 [[ 9.89906635e-01 1.39554012e-01 -2.46887005e-02 2.93143950e+02] [-1.39565243e-01 9.90212055e-01 1.27607583e-03 1.00768305e+02] [ 2.46251304e-02 2.18248857e-03 9.99694373e-01 2.50103566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.386875 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:293.17, Y:100.76, Z:25.01 [[ 9.88530323e-01 1.49000553e-01 -2.46299837e-02 2.93165577e+02] [-1.48996110e-01 9.88835707e-01 2.02578373e-03 1.00764522e+02] [ 2.46568502e-02 1.66722310e-03 9.99694583e-01 2.50124651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.416875 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:293.20, Y:100.76, Z:25.01 [[ 9.89667118e-01 1.41243797e-01 -2.46816896e-02 2.93204603e+02] [-1.41253455e-01 9.89972530e-01 1.36049583e-03 1.00760672e+02] [ 2.46263563e-02 2.13993595e-03 9.99694435e-01 2.50128540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.446875 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:293.24, Y:100.76, Z:25.01 [[ 9.89907931e-01 1.39553665e-01 -2.46386351e-02 2.93236780e+02] [-1.39549231e-01 9.90213297e-01 1.90776130e-03 1.00759451e+02] [ 2.46637392e-02 1.54979453e-03 9.99694602e-01 2.50126355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4768750000001 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:293.26, Y:100.76, Z:25.01 [[ 9.88503765e-01 1.49175656e-01 -2.46359640e-02 2.93255381e+02] [-1.49173352e-01 9.88809153e-01 1.94165264e-03 1.00755068e+02] [ 2.46499140e-02 1.75569838e-03 9.99694603e-01 2.50123887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.506875 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:293.30, Y:100.74, Z:25.01 [[ 9.87303483e-01 1.56913478e-01 -2.46980194e-02 2.93298010e+02] [-1.56933363e-01 9.87608532e-01 1.14317421e-03 1.00742373e+02] [ 2.45713541e-02 2.74728335e-03 9.99694304e-01 2.50137921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.536875 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:293.33, Y:100.75, Z:25.02 [[ 9.88822623e-01 1.47047452e-01 -2.46346761e-02 2.93332445e+02] [-1.47044396e-01 9.89127980e-01 1.94539612e-03 1.00746115e+02] [ 2.46529129e-02 1.69873936e-03 9.99694627e-01 2.50172552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.566875 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:293.36, Y:100.75, Z:25.02 [[ 9.89284410e-01 1.43910471e-01 -2.46197431e-02 2.93357674e+02] [-1.43901776e-01 9.89589676e-01 2.13374110e-03 1.00749008e+02] [ 2.46705113e-02 1.43194796e-03 9.99694611e-01 2.50163593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.596875 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:293.38, Y:100.75, Z:25.01 [[ 9.88242429e-01 1.50894622e-01 -2.46518658e-02 2.93377631e+02] [-1.50898147e-01 9.88547805e-01 1.72791044e-03 1.00745143e+02] [ 2.46302802e-02 2.01232645e-03 9.99694603e-01 2.50142947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.626875 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:293.41, Y:100.74, Z:25.02 [[ 9.88095494e-01 1.51845006e-01 -2.47060665e-02 2.93411184e+02] [-1.51865887e-01 9.88400562e-01 1.03988898e-03 1.00740419e+02] [ 2.45773919e-02 2.72449907e-03 9.99694218e-01 2.50164925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.656875 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:293.45, Y:100.74, Z:25.03 [[ 9.89142608e-01 1.44868147e-01 -2.47006280e-02 2.93451427e+02] [-1.44885170e-01 9.89447855e-01 1.10857333e-03 1.00736906e+02] [ 2.46005804e-02 2.48221758e-03 9.99694278e-01 2.50260130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.686875 meters Centerline goodness : 0.993191 Centerline is valid? [True, True] Translation: X:293.47, Y:100.73, Z:25.02 [[ 9.87920964e-01 1.52985162e-01 -2.46517540e-02 2.93473409e+02] [-1.52989574e-01 9.88226309e-01 1.71811732e-03 1.00734263e+02] [ 2.46243583e-02 2.07409722e-03 9.99694623e-01 2.50182246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.716875 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:293.51, Y:100.73, Z:25.02 [[ 9.87608146e-01 1.54984578e-01 -2.46967524e-02 2.93505489e+02] [-1.55003556e-01 9.87913236e-01 1.15568375e-03 1.00731013e+02] [ 2.45773617e-02 2.68672176e-03 9.99694321e-01 2.50153871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.746875 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:293.54, Y:100.73, Z:25.01 [[ 9.87609777e-01 1.54974657e-01 -2.46938157e-02 2.93535072e+02] [-1.54992725e-01 9.87914892e-01 1.19224455e-03 1.00729666e+02] [ 2.45801559e-02 2.64988941e-03 9.99694350e-01 2.50137927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.776875 meters Centerline goodness : 0.993753 Centerline is valid? [True, True] Translation: X:293.57, Y:100.73, Z:25.01 [[ 9.87326667e-01 1.56767336e-01 -2.46993051e-02 2.93567964e+02] [-1.56787640e-01 9.87631698e-01 1.12441518e-03 1.00725014e+02] [ 2.45700882e-02 2.76238066e-03 9.99694293e-01 2.50144882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.806875 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:293.60, Y:100.72, Z:25.02 [[ 9.87057485e-01 1.58455225e-01 -2.46873097e-02 2.93598468e+02] [-1.58472491e-01 9.87362579e-01 1.26790846e-03 1.00720522e+02] [ 2.45762324e-02 2.66076091e-03 9.99694418e-01 2.50170571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.836875 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:293.63, Y:100.72, Z:25.02 [[ 9.87194825e-01 1.57596564e-01 -2.46921122e-02 2.93629086e+02] [-1.57614981e-01 9.87499900e-01 1.21080746e-03 1.00718463e+02] [ 2.45742774e-02 2.69654394e-03 9.99694370e-01 2.50204061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.866875 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:293.66, Y:100.71, Z:25.03 [[ 9.87003352e-01 1.58791277e-01 -2.46923593e-02 2.93661903e+02] [-1.58810136e-01 9.87308403e-01 1.20791272e-03 1.00713011e+02] [ 2.45707798e-02 2.72918303e-03 9.99694367e-01 2.50259782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.896875 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:293.69, Y:100.71, Z:25.03 [[ 9.87285906e-01 1.57026571e-01 -2.46818923e-02 2.93692373e+02] [-1.57041861e-01 9.87591052e-01 1.32974690e-03 1.00710874e+02] [ 2.45844215e-02 2.56324993e-03 9.99694471e-01 2.50257267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.926875 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:293.72, Y:100.71, Z:25.03 [[ 9.87477157e-01 1.55818363e-01 -2.46881147e-02 2.93724803e+02] [-1.55835074e-01 9.87782288e-01 1.25744606e-03 1.00707442e+02] [ 2.45824156e-02 2.60557491e-03 9.99694411e-01 2.50250635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.956875 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:293.75, Y:100.70, Z:25.03 [[ 9.87644869e-01 1.54752607e-01 -2.46828518e-02 2.93754228e+02] [-1.54767490e-01 9.87950043e-01 1.31780973e-03 1.00702424e+02] [ 2.45893589e-02 2.51857500e-03 9.99694463e-01 2.50281314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.986875 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:293.78, Y:100.70, Z:25.03 [[ 9.87949020e-01 1.52797358e-01 -2.46921211e-02 2.93784242e+02] [-1.52814262e-01 9.88254184e-01 1.21203980e-03 1.00700814e+02] [ 2.45872884e-02 2.57587473e-03 9.99694368e-01 2.50271391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.016875 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:293.83, Y:100.68, Z:25.03 [[ 9.86478781e-01 1.62017237e-01 -2.46987810e-02 2.93830390e+02] [-1.62038867e-01 9.86783722e-01 1.13642028e-03 1.00680784e+02] [ 2.45564747e-02 2.88110798e-03 9.99694293e-01 2.50294357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.046875 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:293.85, Y:100.69, Z:25.03 [[ 9.88099091e-01 1.51838383e-01 -2.46026836e-02 2.93845186e+02] [-1.51830289e-01 9.88404113e-01 2.20756048e-03 1.00694555e+02] [ 2.46525860e-02 1.55414405e-03 9.99694871e-01 2.50271681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.076875 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:293.88, Y:100.69, Z:25.03 [[ 9.88383212e-01 1.49962878e-01 -2.46933656e-02 2.93880340e+02] [-1.49979434e-01 9.88688400e-01 1.19073688e-03 1.00688958e+02] [ 2.45926105e-02 2.52659266e-03 9.99694363e-01 2.50290968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1068750000001 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:293.91, Y:100.69, Z:25.03 [[ 9.88427972e-01 1.49670740e-01 -2.46741590e-02 2.93908159e+02] [-1.49681902e-01 9.88733208e-01 1.40439153e-03 1.00685527e+02] [ 2.46063567e-02 2.30513518e-03 9.99694560e-01 2.50274762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.136875 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:293.94, Y:100.68, Z:25.03 [[ 9.88725024e-01 1.47693478e-01 -2.46873007e-02 2.93941316e+02] [-1.47707644e-01 9.89030266e-01 1.25878671e-03 1.00682290e+02] [ 2.46024022e-02 2.40190912e-03 9.99694430e-01 2.50267729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.166875 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:293.97, Y:100.68, Z:25.03 [[ 9.88614875e-01 1.48430500e-01 -2.46782444e-02 2.93970063e+02] [-1.48442419e-01 9.88920120e-01 1.35845806e-03 1.00678425e+02] [ 2.46064491e-02 2.32030646e-03 9.99694523e-01 2.50281242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.196875 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:294.00, Y:100.67, Z:25.03 [[ 9.88694070e-01 1.47900647e-01 -2.46867346e-02 2.94004762e+02] [-1.47914710e-01 9.88999311e-01 1.26551716e-03 1.00674462e+02] [ 2.46023344e-02 2.40032188e-03 9.99694435e-01 2.50314144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2268750000001 meters Centerline goodness : 0.992516 Centerline is valid? [True, True] Translation: X:294.03, Y:100.67, Z:25.03 [[ 9.88318442e-01 1.50393657e-01 -2.46658875e-02 2.94033277e+02] [-1.50402880e-01 9.88623664e-01 1.49147741e-03 1.00670225e+02] [ 2.46095888e-02 2.23576589e-03 9.99694638e-01 2.50330806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.256875 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:294.06, Y:100.67, Z:25.03 [[ 9.88145093e-01 1.51527179e-01 -2.46736697e-02 2.94063415e+02] [-1.51538833e-01 9.88450303e-01 1.40766556e-03 1.00667250e+02] [ 2.46019959e-02 2.34804129e-03 9.99694568e-01 2.50324672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.286875 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:294.11, Y:100.65, Z:25.03 [[ 9.86474493e-01 1.62046019e-01 -2.46812307e-02 2.94109009e+02] [-1.62062937e-01 9.86779532e-01 1.32654979e-03 1.00645985e+02] [ 2.45698954e-02 2.69130521e-03 9.99694492e-01 2.50340000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.316875 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:294.13, Y:100.66, Z:25.03 [[ 9.87855132e-01 1.53420233e-01 -2.45859805e-02 2.94125888e+02] [-1.53409553e-01 9.88159944e-01 2.33122748e-03 1.00658737e+02] [ 2.46525385e-02 1.46880923e-03 9.99695001e-01 2.50314280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.346875 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:294.16, Y:100.65, Z:25.03 [[ 9.87542758e-01 1.55404068e-01 -2.46754372e-02 2.94158999e+02] [-1.55417455e-01 9.87847910e-01 1.38608535e-03 1.00654724e+02] [ 2.45909823e-02 2.46617510e-03 9.99694554e-01 2.50305254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.376875 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:294.19, Y:100.65, Z:25.03 [[ 9.87208799e-01 1.57512864e-01 -2.46674861e-02 2.94190089e+02] [-1.57524855e-01 9.87513931e-01 1.46849717e-03 1.00651460e+02] [ 2.45907934e-02 2.43602885e-03 9.99694633e-01 2.50267023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.406875 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:294.22, Y:100.65, Z:25.03 [[ 9.87119340e-01 1.58072288e-01 -2.46690120e-02 2.94221660e+02] [-1.58084843e-01 9.87424464e-01 1.45279197e-03 1.00648746e+02] [ 2.45884321e-02 2.46571782e-03 9.99694618e-01 2.50267592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.436875 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:294.25, Y:100.64, Z:25.03 [[ 9.86700862e-01 1.60665098e-01 -2.46604105e-02 2.94254118e+02] [-1.60676300e-01 9.87005956e-01 1.53949308e-03 1.00643165e+02] [ 2.45873148e-02 2.44332437e-03 9.99694700e-01 2.50298600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.466875 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:294.29, Y:100.62, Z:25.03 [[ 9.85295135e-01 1.69073257e-01 -2.46521971e-02 2.94294930e+02] [-1.69085011e-01 9.85600136e-01 1.62203423e-03 1.00624462e+02] [ 2.45714514e-02 2.57013459e-03 9.99694773e-01 2.50338736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.496875 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:294.31, Y:100.63, Z:25.04 [[ 9.87051156e-01 1.58513480e-01 -2.45660778e-02 2.94314997e+02] [-1.58500761e-01 9.87355749e-01 2.47642594e-03 1.00632109e+02] [ 2.46480051e-02 1.44938294e-03 9.99695141e-01 2.50396164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.526875 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:294.35, Y:100.63, Z:25.04 [[ 9.87145626e-01 1.57912733e-01 -2.46390130e-02 2.94346177e+02] [-1.57917603e-01 9.87450724e-01 1.76030015e-03 1.00628413e+02] [ 2.46077851e-02 2.15326127e-03 9.99694864e-01 2.50401501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.556875 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:294.37, Y:100.63, Z:25.04 [[ 9.87943252e-01 1.52842959e-01 -2.46406505e-02 2.94374796e+02] [-1.52846658e-01 9.88248378e-01 1.74435713e-03 1.00626852e+02] [ 2.46176956e-02 2.04291522e-03 9.99694851e-01 2.50401136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.586875 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:294.41, Y:100.62, Z:25.04 [[ 9.87955995e-01 1.52757645e-01 -2.46587255e-02 2.94406282e+02] [-1.52765673e-01 9.88261194e-01 1.56905527e-03 1.00621156e+02] [ 2.46089467e-02 2.21684923e-03 9.99694696e-01 2.50412806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.616875 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:294.44, Y:100.62, Z:25.04 [[ 9.88047752e-01 1.52165653e-01 -2.46425211e-02 2.94435274e+02] [-1.52169659e-01 9.88352884e-01 1.72356971e-03 1.00617586e+02] [ 2.46177749e-02 2.04687485e-03 9.99694841e-01 2.50397714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.646875 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:294.48, Y:100.60, Z:25.04 [[ 9.86562621e-01 1.61512515e-01 -2.46556779e-02 2.94479392e+02] [-1.61522518e-01 9.86867732e-01 1.59842182e-03 1.00598433e+02] [ 2.45900581e-02 2.40550396e-03 9.99694725e-01 2.50397796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.676875 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:294.51, Y:100.59, Z:25.04 [[ 9.86449624e-01 1.62218639e-01 -2.45408285e-02 2.94510889e+02] [-1.62202190e-01 9.86753924e-01 2.67262089e-03 1.00594751e+02] [ 2.46493078e-02 1.34417027e-03 9.99695256e-01 2.50387775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.706875 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:294.54, Y:100.59, Z:25.04 [[ 9.86377986e-01 1.62652924e-01 -2.45457850e-02 2.94543824e+02] [-1.62637759e-01 9.86682351e-01 2.62629686e-03 1.00591345e+02] [ 2.46460677e-02 1.40155006e-03 9.99695257e-01 2.50380305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.736875 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:294.56, Y:100.60, Z:25.04 [[ 9.87973208e-01 1.52664602e-01 -2.45450304e-02 2.94561311e+02] [-1.52646184e-01 9.88277394e-01 2.63333094e-03 1.00604901e+02] [ 2.46593151e-02 1.14504481e-03 9.99695257e-01 2.50378745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.766875 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:294.59, Y:100.60, Z:25.04 [[ 9.87843684e-01 1.53484141e-01 -2.46469999e-02 2.94592544e+02] [-1.53489570e-01 9.88148835e-01 1.68265510e-03 1.00601481e+02] [ 2.46131651e-02 2.12085720e-03 9.99694800e-01 2.50383657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.796875 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:294.62, Y:100.60, Z:25.04 [[ 9.87666483e-01 1.54619611e-01 -2.46514718e-02 2.94624130e+02] [-1.54626422e-01 9.87971647e-01 1.64115727e-03 1.00597798e+02] [ 2.46087103e-02 2.19085285e-03 9.99694759e-01 2.50381062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.826875 meters Centerline goodness : 0.992544 Centerline is valid? [True, True] Translation: X:294.65, Y:100.60, Z:25.04 [[ 9.87609009e-01 1.54986156e-01 -2.46523055e-02 2.94653642e+02] [-1.54993274e-01 9.87914175e-01 1.63338984e-03 1.00595155e+02] [ 2.46075149e-02 2.20779101e-03 9.99694751e-01 2.50365144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8568750000001 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:294.69, Y:100.59, Z:25.04 [[ 9.86851076e-01 1.59741201e-01 -2.46516326e-02 2.94685098e+02] [-1.59749636e-01 9.87156201e-01 1.63951905e-03 1.00591184e+02] [ 2.45969108e-02 2.32012820e-03 9.99694758e-01 2.50381110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.886875 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:294.73, Y:100.57, Z:25.04 [[ 9.85021048e-01 1.70662716e-01 -2.46530274e-02 2.94730967e+02] [-1.70674846e-01 9.85326063e-01 1.62681239e-03 1.00571607e+02] [ 2.45689067e-02 2.60520722e-03 9.99694744e-01 2.50387419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.916875 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:294.75, Y:100.58, Z:25.04 [[ 9.86803270e-01 1.60055831e-01 -2.45242351e-02 2.94748119e+02] [-1.60036015e-01 9.87107258e-01 2.78128506e-03 1.00584649e+02] [ 2.46532114e-02 1.18017967e-03 9.99695367e-01 2.50406698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.946875 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:294.77, Y:100.58, Z:25.04 [[ 9.86916592e-01 1.59339948e-01 -2.46256028e-02 2.94774630e+02] [-1.59342140e-01 9.87221620e-01 1.88585885e-03 1.00583083e+02] [ 2.46114202e-02 2.06271085e-03 9.99694965e-01 2.50392133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9768750000001 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:294.82, Y:100.56, Z:25.04 [[ 9.85031215e-01 1.70602141e-01 -2.46660789e-02 2.94821206e+02] [-1.70616743e-01 9.85336286e-01 1.52686881e-03 1.00559642e+02] [ 2.45648696e-02 2.70443260e-03 9.99694580e-01 2.50415966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.006875 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:294.85, Y:100.56, Z:25.04 [[ 9.85049270e-01 1.70519136e-01 -2.45185713e-02 2.94853219e+02] [-1.70501769e-01 9.85353356e-01 2.81254392e-03 1.00555981e+02] [ 2.46390491e-02 1.40996545e-03 9.99695418e-01 2.50414911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.036875 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:294.89, Y:100.55, Z:25.04 [[ 9.85103515e-01 1.70205599e-01 -2.45177440e-02 2.94886325e+02] [-1.70187957e-01 9.85407585e-01 2.81973747e-03 1.00553778e+02] [ 2.46399060e-02 1.39489146e-03 9.99695418e-01 2.50407499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.066875 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:294.90, Y:100.57, Z:25.04 [[ 9.87059307e-01 1.58470322e-01 -2.45169677e-02 2.94902451e+02] [-1.58448896e-01 9.87363134e-01 2.82647044e-03 1.00569417e+02] [ 2.46550618e-02 1.09479252e-03 9.99695418e-01 2.50389244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.096875 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:294.95, Y:100.55, Z:25.04 [[ 9.85337423e-01 1.68827775e-01 -2.46443927e-02 2.94947584e+02] [-1.68837181e-01 9.85642465e-01 1.71364964e-03 1.00549435e+02] [ 2.45798717e-02 2.47236668e-03 9.99694812e-01 2.50404078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.126875 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:294.96, Y:100.56, Z:25.04 [[ 9.87134029e-01 1.58004957e-01 -2.45120693e-02 2.94961852e+02] [-1.57982769e-01 9.87437752e-01 2.85133439e-03 1.00562238e+02] [ 2.46546676e-02 1.05783538e-03 9.99695468e-01 2.50425373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.156875 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:295.00, Y:100.55, Z:25.05 [[ 9.87324274e-01 1.56792659e-01 -2.46341279e-02 2.94995784e+02] [-1.56795911e-01 9.87629364e-01 1.81151485e-03 1.00554139e+02] [ 2.46134203e-02 2.07397794e-03 9.99694893e-01 2.50471829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.186875 meters Centerline goodness : 0.992111 Centerline is valid? [True, True] Translation: X:295.03, Y:100.55, Z:25.05 [[ 9.87780082e-01 1.53898259e-01 -2.46137355e-02 2.95027839e+02] [-1.53896323e-01 9.88085009e-01 1.98426813e-03 1.00551586e+02] [ 2.46258385e-02 1.82794286e-03 9.99695067e-01 2.50486403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.216875 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:295.05, Y:100.55, Z:25.05 [[ 9.87736261e-01 1.54181931e-01 -2.45969488e-02 2.95054924e+02] [-1.54176649e-01 9.88041019e-01 2.12242851e-03 1.00550014e+02] [ 2.46300345e-02 1.69587554e-03 9.99695196e-01 2.50462847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.246875 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:295.09, Y:100.55, Z:25.04 [[ 9.88076710e-01 1.51981237e-01 -2.46194849e-02 2.95089038e+02] [-1.51979838e-01 9.88381692e-01 1.93886177e-03 1.00549117e+02] [ 2.46281188e-02 1.82592117e-03 9.99695014e-01 2.50439793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.276875 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:295.12, Y:100.55, Z:25.04 [[ 9.88251281e-01 1.50843789e-01 -2.46080480e-02 2.95121207e+02] [-1.50839744e-01 9.88556142e-01 2.03122787e-03 1.00545876e+02] [ 2.46328351e-02 1.70450811e-03 9.99695113e-01 2.50431680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.306875 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:295.15, Y:100.54, Z:25.04 [[ 9.88890912e-01 1.46592004e-01 -2.46078792e-02 2.95151774e+02] [-1.46586614e-01 9.89195751e-01 2.03258451e-03 1.00542552e+02] [ 2.46399702e-02 1.59718133e-03 9.99695114e-01 2.50429011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.336875 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:295.20, Y:100.52, Z:25.05 [[ 9.87735169e-01 1.54186659e-01 -2.46111709e-02 2.95195600e+02] [-1.54184270e-01 9.88040073e-01 2.00608357e-03 1.00523463e+02] [ 2.46261344e-02 1.81317612e-03 9.99695086e-01 2.50483860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.366875 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:295.23, Y:100.52, Z:25.05 [[ 9.88157644e-01 1.51477402e-01 -2.44758666e-02 2.95227337e+02] [-1.51447512e-01 9.88460499e-01 3.08105482e-03 1.00520556e+02] [ 2.46601375e-02 6.62241238e-04 9.99695673e-01 2.50495818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.396875 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:295.26, Y:100.52, Z:25.05 [[ 9.88494184e-01 1.49265590e-01 -2.44751116e-02 2.95260175e+02] [-1.49234874e-01 9.88796957e-01 3.08704107e-03 1.00518742e+02] [ 2.46617049e-02 6.01018058e-04 9.99695673e-01 2.50511526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.426875 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:295.28, Y:100.53, Z:25.05 [[ 9.89713332e-01 1.40955781e-01 -2.44742390e-02 2.95283118e+02] [-1.40922352e-01 9.90015817e-01 3.09394328e-03 1.00529845e+02] [ 2.46659930e-02 3.86850412e-04 9.99695673e-01 2.50497690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.456875 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:295.32, Y:100.52, Z:25.05 [[ 9.88786449e-01 1.47302825e-01 -2.45608809e-02 2.95324864e+02] [-1.47288305e-01 9.89090669e-01 2.40913049e-03 1.00521079e+02] [ 2.46478098e-02 1.23541492e-03 9.99695433e-01 2.50518330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.486875 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:295.36, Y:100.52, Z:25.05 [[ 9.88722103e-01 1.47749297e-01 -2.44693393e-02 2.95357524e+02] [-1.47717158e-01 9.89024707e-01 3.12578856e-03 1.00520772e+02] [ 2.46626142e-02 5.24005018e-04 9.99695694e-01 2.50528958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.516875 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:295.39, Y:100.53, Z:25.05 [[ 9.88435434e-01 1.49655207e-01 -2.44685745e-02 2.95389738e+02] [-1.49623504e-01 9.88738084e-01 3.13176391e-03 1.00526101e+02] [ 2.46616962e-02 5.65527426e-04 9.99695694e-01 2.50526735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.546875 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:295.42, Y:100.53, Z:25.05 [[ 9.88119351e-01 1.51728281e-01 -2.44678686e-02 2.95422483e+02] [-1.51697076e-01 9.88422053e-01 3.13726872e-03 1.00526520e+02] [ 2.46605933e-02 6.11708203e-04 9.99695694e-01 2.50518827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.576875 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:295.46, Y:100.53, Z:25.05 [[ 9.87807215e-01 1.53747413e-01 -2.44671014e-02 2.95455070e+02] [-1.53716680e-01 9.88109965e-01 3.14324107e-03 1.00527255e+02] [ 2.46594519e-02 6.56085378e-04 9.99695694e-01 2.50514166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6068750000001 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:295.49, Y:100.53, Z:25.05 [[ 9.87093056e-01 1.58267809e-01 -2.44662826e-02 2.95489037e+02] [-1.58238304e-01 9.87395928e-01 3.14960116e-03 1.00532772e+02] [ 2.46563883e-02 7.62553647e-04 9.99695694e-01 2.50514353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.636875 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:295.52, Y:100.53, Z:25.05 [[ 9.86789585e-01 1.60149173e-01 -2.44654147e-02 2.95521286e+02] [-1.60120079e-01 9.87092497e-01 3.15632880e-03 1.00533851e+02] [ 2.46551107e-02 8.02771756e-04 9.99695694e-01 2.50528687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.666875 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:295.55, Y:100.53, Z:25.05 [[ 9.86423894e-01 1.62386530e-01 -2.44646051e-02 2.95554603e+02] [-1.62357967e-01 9.86726856e-01 3.16259187e-03 1.00534541e+02] [ 2.46534451e-02 8.52367367e-04 9.99695694e-01 2.50528049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.696875 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:295.59, Y:100.54, Z:25.06 [[ 9.85952056e-01 1.65227329e-01 -2.44637172e-02 2.95587482e+02] [-1.65199470e-01 9.86255083e-01 3.16944498e-03 1.00540212e+02] [ 2.46511444e-02 9.16472322e-04 9.99695694e-01 2.50553295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7268750000001 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:295.62, Y:100.54, Z:25.05 [[ 9.85715812e-01 1.66632221e-01 -2.44548576e-02 2.95619095e+02] [-1.66603102e-01 9.86018724e-01 3.23771293e-03 1.00541250e+02] [ 2.46524548e-02 8.82790319e-04 9.99695692e-01 2.50548118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.756875 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:295.65, Y:100.54, Z:25.06 [[ 9.85478871e-01 1.68026691e-01 -2.44627536e-02 2.95651230e+02] [-1.67999508e-01 9.85781960e-01 3.17691277e-03 1.00542088e+02] [ 2.46487474e-02 9.78950160e-04 9.99695694e-01 2.50553169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.786875 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:295.68, Y:100.55, Z:25.06 [[ 9.85271091e-01 1.69240921e-01 -2.44619731e-02 2.95683608e+02] [-1.69213962e-01 9.85574200e-01 3.18291181e-03 1.00548309e+02] [ 2.46477685e-02 1.00327640e-03 9.99695694e-01 2.50566304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.816875 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:295.72, Y:100.55, Z:25.06 [[ 9.85140412e-01 1.70000046e-01 -2.44612519e-02 2.95717179e+02] [-1.69973183e-01 9.85443530e-01 3.18844438e-03 1.00548872e+02] [ 2.46472181e-02 1.01669144e-03 9.99695694e-01 2.50571774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.846875 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:295.75, Y:100.55, Z:25.06 [[ 9.84985623e-01 1.70894744e-01 -2.44603750e-02 2.95749761e+02] [-1.70867990e-01 9.85288750e-01 3.19515785e-03 1.00549919e+02] [ 2.46465680e-02 1.03231056e-03 9.99695694e-01 2.50559442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.876875 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:295.78, Y:100.55, Z:25.06 [[ 9.84871661e-01 1.71550404e-01 -2.44595814e-02 2.95781920e+02] [-1.71523701e-01 9.85174793e-01 3.20122121e-03 1.00550969e+02] [ 2.46461338e-02 1.04260589e-03 9.99695694e-01 2.50576138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.906875 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:295.82, Y:100.56, Z:25.06 [[ 9.84762078e-01 1.72178452e-01 -2.44587339e-02 2.95816392e+02] [-1.72151783e-01 9.85065213e-01 3.20768347e-03 1.00558220e+02] [ 2.46457419e-02 1.05180961e-03 9.99695694e-01 2.50557654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.936875 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:295.85, Y:100.56, Z:25.06 [[ 9.84724173e-01 1.72395234e-01 -2.44578363e-02 2.95848956e+02] [-1.72368462e-01 9.85027299e-01 3.21451255e-03 1.00560994e+02] [ 2.46458031e-02 1.05035143e-03 9.99695694e-01 2.50580260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.966875 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:295.88, Y:100.56, Z:25.06 [[ 9.84595534e-01 1.73128533e-01 -2.44569996e-02 2.95882908e+02] [-1.73101830e-01 9.84898666e-01 3.22086623e-03 1.00562887e+02] [ 2.46452901e-02 1.06230087e-03 9.99695694e-01 2.50585339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.996875 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:295.92, Y:100.57, Z:25.06 [[ 9.84342521e-01 1.74561450e-01 -2.44561241e-02 2.95915863e+02] [-1.74535023e-01 9.84645677e-01 3.22750031e-03 1.00570130e+02] [ 2.46440140e-02 1.09148440e-03 9.99695694e-01 2.50602942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.026875 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:295.95, Y:100.57, Z:25.06 [[ 9.84129843e-01 1.75756614e-01 -2.44553570e-02 2.95949396e+02] [-1.75730412e-01 9.84433019e-01 3.23330238e-03 1.00571989e+02] [ 2.46429352e-02 1.11556059e-03 9.99695694e-01 2.50603743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.056875 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:295.98, Y:100.57, Z:25.06 [[ 9.83954731e-01 1.76734454e-01 -2.44544535e-02 2.95982285e+02] [-1.76708384e-01 9.84257918e-01 3.24012143e-03 1.00574436e+02] [ 2.46421306e-02 1.13317414e-03 9.99695694e-01 2.50628680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.086875 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:296.02, Y:100.58, Z:25.06 [[ 9.83697123e-01 1.78162823e-01 -2.44536112e-02 2.96016543e+02] [-1.78137036e-01 9.84000334e-01 3.24646584e-03 1.00584360e+02] [ 2.46407611e-02 1.16255472e-03 9.99695694e-01 2.50632615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.116875 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:296.05, Y:100.59, Z:25.06 [[ 9.83584699e-01 1.78782478e-01 -2.44533295e-02 2.96049696e+02] [-1.78756829e-01 9.83887922e-01 3.24858619e-03 1.00587047e+02] [ 2.46401259e-02 1.17593997e-03 9.99695694e-01 2.50627047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.146875 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:296.08, Y:100.59, Z:25.06 [[ 9.83452341e-01 1.79509238e-01 -2.44525283e-02 2.96081767e+02] [-1.79483664e-01 9.83755570e-01 3.25460575e-03 1.00589227e+02] [ 2.46395427e-02 1.18807974e-03 9.99695694e-01 2.50639556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.176875 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:296.11, Y:100.60, Z:25.06 [[ 9.83398455e-01 1.79804308e-01 -2.44517887e-02 2.96113979e+02] [-1.79778687e-01 9.83701680e-01 3.26015320e-03 1.00596329e+02] [ 2.46394552e-02 1.18988084e-03 9.99695694e-01 2.50617247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.206875 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:296.14, Y:100.60, Z:25.06 [[ 9.83300168e-01 1.80341044e-01 -2.44517323e-02 2.96144149e+02] [-1.80315578e-01 9.83603406e-01 3.26057582e-03 1.00596939e+02] [ 2.46388229e-02 1.20290349e-03 9.99695694e-01 2.50620292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.236875 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:296.19, Y:100.58, Z:25.07 [[ 9.81673536e-01 1.88995174e-01 -2.44518462e-02 2.96187416e+02] [-1.88972402e-01 9.81976988e-01 3.25972148e-03 1.00583022e+02] [ 2.46272219e-02 1.42074179e-03 9.99695694e-01 2.50657951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.266875 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:296.21, Y:100.61, Z:25.07 [[ 9.83274089e-01 1.80502117e-01 -2.43115495e-02 2.96205232e+02] [-1.80450953e-01 9.83574583e-01 4.30032744e-03 1.00605978e+02] [ 2.46884403e-02 1.58641720e-04 9.99695181e-01 2.50686876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.296875 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:296.23, Y:100.61, Z:25.07 [[ 9.83274515e-01 1.80481048e-01 -2.44503379e-02 2.96234432e+02] [-1.80455656e-01 9.83577721e-01 3.25926992e-03 1.00608668e+02] [ 2.46370440e-02 1.20744470e-03 9.99695733e-01 2.50687256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.326875 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:296.26, Y:100.61, Z:25.07 [[ 9.83331413e-01 1.80170760e-01 -2.44505650e-02 2.96262545e+02] [-1.80145315e-01 9.83634614e-01 3.25756512e-03 1.00611049e+02] [ 2.46373400e-02 1.20138861e-03 9.99695733e-01 2.50714710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3568750000001 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:296.31, Y:100.60, Z:25.08 [[ 9.81397846e-01 1.90421702e-01 -2.44508465e-02 2.96311208e+02] [-1.90399475e-01 9.81701300e-01 3.25545082e-03 1.00598174e+02] [ 2.46233363e-02 1.46053591e-03 9.99695733e-01 2.50770769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.386875 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:296.32, Y:100.62, Z:25.07 [[ 9.83357689e-01 1.80050748e-01 -2.42772377e-02 2.96324981e+02] [-1.79993219e-01 9.83657317e-01 4.55240409e-03 1.00619409e+02] [ 2.47001463e-02 -1.06903405e-04 9.99694899e-01 2.50724134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.416875 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:296.35, Y:100.62, Z:25.08 [[ 9.83171949e-01 1.81038663e-01 -2.44524351e-02 2.96353368e+02] [-1.81014324e-01 9.83475176e-01 3.22364106e-03 1.00622885e+02] [ 2.46319665e-02 1.25684754e-03 9.99695797e-01 2.50770044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.446875 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:296.38, Y:100.63, Z:25.08 [[ 9.82597309e-01 1.84132000e-01 -2.44527186e-02 2.96384207e+02] [-1.84108669e-01 9.82900616e-01 3.22148855e-03 1.00632399e+02] [ 2.46277713e-02 1.33653149e-03 9.99695797e-01 2.50783993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4768750000001 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:296.41, Y:100.64, Z:25.08 [[ 9.82331746e-01 1.85543519e-01 -2.44528877e-02 2.96412794e+02] [-1.85520655e-01 9.82635088e-01 3.22020474e-03 1.00635036e+02] [ 2.46257536e-02 1.37320641e-03 9.99695797e-01 2.50819484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.506875 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:296.44, Y:100.64, Z:25.08 [[ 9.82098600e-01 1.86773598e-01 -2.44532859e-02 2.96442815e+02] [-1.86751189e-01 9.82401976e-01 3.21717775e-03 1.00644553e+02] [ 2.46238403e-02 1.40709447e-03 9.99695797e-01 2.50839858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.536875 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:296.47, Y:100.65, Z:25.08 [[ 9.82025642e-01 1.87156789e-01 -2.44535027e-02 2.96471618e+02] [-1.87134540e-01 9.82329031e-01 3.21552897e-03 1.00646548e+02] [ 2.46231937e-02 1.41836308e-03 9.99695797e-01 2.50842207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.566875 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:296.50, Y:100.65, Z:25.08 [[ 9.82525799e-01 1.84513055e-01 -2.44537736e-02 2.96504669e+02] [-1.84490040e-01 9.82829130e-01 3.21346783e-03 1.00646716e+02] [ 2.46268078e-02 1.35416263e-03 9.99695797e-01 2.50839047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.596875 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:296.53, Y:100.65, Z:25.09 [[ 9.82190349e-01 1.86294874e-01 -2.44200406e-02 2.96528936e+02] [-1.86266047e-01 9.82493216e-01 3.46991111e-03 1.00648006e+02] [ 2.46389508e-02 1.14051123e-03 9.99695764e-01 2.50851517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.626875 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:296.58, Y:100.63, Z:25.09 [[ 9.80628647e-01 1.94343555e-01 -2.44548311e-02 2.96576683e+02] [-1.94323804e-01 9.80932205e-01 3.20441002e-03 1.00633318e+02] [ 2.46112878e-02 1.60981953e-03 9.99695800e-01 2.50861953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.656875 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:296.61, Y:100.63, Z:25.09 [[ 9.80816386e-01 1.93416571e-01 -2.42744039e-02 2.96605764e+02] [-1.93362904e-01 9.81116701e-01 4.56132353e-03 1.00629529e+02] [ 2.46982586e-02 2.19948374e-04 9.99694927e-01 2.50869269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.686875 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:296.62, Y:100.65, Z:25.09 [[ 9.82613091e-01 1.84070240e-01 -2.42829316e-02 2.96616907e+02] [-1.84015312e-01 9.82913091e-01 4.49675322e-03 1.00649498e+02] [ 2.46957298e-02 4.98626433e-05 9.99695013e-01 2.50890335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.716875 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:296.65, Y:100.65, Z:25.09 [[ 9.82573847e-01 1.84256933e-01 -2.44544112e-02 2.96645805e+02] [-1.84234739e-01 9.82877138e-01 3.17697869e-03 1.00651168e+02] [ 2.46210621e-02 1.38373590e-03 9.99695898e-01 2.50892751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.746875 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:296.67, Y:100.66, Z:25.09 [[ 9.82248973e-01 1.85980971e-01 -2.44547379e-02 2.96674068e+02] [-1.85959371e-01 9.82552307e-01 3.17446193e-03 1.00657446e+02] [ 2.46184487e-02 1.42947571e-03 9.99695898e-01 2.50904782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.776875 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:296.70, Y:100.66, Z:25.09 [[ 9.82087711e-01 1.86830608e-01 -2.44551162e-02 2.96703768e+02] [-1.86809343e-01 9.82391068e-01 3.17154486e-03 1.00659244e+02] [ 2.46170294e-02 1.45370896e-03 9.99695898e-01 2.50902705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.806875 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:296.75, Y:100.64, Z:25.09 [[ 9.79980219e-01 1.97587147e-01 -2.44558661e-02 2.96753829e+02] [-1.97569354e-01 9.80283800e-01 3.16575214e-03 1.00644866e+02] [ 2.45992013e-02 1.72935518e-03 9.99695898e-01 2.50881078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.836875 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:296.78, Y:100.66, Z:25.09 [[ 9.81869152e-01 1.88000606e-01 -2.42639616e-02 2.96782105e+02] [-1.87943751e-01 9.82168912e-01 4.62331760e-03 1.00655411e+02] [ 2.47004953e-02 2.07670148e-05 9.99694896e-01 2.50877959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.866875 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:296.81, Y:100.66, Z:25.09 [[ 9.81729457e-01 1.88725241e-01 -2.42910918e-02 2.96810064e+02] [-1.88673742e-01 9.82029899e-01 4.41556279e-03 1.00657029e+02] [ 2.46879065e-02 2.48203123e-04 9.99695176e-01 2.50883578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.896875 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:296.85, Y:100.65, Z:25.09 [[ 9.80301715e-01 1.96006320e-01 -2.42913619e-02 2.96848529e+02] [-1.95957104e-01 9.80602536e-01 4.41348379e-03 1.00647482e+02] [ 2.46852418e-02 4.33519198e-04 9.99695179e-01 2.50879103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.926875 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:296.88, Y:100.66, Z:25.09 [[ 9.80005154e-01 1.97493119e-01 -2.42149917e-02 2.96877495e+02] [-1.97429888e-01 9.80304266e-01 4.99853381e-03 1.00658278e+02] [ 2.47252357e-02 -1.17825793e-04 9.99694278e-01 2.50880347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.956875 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:296.91, Y:100.66, Z:25.09 [[ 9.79729161e-01 1.98856889e-01 -2.42220751e-02 2.96907325e+02] [-1.98795424e-01 9.80028539e-01 4.94394478e-03 1.00660782e+02] [ 2.47214623e-02 -2.84891945e-05 9.99694378e-01 2.50892719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.986875 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:296.93, Y:100.68, Z:25.09 [[ 9.80734427e-01 1.93836487e-01 -2.42363205e-02 2.96932567e+02] [-1.93776287e-01 9.81033850e-01 4.83073593e-03 1.00677772e+02] [ 2.47130237e-02 -4.12448321e-05 9.99694586e-01 2.50878229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.016875 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:296.96, Y:100.68, Z:25.09 [[ 9.80447062e-01 1.95279422e-01 -2.42797246e-02 2.96960425e+02] [-1.95228304e-01 9.80747586e-01 4.48131998e-03 1.00679478e+02] [ 2.46873908e-02 3.46392424e-04 9.99695160e-01 2.50872624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.046875 meters Centerline goodness : 0.997133 Centerline is valid? [True, True] Translation: X:297.00, Y:100.67, Z:25.09 [[ 9.79604493e-01 1.99462821e-01 -2.42821033e-02 2.96995266e+02] [-1.99413461e-01 9.79905282e-01 4.46208347e-03 1.00674669e+02] [ 2.46841810e-02 4.71101255e-04 9.99695188e-01 2.50861539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.076875 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:297.02, Y:100.68, Z:25.09 [[ 9.80408619e-01 1.95476502e-01 -2.42461564e-02 2.97021401e+02] [-1.95418635e-01 9.80708383e-01 4.75661657e-03 1.00683188e+02] [ 2.47082156e-02 7.47229155e-05 9.99694703e-01 2.50856254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1068750000001 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:297.05, Y:100.69, Z:25.08 [[ 9.79788468e-01 1.98557186e-01 -2.42816975e-02 2.97052745e+02] [-1.98507534e-01 9.80089202e-01 4.46268802e-03 1.00686664e+02] [ 2.46843283e-02 4.47609631e-04 9.99695195e-01 2.50843944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.136875 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:297.08, Y:100.69, Z:25.09 [[ 9.80338792e-01 1.95825588e-01 -2.42526657e-02 2.97082468e+02] [-1.95769189e-01 9.80638731e-01 4.70158514e-03 1.00690092e+02] [ 2.47037940e-02 1.38778390e-04 9.99694805e-01 2.50854757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.166875 meters Centerline goodness : 0.996479 Centerline is valid? [True, True] Translation: X:297.11, Y:100.70, Z:25.09 [[ 9.81385712e-01 1.90508372e-01 -2.42620003e-02 2.97109254e+02] [-1.90452297e-01 9.81685567e-01 4.62272341e-03 1.00700651e+02] [ 2.46983230e-02 8.40789698e-05 9.99694946e-01 2.50852083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.196875 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:297.14, Y:100.70, Z:25.09 [[ 9.81582635e-01 1.89487544e-01 -2.42899351e-02 2.97140140e+02] [-1.89437054e-01 9.81883080e-01 4.38415992e-03 1.00697971e+02] [ 2.46806200e-02 2.97998491e-04 9.99695343e-01 2.50850422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2268750000001 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:297.17, Y:100.70, Z:25.08 [[ 9.82131870e-01 1.86621211e-01 -2.42798966e-02 2.97168159e+02] [-1.86567688e-01 9.82431934e-01 4.47141765e-03 1.00699942e+02] [ 2.46878072e-02 1.38322392e-04 9.99695200e-01 2.50837206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.256875 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:297.20, Y:100.71, Z:25.08 [[ 9.82641165e-01 1.83919849e-01 -2.42864312e-02 2.97196048e+02] [-1.83866916e-01 9.82941236e-01 4.41415305e-03 1.00710497e+02] [ 2.46839850e-02 1.27942699e-04 9.99695296e-01 2.50815888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.286875 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:297.22, Y:100.72, Z:25.08 [[ 9.83035981e-01 1.81795979e-01 -2.42998571e-02 2.97222514e+02] [-1.81745351e-01 9.83336252e-01 4.29454584e-03 1.00717828e+02] [ 2.46756616e-02 1.94692993e-04 9.99695491e-01 2.50797610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.316875 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:297.25, Y:100.72, Z:25.08 [[ 9.83015485e-01 1.81903649e-01 -2.43232286e-02 2.97253229e+02] [-1.81858391e-01 9.83316272e-01 4.07854438e-03 1.00721275e+02] [ 2.46593286e-02 4.14110951e-04 9.99695827e-01 2.50788440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.346875 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:297.28, Y:100.73, Z:25.08 [[ 9.83140479e-01 1.81227853e-01 -2.43159269e-02 2.97280539e+02] [-1.81180702e-01 9.83441080e-01 4.14682946e-03 1.00725120e+02] [ 2.46648024e-02 3.28660797e-04 9.99695723e-01 2.50781811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.376875 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:297.31, Y:100.73, Z:25.08 [[ 9.82903539e-01 1.82506918e-01 -2.43281233e-02 2.97309252e+02] [-1.82463009e-01 9.83204454e-01 4.03143128e-03 1.00731726e+02] [ 2.46552832e-02 4.76474512e-04 9.99695899e-01 2.50789177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.406875 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:297.34, Y:100.73, Z:25.08 [[ 9.82833568e-01 1.82881811e-01 -2.43396894e-02 2.97337990e+02] [-1.82840764e-01 9.83134724e-01 3.92029453e-03 1.00734961e+02] [ 2.46461444e-02 5.97290344e-04 9.99696059e-01 2.50795960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.436875 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:297.34, Y:100.76, Z:25.08 [[ 9.81566527e-01 1.89564821e-01 -2.43378838e-02 2.97342993e+02] [-1.89525391e-01 9.81867924e-01 3.93781117e-03 1.00755914e+02] [ 2.46430579e-02 7.47423299e-04 9.99696034e-01 2.50821018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.466875 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:297.39, Y:100.75, Z:25.08 [[ 9.82314709e-01 1.85629290e-01 -2.44863129e-02 2.97393860e+02] [-1.85625156e-01 9.82617546e-01 2.46162601e-03 1.00749891e+02] [ 2.45176306e-02 2.12718423e-03 9.99697135e-01 2.50834254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.496875 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:297.40, Y:100.76, Z:25.08 [[ 9.80694792e-01 1.94024504e-01 -2.43354844e-02 2.97398466e+02] [-1.93986481e-01 9.80996305e-01 3.93623028e-03 1.00763134e+02] [ 2.46367454e-02 8.60514446e-04 9.99696099e-01 2.50831518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.526875 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:297.43, Y:100.77, Z:25.08 [[ 9.79843578e-01 1.98260124e-01 -2.44843934e-02 2.97426941e+02] [-1.98260272e-01 9.80146358e-01 2.44582928e-03 1.00767407e+02] [ 2.44831994e-02 2.45775237e-03 9.99697220e-01 2.50829561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.556875 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:297.46, Y:100.77, Z:25.08 [[ 9.80113408e-01 1.96921784e-01 -2.44850519e-02 2.97459856e+02] [-1.96921681e-01 9.80416188e-01 2.43921881e-03 1.00766300e+02] [ 2.44858766e-02 2.43092652e-03 9.99697220e-01 2.50819350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.586875 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:297.50, Y:100.77, Z:25.08 [[ 9.82862571e-01 1.82711142e-01 -2.44500678e-02 2.97496327e+02] [-1.82697984e-01 9.83165125e-01 2.78986530e-03 1.00774003e+02] [ 2.45481935e-02 1.72492393e-03 9.99697160e-01 2.50823123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.616875 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:297.50, Y:100.78, Z:25.08 [[ 9.81398356e-01 1.90426868e-01 -2.43900432e-02 2.97502703e+02] [-1.90399522e-01 9.81700591e-01 3.46003678e-03 1.00783764e+02] [ 2.46026038e-02 1.24817815e-03 9.99696531e-01 2.50839879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.646875 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:297.53, Y:100.79, Z:25.09 [[ 9.81005039e-01 1.92428175e-01 -2.45053359e-02 2.97530519e+02] [-1.92434058e-01 9.81307573e-01 2.14014964e-03 1.00791616e+02] [ 2.44590968e-02 2.61616364e-03 9.99697408e-01 2.50850170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.676875 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:297.56, Y:100.79, Z:25.09 [[ 9.80718588e-01 1.93882768e-01 -2.45055816e-02 2.97558256e+02] [-1.93889169e-01 9.81021112e-01 2.13733287e-03 1.00793470e+02] [ 2.44548849e-02 2.65524478e-03 9.99697408e-01 2.50853792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.706875 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:297.59, Y:100.79, Z:25.09 [[ 9.80433395e-01 1.95319758e-01 -2.45061437e-02 2.97585443e+02] [-1.95326762e-01 9.80735905e-01 2.13086819e-03 1.00794990e+02] [ 2.44502557e-02 2.69753135e-03 9.99697408e-01 2.50857964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.736875 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:297.61, Y:100.80, Z:25.08 [[ 9.79587488e-01 1.99518895e-01 -2.45063866e-02 2.97612512e+02] [-1.99527265e-01 9.79889964e-01 2.12807129e-03 1.00797220e+02] [ 2.44381527e-02 2.80506027e-03 9.99697408e-01 2.50847654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.766875 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:297.64, Y:100.80, Z:25.09 [[ 9.79139882e-01 2.01703993e-01 -2.45069314e-02 2.97640257e+02] [-2.01713193e-01 9.79442334e-01 2.12177785e-03 1.00795708e+02] [ 2.44310972e-02 2.86585407e-03 9.99697408e-01 2.50852420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.796875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:297.67, Y:100.79, Z:25.09 [[ 9.78638990e-01 2.04120333e-01 -2.45074823e-02 2.97666974e+02] [-2.04130436e-01 9.78941413e-01 2.11539613e-03 1.00794225e+02] [ 2.44231847e-02 2.93251392e-03 9.99697408e-01 2.50866062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.826875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:297.69, Y:100.79, Z:25.09 [[ 9.77913617e-01 2.07567648e-01 -2.45077188e-02 2.97694545e+02] [-2.07578885e-01 9.78216000e-01 2.11265244e-03 1.00793950e+02] [ 2.44123610e-02 3.02129335e-03 9.99697408e-01 2.50896707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8568750000001 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:297.72, Y:100.79, Z:25.09 [[ 9.77760709e-01 2.08286677e-01 -2.45082890e-02 2.97721331e+02] [-2.08298300e-01 9.78063077e-01 2.10601703e-03 1.00792862e+02] [ 2.44093078e-02 3.04585424e-03 9.99697408e-01 2.50914000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.886875 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:297.75, Y:100.79, Z:25.09 [[ 9.77613732e-01 2.08975410e-01 -2.45085373e-02 2.97749433e+02] [-2.08987317e-01 9.77916090e-01 2.10312371e-03 1.00791329e+02] [ 2.44067941e-02 3.06593083e-03 9.99697408e-01 2.50930151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.916875 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:297.78, Y:100.79, Z:25.09 [[ 9.77415962e-01 2.09898408e-01 -2.45090718e-02 2.97776921e+02] [-2.09910755e-01 9.77718302e-01 2.09687568e-03 1.00789641e+02] [ 2.44030990e-02 3.09519802e-03 9.99697408e-01 2.50949025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.946875 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:297.80, Y:100.79, Z:25.10 [[ 9.77045319e-01 2.11616924e-01 -2.45096124e-02 2.97804762e+02] [-2.11629959e-01 9.77347630e-01 2.09053779e-03 1.00787985e+02] [ 2.43968048e-02 3.14441811e-03 9.99697408e-01 2.50957802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9768750000001 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:297.83, Y:100.79, Z:25.10 [[ 9.77006872e-01 2.11794296e-01 -2.45101805e-02 2.97832997e+02] [-2.11807551e-01 9.77309173e-01 2.08385638e-03 1.00785476e+02] [ 2.43953731e-02 3.15549929e-03 9.99697409e-01 2.50967592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.006875 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:297.86, Y:100.78, Z:25.10 [[ 9.77009815e-01 2.11780653e-01 -2.45107438e-02 2.97860028e+02] [-2.11794068e-01 9.77312109e-01 2.07720942e-03 1.00782651e+02] [ 2.43945595e-02 3.16177614e-03 9.99697409e-01 2.50971383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.036875 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:297.89, Y:100.78, Z:25.10 [[ 9.77259079e-01 2.10627406e-01 -2.45109880e-02 2.97887462e+02] [-2.10640535e-01 9.77561385e-01 2.07432325e-03 1.00779119e+02] [ 2.43979047e-02 3.13585641e-03 9.99697409e-01 2.50982746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.066875 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:297.92, Y:100.78, Z:25.10 [[ 9.77390859e-01 2.10014984e-01 -2.45115448e-02 2.97915023e+02] [-2.10028086e-01 9.77693166e-01 2.06772264e-03 1.00777071e+02] [ 2.43990226e-02 3.12713964e-03 9.99697409e-01 2.50996422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.096875 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:297.94, Y:100.78, Z:25.10 [[ 9.77646711e-01 2.08820655e-01 -2.45120958e-02 2.97942946e+02] [-2.08833549e-01 9.77949027e-01 2.06117087e-03 1.00776418e+02] [ 2.44019953e-02 3.10385104e-03 9.99697409e-01 2.50996441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.126875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:297.97, Y:100.77, Z:25.10 [[ 9.77760300e-01 2.08288130e-01 -2.45122664e-02 2.97970815e+02] [-2.08300910e-01 9.78062621e-01 2.05913960e-03 1.00774714e+02] [ 2.44034259e-02 3.09258244e-03 9.99697409e-01 2.50995819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.156875 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:298.00, Y:100.77, Z:25.10 [[ 9.77986267e-01 2.07224473e-01 -2.45128214e-02 2.97997703e+02] [-2.07237088e-01 9.78288596e-01 2.05251153e-03 1.00773346e+02] [ 2.44059442e-02 3.07263763e-03 9.99697409e-01 2.51015126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.186875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:298.03, Y:100.77, Z:25.10 [[ 9.78295294e-01 2.05760606e-01 -2.45130619e-02 2.98026400e+02] [-2.05772839e-01 9.78597638e-01 2.04963506e-03 1.00771118e+02] [ 2.44101586e-02 3.03897400e-03 9.99697409e-01 2.51040602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.216875 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:298.06, Y:100.77, Z:25.11 [[ 9.78457674e-01 2.04986996e-01 -2.45135211e-02 2.98055349e+02] [-2.04999126e-01 9.78760022e-01 2.04412871e-03 1.00768407e+02] [ 2.44118742e-02 3.02515696e-03 9.99697409e-01 2.51052884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.246875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:298.08, Y:100.77, Z:25.10 [[ 9.78610338e-01 2.04256878e-01 -2.45139753e-02 2.98083655e+02] [-2.04268917e-01 9.78912689e-01 2.03866689e-03 1.00766038e+02] [ 2.44134532e-02 3.01238268e-03 9.99697409e-01 2.51044750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.276875 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:298.11, Y:100.76, Z:25.10 [[ 9.78973130e-01 2.02510860e-01 -2.45145273e-02 2.98111123e+02] [-2.02522524e-01 9.79275497e-01 2.03200712e-03 1.00764956e+02] [ 2.44179794e-02 2.97546356e-03 9.99697409e-01 2.51046722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.306875 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:298.14, Y:100.76, Z:25.11 [[ 9.79068301e-01 2.02050176e-01 -2.45150788e-02 2.98140228e+02] [-2.02061862e-01 9.79370666e-01 2.02533148e-03 1.00762393e+02] [ 2.44185677e-02 2.97062464e-03 9.99697409e-01 2.51056806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.336875 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:298.17, Y:100.76, Z:25.11 [[ 9.79125370e-01 2.01773385e-01 -2.45155249e-02 2.98167566e+02] [-2.01785120e-01 9.79427734e-01 2.01991790e-03 1.00759222e+02] [ 2.44187506e-02 2.96911527e-03 9.99697409e-01 2.51079043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.366875 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:298.20, Y:100.76, Z:25.11 [[ 9.79146304e-01 2.01671754e-01 -2.45156945e-02 2.98195951e+02] [-2.01683508e-01 9.79448667e-01 2.01785685e-03 1.00756001e+02] [ 2.44188090e-02 2.96863420e-03 9.99697409e-01 2.51085440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.396875 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:298.22, Y:100.75, Z:25.11 [[ 9.78995316e-01 2.02403382e-01 -2.45161643e-02 2.98224126e+02] [-2.02415503e-01 9.79297664e-01 2.01213244e-03 1.00754240e+02] [ 2.44158849e-02 2.99258351e-03 9.99697409e-01 2.51096313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.426875 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:298.25, Y:100.75, Z:25.11 [[ 9.78926594e-01 2.02735465e-01 -2.45164164e-02 2.98252789e+02] [-2.02747764e-01 9.79228935e-01 2.00905684e-03 1.00752720e+02] [ 2.44144914e-02 3.00392944e-03 9.99697409e-01 2.51095007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.456875 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:298.28, Y:100.75, Z:25.11 [[ 9.78918869e-01 2.02772708e-01 -2.45168612e-02 2.98282044e+02] [-2.02785153e-01 9.79221204e-01 2.00361423e-03 1.00751006e+02] [ 2.44137086e-02 3.01027968e-03 9.99697409e-01 2.51102937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.486875 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:298.31, Y:100.75, Z:25.11 [[ 9.79008189e-01 2.02340972e-01 -2.45172770e-02 2.98310920e+02] [-2.02353410e-01 9.79310524e-01 1.99851237e-03 1.00748206e+02] [ 2.44144084e-02 3.00459464e-03 9.99697409e-01 2.51102500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.516875 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:298.34, Y:100.75, Z:25.11 [[ 9.79173346e-01 2.01540169e-01 -2.45177357e-02 2.98338359e+02] [-2.01552499e-01 9.79475686e-01 1.99286910e-03 1.00745597e+02] [ 2.44161692e-02 2.99024660e-03 9.99697409e-01 2.51104000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.546875 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:298.37, Y:100.74, Z:25.11 [[ 9.79226928e-01 2.01279602e-01 -2.45182640e-02 2.98366677e+02] [-2.01292012e-01 9.79529265e-01 1.98634896e-03 1.00743377e+02] [ 2.44161686e-02 2.99024430e-03 9.99697409e-01 2.51111005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.576875 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:298.39, Y:100.74, Z:25.11 [[ 9.79484366e-01 2.00023015e-01 -2.45187907e-02 2.98394179e+02] [-2.00035198e-01 9.79786711e-01 1.97982647e-03 1.00741340e+02] [ 2.44191961e-02 2.96541208e-03 9.99697409e-01 2.51117799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6068750000001 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:298.42, Y:100.74, Z:25.11 [[ 9.79907556e-01 1.97939348e-01 -2.45193121e-02 2.98420967e+02] [-1.97951048e-01 9.80209921e-01 1.97334717e-03 1.00740560e+02] [ 2.44246760e-02 2.91992573e-03 9.99697409e-01 2.51118633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.636875 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:298.45, Y:100.74, Z:25.11 [[ 9.80041684e-01 1.97274147e-01 -2.45195394e-02 2.98448304e+02] [-1.97285711e-01 9.80344055e-01 1.97051925e-03 1.00739056e+02] [ 2.44263172e-02 2.90616377e-03 9.99697409e-01 2.51129959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.666875 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:298.48, Y:100.74, Z:25.11 [[ 9.80263978e-01 1.96166556e-01 -2.45196960e-02 2.98477039e+02] [-1.96177827e-01 9.80566359e-01 1.96856901e-03 1.00738530e+02] [ 2.44293564e-02 2.88050338e-03 9.99697409e-01 2.51143322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.696875 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:298.51, Y:100.74, Z:25.12 [[ 9.80373753e-01 1.95617145e-01 -2.45201329e-02 2.98505685e+02] [-1.95628381e-01 9.80676136e-01 1.96311136e-03 1.00737336e+02] [ 2.44303274e-02 2.87225105e-03 9.99697409e-01 2.51152615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7268750000001 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:298.53, Y:100.74, Z:25.12 [[ 9.80434955e-01 1.95310111e-01 -2.45205750e-02 2.98534792e+02] [-1.95321389e-01 9.80737336e-01 1.95757403e-03 1.00736735e+02] [ 2.44305774e-02 2.87011875e-03 9.99697409e-01 2.51164092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.756875 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:298.56, Y:100.74, Z:25.12 [[ 9.80452237e-01 1.95223284e-01 -2.45210098e-02 2.98563449e+02] [-1.95234670e-01 9.80754614e-01 1.95211175e-03 1.00735942e+02] [ 2.44301912e-02 2.87339893e-03 9.99697409e-01 2.51174747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.786875 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:298.59, Y:100.74, Z:25.12 [[ 9.80719725e-01 1.93875011e-01 -2.45214432e-02 2.98592435e+02] [-1.93886116e-01 9.81022112e-01 1.94665270e-03 1.00735757e+02] [ 2.44334853e-02 2.84524667e-03 9.99697409e-01 2.51166788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.816875 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:298.62, Y:100.73, Z:25.12 [[ 9.81042576e-01 1.92234599e-01 -2.45218730e-02 2.98619819e+02] [-1.92245332e-01 9.81344977e-01 1.94122322e-03 1.00734328e+02] [ 2.44375872e-02 2.80979300e-03 9.99697409e-01 2.51166646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.846875 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:298.65, Y:100.73, Z:25.12 [[ 9.81446781e-01 1.90160115e-01 -2.45223602e-02 2.98648261e+02] [-1.90170360e-01 9.81749199e-01 1.93504968e-03 1.00733834e+02] [ 2.44427767e-02 2.76427779e-03 9.99697409e-01 2.51169253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.876875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:298.68, Y:100.74, Z:25.12 [[ 9.82219953e-01 1.86125216e-01 -2.45227962e-02 2.98676077e+02] [-1.86134356e-01 9.82522406e-01 1.92950728e-03 1.00736941e+02] [ 2.44533267e-02 2.66933434e-03 9.99697409e-01 2.51158114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.906875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:298.70, Y:100.74, Z:25.12 [[ 9.82638347e-01 1.83903467e-01 -2.45233165e-02 2.98704105e+02] [-1.83912087e-01 9.82940816e-01 1.92287252e-03 1.00737150e+02] [ 2.44585916e-02 2.62064604e-03 9.99697409e-01 2.51184010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.936875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:298.73, Y:100.74, Z:25.12 [[ 9.83604574e-01 1.78663474e-01 -2.45235598e-02 2.98732374e+02] [-1.78670558e-01 9.83907082e-01 1.91976394e-03 1.00737860e+02] [ 2.44718959e-02 2.49334951e-03 9.99697409e-01 2.51176107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.966875 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:298.76, Y:100.74, Z:25.12 [[ 9.84193304e-01 1.75391355e-01 -2.45237106e-02 2.98760412e+02] [-1.75397481e-01 9.84495833e-01 1.91783592e-03 1.00737533e+02] [ 2.44798627e-02 2.41387579e-03 9.99697409e-01 2.51169493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.996875 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:298.79, Y:100.74, Z:25.12 [[ 9.84796718e-01 1.71970890e-01 -2.45242008e-02 2.98789298e+02] [-1.71976120e-01 9.85099264e-01 1.91154717e-03 1.00737932e+02] [ 2.44875026e-02 2.33509151e-03 9.99697409e-01 2.51175688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.026875 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:298.82, Y:100.74, Z:25.12 [[ 9.85364043e-01 1.68689789e-01 -2.45246353e-02 2.98817558e+02] [-1.68694149e-01 9.85666603e-01 1.90595610e-03 1.00739491e+02] [ 2.44946293e-02 2.25910186e-03 9.99697409e-01 2.51185442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.056875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:298.85, Y:100.75, Z:25.12 [[ 9.86448339e-01 1.62228827e-01 -2.45251294e-02 2.98846729e+02] [-1.62231361e-01 9.86750919e-01 1.89957627e-03 1.00745681e+02] [ 2.45083601e-02 2.10491129e-03 9.99697409e-01 2.51183402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.086875 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:298.87, Y:100.75, Z:25.12 [[ 9.86962365e-01 1.59071640e-01 -2.45255596e-02 2.98874477e+02] [-1.59073343e-01 9.87264951e-01 1.89400578e-03 1.00747266e+02] [ 2.45145080e-02 2.03205035e-03 9.99697409e-01 2.51191291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.116875 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:298.90, Y:100.75, Z:25.12 [[ 9.87425431e-01 1.56171403e-01 -2.45257118e-02 2.98902443e+02] [-1.56172266e-01 9.87728021e-01 1.89203350e-03 1.00748678e+02] [ 2.45202143e-02 1.96199399e-03 9.99697409e-01 2.51196525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.146875 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:298.93, Y:100.76, Z:25.12 [[ 9.87868162e-01 1.53345881e-01 -2.45261988e-02 2.98932014e+02] [-1.53346035e-01 9.88170753e-01 1.88569914e-03 1.00755510e+02] [ 2.45252365e-02 1.89817319e-03 9.99697409e-01 2.51197538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.176875 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:298.96, Y:100.76, Z:25.12 [[ 9.87898718e-01 1.53148839e-01 -2.45266202e-02 2.98959910e+02] [-1.53149069e-01 9.88201309e-01 1.88020220e-03 1.00758578e+02] [ 2.45251890e-02 1.89877969e-03 9.99697409e-01 2.51191751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.206875 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:298.99, Y:100.76, Z:25.12 [[ 9.87788520e-01 1.53857924e-01 -2.45271136e-02 2.98987574e+02] [-1.53858530e-01 9.88091110e-01 1.87374311e-03 1.00761781e+02] [ 2.45233132e-02 1.92284371e-03 9.99697409e-01 2.51208661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.236875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:299.02, Y:100.77, Z:25.12 [[ 9.87122783e-01 1.58072834e-01 -2.45273272e-02 2.99016573e+02] [-1.58074801e-01 9.87425368e-01 1.87094356e-03 1.00771507e+02] [ 2.45146504e-02 2.03030134e-03 9.99697409e-01 2.51218283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.266875 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:299.05, Y:100.78, Z:25.12 [[ 9.86913580e-01 1.59373736e-01 -2.45274776e-02 2.99045236e+02] [-1.59376150e-01 9.87216162e-01 1.86896947e-03 1.00776392e+02] [ 2.45117869e-02 2.06458360e-03 9.99697409e-01 2.51222085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.296875 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:299.08, Y:100.79, Z:25.12 [[ 9.86844137e-01 1.59803094e-01 -2.45279633e-02 2.99075321e+02] [-1.59805797e-01 9.87146716e-01 1.86257301e-03 1.00786495e+02] [ 2.45103434e-02 2.08164149e-03 9.99697409e-01 2.51232050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.326875 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:299.10, Y:100.79, Z:25.12 [[ 9.87040297e-01 1.58586918e-01 -2.45283599e-02 2.99104807e+02] [-1.58589378e-01 9.87342878e-01 1.85733537e-03 1.00790146e+02] [ 2.45124506e-02 2.05667250e-03 9.99697409e-01 2.51242478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3568750000001 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:299.13, Y:100.79, Z:25.12 [[ 9.87345300e-01 1.56676725e-01 -2.45287866e-02 2.99132749e+02] [-1.56678739e-01 9.87647885e-01 1.85168363e-03 1.00793178e+02] [ 2.45159199e-02 2.01488823e-03 9.99697409e-01 2.51249782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.386875 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:299.16, Y:100.80, Z:25.12 [[ 9.87852680e-01 1.53445147e-01 -2.45289382e-02 2.99160861e+02] [-1.53446220e-01 9.88155269e-01 1.84967310e-03 1.00796169e+02] [ 2.45222229e-02 1.93666832e-03 9.99697409e-01 2.51243510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.416875 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:299.19, Y:100.81, Z:25.12 [[ 9.88982968e-01 1.45982860e-01 -2.45294245e-02 2.99189226e+02] [-1.45981809e-01 9.89285557e-01 1.84320079e-03 1.00805737e+02] [ 2.45356812e-02 1.75795557e-03 9.99697409e-01 2.51244693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.446875 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:299.22, Y:100.81, Z:25.12 [[ 9.89644711e-01 1.41427121e-01 -2.45299069e-02 2.99217971e+02] [-1.41424835e-01 9.89947293e-01 1.83675932e-03 1.00810908e+02] [ 2.45430825e-02 1.65139888e-03 9.99697409e-01 2.51244767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4768750000001 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:299.25, Y:100.82, Z:25.13 [[ 9.90710475e-01 1.33757298e-01 -2.45303916e-02 2.99247267e+02] [-1.33752829e-01 9.91013033e-01 1.83026221e-03 1.00822948e+02] [ 2.45547487e-02 1.46774933e-03 9.99697409e-01 2.51251766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.506875 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:299.28, Y:100.83, Z:25.13 [[ 9.91041715e-01 1.31280459e-01 -2.45308151e-02 2.99276130e+02] [-1.31275374e-01 9.91344263e-01 1.82456944e-03 1.00827989e+02] [ 2.45580131e-02 1.41206749e-03 9.99697409e-01 2.51262073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.536875 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:299.30, Y:100.84, Z:25.13 [[ 9.91404334e-01 1.28513289e-01 -2.45312384e-02 2.99302949e+02] [-1.28507500e-01 9.91706869e-01 1.81885972e-03 1.00835858e+02] [ 2.45615453e-02 1.34922272e-03 9.99697409e-01 2.51250585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.566875 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:299.33, Y:100.84, Z:25.13 [[ 9.91457006e-01 1.28103994e-01 -2.45432824e-02 2.99334736e+02] [-1.28102106e-01 9.91759603e-01 1.65570026e-03 1.00837664e+02] [ 2.45531378e-02 1.50249053e-03 9.99697397e-01 2.51285671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.596875 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:299.36, Y:100.85, Z:25.13 [[ 9.91671267e-01 1.26436945e-01 -2.45315372e-02 2.99364663e+02] [-1.26430630e-01 9.91973792e-01 1.81449658e-03 1.00850619e+02] [ 2.45640613e-02 1.30215357e-03 9.99697410e-01 2.51283939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.626875 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:299.39, Y:100.86, Z:25.13 [[ 9.91770164e-01 1.25658761e-01 -2.45319544e-02 2.99393382e+02] [-1.25652348e-01 9.92072687e-01 1.80883818e-03 1.00857398e+02] [ 2.45647783e-02 1.28854594e-03 9.99697410e-01 2.51295616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.656875 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:299.42, Y:100.86, Z:25.13 [[ 9.92628660e-01 1.18686578e-01 -2.45324315e-02 2.99421456e+02] [-1.18678200e-01 9.92931134e-01 1.80234353e-03 1.00864603e+02] [ 2.45729290e-02 1.12240697e-03 9.99697410e-01 2.51328203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.686875 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:299.45, Y:100.86, Z:25.13 [[ 9.93419936e-01 1.11870386e-01 -2.45325789e-02 2.99450120e+02] [-1.11859981e-01 9.93722347e-01 1.80033522e-03 1.00862933e+02] [ 2.45799761e-02 9.55724915e-04 9.99697410e-01 2.51334438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.716875 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:299.48, Y:100.86, Z:25.13 [[ 9.94247250e-01 1.04261873e-01 -2.45329955e-02 2.99478309e+02] [-1.04249294e-01 9.94549578e-01 1.79464075e-03 1.00861445e+02] [ 2.45863929e-02 7.73230830e-04 9.99697410e-01 2.51346509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.746875 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:299.51, Y:100.86, Z:25.13 [[ 9.94912494e-01 9.77100532e-02 -2.45331430e-02 2.99507327e+02] [-9.76955327e-02 9.95214735e-01 1.79262152e-03 1.00859094e+02] [ 2.45909026e-02 6.13276930e-04 9.99697410e-01 2.51340544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.776875 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:299.54, Y:100.86, Z:25.13 [[ 9.95608062e-01 9.03476146e-02 -2.45335516e-02 2.99535860e+02] [-9.03309969e-02 9.95910196e-01 1.78701216e-03 1.00855287e+02] [ 2.45946665e-02 4.36976464e-04 9.99697410e-01 2.51296172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.806875 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:299.56, Y:100.85, Z:25.13 [[ 9.95704185e-01 8.92819190e-02 -2.45339636e-02 2.99563187e+02] [-8.92651177e-02 9.96006308e-01 1.78133783e-03 1.00852630e+02] [ 2.45950238e-02 4.16341619e-04 9.99697410e-01 2.51323590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.836875 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:299.59, Y:100.85, Z:25.14 [[ 9.95439577e-01 9.21852809e-02 -2.45341095e-02 2.99590379e+02] [-9.21694103e-02 9.95741751e-01 1.77932610e-03 1.00850477e+02] [ 2.45936648e-02 4.90082785e-04 9.99697410e-01 2.51350171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.866875 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:299.62, Y:100.85, Z:25.13 [[ 9.95169770e-01 9.50526650e-02 -2.45381172e-02 2.99619735e+02] [-9.50390314e-02 9.95472054e-01 1.72387469e-03 1.00847510e+02] [ 2.45908688e-02 6.16530914e-04 9.99697409e-01 2.51305842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.896875 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:299.65, Y:100.85, Z:25.13 [[ 9.94861879e-01 9.82236762e-02 -2.45346789e-02 2.99647639e+02] [-9.82098324e-02 9.95164153e-01 1.77149490e-03 1.00845025e+02] [ 2.45900356e-02 6.47153950e-04 9.99697410e-01 2.51317921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.926875 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:299.68, Y:100.84, Z:25.13 [[ 9.94360688e-01 1.03173957e-01 -2.45348245e-02 2.99676618e+02] [-1.03161667e-01 9.94663028e-01 1.76947553e-03 1.00843946e+02] [ 2.45864466e-02 7.71556499e-04 9.99697410e-01 2.51338797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.956875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:299.70, Y:100.84, Z:25.13 [[ 9.94167810e-01 1.05016131e-01 -2.45352334e-02 2.99703952e+02] [-1.05004542e-01 9.94470178e-01 1.76378774e-03 1.00841587e+02] [ 2.45847841e-02 8.22809958e-04 9.99697410e-01 2.51340982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.986875 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:299.73, Y:100.84, Z:25.13 [[ 9.93980562e-01 1.06773858e-01 -2.45353779e-02 2.99732944e+02] [-1.06762854e-01 9.94282952e-01 1.76177495e-03 1.00837703e+02] [ 2.45832195e-02 8.68296909e-04 9.99697410e-01 2.51327098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.016875 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:299.76, Y:100.83, Z:25.13 [[ 9.93717712e-01 1.09192965e-01 -2.45357788e-02 2.99761844e+02] [-1.09182834e-01 9.94020133e-01 1.75617437e-03 1.00832425e+02] [ 2.45808200e-02 9.33744284e-04 9.99697410e-01 2.51286928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.046875 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:299.79, Y:100.83, Z:25.13 [[ 9.93626668e-01 1.10018278e-01 -2.45361797e-02 2.99789252e+02] [-1.10008537e-01 9.93929101e-01 1.75055508e-03 1.00830422e+02] [ 2.45798161e-02 9.59791022e-04 9.99697410e-01 2.51301883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.076875 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:299.82, Y:100.82, Z:25.13 [[ 9.93238711e-01 1.13467315e-01 -2.45363214e-02 2.99821855e+02] [-1.13458673e-01 9.93541178e-01 1.74856712e-03 1.00824468e+02] [ 2.45762508e-02 1.04711392e-03 9.99697410e-01 2.51312314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1068750000001 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:299.85, Y:100.83, Z:25.13 [[ 9.93393566e-01 1.12107474e-01 -2.45181105e-02 2.99846655e+02] [-1.12092118e-01 9.93695799e-01 2.00412397e-03 1.00825967e+02] [ 2.45882207e-02 7.57403079e-04 9.99697377e-01 2.51324092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.136875 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:299.87, Y:100.82, Z:25.13 [[ 9.93296149e-01 1.12963206e-01 -2.45372098e-02 2.99874422e+02] [-1.12954773e-01 9.93598618e-01 1.73384562e-03 1.00824980e+02] [ 2.45759985e-02 1.04937280e-03 9.99697414e-01 2.51337557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.166875 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:299.90, Y:100.82, Z:25.13 [[ 9.93004898e-01 1.15495416e-01 -2.45373515e-02 2.99902713e+02] [-1.15487804e-01 9.93307388e-01 1.73183865e-03 1.00822635e+02] [ 2.45731519e-02 1.11404057e-03 9.99697414e-01 2.51340121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.196875 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:299.93, Y:100.82, Z:25.13 [[ 9.92865481e-01 1.16687772e-01 -2.45377496e-02 2.99930778e+02] [-1.16680663e-01 9.93167983e-01 1.72617891e-03 1.00820267e+02] [ 2.45715313e-02 1.14921744e-03 9.99697414e-01 2.51333325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2268750000001 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:299.96, Y:100.82, Z:25.13 [[ 9.92693617e-01 1.18140849e-01 -2.45382059e-02 2.99958048e+02] [-1.18134343e-01 9.92996133e-01 1.71966877e-03 1.00818381e+02] [ 2.45695066e-02 1.19170062e-03 9.99697414e-01 2.51336098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.256875 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:299.99, Y:100.82, Z:25.13 [[ 9.92524407e-01 1.19554053e-01 -2.45383471e-02 2.99985614e+02] [-1.19548028e-01 9.92826933e-01 1.71765086e-03 1.00816565e+02] [ 2.45676840e-02 1.22870062e-03 9.99697414e-01 2.51349892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.286875 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:300.01, Y:100.81, Z:25.14 [[ 9.92612973e-01 1.18816435e-01 -2.45385538e-02 3.00013280e+02] [-1.18810258e-01 9.92915496e-01 1.71469301e-03 1.00814403e+02] [ 2.45684440e-02 1.21340538e-03 9.99697414e-01 2.51360486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.316875 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:300.04, Y:100.81, Z:25.14 [[ 9.92724711e-01 1.17879115e-01 -2.45389945e-02 3.00040907e+02] [-1.17872808e-01 9.93027232e-01 1.70836314e-03 1.00812783e+02] [ 2.45692701e-02 1.19654589e-03 9.99697414e-01 2.51372579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.346875 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:300.07, Y:100.81, Z:25.14 [[ 9.92911090e-01 1.16298681e-01 -2.45394361e-02 3.00068926e+02] [-1.16292049e-01 9.93213604e-01 1.70199540e-03 1.00811197e+02] [ 2.45708416e-02 1.16381121e-03 9.99697414e-01 2.51384270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.376875 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:300.10, Y:100.81, Z:25.14 [[ 9.93311273e-01 1.12829556e-01 -2.45398796e-02 3.00096532e+02] [-1.12822027e-01 9.93613766e-01 1.69557692e-03 1.00810280e+02] [ 2.45744734e-02 1.08440329e-03 9.99697414e-01 2.51402028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.406875 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:300.12, Y:100.81, Z:25.14 [[ 9.93548144e-01 1.10724247e-01 -2.45403220e-02 3.00124098e+02] [-1.10716235e-01 9.93850624e-01 1.68915030e-03 1.00808144e+02] [ 2.45764442e-02 1.03875990e-03 9.99697414e-01 2.51403128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.436875 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:300.15, Y:100.81, Z:25.14 [[ 9.93812590e-01 1.08324910e-01 -2.45407656e-02 3.00151617e+02] [-1.08316327e-01 9.94115055e-01 1.68267948e-03 1.00805565e+02] [ 2.45786207e-02 9.85897534e-04 9.99697414e-01 2.51402184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.466875 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:300.18, Y:100.80, Z:25.14 [[ 9.93840964e-01 1.08064182e-01 -2.45412047e-02 3.00179912e+02] [-1.08055678e-01 9.94143431e-01 1.67625116e-03 1.00803730e+02] [ 2.45786202e-02 9.85889443e-04 9.99697414e-01 2.51409189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.496875 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:300.21, Y:100.80, Z:25.14 [[ 9.94410146e-01 1.02694543e-01 -2.45416427e-02 3.00207444e+02] [-1.02684564e-01 9.94712568e-01 1.66981468e-03 1.00800355e+02] [ 2.45833612e-02 8.59567213e-04 9.99697414e-01 2.51411409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.526875 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:300.24, Y:100.80, Z:25.14 [[ 9.94904899e-01 9.77851083e-02 -2.45420796e-02 3.00236010e+02] [-9.77737959e-02 9.95207274e-01 1.66336786e-03 1.00800521e+02] [ 2.45871087e-02 7.44679452e-04 9.99697414e-01 2.51438393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.556875 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:300.26, Y:100.80, Z:25.15 [[ 9.95124012e-01 9.55294119e-02 -2.45424660e-02 3.00263359e+02] [-9.55175550e-02 9.95426365e-01 1.65764706e-03 1.00799752e+02] [ 2.45885718e-02 6.94671957e-04 9.99697414e-01 2.51463681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.586875 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:300.29, Y:100.80, Z:25.15 [[ 9.95363084e-01 9.30053288e-02 -2.45426025e-02 3.00291550e+02] [-9.29927550e-02 9.95665409e-01 1.65562371e-03 1.00798286e+02] [ 2.45902022e-02 6.34337496e-04 9.99697414e-01 2.51479994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.616875 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:300.32, Y:100.80, Z:25.15 [[ 9.95644095e-01 8.99470857e-02 -2.45429808e-02 3.00319498e+02] [-8.99337219e-02 9.95946386e-01 1.64999583e-03 1.00796402e+02] [ 2.45919054e-02 5.64433010e-04 9.99697414e-01 2.51489769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.646875 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:300.35, Y:100.80, Z:25.15 [[ 9.95988031e-01 8.60549978e-02 -2.45434175e-02 3.00347874e+02] [-8.60406131e-02 9.96290275e-01 1.64347506e-03 1.00795605e+02] [ 2.45937974e-02 4.74849195e-04 9.99697414e-01 2.51492923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.676875 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:300.38, Y:100.79, Z:25.15 [[ 9.96220925e-01 8.33154762e-02 -2.45438227e-02 3.00375896e+02] [-8.33004100e-02 9.96523136e-01 1.63740051e-03 1.00792606e+02] [ 2.45949080e-02 4.13297843e-04 9.99697414e-01 2.51494857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.706875 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:300.40, Y:100.79, Z:25.15 [[ 9.96472474e-01 8.02508729e-02 -2.45439566e-02 3.00404055e+02] [-8.02349267e-02 9.96774640e-01 1.63539127e-03 1.00789824e+02] [ 2.45960351e-02 3.39660175e-04 9.99697414e-01 2.51488366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.736875 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:300.43, Y:100.79, Z:25.15 [[ 9.96789771e-01 7.62084301e-02 -2.45443871e-02 3.00432956e+02] [-7.61914182e-02 9.97091879e-01 1.62890535e-03 1.00787589e+02] [ 2.45971453e-02 2.46395470e-04 9.99697414e-01 2.51491000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.766875 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:300.46, Y:100.79, Z:25.15 [[ 9.97282498e-01 6.94634642e-02 -2.45447626e-02 3.00461577e+02] [-6.94445486e-02 9.97584493e-01 1.62322733e-03 1.00786769e+02] [ 2.45982295e-02 8.56837460e-05 9.99697414e-01 2.51508798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.796875 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:300.49, Y:100.79, Z:25.15 [[ 9.97432942e-01 6.72685815e-02 -2.45451375e-02 3.00489847e+02] [-6.72491414e-02 9.97734903e-01 1.61753725e-03 1.00785697e+02] [ 2.45983499e-02 3.72544870e-05 9.99697414e-01 2.51513004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.826875 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:300.52, Y:100.78, Z:25.15 [[ 9.97347583e-01 6.85224382e-02 -2.45453376e-02 3.00517427e+02] [-6.85034525e-02 9.97649573e-01 1.61449639e-03 1.00783102e+02] [ 2.45982748e-02 7.12262889e-05 9.99697414e-01 2.51502803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8568750000001 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:300.55, Y:100.78, Z:25.15 [[ 9.97262651e-01 6.97475793e-02 -2.45454702e-02 3.00546113e+02] [-6.97290143e-02 9.97564667e-01 1.61247771e-03 1.00780922e+02] [ 2.45981602e-02 1.03467644e-04 9.99697414e-01 2.51498005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.886875 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:300.57, Y:100.78, Z:25.15 [[ 9.97183055e-01 7.08763466e-02 -2.45458397e-02 3.00574309e+02] [-7.08582624e-02 9.97485100e-01 1.60683267e-03 1.00779192e+02] [ 2.45979958e-02 1.36969245e-04 9.99697414e-01 2.51499814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.916875 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:300.60, Y:100.78, Z:25.15 [[ 9.96965301e-01 7.38760464e-02 -2.45462625e-02 3.00601657e+02] [-7.38590306e-02 9.97267408e-01 1.60034775e-03 1.00778179e+02] [ 2.45974150e-02 2.17471983e-04 9.99697414e-01 2.51522700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.946875 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:300.63, Y:100.78, Z:25.15 [[ 9.96818450e-01 7.58317340e-02 -2.45463932e-02 3.00629468e+02] [-7.58153604e-02 9.97120593e-01 1.59834082e-03 1.00776277e+02] [ 2.45969191e-02 2.67738033e-04 9.99697414e-01 2.51547304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9768750000001 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:300.66, Y:100.77, Z:25.15 [[ 9.96662717e-01 7.78517667e-02 -2.45465217e-02 3.00657729e+02] [-7.78360541e-02 9.96964894e-01 1.59636426e-03 1.00773235e+02] [ 2.45963002e-02 3.19567657e-04 9.99697414e-01 2.51490427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.006875 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:300.69, Y:100.77, Z:25.15 [[ 9.96572326e-01 7.90003810e-02 -2.45466527e-02 3.00685602e+02] [-7.89850663e-02 9.96874524e-01 1.59434801e-03 1.00770617e+02] [ 2.45958868e-02 3.49935887e-04 9.99697414e-01 2.51473488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.036875 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:300.71, Y:100.77, Z:25.15 [[ 9.96476399e-01 8.02012543e-02 -2.45467827e-02 3.00714152e+02] [-8.01863532e-02 9.96778618e-01 1.59234355e-03 1.00768287e+02] [ 2.45954161e-02 3.81584224e-04 9.99697414e-01 2.51465303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.066875 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:300.74, Y:100.77, Z:25.15 [[ 9.96371811e-01 8.14901944e-02 -2.45471478e-02 3.00741437e+02] [-8.14758233e-02 9.96674055e-01 1.58669586e-03 1.00766226e+02] [ 2.45948055e-02 4.19060052e-04 9.99697414e-01 2.51471944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.096875 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:300.77, Y:100.76, Z:25.15 [[ 9.96218385e-01 8.33447383e-02 -2.45475668e-02 3.00769581e+02] [-8.33310903e-02 9.96520663e-01 1.58018596e-03 1.00763467e+02] [ 2.45938578e-02 4.71365200e-04 9.99697414e-01 2.51483052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.126875 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:300.80, Y:100.76, Z:25.15 [[ 9.96247905e-01 8.29910262e-02 -2.45479308e-02 3.00798124e+02] [-8.29774106e-02 9.96550185e-01 1.57451196e-03 1.00760771e+02] [ 2.45939153e-02 4.68319487e-04 9.99697414e-01 2.51479002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.156875 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:300.83, Y:100.76, Z:25.15 [[ 9.96290503e-01 8.24779624e-02 -2.45482927e-02 3.00825339e+02] [-8.24643306e-02 9.96592782e-01 1.56884861e-03 1.00757169e+02] [ 2.45940468e-02 4.61329555e-04 9.99697414e-01 2.51464947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.186875 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:300.85, Y:100.75, Z:25.14 [[ 9.96382001e-01 8.13651245e-02 -2.45484207e-02 3.00854027e+02] [-8.13512044e-02 9.96684266e-01 1.56684325e-03 1.00753421e+02] [ 2.45945111e-02 4.35869185e-04 9.99697414e-01 2.51443864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.216875 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:300.88, Y:100.75, Z:25.14 [[ 9.96544808e-01 7.93461026e-02 -2.45487763e-02 3.00882202e+02] [-7.93317078e-02 9.96847051e-01 1.56125248e-03 1.00747793e+02] [ 2.45952545e-02 3.91638296e-04 9.99697414e-01 2.51417081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.246875 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:300.91, Y:100.75, Z:25.14 [[ 9.96654498e-01 7.79560862e-02 -2.45491386e-02 3.00909116e+02] [-7.79414107e-02 9.96956728e-01 1.55553494e-03 1.00745178e+02] [ 2.45956923e-02 3.63063596e-04 9.99697414e-01 2.51426700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.276875 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:300.94, Y:100.74, Z:25.14 [[ 9.96867359e-01 7.51850968e-02 -2.45493178e-02 3.00936645e+02] [-7.51696509e-02 9.97169551e-01 1.55270112e-03 1.00741831e+02] [ 2.45965722e-02 2.97526585e-04 9.99697414e-01 2.51442491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.306875 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:300.96, Y:100.74, Z:25.15 [[ 9.96995047e-01 7.34723631e-02 -2.45497186e-02 3.00964390e+02] [-7.34565547e-02 9.97297219e-01 1.54633859e-03 1.00738763e+02] [ 2.45969792e-02 2.61645833e-04 9.99697414e-01 2.51466965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.336875 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:300.99, Y:100.74, Z:25.15 [[ 9.97165328e-01 7.11238344e-02 -2.45501219e-02 3.00991846e+02] [-7.11074726e-02 9.97467471e-01 1.53990793e-03 1.00737788e+02] [ 2.45974722e-02 2.10154327e-04 9.99697414e-01 2.51474684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.366875 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:301.02, Y:100.73, Z:25.15 [[ 9.97398514e-01 6.77751902e-02 -2.45505221e-02 3.01020594e+02] [-6.77579717e-02 9.97700609e-01 1.53350120e-03 1.00734378e+02] [ 2.45980042e-02 1.33981765e-04 9.99697414e-01 2.51497367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.396875 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:301.05, Y:100.73, Z:25.15 [[ 9.97344018e-01 6.85723337e-02 -2.45508763e-02 3.01047170e+02] [-6.85554967e-02 9.97646134e-01 1.52780979e-03 1.00732411e+02] [ 2.45978523e-02 1.59345569e-04 9.99697414e-01 2.51496162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.426875 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:301.07, Y:100.73, Z:25.15 [[ 9.97325343e-01 6.88433406e-02 -2.45510514e-02 3.01074824e+02] [-6.88266551e-02 9.97627469e-01 1.52498997e-03 1.00730390e+02] [ 2.45977887e-02 1.68855605e-04 9.99697414e-01 2.51497830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.456875 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:301.10, Y:100.73, Z:25.15 [[ 9.97321584e-01 6.88976441e-02 -2.45514481e-02 3.01103688e+02] [-6.88811330e-02 9.97623718e-01 1.51857648e-03 1.00728148e+02] [ 2.45977333e-02 1.76622471e-04 9.99697414e-01 2.51510044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.486875 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:301.14, Y:100.72, Z:25.15 [[ 9.97404817e-01 6.76819108e-02 -2.45517924e-02 3.01142831e+02] [-6.76651690e-02 9.97706939e-01 1.51298966e-03 1.00719603e+02] [ 2.45978957e-02 1.52238005e-04 9.99697414e-01 2.51513016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.516875 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:301.17, Y:100.72, Z:25.15 [[ 9.97390949e-01 6.79013530e-02 -2.45091865e-02 3.01170579e+02] [-6.78678602e-02 9.97691900e-01 2.19674277e-03 1.00719209e+02] [ 2.46017786e-02 -5.27625315e-04 9.99697191e-01 2.51521634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.546875 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:301.19, Y:100.73, Z:25.15 [[ 9.97039398e-01 7.28803423e-02 -2.45131405e-02 3.01188962e+02] [-7.28499124e-02 9.97340634e-01 2.13330180e-03 1.00727219e+02] [ 2.46034268e-02 -3.41205810e-04 9.99697232e-01 2.51483382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.576875 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:301.25, Y:100.69, Z:25.15 [[ 9.95438502e-01 9.21921806e-02 -2.45518049e-02 3.01250767e+02] [-9.21831714e-02 9.95740935e-01 1.50091227e-03 1.00690506e+02] [ 2.45856096e-02 7.69197382e-04 9.99697432e-01 2.51513615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6068750000001 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:301.28, Y:100.69, Z:25.15 [[ 9.95817019e-01 8.80414731e-02 -2.44369332e-02 3.01280124e+02] [-8.79831635e-02 9.96115976e-01 3.45322952e-03 1.00692117e+02] [ 2.46460470e-02 -1.28874604e-03 9.99695409e-01 2.51462428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.636875 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:301.31, Y:100.69, Z:25.15 [[ 9.95883907e-01 8.72813941e-02 -2.44377359e-02 3.01311696e+02] [-8.72231913e-02 9.96182857e-01 3.43960136e-03 1.00690254e+02] [ 2.46446668e-02 -1.29390632e-03 9.99695437e-01 2.51488960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.666875 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:301.34, Y:100.69, Z:25.14 [[ 9.95939815e-01 8.66431130e-02 -2.44306436e-02 3.01335504e+02] [-8.65816622e-02 9.96238382e-01 3.56397060e-03 1.00693113e+02] [ 2.46475383e-02 -1.43425449e-03 9.99695174e-01 2.51449000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.696875 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:301.37, Y:100.69, Z:25.15 [[ 9.95860516e-01 8.75453177e-02 -2.44468993e-02 3.01366508e+02] [-8.74913191e-02 9.96159909e-01 3.27180836e-03 1.00690277e+02] [ 2.46394525e-02 -1.11937330e-03 9.99695776e-01 2.51460597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7268750000001 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:301.39, Y:100.70, Z:25.15 [[ 9.96140960e-01 8.42938503e-02 -2.44486156e-02 3.01393378e+02] [-8.42396954e-02 9.96440257e-01 3.23842079e-03 1.00695465e+02] [ 2.46345638e-02 -1.16637966e-03 9.99695843e-01 2.51453557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.756875 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:301.42, Y:100.69, Z:25.15 [[ 9.95828031e-01 8.79120932e-02 -2.44539558e-02 3.01417615e+02] [-8.78616323e-02 9.96127764e-01 3.13243740e-03 1.00694345e+02] [ 2.46346434e-02 -9.70804495e-04 9.99696050e-01 2.51504587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.786875 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:301.45, Y:100.69, Z:25.15 [[ 9.96367070e-01 8.15714861e-02 -2.44694423e-02 3.01453108e+02] [-8.15264400e-02 9.96667148e-01 2.83456748e-03 1.00693430e+02] [ 2.46191092e-02 -8.29363175e-04 9.99696560e-01 2.51469301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.816875 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:301.48, Y:100.69, Z:25.14 [[ 9.96156976e-01 8.41026499e-02 -2.44545054e-02 3.01477920e+02] [-8.40507517e-02 9.96456514e-01 3.14423571e-03 1.00694194e+02] [ 2.46322898e-02 -1.07673277e-03 9.99695999e-01 2.51430427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.846875 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:301.51, Y:100.69, Z:25.14 [[ 9.96713955e-01 7.72179453e-02 -2.44679403e-02 3.01512703e+02] [-7.71711747e-02 9.97013781e-01 2.85143932e-03 1.00694049e+02] [ 2.46150559e-02 -9.53849669e-04 9.99696549e-01 2.51429650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.876875 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:301.54, Y:100.69, Z:25.15 [[ 9.96786252e-01 7.62842608e-02 -2.44515541e-02 3.01538083e+02] [-7.62284282e-02 9.97085217e-01 3.20877320e-03 1.00694732e+02] [ 2.46250620e-02 -1.33455747e-03 9.99695866e-01 2.51463026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.906875 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:301.57, Y:100.70, Z:25.15 [[ 9.96810886e-01 7.59603843e-02 -2.44556127e-02 3.01566623e+02] [-7.59065601e-02 9.97110044e-01 3.12307345e-03 1.00695204e+02] [ 2.46221669e-02 -1.25677218e-03 9.99696039e-01 2.51464713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.936875 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:301.58, Y:100.71, Z:25.15 [[ 9.97378721e-01 6.81002345e-02 -2.44549437e-02 3.01584914e+02] [-6.80436981e-02 9.97677408e-01 3.13756383e-03 1.00708504e+02] [ 2.46118137e-02 -1.46533459e-03 9.99696010e-01 2.51483205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.966875 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:301.63, Y:100.69, Z:25.15 [[ 9.97015542e-01 7.32153252e-02 -2.44851989e-02 3.01628303e+02] [-7.31769883e-02 9.97315938e-01 2.45928411e-03 1.00691285e+02] [ 2.45995364e-02 -6.60191364e-04 9.99697168e-01 2.51503199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.996875 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:301.64, Y:100.70, Z:25.15 [[ 9.97789518e-01 6.17882496e-02 -2.44599771e-02 3.01644431e+02] [-6.17305098e-02 9.98088010e-01 3.10938278e-03 1.00704260e+02] [ 2.46053331e-02 -1.59258269e-03 9.99695974e-01 2.51494651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.026875 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:301.67, Y:100.69, Z:25.15 [[ 9.96697086e-01 7.74291698e-02 -2.44876069e-02 3.01671475e+02] [-7.73943003e-02 9.96997746e-01 2.36994439e-03 1.00694142e+02] [ 2.45975917e-02 -4.66915463e-04 9.99697324e-01 2.51495567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.056875 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:301.71, Y:100.69, Z:25.15 [[ 9.97420148e-01 6.74804884e-02 -2.44833026e-02 3.01712994e+02] [-6.74399352e-02 9.97720256e-01 2.47923950e-03 1.00694332e+02] [ 2.45947872e-02 -8.21691083e-04 9.99697165e-01 2.51517129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.086875 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:301.72, Y:100.70, Z:25.15 [[ 9.96732296e-01 7.69854637e-02 -2.44533826e-02 3.01724187e+02] [-7.69295260e-02 9.97031329e-01 3.22147837e-03 1.00696210e+02] [ 2.46287955e-02 -1.32976440e-03 9.99695781e-01 2.51511533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.116875 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:301.77, Y:100.70, Z:25.16 [[ 9.97513746e-01 6.60795641e-02 -2.44911844e-02 3.01767393e+02] [-6.60446657e-02 9.97814171e-01 2.23197184e-03 1.00695309e+02] [ 2.45851386e-02 -6.08910510e-04 9.99697554e-01 2.51562891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.146875 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:301.80, Y:100.70, Z:25.15 [[ 9.97604834e-01 6.46960750e-02 -2.44747470e-02 3.01796485e+02] [-6.46479714e-02 9.97904336e-01 2.75242855e-03 1.00695394e+02] [ 2.46015274e-02 -1.16359329e-03 9.99696659e-01 2.51534676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.176875 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:301.81, Y:100.70, Z:25.15 [[ 9.96853771e-01 7.53905497e-02 -2.44708699e-02 3.01806745e+02] [-7.53425548e-02 9.97153555e-01 2.87871631e-03 1.00698415e+02] [ 2.46182430e-02 -1.02596135e-03 9.99696399e-01 2.51544765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.206875 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:301.85, Y:100.70, Z:25.16 [[ 9.97607745e-01 6.46407171e-02 -2.45023486e-02 3.01850507e+02] [-6.46146499e-02 9.97908566e-01 1.85492928e-03 1.00699328e+02] [ 2.45710075e-02 -2.67281146e-04 9.99698051e-01 2.51573463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.236875 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:301.88, Y:100.70, Z:25.15 [[ 9.97318810e-01 6.89639932e-02 -2.44777405e-02 3.01876527e+02] [-6.89191524e-02 9.97618671e-01 2.67182628e-03 1.00702134e+02] [ 2.46037108e-02 -9.77677472e-04 9.99696805e-01 2.51543504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.266875 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:301.89, Y:100.70, Z:25.15 [[ 9.96423656e-01 8.08735605e-02 -2.44819168e-02 3.01887844e+02] [-8.08358898e-02 9.96724223e-01 2.52610773e-03 1.00702567e+02] [ 2.46060148e-02 -5.38055973e-04 9.99697081e-01 2.51525288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.296875 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:301.90, Y:100.72, Z:25.15 [[ 9.96567551e-01 7.90727949e-02 -2.45073144e-02 3.01897934e+02] [-7.90578689e-02 9.96868778e-01 1.57886224e-03 1.00715077e+02] [ 2.45554216e-02 3.64053171e-04 9.99698404e-01 2.51547728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.326875 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:301.93, Y:100.71, Z:25.16 [[ 9.96404733e-01 8.10913954e-02 -2.45314967e-02 3.01925749e+02] [-8.11007374e-02 9.96705720e-01 6.15498399e-04 1.00714428e+02] [ 2.45005947e-02 1.37623695e-03 9.99698868e-01 2.51564126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3568750000001 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:301.95, Y:100.71, Z:25.16 [[ 9.96251696e-01 8.29503253e-02 -2.45316542e-02 3.01952607e+02] [-8.29603844e-02 9.96552660e-01 6.09157685e-04 1.00713881e+02] [ 2.44976150e-02 1.42828108e-03 9.99698868e-01 2.51566703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.386875 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:301.98, Y:100.71, Z:25.16 [[ 9.96272866e-01 8.26956580e-02 -2.45317222e-02 3.01980963e+02] [-8.27057077e-02 9.96573830e-01 6.06405622e-04 1.00713280e+02] [ 2.44978194e-02 1.42476798e-03 9.99698868e-01 2.51573677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.416875 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:302.01, Y:100.71, Z:25.15 [[ 9.95852615e-01 8.76113886e-02 -2.45318756e-02 3.02009322e+02] [-8.76230773e-02 9.96153520e-01 6.00134488e-04 1.00711428e+02] [ 2.44900929e-02 1.55191293e-03 9.99698868e-01 2.51548789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.446875 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:302.04, Y:100.71, Z:25.16 [[ 9.95680399e-01 8.95473292e-02 -2.45320133e-02 3.02037061e+02] [-8.95597423e-02 9.95981275e-01 5.94453450e-04 1.00709926e+02] [ 2.44866575e-02 1.60519514e-03 9.99698868e-01 2.51566163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4768750000001 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:302.06, Y:100.71, Z:25.16 [[ 9.95504942e-01 9.14772534e-02 -2.45320617e-02 3.02064446e+02] [-9.14902990e-02 9.95805791e-01 5.92446145e-04 1.00708040e+02] [ 2.44833645e-02 1.65466260e-03 9.99698868e-01 2.51569462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.506875 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:302.10, Y:100.70, Z:25.16 [[ 9.95101154e-01 9.57698482e-02 -2.45322123e-02 3.02102679e+02] [-9.57843458e-02 9.95401937e-01 5.86142748e-04 1.00698819e+02] [ 2.44755465e-02 1.76653058e-03 9.99698868e-01 2.51556738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.536875 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:302.12, Y:100.71, Z:25.15 [[ 9.95303576e-01 9.36463276e-02 -2.45185088e-02 3.02122639e+02] [-9.36462813e-02 9.95604864e-01 1.15262382e-03 1.00706303e+02] [ 2.45186856e-02 1.14885656e-03 9.99698712e-01 2.51548430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.566875 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:302.16, Y:100.70, Z:25.15 [[ 9.95105804e-01 9.57215585e-02 -2.45320505e-02 3.02161657e+02] [-9.57364182e-02 9.95406556e-01 5.70740317e-04 1.00697009e+02] [ 2.44739961e-02 1.78066365e-03 9.99698881e-01 2.51542081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.596875 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:302.19, Y:100.70, Z:25.15 [[ 9.95288815e-01 9.38033608e-02 -2.45174411e-02 3.02188348e+02] [-9.38024161e-02 9.95590120e-01 1.19114056e-03 1.00697213e+02] [ 2.45210551e-02 1.11426633e-03 9.99698693e-01 2.51526592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.626875 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:302.21, Y:100.70, Z:25.15 [[ 9.95406940e-01 9.25408091e-02 -2.45198291e-02 3.02214094e+02] [-9.25420233e-02 9.95708186e-01 1.08764419e-03 1.00697093e+02] [ 2.45152460e-02 1.18646601e-03 9.99698752e-01 2.51522461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.656875 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:302.24, Y:100.70, Z:25.15 [[ 9.95377800e-01 9.28531435e-02 -2.45220296e-02 3.02242275e+02] [-9.28568745e-02 9.95678976e-01 9.88964952e-04 1.00695592e+02] [ 2.45078979e-02 1.29264527e-03 9.99698801e-01 2.51501365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.686875 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:302.26, Y:100.70, Z:25.15 [[ 9.95865653e-01 8.74657739e-02 -2.45222241e-02 3.02263065e+02] [-8.74680985e-02 9.96166839e-01 9.79865677e-04 1.00701572e+02] [ 2.45139312e-02 1.16909774e-03 9.99698805e-01 2.51493386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.716875 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:302.29, Y:100.70, Z:25.15 [[ 9.95884658e-01 8.72463686e-02 -2.45320066e-02 3.02291134e+02] [-8.72603789e-02 9.96185412e-01 5.00858813e-04 1.00701173e+02] [ 2.44821252e-02 1.64187458e-03 9.99698920e-01 2.51496998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.746875 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:302.32, Y:100.70, Z:25.15 [[ 9.95881139e-01 8.72865199e-02 -2.45320472e-02 3.02318954e+02] [-8.73005913e-02 9.96181890e-01 4.98861312e-04 1.00699996e+02] [ 2.44819250e-02 1.64485566e-03 9.99698920e-01 2.51496910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.776875 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:302.35, Y:100.70, Z:25.15 [[ 9.95883563e-01 8.72588183e-02 -2.45321758e-02 3.02346527e+02] [-8.72730384e-02 9.96184307e-01 4.92455789e-04 1.00699771e+02] [ 2.44815397e-02 1.65056889e-03 9.99698920e-01 2.51523926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.806875 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:302.37, Y:100.70, Z:25.16 [[ 9.95714559e-01 8.91666291e-02 -2.45322155e-02 3.02374880e+02] [-8.91814741e-02 9.96015273e-01 4.90471558e-04 1.00700831e+02] [ 2.44781950e-02 1.69944947e-03 9.99698920e-01 2.51566052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.836875 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:302.41, Y:100.70, Z:25.16 [[ 9.95471487e-01 9.18405339e-02 -2.45323259e-02 3.02409244e+02] [-9.18563234e-02 9.95772153e-01 4.84883396e-04 1.00696275e+02] [ 2.44731390e-02 1.77076167e-03 9.99698920e-01 2.51593342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.866875 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:302.44, Y:100.70, Z:25.16 [[ 9.95547971e-01 9.10096560e-02 -2.45250889e-02 3.02437989e+02] [-9.10162462e-02 9.95849045e-01 8.49732435e-04 1.00695992e+02] [ 2.45006202e-02 1.38623212e-03 9.99698854e-01 2.51599366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.896875 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:302.46, Y:100.70, Z:25.16 [[ 9.96010275e-01 8.58023421e-02 -2.45252902e-02 3.02459954e+02] [-8.58076111e-02 9.96311372e-01 8.39412101e-04 1.00701618e+02] [ 2.45068490e-02 1.26839349e-03 9.99698857e-01 2.51632892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.926875 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:302.49, Y:100.70, Z:25.17 [[ 9.96514468e-01 7.97312775e-02 -2.45324024e-02 3.02487676e+02] [-7.97439924e-02 9.96815270e-01 4.61134934e-04 1.00702500e+02] [ 2.44910402e-02 1.49678408e-03 9.99698929e-01 2.51679373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.956875 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:302.52, Y:100.70, Z:25.17 [[ 9.96669069e-01 7.77748382e-02 -2.45324388e-02 3.02515178e+02] [-7.77870102e-02 9.96969894e-01 4.59192955e-04 1.00702346e+02] [ 2.44938165e-02 1.45064165e-03 9.99698929e-01 2.51667950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.986875 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:302.55, Y:100.69, Z:25.17 [[ 9.96497943e-01 7.99374957e-02 -2.45325559e-02 3.02552139e+02] [-7.99504761e-02 9.96798734e-01 4.52847702e-04 1.00692977e+02] [ 2.44902202e-02 1.51012772e-03 9.99698929e-01 2.51660861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.016875 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:302.57, Y:100.70, Z:25.17 [[ 9.97326821e-01 6.88321902e-02 -2.45222874e-02 3.02571561e+02] [-6.88284733e-02 9.97628011e-01 9.96582464e-04 1.00700895e+02] [ 2.45327177e-02 6.93913184e-04 9.99698787e-01 2.51661173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.046875 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:302.60, Y:100.70, Z:25.17 [[ 9.97544909e-01 6.55920855e-02 -2.45322726e-02 3.02599515e+02] [-6.56010580e-02 9.97845834e-01 4.39741816e-04 1.00699795e+02] [ 2.45082696e-02 1.17068083e-03 9.99698942e-01 2.51659415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.076875 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:302.63, Y:100.70, Z:25.16 [[ 9.97887836e-01 6.01500569e-02 -2.45323846e-02 3.02628561e+02] [-6.01575434e-02 9.98188801e-01 4.33402999e-04 1.00698411e+02] [ 2.45140208e-02 1.04332041e-03 9.99698942e-01 2.51638257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1068750000001 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:302.66, Y:100.70, Z:25.16 [[ 9.97980932e-01 5.85851283e-02 -2.45324806e-02 3.02657596e+02] [-5.85922780e-02 9.98281905e-01 4.27895793e-04 1.00697493e+02] [ 2.45153998e-02 1.01038208e-03 9.99698942e-01 2.51635048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.136875 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:302.69, Y:100.70, Z:25.16 [[ 9.97916433e-01 5.96736601e-02 -2.45325751e-02 3.02685984e+02] [-5.96812726e-02 9.98217395e-01 4.22409835e-04 1.00698088e+02] [ 2.45140499e-02 1.04260559e-03 9.99698942e-01 2.51627464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.166875 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:302.71, Y:100.70, Z:25.16 [[ 9.97846738e-01 6.08279241e-02 -2.45326680e-02 3.02714116e+02] [-6.08360189e-02 9.98147687e-01 4.16942759e-04 1.00697774e+02] [ 2.45125876e-02 1.07642488e-03 9.99698942e-01 2.51628833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.196875 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:302.74, Y:100.70, Z:25.17 [[ 9.97577642e-01 6.50921791e-02 -2.45327771e-02 3.02740912e+02] [-6.51017201e-02 9.97878549e-01 4.10420283e-04 1.00698906e+02] [ 2.45074472e-02 1.18769989e-03 9.99698942e-01 2.51653088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2268750000001 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:302.77, Y:100.70, Z:25.17 [[ 9.97385511e-01 6.79726690e-02 -2.45328241e-02 3.02768928e+02] [-6.79831482e-02 9.97686386e-01 4.07595748e-04 1.00698202e+02] [ 2.45037699e-02 1.26128852e-03 9.99698942e-01 2.51698469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.256875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:302.80, Y:100.70, Z:25.17 [[ 9.97239217e-01 7.00862599e-02 -2.45328567e-02 3.02796851e+02] [-7.00974252e-02 9.97540068e-01 4.05621973e-04 1.00697563e+02] [ 2.45009360e-02 1.31518795e-03 9.99698942e-01 2.51715811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.286875 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:302.83, Y:100.70, Z:25.17 [[ 9.97060667e-01 7.25820921e-02 -2.45329600e-02 3.02825041e+02] [-7.25941661e-02 9.97361483e-01 3.99271651e-04 1.00696591e+02] [ 2.44972094e-02 1.38285172e-03 9.99698942e-01 2.51723843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.316875 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:302.85, Y:100.69, Z:25.17 [[ 9.96698392e-01 7.73979567e-02 -2.45330616e-02 3.02852990e+02] [-7.74116393e-02 9.96999139e-01 3.92929139e-04 1.00694992e+02] [ 2.44898532e-02 1.50751268e-03 9.99698942e-01 2.51715401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.346875 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:302.88, Y:100.69, Z:25.17 [[ 9.96605848e-01 7.85805754e-02 -2.45331631e-02 3.02880732e+02] [-7.85947728e-02 9.96906572e-01 3.86486823e-04 1.00694254e+02] [ 2.44876419e-02 1.54300335e-03 9.99698942e-01 2.51713100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.376875 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:302.92, Y:100.68, Z:25.17 [[ 9.96149279e-01 8.41708581e-02 -2.45332632e-02 3.02917386e+02] [-8.41869009e-02 9.96449909e-01 3.80026124e-04 1.00684758e+02] [ 2.44781550e-02 1.68681665e-03 9.99698942e-01 2.51715001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.406875 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:302.94, Y:100.68, Z:25.17 [[ 9.96060326e-01 8.52192409e-02 -2.45256697e-02 3.02944762e+02] [-8.52238567e-02 9.96361459e-01 8.58884051e-04 1.00684575e+02] [ 2.45096255e-02 1.23467183e-03 9.99698832e-01 2.51731921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.436875 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:302.97, Y:100.69, Z:25.17 [[ 9.96220216e-01 8.33294216e-02 -2.45252647e-02 3.02971816e+02] [-8.33328315e-02 9.96521378e-01 8.84748226e-04 1.00685785e+02] [ 2.45136761e-02 1.16235568e-03 9.99698819e-01 2.51724418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.466875 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:302.99, Y:100.69, Z:25.17 [[ 9.96664821e-01 7.78308836e-02 -2.45272775e-02 3.02993229e+02] [-7.78358945e-02 9.96965901e-01 7.51779861e-04 1.00691819e+02] [ 2.45113710e-02 1.15983004e-03 9.99698878e-01 2.51733542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.496875 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:303.02, Y:100.69, Z:25.17 [[ 9.96752408e-01 7.66992108e-02 -2.45330173e-02 3.03020689e+02] [-7.67136612e-02 9.97053103e-01 3.52978153e-04 1.00690548e+02] [ 2.44877942e-02 1.53018576e-03 9.99698958e-01 2.51730397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.526875 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:303.05, Y:100.69, Z:25.17 [[ 9.96712517e-01 7.72158381e-02 -2.45331068e-02 3.03048548e+02] [-7.72305996e-02 9.97013197e-01 3.46644878e-04 1.00690519e+02] [ 2.44865977e-02 1.54920126e-03 9.99698958e-01 2.51720106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.556875 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:303.08, Y:100.69, Z:25.17 [[ 9.96711261e-01 7.72320308e-02 -2.45331344e-02 3.03076906e+02] [-7.72468453e-02 9.97011939e-01 3.44681478e-04 1.00690926e+02] [ 2.44864484e-02 1.55155933e-03 9.99698958e-01 2.51729675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.586875 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:303.10, Y:100.69, Z:25.18 [[ 9.96731864e-01 7.69656624e-02 -2.45332214e-02 3.03103896e+02] [-7.69805511e-02 9.97032537e-01 3.38374985e-04 1.00691626e+02] [ 2.44864632e-02 1.55131178e-03 9.99698958e-01 2.51758459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.616875 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:303.13, Y:100.69, Z:25.18 [[ 9.96793062e-01 7.61689561e-02 -2.45332798e-02 3.03131679e+02] [-7.61837097e-02 9.97093742e-01 3.34085803e-04 1.00692566e+02] [ 2.44874267e-02 1.53602186e-03 9.99698958e-01 2.51758365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.646875 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:303.16, Y:100.69, Z:25.18 [[ 9.96820477e-01 7.58093104e-02 -2.45333634e-02 3.03159024e+02] [-7.58241088e-02 9.97121155e-01 3.27831588e-04 1.00692857e+02] [ 2.44875883e-02 1.53343118e-03 9.99698958e-01 2.51771616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.676875 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:303.19, Y:100.69, Z:25.17 [[ 9.96616142e-01 7.84498483e-02 -2.45333993e-02 3.03193056e+02] [-7.84655098e-02 9.96916776e-01 3.25119420e-04 1.00686373e+02] [ 2.44832629e-02 1.60100642e-03 9.99698958e-01 2.51747897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.706875 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:303.23, Y:100.68, Z:25.18 [[ 9.96691152e-01 7.74921888e-02 -2.45297388e-02 3.03227229e+02] [-7.75006185e-02 9.96992118e-01 6.08271310e-04 1.00680467e+02] [ 2.45030925e-02 1.29481129e-03 9.99698916e-01 2.51769151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.736875 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:303.24, Y:100.69, Z:25.18 [[ 9.97403655e-01 6.77085717e-02 -2.45254532e-02 3.03244477e+02] [-6.77059719e-02 9.97704878e-01 9.37328937e-04 1.00693056e+02] [ 2.45326294e-02 7.25624334e-04 9.99698766e-01 2.51775504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.766875 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:303.27, Y:100.69, Z:25.18 [[ 9.97520050e-01 6.59687358e-02 -2.45331404e-02 3.03272079e+02] [-6.59814420e-02 9.97820808e-01 2.92086442e-04 1.00694288e+02] [ 2.44989465e-02 1.32736990e-03 9.99698975e-01 2.51795069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.796875 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:303.30, Y:100.69, Z:25.18 [[ 9.97953264e-01 5.90542544e-02 -2.45332141e-02 3.03300197e+02] [-5.90650313e-02 9.98254096e-01 2.85760935e-04 1.00693928e+02] [ 2.45072568e-02 1.16387900e-03 9.99698975e-01 2.51824117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.826875 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:303.33, Y:100.69, Z:25.18 [[ 9.98147265e-01 5.56790452e-02 -2.45332768e-02 3.03328025e+02] [-5.56889392e-02 9.98448128e-01 2.80272601e-04 1.00693828e+02] [ 2.45108096e-02 1.08647883e-03 9.99698975e-01 2.51823370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8568750000001 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:303.36, Y:100.69, Z:25.18 [[ 9.98317167e-01 5.25447415e-02 -2.45333474e-02 3.03356151e+02] [-5.25538461e-02 9.98618054e-01 2.73945631e-04 1.00693625e+02] [ 2.45138381e-02 1.01583714e-03 9.99698975e-01 2.51818384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.886875 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:303.38, Y:100.69, Z:25.18 [[ 9.98558017e-01 4.77493538e-02 -2.45333691e-02 3.03383662e+02] [-4.77570613e-02 9.98858944e-01 2.71987001e-04 1.00692168e+02] [ 2.45183624e-02 9.00046813e-04 9.99698975e-01 2.51816583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.916875 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:303.41, Y:100.69, Z:25.19 [[ 9.98682607e-01 4.50683975e-02 -2.45334394e-02 3.03411828e+02] [-4.50754564e-02 9.98983550e-01 2.65490595e-04 1.00692248e+02] [ 2.45204677e-02 8.40715140e-04 9.99698975e-01 2.51850294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.946875 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:303.44, Y:100.69, Z:25.19 [[ 9.98833008e-01 4.16020430e-02 -2.45334993e-02 3.03440306e+02] [-4.16081961e-02 9.99133970e-01 2.59838957e-04 1.00692339e+02] [ 2.45230624e-02 7.61258923e-04 9.99698975e-01 2.51863496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9768750000001 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:303.47, Y:100.69, Z:25.19 [[ 9.98821091e-01 4.18871464e-02 -2.45335585e-02 3.03467874e+02] [-4.18935257e-02 9.99122049e-01 2.54121445e-04 1.00691744e+02] [ 2.45226637e-02 7.73975404e-04 9.99698975e-01 2.51871962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.006875 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:303.50, Y:100.69, Z:25.19 [[ 9.98776025e-01 4.29482644e-02 -2.45336241e-02 3.03495213e+02] [-4.29551228e-02 9.99076972e-01 2.47624991e-04 1.00691411e+02] [ 2.45216139e-02 8.06522931e-04 9.99698975e-01 2.51893110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.036875 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:303.52, Y:100.69, Z:25.19 [[ 9.98719592e-01 4.42411038e-02 -2.45336876e-02 3.03523870e+02] [-4.42485102e-02 9.99020526e-01 2.41167833e-04 1.00690994e+02] [ 2.45203270e-02 8.44720085e-04 9.99698975e-01 2.51895799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.066875 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:303.55, Y:100.69, Z:25.19 [[ 9.98592749e-01 4.70171912e-02 -2.45337406e-02 3.03553043e+02] [-4.70255695e-02 9.98893658e-01 2.35649067e-04 1.00690738e+02] [ 2.45176774e-02 9.18395674e-04 9.99698975e-01 2.51918210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.096875 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:303.58, Y:100.69, Z:25.19 [[ 9.98470579e-01 4.95438871e-02 -2.45337888e-02 3.03582019e+02] [-4.95531528e-02 9.98771461e-01 2.30513362e-04 1.00691145e+02] [ 2.45150686e-02 9.85565777e-04 9.99698975e-01 2.51910269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.126875 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:303.61, Y:100.69, Z:25.19 [[ 9.98226422e-01 5.42411405e-02 -2.45338399e-02 3.03610555e+02] [-5.42519585e-02 9.98527253e-01 2.24937565e-04 1.00688820e+02] [ 2.45099087e-02 1.10647025e-03 9.99698975e-01 2.51894667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.156875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:303.64, Y:100.69, Z:25.19 [[ 9.98163399e-01 5.53887784e-02 -2.45338895e-02 3.03638431e+02] [-5.54000782e-02 9.98464212e-01 2.19396110e-04 1.00687835e+02] [ 2.45083627e-02 1.14018623e-03 9.99698975e-01 2.51894581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.186875 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:303.66, Y:100.69, Z:25.19 [[ 9.98074253e-01 5.69725507e-02 -2.45339472e-02 3.03664948e+02] [-5.69844911e-02 9.98375041e-01 2.12738127e-04 1.00688309e+02] [ 2.45062008e-02 1.18572605e-03 9.99698975e-01 2.51915060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.216875 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:303.69, Y:100.69, Z:25.19 [[ 9.98045529e-01 5.74735321e-02 -2.45339719e-02 3.03693698e+02] [-5.74856943e-02 9.98346308e-01 2.09851821e-04 1.00688046e+02] [ 2.45054612e-02 1.20091074e-03 9.99698975e-01 2.51922706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.246875 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:303.72, Y:100.69, Z:25.19 [[ 9.98089162e-01 5.67107275e-02 -2.45340185e-02 3.03721682e+02] [-5.67227968e-02 9.98389945e-01 2.04263273e-04 1.00687665e+02] [ 2.45061013e-02 1.18776518e-03 9.99698975e-01 2.51914210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.276875 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:303.75, Y:100.69, Z:25.19 [[ 9.98104204e-01 5.64453477e-02 -2.45340710e-02 3.03750043e+02] [-5.64574968e-02 9.98404984e-01 1.97747208e-04 1.00687525e+02] [ 2.45061006e-02 1.18775991e-03 9.99698975e-01 2.51921197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.306875 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:303.78, Y:100.69, Z:25.19 [[ 9.98162124e-01 5.54116492e-02 -2.45341218e-02 3.03776603e+02] [-5.54236467e-02 9.98462910e-01 1.91225892e-04 1.00686877e+02] [ 2.45070068e-02 1.16889606e-03 9.99698975e-01 2.51920264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.336875 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:303.80, Y:100.69, Z:25.19 [[ 9.98213523e-01 5.44778726e-02 -2.45341435e-02 3.03804366e+02] [-5.44896581e-02 9.98514317e-01 1.88399847e-04 1.00687219e+02] [ 2.45079572e-02 1.14879382e-03 9.99698975e-01 2.51921737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.366875 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:303.83, Y:100.69, Z:25.19 [[ 9.98278549e-01 5.32729930e-02 -2.45341912e-02 3.03833295e+02] [-5.32845730e-02 9.98579351e-01 1.81974845e-04 1.00686190e+02] [ 2.45090310e-02 1.12563232e-03 9.99698975e-01 2.51914363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.396875 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:303.86, Y:100.69, Z:25.19 [[ 9.98321580e-01 5.24604117e-02 -2.45342335e-02 3.03859789e+02] [-5.24718915e-02 9.98622386e-01 1.76075938e-04 1.00685991e+02] [ 2.45096718e-02 1.11157723e-03 9.99698975e-01 2.51906497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.426875 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:303.89, Y:100.69, Z:25.19 [[ 9.98476236e-01 4.94295084e-02 -2.45342541e-02 3.03887667e+02] [-4.94401465e-02 9.98777073e-01 1.73159372e-04 1.00685730e+02] [ 2.45128097e-02 1.04008160e-03 9.99698975e-01 2.51928327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.456875 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:303.92, Y:100.69, Z:25.19 [[ 9.98571418e-01 4.74677988e-02 -2.45342685e-02 3.03915300e+02] [-4.74778966e-02 9.98872274e-01 1.71092272e-04 1.00686520e+02] [ 2.45147219e-02 9.93987609e-04 9.99698975e-01 2.51944208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.486875 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:303.94, Y:100.69, Z:25.20 [[ 9.98635814e-01 4.60931745e-02 -2.45342826e-02 3.03943623e+02] [-4.61029084e-02 9.98936681e-01 1.69042013e-04 1.00686493e+02] [ 2.45159865e-02 9.62290377e-04 9.99698975e-01 2.51952695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.516875 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:303.97, Y:100.69, Z:25.19 [[ 9.98743668e-01 4.36938456e-02 -2.45343255e-02 3.03970193e+02] [-4.37030155e-02 9.99044554e-01 1.62564750e-04 1.00685234e+02] [ 2.45179874e-02 9.09863495e-04 9.99698975e-01 2.51948076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.546875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:304.00, Y:100.68, Z:25.19 [[ 9.98783546e-01 4.27725894e-02 -2.45343438e-02 3.03998327e+02] [-4.27815507e-02 9.99084438e-01 1.59758752e-04 1.00684894e+02] [ 2.45187144e-02 8.90052860e-04 9.99698975e-01 2.51940695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.576875 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:304.03, Y:100.68, Z:25.19 [[ 9.98694653e-01 4.48001588e-02 -2.45343849e-02 3.04027429e+02] [-4.48098922e-02 9.98995521e-01 1.53182013e-04 1.00683089e+02] [ 2.45166032e-02 9.46401084e-04 9.99698975e-01 2.51929705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6068750000001 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:304.05, Y:100.68, Z:25.19 [[ 9.98593531e-01 4.70002255e-02 -2.45344201e-02 3.04054107e+02] [-4.70107655e-02 9.98894372e-01 1.47317653e-04 1.00682142e+02] [ 2.45142181e-02 1.00627141e-03 9.99698975e-01 2.51936318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.636875 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:304.08, Y:100.68, Z:25.19 [[ 9.98556502e-01 4.77804827e-02 -2.45344372e-02 3.04083054e+02] [-4.77913290e-02 9.98857331e-01 1.44412648e-04 1.00681312e+02] [ 2.45133026e-02 1.02832917e-03 9.99698975e-01 2.51948915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.666875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:304.12, Y:100.68, Z:25.19 [[ 9.98287662e-01 5.31018302e-02 -2.45344698e-02 3.04116193e+02] [-5.31144214e-02 9.98588423e-01 1.38636171e-04 1.00677419e+02] [ 2.45071994e-02 1.16473539e-03 9.99698975e-01 2.51940233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.696875 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:304.14, Y:100.68, Z:25.20 [[ 9.98517947e-01 4.85804598e-02 -2.45326190e-02 3.04140166e+02] [-4.85838003e-02 9.98819004e-01 4.60199118e-04 1.00683570e+02] [ 2.45260027e-02 7.32370783e-04 9.99698924e-01 2.52011267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.726875 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:304.17, Y:100.68, Z:25.20 [[ 9.98620140e-01 4.64314731e-02 -2.45343600e-02 3.04169409e+02] [-4.64422961e-02 9.98920966e-01 1.28788894e-04 1.00681921e+02] [ 2.45138664e-02 1.01082083e-03 9.99698979e-01 2.51980317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.756875 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:304.20, Y:100.68, Z:25.20 [[ 9.98671945e-01 4.53035261e-02 -2.45343885e-02 3.04198134e+02] [-4.53141487e-02 9.98972779e-01 1.23106117e-04 1.00681373e+02] [ 2.45147634e-02 9.88812303e-04 9.99698979e-01 2.51972483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.786875 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:304.23, Y:100.68, Z:25.20 [[ 9.98767219e-01 4.31521183e-02 -2.45344163e-02 3.04225798e+02] [-4.31622353e-02 9.99068070e-01 1.17296048e-04 1.00680077e+02] [ 2.45166135e-02 9.41808802e-04 9.99698979e-01 2.51970251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.816875 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:304.25, Y:100.68, Z:25.20 [[ 9.98837435e-01 4.14950530e-02 -2.45344307e-02 3.04254177e+02] [-4.15047471e-02 9.99138300e-01 1.14188941e-04 1.00678965e+02] [ 2.45180277e-02 9.04239155e-04 9.99698979e-01 2.51961510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.846875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:304.28, Y:100.68, Z:25.20 [[ 9.98940609e-01 3.89322430e-02 -2.45344556e-02 3.04281713e+02] [-3.89413030e-02 9.99241494e-01 1.08570051e-04 1.00679872e+02] [ 2.45200729e-02 8.46948637e-04 9.99698979e-01 2.51958480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.876875 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:304.31, Y:100.68, Z:25.20 [[ 9.99010970e-01 3.70828796e-02 -2.45344835e-02 3.04309535e+02] [-3.70915475e-02 9.99311867e-01 1.01845425e-04 1.00680894e+02] [ 2.45213772e-02 8.08277265e-04 9.99698979e-01 2.51978245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.906875 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:304.34, Y:100.68, Z:25.20 [[ 9.99090280e-01 3.48807980e-02 -2.45345095e-02 3.04336359e+02] [-3.48889673e-02 9.99391190e-01 9.51351325e-05 1.00680848e+02] [ 2.45228911e-02 7.60935115e-04 9.99698979e-01 2.52000360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.936875 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:304.36, Y:100.68, Z:25.20 [[ 9.99100736e-01 3.45799980e-02 -2.45345205e-02 3.04364597e+02] [-3.45881482e-02 9.99401647e-01 9.22237550e-05 1.00681736e+02] [ 2.45230293e-02 7.56462808e-04 9.99698979e-01 2.52004749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.966875 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:304.39, Y:100.68, Z:25.20 [[ 9.99127451e-01 3.37993134e-02 -2.45345315e-02 3.04392133e+02] [-3.38073027e-02 9.99428366e-01 8.91969750e-05 1.00681294e+02] [ 2.45235215e-02 7.40327187e-04 9.99698979e-01 2.52006362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.996875 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:304.42, Y:100.68, Z:25.20 [[ 9.99099201e-01 3.46242936e-02 -2.45345538e-02 3.04420148e+02] [-3.46326942e-02 9.99400105e-01 8.25576055e-05 1.00681439e+02] [ 2.45226942e-02 7.67214462e-04 9.99698979e-01 2.52011045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.026875 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:304.45, Y:100.68, Z:25.20 [[ 9.98995682e-01 3.74924301e-02 -2.45345745e-02 3.04447793e+02] [-3.75018581e-02 9.99296555e-01 7.58908154e-05 1.00681178e+02] [ 2.45201611e-02 8.44277534e-04 9.99698979e-01 2.52038328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.056875 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:304.48, Y:100.68, Z:25.21 [[ 9.98957116e-01 3.85062842e-02 -2.45345807e-02 3.04475127e+02] [-3.85160680e-02 9.99257978e-01 7.38308246e-05 1.00681649e+02] [ 2.45192184e-02 8.71221750e-04 9.99698979e-01 2.52067457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.086875 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:304.51, Y:100.67, Z:25.21 [[ 9.98630054e-01 4.62176297e-02 -2.45345866e-02 3.04514089e+02] [-4.62297857e-02 9.98930829e-01 7.18097165e-05 1.00671609e+02] [ 2.45116738e-02 1.06251734e-03 9.99698979e-01 2.52136432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.116875 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:304.53, Y:100.68, Z:25.21 [[ 9.99006466e-01 3.72049822e-02 -2.45330341e-02 3.04534290e+02] [-3.72007451e-02 9.99307615e-01 6.29237801e-04 1.00682217e+02] [ 2.45394586e-02 2.84034516e-04 9.99698822e-01 2.52116088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.146875 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:304.56, Y:100.68, Z:25.21 [[ 9.99160886e-01 3.27963763e-02 -2.45340886e-02 3.04562455e+02] [-3.28051711e-02 9.99461765e-01 4.40333198e-05 1.00681214e+02] [ 2.45223276e-02 7.60848604e-04 9.99698993e-01 2.52123823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.176875 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:304.59, Y:100.68, Z:25.21 [[ 9.99254509e-01 2.98077878e-02 -2.45340985e-02 3.04590700e+02] [-2.98158403e-02 9.99555408e-01 3.76083423e-05 1.00680273e+02] [ 2.45243118e-02 6.93924456e-04 9.99698993e-01 2.52113486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.206875 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:304.62, Y:100.68, Z:25.21 [[ 9.99360403e-01 2.60165968e-02 -2.45341068e-02 3.04618016e+02] [-2.60236705e-02 9.99661326e-01 3.09722367e-05 1.00680800e+02] [ 2.45266036e-02 6.07515085e-04 9.99698993e-01 2.52138482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.236875 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:304.65, Y:100.68, Z:25.21 [[ 9.99499083e-01 1.99915353e-02 -2.45341103e-02 3.04646931e+02] [-1.99968701e-02 9.99800042e-01 2.78991790e-05 1.00680551e+02] [ 2.45297623e-02 4.62720214e-04 9.99698993e-01 2.52115693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.266875 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:304.68, Y:100.68, Z:25.21 [[ 9.99547638e-01 1.73953155e-02 -2.45341155e-02 3.04675311e+02] [-1.74000104e-02 9.99848608e-01 2.21227858e-05 1.00680107e+02] [ 2.45307861e-02 4.04781086e-04 9.99698993e-01 2.52103985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.296875 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:304.70, Y:100.68, Z:25.21 [[ 9.99608316e-01 1.34644505e-02 -2.45341195e-02 3.04702844e+02] [-1.34681067e-02 9.99909301e-01 1.62161587e-05 1.00679275e+02] [ 2.45321126e-02 3.14218332e-04 9.99698993e-01 2.52100407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.326875 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:304.73, Y:100.68, Z:25.21 [[ 9.99628307e-01 1.18879878e-02 -2.45341207e-02 3.04731467e+02] [-1.18912207e-02 9.99929297e-01 1.41223234e-05 1.00679166e+02] [ 2.45325539e-02 2.77623569e-04 9.99698993e-01 2.52094236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3568750000001 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:304.76, Y:100.68, Z:25.21 [[ 9.99643145e-01 1.05668678e-02 -2.45341226e-02 3.04758085e+02] [-1.05698481e-02 9.99944138e-01 8.20530267e-06 1.00678896e+02] [ 2.45328388e-02 2.51119574e-04 9.99698993e-01 2.52115341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.386875 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:304.79, Y:100.68, Z:25.21 [[ 9.99643295e-01 1.05526690e-02 -2.45341233e-02 3.04786681e+02] [-1.05557170e-02 9.99944287e-01 5.27382378e-06 1.00679057e+02] [ 2.45328120e-02 2.53703319e-04 9.99698993e-01 2.52099586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.416875 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:304.81, Y:100.68, Z:25.21 [[ 9.99644738e-01 1.04151067e-02 -2.45341231e-02 3.04814169e+02] [-1.04182587e-02 9.99945728e-01 -6.50992552e-07 1.00678518e+02] [ 2.45327848e-02 2.56253602e-04 9.99698993e-01 2.52104520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.446875 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:304.84, Y:100.68, Z:25.21 [[ 9.99641710e-01 1.07017823e-02 -2.45341229e-02 3.04841730e+02] [-1.07050720e-02 9.99942699e-01 -2.74860966e-06 1.00678513e+02] [ 2.45326876e-02 2.65387177e-04 9.99698993e-01 2.52112180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.476875 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:304.87, Y:100.68, Z:25.22 [[ 9.99613052e-01 1.31081517e-02 -2.45341203e-02 3.04870851e+02] [-1.31123321e-02 9.99914030e-01 -9.51578240e-06 1.00679534e+02] [ 2.45318863e-02 3.31211632e-04 9.99698993e-01 2.52152554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.506875 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:304.90, Y:100.68, Z:25.22 [[ 9.99600257e-01 1.40500554e-02 -2.45341169e-02 3.04898992e+02] [-1.40546544e-02 9.99901228e-01 -1.50202611e-05 1.00680290e+02] [ 2.45314826e-02 3.59832791e-04 9.99698993e-01 2.52193469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.536875 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:304.93, Y:100.68, Z:25.22 [[ 9.99581894e-01 1.53007953e-02 -2.45341119e-02 3.04928247e+02] [-1.53059151e-02 9.99882857e-01 -2.08998807e-05 1.00680860e+02] [ 2.45309181e-02 3.96408177e-04 9.99698993e-01 2.52197572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.566875 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:304.96, Y:100.68, Z:25.22 [[ 9.99569757e-01 1.60741506e-02 -2.45341061e-02 3.04956145e+02] [-1.60796352e-02 9.99870714e-01 -2.62757108e-05 1.00681202e+02] [ 2.45305118e-02 4.20763882e-04 9.99698993e-01 2.52220095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.596875 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:304.98, Y:100.68, Z:25.22 [[ 9.99585103e-01 1.50897099e-02 -2.45341037e-02 3.04984453e+02] [-1.50949485e-02 9.99886064e-01 -2.83295801e-05 1.00682330e+02] [ 2.45308810e-02 3.98658859e-04 9.99698993e-01 2.52211761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.626875 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:305.01, Y:100.68, Z:25.22 [[ 9.99606724e-01 1.35821438e-02 -2.45340941e-02 3.05013574e+02] [-1.35870947e-02 9.99907691e-01 -3.51032848e-05 1.00682581e+02] [ 2.45313525e-02 3.68436539e-04 9.99698993e-01 2.52220446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.656875 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:305.04, Y:100.68, Z:25.22 [[ 9.99645494e-01 1.03424237e-02 -2.45340841e-02 3.05041588e+02] [-1.03465449e-02 9.99946472e-01 -4.10437445e-05 1.00682955e+02] [ 2.45323464e-02 2.94872198e-04 9.99698993e-01 2.52235230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.686875 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:305.07, Y:100.68, Z:25.22 [[ 9.99669497e-01 7.67955472e-03 -2.45340804e-02 3.05069830e+02] [-7.68292576e-03 9.99970485e-01 -4.31432532e-05 1.00682469e+02] [ 2.45330250e-02 2.31622513e-04 9.99698993e-01 2.52224798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.716875 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:305.10, Y:100.68, Z:25.22 [[ 9.99689180e-01 4.42976309e-03 -2.45340757e-02 3.05097666e+02] [-4.43221817e-03 9.99990177e-01 -4.56902432e-05 1.00682525e+02] [ 2.45336323e-02 1.54416418e-04 9.99698993e-01 2.52236798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.746875 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:305.13, Y:100.68, Z:25.22 [[ 9.99695014e-01 2.82107072e-03 -2.45340693e-02 3.05126244e+02] [-2.82311957e-03 9.99996014e-01 -4.88740505e-05 1.00680014e+02] [ 2.45338337e-02 1.18121756e-04 9.99698993e-01 2.52192405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.776875 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:305.15, Y:100.68, Z:25.22 [[ 9.99694759e-01 2.91024415e-03 -2.45340562e-02 3.05153925e+02] [-2.91246395e-03 9.99995757e-01 -5.47459801e-05 1.00679428e+02] [ 2.45337928e-02 1.26183824e-04 9.99698993e-01 2.52201253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.806875 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:305.18, Y:100.68, Z:25.22 [[ 9.99694120e-01 3.12183517e-03 -2.45340514e-02 3.05180794e+02] [-3.12416967e-03 9.99995118e-01 -5.68237579e-05 1.00679844e+02] [ 2.45337543e-02 1.33454916e-04 9.99698993e-01 2.52221751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.836875 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:305.21, Y:100.68, Z:25.22 [[ 9.99694604e-01 2.96297467e-03 -2.45340446e-02 3.05209299e+02] [-2.96533058e-03 9.99995602e-01 -5.96451510e-05 1.00681541e+02] [ 2.45337599e-02 1.32378488e-04 9.99698993e-01 2.52242850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.866875 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:305.24, Y:100.68, Z:25.23 [[ 9.99694857e-01 2.87641724e-03 -2.45340289e-02 3.05236218e+02] [-2.87889119e-03 9.99995854e-01 -6.55170739e-05 1.00681485e+02] [ 2.45337387e-02 1.36127881e-04 9.99698993e-01 2.52261460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.896875 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:305.26, Y:100.68, Z:25.23 [[ 9.99696513e-01 2.22796224e-03 -2.45340208e-02 3.05263913e+02] [-2.23031224e-03 9.99997511e-01 -6.84223085e-05 1.00681472e+02] [ 2.45338073e-02 1.23120070e-04 9.99698993e-01 2.52263499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.926875 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:305.29, Y:100.68, Z:25.23 [[ 9.99694049e-01 3.14508594e-03 -2.45340000e-02 3.05290631e+02] [-3.14787880e-03 9.99995043e-01 -7.52162841e-05 1.00679447e+02] [ 2.45336418e-02 1.52423330e-04 9.99698993e-01 2.52257751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.956875 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:305.32, Y:100.68, Z:25.23 [[ 9.99692976e-01 3.46954941e-03 -2.45339906e-02 3.05318441e+02] [-3.47251225e-03 9.99993968e-01 -7.81619228e-05 1.00679142e+02] [ 2.45335714e-02 1.63332508e-04 9.99698993e-01 2.52265383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.986875 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:305.37, Y:100.66, Z:25.22 [[ 9.99540634e-01 1.77933888e-02 -2.45339673e-02 3.05365735e+02] [-1.78008294e-02 9.99841549e-01 -8.48952166e-05 1.00662509e+02] [ 2.45285693e-02 5.21581184e-04 9.99698993e-01 2.52243020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.016875 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:305.39, Y:100.66, Z:25.23 [[ 9.99472384e-01 2.12802426e-02 -2.45378238e-02 3.05394301e+02] [-2.12589446e-02 9.99773366e-01 1.12853425e-03 1.00663109e+02] [ 2.45562781e-02 -6.06290579e-04 9.99698265e-01 2.52263114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.046875 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:305.40, Y:100.68, Z:25.23 [[ 9.99662842e-01 8.49193120e-03 -2.45375089e-02 3.05404353e+02] [-8.46882007e-03 9.99963592e-01 1.04563546e-03 1.00681030e+02] [ 2.45454950e-02 -8.37479172e-04 9.99698363e-01 2.52321475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.076875 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:305.43, Y:100.68, Z:25.23 [[ 9.99656910e-01 9.18152246e-03 -2.45308531e-02 3.05431589e+02] [-9.18767883e-03 9.99957783e-01 -1.38266206e-04 1.00680482e+02] [ 2.45285480e-02 3.63600367e-04 9.99699064e-01 2.52342154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1068750000001 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:305.46, Y:100.68, Z:25.23 [[ 9.99657585e-01 9.10776311e-03 -2.45308262e-02 3.05459895e+02] [-9.11401036e-03 9.99958456e-01 -1.42875413e-04 1.00678648e+02] [ 2.45285059e-02 3.66400695e-04 9.99699064e-01 2.52326548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.136875 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:305.49, Y:100.68, Z:25.23 [[ 9.99670500e-01 7.55859533e-03 -2.45307879e-02 3.05488790e+02] [-7.56453088e-03 9.99971377e-01 -1.49174967e-04 1.00676760e+02] [ 2.45289582e-02 3.34689716e-04 9.99699064e-01 2.52323189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.166875 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:305.52, Y:100.68, Z:25.23 [[ 9.99672411e-01 7.30151734e-03 -2.45307783e-02 3.05517157e+02] [-7.30741410e-03 9.99973289e-01 -1.50747945e-04 1.00677038e+02] [ 2.45290223e-02 3.29955117e-04 9.99699064e-01 2.52330156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.196875 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:305.55, Y:100.67, Z:25.23 [[ 9.99694987e-01 2.85947850e-03 -2.45307379e-02 3.05546435e+02] [-2.86419309e-03 9.99995886e-01 -1.57057282e-04 1.00673499e+02] [ 2.45301878e-02 2.27270148e-04 9.99699064e-01 2.52306781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.226875 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:305.57, Y:100.67, Z:25.23 [[ 9.99698989e-01 4.18099572e-04 -2.45307269e-02 3.05574260e+02] [-4.22120727e-04 9.99999898e-01 -1.58745198e-04 1.00672219e+02] [ 2.45306581e-02 1.69052342e-04 9.99699064e-01 2.52309662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.256875 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:305.60, Y:100.67, Z:25.23 [[ 9.99689971e-01 -4.26678685e-03 -2.45307103e-02 3.05601618e+02] [ 4.26411383e-03 9.99990896e-01 -1.61274097e-04 1.00669378e+02] [ 2.45311751e-02 5.66223563e-05 9.99699064e-01 2.52316675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.286875 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:305.63, Y:100.67, Z:25.23 [[ 9.99680369e-01 -6.11587165e-03 -2.45306964e-02 3.05630634e+02] [ 6.11370387e-03 9.99981298e-01 -1.63367640e-04 1.00667893e+02] [ 2.45312367e-02 1.33420096e-05 9.99699064e-01 2.52309724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.316875 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:305.66, Y:100.67, Z:25.23 [[ 9.99670490e-01 -7.56022150e-03 -2.45306850e-02 3.05658411e+02] [ 7.55844700e-03 9.99971421e-01 -1.65059312e-04 1.00666315e+02] [ 2.45312318e-02 -2.04089590e-05 9.99699064e-01 2.52307814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.346875 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:305.69, Y:100.67, Z:25.23 [[ 9.99664803e-01 -8.27821189e-03 -2.45306376e-02 3.05686013e+02] [ 8.27648737e-03 9.99965735e-01 -1.71830426e-04 1.00665177e+02] [ 2.45312195e-02 -3.12546826e-05 9.99699064e-01 2.52308950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.376875 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:305.71, Y:100.66, Z:25.23 [[ 9.99662204e-01 -8.58648573e-03 -2.45305885e-02 3.05713856e+02] [ 8.58468856e-03 9.99963135e-01 -1.78573245e-04 1.00663412e+02] [ 2.45312175e-02 -3.20745386e-05 9.99699064e-01 2.52342388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.406875 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:305.74, Y:100.66, Z:25.23 [[ 9.99659655e-01 -8.87834443e-03 -2.45305731e-02 3.05741670e+02] [ 8.87658387e-03 9.99960586e-01 -1.80661333e-04 1.00663856e+02] [ 2.45312102e-02 -3.71478433e-05 9.99699064e-01 2.52338717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.436875 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:305.77, Y:100.66, Z:25.24 [[ 9.99653988e-01 -9.49511045e-03 -2.45305210e-02 3.05769382e+02] [ 9.49336838e-03 9.99954919e-01 -1.87474007e-04 1.00663660e+02] [ 2.45311953e-02 -4.54681341e-05 9.99699064e-01 2.52367023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.466875 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:305.80, Y:100.66, Z:25.24 [[ 9.99661598e-01 -8.65707725e-03 -2.45304967e-02 3.05797512e+02] [ 8.65500595e-03 9.99962527e-01 -1.90610484e-04 1.00664763e+02] [ 2.45312275e-02 -2.17656140e-05 9.99699064e-01 2.52354475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.496875 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:305.86, Y:100.64, Z:25.23 [[ 9.99678970e-01 6.34149576e-03 -2.45304422e-02 3.05857198e+02] [-6.34824761e-03 9.99979830e-01 -1.97378274e-04 1.00635865e+02] [ 2.45286958e-02 3.53040231e-04 9.99699064e-01 2.52313348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.526875 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:305.85, Y:100.66, Z:25.24 [[ 9.99681926e-01 -5.79836174e-03 -2.45443495e-02 3.05853540e+02] [ 5.84516166e-03 9.99981232e-01 1.83543488e-03 1.00661755e+02] [ 2.45332463e-02 -1.97831677e-03 9.99697057e-01 2.52350919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.556875 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:305.92, Y:100.64, Z:25.23 [[ 9.99518762e-01 1.89958104e-02 -2.45235140e-02 3.05916981e+02] [-1.90075604e-02 9.99819310e-01 -2.46099084e-04 1.00636292e+02] [ 2.45144079e-02 7.12112824e-04 9.99699223e-01 2.52326952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.586875 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:305.94, Y:100.64, Z:25.23 [[ 9.99336125e-01 2.69271415e-02 -2.45405532e-02 3.05938275e+02] [-2.68874066e-02 9.99636571e-01 1.94774432e-03 1.00643806e+02] [ 2.45840817e-02 -1.28661943e-03 9.99696938e-01 2.52280222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.616875 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:305.97, Y:100.65, Z:25.22 [[ 9.99140534e-01 3.34112406e-02 -2.45332743e-02 3.05967293e+02] [-3.33899601e-02 9.99441584e-01 1.27665915e-03 1.00651104e+02] [ 2.45622293e-02 -4.56396856e-04 9.99698199e-01 2.52244590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.646875 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:306.00, Y:100.65, Z:25.23 [[ 9.99031027e-01 3.65384225e-02 -2.45347037e-02 3.05996860e+02] [-3.65149840e-02 9.99332121e-01 1.40280197e-03 1.00651510e+02] [ 2.45695736e-02 -5.05558381e-04 9.99697995e-01 2.52255486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.676875 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:306.02, Y:100.65, Z:25.22 [[ 9.98922993e-01 3.93802826e-02 -2.45366530e-02 3.06022801e+02] [-3.93529229e-02 9.99224097e-01 1.59711253e-03 1.00651546e+02] [ 2.45805097e-02 -6.29803417e-04 9.99697655e-01 2.52245870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.706875 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:306.06, Y:100.65, Z:25.23 [[ 9.99144774e-01 3.32826835e-02 -2.45353706e-02 3.06056319e+02] [-3.32564990e-02 9.99445762e-01 1.47459727e-03 1.00654261e+02] [ 2.45708508e-02 -6.57375621e-04 9.99697875e-01 2.52292266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.736875 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:306.09, Y:100.65, Z:25.23 [[ 9.99307898e-01 2.79569018e-02 -2.45384701e-02 3.06087739e+02] [-2.79216337e-02 9.99608533e-01 1.77877647e-03 1.00654548e+02] [ 2.45785932e-02 -1.09239120e-03 9.99697304e-01 2.52328398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.766875 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:306.11, Y:100.66, Z:25.23 [[ 9.99392921e-01 2.47332274e-02 -2.45368654e-02 3.06107689e+02] [-2.46994423e-02 9.99693512e-01 1.67907442e-03 1.00662791e+02] [ 2.45708740e-02 -1.07200820e-03 9.99697516e-01 2.52287267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.796875 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:306.14, Y:100.66, Z:25.23 [[ 9.99507628e-01 1.95682057e-02 -2.45272514e-02 3.06140899e+02] [-1.95451259e-02 9.99808279e-01 1.18038558e-03 1.00663784e+02] [ 2.45456470e-02 -7.00416180e-04 9.99698465e-01 2.52307454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.826875 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:306.16, Y:100.67, Z:25.24 [[ 9.99493304e-01 2.02798758e-02 -2.45328554e-02 3.06160854e+02] [-2.02499644e-02 9.99793872e-01 1.46708477e-03 1.00667592e+02] [ 2.45575508e-02 -9.69551956e-04 9.99697948e-01 2.52350928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8568750000001 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:306.19, Y:100.67, Z:25.23 [[ 9.99512231e-01 1.93392392e-02 -2.45212971e-02 3.06191055e+02] [-1.93222795e-02 9.99812876e-01 9.28406540e-04 1.00669602e+02] [ 2.45346633e-02 -4.54146336e-04 9.99698877e-01 2.52337825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.886875 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:306.22, Y:100.67, Z:25.23 [[ 9.99471959e-01 2.13166250e-02 -2.45235403e-02 3.06222623e+02] [-2.12978032e-02 9.99772647e-01 1.02846067e-03 1.00668989e+02] [ 2.45398881e-02 -5.05620069e-04 9.99698724e-01 2.52338410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.916875 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:306.24, Y:100.68, Z:25.24 [[ 9.99487552e-01 2.05677705e-02 -2.45275563e-02 3.06243309e+02] [-2.05444937e-02 9.99788219e-01 1.20064831e-03 1.00675841e+02] [ 2.45470565e-02 -6.96126820e-04 9.99698433e-01 2.52408333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.946875 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:306.28, Y:100.68, Z:25.24 [[ 9.99374814e-01 2.54763472e-02 -2.45140108e-02 3.06275029e+02] [-2.54679306e-02 9.99675425e-01 6.55534098e-04 1.00677170e+02] [ 2.45227547e-02 -3.08031418e-05 9.99699272e-01 2.52383459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.976875 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:306.30, Y:100.68, Z:25.24 [[ 9.99220763e-01 3.09294156e-02 -2.45201684e-02 3.06301687e+02] [-3.09166377e-02 9.99521561e-01 9.00132248e-04 1.00678318e+02] [ 2.45362776e-02 -1.41349667e-04 9.99698930e-01 2.52429071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.006875 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:306.33, Y:100.68, Z:25.24 [[ 9.99163516e-01 3.27276648e-02 -2.45187245e-02 3.06328661e+02] [-3.27168897e-02 9.99464306e-01 8.40592701e-04 1.00680784e+02] [ 2.45331006e-02 -3.77131546e-05 9.99699017e-01 2.52434067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.036875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:306.37, Y:100.69, Z:25.25 [[ 9.99338349e-01 2.68661112e-02 -2.45168505e-02 3.06368319e+02] [-2.68554063e-02 9.99639035e-01 7.65842412e-04 1.00687047e+02] [ 2.45285760e-02 -1.06925709e-04 9.99699123e-01 2.52468825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.066875 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:306.38, Y:100.69, Z:25.24 [[ 9.98962366e-01 3.83723185e-02 -2.45307185e-02 3.06383224e+02] [-3.83514812e-02 9.99263440e-01 1.31951224e-03 1.00686521e+02] [ 2.45632829e-02 -3.77353683e-04 9.99698206e-01 2.52429283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.096875 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:306.43, Y:100.69, Z:25.25 [[ 9.99284683e-01 2.88004519e-02 -2.45082786e-02 3.06426178e+02] [-2.87970791e-02 9.99585158e-01 4.90618563e-04 1.00688537e+02] [ 2.45122415e-02 2.15499221e-04 9.99699507e-01 2.52464547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.126875 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:306.42, Y:100.70, Z:25.25 [[ 9.99170354e-01 3.25091730e-02 -2.45307524e-02 3.06418313e+02] [-3.24862508e-02 9.99471294e-01 1.33247364e-03 1.00704811e+02] [ 2.45611004e-02 -5.34455985e-04 9.99698188e-01 2.52463332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.156875 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:306.47, Y:100.69, Z:25.24 [[ 9.98809486e-01 4.22006830e-02 -2.44685996e-02 3.06467356e+02] [-4.22313057e-02 9.99107589e-01 -7.35885037e-04 1.00690432e+02] [ 2.44157087e-02 1.76834986e-03 9.99700328e-01 2.52404342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.186875 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:306.50, Y:100.69, Z:25.24 [[ 9.98808254e-01 4.22104659e-02 -2.45020147e-02 3.06495884e+02] [-4.22144372e-02 9.99108510e-01 3.55372099e-04 1.00691801e+02] [ 2.44951719e-02 6.79390177e-04 9.99699717e-01 2.52387685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.216875 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:306.52, Y:100.69, Z:25.24 [[ 9.98668994e-01 4.53863240e-02 -2.45014764e-02 3.06522768e+02] [-4.53916751e-02 9.98969210e-01 3.38009023e-04 1.00693016e+02] [ 2.44915615e-02 7.74603924e-04 9.99699737e-01 2.52397887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.246875 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:306.55, Y:100.70, Z:25.24 [[ 9.98686255e-01 4.50047963e-02 -2.45016626e-02 3.06548302e+02] [-4.50098839e-02 9.98986482e-01 3.44090044e-04 1.00696896e+02] [ 2.44923154e-02 7.59178991e-04 9.99699730e-01 2.52409948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.276875 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:306.60, Y:100.70, Z:25.24 [[ 9.99127327e-01 3.38314165e-02 -2.44953119e-02 3.06595012e+02] [-3.38380876e-02 9.99427318e-01 1.42225858e-04 1.00699867e+02] [ 2.44860956e-02 6.86772768e-04 9.99699935e-01 2.52429215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.306875 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:306.61, Y:100.70, Z:25.24 [[ 9.98756327e-01 4.34086566e-02 -2.45252667e-02 3.06605154e+02] [-4.33951376e-02 9.99057400e-01 1.08342865e-03 1.00700229e+02] [ 2.45491794e-02 -1.78038940e-05 9.99698623e-01 2.52410244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.336875 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:306.62, Y:100.72, Z:25.24 [[ 9.99096356e-01 3.47416656e-02 -2.44844401e-02 3.06619098e+02] [-3.47538492e-02 9.99395900e-01 -7.21251733e-05 1.00715115e+02] [ 2.44671433e-02 9.22988535e-04 9.99700209e-01 2.52420082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.366875 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:306.66, Y:100.70, Z:25.24 [[ 9.98886566e-01 4.03438945e-02 -2.44540059e-02 3.06661933e+02] [-4.03779345e-02 9.99184074e-01 -8.99626694e-04 1.00704647e+02] [ 2.43977588e-02 1.88602727e-03 9.99700551e-01 2.52406202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.396875 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:306.69, Y:100.71, Z:25.24 [[ 9.98995178e-01 3.75386144e-02 -2.44844183e-02 3.06688134e+02] [-3.75511047e-02 9.99294707e-01 -5.03928426e-05 1.00707892e+02] [ 2.44652579e-02 9.69759162e-04 9.99700210e-01 2.52443535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.426875 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:306.72, Y:100.71, Z:25.24 [[ 9.98984924e-01 3.78147425e-02 -2.44778805e-02 3.06716571e+02] [-3.78316205e-02 9.99284102e-01 -2.26633980e-04 1.00706579e+02] [ 2.44517867e-02 1.15244181e-03 9.99700346e-01 2.52391610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.456875 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:306.73, Y:100.72, Z:25.24 [[ 9.99112450e-01 3.42800684e-02 -2.44783462e-02 3.06731793e+02] [-3.42955834e-02 9.99411711e-01 -2.14172301e-04 1.00717516e+02] [ 2.44566040e-02 1.05348138e-03 9.99700337e-01 2.52424403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.486875 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:306.76, Y:100.72, Z:25.24 [[ 9.99061432e-01 3.57553368e-02 -2.44501541e-02 3.06759456e+02] [-3.57890935e-02 9.99358919e-01 -9.44300777e-04 1.00718107e+02] [ 2.44007158e-02 1.81846334e-03 9.99700604e-01 2.52432698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.516875 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:306.79, Y:100.72, Z:25.24 [[ 9.98872301e-01 4.06980045e-02 -2.44499113e-02 3.06787191e+02] [-4.07333846e-02 9.99169599e-01 -9.50546121e-04 1.00718310e+02] [ 2.43909227e-02 1.94540183e-03 9.99700604e-01 2.52436610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.546875 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:306.82, Y:100.72, Z:25.24 [[ 9.98537641e-01 4.82161068e-02 -2.44496682e-02 3.06815496e+02] [-4.82538749e-02 9.98834645e-01 -9.56758326e-04 1.00717800e+02] [ 2.43750445e-02 2.13515043e-03 9.99700604e-01 2.52438125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.576875 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:306.84, Y:100.72, Z:25.24 [[ 9.98281537e-01 5.32558916e-02 -2.44495917e-02 3.06844057e+02] [-5.32952057e-02 9.98578340e-01 -9.58707712e-04 1.00719475e+02] [ 2.43637759e-02 2.26010623e-03 9.99700604e-01 2.52422818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6068750000001 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:306.87, Y:100.72, Z:25.24 [[ 9.98068353e-01 5.71120844e-02 -2.44493748e-02 3.06872449e+02] [-5.71526783e-02 9.98364984e-01 -9.64207492e-04 1.00719142e+02] [ 2.43543318e-02 2.35969224e-03 9.99700604e-01 2.52415382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.636875 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:306.90, Y:100.72, Z:25.24 [[ 9.97529755e-01 6.58530691e-02 -2.44491568e-02 3.06901604e+02] [-6.58963931e-02 9.97825999e-01 -9.69703830e-04 1.00719756e+02] [ 2.43321464e-02 2.57841968e-03 9.99700604e-01 2.52394801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.666875 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:306.93, Y:100.72, Z:25.24 [[ 9.97325003e-01 6.88845949e-02 -2.44489361e-02 3.06929401e+02] [-6.89289532e-02 9.97621095e-01 -9.75237465e-04 1.00720034e+02] [ 2.43235956e-02 2.65786828e-03 9.99700604e-01 2.52399888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.696875 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:306.96, Y:100.72, Z:25.25 [[ 9.96954390e-01 7.40553631e-02 -2.44488579e-02 3.06962266e+02] [-7.41013036e-02 9.97250240e-01 -9.77193204e-04 1.00716988e+02] [ 2.43092631e-02 2.78590930e-03 9.99700604e-01 2.52483219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.726875 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:306.99, Y:100.72, Z:25.24 [[ 9.96756243e-01 7.66726692e-02 -2.44600566e-02 3.06985680e+02] [-7.67126054e-02 9.97053003e-01 -6.97188547e-04 1.00721672e+02] [ 2.43345176e-02 2.57132171e-03 9.99700565e-01 2.52413264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.756875 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:307.01, Y:100.72, Z:25.24 [[ 9.96509717e-01 7.98165126e-02 -2.44480747e-02 3.07012341e+02] [-7.98645294e-02 9.96805233e-01 -9.92394186e-04 1.00724541e+02] [ 2.42907593e-02 2.94146443e-03 9.99700609e-01 2.52445297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.786875 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:307.04, Y:100.73, Z:25.24 [[ 9.96415868e-01 8.09797153e-02 -2.44479662e-02 3.07040169e+02] [-8.10281414e-02 9.96711317e-01 -9.95060535e-04 1.00725375e+02] [ 2.42869848e-02 2.97246737e-03 9.99700609e-01 2.52444139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.816875 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:307.07, Y:100.73, Z:25.25 [[ 9.96419338e-01 8.09370952e-02 -2.44477050e-02 3.07067477e+02] [-8.09856628e-02 9.96714763e-01 -1.00143604e-03 1.00726668e+02] [ 2.42863352e-02 2.97776383e-03 9.99700609e-01 2.52477260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.846875 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:307.10, Y:100.73, Z:25.25 [[ 9.96526563e-01 7.96060423e-02 -2.44476238e-02 3.07095756e+02] [-7.96542631e-02 9.96822046e-01 -1.00341437e-03 1.00728209e+02] [ 2.42900525e-02 2.94728653e-03 9.99700609e-01 2.52473578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.876875 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:307.12, Y:100.73, Z:25.25 [[ 9.96678717e-01 7.76779315e-02 -2.44473611e-02 3.07123432e+02] [-7.77257343e-02 9.96974268e-01 -1.00977540e-03 1.00729804e+02] [ 2.42949526e-02 2.90661074e-03 9.99700609e-01 2.52478521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.906875 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:307.16, Y:100.73, Z:25.26 [[ 9.96878218e-01 7.50743486e-02 -2.44470936e-02 3.07155422e+02] [-7.51215350e-02 9.97173868e-01 -1.01620976e-03 1.00728325e+02] [ 2.43017116e-02 2.84954057e-03 9.99700609e-01 2.52563863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.936875 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:307.18, Y:100.73, Z:25.25 [[ 9.97235807e-01 7.01607213e-02 -2.44584975e-02 3.07179099e+02] [-7.01997640e-02 9.97532679e-01 -7.40274787e-04 1.00733899e+02] [ 2.43462123e-02 2.45520928e-03 9.99700572e-01 2.52481890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.966875 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:307.21, Y:100.73, Z:25.25 [[ 9.97574493e-01 6.51727771e-02 -2.44466789e-02 3.07207059e+02] [-6.52171846e-02 9.97870569e-01 -1.02278690e-03 1.00732208e+02] [ 2.43279635e-02 2.61464970e-03 9.99700612e-01 2.52505677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.996875 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:307.24, Y:100.73, Z:25.26 [[ 9.97798881e-01 6.16422398e-02 -2.44464166e-02 3.07239182e+02] [-6.16857504e-02 9.98095090e-01 -1.02901755e-03 1.00733119e+02] [ 2.43364175e-02 2.53474812e-03 9.99700612e-01 2.52581772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.026875 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:307.27, Y:100.74, Z:25.25 [[ 9.97945094e-01 5.92244290e-02 -2.44551935e-02 3.07265077e+02] [-5.92621833e-02 9.98242114e-01 -8.21331702e-04 1.00739840e+02] [ 2.43635612e-02 2.26891210e-03 9.99700590e-01 2.52513657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.056875 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:307.29, Y:100.74, Z:25.25 [[ 9.97870428e-01 6.04732374e-02 -2.44457754e-02 3.07291492e+02] [-6.05167214e-02 9.98166639e-01 -1.04224628e-03 1.00742027e+02] [ 2.43379295e-02 2.51940492e-03 9.99700614e-01 2.52549173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.086875 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:307.32, Y:100.74, Z:25.26 [[ 9.97885782e-01 6.02193957e-02 -2.44456568e-02 3.07319834e+02] [-6.02628716e-02 9.98181995e-01 -1.04502241e-03 1.00743330e+02] [ 2.43382838e-02 2.51597848e-03 9.99700614e-01 2.52556128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.116875 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:307.35, Y:100.74, Z:25.26 [[ 9.97840372e-01 6.09673246e-02 -2.44453893e-02 3.07347405e+02] [-6.10111733e-02 9.98136530e-01 -1.05124107e-03 1.00744916e+02] [ 2.43357447e-02 2.54041266e-03 9.99700614e-01 2.52574787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.146875 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:307.38, Y:100.75, Z:25.27 [[ 9.97414012e-01 6.75849395e-02 -2.44451192e-02 3.07376742e+02] [-6.76309028e-02 9.97709849e-01 -1.05748659e-03 1.00746480e+02] [ 2.43176660e-02 2.70799742e-03 9.99700614e-01 2.52651540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.176875 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:307.40, Y:100.75, Z:25.27 [[ 9.97429008e-01 6.73608849e-02 -2.44516927e-02 3.07404103e+02] [-6.74030511e-02 9.97725419e-01 -9.03463820e-04 1.00747753e+02] [ 2.43352172e-02 2.54925971e-03 9.99700604e-01 2.52657626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.206875 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:307.43, Y:100.75, Z:25.27 [[ 9.97226718e-01 7.02927768e-02 -2.44499341e-02 3.07430588e+02] [-7.03367903e-02 9.97522854e-01 -9.43769679e-04 1.00752379e+02] [ 2.43230279e-02 2.66088223e-03 9.99700610e-01 2.52679124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.236875 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:307.46, Y:100.75, Z:25.26 [[ 9.97111345e-01 7.19123241e-02 -2.44455060e-02 3.07458322e+02] [-7.19592586e-02 9.97407025e-01 -1.04460737e-03 1.00753276e+02] [ 2.43069993e-02 2.80067035e-03 9.99700618e-01 2.52633115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.266875 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:307.49, Y:100.75, Z:25.27 [[ 9.96874247e-01 7.51280302e-02 -2.44440977e-02 3.07485306e+02] [-7.51766912e-02 9.97169648e-01 -1.07658333e-03 1.00754246e+02] [ 2.42940308e-02 2.91084459e-03 9.99700619e-01 2.52660557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.296875 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:307.51, Y:100.76, Z:25.27 [[ 9.96727665e-01 7.70483886e-02 -2.44439777e-02 3.07513103e+02] [-7.70976844e-02 9.97022960e-01 -1.07930225e-03 1.00756303e+02] [ 2.42880485e-02 2.96034449e-03 9.99700619e-01 2.52672487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.326875 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:307.54, Y:100.76, Z:25.27 [[ 9.96607757e-01 7.85842508e-02 -2.44437016e-02 3.07540870e+02] [-7.86341517e-02 9.96902950e-01 -1.08551847e-03 1.00758473e+02] [ 2.42826936e-02 3.00394587e-03 9.99700619e-01 2.52691069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3568750000001 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:307.57, Y:100.76, Z:25.27 [[ 9.96573310e-01 7.90199830e-02 -2.44434239e-02 3.07568911e+02] [-7.90701631e-02 9.96868455e-01 -1.09173663e-03 1.00760858e+02] [ 2.42806092e-02 3.02074110e-03 9.99700619e-01 2.52705609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.386875 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:307.60, Y:100.76, Z:25.27 [[ 9.96682319e-01 7.76330265e-02 -2.44431441e-02 3.07597195e+02] [-7.76829463e-02 9.96977509e-01 -1.09796645e-03 1.00762394e+02] [ 2.42840264e-02 2.99313919e-03 9.99700619e-01 2.52714733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.416875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:307.62, Y:100.76, Z:25.27 [[ 9.96888485e-01 7.49392809e-02 -2.44428606e-02 3.07624854e+02] [-7.49885545e-02 9.97183783e-01 -1.10424200e-03 1.00763619e+02] [ 2.42912731e-02 2.93374092e-03 9.99700619e-01 2.52719417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.446875 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:307.65, Y:100.76, Z:25.27 [[ 9.97225742e-01 7.03091060e-02 -2.44427727e-02 3.07654451e+02] [-7.03570547e-02 9.97521259e-01 -1.10618375e-03 1.00762711e+02] [ 2.43044106e-02 2.82283640e-03 9.99700619e-01 2.52731791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.476875 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:307.68, Y:100.77, Z:25.27 [[ 9.97532223e-01 6.58165179e-02 -2.44468808e-02 3.07680286e+02] [-6.58609415e-02 9.97828294e-01 -1.01557528e-03 1.00765476e+02] [ 2.43269478e-02 2.62316366e-03 9.99700614e-01 2.52692404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.506875 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:307.71, Y:100.76, Z:25.27 [[ 9.97724852e-01 6.28306592e-02 -2.44423392e-02 3.07710035e+02] [-6.28766074e-02 9.98020686e-01 -1.11512628e-03 1.00764912e+02] [ 2.43238960e-02 2.64944057e-03 9.99700619e-01 2.52701849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.536875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:307.74, Y:100.77, Z:25.27 [[ 9.98105950e-01 5.64526205e-02 -2.44461290e-02 3.07736842e+02] [-5.64946683e-02 9.98402367e-01 -1.03225418e-03 1.00767234e+02] [ 2.43487997e-02 2.41137499e-03 9.99700616e-01 2.52669800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.566875 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:307.77, Y:100.77, Z:25.27 [[ 9.98390916e-01 5.11681044e-02 -2.44418613e-02 3.07765226e+02] [-5.12108317e-02 9.98687231e-01 -1.12497967e-03 1.00767899e+02] [ 2.43522117e-02 2.37485753e-03 9.99700620e-01 2.52670672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.596875 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:307.79, Y:100.77, Z:25.27 [[ 9.98809012e-01 4.22275770e-02 -2.44415670e-02 3.07791677e+02] [-4.22678041e-02 9.99105677e-01 -1.13133775e-03 1.00771411e+02] [ 2.43719347e-02 2.16308170e-03 9.99700620e-01 2.52658995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.626875 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:307.82, Y:100.77, Z:25.26 [[ 9.99030650e-01 3.66111621e-02 -2.44414390e-02 3.07819030e+02] [-3.66497875e-02 9.99327527e-01 -1.13409526e-03 1.00771885e+02] [ 2.43834823e-02 2.02876948e-03 9.99700620e-01 2.52638325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.656875 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:307.85, Y:100.77, Z:25.26 [[ 9.99196917e-01 3.17512627e-02 -2.44413121e-02 3.07847218e+02] [-3.17885099e-02 9.99493971e-01 -1.13682382e-03 1.00773365e+02] [ 2.43928485e-02 1.91286375e-03 9.99700620e-01 2.52632349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.686875 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:307.88, Y:100.77, Z:25.27 [[ 9.99478166e-01 2.11194977e-02 -2.44410170e-02 3.07875155e+02] [-2.11537362e-02 9.99775581e-01 -1.14313331e-03 1.00774566e+02] [ 2.44113896e-02 1.65955561e-03 9.99700620e-01 2.52653577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.716875 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:307.91, Y:100.77, Z:25.27 [[ 9.99481459e-01 2.09631490e-02 -2.44409252e-02 3.07909527e+02] [-2.09973887e-02 9.99778875e-01 -1.14509320e-03 1.00772147e+02] [ 2.44115159e-02 1.65769503e-03 9.99700620e-01 2.52670293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.746875 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:307.93, Y:100.78, Z:25.27 [[ 9.99610603e-01 1.34301275e-02 -2.44596362e-02 3.07929873e+02] [-1.34523390e-02 9.99909237e-01 -7.43762585e-04 1.00781520e+02] [ 2.44474273e-02 1.07251228e-03 9.99700542e-01 2.52716110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.776875 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:307.96, Y:100.79, Z:25.28 [[ 9.99656487e-01 9.46521725e-03 -2.44400738e-02 3.07957769e+02] [-9.49632404e-03 9.99954240e-01 -1.15702667e-03 1.00785616e+02] [ 2.44280039e-02 1.38872008e-03 9.99700627e-01 2.52760757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.806875 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:307.98, Y:100.79, Z:25.28 [[ 9.99668615e-01 8.08441678e-03 -2.44397740e-02 3.07984387e+02] [-8.11526576e-03 9.99966394e-01 -1.16332459e-03 1.00786877e+02] [ 2.44295479e-02 1.36127434e-03 9.99700627e-01 2.52789624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.836875 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:308.01, Y:100.79, Z:25.28 [[ 9.99683279e-01 6.00375886e-03 -2.44396436e-02 3.08013005e+02] [-6.03405464e-03 9.99981115e-01 -1.16605835e-03 1.00789745e+02] [ 2.44321813e-02 1.31315918e-03 9.99700627e-01 2.52824150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.866875 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:308.04, Y:100.79, Z:25.28 [[ 9.99687617e-01 5.23214702e-03 -2.44395679e-02 3.08039807e+02] [-5.26225152e-03 9.99985473e-01 -1.16764233e-03 1.00791785e+02] [ 2.44331036e-02 1.29588473e-03 9.99700627e-01 2.52840586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.896875 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:308.07, Y:100.79, Z:25.29 [[ 9.99690502e-01 4.64939953e-03 -2.44393607e-02 3.08067790e+02] [-4.67943573e-03 9.99988365e-01 -1.17196276e-03 1.00793197e+02] [ 2.44336274e-02 1.28596246e-03 9.99700627e-01 2.52854287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.926875 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:308.10, Y:100.80, Z:25.29 [[ 9.99692209e-01 4.26857235e-03 -2.44390580e-02 3.08096659e+02] [-4.29864813e-03 9.99990067e-01 -1.17824080e-03 1.00795422e+02] [ 2.44337859e-02 1.28293306e-03 9.99700627e-01 2.52868472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.956875 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:308.13, Y:100.79, Z:25.28 [[ 9.99658974e-01 9.20227444e-03 -2.44387908e-02 3.08132763e+02] [-9.23395431e-03 9.99956665e-01 -1.18375851e-03 1.00790312e+02] [ 2.44268385e-02 1.40902150e-03 9.99700627e-01 2.52841225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.986875 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:308.15, Y:100.80, Z:25.29 [[ 9.99698826e-01 1.93671670e-03 -2.44644029e-02 3.08151607e+02] [-1.95324493e-03 9.99997880e-01 -6.51724873e-04 1.00798408e+02] [ 2.44630888e-02 6.99313561e-04 9.99700489e-01 2.52898872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.016875 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:308.18, Y:100.80, Z:25.29 [[ 9.99699131e-01 2.10930441e-03 -2.44376303e-02 3.08178853e+02] [-2.13921672e-03 9.99996994e-01 -1.19794885e-03 1.00801290e+02] [ 2.44350300e-02 1.24986581e-03 9.99700639e-01 2.52904857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.046875 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:308.20, Y:100.80, Z:25.29 [[ 9.99691102e-01 4.52851111e-03 -2.44375322e-02 3.08203392e+02] [-4.55919283e-03 9.99988887e-01 -1.19994611e-03 1.00802326e+02] [ 2.44318267e-02 1.31099087e-03 9.99700639e-01 2.52921030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.076875 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:308.24, Y:100.80, Z:25.29 [[ 9.99699884e-01 1.83152582e-03 -2.44292205e-02 3.08235526e+02] [-1.86551728e-03 9.99997323e-01 -1.36870894e-03 1.00802602e+02] [ 2.44266483e-02 1.41387130e-03 9.99700625e-01 2.52893982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1068750000001 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:308.26, Y:100.80, Z:25.29 [[ 9.99700977e-01 8.77178012e-04 -2.44374205e-02 3.08264754e+02] [-9.06822057e-04 9.99998866e-01 -1.20200408e-03 1.00804032e+02] [ 2.44363385e-02 1.22380505e-03 9.99700639e-01 2.52869881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.136875 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:308.29, Y:100.81, Z:25.29 [[ 9.99701369e-01 -3.86836611e-07 -2.44371328e-02 3.08292101e+02] [-2.91376430e-05 9.99999270e-01 -1.20782492e-03 1.00805773e+02] [ 2.44371155e-02 1.20817627e-03 9.99700639e-01 2.52875392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.166875 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:308.32, Y:100.81, Z:25.29 [[ 9.99700291e-01 -1.46963785e-03 -2.44370309e-02 3.08319779e+02] [ 1.44050102e-03 9.99998231e-01 -1.20988383e-03 1.00807189e+02] [ 2.44387658e-02 1.17431965e-03 9.99700639e-01 2.52870751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.196875 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:308.35, Y:100.81, Z:25.29 [[ 9.99685154e-01 -5.69567417e-03 -2.44366962e-02 3.08346340e+02] [ 5.66763307e-03 9.99983199e-01 -1.21660641e-03 1.00809691e+02] [ 2.44432150e-02 1.07772514e-03 9.99700639e-01 2.52870939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.226875 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:308.37, Y:100.81, Z:25.29 [[ 9.99666870e-01 -8.30688954e-03 -2.44365508e-02 3.08373823e+02] [ 8.27955594e-03 9.99964980e-01 -1.21952009e-03 1.00811311e+02] [ 2.44458255e-02 1.01679004e-03 9.99700639e-01 2.52877186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.256875 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:308.40, Y:100.81, Z:25.29 [[ 9.99641171e-01 -1.09722324e-02 -2.44364280e-02 3.08402198e+02] [ 1.09456338e-02 9.99939348e-01 -1.22197483e-03 1.00813359e+02] [ 2.44483537e-02 9.54064161e-04 9.99700639e-01 2.52876332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.286875 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:308.43, Y:100.82, Z:25.29 [[ 9.99573961e-01 -1.59613442e-02 -2.44363044e-02 3.08429990e+02] [ 1.59361739e-02 9.99872261e-01 -1.22444195e-03 1.00815246e+02] [ 2.44527267e-02 8.34499098e-04 9.99700639e-01 2.52889396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.316875 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:308.46, Y:100.82, Z:25.29 [[ 9.99543064e-01 -1.77914797e-02 -2.44361801e-02 3.08457647e+02] [ 1.77667951e-02 9.99841405e-01 -1.22691885e-03 1.00817251e+02] [ 2.44541333e-02 7.92205621e-04 9.99700639e-01 2.52906622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.346875 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:308.48, Y:100.82, Z:25.29 [[ 9.99519030e-01 -1.90944502e-02 -2.44358462e-02 3.08484430e+02] [ 1.90699930e-02 9.99817390e-01 -1.23353306e-03 1.00819537e+02] [ 2.44549376e-02 7.66948354e-04 9.99700639e-01 2.52921948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.376875 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:308.51, Y:100.82, Z:25.30 [[ 9.99489276e-01 -2.05933140e-02 -2.44357010e-02 3.08511641e+02] [ 2.05692341e-02 9.99787666e-01 -1.23640298e-03 1.00823435e+02] [ 2.44559741e-02 7.33147866e-04 9.99700639e-01 2.52968553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.406875 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:308.54, Y:100.83, Z:25.30 [[ 9.99485383e-01 -2.07817914e-02 -2.44353675e-02 3.08539728e+02] [ 2.07576078e-02 9.99783765e-01 -1.24295932e-03 1.00827128e+02] [ 2.44559146e-02 7.35099898e-04 9.99700639e-01 2.52996389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.436875 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:308.57, Y:100.83, Z:25.30 [[ 9.99505910e-01 -1.97703141e-02 -2.44350333e-02 3.08566770e+02] [ 1.97456688e-02 9.99804255e-01 -1.24949422e-03 1.00831206e+02] [ 2.44549531e-02 7.66390786e-04 9.99700639e-01 2.53039313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.466875 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:308.61, Y:100.82, Z:25.30 [[ 9.99660943e-01 -8.99624524e-03 -2.44349298e-02 3.08610021e+02] [ 8.96833648e-03 9.99959000e-01 -1.25151554e-03 1.00819481e+02] [ 2.44451869e-02 1.03195053e-03 9.99700639e-01 2.53028055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.496875 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:308.62, Y:100.83, Z:25.30 [[ 9.99512967e-01 -1.93510823e-02 -2.44819195e-02 3.08624634e+02] [ 1.93490487e-02 9.99812738e-01 -3.19972608e-04 1.00834014e+02] [ 2.44835268e-02 -1.53885081e-04 9.99700222e-01 2.53040494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.526875 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:308.65, Y:100.83, Z:25.31 [[ 9.99504763e-01 -1.98307531e-02 -2.44329754e-02 3.08651224e+02] [ 1.98057409e-02 9.99803046e-01 -1.26529737e-03 1.00834486e+02] [ 2.44532551e-02 7.80757563e-04 9.99700670e-01 2.53065355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.556875 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:308.69, Y:100.82, Z:25.30 [[ 9.99651708e-01 -9.97492782e-03 -2.44328253e-02 3.08694521e+02] [ 9.94690527e-03 9.99949724e-01 -1.26819033e-03 1.00824372e+02] [ 2.44442470e-02 1.02471764e-03 9.99700670e-01 2.53018366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.586875 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:308.71, Y:100.84, Z:25.31 [[ 9.99452530e-01 -2.22543159e-02 -2.44823602e-02 3.08708323e+02] [ 2.22535922e-02 9.99752313e-01 -3.02046691e-04 1.00838679e+02] [ 2.44830181e-02 -2.42939130e-04 9.99700216e-01 2.53082598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.616875 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:308.74, Y:100.84, Z:25.31 [[ 9.99438671e-01 -2.29237611e-02 -2.44304061e-02 3.08737332e+02] [ 2.28991224e-02 9.99736951e-01 -1.28784374e-03 1.00842484e+02] [ 2.44535019e-02 7.27685977e-04 9.99700704e-01 2.53081015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.646875 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:308.77, Y:100.84, Z:25.31 [[ 9.99421889e-01 -2.36443843e-02 -2.44301066e-02 3.08765169e+02] [ 2.36198226e-02 9.99720176e-01 -1.29349880e-03 1.00842394e+02] [ 2.44538545e-02 7.15716231e-04 9.99700704e-01 2.53073034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.676875 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:308.79, Y:100.84, Z:25.31 [[ 9.99421257e-01 -2.36712073e-02 -2.44300002e-02 3.08794159e+02] [ 2.36466046e-02 9.99719541e-01 -1.29550546e-03 1.00842875e+02] [ 2.44538148e-02 7.17069142e-04 9.99700704e-01 2.53065529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.706875 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:308.82, Y:100.84, Z:25.30 [[ 9.99403376e-01 -2.44147962e-02 -2.44297034e-02 3.08823459e+02] [ 2.43902793e-02 9.99701666e-01 -1.30107831e-03 1.00841899e+02] [ 2.44541808e-02 7.04454766e-04 9.99700704e-01 2.53044639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.736875 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:308.85, Y:100.84, Z:25.30 [[ 9.99414712e-01 -2.39465465e-02 -2.44293997e-02 3.08851880e+02] [ 2.39217512e-02 9.99712980e-01 -1.30675710e-03 1.00843913e+02] [ 2.44536803e-02 7.21598248e-04 9.99700704e-01 2.53045752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.766875 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:308.88, Y:100.85, Z:25.31 [[ 9.99401035e-01 -2.45110221e-02 -2.44290966e-02 3.08880097e+02] [ 2.44862574e-02 9.99699305e-01 -1.31239886e-03 1.00845076e+02] [ 2.44539191e-02 7.13435628e-04 9.99700704e-01 2.53061749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.796875 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:308.91, Y:100.85, Z:25.31 [[ 9.99446714e-01 -2.25721300e-02 -2.44287864e-02 3.08908528e+02] [ 2.25466463e-02 9.99744923e-01 -1.31814799e-03 1.00847640e+02] [ 2.44523086e-02 7.66631474e-04 9.99700704e-01 2.53091534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.826875 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:308.95, Y:100.84, Z:25.31 [[ 9.99615502e-01 -1.31181300e-02 -2.44287204e-02 3.08948513e+02] [ 1.30897972e-02 9.99913454e-01 -1.31936874e-03 1.00839580e+02] [ 2.44439139e-02 9.99094448e-04 9.99700704e-01 2.53052367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8568750000001 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:308.97, Y:100.85, Z:25.31 [[ 9.99495727e-01 -2.02412693e-02 -2.44659560e-02 3.08966992e+02] [ 2.02320652e-02 9.99795116e-01 -6.23702617e-04 1.00852301e+02] [ 2.44735679e-02 1.28391283e-04 9.99700469e-01 2.53125612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.886875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:308.99, Y:100.85, Z:25.32 [[ 9.99481593e-01 -2.09725307e-02 -2.44273886e-02 3.08994836e+02] [ 2.09462466e-02 9.99779717e-01 -1.33141135e-03 1.00854659e+02] [ 2.44499307e-02 8.19059035e-04 9.99700720e-01 2.53162341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.916875 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:309.02, Y:100.86, Z:25.32 [[ 9.99460402e-01 -2.19596262e-02 -2.44270342e-02 3.09022853e+02] [ 2.19334786e-02 9.99758537e-01 -1.33788107e-03 1.00859164e+02] [ 2.44505154e-02 8.01389319e-04 9.99700720e-01 2.53207656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.946875 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:309.05, Y:100.86, Z:25.32 [[ 9.99438031e-01 -2.29556198e-02 -2.44266685e-02 3.09050096e+02] [ 2.29296071e-02 9.99736178e-01 -1.34452557e-03 1.00862369e+02] [ 2.44510886e-02 7.83676073e-04 9.99700720e-01 2.53226310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.976875 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:309.08, Y:100.86, Z:25.32 [[ 9.99432909e-01 -2.31777222e-02 -2.44264977e-02 3.09079262e+02] [ 2.31517001e-02 9.99731055e-01 -1.34762193e-03 1.00864050e+02] [ 2.44511631e-02 7.81342757e-04 9.99700720e-01 2.53233472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.006875 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:309.11, Y:100.87, Z:25.32 [[ 9.99373555e-01 -2.56097157e-02 -2.44261970e-02 3.09107692e+02] [ 2.55842866e-02 9.99671753e-01 -1.35304988e-03 1.00865187e+02] [ 2.44528304e-02 7.27275448e-04 9.99700720e-01 2.53238783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.036875 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:309.14, Y:100.87, Z:25.33 [[ 9.99320514e-01 -2.76022804e-02 -2.44258845e-02 3.09137565e+02] [ 2.75773088e-02 9.99618750e-01 -1.35866849e-03 1.00866048e+02] [ 2.44540745e-02 6.84145136e-04 9.99700720e-01 2.53250760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.066875 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:309.17, Y:100.87, Z:25.33 [[ 9.99225342e-01 -3.08560281e-02 -2.44258379e-02 3.09167071e+02] [ 3.08320072e-02 9.99523656e-01 -1.35950483e-03 1.00867233e+02] [ 2.44561518e-02 6.05354067e-04 9.99700720e-01 2.53267241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.096875 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:309.20, Y:100.87, Z:25.33 [[ 9.99214407e-01 -3.12081375e-02 -2.44258148e-02 3.09198582e+02] [ 3.11842115e-02 9.99512729e-01 -1.35992103e-03 1.00870732e+02] [ 2.44563534e-02 5.97152906e-04 9.99700720e-01 2.53277929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.126875 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:309.23, Y:100.87, Z:25.33 [[ 9.99155421e-01 -3.30427177e-02 -2.44258603e-02 3.09229106e+02] [ 3.30193595e-02 9.99453788e-01 -1.35910177e-03 1.00873279e+02] [ 2.44574271e-02 5.51427642e-04 9.99700720e-01 2.53313086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.156875 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:309.26, Y:100.88, Z:25.33 [[ 9.99130145e-01 -3.37983584e-02 -2.44258829e-02 3.09260270e+02] [ 3.37752359e-02 9.99428530e-01 -1.35869549e-03 1.00875350e+02] [ 2.44578460e-02 5.32523664e-04 9.99700720e-01 2.53309223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.186875 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:309.29, Y:100.88, Z:25.33 [[ 9.99083069e-01 -3.51624149e-02 -2.44259296e-02 3.09291574e+02] [ 3.51397203e-02 9.99381487e-01 -1.35785614e-03 1.00876389e+02] [ 2.44585673e-02 4.98290747e-04 9.99700720e-01 2.53337688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.216875 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:309.32, Y:100.88, Z:25.33 [[ 9.99064690e-01 -3.56807511e-02 -2.44259992e-02 3.09323917e+02] [ 3.56582420e-02 9.99363122e-01 -1.35660336e-03 1.00876735e+02] [ 2.44588474e-02 4.84346326e-04 9.99700720e-01 2.53308292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.246875 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:309.36, Y:100.88, Z:25.33 [[ 9.99061548e-01 -3.57685545e-02 -2.44260916e-02 3.09356109e+02] [ 3.57461123e-02 9.99359985e-01 -1.35493678e-03 1.00877188e+02] [ 2.44589227e-02 4.80527418e-04 9.99700720e-01 2.53292182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.276875 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:309.39, Y:100.88, Z:25.33 [[ 9.99103267e-01 -3.45835818e-02 -2.44261850e-02 3.09387778e+02] [ 3.45608268e-02 9.99401680e-01 -1.35325195e-03 1.00877961e+02] [ 2.44583706e-02 5.07849299e-04 9.99700720e-01 2.53273557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.306875 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:309.42, Y:100.88, Z:25.33 [[ 9.99104410e-01 -3.45504746e-02 -2.44262542e-02 3.09419570e+02] [ 3.45277403e-02 9.99402825e-01 -1.35200079e-03 1.00879687e+02] [ 2.44583798e-02 5.07406589e-04 9.99700720e-01 2.53281343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.336875 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:309.45, Y:100.88, Z:25.33 [[ 9.99214919e-01 -3.11913698e-02 -2.44262990e-02 3.09451142e+02] [ 3.11676521e-02 9.99513257e-01 -1.35119189e-03 1.00879859e+02] [ 2.44565552e-02 5.88820701e-04 9.99700720e-01 2.53285964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.366875 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:309.49, Y:100.87, Z:25.33 [[ 9.99481710e-01 -2.09681770e-02 -2.44263449e-02 3.09493567e+02] [ 2.09414289e-02 9.99779792e-01 -1.35036191e-03 1.00869872e+02] [ 2.44492806e-02 8.38139466e-04 9.99700720e-01 2.53279820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.396875 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:309.51, Y:100.88, Z:25.33 [[ 9.99316698e-01 -2.76999713e-02 -2.44713808e-02 3.09510678e+02] [ 2.76953624e-02 9.99616271e-01 -5.27307411e-04 1.00882765e+02] [ 2.44765968e-02 -1.50796659e-04 9.99700392e-01 2.53302787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.426875 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:309.54, Y:100.88, Z:25.33 [[ 9.99401393e-01 -2.45008316e-02 -2.44246672e-02 3.09541383e+02] [ 2.44748058e-02 9.99699517e-01 -1.36396662e-03 1.00883402e+02] [ 2.44507463e-02 7.65361154e-04 9.99700743e-01 2.53318975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.456875 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:309.58, Y:100.87, Z:25.33 [[ 9.99611616e-01 -1.34183790e-02 -2.44246672e-02 3.09584621e+02] [ 1.33890494e-02 9.99909432e-01 -1.36396662e-03 1.00873878e+02] [ 2.44407573e-02 1.03641380e-03 9.99700743e-01 2.53311238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.486875 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:309.60, Y:100.89, Z:25.34 [[ 9.99458896e-01 -2.19743802e-02 -2.44753318e-02 3.09598851e+02] [ 2.19700505e-02 9.99758530e-01 -4.45821732e-04 1.00888571e+02] [ 2.44792184e-02 -9.21437816e-05 9.99700335e-01 2.53353955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.516875 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:309.63, Y:100.89, Z:25.34 [[ 9.99477870e-01 -2.11547765e-02 -2.44226034e-02 3.09626459e+02] [ 2.11273745e-02 9.99775840e-01 -1.37950827e-03 1.00890379e+02] [ 2.44463120e-02 8.62802503e-04 9.99700772e-01 2.53365523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.546875 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:309.65, Y:100.89, Z:25.34 [[ 9.99477731e-01 -2.11617483e-02 -2.44222208e-02 3.09653698e+02] [ 2.11341839e-02 9.99775687e-01 -1.38624782e-03 1.00891524e+02] [ 2.44460780e-02 8.69380124e-04 9.99700772e-01 2.53381286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.576875 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:309.68, Y:100.89, Z:25.34 [[ 9.99462578e-01 -2.18659508e-02 -2.44220419e-02 3.09681528e+02] [ 2.18385196e-02 9.99760546e-01 -1.38939233e-03 1.00893334e+02] [ 2.44465743e-02 8.55304399e-04 9.99700772e-01 2.53396343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6068750000001 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:309.71, Y:100.90, Z:25.34 [[ 9.99400081e-01 -2.45570107e-02 -2.44219251e-02 3.09709299e+02] [ 2.45303319e-02 9.99698118e-01 -1.39144286e-03 1.00895016e+02] [ 2.44487222e-02 7.91530180e-04 9.99700772e-01 2.53395060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.636875 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:309.74, Y:100.90, Z:25.34 [[ 9.99337187e-01 -2.69958387e-02 -2.44215398e-02 3.09737985e+02] [ 2.69697229e-02 9.99635273e-01 -1.39817336e-03 1.00897347e+02] [ 2.44503774e-02 7.38604467e-04 9.99700772e-01 2.53408967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.666875 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:309.77, Y:100.90, Z:25.34 [[ 9.99260433e-01 -2.97015016e-02 -2.44214680e-02 3.09767247e+02] [ 2.96761625e-02 9.99558586e-01 -1.39942497e-03 1.00899246e+02] [ 2.44522531e-02 6.73654551e-04 9.99700772e-01 2.53417768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.696875 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:309.80, Y:100.90, Z:25.34 [[ 9.99029919e-01 -3.66444342e-02 -2.44214213e-02 3.09797823e+02] [ 3.66211475e-02 9.99328240e-01 -1.40023985e-03 1.00901231e+02] [ 2.44563270e-02 5.04541032e-04 9.99700772e-01 2.53420185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.726875 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:309.83, Y:100.90, Z:25.34 [[ 9.98940951e-01 -3.89945045e-02 -2.44214213e-02 3.09829981e+02] [ 3.89719197e-02 9.99239325e-01 -1.40023985e-03 1.00902468e+02] [ 2.44574462e-02 4.47007257e-04 9.99700772e-01 2.53421954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.756875 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:309.86, Y:100.90, Z:25.34 [[ 9.98709611e-01 -4.45275511e-02 -2.44215171e-02 3.09860930e+02] [ 4.45066604e-02 9.99008109e-01 -1.39856789e-03 1.00903719e+02] [ 2.44595684e-02 3.09843022e-04 9.99700772e-01 2.53431136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.786875 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:309.89, Y:100.91, Z:25.34 [[ 9.98670821e-01 -4.53891745e-02 -2.44215884e-02 3.09892651e+02] [ 4.53685718e-02 9.98969339e-01 -1.39732134e-03 1.00906602e+02] [ 2.44598413e-02 2.87491464e-04 9.99700772e-01 2.53429522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.816875 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:309.92, Y:100.91, Z:25.35 [[ 9.98652017e-01 -4.58009884e-02 -2.44216820e-02 3.09924377e+02] [ 4.57805489e-02 9.98950546e-01 -1.39568281e-03 1.00908203e+02] [ 2.44599763e-02 2.75763444e-04 9.99700772e-01 2.53450354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.846875 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:309.96, Y:100.91, Z:25.35 [[ 9.98656360e-01 -4.57061522e-02 -2.44217747e-02 3.09956240e+02] [ 4.56857240e-02 9.98954889e-01 -1.39405883e-03 1.00910119e+02] [ 2.44599683e-02 2.76459260e-04 9.99700772e-01 2.53458453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.876875 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:309.99, Y:100.91, Z:25.35 [[ 9.98775590e-01 -4.30220150e-02 -2.44218712e-02 3.09987804e+02] [ 4.30008259e-02 9.99074066e-01 -1.39236763e-03 1.00911866e+02] [ 2.44591606e-02 3.40502167e-04 9.99700772e-01 2.53496853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.906875 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:310.02, Y:100.91, Z:25.35 [[ 9.98853258e-01 -4.11793148e-02 -2.44219667e-02 3.10019349e+02] [ 4.11576161e-02 9.99151699e-01 -1.39068905e-03 1.00913498e+02] [ 2.44585172e-02 3.83944356e-04 9.99700772e-01 2.53520262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.936875 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:310.05, Y:100.92, Z:25.35 [[ 9.98938264e-01 -3.90628840e-02 -2.44220347e-02 3.10051284e+02] [ 3.90405822e-02 9.99236660e-01 -1.38949431e-03 1.00915187e+02] [ 2.44576701e-02 4.34568583e-04 9.99700772e-01 2.53524314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.966875 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:310.08, Y:100.92, Z:25.35 [[ 9.99142812e-01 -3.34245532e-02 -2.44221278e-02 3.10083452e+02] [ 3.34006077e-02 9.99441080e-01 -1.38785640e-03 1.00915915e+02] [ 2.44548663e-02 5.70952831e-04 9.99700772e-01 2.53536165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.996875 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:310.11, Y:100.92, Z:25.36 [[ 9.99242201e-01 -3.03080523e-02 -2.44222211e-02 3.10114819e+02] [ 3.02832168e-02 9.99540397e-01 -1.38621297e-03 1.00917492e+02] [ 2.44530100e-02 6.45579085e-04 9.99700772e-01 2.53553329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.026875 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:310.14, Y:100.92, Z:25.35 [[ 9.99375517e-01 -2.55367847e-02 -2.44222906e-02 3.10144838e+02] [ 2.55105557e-02 9.99673593e-01 -1.38498770e-03 1.00919420e+02] [ 2.44496871e-02 7.61096599e-04 9.99700772e-01 2.53539009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.056875 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:310.17, Y:100.92, Z:25.35 [[ 9.99427563e-01 -2.34114926e-02 -2.44222906e-02 3.10174407e+02] [ 2.33846297e-02 9.99725583e-01 -1.38498770e-03 1.00916327e+02] [ 2.44480133e-02 8.13088664e-04 9.99700772e-01 2.53522318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.086875 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:310.20, Y:100.92, Z:25.35 [[ 9.99449685e-01 -2.24473134e-02 -2.44222449e-02 3.10202715e+02] [ 2.24201434e-02 9.99747677e-01 -1.38579267e-03 1.00916899e+02] [ 2.44471899e-02 8.37479814e-04 9.99700772e-01 2.53513116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.116875 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:310.23, Y:100.92, Z:25.35 [[ 9.99405812e-01 -2.43225399e-02 -2.44220788e-02 3.10230996e+02] [ 2.42958578e-02 9.99703848e-01 -1.38871338e-03 1.00917868e+02] [ 2.44486232e-02 7.94532864e-04 9.99700772e-01 2.53512770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.146875 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:310.26, Y:100.92, Z:25.35 [[ 9.99327187e-01 -2.73633756e-02 -2.44217049e-02 3.10259654e+02] [ 2.73374407e-02 9.99625289e-01 -1.39525766e-03 1.00919626e+02] [ 2.44507328e-02 7.26692006e-04 9.99700772e-01 2.53528420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.176875 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:310.29, Y:100.92, Z:25.35 [[ 9.99288925e-01 -2.87267715e-02 -2.44216354e-02 3.10289595e+02] [ 2.87012137e-02 9.99587060e-01 -1.39647282e-03 1.00920802e+02] [ 2.44516669e-02 6.94549251e-04 9.99700772e-01 2.53536091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.206875 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:310.32, Y:100.92, Z:25.35 [[ 9.99252115e-01 -2.99799365e-02 -2.44215895e-02 3.10319374e+02] [ 2.99547329e-02 9.99550280e-01 -1.39727505e-03 1.00922394e+02] [ 2.44524969e-02 6.64687857e-04 9.99700772e-01 2.53539092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.236875 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:310.35, Y:100.92, Z:25.35 [[ 9.99176047e-01 -3.24162572e-02 -2.44215667e-02 3.10350018e+02] [ 3.23917710e-02 9.99474272e-01 -1.39767323e-03 1.00922106e+02] [ 2.44540350e-02 6.05463820e-04 9.99700772e-01 2.53526348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.266875 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:310.38, Y:100.92, Z:25.35 [[ 9.99122103e-01 -3.40383701e-02 -2.44215667e-02 3.10380727e+02] [ 3.40143681e-02 9.99420367e-01 -1.39767323e-03 1.00922325e+02] [ 2.44549857e-02 5.65762059e-04 9.99700772e-01 2.53521575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.296875 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:310.41, Y:100.92, Z:25.35 [[ 9.99035254e-01 -3.64985896e-02 -2.44215895e-02 3.10412619e+02] [ 3.64753319e-02 9.99333577e-01 -1.39727511e-03 1.00922127e+02] [ 2.44563130e-02 5.05141515e-04 9.99700772e-01 2.53516339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.326875 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:310.45, Y:100.92, Z:25.35 [[ 9.98928362e-01 -3.93155263e-02 -2.44216361e-02 3.10445132e+02] [ 3.92931297e-02 9.99226751e-01 -1.39646082e-03 1.00923280e+02] [ 2.44576547e-02 4.35361806e-04 9.99700772e-01 2.53522197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3568750000001 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:310.48, Y:100.92, Z:25.35 [[ 9.98876411e-01 -4.06139649e-02 -2.44217316e-02 3.10475958e+02] [ 4.05919971e-02 9.99174832e-01 -1.39478934e-03 1.00924254e+02] [ 2.44582274e-02 4.01895314e-04 9.99700772e-01 2.53527805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.386875 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:310.51, Y:100.93, Z:25.35 [[ 9.98889210e-01 -4.02979162e-02 -2.44218027e-02 3.10508245e+02] [ 4.02758845e-02 9.99187626e-01 -1.39354278e-03 1.00925307e+02] [ 2.44581199e-02 4.08385147e-04 9.99700772e-01 2.53543830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.416875 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:310.54, Y:100.93, Z:25.36 [[ 9.98980870e-01 -3.79577647e-02 -2.44218959e-02 3.10539517e+02] [ 3.79350739e-02 9.99279237e-01 -1.39190714e-03 1.00928926e+02] [ 2.44571272e-02 4.64042181e-04 9.99700772e-01 2.53557930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.446875 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:310.57, Y:100.93, Z:25.36 [[ 9.99212084e-01 -3.12854389e-02 -2.44219654e-02 3.10570777e+02] [ 3.12607858e-02 9.99510295e-01 -1.39068752e-03 1.00934748e+02] [ 2.44535141e-02 6.26141945e-04 9.99700772e-01 2.53578178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.476875 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:310.62, Y:100.92, Z:25.36 [[ 9.99539155e-01 -1.80289433e-02 -2.44220104e-02 3.10622276e+02] [ 1.80003561e-02 9.99837014e-01 -1.38989578e-03 1.00919889e+02] [ 2.44430883e-02 9.49650367e-04 9.99700772e-01 2.53553698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.506875 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:310.63, Y:100.94, Z:25.36 [[ 9.99347183e-01 -2.65510747e-02 -2.44999496e-02 3.10627493e+02] [ 2.65592840e-02 9.99647240e-01 9.68070028e-06 1.00941003e+02] [ 2.44910500e-02 -6.60375501e-04 9.99699831e-01 2.53612617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.536875 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:310.68, Y:100.93, Z:25.36 [[ 9.99608682e-01 -1.36473480e-02 -2.44178905e-02 3.10680296e+02] [ 1.36169463e-02 9.99906290e-01 -1.41090657e-03 1.00925262e+02] [ 2.44348574e-02 1.07785735e-03 9.99700843e-01 2.53569974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.566875 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:310.68, Y:100.95, Z:25.36 [[ 9.99392367e-01 -2.47910746e-02 -2.45009992e-02 3.10683419e+02] [ 2.48000567e-02 9.99692429e-01 6.27635532e-05 1.00946506e+02] [ 2.44919074e-02 -6.70351586e-04 9.99699803e-01 2.53584942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.596875 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:310.71, Y:100.95, Z:25.36 [[ 9.99375541e-01 -2.55443573e-02 -2.44133847e-02 3.10711904e+02] [ 2.55169951e-02 9.99673363e-01 -1.43170430e-03 1.00948561e+02] [ 2.44419824e-02 8.07854045e-04 9.99700924e-01 2.53579498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.626875 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:310.76, Y:100.93, Z:25.36 [[ 9.99565291e-01 -1.65297667e-02 -2.44130425e-02 3.10759912e+02] [ 1.64995779e-02 9.99862839e-01 -1.43751565e-03 1.00933930e+02] [ 2.44334558e-02 1.03408585e-03 9.99700924e-01 2.53561129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.656875 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:310.79, Y:100.94, Z:25.35 [[ 9.99520652e-01 -1.89524958e-02 -2.44799670e-02 3.10791423e+02] [ 1.89508574e-02 9.99820372e-01 -2.98941913e-04 1.00935346e+02] [ 2.44812354e-02 -1.65117747e-04 9.99700276e-01 2.53536051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.686875 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:310.82, Y:100.94, Z:25.36 [[ 9.99508693e-01 -1.95607033e-02 -2.44898361e-02 3.10817080e+02] [ 1.95633525e-02 9.99808611e-01 -1.31432548e-04 1.00939747e+02] [ 2.44877199e-02 -3.47735321e-04 9.99700070e-01 2.53550934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.716875 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:310.82, Y:100.96, Z:25.36 [[ 9.99299390e-01 -2.83066097e-02 -2.44839938e-02 3.10823771e+02] [ 2.83094205e-02 9.99599181e-01 -2.31874931e-04 1.00958277e+02] [ 2.44807438e-02 -4.61415201e-04 9.99700195e-01 2.53572869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.746875 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:310.88, Y:100.94, Z:25.36 [[ 9.99565029e-01 -1.65506604e-02 -2.44096024e-02 3.10879419e+02] [ 1.65197211e-02 9.99862462e-01 -1.46862593e-03 1.00940810e+02] [ 2.44305518e-02 1.06474729e-03 9.99700963e-01 2.53552239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.776875 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:310.91, Y:100.94, Z:25.35 [[ 9.99588826e-01 -1.48834130e-02 -2.45084267e-02 3.10907371e+02] [ 1.48935352e-02 9.99889059e-01 2.30514449e-04 1.00940779e+02] [ 2.45022768e-02 -5.95436782e-04 9.99699597e-01 2.53544302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.806875 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:310.93, Y:100.95, Z:25.35 [[ 9.99644809e-01 -1.04687737e-02 -2.45083883e-02 3.10926632e+02] [ 1.04775535e-02 9.99945083e-01 2.29846894e-04 1.00945427e+02] [ 2.45046362e-02 -4.86553205e-04 9.99699598e-01 2.53540528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.836875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:310.96, Y:100.95, Z:25.36 [[ 9.99657415e-01 -9.27579397e-03 -2.44747153e-02 3.10964405e+02] [ 9.27008168e-03 9.99956972e-01 -3.46845727e-04 1.00946613e+02] [ 2.44768795e-02 1.19844292e-04 9.99700389e-01 2.53562286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.866875 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:310.99, Y:100.95, Z:25.36 [[ 9.99680739e-01 -6.16107901e-03 -2.45042988e-02 3.10985882e+02] [ 6.16644730e-03 9.99980977e-01 1.43517070e-04 1.00950707e+02] [ 2.45029485e-02 -2.94575718e-04 9.99699714e-01 2.53561108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.896875 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:311.01, Y:100.95, Z:25.36 [[ 9.99674957e-01 -7.14221712e-03 -2.44738427e-02 3.11014691e+02] [ 7.13580262e-03 9.99974479e-01 -3.49420517e-04 1.00953290e+02] [ 2.44757137e-02 1.74666429e-04 9.99700410e-01 2.53570137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.926875 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:311.04, Y:100.96, Z:25.36 [[ 9.99694557e-01 -3.43104170e-03 -2.44749130e-02 3.11039621e+02] [ 3.42393513e-03 9.99994083e-01 -3.32262155e-04 1.00956738e+02] [ 2.44759082e-02 2.48360153e-04 9.99700389e-01 2.53601892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.956875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:311.07, Y:100.96, Z:25.36 [[ 9.99683836e-01 -5.82299958e-03 -2.44606113e-02 3.11066221e+02] [ 5.81116530e-03 9.99982961e-01 -5.54865215e-04 1.00962762e+02] [ 2.44634255e-02 4.12545131e-04 9.99700641e-01 2.53604434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.986875 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:311.09, Y:100.96, Z:25.36 [[ 9.99691705e-01 -4.27706905e-03 -2.44581694e-02 3.11094005e+02] [ 4.26385136e-03 9.99990734e-01 -5.92545982e-04 1.00964585e+02] [ 2.44604771e-02 4.88077304e-04 9.99700679e-01 2.53639073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.016875 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:311.12, Y:100.97, Z:25.36 [[ 9.99682941e-01 -5.98116361e-03 -2.44590296e-02 3.11121543e+02] [ 5.96878016e-03 9.99982019e-01 -5.79268981e-04 1.00968109e+02] [ 2.44620545e-02 4.33094748e-04 9.99700665e-01 2.53649941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.046875 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:311.15, Y:100.97, Z:25.36 [[ 9.99625152e-01 -1.23073066e-02 -2.44557970e-02 3.11148075e+02] [ 1.22956167e-02 9.99924209e-01 -6.28322411e-04 1.00973107e+02] [ 2.44616764e-02 3.27387780e-04 9.99700715e-01 2.53636650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.076875 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:311.17, Y:100.98, Z:25.37 [[ 9.99570766e-01 -1.61415406e-02 -2.44486071e-02 3.11173862e+02] [ 1.61283499e-02 9.99869658e-01 -7.36630103e-04 1.00976226e+02] [ 2.44573108e-02 3.41998225e-04 9.99700817e-01 2.53656544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1068750000001 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:311.19, Y:100.99, Z:25.37 [[ 9.99380772e-01 -2.53113977e-02 -2.44419020e-02 3.11189842e+02] [ 2.52984956e-02 9.99679591e-01 -8.36990928e-04 1.00991710e+02] [ 2.44552561e-02 2.18129288e-04 9.99700902e-01 2.53682876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.136875 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:311.23, Y:100.99, Z:25.37 [[ 9.99402298e-01 -2.45023870e-02 -2.43860446e-02 3.11232815e+02] [ 2.44691992e-02 9.99699209e-01 -1.65844797e-03 1.00985774e+02] [ 2.44193455e-02 1.06074973e-03 9.99701241e-01 2.53679038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.166875 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:311.25, Y:101.00, Z:25.37 [[ 9.99143761e-01 -3.33783694e-02 -2.44464607e-02 3.11246878e+02] [ 3.33697400e-02 9.99442785e-01 -7.60966091e-04 1.00999560e+02] [ 2.44582386e-02 -5.54575166e-05 9.99700851e-01 2.53730507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.196875 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:311.29, Y:100.99, Z:25.37 [[ 9.99257705e-01 -2.98238510e-02 -2.43839280e-02 3.11289745e+02] [ 2.97918987e-02 9.99554723e-01 -1.67269415e-03 1.00989375e+02] [ 2.44229566e-02 9.45009010e-04 9.99701268e-01 2.53725760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.226875 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:311.32, Y:100.99, Z:25.37 [[ 9.99198265e-01 -3.17084412e-02 -2.44418151e-02 3.11319719e+02] [ 3.16978746e-02 9.99497160e-01 -8.19728838e-04 1.00989764e+02] [ 2.44555171e-02 4.43180441e-05 9.99700918e-01 2.53737817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.256875 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:311.34, Y:101.00, Z:25.38 [[ 9.98941753e-01 -3.89627174e-02 -2.44393442e-02 3.11335859e+02] [ 3.89534373e-02 9.99240660e-01 -8.55854203e-04 1.01004643e+02] [ 2.44541329e-02 -9.70479652e-05 9.99700948e-01 2.53765806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.286875 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:311.37, Y:101.01, Z:25.38 [[ 9.99054348e-01 -3.59998454e-02 -2.43807639e-02 3.11368298e+02] [ 3.59691284e-02 9.99351460e-01 -1.69740190e-03 1.01007730e+02] [ 2.44260582e-02 8.18841917e-04 9.99701304e-01 2.53790329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.316875 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:311.40, Y:101.01, Z:25.38 [[ 9.99119683e-01 -3.41384256e-02 -2.43808765e-02 3.11399273e+02] [ 3.41071945e-02 9.99416742e-01 -1.69578270e-03 1.01009854e+02] [ 2.44245475e-02 8.62726572e-04 9.99701304e-01 2.53806294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.346875 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:311.44, Y:101.00, Z:25.38 [[ 9.99359667e-01 -2.61882449e-02 -2.43809604e-02 3.11439290e+02] [ 2.61546808e-02 9.99656472e-01 -1.69457645e-03 1.01001530e+02] [ 2.44169628e-02 1.05581513e-03 9.99701304e-01 2.53769190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.376875 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:311.46, Y:101.01, Z:25.38 [[ 9.99216436e-01 -3.11402087e-02 -2.44295046e-02 3.11457760e+02] [ 3.11252471e-02 9.99514999e-01 -9.92535874e-04 1.01012421e+02] [ 2.44485640e-02 2.31383793e-04 9.99701062e-01 2.53790708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.406875 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:311.50, Y:101.01, Z:25.38 [[ 9.99507757e-01 -1.97455695e-02 -2.43794306e-02 3.11495596e+02] [ 1.97097778e-02 9.99804285e-01 -1.70755203e-03 1.01005230e+02] [ 2.44083758e-02 1.22619834e-03 9.99701319e-01 2.53751230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.436875 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:311.52, Y:101.02, Z:25.38 [[ 9.99466974e-01 -2.16656908e-02 -2.44206171e-02 3.11516146e+02] [ 2.16448690e-02 9.99765099e-01 -1.11667190e-03 1.01016343e+02] [ 2.44390742e-02 5.87495629e-04 9.99701149e-01 2.53773051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.466875 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:311.56, Y:101.01, Z:25.38 [[ 9.99641716e-01 -1.10521344e-02 -2.43780562e-02 3.11558786e+02] [ 1.10134641e-02 9.99937871e-01 -1.71997263e-03 1.01006692e+02] [ 2.43955510e-02 1.45086954e-03 9.99701331e-01 2.53778755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.496875 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:311.58, Y:101.02, Z:25.38 [[ 9.99641466e-01 -1.09565246e-02 -2.44313992e-02 3.11575032e+02] [ 1.09363850e-02 9.99939737e-01 -9.57800828e-04 1.01021167e+02] [ 2.44404211e-02 6.90266237e-04 9.99701050e-01 2.53805061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.526875 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:311.62, Y:101.01, Z:25.38 [[ 9.99702756e-01 4.43527945e-04 -2.43762776e-02 3.11616603e+02] [-4.85919835e-04 9.99998380e-01 -1.73316748e-03 1.01012124e+02] [ 2.43754694e-02 1.74449722e-03 9.99701352e-01 2.53778984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.556875 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:311.64, Y:101.01, Z:25.38 [[ 9.99695016e-01 3.60709961e-03 -2.44307946e-02 3.11641347e+02] [-3.63165098e-03 9.99992944e-01 -9.60640963e-04 1.01014381e+02] [ 2.44271571e-02 1.04907210e-03 9.99701062e-01 2.53773323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.586875 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:311.66, Y:101.03, Z:25.38 [[ 9.99695146e-01 -3.63611487e-03 -2.44211781e-02 3.11657908e+02] [ 3.61038417e-03 9.99992880e-01 -1.09763156e-03 1.01025095e+02] [ 2.44249953e-02 1.00912711e-03 9.99701156e-01 2.53807234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.616875 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:311.69, Y:101.03, Z:25.38 [[ 9.99686552e-01 -5.71199870e-03 -2.43756383e-02 3.11686351e+02] [ 5.67133950e-03 9.99982410e-01 -1.73683228e-03 1.01026144e+02] [ 2.43851303e-02 1.59804535e-03 9.99701361e-01 2.53833114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.646875 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:311.72, Y:101.03, Z:25.38 [[ 9.99661898e-01 -9.05114852e-03 -2.43755273e-02 3.11715133e+02] [ 9.01143997e-03 9.99957885e-01 -1.73838885e-03 1.01031857e+02] [ 2.43902351e-02 1.51814250e-03 9.99701361e-01 2.53848957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.676875 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:311.74, Y:101.04, Z:25.38 [[ 9.99657335e-01 -9.54212983e-03 -2.43754160e-02 3.11742411e+02] [ 9.50252880e-03 9.99953336e-01 -1.73994746e-03 1.01035625e+02] [ 2.43908814e-02 1.50772315e-03 9.99701361e-01 2.53849009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.706875 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:311.77, Y:101.04, Z:25.38 [[ 9.99643851e-01 -1.08643252e-02 -2.43749537e-02 3.11769154e+02] [ 1.08249590e-02 9.99939883e-01 -1.74640039e-03 1.01037863e+02] [ 2.43924618e-02 1.48192054e-03 9.99701361e-01 2.53840144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.736875 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:311.80, Y:101.04, Z:25.38 [[ 9.99604525e-01 -1.40237267e-02 -2.43747530e-02 3.11796965e+02] [ 1.39852283e-02 9.99900672e-01 -1.74919644e-03 1.01036974e+02] [ 2.43968622e-02 1.40761819e-03 9.99701361e-01 2.53843834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.766875 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:311.83, Y:101.03, Z:25.38 [[ 9.99593492e-01 -1.47900096e-02 -2.43742967e-02 3.11832932e+02] [ 1.47515843e-02 9.99889648e-01 -1.75553203e-03 1.01031811e+02] [ 2.43975713e-02 1.39525890e-03 9.99701361e-01 2.53818511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.796875 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:311.86, Y:101.03, Z:25.38 [[ 9.99572994e-01 -1.60678539e-02 -2.44060263e-02 3.11862160e+02] [ 1.60405666e-02 9.99870479e-01 -1.31342935e-03 1.01032484e+02] [ 2.44239692e-02 9.21382015e-04 9.99701266e-01 2.53828627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.826875 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:311.88, Y:101.04, Z:25.39 [[ 9.99430632e-01 -2.32913120e-02 -2.44116220e-02 3.11883670e+02] [ 2.32680704e-02 9.99728498e-01 -1.23572341e-03 1.01044697e+02] [ 2.44337758e-02 6.67008491e-04 9.99701228e-01 2.53855266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8568750000001 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:311.92, Y:101.04, Z:25.39 [[ 9.99456183e-01 -2.22107485e-02 -2.43725616e-02 3.11917646e+02] [ 2.21741039e-02 9.99752553e-01 -1.77278175e-03 1.01043168e+02] [ 2.44059055e-02 1.23137797e-03 9.99701373e-01 2.53885875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.886875 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:311.94, Y:101.05, Z:25.39 [[ 9.99332972e-01 -2.71724770e-02 -2.43980994e-02 3.11942427e+02] [ 2.71458729e-02 9.99630473e-01 -1.42102141e-03 1.01050756e+02] [ 2.44276963e-02 7.57765849e-04 9.99701312e-01 2.53905002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.916875 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:311.97, Y:101.05, Z:25.39 [[ 9.99331153e-01 -2.72626901e-02 -2.43719423e-02 3.11972584e+02] [ 2.72273851e-02 9.99627682e-01 -1.77932469e-03 1.01051286e+02] [ 2.44113773e-02 1.11455033e-03 9.99701377e-01 2.53897272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.946875 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:312.00, Y:101.05, Z:25.39 [[ 9.99373152e-01 -2.56771051e-02 -2.43718850e-02 3.12001770e+02] [ 2.56413105e-02 9.99669623e-01 -1.78010930e-03 1.01052809e+02] [ 2.44095411e-02 1.15406637e-03 9.99701377e-01 2.53885033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.976875 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:312.03, Y:101.06, Z:25.40 [[ 9.99437382e-01 -2.30419873e-02 -2.43718273e-02 3.12030314e+02] [ 2.30053919e-02 9.99733755e-01 -1.78089906e-03 1.01055895e+02] [ 2.44063738e-02 1.21921366e-03 9.99701377e-01 2.53954922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.006875 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:312.06, Y:101.06, Z:25.40 [[ 9.99468500e-01 -2.16503176e-02 -2.43717412e-02 3.12058528e+02] [ 2.16132810e-02 9.99764817e-01 -1.78207596e-03 1.01059557e+02] [ 2.44045919e-02 1.25437549e-03 9.99701377e-01 2.53999501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.036875 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:312.09, Y:101.06, Z:25.40 [[ 9.99499599e-01 -2.01640805e-02 -2.43713396e-02 3.12085996e+02] [ 2.01264701e-02 9.99795844e-01 -1.78755146e-03 1.01062777e+02] [ 2.44024084e-02 1.29614793e-03 9.99701377e-01 2.54034257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.066875 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:312.11, Y:101.06, Z:25.40 [[ 9.99529668e-01 -1.86141559e-02 -2.43711971e-02 3.12114799e+02] [ 1.85760390e-02 9.99825849e-01 -1.78949150e-03 1.01061356e+02] [ 2.44002627e-02 1.33592954e-03 9.99701377e-01 2.53983576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.096875 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:312.15, Y:101.06, Z:25.40 [[ 9.99598991e-01 -1.44195117e-02 -2.43707820e-02 3.12147161e+02] [ 1.43800154e-02 9.99894991e-01 -1.79512807e-03 1.01058532e+02] [ 2.43941077e-02 1.44395599e-03 9.99701377e-01 2.53966208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.126875 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:312.17, Y:101.07, Z:25.40 [[ 9.99529816e-01 -1.85826441e-02 -2.43892038e-02 3.12170993e+02] [ 1.85505026e-02 9.99826733e-01 -1.54346961e-03 1.01066248e+02] [ 2.44136597e-02 1.09031190e-03 9.99701348e-01 2.53996645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.156875 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:312.20, Y:101.07, Z:25.40 [[ 9.99504802e-01 -1.99052217e-02 -2.43707230e-02 3.12198490e+02] [ 1.98673666e-02 9.99801014e-01 -1.79446836e-03 1.01069159e+02] [ 2.44015929e-02 1.30939766e-03 9.99701379e-01 2.54012922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.186875 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:312.23, Y:101.07, Z:25.40 [[ 9.99488573e-01 -2.07046444e-02 -2.43702529e-02 3.12226264e+02] [ 2.06668716e-02 9.99784796e-01 -1.80083014e-03 1.01071213e+02] [ 2.44022939e-02 1.29625226e-03 9.99701379e-01 2.54017817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.216875 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:312.26, Y:101.07, Z:25.40 [[ 9.99573389e-01 -1.60982738e-02 -2.43697838e-02 3.12259389e+02] [ 1.60589825e-02 9.99869413e-01 -1.80715671e-03 1.01069450e+02] [ 2.43956935e-02 1.41503182e-03 9.99701379e-01 2.54011241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.246875 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:312.29, Y:101.07, Z:25.40 [[ 9.99559674e-01 -1.68964556e-02 -2.43919474e-02 3.12287100e+02] [ 1.68646756e-02 9.99856644e-01 -1.50802753e-03 1.01068609e+02] [ 2.44139310e-02 1.09600123e-03 9.99701335e-01 2.53969691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.276875 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:312.31, Y:101.07, Z:25.40 [[ 9.99485923e-01 -2.08114511e-02 -2.43879666e-02 3.12311627e+02] [ 2.07795388e-02 9.99782863e-01 -1.56124716e-03 1.01074295e+02] [ 2.44151629e-02 1.05367386e-03 9.99701350e-01 2.53994534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.306875 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:312.35, Y:101.07, Z:25.40 [[ 9.99616408e-01 -1.31632992e-02 -2.43672873e-02 3.12345344e+02] [ 1.31224450e-02 9.99912212e-01 -1.83575178e-03 1.01070431e+02] [ 2.43893127e-02 1.51528922e-03 9.99701388e-01 2.54031873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.336875 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:312.37, Y:101.08, Z:25.40 [[ 9.99569226e-01 -1.63171258e-02 -2.43949395e-02 3.12368700e+02] [ 1.62861677e-02 9.99866295e-01 -1.46719335e-03 1.01079967e+02] [ 2.44156181e-02 1.06926125e-03 9.99701323e-01 2.54040158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.366875 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:312.40, Y:101.08, Z:25.40 [[ 9.99615831e-01 -1.32081659e-02 -2.43666911e-02 3.12396144e+02] [ 1.31671958e-02 9.99911614e-01 -1.84108283e-03 1.01083649e+02] [ 2.43888547e-02 1.51953455e-03 9.99701393e-01 2.54034723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.396875 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:312.42, Y:101.08, Z:25.40 [[ 9.99624515e-01 -1.25345942e-02 -2.43662063e-02 3.12423778e+02] [ 1.24932696e-02 9.99920249e-01 -1.84747688e-03 1.01083554e+02] [ 2.43874204e-02 1.54236960e-03 9.99701393e-01 2.54049432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.426875 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:312.46, Y:101.08, Z:25.41 [[ 9.99682813e-01 -6.37071378e-03 -2.43657102e-02 3.12455679e+02] [ 6.32740833e-03 9.99978263e-01 -1.85399630e-03 1.01081727e+02] [ 2.43769919e-02 1.69923643e-03 9.99701393e-01 2.54072393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.456875 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:312.48, Y:101.09, Z:25.41 [[ 9.99670550e-01 -8.01577234e-03 -2.43831592e-02 3.12478615e+02] [ 7.97852529e-03 9.99966852e-01 -1.62447617e-03 1.01087338e+02] [ 2.43953724e-02 1.42939933e-03 9.99701367e-01 2.54116947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.486875 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:312.50, Y:101.09, Z:25.41 [[ 9.99682118e-01 -6.48185599e-03 -2.43649098e-02 3.12504860e+02] [ 6.43836183e-03 9.99977538e-01 -1.86313866e-03 1.01090917e+02] [ 2.43764391e-02 1.70567630e-03 9.99701395e-01 2.54141861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.516875 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:312.53, Y:101.09, Z:25.42 [[ 9.99680220e-01 -6.76905734e-03 -2.43646949e-02 3.12532834e+02] [ 6.72557999e-03 9.99975642e-01 -1.86594518e-03 1.01091897e+02] [ 2.43767321e-02 1.70148178e-03 9.99701395e-01 2.54160305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.546875 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:312.56, Y:101.09, Z:25.42 [[ 9.99676642e-01 -7.27989169e-03 -2.43642102e-02 3.12560112e+02] [ 7.23641230e-03 9.99972064e-01 -1.87225324e-03 1.01094510e+02] [ 2.43771593e-02 1.69533836e-03 9.99701395e-01 2.54172490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.576875 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:312.59, Y:101.10, Z:25.42 [[ 9.99682815e-01 -6.37811591e-03 -2.43637033e-02 3.12586400e+02] [ 6.33421065e-03 9.99978174e-01 -1.87882626e-03 1.01097787e+02] [ 2.43751549e-02 1.72390550e-03 9.99701395e-01 2.54196799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6068750000001 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:312.61, Y:101.10, Z:25.42 [[ 9.99683627e-01 -6.25088845e-03 -2.43633540e-02 3.12613964e+02] [ 6.20683604e-03 9.99978964e-01 -1.88334457e-03 1.01098493e+02] [ 2.43746141e-02 1.73152938e-03 9.99701395e-01 2.54196563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.636875 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:312.64, Y:101.10, Z:25.42 [[ 9.99677867e-01 -7.11429393e-03 -2.43628735e-02 3.12642042e+02] [ 7.07034638e-03 9.99973220e-01 -1.88954023e-03 1.01100794e+02] [ 2.43756638e-02 1.71667759e-03 9.99701395e-01 2.54196095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.666875 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:312.67, Y:101.10, Z:25.42 [[ 9.99668185e-01 -8.36629157e-03 -2.43623747e-02 3.12669497e+02] [ 8.32255851e-03 9.99963570e-01 -1.89594933e-03 1.01102686e+02] [ 2.43773492e-02 1.69256293e-03 9.99701395e-01 2.54219513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.696875 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:312.70, Y:101.11, Z:25.43 [[ 9.99642125e-01 -1.10507924e-02 -2.43618776e-02 3.12697223e+02] [ 1.10076983e-02 9.99937604e-01 -1.90231473e-03 1.01107088e+02] [ 2.43813796e-02 1.63346574e-03 9.99701395e-01 2.54252869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.726875 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:312.72, Y:101.11, Z:25.43 [[ 9.99624027e-01 -1.25821711e-02 -2.43617237e-02 3.12723736e+02] [ 1.25394819e-02 9.99919564e-01 -1.90428442e-03 1.01110960e+02] [ 2.43837242e-02 1.59808506e-03 9.99701395e-01 2.54282561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.756875 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:312.75, Y:101.11, Z:25.42 [[ 9.99578383e-01 -1.58128085e-02 -2.43518263e-02 3.12752637e+02] [ 1.57680169e-02 9.99873616e-01 -2.03028407e-03 1.01112349e+02] [ 2.43808531e-02 1.64544806e-03 9.99701389e-01 2.54203062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.786875 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:312.78, Y:101.11, Z:25.42 [[ 9.99573999e-01 -1.60738143e-02 -2.43608890e-02 3.12780912e+02] [ 1.60318975e-02 9.99869647e-01 -1.91499927e-03 1.01114602e+02] [ 2.43884948e-02 1.52363220e-03 9.99701395e-01 2.54209507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.816875 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:312.81, Y:101.12, Z:25.42 [[ 9.99517855e-01 -1.92517227e-02 -2.43603817e-02 3.12809328e+02] [ 1.92105900e-02 9.99813613e-01 -1.92143059e-03 1.01115249e+02] [ 2.43928321e-02 1.45252688e-03 9.99701395e-01 2.54178261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.846875 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:312.84, Y:101.12, Z:25.41 [[ 9.99419372e-01 -2.38225850e-02 -2.43598711e-02 3.12837543e+02] [ 2.37826485e-02 9.99715294e-01 -1.92788252e-03 1.01115045e+02] [ 2.43988628e-02 1.34742088e-03 9.99701395e-01 2.54099154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.876875 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:312.86, Y:101.12, Z:25.41 [[ 9.99356867e-01 -2.63168558e-02 -2.43572651e-02 3.12864700e+02] [ 2.62768593e-02 9.99652781e-01 -1.96073944e-03 1.01117860e+02] [ 2.44004083e-02 1.31944600e-03 9.99701395e-01 2.54142393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.906875 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:312.89, Y:101.12, Z:25.42 [[ 9.99349179e-01 -2.66054348e-02 -2.43591663e-02 3.12893439e+02] [ 2.65661050e-02 9.99645182e-01 -1.93682754e-03 1.01122412e+02] [ 2.44020534e-02 1.28843884e-03 9.99701395e-01 2.54164199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.936875 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:312.92, Y:101.13, Z:25.42 [[ 9.99314185e-01 -2.78889125e-02 -2.43591346e-02 3.12922699e+02] [ 2.78499533e-02 9.99610238e-01 -1.93722600e-03 1.01125843e+02] [ 2.44036675e-02 1.25749666e-03 9.99701395e-01 2.54198436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.966875 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:312.95, Y:101.13, Z:25.42 [[ 9.99277077e-01 -2.91883345e-02 -2.43590724e-02 3.12953544e+02] [ 2.91497412e-02 9.99573177e-01 -1.93800791e-03 1.01128910e+02] [ 2.44052427e-02 1.22654622e-03 9.99701395e-01 2.54193053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.996875 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:312.98, Y:101.13, Z:25.42 [[ 9.99256811e-01 -2.98635850e-02 -2.43719625e-02 3.12982091e+02] [ 2.98291315e-02 9.99553435e-01 -1.77606225e-03 1.01133549e+02] [ 2.44141184e-02 1.04774782e-03 9.99701382e-01 2.54246906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.026875 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:313.01, Y:101.14, Z:25.43 [[ 9.99246311e-01 -3.02236140e-02 -2.43586489e-02 3.13012046e+02] [ 3.01852067e-02 9.99542434e-01 -1.94297503e-03 1.01135817e+02] [ 2.44062270e-02 1.20623978e-03 9.99701396e-01 2.54253355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.056875 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:313.04, Y:101.14, Z:25.43 [[ 9.99123132e-01 -3.40531548e-02 -2.43587566e-02 3.13042752e+02] [ 3.40159156e-02 9.99419405e-01 -1.94162421e-03 1.01138211e+02] [ 2.44107325e-02 1.11133625e-03 9.99701396e-01 2.54264780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.086875 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:313.07, Y:101.14, Z:25.43 [[ 9.98999914e-01 -3.74942336e-02 -2.43588620e-02 3.13074261e+02] [ 3.74580473e-02 9.99296317e-01 -1.94030176e-03 1.01140716e+02] [ 2.44144712e-02 1.02592589e-03 9.99701396e-01 2.54292907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.116875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:313.11, Y:101.15, Z:25.44 [[ 9.98934297e-01 -3.92034788e-02 -2.43589264e-02 3.13106231e+02] [ 3.91678194e-02 9.99230764e-01 -1.93949194e-03 1.01146878e+02] [ 2.44162235e-02 9.83338990e-04 9.99701396e-01 2.54361848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.146875 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:313.14, Y:101.15, Z:25.44 [[ 9.98954199e-01 -3.86929519e-02 -2.43590576e-02 3.13137025e+02] [ 3.86571811e-02 9.99250653e-01 -1.93784282e-03 1.01150839e+02] [ 2.44157851e-02 9.94163724e-04 9.99701396e-01 2.54386291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.176875 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:313.17, Y:101.15, Z:25.44 [[ 9.98957015e-01 -3.86201251e-02 -2.43591554e-02 3.13169101e+02] [ 3.85843626e-02 9.99253470e-01 -1.93661274e-03 1.01152659e+02] [ 2.44157628e-02 9.94710399e-04 9.99701396e-01 2.54398180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.206875 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:313.20, Y:101.15, Z:25.44 [[ 9.98910484e-01 -3.98033598e-02 -2.43626339e-02 3.13200742e+02] [ 3.97690150e-02 9.99207107e-01 -1.89281689e-03 1.01153618e+02] [ 2.44186574e-02 9.21876685e-04 9.99701395e-01 2.54411556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.236875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:313.23, Y:101.15, Z:25.44 [[ 9.98837390e-01 -4.15991496e-02 -2.43593561e-02 3.13233166e+02] [ 4.15643327e-02 9.99133958e-01 -1.93409959e-03 1.01153878e+02] [ 2.44187168e-02 9.19370602e-04 9.99701396e-01 2.54401812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.266875 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:313.27, Y:101.16, Z:25.44 [[ 9.98763437e-01 -4.33383512e-02 -2.43594801e-02 3.13265330e+02] [ 4.33040888e-02 9.99060069e-01 -1.93253669e-03 1.01155688e+02] [ 2.44203368e-02 8.75281900e-04 9.99701396e-01 2.54392539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.296875 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:313.30, Y:101.16, Z:25.44 [[ 9.98689885e-01 -4.50013725e-02 -2.43596044e-02 3.13296601e+02] [ 4.49676422e-02 9.98986578e-01 -1.93096936e-03 1.01156154e+02] [ 2.44218141e-02 8.33045595e-04 9.99701396e-01 2.54432301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.326875 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:313.33, Y:101.16, Z:25.44 [[ 9.98491339e-01 -4.92122252e-02 -2.43557743e-02 3.13329217e+02] [ 4.91785683e-02 9.98788041e-01 -1.97930727e-03 1.01158610e+02] [ 2.44236623e-02 7.78539055e-04 9.99701395e-01 2.54362760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3568750000001 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:313.36, Y:101.16, Z:25.43 [[ 9.98431193e-01 -5.04157388e-02 -2.43599197e-02 3.13361642e+02] [ 5.03837169e-02 9.98728075e-01 -1.92690188e-03 1.01160185e+02] [ 2.44260819e-02 6.96535647e-04 9.99701396e-01 2.54336990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.386875 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:313.39, Y:101.16, Z:25.43 [[ 9.98405332e-01 -5.09252452e-02 -2.43600501e-02 3.13393728e+02] [ 5.08934150e-02 9.98702235e-01 -1.92525187e-03 1.01160707e+02] [ 2.44264804e-02 6.82415596e-04 9.99701396e-01 2.54340028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.416875 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:313.43, Y:101.16, Z:25.44 [[ 9.98511312e-01 -4.88030696e-02 -2.43602125e-02 3.13426151e+02] [ 4.87706586e-02 9.98808152e-01 -1.92319499e-03 1.01164009e+02] [ 2.44250366e-02 7.32268350e-04 9.99701396e-01 2.54354746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.446875 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:313.46, Y:101.17, Z:25.44 [[ 9.98723663e-01 -4.42449483e-02 -2.43604024e-02 3.13458365e+02] [ 4.42112414e-02 9.99020359e-01 -1.92078708e-03 1.01168986e+02] [ 2.44215230e-02 8.41331880e-04 9.99701396e-01 2.54412370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.476875 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:313.49, Y:101.17, Z:25.44 [[ 9.98794040e-01 -4.26266340e-02 -2.43605278e-02 3.13490776e+02] [ 4.25924852e-02 9.99090685e-01 -1.91919471e-03 1.01172759e+02] [ 2.44201852e-02 8.79304814e-04 9.99701396e-01 2.54445612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.506875 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:313.52, Y:101.18, Z:25.45 [[ 9.98903983e-01 -3.99673825e-02 -2.43606535e-02 3.13522357e+02] [ 3.99324830e-02 9.99200540e-01 -1.91759788e-03 1.01177200e+02] [ 2.44178195e-02 9.42714779e-04 9.99701396e-01 2.54457852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.536875 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:313.55, Y:101.18, Z:25.45 [[ 9.98910358e-01 -3.98076634e-02 -2.43607799e-02 3.13554229e+02] [ 3.97727555e-02 9.99206914e-01 -1.91599145e-03 1.01179352e+02] [ 2.44177308e-02 9.45008366e-04 9.99701396e-01 2.54474839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.566875 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:313.59, Y:101.18, Z:25.45 [[ 9.98904942e-01 -3.99432439e-02 -2.43609106e-02 3.13586071e+02] [ 3.99084168e-02 9.99201508e-01 -1.91432799e-03 1.01180877e+02] [ 2.44179231e-02 9.40026315e-04 9.99701396e-01 2.54481817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.596875 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:313.62, Y:101.18, Z:25.45 [[ 9.98966406e-01 -3.83752510e-02 -2.43610404e-02 3.13618497e+02] [ 3.83399987e-02 9.99262921e-01 -1.91267446e-03 1.01183588e+02] [ 2.44164838e-02 9.76695274e-04 9.99701396e-01 2.54459693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.626875 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:313.65, Y:101.18, Z:25.45 [[ 9.99002958e-01 -3.74115335e-02 -2.43611704e-02 3.13650035e+02] [ 3.73760355e-02 9.99299445e-01 -1.91101729e-03 1.01184086e+02] [ 2.44155981e-02 9.98587956e-04 9.99701396e-01 2.54477715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.656875 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:313.68, Y:101.19, Z:25.45 [[ 9.99109543e-01 -3.44477693e-02 -2.43612672e-02 3.13681887e+02] [ 3.44114219e-02 9.99405927e-01 -1.90978247e-03 1.01187051e+02] [ 2.44125826e-02 1.06977605e-03 9.99701396e-01 2.54504427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.686875 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:313.71, Y:101.19, Z:25.45 [[ 9.99349648e-01 -2.65857575e-02 -2.43613951e-02 3.13712185e+02] [ 2.65471191e-02 9.99645742e-01 -1.90814943e-03 1.01190259e+02] [ 2.44034945e-02 1.26018361e-03 9.99701396e-01 2.54526419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.716875 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:313.74, Y:101.19, Z:25.45 [[ 9.99440999e-01 -2.28956279e-02 -2.43614268e-02 3.13742783e+02] [ 2.28559063e-02 9.99736949e-01 -1.90774477e-03 1.01191685e+02] [ 2.43986975e-02 1.34987585e-03 9.99701396e-01 2.54532559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.746875 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:313.77, Y:101.19, Z:25.45 [[ 9.99516096e-01 -1.93415107e-02 -2.43614268e-02 3.13771068e+02] [ 1.93007369e-02 9.99811903e-01 -1.90774477e-03 1.01193959e+02] [ 2.43937432e-02 1.43662812e-03 9.99701396e-01 2.54531185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.776875 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:313.80, Y:101.19, Z:25.45 [[ 9.99574730e-01 -1.60281464e-02 -2.43609686e-02 3.13799045e+02] [ 1.59862507e-02 9.99870381e-01 -1.91357778e-03 1.01194811e+02] [ 2.43884821e-02 1.52332345e-03 9.99701396e-01 2.54544813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.806875 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:313.83, Y:101.20, Z:25.46 [[ 9.99546233e-01 -1.77166380e-02 -2.43608063e-02 3.13827318e+02] [ 1.76751917e-02 9.99841946e-01 -1.91564171e-03 1.01195507e+02] [ 2.43908947e-02 1.48419053e-03 9.99701396e-01 2.54584980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.836875 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:313.86, Y:101.20, Z:25.46 [[ 9.99532386e-01 -1.84788379e-02 -2.43627206e-02 3.13855064e+02] [ 1.84382069e-02 9.99828213e-01 -1.89135662e-03 1.01197984e+02] [ 2.43934855e-02 1.44126731e-03 9.99701396e-01 2.54556292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.866875 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:313.88, Y:101.20, Z:25.45 [[ 9.99520854e-01 -1.90957948e-02 -2.43600525e-02 3.13883628e+02] [ 1.90545264e-02 9.99816593e-01 -1.92511843e-03 1.01200171e+02] [ 2.43923464e-02 1.46002676e-03 9.99701396e-01 2.54548990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.896875 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:313.91, Y:101.20, Z:25.45 [[ 9.99486782e-01 -2.08034471e-02 -2.43595897e-02 3.13909532e+02] [ 2.07625422e-02 9.99782570e-01 -1.93095748e-03 1.01198478e+02] [ 2.43944637e-02 1.42419947e-03 9.99701396e-01 2.54489482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.926875 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:313.94, Y:101.20, Z:25.45 [[ 9.99394175e-01 -2.48695554e-02 -2.43472546e-02 3.13938302e+02] [ 2.48261025e-02 9.99689610e-01 -2.08540600e-03 1.01200518e+02] [ 2.43915606e-02 1.47969517e-03 9.99701387e-01 2.54473693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.956875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:313.97, Y:101.20, Z:25.45 [[ 9.99310004e-01 -2.80388733e-02 -2.43585043e-02 3.13967391e+02] [ 2.79997821e-02 9.99606038e-01 -1.94448427e-03 1.01204041e+02] [ 2.44034292e-02 1.26110977e-03 9.99701397e-01 2.54490708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.986875 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:314.00, Y:101.21, Z:25.46 [[ 9.99037385e-01 -3.64824511e-02 -2.43584380e-02 3.13996196e+02] [ 3.64458427e-02 9.99333736e-01 -1.94531437e-03 1.01212141e+02] [ 2.44131787e-02 1.05567798e-03 9.99701397e-01 2.54576811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.016875 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:314.03, Y:101.21, Z:25.46 [[ 9.98829240e-01 -4.17923092e-02 -2.43629161e-02 3.14028645e+02] [ 4.17586408e-02 9.99125941e-01 -1.88929546e-03 1.01213335e+02] [ 2.44205795e-02 8.69721288e-04 9.99701395e-01 2.54598060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.046875 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:314.06, Y:101.22, Z:25.46 [[ 9.98640025e-01 -4.60895314e-02 -2.43691372e-02 3.14059634e+02] [ 4.60590358e-02 9.98937077e-01 -1.81151850e-03 1.01215297e+02] [ 2.44267267e-02 6.86635921e-04 9.99701387e-01 2.54597232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.076875 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:314.09, Y:101.22, Z:25.46 [[ 9.98455329e-01 -4.99312640e-02 -2.43685367e-02 3.14091895e+02] [ 4.99017282e-02 9.98752476e-01 -1.81903372e-03 1.01217900e+02] [ 2.44289630e-02 6.00191822e-04 9.99701388e-01 2.54576705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1068750000001 meters Centerline goodness : 0.998396 Centerline is valid? [True, True] Translation: X:314.12, Y:101.22, Z:25.46 [[ 9.98440932e-01 -5.02185959e-02 -2.43679812e-02 3.14123930e+02] [ 5.01889759e-02 9.98738070e-01 -1.82598827e-03 1.01222760e+02] [ 2.44289291e-02 6.00137407e-04 9.99701389e-01 2.54565390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.136875 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:314.15, Y:101.23, Z:25.46 [[ 9.98472444e-01 -4.95866308e-02 -2.43709926e-02 3.14153291e+02] [ 4.95577410e-02 9.98769659e-01 -1.78833794e-03 1.01225728e+02] [ 2.44296856e-02 5.77834810e-04 9.99701384e-01 2.54612840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.166875 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:314.19, Y:101.23, Z:25.48 [[ 9.98352516e-01 -5.19513776e-02 -2.43579064e-02 3.14186872e+02] [ 5.19192087e-02 9.98649381e-01 -1.95166530e-03 1.01232085e+02] [ 2.44263999e-02 6.83806732e-04 9.99701397e-01 2.54756375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.196875 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:314.22, Y:101.24, Z:25.48 [[ 9.98422770e-01 -5.05777474e-02 -2.43693403e-02 3.14215693e+02] [ 5.05486638e-02 9.98719962e-01 -1.80838054e-03 1.01235189e+02] [ 2.44296104e-02 5.73690719e-04 9.99701388e-01 2.54754025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.226875 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:314.25, Y:101.24, Z:25.47 [[ 9.98517497e-01 -4.86773710e-02 -2.43582097e-02 3.14246479e+02] [ 4.86443281e-02 9.98814265e-01 -1.94759200e-03 1.01238228e+02] [ 2.44241310e-02 7.59815942e-04 9.99701398e-01 2.54744330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.256875 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:314.28, Y:101.24, Z:25.47 [[ 9.98609438e-01 -4.67532214e-02 -2.43583063e-02 3.14277750e+02] [ 4.67196361e-02 9.98906145e-01 -1.94638324e-03 1.01238619e+02] [ 2.44226615e-02 8.05665467e-04 9.99701398e-01 2.54742286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.286875 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:314.31, Y:101.24, Z:25.48 [[ 9.98626354e-01 -4.63904518e-02 -2.43584010e-02 3.14310152e+02] [ 4.63567876e-02 9.98923052e-01 -1.94519753e-03 1.01241281e+02] [ 2.44224068e-02 8.13348291e-04 9.99701398e-01 2.54761065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.316875 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:314.34, Y:101.24, Z:25.48 [[ 9.98678275e-01 -4.52588575e-02 -2.43585327e-02 3.14341804e+02] [ 4.52248974e-02 9.98974940e-01 -1.94354713e-03 1.01243785e+02] [ 2.44215264e-02 8.39366160e-04 9.99701398e-01 2.54776513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.346875 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:314.37, Y:101.24, Z:25.47 [[ 9.98702921e-01 -4.47116503e-02 -2.43586636e-02 3.14373627e+02] [ 4.46775676e-02 9.98999572e-01 -1.94190441e-03 1.01242044e+02] [ 2.44211203e-02 8.51099768e-04 9.99701398e-01 2.54697799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.376875 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:314.41, Y:101.24, Z:25.47 [[ 9.98681457e-01 -4.51884642e-02 -2.43587611e-02 3.14405941e+02] [ 4.51545530e-02 9.98978128e-01 -1.94068016e-03 1.01241992e+02] [ 2.44215660e-02 8.38212324e-04 9.99701398e-01 2.54664586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.406875 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:314.44, Y:101.24, Z:25.47 [[ 9.98657509e-01 -4.57145926e-02 -2.43588892e-02 3.14436914e+02] [ 4.56808769e-02 9.98954202e-01 -1.93907200e-03 1.01241904e+02] [ 2.44220586e-02 8.23733394e-04 9.99701398e-01 2.54658356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.436875 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:314.47, Y:101.24, Z:25.47 [[ 9.98679920e-01 -4.52223124e-02 -2.43589846e-02 3.14469070e+02] [ 4.51884796e-02 9.98976599e-01 -1.93787276e-03 1.01243984e+02] [ 2.44216907e-02 8.34569134e-04 9.99701398e-01 2.54680686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.466875 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:314.50, Y:101.25, Z:25.47 [[ 9.98891265e-01 -4.02849175e-02 -2.43591141e-02 3.14501677e+02] [ 4.02496582e-02 9.99187778e-01 -1.93624341e-03 1.01247187e+02] [ 2.44173305e-02 9.53650609e-04 9.99701398e-01 2.54740670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.496875 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:314.53, Y:101.25, Z:25.47 [[ 9.98992248e-01 -3.76929773e-02 -2.43665406e-02 3.14530814e+02] [ 3.76592287e-02 9.99288941e-01 -1.84260056e-03 1.01252047e+02] [ 2.44186677e-02 9.23118553e-04 9.99701394e-01 2.54744692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.526875 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:314.56, Y:101.26, Z:25.48 [[ 9.99129128e-01 -3.38763888e-02 -2.43593261e-02 3.14562151e+02] [ 3.38392951e-02 9.99425417e-01 -1.93349478e-03 1.01257037e+02] [ 2.44108295e-02 1.10750853e-03 9.99701398e-01 2.54781969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.556875 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:314.59, Y:101.26, Z:25.48 [[ 9.99372906e-01 -2.56984669e-02 -2.43594521e-02 3.14592886e+02] [ 2.56589882e-02 9.99668887e-01 -1.93190659e-03 1.01260345e+02] [ 2.44010334e-02 1.30565621e-03 9.99701398e-01 2.54838793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.586875 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:314.62, Y:101.26, Z:25.48 [[ 9.99461683e-01 -2.19762976e-02 -2.43595157e-02 3.14622125e+02] [ 2.19357364e-02 9.99757518e-01 -1.93110427e-03 1.01261864e+02] [ 2.43960474e-02 1.39572081e-03 9.99701398e-01 2.54847205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.616875 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:314.65, Y:101.26, Z:25.49 [[ 9.99476626e-01 -2.12859178e-02 -2.43594841e-02 3.14650860e+02] [ 2.12451426e-02 9.99772431e-01 -1.93150209e-03 1.01262040e+02] [ 2.43950544e-02 1.41297048e-03 9.99701398e-01 2.54852974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.646875 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:314.68, Y:101.26, Z:25.49 [[ 9.99513681e-01 -1.94689156e-02 -2.43590402e-02 3.14680038e+02] [ 1.94274671e-02 9.99809392e-01 -1.93708431e-03 1.01261555e+02] [ 2.43921101e-02 1.46290781e-03 9.99701398e-01 2.54875169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.676875 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:314.71, Y:101.26, Z:25.49 [[ 9.99566060e-01 -1.65635143e-02 -2.43585943e-02 3.14707589e+02] [ 1.65210707e-02 9.99861631e-01 -1.94267572e-03 1.01264273e+02] [ 2.43874013e-02 1.53940266e-03 9.99701398e-01 2.54882706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.706875 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:314.74, Y:101.27, Z:25.49 [[ 9.99561693e-01 -1.68257445e-02 -2.43580823e-02 3.14735854e+02] [ 1.67832231e-02 9.99857252e-01 -1.94907418e-03 1.01266623e+02] [ 2.43873998e-02 1.53941276e-03 9.99701398e-01 2.54889666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.736875 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:314.77, Y:101.26, Z:25.48 [[ 9.99662058e-01 -9.08179686e-03 -2.43575694e-02 3.14770650e+02] [ 9.03683227e-03 9.99957255e-01 -1.95546237e-03 1.01264797e+02] [ 2.43742874e-02 1.73468626e-03 9.99701398e-01 2.54834299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.766875 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:314.79, Y:101.27, Z:25.49 [[ 9.99701324e-01 -1.57388833e-03 -2.43882257e-02 3.14793219e+02] [ 1.53601187e-03 9.99997585e-01 -1.57171889e-03 1.01271020e+02] [ 2.43906405e-02 1.53378886e-03 9.99701327e-01 2.54934821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.796875 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:314.82, Y:101.27, Z:25.50 [[ 9.99698169e-01 3.21226018e-03 -2.43567844e-02 3.14821926e+02] [-3.26101047e-03 9.99992758e-01 -1.96205235e-03 1.01271548e+02] [ 2.43503054e-02 2.04088787e-03 9.99701404e-01 2.54963377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.826875 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:314.85, Y:101.27, Z:25.50 [[ 9.99682339e-01 6.48008061e-03 -2.43563114e-02 3.14850474e+02] [-6.52993515e-03 9.99976743e-01 -1.96790592e-03 1.01272122e+02] [ 2.43429928e-02 2.12632593e-03 9.99701404e-01 2.54992731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8568750000001 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:314.88, Y:101.27, Z:25.50 [[ 9.99654032e-01 9.93018474e-03 -2.43558373e-02 3.14881376e+02] [-9.98119641e-03 9.99948239e-01 -1.97375684e-03 1.01269897e+02] [ 2.43349768e-02 2.21617438e-03 9.99701404e-01 2.54955522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.886875 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:314.91, Y:101.27, Z:25.50 [[ 9.99670524e-01 8.06571056e-03 -2.43677558e-02 3.14907547e+02] [-8.11261451e-03 9.99965424e-01 -1.82659067e-03 1.01267986e+02] [ 2.43521805e-02 2.02367506e-03 9.99701393e-01 2.55028876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.916875 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:314.94, Y:101.27, Z:25.50 [[ 9.99677388e-01 7.20748241e-03 -2.43551186e-02 3.14936085e+02] [-7.25788908e-03 9.99971697e-01 -1.98189064e-03 1.01267151e+02] [ 2.43401449e-02 2.15801801e-03 9.99701406e-01 2.55031289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.946875 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:314.96, Y:101.27, Z:25.50 [[ 9.99678748e-01 7.01816419e-03 -2.43545867e-02 3.14963411e+02] [-7.06867259e-03 9.99973040e-01 -1.98840555e-03 1.01267594e+02] [ 2.43399752e-02 2.15992137e-03 9.99701406e-01 2.55034440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.976875 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:314.99, Y:101.27, Z:25.50 [[ 9.99645974e-01 1.07141232e-02 -2.43543557e-02 3.14991294e+02] [-1.07657876e-02 9.99940065e-01 -1.99123109e-03 1.01266042e+02] [ 2.43315617e-02 2.25271996e-03 9.99701406e-01 2.55048287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.006875 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:315.02, Y:101.26, Z:25.51 [[ 9.99618858e-01 1.30006564e-02 -2.43541084e-02 3.15020623e+02] [-1.30530663e-02 9.99912816e-01 -1.99425058e-03 1.01264985e+02] [ 2.43260586e-02 2.31138628e-03 9.99701406e-01 2.55053477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.036875 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:315.05, Y:101.26, Z:25.51 [[ 9.99584031e-01 1.54487809e-02 -2.43536553e-02 3.15048389e+02] [-1.55020437e-02 9.99877836e-01 -1.99976946e-03 1.01262397e+02] [ 2.43197861e-02 2.37646904e-03 9.99701406e-01 2.55050245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.066875 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:315.08, Y:101.26, Z:25.50 [[ 9.99517988e-01 1.92540376e-02 -2.43531142e-02 3.15076848e+02] [-1.93085768e-02 9.99811559e-01 -2.00633737e-03 1.01257171e+02] [ 2.43098950e-02 2.47559427e-03 9.99701406e-01 2.55047257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.096875 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:315.10, Y:101.26, Z:25.51 [[ 9.99505798e-01 1.98774322e-02 -2.43525757e-02 3.15104338e+02] [-1.99323116e-02 9.99799306e-01 -2.01285174e-03 1.01257101e+02] [ 2.43076780e-02 2.49726011e-03 9.99701406e-01 2.55062264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.126875 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:315.13, Y:101.26, Z:25.51 [[ 9.99496207e-01 2.03546424e-02 -2.43520347e-02 3.15131139e+02] [-2.04098192e-02 9.99789659e-01 -2.01937583e-03 1.01257484e+02] [ 2.43058088e-02 2.51537911e-03 9.99701406e-01 2.55081521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.156875 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:315.16, Y:101.26, Z:25.51 [[ 9.99495112e-01 2.04086111e-02 -2.43517997e-02 3.15158943e+02] [-2.04638719e-02 9.99788548e-01 -2.02220576e-03 1.01255743e+02] [ 2.43053801e-02 2.51951688e-03 9.99701406e-01 2.55083961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.186875 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:315.19, Y:101.25, Z:25.51 [[ 9.99471815e-01 2.15199516e-02 -2.43512534e-02 3.15186346e+02] [-2.15756967e-02 9.99765159e-01 -2.02876318e-03 1.01254718e+02] [ 2.43018759e-02 2.55308687e-03 9.99701406e-01 2.55082011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.216875 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:315.21, Y:101.25, Z:25.51 [[ 9.99442807e-01 2.28277087e-02 -2.43510159e-02 3.15213593e+02] [-2.28839062e-02 9.99736065e-01 -2.03160968e-03 1.01253701e+02] [ 2.42982118e-02 2.58772405e-03 9.99701406e-01 2.55072588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.246875 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:315.24, Y:101.25, Z:25.51 [[ 9.99448358e-01 2.25835859e-02 -2.43507811e-02 3.15243906e+02] [-2.26397794e-02 9.99741617e-01 -2.03442032e-03 1.01254096e+02] [ 2.42985448e-02 2.58459436e-03 9.99701406e-01 2.55054379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.276875 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:315.27, Y:101.25, Z:25.50 [[ 9.99399989e-01 2.46228764e-02 -2.43593112e-02 3.15271096e+02] [-2.46772074e-02 9.99693604e-01 -1.93227267e-03 1.01253425e+02] [ 2.43042694e-02 2.53223306e-03 9.99701401e-01 2.54980728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.306875 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:315.30, Y:101.26, Z:25.50 [[ 9.99402693e-01 2.45188987e-02 -2.43532632e-02 3.15300900e+02] [-2.45749361e-02 9.99695981e-01 -2.00436432e-03 1.01256189e+02] [ 2.42967145e-02 2.60164698e-03 9.99701406e-01 2.54993121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.336875 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:315.33, Y:101.26, Z:25.50 [[ 9.99316787e-01 2.77917402e-02 -2.43634776e-02 3.15325734e+02] [-2.78458069e-02 9.99610457e-01 -1.88266213e-03 1.01257501e+02] [ 2.43016645e-02 2.55979656e-03 9.99701394e-01 2.55013897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.366875 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:315.36, Y:101.26, Z:25.51 [[ 9.99318596e-01 2.77394099e-02 -2.43488894e-02 3.15356714e+02] [-2.77976220e-02 9.99611458e-01 -2.05547601e-03 1.01258500e+02] [ 2.42824112e-02 2.73091663e-03 9.99701409e-01 2.55136470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.396875 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:315.39, Y:101.26, Z:25.50 [[ 9.99388663e-01 2.50709590e-02 -2.43669253e-02 3.15388842e+02] [-2.51232094e-02 9.99682668e-01 -1.84050824e-03 1.01261039e+02] [ 2.43130496e-02 2.45155843e-03 9.99701388e-01 2.54981299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.426875 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:315.41, Y:101.26, Z:25.50 [[ 9.99352745e-01 2.64436218e-02 -2.43890492e-02 3.15414134e+02] [-2.64899070e-02 9.99647838e-01 -1.57660494e-03 1.01259784e+02] [ 2.43387692e-02 2.22164812e-03 9.99701300e-01 2.55016788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.456875 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:315.45, Y:101.26, Z:25.50 [[ 9.99464626e-01 2.18325186e-02 -2.43680504e-02 3.15446544e+02] [-2.18834262e-02 9.99758865e-01 -1.82436893e-03 1.01264847e+02] [ 2.43223439e-02 2.35664864e-03 9.99701390e-01 2.54976252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.486875 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:315.47, Y:101.26, Z:25.50 [[ 9.99435851e-01 2.30948772e-02 -2.43845663e-02 3.15470228e+02] [-2.31415683e-02 9.99730862e-01 -1.63429245e-03 1.01263527e+02] [ 2.43402597e-02 2.19766757e-03 9.99701316e-01 2.55012742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.516875 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:315.50, Y:101.27, Z:25.50 [[ 9.99509115e-01 1.97076875e-02 -2.43543743e-02 3.15496434e+02] [-1.97615645e-02 9.99802774e-01 -1.97349312e-03 1.01266493e+02] [ 2.43106780e-02 2.45380490e-03 9.99701440e-01 2.54972564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.546875 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:315.53, Y:101.27, Z:25.49 [[ 9.99538939e-01 1.81561513e-02 -2.43364598e-02 3.15528703e+02] [-1.82144027e-02 9.99831740e-01 -2.17403619e-03 1.01265380e+02] [ 2.42928928e-02 2.61630791e-03 9.99701461e-01 2.54937242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.576875 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:315.56, Y:101.27, Z:25.49 [[ 9.99585781e-01 1.53482201e-02 -2.43453924e-02 3.15557800e+02] [-1.54032385e-02 9.99879212e-01 -2.07398736e-03 1.01265472e+02] [ 2.43106198e-02 2.44812616e-03 9.99701456e-01 2.54893412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6068750000001 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:315.58, Y:101.27, Z:25.48 [[ 9.99702941e-01 1.18789103e-03 -2.43437402e-02 3.15576249e+02] [-1.23919386e-03 9.99997043e-01 -2.09245700e-03 1.01271566e+02] [ 2.43411826e-02 2.12200203e-03 9.99701457e-01 2.54801445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.636875 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:315.62, Y:101.26, Z:25.48 [[ 9.99690375e-01 5.42566195e-03 -2.42840568e-02 3.15615644e+02] [-5.49411823e-03 9.99981117e-01 -2.75314880e-03 1.01263010e+02] [ 2.42686606e-02 2.88571583e-03 9.99701308e-01 2.54826958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.666875 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:315.64, Y:101.27, Z:25.49 [[ 9.99703803e-01 -3.61565441e-04 -2.43346444e-02 3.15644971e+02] [ 3.08415359e-04 9.99997559e-01 -2.18784999e-03 1.01266556e+02] [ 2.43353760e-02 2.17969678e-03 9.99701475e-01 2.54875226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.696875 meters Centerline goodness : 0.987162 Centerline is valid? [True, True] Translation: X:315.68, Y:101.26, Z:25.48 [[ 9.99668644e-01 -8.38978384e-03 -2.43354508e-02 3.15675297e+02] [ 8.33921233e-03 9.99962854e-01 -2.17884274e-03 1.01263978e+02] [ 2.43528269e-02 1.97518227e-03 9.99701475e-01 2.54818565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.726875 meters Centerline goodness : 0.986149 Centerline is valid? [True, True] Translation: X:315.68, Y:101.28, Z:25.48 [[ 9.99404328e-01 -2.44699341e-02 -2.43353771e-02 3.15684310e+02] [ 2.44240820e-02 9.99699311e-01 -2.17966596e-03 1.01277390e+02] [ 2.43813960e-02 1.58399835e-03 9.99701475e-01 2.54767861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.756875 meters Centerline goodness : 0.977493 Centerline is valid? [True, True] Translation: X:315.72, Y:101.28, Z:25.49 [[ 9.99411708e-01 -2.42987289e-02 -2.42034986e-02 3.15719957e+02] [ 2.42226498e-02 9.99700699e-01 -3.43158666e-03 1.01275508e+02] [ 2.42796377e-02 2.84329502e-03 9.99701163e-01 2.54881339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.786875 meters Centerline goodness : 0.984426 Centerline is valid? [True, True] Translation: X:315.75, Y:101.28, Z:25.48 [[ 9.99103271e-01 -3.46739070e-02 -2.42976048e-02 3.15749263e+02] [ 3.46226610e-02 9.99397262e-01 -2.52674307e-03 1.01282172e+02] [ 2.43705717e-02 1.68322954e-03 9.99701576e-01 2.54796293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.816875 meters Centerline goodness : 0.973031 Centerline is valid? [True, True] Translation: X:315.78, Y:101.28, Z:25.50 [[ 9.99125358e-01 -3.40316405e-02 -2.42974755e-02 3.15776984e+02] [ 3.39801755e-02 9.99419310e-01 -2.52798555e-03 1.01278121e+02] [ 2.43693977e-02 1.70014198e-03 9.99701576e-01 2.54953933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.846875 meters Centerline goodness : 0.271990 Centerline is valid? [True, False] Translation: X:315.78, Y:101.28, Z:25.50 [[ 9.99115457e-01 -3.44212077e-02 -2.41554046e-02 3.15776571e+02] [ 3.43741091e-02 9.99406243e-01 -2.36245983e-03 1.01277510e+02] [ 2.42223809e-02 1.53004962e-03 9.99705424e-01 2.54955432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11396.82 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%| | 0/18858 [00:00